[BUG] Planar joint in parse_urdf is not passed all arguments #454
Description
Bug Description
Hi, planar joints are missing the mode, target_kd, and target_ke keywords and as a result they are not being set to position mode when asked to be. These just need to be passed in to JointAxis
Line 515 in 9d17ad9
These should be:
linear_axes=[
wp.sim.JointAxis(
u,
limit_lower=lower * scale,
limit_upper=upper * scale,
limit_ke=limit_ke,
limit_kd=limit_kd,
target_ke=stiffness,
target_kd=joint_damping,
mode=joint_mode,
),
wp.sim.JointAxis(
v,
limit_lower=lower * scale,
limit_upper=upper * scale,
limit_ke=limit_ke,
limit_kd=limit_kd,
target_ke=stiffness,
target_kd=joint_damping,
mode=joint_mode,
),
],System Information
No response