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!!