`model.joint_armature` is not set correctly

[e.xing]

model.joint_armature is used inside FeatherstoneIntegrator.simulate(...).

It is not being set correctly inside parse_mjcf(), parse_urdf(), or parse_usd(), since it is not passed to builder.add_joint(), so it defaults to 0.01.

MJCF: https://github.com/NVIDIA/warp/blob/v1.0.2/warp/sim/import_mjcf.py#L323-L332

URDF: https://github.com/NVIDIA/warp/blob/v1.0.2/warp/sim/import_urdf.py#L442-L448

USD: https://github.com/NVIDIA/warp/blob/v1.0.2/warp/sim/import_usd.py#L437-L445

[Eric Heiden]

Thanks @etaoxing for reporting these issues! We will add an armature argument to the ModelBuilder.add_joint_...() methods and apply this settings in the MJCF, URDF, and USD importers in the next release.

[Eric Shi]

I believe this was added by @eric-heiden in 302b79e. Please reopen the issue of the issue is not fixed. Thanks!