Hey All! Hoping to shed some light on an error I’m having. When I have many (8000) non-instancable robots training with isaaclab (hash ffe8cd2adf7b10c3be55624bdf00aad26eff7c5) in Isaac Sim 4.0.0, it writes this warning many, many, many times on startup.
2024-07-02 21:48:28 [124,045ms] [Error] [omni.physx.plugin] PhysX error: PxPhysics::createMaterial: limit of 64K materials reached., FILE /builds/omniverse/physics/physx/source/physx/src/NpPhysics.cpp, LINE 598
2024-07-02 21:48:28 [124,045ms] [Error] [omni.physx.plugin] PhysX error: material pointer 0 is NULL!, FILE /builds/omniverse/physics/physx/source/physx/src/NpShape.h, LINE 232
2024-07-02 21:48:28 [124,046ms] [Error] [omni.physx.plugin] PhysX error: PxPhysics::createMaterial: limit of 64K materials reached., FILE /builds/omniverse/physics/physx/source/physx/src/NpPhysics.cpp, LINE 598
This happens when it’s initializing the simulation but before the NN or wandb is loaded. I’m also training with rsl_rl right now for the high speed GPU side perf.
I’ve tried looking around for relevant configuration parameters in the SimulationCfg Object but none seem to be either 64K in size or related to material quantity specifically.
Any input on how to raise this limit or to mitigate this error would be great! I’m unsure if this is benign or not, but regardless it adds another ~40s to startup.