Fix motion-tracking crashes in urcirobot.py
#7
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Shi-Soul
reviewed
Jun 18, 2025
| t1 = self.timer * self.dt | ||
| motion_times = torch.tensor([t0, t1], dtype=torch.float32, device='cpu') | ||
| motion_ids = torch.zeros(2, dtype=torch.long, device='cpu') | ||
| seq = self.motion_lib.get_motion_state(motion_ids, motion_times) |
Collaborator
There was a problem hiding this comment.
Why you call get_motion_state with an additional timestep? Can you describe how to reproduce the runtime issue related to it?
Shi-Soul
reviewed
Jun 18, 2025
| global_ref_body_vel = ref_body_vel_extend.view(1, -1, 3) | ||
| local_ref_rigid_body_vel_flat = my_quat_rotate(heading_inv_rot_expand.view(-1, 4), global_ref_body_vel.view(-1, 3)) | ||
| if heading_inv_rot_expand.shape[0] == 0: | ||
| local_ref_rigid_body_vel_flat = torch.zeros_like(global_ref_body_vel.view(-1, 3)) |
Collaborator
There was a problem hiding this comment.
When will it enter this branch? I think heading_inv_rot and heading_inv_rot_expand should always have the shape [1,4] and [27,4] respectively
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Thanks for open-sourcing this great project!
While deploying the policy in MuJoCo I hit a few runtime issues—this PR fixes them:
dtypebug – castmotion_idsto long before indexing motion-libmy_quat_rotatewhen no datamotion_timeandref_init_yawonReset()*~backup files.