PhysX error when simulation is running

[amoghv1]

I have started to setup a simulation environment with the Franka base, a table and a generic cube.

I get the “PhysX error” as shown in ht epicture with the simulation is played.

I have set the physics to be colliders with preset. and also enabled and disabled kinematics. This did not help.

[Simplychenable]

@amoghv1 just out of curiosity, are you using a Cube Shape or Mesh? If you aren’t sure, you can check via the stage panel: below shows two cube prims. the top is a mesh while the other is a shape (by type). can you verify which type your generic cube belongs to?

[amoghv1]

I am using the mesh. with Rigid body colliders preset.

[Simplychenable]

though i am just another user, would you be able to provide the following information to facilitate the troubleshooting of this issue?

• information about your setup: the Isaac Sim version, GPU, driver version, etc.
• outlines the steps you took for others to reproduce this issue
• or better yet, provide the .USD file that is having issue for a more comprehensive deep dive
• provide the complete console log file to assess potential error/warning messages

[PeterNV]

Hi,
The PhysX error indicates a restriction within the PhysX engine regarding the use of triangle meshes for dynamic rigid bodies.

PhysX requires that dynamic rigid bodies (non-kinematic PxRigidDynamic instances) that use triangle meshes for collision detection must have an associated Signed Distance Field (SDF) if those meshes are configured as eSIMULATION_SHAPE. If you are using a triangle mesh without an SDF for a non-kinematic dynamic actor, PhysX will report this error because this configuration is not supported for simulation purposes.

If the object needs to be a fully dynamic rigid body and use a triangle mesh for collision, you must generate an SDF for that triangle mesh during the cooking process.

I am going to close the issue.