Fix OOM in convex narrowphase heightfield collision (#926)#953
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Tanisha-Sharma005 wants to merge 1 commit intogoogle-deepmind:mainfrom
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Closes google-deepmind#926 - Preallocate data.contacts before heightfield collision loop - 50% buffer for dynamic collision counts (ncollision_in[0] * MJ_MAXCONPAIR * 2) - Prevents OOM during batch training with large batch_size
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@Tanisha-Sharma005 thank you for contributing to mujoco warp! closing this pr since we are not planning to merge the pr. if you are interested in contributing further to the project please follow up on issues marked 'good first issue'. thanks! |
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Preallocates contact memory before heightfield collision loop to prevent OOM crashes during batch training.
Changes:
data.contacts.allocate(max_contacts * 1.5)ncollision_in[0] * MJ_MAXCONPAIR * 2Tested: No more OOM with batch_size=64
Before: OOM crash in
collision_convex.pyAfter: Stable batch training
Closes #926