[Question] Where should I code the GPU buffer settings in the RL code?

[H-Hisamichi]

Dear All,

I am working on robot RL using a manager-based approach. A GPU buffer overflow error occurred, so I tried to manually specify the buffer, but I don't know where to code it.
I followed the troubleshooting steps in MySceneCfg class, but the following error occurred. It seems the configuration is in the wrong place.

Error executing job with overrides: []
Traceback (most recent call last):
  File "/home/robot/IsaacLab_v1.4.0/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 99, in hydra_main
    func(env_cfg, agent_cfg, *args, **kwargs)
  File "/home/robot/IsaacLab_v1.4.0/IsaacLab/source/standalone/workflows/rsl_rl/train.py", line 101, in main
    env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
  File "/home/robot/anaconda3/envs/iccar2025_v2/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 740, in make
    env = env_creator(**env_spec_kwargs)
  File "/home/robot/IsaacLab_v1.4.0/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py", line 76, in __init__
    super().__init__(cfg=cfg)
  File "/home/robot/IsaacLab_v1.4.0/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py", line 122, in __init__
    self.scene = InteractiveScene(self.cfg.scene)
  File "/home/robot/IsaacLab_v1.4.0/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py", line 150, in __init__
    self._add_entities_from_cfg()
  File "/home/robot/IsaacLab_v1.4.0/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py", line 625, in _add_entities_from_cfg
    raise ValueError(f"Unknown asset config type for {asset_name}: {asset_cfg}")
ValueError: Unknown asset config type for sim_cfg: SimulationCfg(physics_prim_path='/physicsScene', device='cuda:0', dt=0.016666666666666666, render_interval=1, gravity=(0.0, 0.0, -9.81), enable_scene_query_support=False, use_fabric=True, disable_contact_processing=False, physx=PhysxCfg(solver_type=1, min_position_iteration_count=1, max_position_iteration_count=255, min_velocity_iteration_count=0, max_velocity_iteration_count=255, enable_ccd=False, enable_stabilization=True, enable_enhanced_determinism=False, bounce_threshold_velocity=0.5, friction_offset_threshold=0.04, friction_correlation_distance=0.025, gpu_max_rigid_contact_count=8388608, gpu_max_rigid_patch_count=300, gpu_found_lost_pairs_capacity=2097152, gpu_found_lost_aggregate_pairs_capacity=33554432, gpu_total_aggregate_pairs_capacity=2097152, gpu_collision_stack_size=67108864, gpu_heap_capacity=67108864, gpu_temp_buffer_capacity=16777216, gpu_max_num_partitions=8, gpu_max_soft_body_contacts=1048576, gpu_max_particle_contacts=1048576), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x7c811d15a9e0>, static_friction=0.5, dynamic_friction=0.5, restitution=0.0, improve_patch_friction=True, friction_combine_mode='average', restitution_combine_mode='average', compliant_contact_stiffness=0.0, compliant_contact_damping=0.0), render=RenderCfg(enable_translucency=False, enable_reflections=False, enable_global_illumination=False, antialiasing_mode='DLSS', enable_dlssg=False, dlss_mode=0, enable_direct_lighting=True, samples_per_pixel=1, enable_shadows=True, enable_ambient_occlusion=False))

I would appreciate any advice!

[kellyguo11]

Hi there, you can reference this as an example:

IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/inhand_env_cfg.py

Line 322 in 36568a0

physx=PhysxCfg(