When I import a USD file with 400 rigid bodies into Isaac Sim and click ‘Play’ to start the simulation, the system crashes, and the entire interface becomes unresponsive with no error messages in the terminal. I would like to know if there is a limit on the number of rigid bodies when using the GPU for simulation in Isaac Sim, and if there are any solutions to address this issue. Below, I’ve attached the CPU and GPU statuses during the crash along with my hardware specifications. Thank you!
Isaac Sim Version ：4.2.0
Isaac Lab Version ： 1.2
Operating System ：Ubuntu 20.04
Thank you for reporting this issue with simulating a large number of rigid bodies in Isaac Sim. To better assist you, it would be extremely helpful if you could provide a minimal reproducible example of your scene. This will allow us to more accurately diagnose and address the problem you’re experiencing.
In the following scenario, there is a 20x20 array of spheres on the ground, each sphere being a rigid body. I am trying to simulate a Contact Sensor, and as far as I know, each Contact Sensor needs to be bound to a rigid body. Therefore, if I want to achieve multiple sensor points on a single object, I need to add a large number of rigid bodies, which causes the system to crash during simulation. I have tried modifying parameters in the physicsScene, such as GPU Temp Buffer Capacity, GPU Max Rigid Patch Count, and GPU Heap Capacity, but this had no effect.
How can I address the limitation on the number of rigid bodies in the simulation?
Is there any way to improve the approach with Contact Sensors?
If I want to use the GPU for large-scale parallel training, will this still be limited by the number of rigid bodies?
