Skip to content

Updates PhysX GPU buffer dimensions for ARL navigation environment #5783

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
kellyguo11 wants to merge 1 commit into from
+9 −1
Closed

Updates PhysX GPU buffer dimensions for ARL navigation environment #5783

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions source/isaaclab_tasks/changelog.d/fix-arl-navigation-physx-gpu-pairs.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
Fixed
^^^^^

* Fixed PhysX GPU buffer capacities for the ARL Robot 1 navigation task.
6 changes: 5 additions & 1 deletion ...saaclab_tasks/manager_based/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -337,7 +337,11 @@ def __post_init__(self):
static_friction=1.0,
dynamic_friction=1.0,
)
self.sim.physics = PhysxCfg(gpu_max_rigid_patch_count=2**21)
self.sim.physics = PhysxCfg(
gpu_max_rigid_contact_count=2**25,
gpu_max_rigid_patch_count=2**23,
gpu_found_lost_pairs_capacity=2**23,
)
# update sensor update periods
# we tick all the sensors based on the smallest update period (physics update period)
if self.scene.contact_forces is not None:
Expand Down
Loading