Uses PhysX accelerations for rigid body acceleration data #760
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Dhoeller19
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Aug 2, 2024
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iamdrfly
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Nov 21, 2024
) # Description Previously, we used finite differencing to compute rigid body accelerations. Since Isaac Sim 4.0, we can obtain the accelerations directly from PhysX. This MR removes the need for finite differencing. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
Previously, we used finite differencing to compute rigid body accelerations. Since Isaac Sim 4.0, we can obtain the accelerations directly from PhysX. This MR removes the need for finite differencing.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there