I wanted to use robots whose collision approximation is set to convex decomposition in OmniIsaacGym. However, I found out that this robot makes the GPU memory continuously increase, and the code will crash. Does anyone know why this happens?
For example, I have run the
Allegro Hand task with the following two versions of Allegro Hand, one uses convex hull as the collision approximation method and the other uses convex decomposition.
allegro_hand_convex_decomposition.usd (1.7 MB)
allegro_hand_convex_hull.usd (1.5 MB)
The GPU memory does not increase for the convex hull version but continuously increases for the convex decomposition version, as follows.
I run the code using this script, with
Thanks in advance!