google-deepmind / google-deepmind/mujoco
Memory allocation error using Windows OS
- Dominant language
- C++
- Stars
- 15.2k
- Forks
- 1.8k
- Avg merge
- 10d 16h
- Merged PRs (30d)
- 25
Description
### Intro
Hi!
I am a PhD student at the Polytechnic University of Turin, I use MuJoCo for my research on muscle activity estimation.
I encountered a memory allocation error using Windows that is not present when running the same code with the same PC using WSL. Below is a minimal script to reproduce the error with the arm26.xml model.
CC involved collaborators: @vikashplus @vittorione94
### My setup
Python: 3.11.7
Mujoco: 3.2.6
OS: Windows 10
PC: Dell XPS 13 9310 (16GB RAM)
### What's happening? What did you expect?
When running the code attached below using Windows, I get `mujoco.FatalError: Could not allocate memory` at the i-th instance of MjData, despite the RAM being used by the process is lower than the available (<2GB used, >4GB available). When I run the same code using WSL on the same PC there are no errors if I have RAM available (I also report that the code is about 10 times faster in this case).
I would expect not to have this error if I still have memory available.
### Steps for reproduction
Run the code below using Windows OS.
### Minimal model for reproduction
arm26.xml
minimal XML
```XML
```
### Code required for reproduction
```python
import mujoco
N = 10000
mj_model = mujoco.MjModel.from_xml_path('arm26.xml')
mj_datas = [None] * N
for i in range(N):
mj_datas[i] = mujoco.MjData(mj_model)
print(i)
```
### Confirmations
- [X] I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
- [X] I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.
Contributor guide
Assessment
This issue has not been assessed yet.