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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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plan_config's clone() function will let plan_single to crush and leaving no error trace or clue #106

Closed zoctipus closed 10 months ago

zoctipus commented 10 months ago

It took me entire day to finally find out it was the clone() function of motion_gen.plan_single that caused the entire script to shut done completely without returning any backtrace or error message. This left me clueless for most of day and wanted to give up several times..... But luckily I found it

The same error can be reproduced in shipped script examples/isaac_sim/motion_gen_reacher.py by simplely changing

result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config) ->
result = motion_gen.plan_single(cu_js.unsqueeze(0), ik_goal, plan_config.clone())

I have also tested this for plan_batch_env, it seems like for plan_batch_env, either self.plan_config or self.plan_config.clone() is fine.

balakumar-s commented 10 months ago

I could not reproduce this in Isaac Sim 2023.1.0.

What version of Isaac sim did you find this issue? Also did you use this inside a docker?

zoctipus commented 10 months ago

Thanks for getting back, I tested again, the version of isaac sim I used is 2022.2.0, I did not use in a docker.

balakumar-s commented 10 months ago

We only recommend 2022.2.1+ versions for isaac sim.

balakumar-s commented 10 months ago

Thanks for reporting this, I actually found the issue. It was because not all elements were cloned in MotionGenPlanConfig.clone() function. I will push a fix for this.

balakumar-s commented 10 months ago

We pushed a fix for this in the latest commit.