[Bug Report] Physx error on contact sensor #1400
Description
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!