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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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Unit tests failing: 'mutable default <> for field _ is not allowed: use default factory' #407

Closed BengineerZ closed 1 week ago

BengineerZ commented 1 month ago

If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions

Please provide the below information in addition to your issue:

  1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): python
  2. python version: 3.11.10
  3. Isaac Sim version (if using): n/a

Running tests after pip installing - got failures:


=========================================================================================== short test summary info ============================================================================================
ERROR tests/cuda_graph_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/curobo_robot_world_model_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/goal_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/ik_config_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/ik_module_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/ik_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_api_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_constrained_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_cuda_graph_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_eval_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_goalset_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_js_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_module_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_speed_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/motion_gen_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/mpc_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/multi_pose_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/pose_reaching_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/robot_assets_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/robot_segmentation_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/robot_world_model_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/trajopt_config_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/trajopt_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
ERROR tests/usd_export_test.py - ValueError: mutable default <class 'curobo.types.math.Pose'> for field goal_pose is not allowed: use default_factory
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Interrupted: 24 errors during collection !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
======================================================================================== 2 skipped, 24 errors in 4.29s =========================================================================================

I've seen a similar error raised previously: https://github.com/NVlabs/curobo/issues/134 but I wasn't sure if this was fixed or not?