Add joint armature support for articulations#290
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Expose DexSim 0.4.1 articulation armature via JointDrivePropertiesCfg, Articulation/Robot drive APIs, and joint-drive observations. Extend get_joint_drive to return armature and update CI image for py311 DexSim. Co-authored-by: Cursor <cursoragent@cursor.com>
yuecideng
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Pull request overview
This PR adds joint armature support across EmbodiChain’s articulation/robot drive APIs to match DexSim 0.4.1, and wires the new property through config, observations, tests, docs, and CI.
Changes:
- Extend
Articulation.set_joint_drive()andArticulation.get_joint_drive()to accept/return armature (6th drive component). - Add
JointDrivePropertiesCfg.armatureand propagate defaults through robots/articulations and the joint-drive observation functor. - Update tests and documentation to reflect the new 6-tuple drive API; update CI container image to a py311 variant.
Reviewed changes
Copilot reviewed 8 out of 8 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
embodichain/lab/sim/objects/articulation.py |
Adds armature readback/defaults and extends joint drive set/get APIs to include armature. |
embodichain/lab/sim/objects/robot.py |
Plumbs armature through robot set_joint_drive() and default drive initialization. |
embodichain/lab/sim/cfg.py |
Adds JointDrivePropertiesCfg.armature configuration field and documentation. |
embodichain/lab/gym/envs/managers/observations.py |
Extends the joint-drive observation output with an armature tensor (including zero fallback). |
tests/sim/objects/test_articulation.py |
Updates articulation drive tests to handle the new 6-tuple return value. |
tests/gym/envs/managers/test_observation_functors.py |
Updates mock articulation and assertions to include armature in observation outputs and caching tests. |
docs/source/overview/sim/sim_articulation.md |
Documents armature as a drive property and updates get_joint_drive() return tuple. |
.github/workflows/main.yml |
Switches CI container image to a -py311 variant. |
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| max_velocity (torch.Tensor): The maximum velocity of the joint drive with shape (len(env_ids), len(joint_ids)). | ||
| friction (torch.Tensor): The joint friction coefficient with shape (len(env_ids), len(joint_ids)). | ||
| armature (torch.Tensor): The joint armature with shape (len(env_ids), len(joint_ids)). | ||
| drive_type (str, optional): The type of drive to apply. Defaults to "force". |
| Units depend on the joint model: | ||
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| * For prismatic (linear) joints, the unit is mass [kg]. | ||
| * For revolute (angular) joints, the unit is mass * scene_length^2 [kg-m^2]. |
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Description
This PR adds joint armature support to EmbodiChain articulations and robots, aligned with DexSim 0.4.1 (
set_drive/get_drive/set_armature/get_armature).DexSim now exposes armature as the 6th element of
get_drive()(index 5). EmbodiChain wires this through config, runtime APIs, batched data, and observations so users can configure and query armature the same way as stiffness, damping, friction, etc.Motivation: Armature adds reflected inertia in joint space, which is useful for stable PID control and more realistic joint dynamics (see DexSim 0.4.1 release notes).
Dependencies:
dexsdk:...-py311image for Python 3.11 / updated DexSimType of change
API note
Articulation.get_joint_drive()now returns a 6-tuple(stiffness, damping, max_effort, max_velocity, friction, armature). Callers unpacking 5 values need to addarmature.Changes
JointDrivePropertiesCfg.armature(scalar or per-joint dict)ArticulationData.joint_armature,default_joint_armature, USD readbackset_joint_drive(armature=...)/ extendedget_joint_drive()Robotparity;get_articulation_joint_driveobservation includesarmaturetest_articulation.py,test_observation_functors.pysim_articulation.mdTest plan
pytest tests/sim/objects/test_articulation.py(24 passed, condapy311)Checklist
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