Set finite inertia for collisionless / visual-only rigid links#2198
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yalcintur wants to merge 4 commits into
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Set finite inertia for collisionless / visual-only rigid links#2198yalcintur wants to merge 4 commits into
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Pull request overview
This PR updates EntityPrim post-load behavior to prevent PhysX GPU dynamics articulation crashes by marking joints that touch non-physical links (e.g., visual-only links or meta links without collision meshes) as excluded from articulation solving when gm.USE_GPU_DYNAMICS is enabled. The intent is to keep CPU dynamics behavior unchanged while making GPU dynamics more robust to “non-physical” articulation bodies.
Changes:
- Invoke a new post-load pass that scans joints and sets
physics:excludeFromArticulation=Truefor joints referencing non-physical link prims (GPU dynamics only). - Add
_exclude_non_physical_joints_from_gpu_articulations()to compute non-physical link paths and apply the exclusion flag within a USD editing context.
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Profiling ReportBaselines (GPU dynamics)
Scenes
Non-physics features (GPU dynamics)
Deep profile artifactsDownload deep profile HTML reports and raw .prof files from the Actions artifacts (artifact prefix:
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upload_report: Run #5284
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…pal axes for them still
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GPU dynamics crashes caused by collisionless rigid links participating in articulations.
Collisionless links, such as visual-only or semantic/meta links, were assigned a tiny mass but could still end up with degenerate inertia properties. PhysX GPU articulation solving is less tolerant of these singular mass properties and could fail in GPU solver prep / zero-body kernels (e.g resetVelocity kernel etc.).