One thing you can do in this case is record a PhysX debug log, by setting the
GYM_PVD_FILE environment variable:
Alternatively, you could point our team toward a reproducible test case.
You can also try using
--device=CPU command line parameter to determine if the issue is related to either running in GPU PhysX, or using the tensor communications path. The
--device=CPU parameter forces the tensor communications path off, which will also disable the GPU PhysX path by default.
You can also use
--device=CPU along with
--physx_gpu to force GPU PhysX simulation on while still disabling the tensor path - this mode copies GPU results back to the CPU and returns CPU tensors for any tensor APIs you use.