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btx0424 / OmniDrones

https://omnidrones.readthedocs.io/
MIT License
126 stars 23 forks source link

_RigidPrimView and _ArticulationView #37

Closed barrosiuri closed 7 months ago

barrosiuri commented 7 months ago

I am not reporting a bug, but if you could, I would like some clarification on two classes. Could you explain me why did you decided to make your own RigidPrimView and ArticulationView?

btx0424 commented 7 months ago

Hi there, thanks for your interest in our project.

I created the wrapper classes to better deal with the situations where each environment has multiple bodies/articulations of the same kind. For example, suppose we have /World/envs/env_*/Robot_0 and /World/envs/env_*/Robot_1, the original view classes give a view of shape [count=num_envs * 2,]. The new classes virtually "reshape" them into [num_envs, 2], making it more convenient for environment-level set/get.

barrosiuri commented 7 months ago

Thank you for the info. If I have more questions, should I post them here?

btx0424 commented 7 months ago

Sure. Feel free to raise an issue, email me, or join the discord if you have any questions.