Potential memory leak in Isaac Gym

[aart.stuurman]

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 …

see nvidia comment in this thread. :(