Disappears when an object collides

Omniverse Isaac Sim
,
1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: RTX 4060
  • Driver Version: 535.183.01

Topic Description

Detailed Description

After the rigid body model and the non-rigid body model collide, the rigid body model disappears.
Why does this problem occur?
What is the solution?

The logs that occur just before it disappears are as follows:

[omni.physx.plugin] PhysX warning: PxShape::getMaterialFromInternalFaceIndex received 0xFFFFffff as input - returning NULL., FILE /builds/omniverse/physics/physx/source/physx/src/NpShape.cpp, LINE 561

3

Hi @jinkk.kim, thank you for posting this issue. Can you share your setup so we can reproduce it and look into the specific issue? Thanks!

4

Thank you for your response. @michalin

Below is how to set up Collision.
  Mesh used a complex CAD file.
  Collider of rigid body is SDF Mesh
  Collider of non-rigid body is Triangle Mesh

  1. Load rigid body USD, and non-rigid body USD in world
  2. Control rigid body USD using Action API
  3. When two objects come into contact, rigid body USD disappears.
  4. The following log occurs.
    [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/{our_robot_name}/{our_Xform_1}
    [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/{our_robot_name}/{our_Xform_2}
            …
    [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/{our_robot_name}/{our_Xform_N}
            …
    [Error] [omni.kit.app._impl] [py stderr]: rot = Rotation.from_matrix(rotation_matrices)
    [Error] [omni.kit.app._impl] [py stderr]: File “_rotation.pyx”, line 1152, in scipy.spatial.transform._rotation.Rotation.from_matrix
    [Error] [omni.kit.app._impl] [py stderr]: u, s, vh = gufunc(a, signature=signature, extobj=extobj)
    [Error] [omni.kit.app._impl] [py stderr]: raise LinAlgError(“SVD did not converge”)
    [Error] [omni.kit.app._impl] [py stderr]: numpy.linalg.LinAlgError: SVD did not converge

[Error] looks like a log caused by not finding a Xform.
If USD does not disappear suddenly, [Error] is expected to resolve.

Additional Test

Below is how to set up Collision.
  Mesh used a complex CAD file.
  Collider of A rigid body is SDF Mesh
  Collider of B rigid body is SDF Mesh

  1. Load A rigid body USD, and B rigid body USD in world
  2. Control A rigid body USD using Action API
  3. When two objects come into contact, the following log occurs.
  4. Stop Isaac Sim

[Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/{our_robot_name}/{our_Xform_1}
[Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/{our_robot_name}/{our_Xform_2}
        …
[Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/{our_robot_name}/{our_Xform_N}
        …
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] PhysX error: GPU convexTrimeshMidphase fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 2544
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] PhysX error: GPU convexTrimeshCore fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 2597
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] PhysX error: GPU sortTriangles fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 2621
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] PhysX error: GPU convexTrimeshPostProcess fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 2655
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] PhysX error: GPU convexTrimeshCorrelate fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 2689
2025-07-15 01:41:45 [217,985ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] PhysX error: GPU convexTrimesh finishContacts fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 2741
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] PhysX error: GPU prepareLostFoundPairs_Stage1 fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 353
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] PhysX error: GPU prepareLostFoundPairs_Stage2 fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 365
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] PhysX error: GPU updateFrictionPatches fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 7261
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] PhysX error: GPU triangleTriangleOverlaps fail to launch !!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 1369
2025-07-15 01:41:45 [217,986ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] PhysX error: GPU triangleTriangleCollision fail to launch !!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 1410
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] PhysX error: GPU prepareLostFoundPairs_Stage1 fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 353
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] PhysX error: GPU prepareLostFoundPairs_Stage2 fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 365
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] PhysX error: GPU updateFrictionPatches fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 7261
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] PhysX error: Synchronizing GPU Narrowphase failed! 700
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 1586
2025-07-15 01:41:45 [217,987ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] PhysX error: Fetching GPU Narrowphase failed! 700
, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 1697
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuEventRecord failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 40
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuStreamWaitEvent failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 46
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuEventRecord failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 40
2025-07-15 01:41:45 [217,988ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuStreamWaitEvent failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 46
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuEventRecord failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 40
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuStreamWaitEvent failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 46
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuEventRecord failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 62
2025-07-15 01:41:45 [217,989ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,990ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuStreamWaitEvent failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 68
2025-07-15 01:41:45 [217,990ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,990ms] [Error] [omni.physx.plugin] PhysX error: GPU zero bodies fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpusolver/src/PxgSolverCore.cpp, LINE 604
2025-07-15 01:41:45 [217,990ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,990ms] [Error] [omni.physx.plugin] PhysX error: GPU artiContactConstraintPrepare fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpusolver/src/PxgTGSCudaSolverCore.cpp, LINE 1021
2025-07-15 01:41:45 [217,990ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuEventRecord failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 62
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuStreamWaitEvent failed with error 700
, FILE /builds/omniverse/physics/physx/source/gpucommon/include/PxgCudaUtils.h, LINE 68
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] PhysX error: GPU initializeSolverVelocitiesTGS fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpusolver/src/PxgTGSCudaSolverCore.cpp, LINE 1277
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateImpulses2 fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 856
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateVelocity fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 870
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] PhysX error: GPU markActiveSlab fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpusolver/src/PxgSolverCore.cpp, LINE 665
2025-07-15 01:41:45 [217,991ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] PhysX error: GPU solveBlockUnified fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpusolver/src/PxgTGSCudaSolverCore.cpp, LINE 1186
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateImpulses2 fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 856
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateVelocity fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 870
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] PhysX error: GPU solveBlockUnified fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpusolver/src/PxgTGSCudaSolverCore.cpp, LINE 1186
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateImpulses2 fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 856
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,992ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateVelocity fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 870
2025-07-15 01:41:45 [217,993ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,993ms] [Error] [omni.physx.plugin] PhysX error: GPU solveBlockUnified fail to launch kernel!!
, FILE /builds/omniverse/physics/physx/source/gpusolver/src/PxgTGSCudaSolverCore.cpp, LINE 1186
2025-07-15 01:41:45 [217,993ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,993ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateImpulses2 fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 856
2025-07-15 01:41:45 [217,993ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,993ms] [Error] [omni.physx.plugin] PhysX error: GPU artiPropagateVelocity fail to launch kernel!! 700
, FILE /builds/omniverse/physics/physx/source/gpuarticulation/src/PxgArticulationCore.cpp, LINE 870
2025-07-15 01:41:45 [217,993ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2025-07-15 01:41:45 [217,994ms] [Error] [omni.physx.plugin] PhysX error: GPU solveBlockUnified fail to launch kernel!!

5

Hi @jinkk.kim I am sorry for this very late reply. I am not able to reproduce the error from simple meshes I setup. Can you share the complex mesh file you imported from CAD? Also, since the original post there has been new Isaac Sim and Physics libraries that have been release. Newest is Isaac sim 5.1.0. You can give it a try and see if this issue has been fixed.

6

Hello!

We noticed that this topic hasn’t received any recent responses, so we are closing it for now to help keep the forum organized.

If you’re still experiencing this issue or have additional questions, please feel free to create a new topic with updated details. When doing so, we recommend mentioning or linking to this original topic in your new post—this helps provide context and makes it easier for others to assist you.

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