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unisim.backend.isaacsim.physx_solver.apply_collision_offsets¶

unisim.backend.isaacsim.physx_solver.apply_collision_offsets(stage, *, contact_offset=None, rest_offset=None)[source]¶

Author collision offsets on every collision shape (worker-side only).

The offsets live on PhysxSchema.PhysxCollisionAPI (plain UsdPhysics.CollisionAPI has no such attributes), so the API is applied to every collision prim before values are authored. PhysX requires restOffset <= contactOffset; PhysxSolverConfig validates the relationship before the worker applies it here.

Parameters:

stage (Any)
contact_offset (float | None)
rest_offset (float | None)

Return type:

int