IsaacGym Memory Release Error

[xingyulin2016]

Hi,

When I try to destroy my sim or viewer, I get the following error:

free(): invalid next size (fast)

And then the program exits improperly. This only happens after loading many assets (around 60 cabinets). It takes around 20G GPU memory. When memory usage is smaller, the issue does not happen.

I wonder if there is a way to resolve this issue. It seems to be related to the following issues:

Possible memory leak

We use Gym to simulate many environments at the same time, multiple times a row, using the Python API. We see memory usage increase on the GPU and CPU. Steps to reproduce: 1 Create a gym object 2 Create a sim 3 Create multiple environments with some actors (100x1 for us), loaded via URDF. 4 Create a viewer 5 Run the simulation (30s for us, dt 0.02, 2 steps) 6 Destroy the viewer 7 Destroy the sim 7.5 possibly destroy the environments, but this is not in the documentation tutorials(?) 8 …

Potential memory leak in Isaac Gym

Creating and destroying a sim repeatedly in a loop causes a memory leak: for i in range(10): sim = gym.create_sim(...) gym.destroy_sim(sim) printing nvidia-smi shows a steady increase of GPU memory allocation. is there a proper way of disposing the sim after each loop? this is useful if we need to run multiple experiments / trials with differing configurations