Baruch Tabanpour
f3b3024291
PiperOrigin-RevId: 704533915 Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
71 lines
2.3 KiB
Python
71 lines
2.3 KiB
Python
# Copyright 2024 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Test that copying mujoco.MjData multiple times doesn't leak memory."""
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import copy
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import textwrap
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from absl.testing import absltest
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import mujoco
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class MemoryLeakTest(absltest.TestCase):
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# Regression test for https://github.com/google-deepmind/mujoco/issues/1572
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def test_deepcopy_mjdata_leak(self):
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# MuJoCo model with textures that take up significant memory.
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model_xml = textwrap.dedent("""
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<mujoco>
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<asset>
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<material name="body"/>
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<texture name="grid" type="2d" builtin="checker"
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width="1024" height="1024" rgb1="0 0 0" rgb2="1 1 1"/>
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<material name="grid" texture="grid" texrepeat="1 1"
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texuniform="true" reflectance=".2"/>
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</asset>
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<worldbody>
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<geom size="0 0 .05" type="plane" material="grid"/>
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</worldbody>
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</mujoco>
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""")
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limit = self._memory_limit(4 * 2**32)
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try:
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model = mujoco.MjModel.from_xml_string(model_xml)
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data = mujoco.MjData(model)
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total = 0
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for _ in range(1000):
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mujoco.mj_step(model, data)
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last_data = copy.deepcopy(data)
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total += last_data.time
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finally:
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self._memory_limit(limit)
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def _memory_limit(self, limit_in_bytes: int) -> int:
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"""Limits max memory usage, and returns previous limit."""
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soft = -1
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try:
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import resource # pylint: disable=g-import-not-at-top
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soft, hard = resource.getrlimit(resource.RLIMIT_AS)
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resource.setrlimit(resource.RLIMIT_AS, (limit_in_bytes, hard))
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except (ImportError, ValueError):
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# On Windows or systems where setting resource limits fails, do nothing.
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pass
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return soft
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if __name__ == "__main__":
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absltest.main()
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