Isaac Sim crashes when importing URDF with many links

Omniverse Isaac Sim
1

Since the contact sensor would only give the same value regardless of the location on a link, I created multiple links to simulate the contact values at multiple locations. This works when I tested it on a single-finger link. However, when I test this on the entire robot hand, Isaac Sim crashes immediately after initialization.

  <joint name="link_3_tip_taxel_joint_0" type="fixed">
    <parent link="link_3_tip"/>
    <child link="link_3_tip_taxel_link_0"/>
    <axis xyz="1. 0. 0."/>
    <origin xyz="0.0078 0.0101 0.0126" rpy="0.0 -0.0 0.0"/>
  </joint>
...
  <joint name="link_3_tip_taxel_joint_29" type="fixed">
    <parent link="link_3_tip"/>
    <child link="link_3_tip_taxel_link_29"/>
    <axis xyz="1. 0. 0."/>
    <origin xyz="0.0078 -0.0143 -0.0142" rpy="0.0 -0.0 0.0"/>
  </joint>

I receive the following error

2023-07-18 19:04:31 [86,591ms] [Error] [carb.crashreporter-breakpad.plugin] crash detected
2023-07-18 19:04:31 [86,591ms] [Warning] [carb.crashreporter-breakpad.plugin] A crash has occurred.  If a debugger should be attached, please set the '/crashreporter/debuggerAttachTimeoutMs' setting to a timeout in milliseconds.  This can be used to allow the crash reporter to wait for up to that long for a debugger to attach before processing or sending the crash report.
2023-07-18 19:04:31 [86,594ms] [Warning] [carb.crashreporter-breakpad.plugin] compressing 2 files into '/home/hli/.local/share/ov/data/Kit/Isaac-Sim/2022.2/b618444f-61de-4e33-66059f82-a4ec0192.dmp.zip' for upload.
2023-07-18 19:04:32 [87,228ms] [Warning] [carb.crashreporter-breakpad.plugin] Uploading minidump: file:'/home/hli/.local/share/ov/data/Kit/Isaac-Sim/2022.2/b618444f-61de-4e33-66059f82-a4ec0192.dmp.zip' svr:'https://services.nvidia.com/submit'
2023-07-18 19:04:32 [87,228ms] [Warning] [carb.crashreporter-breakpad.plugin] Crash metadata for upload:
2023-07-18 19:04:32 [87,228ms] [Warning] [carb.crashreporter-breakpad.plugin]   CarbSdkVersion = '129.11+129.tc565.0f371ae5'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   DumpId = 'b618444f-61de-4e33-66059f82-a4ec0192'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   ProductName = 'OmniverseKit'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   RetryCount = '0'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   StartupTime = '1689706985'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   UploadSuccessful = '0'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   UptimeSeconds = '87'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   Version = '104.2+release.295.529af2e4.tc'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   appName = 'Isaac-Sim'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   appState = 'started'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   appVersion = '2022.2.1'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   autoloadExts = 'omni.kit.debug.vscode-0.1.0'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildBranch = 'release'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildCi = 'tc'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildHash = '529af2e4'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildId = '14001715'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMajor = '104'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMinor = '2'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMr = '0'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildNumber = '295'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildPatch = '0'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildVersion = '104.2.0'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   environmentName = 'default'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   experience = 'Isaac Sim'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   kitRendererDriverVersion = '510.108'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommand = 'SetAttrCommand(attr=?,value=?,on_gpu=False,update_usd=False)'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommands = 'SetLightingMenuModeCommand(lighting_mode=stage,usd_context_name=),URDFParseAndImportFile(urdf_path=/home/hli/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/isaacsim_datagen/3d_models/takktile_description/TakkTileII_taxel.urdf,import_config=?),URDFParseFile(urdf_path=/home/hli/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/isaacsim_datagen/3d_models/takktile_description/TakkTileII_taxel.urdf,import_config=?),CreateGraphAsNodeCommand(graph_path=/Replicator/SDGPipeline,node_name=SDGPipeline,evaluator_name=execution,is_global_graph=True,backed_by_usd=True,fc_backing_type=?,pipeline_stage=?,evaluation_mode=?,graph=?),CreateNodeCommand(graph=?,node_path=/Replicator/SDGPipeline/OgnWriteSemantics,node_type=omni.replicator.core.OgnWriteSemantics,create_usd=True),CreateNodeCommand(graph=?,node_path=/Replicator/SDGPipeline/OnImpulseEvent,node_type=omni.graph.action.OnImpulseEvent,create_usd=True),SetAttrCommand(attr=?,value=?,on_gpu=False,update_usd=False)'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   memoryStats = '(avail/total) RAM: 30.8181/61.4748GB, Swap: 1.99511/2GB, VM: 1.71799e+10/1.71799e+10GB'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   portableMode = '0'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   stageUrl = ''
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   systemInfo = '
|---------------------------------------------------------------------------------------------|
| Driver Version: 510.108.03    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | Quadro RTX 6000                  | Yes: 0 |     | 24822   MB | 10de      | 0          |
|     |                                  |        |     |            | 1e30      | 7faabedb.. |
|=============================================================================================|
| OS: Linux sv870515lx, Version: 5.15.0-71-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Xeon(R) Silver 4216 CPU @ 2.10GHz | Cores: Unknown | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 62950 | Free Memory: 51610
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   telemetrySessionId = '13848392778749352587'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   userId = 'YTUZ_qY7NrRehr0kbrVAB6bUlUq_k5N0kwxOUh00ObI'
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin] Crash report files for upload:
2023-07-18 19:04:32 [87,229ms] [Warning] [carb.crashreporter-breakpad.plugin]   upload_file_minidump = '/home/hli/.local/share/ov/data/Kit/Isaac-Sim/2022.2/b618444f-61de-4e33-66059f82-a4ec0192.dmp.zip'
2023-07-18 19:04:32 [87,699ms] [Warning] [carb.crashreporter-breakpad.plugin] uploaded minidump: file: '/home/hli/.local/share/ov/data/Kit/Isaac-Sim/2022.2/b618444f-61de-4e33-66059f82-a4ec0192.dmp.zip', code:200, response:
2023-07-18 19:04:32 [87,699ms] [Warning] [carb.crashreporter-breakpad.plugin]     00000189095e18cb-892c3

2023-07-18 19:04:32 [87,699ms] [Warning] [carb.crashreporter-breakpad.plugin] deleting minidump: '/home/hli/.local/share/ov/data/Kit/Isaac-Sim/2022.2/b618444f-61de-4e33-66059f82-a4ec0192.dmp.zip' (use setting "/crashreporter/preserveDump=true" to save).
2023-07-18 19:04:32 [87,699ms] [Error] [carb.crashreporter-breakpad.plugin] Wrote dump file '/home/hli/.local/share/ov/data/Kit/Isaac-Sim/2022.2/b618444f-61de-4e33-66059f82-a4ec0192.dmp.zip'
2023-07-18 19:04:32 [87,699ms] [Error] [carb.crashreporter-breakpad.plugin]     the dump file was deleted due to a successful upload.  Its originalsize was 546647 bytes and was readable.
2023-07-18 19:04:32 [87,700ms] [Fatal] [carb.crashreporter-breakpad.plugin] Crash detected in pid 1763295 thread 1763306
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin] Crash metadata:
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   CarbSdkVersion = '129.11+129.tc565.0f371ae5'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   DumpId = 'b618444f-61de-4e33-66059f82-a4ec0192'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   ProductName = 'OmniverseKit'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   RetryCount = '0'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   StartupTime = '1689706985'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   UploadSuccessful = '0'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   UptimeSeconds = '87'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   Version = '104.2+release.295.529af2e4.tc'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   appName = 'Isaac-Sim'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   appState = 'started'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   appVersion = '2022.2.1'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   autoloadExts = 'omni.kit.debug.vscode-0.1.0'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildBranch = 'release'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildCi = 'tc'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildHash = '529af2e4'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildId = '14001715'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMajor = '104'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMinor = '2'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildMr = '0'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildNumber = '295'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildPatch = '0'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   buildVersion = '104.2.0'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   environmentName = 'default'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   experience = 'Isaac Sim'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   kitRendererDriverVersion = '510.108'
2023-07-18 19:04:32 [87,701ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommand = 'SetAttrCommand(attr=?,value=?,on_gpu=False,update_usd=False)'
2023-07-18 19:04:32 [87,702ms] [Warning] [carb.crashreporter-breakpad.plugin]   lastCommands = 'SetLightingMenuModeCommand(lighting_mode=stage,usd_context_name=),URDFParseAndImportFile(urdf_path=/home/hli/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/isaacsim_datagen/3d_models/takktile_description/TakkTileII_taxel.urdf,import_config=?),URDFParseFile(urdf_path=/home/hli/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/isaacsim_datagen/3d_models/takktile_description/TakkTileII_taxel.urdf,import_config=?),CreateGraphAsNodeCommand(graph_path=/Replicator/SDGPipeline,node_name=SDGPipeline,evaluator_name=execution,is_global_graph=True,backed_by_usd=True,fc_backing_type=?,pipeline_stage=?,evaluation_mode=?,graph=?),CreateNodeCommand(graph=?,node_path=/Replicator/SDGPipeline/OgnWriteSemantics,node_type=omni.replicator.core.OgnWriteSemantics,create_usd=True),CreateNodeCommand(graph=?,node_path=/Replicator/SDGPipeline/OnImpulseEvent,node_type=omni.graph.action.OnImpulseEvent,create_usd=True),SetAttrCommand(attr=?,value=?,on_gpu=False,update_usd=False)'
2023-07-18 19:04:32 [87,702ms] [Warning] [carb.crashreporter-breakpad.plugin]   memoryStats = '(avail/total) RAM: 30.8181/61.4748GB, Swap: 1.99511/2GB, VM: 1.71799e+10/1.71799e+10GB'
2023-07-18 19:04:32 [87,702ms] [Warning] [carb.crashreporter-breakpad.plugin]   portableMode = '0'
2023-07-18 19:04:32 [87,702ms] [Warning] [carb.crashreporter-breakpad.plugin]   stageUrl = ''
2023-07-18 19:04:32 [87,702ms] [Warning] [carb.crashreporter-breakpad.plugin]   systemInfo = '
|---------------------------------------------------------------------------------------------|
| Driver Version: 510.108.03    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|---------------------------------------------------------------------------------------------|
| 0   | Quadro RTX 6000                  | Yes: 0 |     | 24822   MB | 10de      | 0          |
|     |                                  |        |     |            | 1e30      | 7faabedb.. |
|=============================================================================================|
| OS: Linux sv870515lx, Version: 5.15.0-71-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Xeon(R) Silver 4216 CPU @ 2.10GHz | Cores: Unknown | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 62950 | Free Memory: 51610
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
'
2023-07-18 19:04:32 [87,702ms] [Warning] [carb.crashreporter-breakpad.plugin]   telemetrySessionId = '13848392778749352587'
2023-07-18 19:04:32 [87,702ms] [Warning] [carb.crashreporter-breakpad.plugin]   userId = 'YTUZ_qY7NrRehr0kbrVAB6bUlUq_k5N0kwxOUh00ObI'
2023-07-18 19:04:32 [87,702ms] [Fatal] [carb.crashreporter-breakpad.plugin] Thread 1763306 backtrace follows:
2023-07-18 19:04:33 [88,624ms] [Fatal] [carb.crashreporter-breakpad.plugin] 000: libpthread.so.0!funlockfile+0x60 (sigaction.c:?)
2023-07-18 19:04:34 [89,452ms] [Fatal] [carb.crashreporter-breakpad.plugin] 001: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x7fa (??:?)
2023-07-18 19:04:35 [90,192ms] [Fatal] [carb.crashreporter-breakpad.plugin] 002: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:36 [90,931ms] [Fatal] [carb.crashreporter-breakpad.plugin] 003: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:36 [91,667ms] [Fatal] [carb.crashreporter-breakpad.plugin] 004: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:37 [92,410ms] [Fatal] [carb.crashreporter-breakpad.plugin] 005: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:38 [93,150ms] [Fatal] [carb.crashreporter-breakpad.plugin] 006: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:39 [93,862ms] [Fatal] [carb.crashreporter-breakpad.plugin] 007: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:39 [94,571ms] [Fatal] [carb.crashreporter-breakpad.plugin] 008: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:40 [95,310ms] [Fatal] [carb.crashreporter-breakpad.plugin] 009: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:41 [96,049ms] [Fatal] [carb.crashreporter-breakpad.plugin] 010: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:41 [96,784ms] [Fatal] [carb.crashreporter-breakpad.plugin] 011: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:42 [97,522ms] [Fatal] [carb.crashreporter-breakpad.plugin] 012: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:43 [98,261ms] [Fatal] [carb.crashreporter-breakpad.plugin] 013: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:44 [99,036ms] [Fatal] [carb.crashreporter-breakpad.plugin] 014: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float)+0x232c (??:?)
2023-07-18 19:04:44 [99,777ms] [Fatal] [carb.crashreporter-breakpad.plugin] 015: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupInternalConstraints(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool)+0x174 (??:?)
2023-07-18 19:04:45 [100,513ms] [Fatal] [carb.crashreporter-breakpad.plugin] 016: libomni.physx.plugin.so!physx::Dy::FeatherstoneArticulation::setupSolverConstraintsTGS(physx::Dy::ArticulationSolverDesc const&, float, float, float, float, unsigned int&, physx::Cm::SpatialVectorF*)+0x55 (??:?)
2023-07-18 19:04:46 [101,249ms] [Fatal] [carb.crashreporter-breakpad.plugin] 017: libomni.physx.plugin.so!physx::Dy::DynamicsTGSContext::setupArticulationInternalConstraints(physx::Dy::IslandContextStep&, float, float)+0x17c (??:?)
2023-07-18 19:04:47 [101,957ms] [Fatal] [carb.crashreporter-breakpad.plugin] 018: libomni.physx.plugin.so!physx::Cm::Task::run()+0x21 (??:?)
2023-07-18 19:04:47 [102,702ms] [Fatal] [carb.crashreporter-breakpad.plugin] 019: libomni.physx.plugin.so!void std::vector<omni::physx::usdparser::SchemaAPIFlag::Enum, std::allocator<omni::physx::usdparser::SchemaAPIFlag::Enum> >::emplace_back<omni::physx::usdparser::SchemaAPIFlag::Enum>(omni::physx::usdparser::SchemaAPIFlag::Enum&&)+0xccea (??:?)
2023-07-18 19:04:48 [103,443ms] [Fatal] [carb.crashreporter-breakpad.plugin] 020: libcarb.tasking.plugin.so!std::string::insert(unsigned long, char const*, unsigned long)+0x1c8a (??:?)
2023-07-18 19:04:49 [104,158ms] [Fatal] [carb.crashreporter-breakpad.plugin] 021: libcarb.tasking.plugin.so!std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (carb::tasking::ThreadPool::*)(), carb::tasking::ThreadPool*> > >::~_State_impl()+0x9e15 (??:?)
2023-07-18 19:04:50 [104,934ms] [Fatal] [carb.crashreporter-breakpad.plugin] 022: libcarb.tasking.plugin.so!std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (carb::tasking::ThreadPool::*)(), carb::tasking::ThreadPool*> > >::~_State_impl()+0x9e69 (??:?)
2023-07-18 19:04:50 [105,685ms] [Fatal] [carb.crashreporter-breakpad.plugin] 023: libcarb.tasking.plugin.so!make_fcontext+0x2f (??:?)
Segmentation fault (core dumped)

I was wondering if is this an expected behavior of Isaac Sim? My setup is 2xRTX6000, 128GB RAM. I monitor the RAM/VRAM and the utilization are low. Any suggestion is appreciated.

2

Hi @lihongyu0807 - The crash might be due to the large number of links and joints you are creating. Each link and joint in a robot model adds to the complexity of the physics simulation, and there is a limit to how many can be handled efficiently.

If you are trying to simulate a tactile sensor array, consider using a different approach. Instead of creating a separate link for each sensor, you could use a single link with a collision shape that covers the entire area you want to sense. Then, use a contact sensor to detect collisions with this link.

You can also use a script to process the contact sensor data and determine the location of the contact within the link. This would give you the same information as having a separate sensor at each location, but with much less computational overhead.

If you still want to use multiple links, try reducing the number of links and see if the simulation still crashes. If it doesn’t, you might need to find a balance between the number of links and the level of detail you need for your simulation.

Also, make sure that your links and joints are defined correctly. Check for any errors or inconsistencies in your URDF file. A small mistake in the URDF can cause the simulation to crash.

3

Thank you very much for the detailed reply. Indeed, when I reduce the number of joints/links to 20%, the simulation runs without any issues.

Could you please elaborate on how to use a script to process the contact sensor and determine the location of the contact within the link? From my understanding, the contact sensor would only provide point collision information. Is this enough to detect the precise collision location on a robot’s finger tip?

4

Hi @lihongyu0807 - In Omniverse Isaac Sim, a contact sensor measures the surface load applied to a body. It simulates the contact sensor by summing all forces applied on a given trigger spherical region intersected with the given body surface via the omni.isaac.sensor extension.

However, the contact sensor does not provide detailed information about the precise location of the contact on the surface of the body. It only provides information about whether a contact has occurred within the defined region.

If you need to determine the precise location of the contact on a robot’s fingertip, you might need to use a different approach. One possible method could be to use multiple smaller contact sensors distributed across the surface of the fingertip. By checking which of these sensors has detected a contact, you could infer the location of the contact on the fingertip.

Here is a simple example of how you might implement this in a script:

# Assume we have a list of contact sensors on the fingertip
fingertip_sensors = [...]

for sensor in fingertip_sensors:
    if sensor.is_contact():
        print(f"Contact detected at sensor {sensor.name}")

This script would print the name of any sensor that detects a contact, allowing you to determine the location of the contact on the fingertip.

Please note that this is a simplified example and the actual implementation might be more complex, depending on the specific requirements of your application.

5

Thank you very much for the detailed, helpful reply.

6

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