Bad interaction between mujoco and pytorch

[spawwk]

The following code causes a crash:

import gym
env = gym.make('InvertedPendulum-v1')
import torch

The crash is in pytorch but I'm reporting it here because it seems to be caused by something gym is doing when initialising mujoco environments. The crash goes away if import torch is moved before the call to gym.make, or if the gym.make call is changed to build a non-mujoco environment. Building other mujoco environments (eg InvertedDoublePendulum-v1) triggers the same crash under the same circumstances.

I am using mujoco-py==0.5.7 with mjpro131.

Output:

[2017-08-07 12:52:51,878] Making new env: InvertedPendulum-v1
*** Error in `python': free(): invalid pointer: 0x00007fa019246b80 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7fa03d0247e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x7fe0a)[0x7fa03d02ce0a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7fa03d03098c]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libshm.so(_ZNSt6locale5_Impl16_M_install_facetEPKNS_2idEPKNS_5facetE+0x142)[0x7fa018fe0802]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libshm.so(_ZNSt6locale5_ImplC2Em+0x1e3)[0x7fa018fe2953]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libshm.so(_ZNSt6locale18_S_initialize_onceEv+0x15)[0x7fa018fe38c5]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xea99)[0x7fa03d384a99]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libshm.so(_ZNSt6locale13_S_initializeEv+0x21)[0x7fa018fe3911]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libshm.so(_ZNSt6localeC1Ev+0x13)[0x7fa018fe3953]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libshm.so(_ZNSt8ios_base4InitC1Ev+0xb4)[0x7fa018fb51b4]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcusparse-94011b8d.so.8.0.61(+0x2f85b4)[0x7f9fe96a55b4]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcusparse-94011b8d.so.8.0.61(+0x2f8703)[0x7f9fe96a5703]
/home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcusparse-94011b8d.so.8.0.61(+0x393cc6)[0x7f9fe9740cc6]
======= Memory map: ========
00400000-007a8000 r-xp 00000000 08:06 26869900                           /home/spawwk/code/gym/venv/bin/python3
009a8000-009aa000 r--p 003a8000 08:06 26869900                           /home/spawwk/code/gym/venv/bin/python3
009aa000-00a41000 rw-p 003aa000 08:06 26869900                           /home/spawwk/code/gym/venv/bin/python3
00a41000-00a72000 rw-p 00000000 00:00 0 
017af000-02b88000 rw-p 00000000 00:00 0                                  [heap]
7f9fe4000000-7f9fe4021000 rw-p 00000000 00:00 0 
7f9fe4021000-7f9fe8000000 ---p 00000000 00:00 0 
7f9fe93ad000-7f9febc9e000 r-xp 00000000 08:06 27397399                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcusparse-94011b8d.so.8.0.61
7f9febc9e000-7f9febe9e000 ---p 028f1000 08:06 27397399                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcusparse-94011b8d.so.8.0.61
7f9febe9e000-7f9febeb7000 rw-p 028f1000 08:06 27397399                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcusparse-94011b8d.so.8.0.61
7f9febeb7000-7f9febec8000 rw-p 00000000 00:00 0 
7f9febec8000-7f9febecd000 rw-p 0290b000 08:06 27397399                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcusparse-94011b8d.so.8.0.61
7f9febecd000-7f9fee368000 r-xp 00000000 08:06 27397403                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcurand-3d68c345.so.8.0.61
7f9fee368000-7f9fee568000 ---p 0249b000 08:06 27397403                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcurand-3d68c345.so.8.0.61
7f9fee568000-7f9fef939000 rw-p 0249b000 08:06 27397403                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcurand-3d68c345.so.8.0.61
7f9fef939000-7f9fefe43000 rw-p 00000000 00:00 0 
7f9fefe43000-7f9fefe44000 rw-p 0386d000 08:06 27397403                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcurand-3d68c345.so.8.0.61
7f9fefe44000-7f9ff2c5c000 r-xp 00000000 08:06 27397405                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcublas-e78c880d.so.8.0.88
7f9ff2c5c000-7f9ff2e5c000 ---p 02e18000 08:06 27397405                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcublas-e78c880d.so.8.0.88
7f9ff2e5c000-7f9ff2e7a000 rw-p 02e18000 08:06 27397405                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcublas-e78c880d.so.8.0.88
7f9ff2e7a000-7f9ff2e89000 rw-p 00000000 00:00 0 
7f9ff2e89000-7f9ff2e8c000 rw-p 02e36000 08:06 27397405                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libcublas-e78c880d.so.8.0.88
7f9ff2e8c000-7f9ff2ea1000 r-xp 00000000 08:06 27397415                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libgomp-ae56ecdc.so.1.0.0
7f9ff2ea1000-7f9ff30a0000 ---p 00015000 08:06 27397415                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libgomp-ae56ecdc.so.1.0.0
7f9ff30a0000-7f9ff30a3000 rw-p 00014000 08:06 27397415                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libgomp-ae56ecdc.so.1.0.0
7f9ff30a3000-7f9ff5b7b000 r-xp 00000000 08:06 27397416                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libnccl.so.1
7f9ff5b7b000-7f9ff5d7b000 ---p 02ad8000 08:06 27397416                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libnccl.so.1
7f9ff5d7b000-7f9ff5d7c000 rw-p 02ad8000 08:06 27397416                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libnccl.so.1
7f9ff5d7c000-7f9ff5d7e000 rw-p 02ae4000 08:06 27397416                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libnccl.so.1
7f9ff5d7e000-7f9ff9be7000 r-xp 00000000 08:06 27397414                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCUNN.so.1
7f9ff9be7000-7f9ff9de7000 ---p 03e69000 08:06 27397414                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCUNN.so.1
7f9ff9de7000-7f9ff9df6000 rw-p 03e69000 08:06 27397414                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCUNN.so.1
7f9ff9df6000-7f9ff9e16000 rw-p 00000000 00:00 0 
7f9ff9e16000-7f9ffa0de000 rw-p 04124000 08:06 27397414                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCUNN.so.1
7f9ffa0de000-7f9ffa236000 r-xp 00000000 08:06 27397413                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCS.so.1
7f9ffa236000-7f9ffa436000 ---p 00158000 08:06 27397413                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCS.so.1
7f9ffa436000-7f9ffa438000 rw-p 00158000 08:06 27397413                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCS.so.1
7f9ffa438000-7f9ffa439000 rw-p 00000000 00:00 0 
7f9ffa439000-7f9ffa481000 rw-p 00182000 08:06 27397413                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHCS.so.1
7f9ffa481000-7fa009aef000 r-xp 00000000 08:06 27397401                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHC.so.1
7fa009aef000-7fa009cef000 ---p 0f66e000 08:06 27397401                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHC.so.1
7fa009cef000-7fa009d49000 rw-p 0f66e000 08:06 27397401                   /home/spawwk/code/gym/venv/lib/python3.5/site-packages/torch/lib/libTHC.so.1
...

[jkterry1]

PR #2762 is about to be merged, introducing V4 MuJoCo environments using new bindings and a dramatically newer version of the engine. If this issue still persists with the V4 ones, please create a new issue for it.