[Question] PhysX error: "pxgdynamicsmemoryconfig::foundlostaggregatepairscapacity needs to be increased" during simulation of a collinear Mecanum wheeled robot

[Fuhua-Bot]

I am simulating a collinear Mecanum wheeled robot in IsaacLab. Like many others, I set the joints of the Mecanum wheel rollers to "Exclude from Articulation" to handle the complex dynamics. However, upon doing so, the model crashes immediately.

To work around this, I chose not to include the roller joints in the articulation. Instead, I configured the MDP actions to control only the drive joints of the Mecanum wheel shafts. It works but after running the simulation for approximately 50 iterations, I encountered the following error:

physx error: the application needs to increase pxgdynamicsmemoryconfig::foundlostaggregatepairscapacity to 38692647, otherwise, the simulation will miss interactions, file

This error is difficult to troubleshoot as there is limited information online. I suspect it might be related to my configuration of the robot's joints or the physics settings.

Environment: IsaacSim version: 4.1.0 Operating System: Ubuntu 22.04 GPU: RTX3090Ti / RTX A5000 ada RAM: 128G The robot model is imported from Onshape and set the mass.

This error seems to stem from the handling of the Mecanum wheel rollers and their articulation settings. It might also be related to the physics memory configuration or how interactions are being handled in PhysX. Any guidance on resolving this issue or adjusting the necessary memory capacity would be greatly appreciated.

Thank you for your assistance!

[kellyguo11]

Hi, this error can be solved by increasing the gpu_found_lost_aggregate_pairs_capacity value in the PhysxCfg.