Illegal BroadPhaseUpdateData

[fira]

Hello,

In my standalone simulation I have a step where I need to wait aprox 5 minutes before continue and call the next world.step due to PPO learning. But I get the following errors and I think it is because the code don’t do any update to the simulation for a long time. Is there anyway I can set a setting so the simulation won’t complain if there is no action for a set amount of time? On a PhysicsScene prim GPU dynamics is enabled.

2023-02-16 09:10:12 [130,908ms] [Error] [omni.physx.plugin] PhysX error: Gu::overlap(): pose1 is not valid., FILE /buildAgent/work/f25a4639a4b1bdc1/source/geomutils/include/GuOverlapTests.h, LINE 98
2023-02-16 09:10:12 [130,913ms] [Error] [omni.physx.plugin] PhysX error: Illegal BroadPhaseUpdateData 
, FILE /buildAgent/work/f25a4639a4b1bdc1/source/lowlevelaabb/src/BpBroadPhaseABP.cpp, LINE 4024

Best regards

[Milad-Rakhsha]

This error happens because the collision detection has encountered bodies with invalid transforms e.g., infinite values for positions and rotations (or non-unitary rotation).

[fira]

I just detected this error just before the error I posted before. I have seen in the forum that it might be due to inf value in the model. Is there anyway to debug a model or get a more descriptive message? I can’t find any weird values in my model.

bil1001.usd (37.9 KB)

2023-02-17 18:49:13 [9,557ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/car100/chassi.
2023-02-17 18:49:13 [9,557ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/car100/wheel_back_left.
2023-02-17 18:49:13 [9,557ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/car100/wheel_left_block.
2023-02-17 18:49:13 [9,558ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/car100/wheel_right_block.
2023-02-17 18:49:13 [9,558ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/car100/wheel_back_right.
2023-02-17 18:49:13 [9,558ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/car100/wheel_front_left.
2023-02-17 18:49:13 [9,558ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/car100/wheel_front_right.

[AlesBorovicka]

@fira

Invalid PhysX transform detected for

These are reported when the simulation returns the NaN values, which most likely are caused by some incorrect input values.
The asset looks fairly simple, could you maybe share it with me, I can take a look where the NaN comes from on the input side, the debug version might give me more information.

[rthaker]

@fira , were you able to resolve the issue?. if not then please share the information as requested in previous post.

[fira]

@rthaker I did find the problem. After the first epoch PPO decided to go from range [-1,1] to [-100000,100000] the robot wheels got so much speed the robot position went to far away ;)