Get rigid shape names

The asset I imported into IsaacGym has a different number of rigid shapes than the number of rigid bodies. The URDF is created such that a body can have multiple shapes associated with it. Is it possible to know which shapes are associated with which bodies if the number of rigid bodies and rigid shapes is different? Or is there a way to associate the indices of rigid shapes to the indices of rigid bodies?

There is method in gymapi get_actor_rigid_body_shape_indices for this purpose.

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Thanks for sharing!

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