Fix PhysX collision filtering in direct tasks

scripts/demos/pick_and_place.py

@@ -230,6 +230,9 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
+            self.scene.filter_collisions(global_prim_paths=["/World/ground"])
         # add articulation to scene
         self.scene.articulations["pick_and_place"] = self.pick_and_place
         self.scene.rigid_objects["cube"] = self.cube

scripts/tutorials/06_deploy/anymal_c_env.py

@@ -68,7 +68,8 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
-        if self.device == "cpu":
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
         light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
         light_cfg.func("/World/Light", light_cfg)

source/isaaclab_tasks/changelog.d/fix-direct-physx-collision-filtering.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed ineffective joint actuation in direct-workflow PhysX environments by filtering collisions between
+  replicas on all simulation devices.

source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/anymal_c_env.py

@@ -77,8 +77,8 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
-        # we need to explicitly filter collisions for CPU simulation
-        if self.device == "cpu":
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
         # add lights
         light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))

source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_env.py

@@ -103,8 +103,8 @@ def _setup_scene(self):
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
 
-        if self.device == "cpu":
-            # we need to explicitly filter collisions for CPU simulation
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions()
 
         self.scene.articulations["robot"] = self._robot

source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/humanoid_amp_env.py

@@ -69,8 +69,8 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
-        # we need to explicitly filter collisions for CPU simulation
-        if self.device == "cpu":
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=["/World/ground"])
 
         # add articulation to scene

source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env.py

@@ -143,8 +143,8 @@ def _setup_scene(self):
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
 
-        # we need to explicitly filter collisions for CPU simulation
-        if self.device == "cpu":
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
 
         # add lights

source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env.py

@@ -56,8 +56,8 @@ def _setup_scene(self):
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
 
-        if self.device == "cpu":
-            # we need to explicitly filter collisions for CPU simulation
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=[])
 
         # add articulation and sensors to scene

source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env.py

@@ -43,8 +43,8 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
-        # we need to explicitly filter collisions for CPU simulation
-        if self.device == "cpu":
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=[])
 
         # add articulation to scene

source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env.py

@@ -96,6 +96,9 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
+            self.scene.filter_collisions(global_prim_paths=["/World/ground"])
         # add articulation to scene - we must register to scene to randomize with EventManager
         self.scene.articulations["right_robot"] = self.right_hand
         self.scene.articulations["left_robot"] = self.left_hand

source/isaaclab_tasks/isaaclab_tasks/core/locomotion/locomotion_direct_env.py

@@ -122,8 +122,8 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
-        # we need to explicitly filter collisions for CPU simulation
-        if self.device == "cpu":
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
         # add articulation to scene
         self.scene.articulations["robot"] = self.robot

source/isaaclab_tasks/isaaclab_tasks/core/pendulum/pendulum_env.py

@@ -47,8 +47,8 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
-        # we need to explicitly filter collisions for CPU simulation
-        if self.device == "cpu":
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
             self.scene.filter_collisions(global_prim_paths=[])
         # add articulation to scene
         self.scene.articulations["robot"] = self.robot

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env.py

@@ -57,6 +57,9 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
+            self.scene.filter_collisions(global_prim_paths=[])
         # add articulation to scene - we must register to scene to randomize with EventManager
         self.scene.articulations["robot"] = self.hand
         self.scene.rigid_objects["object"] = self.object

source/isaaclab_tasks/isaaclab_tasks/core/reorient/reorient_direct_env.py

@@ -106,6 +106,9 @@ def _setup_scene(self):
         pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing, device=self.device)[0]
         plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, self.device, pos)
         cloner.replicate(plan, stage=self.scene.stage)
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
+            self.scene.filter_collisions(global_prim_paths=["/World/ground"])
         # add articulation to scene - we must register to scene to randomize with EventManager
         self.scene.articulations["robot"] = self.hand
         self.scene.rigid_objects["object"] = self.object