# PhysX error: Illegal BroadPhaseUpdateData
**URL:** https://forums.developer.nvidia.com/t/physx-error-illegal-broadphaseupdatedata/299156
**Category:** Isaac Sim
**Tags:** python
**Created:** [July 9, 2024, 8:49am UTC](https://forums.developer.nvidia.com/t/physx-error-illegal-broadphaseupdatedata/299156 "2024-07-09T08:49:47Z")
**Posts on this page:** 2
**Page:** 1
### Author:  [@mateo.bode.4f](https://forums.developer.nvidia.com/u/mateo.bode.4f)
#### Post date: [July 9, 2024, 8:49am UTC](https://forums.developer.nvidia.com/t/physx-error-illegal-broadphaseupdatedata/299156/1 "2024-07-09T08:49:47Z")
Hello,
I am fairly new to using Isaac Sim and I don’t quite understand where the error comes from. I was checking posts on the forum but I couldn’t find a solution for my problem. I am currently working on a research project on my university and I need to use Isaac Sim, ZED Stereo camera and THK Seed Noid robot to perform floor space segmentation. I was trying to import the robot’s URDF file on Isaac SIM by following this tutorial [https://docs.omniverse.nvidia.com/isaacsim/latest/advanced\_tutorials/tutorial\_advanced\_import\_urdf.html#importing-urdf-using-python](https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html#importing-urdf-using-python) . However I did some changes to the python file and it looks like this:
# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from omni.isaac.examples.base\_sample import BaseSample
from omni.isaac.core.utils.extensions import get\_extension\_path\_from\_name
from omni.importer.urdf import \_urdf
import omni.kit.commands
import omni.usd
# Note: checkout the required tutorials at [https://docs.omniverse.nvidia.com/app\_isaacsim/app\_isaacsim/overview.html](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)
class HelloWorld(BaseSample):
def **init** (self) → None:
super(). **init** ()
return
```
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
#Acquire the urdf interface
urdf_interface = _urdf.acquire_urdf_interface()
#Set the settings in the import configuration
import_config = _urdf.ImportConfig()
import_config.merge_fixed_joints = False
import_config.convex_decomp = True
import_config.fix_base = True
import_config.make_default_prim = True
import_config.self_collision = False
import_config.create_physics_scene = True
import_config.import_inertia_tensor = True
import_config.default_drive_strength = 1047.19751
import_config.default_position_drive_damping = 52.35988
import_config.default_drive_type = _urdf.UrdfJointTargetType.JOINT_DRIVE_POSITION
import_config.distance_scale = 1
import_config.density = 0.0
# Get the urdf file path
urdf_path = "/home/nakamuralab/Desktop/seed_r7_ros_pkg-master/seed_r7_description/typeg/noid.urdf"
# Finally import the robot
result, prim_path = omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path,
import_config=import_config,)
if not result:
print(f"Failed to import URDF file: {urdf_path}")
else:
print(f"URDF file imported successfully: {prim_path}")
return
async def setup_post_load(self):
return
async def setup_pre_reset(self):
return
async def setup_post_reset(self):
return
def world_cleanup(self):
return
if __name__ == " __main__":
sample = HelloWorld()
sample.run()
```
The URDF file of the robot is open source in this GitHub repo: [seed\_r7\_ros\_pkg/seed\_r7\_description/typeg/noid.urdf at master · seed-solutions/seed\_r7\_ros\_pkg · GitHub](https://github.com/seed-solutions/seed_r7_ros_pkg/blob/master/seed_r7_description/typeg/noid.urdf)
The error on Isaac SIM part is this:
2024-07-09 08:26:25 [73,576ms] [Error] [omni.physx.plugin] PhysX error: Illegal BroadPhaseUpdateData
, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/lowlevelaabb/src/BpBroadPhaseABP.cpp, LINE 4024
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/base\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/wheel\_base\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/front\_camera\_base\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/rear\_camera\_base\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/wheels\_base\_laser\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/wheels\_front\_left\_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/wheels\_front\_right\_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/wheels\_rear\_left\_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/wheels\_rear\_right\_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/wheels\_top\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/front\_camera\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/rear\_camera\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/lifter\_base\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/front\_camera\_depth\_optical\_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/front\_camera\_right\_ir\_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/rear\_camera\_depth\_optical\_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/rear\_camera\_right\_ir\_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/leg\_shank\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/leg\_shank\_link\_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/leg\_knee\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/leg\_thigh\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/leg\_thigh\_link\_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/leg\_base\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/lifter\_top\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/waist\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/hip\_sphere\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/hip\_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/body\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/chest\_camera\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_shoulder\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/neck\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_shoulder\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/chest\_camera\_depth\_optical\_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/chest\_camera\_right\_ir\_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_shoulder\_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/head\_base\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_shoulder\_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_upperarm\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/head\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_upperarm\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_elbow\_virtual\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_elbow\_virtual\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_elbow\_virtual\_link\_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_elbow\_virtual\_link\_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_elbow\_middle\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_elbow\_middle\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_elbow\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_elbow\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_forearm\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_forearm\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_wrist\_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_wrist\_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_wrist\_r\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_wrist\_r\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_hand\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_hand\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_eef\_grasp\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_eef\_pick\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_indexbase\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_thumb\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_eef\_grasp\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_eef\_pick\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_indexbase\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_thumb\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_indexmid\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_thumb\_tip\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_indexmid\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_thumb\_tip\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_indexend\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_indexend\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/l\_index\_tip\_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED\_Noid\_Mover\_typeG/r\_index\_tip\_link.
I would appreciate an expert advice for my problem. Thank you in advance.
---
### Author:  [@dekusmash016](https://forums.developer.nvidia.com/u/dekusmash016)
#### Post date: [July 25, 2024, 12:35pm UTC](https://forums.developer.nvidia.com/t/physx-error-illegal-broadphaseupdatedata/299156/2 "2024-07-25T12:35:43Z")
hey,
did u found the solution, I am also getting the same error while playing the robot in simulation.