Add num_shapes_per_body to Newton RigidObject#7
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- Revert all friction/restitution/material setter additions from Newton and PhysX asset classes (9 files). Material property operations stay at the view level. - Split randomize_rigid_body_material into backend-specific classes: PhysX uses bucket-based 3-tuple materials via root_view; Newton samples friction/restitution continuously per shape via view-level attribute bindings. - Convert randomize_rigid_body_com from function to ManagerTermBase class with cached defaults for repeatable randomization. - Split randomize_rigid_body_collider_offsets into backend-specific classes: PhysX uses rest/contact offsets; Newton maps to shape_margin/shape_gap. - Add BaseRigidObjectCollection support to randomize_rigid_body_inertia. - Fix _physics_sim_view bug (was incorrectly using root_view). - Restore shape-count validation in PhysX material init. - Rewrite all tests to use view-level APIs instead of asset setters. - Un-skip Newton rigid object material tests; skip friction/restitution behavior tests that are incompatible with MuJoCo physics model. - Remove stale Newton/PhysX changelog entries, rewrite isaaclab entry.
- Fix randomize_rigid_body_com to pass partial data (env_ids subset) to set_coms_index, matching the pattern used by mass/inertia terms. - Remove dead _default_friction/_default_restitution writes in Newton material implementation (values were written but never read back). - Guard Newton collider offset notification to only fire when params are actually provided. - Fix changelog Sphinx roles for converted function-to-class items.
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.
AntoineRichard
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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.