[Question] Only during training, encounter "PhysX error: PxRigidBody::setMass(): mass must be non-negative!" despite non-negative/non-zero masses #518
Description
Quesiton
During training only, I encounter a PhysX error: PxRigidBody::setMass(): mass must be non-negative! error despite having non-negative/non-zero masses. The training does start, however, but the mean episode length is 1, so no there is no training being done, and thus I am assuming that this is the culprit.
I have tried to isolate the issue by creating a seperate scene with all of the same configs as the training environment and running it, and I have no issues running there. (So I assume this is not an issue with my configs/USD file?)
Please let me know if this is a Isaac Sim bug instead, so I can ask in their forums - however because it only occurs during training, I am suspecting it is an issue with Isaac Sim.
Steps to reproduce
Because of such a vague error message, I can't really trace it to anything, so I'm having a hard time coming up with a minimal example, so I have listed the output, USD files, as well as some code snippets that are maybe relevant to the issue. Please let me know if there are other pieces of code/outputs I should submit.
terminal_out.txt
mistletoe_usd.zip
Articulation Config
HAA_ACTUATOR_CFG = DCMotorCfg(
joint_names_expr=[".*HAA"],
saturation_effort=24,
effort_limit=24,
velocity_limit=7.5,
stiffness={".*": 40.0},
damping={".*": 5.0},
)
KFE_ACTUATOR_CFG = DCMotorCfg(
joint_names_expr=[".*KFE"],
saturation_effort=9,
effort_limit=9,
velocity_limit=7.5,
stiffness={".*": 40.0},
damping={".*": 5.0},
)
HFE_ACTUATOR_CFG = DCMotorCfg(
joint_names_expr=[".*HFE"],
saturation_effort=9,
effort_limit=9,
velocity_limit=7.5,
stiffness={".*": 40.0},
damping={".*": 5.0},
)
#Articulation Configs
MISTLETOE_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path= dirname + '/assets/mistletoe_usd/mistletoe.usd',
# Adapted from Anymal Velocity Tracking Example's Config
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
retain_accelerations=False,
linear_damping=0.0,
angular_damping=0.0,
max_linear_velocity=1000.0,
max_angular_velocity=1000.0,
max_depenetration_velocity=1.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.15),
joint_pos={
".*HAA": 0.0, # all HAA
"LEG_[14]_HFE": 0.8, # both front HFE
"LEG_[23]_HFE": -0.8, # both hind HFE
"LEG_[23]_KFE": -0.8, # both front KFE
"LEG_[14]_KFE": 0.8, # both hind KFE
},
),
actuators={
"HAA": HAA_ACTUATOR_CFG,
"HFE": HFE_ACTUATOR_CFG,
"KFE": KFE_ACTUATOR_CFG
},
soft_joint_pos_limit_factor=0.95
)Environment Config
@configclass
class MistletoeRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# switch robot to anymal-c
self.scene.robot = MISTLETOE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
@configclass
class MistletoeRoughEnvCfg_PLAY(MistletoeRoughEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# spawn the robot randomly in the grid (instead of their terrain levels)
self.scene.terrain.max_init_terrain_level = None
# reduce the number of terrains to save memory
if self.scene.terrain.terrain_generator is not None:
self.scene.terrain.terrain_generator.num_rows = 5
self.scene.terrain.terrain_generator.num_cols = 5
self.scene.terrain.terrain_generator.curriculum = False
# disable randomization for play
self.observations.policy.enable_corruption = False
# remove random pushing event
self.events.base_external_force_torque = None
self.events.push_robot = Nonersl_rl_cfg
class MistletoeRoughPPORunnerCfg(RslRlOnPolicyRunnerCfg):
num_steps_per_env = 24
max_iterations = 1500
save_interval = 50
experiment_name = "mistloe_rough"
empirical_normalization = False
policy = RslRlPpoActorCriticCfg(
init_noise_std=1.0,
actor_hidden_dims=[512, 256, 128],
critic_hidden_dims=[512, 256, 128],
activation="elu",
)
algorithm = RslRlPpoAlgorithmCfg(
value_loss_coef=1.0,
use_clipped_value_loss=True,
clip_param=0.2,
entropy_coef=0.005,
num_learning_epochs=5,
num_mini_batches=4,
learning_rate=1.0e-3,
schedule="adaptive",
gamma=0.99,
lam=0.95,
desired_kl=0.01,
max_grad_norm=1.0,
)System Info
Describe the characteristic of your environment:
- Commit: b468546
- Isaac Sim Version: 4.0.0
- OS: Ubuntu 22.04.3
- GPU: RTX 3070
- CUDA: 11.5
- GPU Driver: 535.171.04
Additional context
The code I wrote is very similar to that of Anymal's environment, but running Anymal's environment seems to work, but mine doesn't.
Checklist
- I have checked that there is no similar issue in the repo (required)
- I have checked that the issue is not in running Isaac Sim itself and is related to the repo