[Bug Report] PhysX Error when enabling randomize_rigid_body_inertia event

[AngLi-00]

Describe the bug

When I tried to train with default training cfg like python scripts/rsl_rl/base/train.py --task RobotLab-Isaac-Velocity-Rough-Unitree-G1-v0 --headless, the training process is working but I got Physx Error. Then I found that if I disable randomize_rigid_body_inertia event then the training log is free of Physx Error.

Steps to reproduce

run python scripts/rsl_rl/base/train.py --task RobotLab-Isaac-Velocity-Rough-Unitree-G1-v0 --headless with default training cfg, then I got tons of PhysX error print like:

...

[INFO] Curriculum Manager:  <CurriculumManager> contains 1 active terms.
+---------------------------+
|  Active Curriculum Terms  |
+--------+------------------+
| Index  | Name             |
+--------+------------------+
|   0    | terrain_levels   |
+--------+------------------+

2025-08-05 03:18:21 [29,685ms] [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
2025-08-05 03:18:21 [29,685ms] [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
2025-08-05 03:18:21 [29,687ms] [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
2025-08-05 03:18:21 [29,687ms] [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
...

System Info

• Commit: 0d4ac1c (current main branch)
• Isaac Sim Version: 4.5.0
• OS: Ubuntu 22.04
• GPU: RTX 4090
• CUDA: 12.4
• GPU Driver: 550.144.03

Checklist

• [ x ] I have checked that there is no similar issue in the repo (required)
• [ x ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo

[fan-ziqi]

Same bug on RoboParty ATOM01, RobotEra Xbot.

I will fix this in a future version

[Ma-Puzhi]

I meet the same error when I train RobotLab-Isaac-Velocity-Rough-FFTAI-GR1T1-v0.

[songshi1225]

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