[Question] PhysX error: PxRigidBody::setMassSpaceInertiaTensor(): components must be non-negative during training my own quadruped URDF

[xiaoxiaconfidence]

Question

When importing a custom quadruped robot URDF file into Isaac Lab, I encounter repeated PhysX errors during environment initialization:

✅ URDF Validation Passed:

• All mass values > 0
• All inertia diagonal elements > 0
• Inertia matrices are positive definite
• Joint axes properly aligned with coordinate axes
• URDF syntax validation passed

(env_isaaclab6) admin2@admin2-Legion-R9000P-ARX8:~/sunshine/Isaaclab$ python scripts/rsl_rl/base/train.py --task RobotLab-Isaac-Velocity-Rough-JRQ-v0 --num_envs 2000

2025-07-21 12:11:16 [30,150ms] [Error] [omni.physx.plugin] PhysX error: PxRigidBody::setMassSpaceInertiaTensor(): components must be non-negative, FILE /builds/omniverse/physics/physx/source/physx/src/NpRigidBodyTemplate.h, LINE 459
2025-07-21 12:11:17 [31,589ms] [Warning] [omni.kit.notification_manager.manager] PhysX error: PxRigidBody::setMassSpaceInertiaTensor(): components must be non-negative

[RandomOakForest]

Thanks for posting this. That's interesting. I'll review with the PhysX team.

[RandomOakForest]

Following up, I'll move this to our Discussions for follow up. Can you confirm you have included

import_config = ImportConfig()
import_config.set_import_inertia_tensor(True)

in your import script?