[BUG] Planar joint in parse_urdf is not passed all arguments

[jc211]

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

warp/warp/sim/import_urdf.py

Line 515 in 9d17ad9

u, limit_lower=lower * scale, limit_upper=upper * scale, limit_ke=limit_ke, limit_kd=limit_kd

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

[jc211]

Actually, something is still wrong here - its off by a factor of 2 - I didn't track why this is the case and instead just used two prismatic joints to simulate a planar one. That works fine.