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URDF related segmentation fault #509

Closed JeonghyunNam closed 12 months ago

JeonghyunNam commented 12 months ago

Hi, Prof Hwangbo. Really appreciate it for sharing the masterpiece.

We are now using raisim with our customized model as below: image (1)

Training code was running well but we found some points that we mis defined for toes in our model. (We defined two geometry for toes link) (origin) origin_toes_R

and changed it to (revised) toes_R

But at this moment, we encounted the segmentation error.

We debugged it and found that it appears when vectorizedEnvironment initialized & reset the ChildrenEnvironment which is our custom env.

(VectorizedEnvironment.hpp) vecenv

(Result) checking

We are lost since the results are different for every trials such as they sometimes reach until 100 loops.

Is there any reason about it? Thanks for reading!

jhwangbo commented 12 months ago

Did you run the debug app with valgrind? It should spot the bug in most cases

JeonghyunNam commented 12 months ago

Thank you for the advice! I found the error caused from the call of the getFrameOrientation method for links of other robots that I tested before. So, problem solved now.

As a side note, I have a simple curiosity. the problem above also have to be caused with our original model since we are using same code that calls getFrameOrientation for wrong link. are there any reasons for it?, or is it just a bug that I cannot found?

jhwangbo commented 12 months ago

Sometimes the code might run well. The behavior in that case is undefined. You cannot tell whats going to happen

JeonghyunNam commented 12 months ago

Yes, I understood it. Thank you, Professor. I will close the issue.