High RAM usage in company environments

[btalb]

High RAM usage in company (~50GB) causes company runs to be killed when the system doesn't have enough RAM.

Setting up a machine with sufficient swap space will allow the environment to run, but we want to get that RAM usage down so BenchBot can comfortably run on a system with 32GB RAM.

[btalb]

From discussions directly with NVIDIA:

• RAM usage will decrease in the next release of Isaac Sim
• MDL files take up a lot of RAM, we could look at the assets in BenchBot's environments and see if we can optimise them to reduce RAM usage
• We're unlikely to get to RAM requirements down to under 32GB

If you are trying to run BenchBot on a system with less than 64GB of RAM, for now we recommend adding a swap file to allow the environment to run.