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PKU-EPIC / DexGraspNet

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segmentation fault with validate_grasps.py for mujoco-3D_Dollhouse_Happy_Brother #17

Open wetoo-cando opened 3 months ago

wetoo-cando commented 3 months ago

I have generated a grasp for the "3D_Dollhouse_Happy_Brother" object as can be seen in this image: image

Then I processed the mujoco models according to the description here: https://github.com/PKU-EPIC/DexGraspNet/tree/main/asset_process. The coacd urdf has been generated as can be seen in this image: image

Finally, I tried to validate the grasp, but ran into a segfault:

python scripts/validate_grasps.py --object_code mujoco-3D_Dollhouse_Happy_Brother
Importing module 'gym_37' (/home/rahul/code/DexGraspNet_wetoo_fork/thirdparty/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_37.so)
Setting GYM_USD_PLUG_INFO_PATH to /home/rahul/code/DexGraspNet_wetoo_fork/thirdparty/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:3
GPU Pipeline: disabled
JointSpec type free not yet supported!
Not connected to PVD
+++ Using GPU PhysX
Physics Engine: PhysX
Physics Device: cuda:3
GPU Pipeline: disabled
estimated: 370/500, simulated: 183/500, valid: 142/500
[1]    1521736 segmentation fault (core dumped)  python scripts/validate_grasps.py --object_code

Perhaps related to issue #16 , although the issue poster there used a different dexterous hand than the ones used in this repo.

What could be wrong?

mzhmxzh commented 1 week ago

I think this is a bug with Isaac Gym. But it only occurs when the process exits, so it shouldn't interfere with normal usage. As you can see, the validation results are already computed and printed to the command line (simulated: 183/500).