unisim.backend.isaacsim.physx_solver.apply_max_depenetration_velocity

unisim.backend.isaacsim.physx_solver.apply_max_depenetration_velocity(stage, max_depenetration_velocity)[source]

Author one max depenetration velocity on every rigid body (worker-side only).

PhysX 5 expresses the depenetration velocity cap per rigid body (physxRigidBody:maxDepenetrationVelocity); the bundled IsaacSim PhysX schema has no scene-level attribute. The value lives on PhysxSchema.PhysxRigidBodyAPI, so the API is applied to every rigid body prim before the value is authored, mirroring the IsaacGym sim_params.physx.max_depenetration_velocity semantics that apply the cap to every actor.

Parameters:

  • stage (Any)

  • max_depenetration_velocity (float)

Return type:

int