From 5cdd88714bad7ba8bd3f776b9b544e090109b958 Mon Sep 17 00:00:00 2001
From: Fanbo Xiang <fxiang@eng.ucsd.edu>
Date: Wed, 1 Nov 2023 13:13:15 -0700
Subject: [PATCH] fix add_ground visual

---
 python/py_package/utils/viewer/viewer.py | 11 +++++++++++
 python/py_package/wrapper/scene.py       | 19 +++++++++----------
 2 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/python/py_package/utils/viewer/viewer.py b/python/py_package/utils/viewer/viewer.py
index c765e07f..8a1aa062 100644
--- a/python/py_package/utils/viewer/viewer.py
+++ b/python/py_package/utils/viewer/viewer.py
@@ -264,3 +264,14 @@ def control_window(self) -> ControlWindow:
             if isinstance(plugin, ControlWindow):
                 return plugin
         return None
+
+    def loop(self, physx_steps=0):
+        """
+        A convenience method for opening a temporary viewer for a scene.
+        Simply call scene.create_viewer().loop()
+        """
+        while not self.closed:
+            for _ in range(physx_steps):
+                self.scene.physx_system.step()
+            self.scene.update_render()
+            self.render()
diff --git a/python/py_package/wrapper/scene.py b/python/py_package/wrapper/scene.py
index ef6c48e8..ad2571d2 100644
--- a/python/py_package/wrapper/scene.py
+++ b/python/py_package/wrapper/scene.py
@@ -122,22 +122,21 @@ def add_ground(
     ):
         from .actor_builder import ActorBuilder
 
-        ground = (
-            ActorBuilder()
-            .set_scene(self)
-            .add_plane_visual(
+        builder = self.create_actor_builder()
+        if render:
+            builder.add_plane_visual(
                 sapien.Pose(p=[0, 0, altitude], q=[0.7071068, 0, -0.7071068, 0]),
                 [10, *render_half_size],
                 render_material,
                 "",
             )
-            .add_plane_collision(
-                sapien.Pose(p=[0, 0, altitude], q=[0.7071068, 0, -0.7071068, 0]),
-                material,
-            )
-            .set_physx_body_type("static")
-            .build()
+
+        builder.add_plane_collision(
+            sapien.Pose(p=[0, 0, altitude], q=[0.7071068, 0, -0.7071068, 0]),
+            material,
         )
+        builder.set_physx_body_type("static")
+        ground = builder.build()
         ground.name = "ground"
         return ground