Articulation use none as default drive type. by matafela · Pull Request #210 · DexForce/EmbodiChain

matafela · 2026-03-31T04:22:36Z

Description

Articulation use none as default drive type. But robot still use force as default drive type.
Add cloth asset document.

Fixes # (issue)

Articulation use none as default drive type.

Type of change

Bug fix (non-breaking change which fixes an issue)
Documentation update

Checklist

I have run the black . command to format the code base.
I have made corresponding changes to the documentation
I have added tests that prove my fix is effective or that my feature works
Dependencies have been updated, if applicable.

Copilot

Pull request overview

This PR aligns joint-drive defaults by changing Articulation.set_joint_drive() to default to "none" while keeping Robot default behavior at "force", and expands simulation documentation with a new cloth overview plus related doc updates.

Changes:

Change Articulation.set_joint_drive() default drive_type from "force" to "none".
Add Robot.set_joint_drive() override to preserve the robot default drive_type="force".
Add/adjust documentation for cloth assets and articulation drive-type guidance.

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
`embodichain/lab/sim/objects/robot.py`	Adds a `set_joint_drive()` override so robots keep default drive type `"force"`.
`embodichain/lab/sim/objects/articulation.py`	Switches the articulation API default drive type to `"none"`.
`docs/source/tutorial/create_cloth.rst`	Tweaks the included snippet boundaries for the cloth tutorial.
`docs/source/overview/sim/sim_soft_object.md`	Updates soft-object intro wording (removes cloth example).
`docs/source/overview/sim/sim_cloth.md`	Introduces new cloth-object overview documentation page.
`docs/source/overview/sim/sim_assets.md`	Adds the cloth overview page to the sim assets toctree.
`docs/source/overview/sim/sim_articulation.md`	Updates drive-type default and adds guidance for drive-less articulations.

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Copilot · 2026-03-31T04:27:05Z

docs/source/tutorial/create_cloth.rst

   :start-at:     cloth_verts, cloth_faces = create_2d_grid_mesh
-   :end-at:         )
-   :end-before:     padding_box_cfg
+   :end-at:         padding_box_cfg = RigidObjectCfg


This literalinclude now ends at the line containing padding_box_cfg = RigidObjectCfg, which in the referenced script is the start of a multi-line call. This will include an incomplete statement (unclosed parenthesis) in the rendered docs. Consider ending before padding_box_cfg (e.g., using :end-before:) or ending at the closing ) of the cloth spawn block so the snippet is syntactically complete.

Suggested change

:end-at: padding_box_cfg = RigidObjectCfg

:end-before: padding_box_cfg = RigidObjectCfg(

Copilot · 2026-03-31T04:27:06Z

embodichain/lab/sim/objects/articulation.py

        max_velocity: torch.Tensor | None = None,
        friction: torch.Tensor | None = None,
-        drive_type: str = "force",
+        drive_type: str = "none",
        joint_ids: Sequence[int] | None = None,
        env_ids: Sequence[int] | None = None,


drive_type now defaults to "none", but the docstring parameter description still states it defaults to "force". This is misleading for API consumers; please update the docstring to match the new default (and adjust any related wording if needed).

Copilot · 2026-03-31T04:27:06Z

embodichain/lab/sim/objects/robot.py

+           Different from Articulation, default drive type is 'force' instead of 'none'
+


The new set_joint_drive docstring has inconsistent indentation on the second line (it is indented further than the opening line), which will render oddly in generated docs. Consider reflowing this sentence and aligning indentation with the rest of the docstring.

Suggested change

Different from Articulation, default drive type is 'force' instead of 'none'

Different from ``Articulation``, the default drive type is ``"force"`` instead of ``"none"``.

Copilot · 2026-03-31T04:27:07Z

docs/source/overview/sim/sim_cloth.md

+The {class}`~objects.Cloth` class represents deformable surface entities in EmbodiChain. Unlike rigid bodies, cloth objects are defined by vertices and meshes rather than a single rigid pose.
+
+## Configuration
+
+Configured via {class}`~cfg.ClothObjectCfg`.


The docs refer to {class}~objects.Cloth here, but the codebase exports `ClothObject` (see `embodichain/lab/sim/objects/cloth_object.py`). Unless there is an alias not shown here, this should likely be `{class}`~objects.ClothObject to avoid broken references in the generated docs.

Copilot · 2026-03-31T04:27:07Z

docs/source/overview/sim/sim_cloth.md

+| `physical_attr` | `ClothPhysicalAttributesCfg` | `...` | Physical attributes. |
+| `shape` | `MeshCfg` | `MeshCfg()` | Mesh configuration. |
+
+### CLoth Body Attributes


Section title typo: ### CLoth Body Attributes has inconsistent capitalization. Consider renaming to ### Cloth Body Attributes for consistency and readability.

Suggested change

### CLoth Body Attributes

### Cloth Body Attributes

Copilot · 2026-03-31T04:27:07Z

docs/source/overview/sim/sim_cloth.md

+| `get_current_vertex_velocity()` | `(n_envs, n_vert, 3)` | Current positions of  mesh vertices. |
+| `get_rest_vertex_position()` | `(n_envs, n_vert, 3` | Rest (initial) positions of collision vertices. |


The vertex API table has a couple of correctness issues: get_current_vertex_velocity() is described as returning positions (should describe velocities), and get_rest_vertex_position()'s return shape is missing a closing parenthesis/backtick. These will confuse readers and should be corrected.

Suggested change

| `get_current_vertex_velocity()` | `(n_envs, n_vert, 3)` | Current positions of mesh vertices. |

| `get_rest_vertex_position()` | `(n_envs, n_vert, 3` | Rest (initial) positions of collision vertices. |

| `get_current_vertex_velocity()` | `(n_envs, n_vert, 3)` | Current velocities of mesh vertices. |

| `get_rest_vertex_position()` | `(n_envs, n_vert, 3)` | Rest (initial) positions of collision vertices. |

Copilot · 2026-03-31T04:27:08Z

docs/source/overview/sim/sim_articulation.md

 ### Drive Configuration

-The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class.
+The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class. For articulation object without internal drive force, like cabinet and drawer, better set `drive_type` to `"none"`.


Minor grammar/style: "For articulation object ... better set" is awkward English and could be misread. Consider rephrasing (e.g., "For articulations without internal drive force (e.g., cabinets/drawers), it's better to set drive_type to "none".").

Suggested change

The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class. For articulation object without internal drive force, like cabinet and drawer, better set `drive_type` to `"none"`.

The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class. For articulations without internal drive force (e.g., cabinets and drawers), it's better to set `drive_type` to `"none"`.

Copilot · 2026-03-31T04:27:08Z

docs/source/overview/sim/sim_cloth.md

+    The rectangle is subdivided into an `nx` by `ny` grid (cells) and
+    triangulated. `nx=1, ny=1` yields the simple two-triangle rectangle.
+
+    Returns an vertices and triangles.


Grammar issue in the example docstring: "Returns an vertices and triangles." should be corrected (e.g., "Returns vertices and triangles."), otherwise it reads incorrectly in the rendered documentation.

Suggested change

Returns an vertices and triangles.

Returns vertices and triangles.

Copilot · 2026-03-31T04:27:08Z

docs/source/overview/sim/sim_cloth.md

+# 2. Configure Cloth Object
+cfg=ClothObjectCfg(
+    uid="cloth_demo",
+    shape=MeshCfg(fpath=cloth_save_path),
+    init_pos=[0.5, 0.0, 0.3],


The setup code block references MeshCfg and ClothPhysicalAttributesCfg (used in shape=... / physical_attr=...), but the snippet only imports ClothObject/ClothObjectCfg. Consider adding the missing imports so the example is self-contained.

Copilot · 2026-03-31T04:27:08Z

docs/source/overview/sim/sim_cloth.md

+cloth_verts, cloth_faces = create_2d_grid_mesh(width=0.3, height=0.3, nx=12, ny=12)
+cloth_mesh = o3d.geometry.TriangleMesh(
+    vertices=o3d.utility.Vector3dVector(cloth_verts.to("cpu").numpy()),
+    triangles=o3d.utility.Vector3iVector(cloth_faces.to("cpu").numpy()),
+)


The setup code block uses o3d, os, and tempfile, but they are not imported in this snippet. Consider adding the missing imports (or explicitly noting the snippet is partial) to prevent copy/paste errors.

Copilot

Pull request overview

Copilot reviewed 7 out of 7 changed files in this pull request and generated 6 comments.

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Copilot · 2026-03-31T06:40:34Z

embodichain/lab/sim/objects/articulation.py

        max_velocity: torch.Tensor | None = None,
        friction: torch.Tensor | None = None,
-        drive_type: str = "force",
+        drive_type: str = "none",
        joint_ids: Sequence[int] | None = None,
        env_ids: Sequence[int] | None = None,


The drive_type parameter default was changed to "none", but the docstring still says it defaults to "force". Please update the docstring to match the new default so callers aren’t misled.

Copilot · 2026-03-31T06:40:34Z

docs/source/overview/sim/sim_articulation.md

 | `max_velocity` | `float` / `Dict` | `1.0e10` | Maximum velocity allowed for the joint ($m/s$ or $rad/s$). |
 | `friction` | `float` / `Dict` | `0.0` | Joint friction coefficient. |
-| `drive_type` | `str` | `"force"` | Drive mode: `"force"`(driven by a force), `"acceleration"`(driven by an acceleration) or `none`(no force). |
+| `drive_type` | `str` | `"none"` | Drive mode: `"force"`(driven by a force), `"acceleration"`(driven by an acceleration) or `none`(no force). |


The docs list the default drive_type as "none", but the actual config default is still "force" (JointDrivePropertiesCfg.drive_type = "force" in embodichain/lab/sim/cfg.py:502). Either update the code default (if intended) or correct this documentation default to avoid confusing users.

Suggested change

| `drive_type` | `str` | `"none"` | Drive mode: `"force"`(driven by a force), `"acceleration"`(driven by an acceleration) or `none`(no force). |

| `drive_type` | `str` | `"force"` | Drive mode: `"force"`(driven by a force), `"acceleration"`(driven by an acceleration) or `none`(no force). |

Copilot · 2026-03-31T06:40:35Z

docs/source/overview/sim/sim_cloth.md

+| `physical_attr` | `ClothPhysicalAttributesCfg` | `...` | Physical attributes. |
+| `shape` | `MeshCfg` | `MeshCfg()` | Mesh configuration. |
+
+### CLoth Body Attributes


Typo in heading: "CLoth" should be "Cloth".

Suggested change

### CLoth Body Attributes

### Cloth Body Attributes

Copilot · 2026-03-31T06:40:35Z

docs/source/overview/sim/sim_cloth.md

+### CLoth Body Attributes
+
+Cloth bodies require both voxelization and physical attributes.


This section says cloth bodies require "voxelization", but ClothObjectCfg only has shape and physical_attr (no voxelization attributes). Please revise this text to describe the actual cloth configuration requirements.

Suggested change

### CLoth Body Attributes

Cloth bodies require both voxelization and physical attributes.

### Cloth Body Attributes

Cloth bodies are configured using a mesh shape ({class}`~cfg.MeshCfg` via the `shape` field) and physical attributes ({class}`~cfg.ClothPhysicalAttributesCfg` via the `physical_attr` field).

Copilot · 2026-03-31T06:40:35Z

docs/source/overview/sim/sim_cloth.md

+```python
+import torch
+from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
+from embodichain.lab.sim.objects import ClothObject, ClothObjectCfg


The setup code example references o3d, os, tempfile, MeshCfg, and ClothPhysicalAttributesCfg but they aren’t imported in the snippet, so it won’t run as written. Add the missing imports (or remove those references) to keep the example executable.

Suggested change

from embodichain.lab.sim.objects import ClothObject, ClothObjectCfg

from embodichain.lab.sim.objects import ClothObject, ClothObjectCfg

from embodichain.lab.sim.cfg import MeshCfg, ClothPhysicalAttributesCfg

import os

import tempfile

import open3d as o3d

Copilot · 2026-03-31T06:40:35Z

docs/source/overview/sim/sim_cloth.md

+    The rectangle is subdivided into an `nx` by `ny` grid (cells) and
+    triangulated. `nx=1, ny=1` yields the simple two-triangle rectangle.
+
+    Returns an vertices and triangles.


Small docstring grammar issue in the example: "Returns an vertices and triangles." should be corrected (e.g., "Returns vertices and triangles.")

Suggested change

Returns an vertices and triangles.

Returns vertices and triangles.

Copilot

Pull request overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated 8 comments.

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embodichain/lab/sim/cfg.py

Copilot · 2026-03-31T07:52:17Z

docs/source/overview/sim/sim_articulation.md

 ### Drive Configuration

-The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class.
+The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class. For articulation object without internal drive force, like cabinet and drawer, better set `drive_type` to `"none"`.



Documentation refers to drive_props, but the actual config field used throughout the codebase (and other docs) is drive_pros. Using the wrong name here is confusing and can lead users to pass an unsupported parameter name.

Copilot · 2026-03-31T07:52:17Z

docs/source/overview/sim/sim_cloth.md

+```{currentmodule} embodichain.lab.sim
+```
+
+The {class}`~objects.Cloth` class represents deformable surface entities in EmbodiChain. Unlike rigid bodies, cloth objects are defined by vertices and meshes rather than a single rigid pose.


objects.Cloth doesn’t appear to exist in the codebase (the implementation/export is objects.ClothObject). The class reference here should be updated so the docs resolve correctly.

Suggested change

The {class}`~objects.Cloth` class represents deformable surface entities in EmbodiChain. Unlike rigid bodies, cloth objects are defined by vertices and meshes rather than a single rigid pose.

The {class}`~objects.ClothObject` class represents deformable surface entities in EmbodiChain. Unlike rigid bodies, cloth objects are defined by vertices and meshes rather than a single rigid pose.

Copilot · 2026-03-31T07:52:17Z

docs/source/overview/sim/sim_cloth.md

+| `physical_attr` | `ClothPhysicalAttributesCfg` | `...` | Physical attributes. |
+| `shape` | `MeshCfg` | `MeshCfg()` | Mesh configuration. |
+
+### CLoth Body Attributes


Section title has a capitalization typo: "CLoth" -> "Cloth".

Suggested change

### CLoth Body Attributes

### Cloth Body Attributes

Copilot · 2026-03-31T07:52:18Z

docs/source/overview/sim/sim_cloth.md

+| :--- | :--- | :--- |
+| `get_current_vertex_position()` | `(n_envs, n_vert, 3)` | Current positions of mesh vertices. |
+| `get_current_vertex_velocity()` | `(n_envs, n_vert, 3)` | Current positions of  mesh vertices. |
+| `get_rest_vertex_position()` | `(n_envs, n_vert, 3` | Rest (initial) positions of collision vertices. |


Return shape formatting is broken for get_rest_vertex_position() (missing closing parenthesis/backtick). This will render incorrectly and is ambiguous.

Suggested change

| `get_rest_vertex_position()` | `(n_envs, n_vert, 3` | Rest (initial) positions of collision vertices. |

| `get_rest_vertex_position()` | `(n_envs, n_vert, 3)` | Rest (initial) positions of collision vertices. |

Copilot · 2026-03-31T07:52:18Z

embodichain/lab/sim/objects/articulation.py

        friction: torch.Tensor | None = None,
-        drive_type: str = "force",
+        drive_type: str = "none",
        joint_ids: Sequence[int] | None = None,
        env_ids: Sequence[int] | None = None,
    ) -> None:


drive_type now defaults to "none" in the signature, but the docstring below still states the default is "force". Please update the docstring to avoid misleading API docs.

Copilot · 2026-03-31T07:52:18Z

embodichain/lab/sim/objects/robot.py

+    def set_joint_drive(
+        self,
+        stiffness: torch.Tensor | None = None,
+        damping: torch.Tensor | None = None,
+        max_effort: torch.Tensor | None = None,
+        max_velocity: torch.Tensor | None = None,
+        friction: torch.Tensor | None = None,
+        drive_type: str = "force",
+        joint_ids: Sequence[int] | None = None,
+        env_ids: Sequence[int] | None = None,
+    ) -> None:


Adding this override changes the default drive_type only for explicit calls to Robot.set_joint_drive(). It does not prevent robots from initializing with drive_type="none" via RobotCfg inheriting ArticulationCfg’s new default. If the intent is for Robot defaults to remain "force", consider also overriding drive_pros in RobotCfg (or adjusting Robot’s initialization fallback).

update

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matafela force-pushed the cj/drive-none-update branch from 641ee5a to 8cacfaf Compare March 31, 2026 06:35

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yuecideng added 2 commits March 31, 2026 15:15

Merge branch 'main' into cj/drive-none-update

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yuecideng merged commit 193e64f into main Mar 31, 2026
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yuecideng deleted the cj/drive-none-update branch March 31, 2026 11:04

	:end-at: padding_box_cfg = RigidObjectCfg
	:end-before: padding_box_cfg = RigidObjectCfg(

		Different from Articulation, default drive type is 'force' instead of 'none'

	Different from Articulation, default drive type is 'force' instead of 'none'

	Different from ``Articulation``, the default drive type is ``"force"`` instead of ``"none"``.

		\| `get_current_vertex_velocity()` \| `(n_envs, n_vert, 3)` \| Current positions of mesh vertices. \|
		\| `get_rest_vertex_position()` \| `(n_envs, n_vert, 3` \| Rest (initial) positions of collision vertices. \|

	The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class. For articulation object without internal drive force, like cabinet and drawer, better set `drive_type` to `"none"`.
	The `drive_props` parameter controls the joint physics behavior. It is defined using the `JointDrivePropertiesCfg` class. For articulations without internal drive force (e.g., cabinets and drawers), it's better to set `drive_type` to `"none"`.

	Returns an vertices and triangles.
	Returns vertices and triangles.

	\| `drive_type` \| `str` \| `"none"` \| Drive mode: `"force"`(driven by a force), `"acceleration"`(driven by an acceleration) or `none`(no force). \|
	\| `drive_type` \| `str` \| `"force"` \| Drive mode: `"force"`(driven by a force), `"acceleration"`(driven by an acceleration) or `none`(no force). \|

		### CLoth Body Attributes

		Cloth bodies require both voxelization and physical attributes.

-from embodichain.lab.sim.objects import ClothObject, ClothObjectCfg
+from embodichain.lab.sim.objects import ClothObject, ClothObjectCfg
+from embodichain.lab.sim.cfg import MeshCfg, ClothPhysicalAttributesCfg
+import os
+import tempfile
+import open3d as o3d

	The {class}`~objects.Cloth` class represents deformable surface entities in EmbodiChain. Unlike rigid bodies, cloth objects are defined by vertices and meshes rather than a single rigid pose.
	The {class}`~objects.ClothObject` class represents deformable surface entities in EmbodiChain. Unlike rigid bodies, cloth objects are defined by vertices and meshes rather than a single rigid pose.

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matafela commented Mar 31, 2026

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