diff --git a/3rd_party/sapien-vulkan-2 b/3rd_party/sapien-vulkan-2
index 5b1203ab..a9a39f87 160000
--- a/3rd_party/sapien-vulkan-2
+++ b/3rd_party/sapien-vulkan-2
@@ -1 +1 @@
-Subproject commit 5b1203abf28d59fbe1e29fb7544dc0c8337edf77
+Subproject commit a9a39f87e6e44e07193ecd8cfd7b9102c840c90b
diff --git a/include/sapien/component/physx/articulation.h b/include/sapien/component/physx/articulation.h
index 6b3fd96a..91b34766 100644
--- a/include/sapien/component/physx/articulation.h
+++ b/include/sapien/component/physx/articulation.h
@@ -95,6 +95,8 @@ class PhysxArticulation {
     mLinks.resize(size, 0);
   }
 
+  std::shared_ptr<PhysxEngine> mEngine;
+
   physx::PxArticulationReducedCoordinate *mPxArticulation{};
   physx::PxArticulationCache *mCache{};
 
diff --git a/python/py_package/__init__.pyi b/python/py_package/__init__.pyi
index 0dc283de..3af5e6df 100644
--- a/python/py_package/__init__.pyi
+++ b/python/py_package/__init__.pyi
@@ -61,5 +61,5 @@ __all__ = [
 
 def set_log_level(level: str) -> None:
     pass
-__version__ = '3.0.0.dev20231107'
+__version__ = '3.0.0.dev20231108'
 SceneConfig = sapien.pysapien.physx.PhysxSceneConfig
diff --git a/src/component/physx/articulation.cpp b/src/component/physx/articulation.cpp
index d501aa22..81fc122d 100644
--- a/src/component/physx/articulation.cpp
+++ b/src/component/physx/articulation.cpp
@@ -14,6 +14,7 @@ shared_link(PhysxArticulationLinkComponent *link) {
 }
 
 PhysxArticulation::PhysxArticulation() {
+  mEngine = PhysxEngine::Get();
   mPxArticulation = PhysxEngine::Get()->getPxPhysics()->createArticulationReducedCoordinate();
   mPxArticulation->setArticulationFlag(PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES, true);
 }