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Breaking Change with warp.Kernel #295

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michaelGentner opened this issue Jun 7, 2024 · 3 comments
Closed

Breaking Change with warp.Kernel #295

michaelGentner opened this issue Jun 7, 2024 · 3 comments
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@balakumar-s

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@michaelGentner
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michaelGentner commented Jun 7, 2024 •
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Hi,

I think that commit 0c51dd2 introduced a breaking change for usage with isaac sim 2022.2.1, 2023.1.0, 2023.1.1. since isaac is shipped with an older version of warp, which has a different interface for warp.Kernel.init() than the newest version.

curobo/src/curobo/rollout/cost/dist_cost.py

Line 227 in 0c51dd2

return wp.Kernel(forward_l2_loop_warp)

Error (FYI usually it also expects the key field but that we added in the code when debugging):
error

Could also be that this is due to my container setup, but using the previous commit fixed the issue for me.

Additional info:

  1. cuRobo installation mode: docker isaac-sim
  2. python version: 3.10.13
  3. Isaac Sim version (if using): 2022.2.1, 2023.1.0, 2023.1.1
@AndyZe
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AndyZe commented Jun 16, 2024

I have the same issue on a bare metal installation, so it's not your docker setup 👍 Thanks for the hint.

This was referenced Jun 16, 2024
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@balakumar-s
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We recently updated to a newer version of warp that allows for more runtime kernel customization. This unfortunately broke isaac sim examples. We are working on getting our examples to work in isaac sim 4.0 which has the newest warp. Meanwhile, use an older version of curobo (v0.7.2 or lower).

@balakumar-s balakumar-s added the fix_in_progress We are working on a fix and update once it's resolved label Jun 18, 2024
@balakumar-s
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Fixed in latest main branch.

@balakumar-s balakumar-s removed the fix_in_progress We are working on a fix and update once it's resolved label Jun 24, 2024
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Default to the previous version of L2 dist calculation AndyZe/curobo
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@balakumar-s @AndyZe @michaelGentner