PhysX error when setting angular damping: PxSceneFlag::eENABLE_DIRECT_GPU_API prevents setGlobalPose / setLinearVelocity

[shy924]

Description

I encounter a PhysX runtime error when trying to apply PhysxRigidBodyAPI and set angular damping for a prim.

The code works for creating the attribute, but during simulation PhysX throws errors related to PxSceneFlag::eENABLE_DIRECT_GPU_API.

Code

prim = stage.GetPrimAtPath(prim_path)

physx_rigid_body = PhysxSchema.PhysxRigidBodyAPI(prim)
if not physx_rigid_body:
    physx_rigid_body = PhysxSchema.PhysxRigidBodyAPI.Apply(prim)

angular_attr = physx_rigid_body.CreateAngularDampingAttr()
angular_attr.Set(angular_damping)

Error Log

[Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 102 

[Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setLinearVelocity(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 239 

[Error] [omni.physx.plugin] PhysX error: PxRigidDynamic::setAngularVelocity(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidDynamic.cpp, LINE 287

Expected Behavior

Setting the angular damping attribute should not trigger PhysX errors during simulation.

Questions

Is this caused by the PhysX scene running with PxSceneFlag::eENABLE_DIRECT_GPU_API?

Are we not allowed to modify rigid body state (angular damping) when the direct GPU API is enabled?

Is there a recommended way to configure damping parameters for rigid bodies when running GPU PhysX?

Environment

Simulator: Isaac Sim

Framework: Isaac Lab

PhysX backend: GPU PhysX

Python API: `PhysxSchema.PhysxRigidBodyAPI```