Accelerate and strengthen asset tests [8/13]

source/isaaclab_physx/changelog.d/antoiner-fix-physx-collection-com-inertia.rst

@@ -0,0 +1,13 @@
+Fixed
+^^^^^
+
+* Fixed :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_coms_index` and
+  :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_coms_mask` raising a ``KeyError`` because the
+  center-of-mass poses were passed to the PhysX tensor API as ``wp.transformf`` instead of ``float32``.
+* Fixed :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_coms_index` and
+  :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_coms_mask` leaving the unselected entries of
+  :attr:`~isaaclab_physx.assets.RigidObjectCollectionData.body_com_pose_b` zeroed when they were called for a
+  subset of bodies or environments before the property was first read.
+* Fixed :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_inertias_index` and
+  :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_inertias_mask` failing in the PhysX backend because the
+  inertias were passed to the PhysX tensor API with the wrong layout.

source/isaaclab_physx/isaaclab_physx/assets/rigid_object_collection/rigid_object_collection.py

@@ -1032,13 +1032,13 @@ def set_coms_index(
             ],
             device=self.device,
         )
-        # Invalidate the cached buffer
-        self.data._body_com_pose_b.timestamp = self.data._sim_timestamp
+        # Invalidate the cached buffers. The next read refreshes from the view, so that a partial write does not
+        # expose entries of the buffer that were never read back from the simulation.
         self.data._reset_body_com_pose_b_dependents()
         # Set into simulation, note that when updating "model" properties with PhysX we need to do it on CPU.
         # Convert from instance order (num_instances, num_bodies, 7) to view order (num_bodies*num_instances, 7) for
         # PhysX.
-        com_view_order = self.reshape_data_to_view_2d(self.data._body_com_pose_b.data, device="cpu")  # (B*I, 7)
+        com_view_order = self.reshape_data_to_view_2d(self.data._body_com_pose_b.data, device="cpu").view(wp.float32)
         view_ids = self._env_body_ids_to_view_ids(env_ids, body_ids, device="cpu")
         self.root_view.set_coms(com_view_order, indices=view_ids)
 
@@ -1128,8 +1128,9 @@ def set_inertias_index(
             device=self.device,
         )
         # Set into simulation, note that when updating "model" properties with PhysX we need to do it on CPU.
-        # Convert from instance order (num_instances, num_bodies) to view order for PhysX.
-        inertia_view_order = self.reshape_data_to_view_2d(self.data._body_inertia, device="cpu")
+        # Convert from instance order (num_instances, num_bodies, 9) to view order (num_bodies*num_instances, 9) for
+        # PhysX.
+        inertia_view_order = self.reshape_data_to_view_3d(self.data._body_inertia, 9, device="cpu")
         view_ids = self._env_body_ids_to_view_ids(env_ids, body_ids, device="cpu")
         self.root_view.set_inertias(inertia_view_order, indices=view_ids)