address comment

Author: ooctipus

source/isaaclab_newton/docs/CHANGELOG.rst

@@ -10,13 +10,6 @@ Added
 * Added ``set_friction_index/mask`` and ``set_restitution_index/mask`` methods to
   Newton assets for native material property randomization.
 
-Changed
-^^^^^^^
-
-* Removed ``shape_material_mu`` and ``shape_material_restitution`` data properties.
-* Removed hardcoded ``default_body_armature`` from Newton cloner. Use
-  :class:`~isaaclab.envs.mdp.randomize_rigid_body_inertia` event term instead.
-
 
 0.5.10 (2026-04-05)
 ~~~~~~~~~~~~~~~~~~~

source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation.py

@@ -3909,10 +3909,10 @@ def _resolve_shape_ids(self, shape_ids: Sequence[int] | torch.Tensor | wp.array
         Returns:
             A warp array of shape indices or a tensor of shape indices.
         """
-        if isinstance(shape_ids, list):
-            return wp.array(shape_ids, dtype=wp.int32, device=self.device)
         if (shape_ids is None) or (shape_ids == slice(None)):
             return self._ALL_SHAPE_INDICES
+        elif isinstance(shape_ids, list):
+            return wp.array(shape_ids, dtype=wp.int32, device=self.device)
         return shape_ids
 
     def _resolve_fixed_tendon_ids(

source/isaaclab_physx/test/assets/test_rigid_object.py

@@ -604,6 +604,44 @@ def test_rigid_body_set_material_properties(num_cubes, device):
         torch.testing.assert_close(materials_to_check.reshape(num_cubes, 3), materials)
 
 
+@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.isaacsim_ci
+def test_set_material_properties_index(num_cubes, device):
+    """Test setting material properties using the set_material_properties_index API."""
+    with build_simulation_context(
+        device=device, gravity_enabled=True, add_ground_plane=True, auto_add_lighting=True
+    ) as sim:
+        sim._app_control_on_stop_handle = None
+        # Generate cubes scene
+        cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
+
+        # Play sim
+        sim.reset()
+
+        # Get number of shapes
+        max_shapes = cube_object.root_view.max_shapes
+
+        # Generate random material properties: (static_friction, dynamic_friction, restitution)
+        materials = torch.empty(num_cubes, max_shapes, 3, device="cpu").uniform_(0.0, 1.0)
+        # Ensure dynamic friction <= static friction
+        materials[..., 1] = torch.min(materials[..., 0], materials[..., 1])
+
+        # Use the new set_material_properties_index API
+        env_ids = torch.arange(num_cubes, dtype=torch.int32)
+        cube_object.set_material_properties_index(materials=materials, env_ids=env_ids)
+
+        # Simulate physics
+        sim.step()
+        cube_object.update(sim.cfg.dt)
+
+        # Get material properties from simulation
+        materials_check = wp.to_torch(cube_object.root_view.get_material_properties())
+
+        # Check if material properties are set correctly
+        torch.testing.assert_close(materials_check, materials)
+
+
 @pytest.mark.parametrize("num_cubes", [1, 2])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.isaacsim_ci