[Error] [omni.physx.plugin] PhysX error: ShapeInteraction::activeManagerAllowed: found invalid node!, FILE /builds/omniverse/physics/physx/source/simulationcontroller/src/ScShapeInteraction.h, LINE 284
im working with robot that contains closed loop structure. i encountered this error in reinforce learning process(omniisaacgym). physX suddenly explode with that error in the reinforce learning process. i want to know the reason why that error occurs.
Isaac Sim Version : 4.0.0
Operating System : Ubuntu 20.04
GPU Information
- Model: 4060ti
- Driver Version: 570.133.20
Hi @yunseok1106, thank you for posting the issue. I think what is throwing this error is that two bodies are being checked for collision but one or both of them have been invalidated. I am not sure if this is related to using closed-loop kinematic chains. I have an example of a four bar linkage and has no problem running.
Can you update your simulator to 4.5.0? 4.0.0 is old and not supported anymore. Also, if you can share your setup I may be able to provide more specific help.
im working with isaac sim 4.0.0 + omniverse isaac gym setup.
isaac sim 4.5.0 + isaaclab option is quiet high requirement for my equipment.
I found that this error occurs when all agents reset simultaneously during an RL session. I think this may be due to a large number of contact calculations during the reset phase. The closed-loop structure with spherical joints seems to make the issue worse. For now, I’ve worked around this by reducing the number of environments and replacing spherical joints with either D6 joints or dummy links plus revolute joints.
I’m wondering if simulator version 4.5.0 has improved PhysX solver performance or better handling of spherical joints. I suspect there may still be issues with setting the initial pose for closed-loop robots.
Hi @yunseok1106, so sorry for the slow reply. I can try to repro your setup with 4.0.0. Can you share the scripts that produce the error?
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.
Thank you for being part of the NVIDIA Isaac Sim community.
Best regards,
The NVIDIA Isaac Sim Forum Team