Tuning CCD parameters in physX

Omniverse Isaac Sim
1

Hi NVIDIA Forum,

Is there an python API to set CCD parameters in physX directly, such as “PxSceneDesc::ccdMaxPasses”?

Thanks!

3

@nodevon.ws would this page help you find what you are looking for?

and max passes specific:

5

Thank you for your reply. This page does provide an functions for setting relevant parameters. However, is there any python API that can call these functions？

6

Hi @nodevon.ws, thank you for posting your question. At the moment Isaac Sim only exposes the option to enable/disable CCD. The parameters are not exposed, but typically you won’t need to tune them. Is there a particular issue you are running into that requires tuning them?

7

Thanks for your reply. Indeed, I’ve been facing an issue where the Franka gripper tends to detach from the hand during some grasping tasks when CCD is enabled. I’m wondering if this problem is related to the these parameter settings.

8

Can you share a video of how it is detaching? Under what scenario?

9

Hello!

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