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

[waivivian]

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.

Any kind help will be highly appreciated.