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Fix randomize_rigid_body_material crash with Newton backend #5063

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Fix randomize_rigid_body_material crash with Newton backend #5063

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afea0c8
Fix randomize_rigid_body_material crash with Newton backend
ax-anoop Mar 19, 2026
83703da
Merge branch 'develop' into fix/newton-material-randomization
AntoineRichard Mar 20, 2026
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27 changes: 22 additions & 5 deletions source/isaaclab/isaaclab/envs/mdp/events.py
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Original file line number Diff line number Diff line change
Expand Up @@ -206,11 +206,24 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv):
# obtain number of shapes per body (needed for indexing the material properties correctly)
# note: this is a workaround since the Articulation does not provide a direct way to obtain the number of shapes
# per body. We use the physics simulation view to obtain the number of shapes per body.
if isinstance(self.asset, BaseArticulation) and self.asset_cfg.body_ids != slice(None):
self.num_shapes_per_body = []
for link_path in self.asset.root_view.link_paths[0]:
link_physx_view = self.asset._physics_sim_view.create_rigid_body_view(link_path) # type: ignore
self.num_shapes_per_body.append(link_physx_view.max_shapes)
# Check if the backend supports material property APIs
self._supports_material_randomization = hasattr(self.asset.root_view, "max_shapes")
if not self._supports_material_randomization:
logger.warning(
"randomize_rigid_body_material: the current physics backend does not support"
" material property randomization (missing root_view.max_shapes). Skipping."
)
self.num_shapes_per_body = None
elif isinstance(self.asset, BaseArticulation) and self.asset_cfg.body_ids != slice(None):
if hasattr(self.asset, "num_shapes_per_body"):
# Backend (e.g. Newton) provides this directly
self.num_shapes_per_body = self.asset.num_shapes_per_body
else:
# PhysX backend: compute from physics simulation view
self.num_shapes_per_body = []
for link_path in self.asset.root_view.link_paths[0]:
link_physx_view = self.asset._physics_sim_view.create_rigid_body_view(link_path) # type: ignore
self.num_shapes_per_body.append(link_physx_view.max_shapes)
# ensure the parsing is correct
num_shapes = sum(self.num_shapes_per_body)
expected_shapes = self.asset.root_view.max_shapes
Expand Down Expand Up @@ -252,6 +265,10 @@ def __call__(
asset_cfg: SceneEntityCfg,
make_consistent: bool = False,
):
# skip if backend does not support material randomization
if not self._supports_material_randomization:
return

# resolve environment ids
if env_ids is None:
env_ids = torch.arange(env.scene.num_envs, device="cpu", dtype=torch.int32)
Expand Down