fixed jolts in physics?

cfg/physics/default_physics.yaml

@@ -1,7 +1,8 @@
 physics_scene:
-  dt: 0.16666
+  dt: 0.016666
   gravity: [0.0, 0.0, -1.62]
   enable_ccd: true
-  enable_stabilization: false
+  enable_stabilization: true
   solver_type: PGS
   use_gpu_pipeline: false
+  broadphase_type: SAP

src/configurations/physics_confs.py

@@ -30,6 +30,7 @@ class PhysicsSceneConf:
     gpu_max_num_partions: int = None
     gpu_collision_stack_size: int = None
     solver_type: str = None
+    broadphase_type: str = None
     enable_stabilization: bool = None
     bounce_threshold_velocity: float = None
     friction_offset_threshold: float = None
@@ -41,3 +42,8 @@ def __post_init__(self):
         for attribute in dataclasses.fields(self):
             if getattr(self, attribute.name) is not None:
                 self.physics_scene_args[attribute.name] = getattr(self, attribute.name)
+
+        if self.broadphase_type is not None:
+            assert self.broadphase_type in ["SAP", "MBP", "GPU"]
+        if self.solver_type is not None:
+            assert self.solver_type in ["PGS", "TGS"]

src/physics/physics_scene.py

@@ -14,6 +14,10 @@
 class PhysicsSceneManager:
     def __init__(self, settings: PhysicsSceneConf) -> None:
         self.settings = settings
-        self.physics_context = PhysicsContext(sim_params=self.settings.physics_scene_args)
+        self.physics_context = PhysicsContext(sim_params=self.settings.physics_scene_args, set_defaults=True)
         if self.settings.enable_ccd:
             self.physics_context.enable_ccd(True)
+        if self.settings.broadphase_type is not None:
+            self.physics_context.set_broadphase_type(self.settings.broadphase_type)
+        if self.settings.solver_type is not None:
+            self.physics_context.set_solver_type(self.settings.solver_type)