Illegal memory access when using object with "sdf" components along with robot having capsule as geometry element in xml

[hwtsui]

I encountered the error below when I tried to use the plugs and sockets from automate CAD dataset which contain sdf components in their urdf files. I changed to use mano hand instead of robot arm as my robot.

I found that this issue may be caused by the geometry elements with “type = capsule” in my robot xml. I have this claim because once I change those geometry elements from “type = capsule” to “type= box”, those errors would disappear.

Does it mean sdf is incompatible with geometry with “type = capsule”?

I checked there is still spare memory in my GPU.

Also, I found that these errors should be relevant to the sdf elements in those objects urdf files because when I delete those sdf elements the error would also disappear. However, the collision will then be inaccurate.

Just curious, I am not sure if this problem also exists in isaacsim.

Any kind help will be highly appreciated.

[pathofbuild]

When integrating detailed models into simulations, such as switching from a Franka robot arm to a Mano hand model using a CAD dataset, developers may encounter issues like illegal memory access, particularly when using complex components such as plugs and sockets. These errors, even with sufficient GPU memory, can often be linked to collision handling settings, like those defined in the SDF of a URDF file. Removing the SDF might fix the memory issue but could compromise collision accuracy. For insights into managing complex configurations and optimizing simulations, resources like pathofbuilding.net offer valuable guidance for tackling such challenges effectively.