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Fix root transform attribute shape for fixed-base articulations#403

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nvlukasz merged 2 commits into
newton-physics:mainfrom
nvlukasz:fix-root-transform-shape
Jul 15, 2025
Merged

Fix root transform attribute shape for fixed-base articulations#403
nvlukasz merged 2 commits into
newton-physics:mainfrom
nvlukasz:fix-root-transform-shape

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@nvlukasz nvlukasz commented Jul 14, 2025 •
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Description

Previously, ArticulationView.get_root_transforms() returned an array with shape (n,) for floating articulations and shape (n, 1) for fixed-base articulations. Now it consistently returns shape (n,).

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Summary by CodeRabbit

  • Bug Fixes

    • Improved type validation for attribute selection, ensuring more robust handling of index and slice values in attribute access methods.

  • Refactor

    • Updated internal logic for attribute retrieval to use integer indices where appropriate, resulting in more precise selection behavior.

@nvlukasz
Fix root transform attribute shape for fixed-base articulations
9b26049 
Signed-off-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com>
@nvlukasz nvlukasz requested a review from AntoineRichard July 14, 2025 18:41
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📝 Walkthrough

Walkthrough

The _get_attribute_array method in ArticulationView was updated to accept an integer as the _slice parameter, in addition to Slice and None. Type checking for _slice was tightened. Calls to attribute value methods in get_root_transforms and set_root_transforms now pass an integer index instead of a single-element Slice when appropriate.

Changes

File(s) Change Summary
newton/utils/selection.py Expanded _get_attribute_array's _slice parameter to accept int; added explicit type validation. Updated get_root_transforms and set_root_transforms to pass an integer index rather than a single-element Slice to attribute value methods.

Sequence Diagram(s)

sequenceDiagram
    participant Caller
    participant ArticulationView
    participant Model/State/Control

    Caller->>ArticulationView: get_root_transforms() / set_root_transforms()
    ArticulationView->>ArticulationView: _get_attribute_array(..., _slice: int)
    ArticulationView->>Model/State/Control: Access attribute array at index
    Model/State/Control-->>ArticulationView: Return value
    ArticulationView-->>Caller: Return result
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📒 Files selected for processing (1)
  • newton/utils/selection.py (4 hunks)
🔇 Additional comments (4)
newton/utils/selection.py (4)

449-449: Type annotation updated correctly for integer slice support.

The addition of int to the _slice parameter type annotation is appropriate and aligns with the PR objective to fix shape inconsistencies by supporting direct integer indexing.

478-481: Slice handling logic correctly supports integer indices.

The updated logic properly handles both Slice instances (converted to Python slices) and integer values (passed through directly). The explicit type checking with TypeError provides clear error messages for invalid slice types.

567-567: Root transform indexing change addresses shape inconsistency.

The change from Slice(self._arti_joint_begin, self._arti_joint_begin + 1) to direct integer self._arti_joint_begin is correct and addresses the PR objective. This ensures fixed-base articulations return arrays with shape (n,) instead of (n, 1), making them consistent with floating articulations.

589-589: Root transform setting correctly uses integer indexing.

The change from a Slice object to direct integer indexing in set_root_transforms is consistent with the corresponding change in get_root_transforms and maintains the fix for shape inconsistency.

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@nvlukasz nvlukasz temporarily deployed to external-pr-approval July 14, 2025 18:41 — with GitHub Actions Inactive
@nvlukasz nvlukasz enabled auto-merge (squash) July 14, 2025 18:59
AntoineRichard
AntoineRichard approved these changes Jul 15, 2025
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@AntoineRichard AntoineRichard left a comment

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Thanks for the fix! I tested it on some of our envs and it looks good!

@nvlukasz nvlukasz had a problem deploying to external-pr-approval July 15, 2025 13:29 — with GitHub Actions Failure
@nvlukasz nvlukasz merged commit f09bf2d into newton-physics:main Jul 15, 2025
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This was referenced Sep 18, 2025
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eric-heiden pushed a commit to eric-heiden/newton that referenced this pull request Jan 28, 2026
@nvlukasz
Fix root transform attribute shape for fixed-base articulations (newt…
e77d73d 
…on-physics#403)

Signed-off-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com>
@coderabbitai coderabbitai Bot mentioned this pull request Feb 13, 2026
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@coderabbitai coderabbitai Bot mentioned this pull request Feb 23, 2026
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mmacklin pushed a commit to mmacklin/newton that referenced this pull request Apr 7, 2026
@nvlukasz
Fix root transform attribute shape for fixed-base articulations (newt…
87e9399 
…on-physics#403)

Signed-off-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com>
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