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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Bug Report] Physx error on contact sensor #1400

Open supersglzc opened 1 week ago

supersglzc commented 1 week ago

Hi,

In my task, I created 10 contact sensors to detect the collision between robot fingers and objects. However, after training around 60M steps, the simulation always crashed with the following error:

2024-11-09 19:44:40 [14,677,396ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.

2024-11-09 19:44:40 [14,677,397ms] [Error] [omni.physx.plugin] PhysX error: GPU compressContactStage1 fail to launch kernel stage 1!!, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 9566

2024-11-09 19:44:40 [14,677,397ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.

2024-11-09 19:44:40 [14,677,397ms] [Error] [omni.physx.plugin] PhysX error: GPU compressContactStage2 fail to launch kernel stage 1!!, FILE /builds/omniverse/physics/physx/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 9607

2024-11-09 19:44:40 [14,677,397ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.

2024-11-09 19:44:40 [14,677,399ms] [Error] [omni.physx.plugin] PhysX error: Scene state is corrupted. Simulation cannot continue!, FILE /builds/omniverse/physics/physx/source/physx/src/NpScene.cpp, LINE
2876

I am curious if there is a max number of contact sensors I can create or how should I resolve this issue? I am using Isaac sim 4.2 and the newest Isaac Lab.

Thanks!

RandomOakForest commented 1 week ago

This is due to a known issue the team is currently addressing. Thanks for posting this.

supersglzc commented 1 week ago

Thanks for the reply. I think this is due to the MultiAssetSpawnerCfg. Once you have two rigid objects that are both using this spawner, the error pops.

RandomOakForest commented 1 week ago

Thanks. We will look into this.

linchangyi1 commented 2 days ago

Hi @supersglzc, I encountered the same issue and would like to kindly ask if you’ve found any alternative solutions to fix it~