[Question] why in all the functions that write to physx only cpu tensors are used?

[tomshenkar]

Question

Hello,

In the mdp events files, is there a specific reason why in all the functions that write to physx only cpu tensors are used? Obviously this causes a large overhead, just want to confirm this is necessary.

Thanks

[RandomOakForest]

Thank you for posting this. I've added a title to your question and will move it to our Discussions section for the team to follow up.

[RandomOakForest]

Following up, this has been implemented as such by the team because of design considerations at the time. As the PhysX Newton Engine is incorporated into Isaac Lab in the near feature, this constrain will be lifted.