Add num_shapes_per_body to Newton RigidObject#7
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vidurv-nvidia wants to merge 1 commit intoooctipus:feature/event_mdp_parityfrom
Open
Add num_shapes_per_body to Newton RigidObject#7vidurv-nvidia wants to merge 1 commit intoooctipus:feature/event_mdp_parityfrom
vidurv-nvidia wants to merge 1 commit intoooctipus:feature/event_mdp_parityfrom
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The Newton randomize_rigid_body_material impl calls asset.num_shapes_per_body on both Articulation and RigidObject. The property existed on Articulation but was missing from RigidObject, causing AttributeError when randomizing friction on rigid objects.
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Summary
The Newton
randomize_rigid_body_materialimplementation callsasset.num_shapes_per_bodyon bothArticulationandRigidObject. The property was added toArticulationbut is missing fromRigidObject, causingAttributeErrorwhen randomizing friction on rigid objects (e.g. a power supply object in a manipulation task).This adds the same cached
num_shapes_per_bodyproperty to Newton'sRigidObject, usingself._root_view.body_shapes(same approach as theArticulationimplementation).Test
Without this fix:
With this fix:
randomize_rigid_body_materialworks on bothArticulationandRigidObjectassets on the Newton backend.