Greptile Summary

This PR is a documentation-only update to the PhysX backend docs, clarifying the PhysxCfg import path for Isaac Lab 3.0, correcting the representative example (enable_stabilization=False at dt=1/120), expanding the enable_stabilization threshold description, and softening the contact-sensor caveat wording.

• Import path: Explicitly guides users migrating from Isaac Lab 2.x to switch from isaaclab.sim to isaaclab_physx.physics.
• Example fix: enable_stabilization is now False in the 120 Hz example, consistent with the rule that stabilization is only recommended below 30 Hz.
• Wording polish: The enable_stabilization description and the supported-features.rst caveat are both made more precise; the solve_articulation_contact_last version note is reformulated (though the new phrasing is a bit verbose — see inline comment).

Confidence Score: 5/5

Documentation-only change with no runtime impact; all factual claims are internally consistent.

All changes are limited to .rst documentation files. The enable_stabilization=False correction is consistent with the 120 Hz example and the surrounding explanatory text. The import-path guidance matches the code block already present in the file. The only concern is a slightly verbose rewording of the solve_articulation_contact_last note, which is a minor clarity issue rather than a factual error.

The solve_articulation_contact_last paragraph in configuration.rst could be clearer — see the inline suggestion.

Important Files Changed

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[PhysxCfg setup] --> B{Isaac Lab version?}
    B -->|2.x| C["from isaaclab.sim import PhysxCfg"]
    B -->|3.0+| D["from isaaclab_physx.physics import PhysxCfg"]

    D --> E{Simulation rate?}
    E -->|dt > 1/30 s\nbelow 30 Hz| F["enable_stabilization=True\n⚠ contact-force magnitudes may be inaccurate"]
    E -->|dt ≤ 1/30 s\n30 Hz or faster| G["enable_stabilization=False\n✓ accurate contact-force readings"]

    G --> H["Example: dt=1/120\nenable_stabilization=False ✓"]

_{Reviews (1): Last reviewed commit: "docs: Clarify PhysX backend guidance" | Re-trigger Greptile}