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Sets enable_stabilization to false by default. #2628

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Sets enable_stabilization to false by default. #2628

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Setting enable_stabilization to false by default.
AntoineRichard Jun 5, 2025
04b65c7
Merge branch 'main' into antoiner/disable_stabilization_by_default
kellyguo11 Jun 10, 2025
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10 changes: 8 additions & 2 deletions source/isaaclab/isaaclab/sim/simulation_cfg.py
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Expand Up @@ -92,8 +92,14 @@ class PhysxCfg:
"""Enable a second broad-phase pass that makes it possible to prevent objects from tunneling through each other.
Default is False."""

enable_stabilization: bool = True
"""Enable/disable additional stabilization pass in solver. Default is True."""
enable_stabilization: bool = False
"""Enable/disable additional stabilization pass in solver. Default is False.

.. note::

Setting this flag to True should only be done if the simulation steps are very large (less than 30Hz).
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Should we throw a warning about this finding from the code? This way users know that if they see some issues in forces, they have a heads up?

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Suggested change
Setting this flag to True should only be done if the simulation steps are very large (less than 30Hz).
We recommend setting this flag to true only when the simulation step size is large (i.e., less than 30 Hz or more than 0.0333 seconds).

Enabling this flag can lead to incorrect forces being read from the contact sensor.
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This should be a warning. Also a bit confusing: are forces just computed incorrectly or they are reported wrong?

Suggested change
Enabling this flag can lead to incorrect forces being read from the contact sensor.
.. warn::
Enabling this flag may lead to incorrect contact forces report from the contact sensor.

"""

enable_enhanced_determinism: bool = False
"""Enable/disable improved determinism at the expense of performance. Defaults to False.
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