[Bug Report] Physx error on contact sensor

[supersglzc]

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]

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

[supersglzc]

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]

Thanks. We will look into this.

[linchangyi1]

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