Proper way of tearing down cuRobo (e.g. freeing all GPU memory)

[ChengshuLi]

I was hoping to create a MotionGen object, do some motion planning, remove it (freeing all GPU memory), and then create a new MotionGen object later.

Currently, the GPU memory isn't being freed up properly. Any suggestions? Many thanks!!!

mg = curobo.wrap.reacher.motion_gen.MotionGen(...)
result = mg.plan_batch(...)
del mg
# GPU memory isn't freed properly. Something needs to be done here...
new_mg = curobo.wrap.reacher.motion_gen.MotionGen(...)

[balakumar-s]

Does this help? https://pytorch.org/docs/stable/generated/torch.cuda.empty_cache.html

[ChengshuLi]

This doesn't help.

I also tried a few things:

1. setting use_cuda_graph=False
2. get rid of torch.jit by always returning empty_decorator in get_torch_jit_decorator
3. calling gc.collect()

None of these work actually. Any advice will be greatly appreciated!!