Exposes physxscene:solveArticulationContactLast flag through PhysxCfg
#3502
+37
−2
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
added
enhancement
kellyguo11
approved these changes
Sep 20, 2025
Mayankm96
reviewed
Sep 22, 2025
Mayankm96
reviewed
Sep 22, 2025
Mayankm96
reviewed
Sep 22, 2025
| physx_scene_api.CreateEnableEnhancedDeterminismAttr(self.cfg.physx.enable_enhanced_determinism) | ||
| # -- Set solve_articulation_contact_last by add attribute to the PhysxScene prim, and add attribute there. | ||
| physx_prim = physx_scene_api.GetPrim() | ||
| if self.cfg.physx.solve_articulation_contact_last: |
There was a problem hiding this comment.
what is parameter is False? Shouldn't that be set as well?
There was a problem hiding this comment.
good point, the small issue with set to false is that we break the backward compatibility, I think such flag does not exist pre isaac-sim 5.1
There was a problem hiding this comment.
let's test to see if it will break 5.0, we may want to add in a check if that's the case
Mayankm96
changed the title
physxscene:solveArticulationContactLast flag through PhysxCfg
|
Do we have an example showing that this feature helps? |
|
this flag was troduced when mimic gripper had the issues iirc, @peterd-NV , do you think we can engage with you to document the incidence of gripper behavior and how adding this flag can make gripper behave well, to illustrate the impact of this flag? |
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This PR adds api to set physxscene:solveArticulationContactLast through PhysxCfg,
this is only available in sim 5.1
Fixes # (issue)
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there