[Isaac Sim 4.1] Crash with headless=false: "PxArticulationLink::setGlobalPose() illegal if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled"

[R0mB0r]

Hello, thank you for this project,
I am trying to run the training script with visualization enabled (headless=false) using Isaac Sim 4.1.0.
The simulation crashes immediately or freezes with a critical PhysX error indicating a conflict between the GPU pipeline and manual pose setting.

[zebin-huang]

Hi!

Could you share a bit more detail from the error logs?

Could you provide:

• The full traceback or console output up to and including the PhysX error
• Your system details (GPU model, driver version, OS)
• A brief description of how you’re invoking the training script (command line + any modified config)

Happy to help debug once we have a bit more info!

[R0mB0r]

Hi!

I am encountering an issue when launching the training with the following command:

"python train.py task=Hover algo=ppo headless=false enable_livestream=false"

The Isaac Sim window opens successfully, but the environment and robots do not load. The simulation then fails with this specific error in the console:
"[omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationLink.cpp, LINE 353"

System Details:
OS: Ubuntu 22.04.5 LTS (Kernel 6.8.0-87-generic)
GPU: NVIDIA T1000 8GB
Driver Version: 580.95.05

It seems like the initialization invokes a CPU-based pose setting method while the GPU pipeline is active.

[raiots]

Hi, are you located in a region with restricted international internet access? We have encountered similar errors when we are in restricted areas without enabled VPN.

[YanziChen323]

Hello, thank you for this project,
I am trying to run the training script with visualization enabled (headless=false)，Isaac-sim is unable to render and consistently displays a black screen.

[DeeplearnerAlex]

same problem, hwo to fix