feat: fix bug

web_server.py

@@ -21,6 +21,7 @@ import numpy as np
 import gymnasium
 import uvicorn
 import psutil
+import torch
 
 from sim.utils.sim_utils import traj2control, traj_transform_to_global
 from sim.utils.score_calculator import hugsim_evaluate
@@ -126,6 +127,7 @@ def update_submission_status(team_id: str, submission_id: str, status: int):
 
 
 def delete_client_space(client_space_id: str):
+    return
     hf_api.delete_repo(
         repo_id=client_space_id,
         repo_type="space"
@@ -163,7 +165,7 @@ class EnvHandler:
         """
         Close the environment and release resources.
         """
-        self.env.close()
+        del self.env
         self._log("Environment closed.")
 
     def reset_env(self):
@@ -303,6 +305,18 @@ class EnvHandlerManager:
                 self._env_handlers[env_id] = self._generate_env_handler(env_id)
             return self._env_handlers[env_id]
 
+    def close_env_handler(self, env_id: str):
+        """
+        Close the environment handler for the given environment ID.
+        Args:
+            env_id (str): The environment ID.
+        """
+        with self._lock:
+            env = self._env_handlers.pop(env_id, None)
+        if env is not None:
+            env.close()
+        torch.cuda.empty_cache()
+
 
 app = FastAPI()
 
@@ -379,7 +393,7 @@ def execute_action_endpoint(
     done = env_handler.execute_action(plan_traj)
     if done:
         token_info = get_token_info(auth_token)
-        env_manager.get_env_handler(token_info["submission_id"]).close()
+        env_manager.close_env_handler(token_info["submission_id"])
         delete_client_space(token_info["client_space_id"])
         update_submission_status(token_info["team_id"], token_info["submission_id"], SubmissionStatus.SUCCESS.value)
         hf_api.upload_folder(