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Support shared visual material instances #110

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Merged
yuecideng merged 1 commit into from
Feb 1, 2026
Merged

Support shared visual material instances #110

yuecideng merged 1 commit into from
Feb 1, 2026

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@yuecideng yuecideng commented Feb 1, 2026 •
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Description

  • Add shared param to set_visual_material API for RigidObject and Articulation. This makes material instances shared across num_envs environments.
  • Also improve randomize_visual_material functor to handle the shared case.

Type of change

  • Enhancement (non-breaking change which improves an existing functionality)

Checklist

  • I have run the black . command to format the code base.
  • I have made corresponding changes to the documentation
  • I have added tests that prove my fix is effective or that my feature works
  • Dependencies have been updated, if applicable.

@yuecideng yuecideng added the rendering Things related to rendering (eg, performace, efficiency, bug) label Feb 1, 2026
@yuecideng yuecideng merged commit e57c212 into main Feb 1, 2026
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@yuecideng yuecideng deleted the yueci/shared-visual-mat branch February 1, 2026 07:48
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@yuecideng