leaked shared_memory problem #21
Description
Great job! I tried to deploy it in real, however this problem has tangled for days.
Does anyone have any ideas for how to deal with it?
I run dial-mpc-sim --example unitree_go2_seq_jump_deploy in terminal 1 and PYTHONFAULTHANDLER=1 dial-mpc-plan --example unitree_go2_seq_jump_deploy in terminal 2. The error is shown below:
(sim2real) zhaok@zhaokai:~/lmr/dial-mpc-haoru-sim2real$ PYTHONFAULTHANDLER=1 dial-mpc-plan --example unitree_go2_seq_jump_deploy
| | / | /\ | __ \ ____ / || / || | | |
| | ___ | | / \ | |__) | / __ \ | | | \ / || | | |
| | / _ | | / /\ \ | _ / / / ` | | | | |/| || | | |
| | | /| | / ____ \ | | \ \ | | (| | | |__ | | | || || |
|| _| _|// _|| _\ \ _,| _||| || _/
___/
| __ \ |_ | /\ | | | / || __ \ / |
| | | | | | / \ | | ______ | \ / || |) || |
| | | | | | / /\ \ | | ||| |/| || / | |
| || | | | / ____ \ | |__ | | | || | | |____
|/ ||// _|| || |||| ___|
| __ \ | | /\ | \ | || \ | || || __ \
| |) || | / \ | | || | || | | |__) |
| / | | / /\ \ | . || . || | | _ /
| | | | / ____ \ | |\ || |\ || | | | \ \
|| ||// _|| _||| _||__||| _\
🚀Creating environment
Fatal Python error: Segmentation fault
Current thread 0x000078f8bdb0b740 (most recent call first):
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/compiler.py", line 324 in backend_compile
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/profiler.py", line 334 in wrapper
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/compiler.py", line 694 in _compile_and_write_cache
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/compiler.py", line 432 in compile_or_get_cached
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/interpreters/pxla.py", line 2795 in _cached_compilation
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/interpreters/pxla.py", line 3004 in from_hlo
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/interpreters/pxla.py", line 2462 in compile
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/pjit.py", line 1809 in _pjit_call_impl_python
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/pjit.py", line 191 in _python_pjit_helper
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/pjit.py", line 340 in cache_miss
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/traceback_util.py", line 182 in reraise_with_filtered_traceback
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/jax/_src/numpy/array_methods.py", line 579 in deferring_binary_op
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/mujoco/mjx/_src/support.py", line 72 in make_m
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/mujoco/mjx/_src/smooth.py", line 293 in crb
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/mujoco/mjx/_src/forward.py", line 73 in fwd_position
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/mujoco/mjx/_src/forward.py", line 59 in wrapper
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/mujoco/mjx/_src/forward.py", line 413 in forward
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/mujoco/mjx/_src/forward.py", line 59 in wrapper
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/brax/mjx/pipeline.py", line 72 in init
File "/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/site-packages/brax/envs/base.py", line 126 in pipeline_init
File "/home/zhaok/lmr/dial-mpc-haoru-sim2real/dial_mpc/envs/unitree_go2_env.py", line 365 in reset
File "/home/zhaok/lmr/dial-mpc-haoru-sim2real/dial_mpc/deploy/dial_plan.py", line 142 in init_mjx_state
File "/home/zhaok/lmr/dial-mpc-haoru-sim2real/dial_mpc/deploy/dial_plan.py", line 165 in main_loop
File "/home/zhaok/lmr/dial-mpc-haoru-sim2real/dial_mpc/deploy/dial_plan.py", line 293 in main
File "/home/zhaok/anaconda3/envs/sim2real/bin/dial-mpc-plan", line 33 in
Extension modules: yaml._yaml, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, jaxlib.cpu_feature_guard, _cffi_backend, scipy._lib._ccallback_c, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg.cython_lapack, scipy.linalg._cythonized_array_utils, scipy.linalg._solve_toeplitz, scipy.linalg._decomp_lu_cython, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg._matfuncs_expm, scipy.linalg._linalg_pythran, scipy.linalg.cython_blas, scipy.linalg._decomp_update, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.linalg._propack._spropack, scipy.sparse.linalg._propack._dpropack, scipy.sparse.linalg._propack._cpropack, scipy.sparse.linalg._propack._zpropack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, PIL._imaging, scipy.optimize._group_columns, scipy.optimize._trlib._trlib, scipy.optimize._lbfgsb, _moduleTNC, scipy.optimize._moduleTNC, scipy.optimize._cobyla, scipy.optimize._slsqp, scipy.optimize._minpack, scipy.optimize._lsq.givens_elimination, scipy.optimize._zeros, scipy.optimize._cython_nnls, scipy._lib._uarray._uarray, scipy.linalg._decomp_interpolative, scipy.optimize._bglu_dense, scipy.optimize._lsap, scipy.optimize._direct, scipy.ndimage._nd_image, scipy.ndimage._rank_filter_1d, _ni_label, scipy.ndimage._ni_label, msgpack._cmsgpack, markupsafe._speedups, kiwisolver._cext (total: 80)
/home/zhaok/anaconda3/envs/sim2real/lib/python3.10/multiprocessing/resource_tracker.py:224: UserWarning: resource_tracker: There appear to be 6 leaked shared_memory objects to clean up at shutdown
warnings.warn('resource_tracker: There appear to be %d '
Segmentation fault (core dumped)
My system is ubuntu 22.04 with cuda12.4 using RTX4060 ti
Thanks!