10000 Pose.from_transformation_matrix cause segmentation fault · Issue #220 · haosulab/SAPIEN · GitHub
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1270645409 opened this issue Mar 28, 2025 · 3 comments
Open

Pose.from_transformation_matrix cause segmentation fault #220

1270645409 opened this issue Mar 28, 2025 · 3 comments

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@1270645409
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System:

  • OS version:Ubuntu 22.04
  • Python version Python 3.8
  • SAPIEN version 0.8:
  • Environment: Desktop

Describe the bug
A segmentation fault occurs when using sapien.Pose.from_transformation_matrix() with certain transformation matrices, while no explicit error message is shown. The issue disappears when using quaternion representation instead.
Below are the codes to reproduce.

To Reproduce

import numpy as np
import sapien.core as sapien
from env import Env
from camera import Camera
from scipy.spatial.transform import Rotation as Rot
from robots.panda_robot import Robot
env = Env(show_gui=True)
cam = Camera(env, image_size=720, random_position=False, fixed_position=True, dist=4)
robot_urdf_fn = './robots/panda_gripper.urdf'
robot_material = env.get_material(4, 4, 0.01)
robot = Robot(env, robot_urdf_fn, robot_material, open_gripper=True)
rotmat = np.array([ 
    [0,0,1,0],
    [0,-1,0,0.],
    [1,0,0,0],
    [0,0,0,1]
])
start_pose = sapien.Pose.from_transformation_matrix(rotmat)
# uncomment the following lines fix the bug
# quat = Rot.from_matrix(rotmat[:3,:3]).as_quat()[[1,2,3,0]]
# start_pose = sapien.Pose(p=np.array([0, 0, 0]),q=np.array(quat))
robot.robot.set_root_pose(start_pose)
while True:
    env.render()
    env.step() # once the simulation is started, segmentation fault occurs
@fbxiang
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fbxiang commented Mar 28, 2025

Support for SAPIEN version 0.8 has long been halted. There have been 3 major version releases at this point. Please use SAPIEN 3 and see if the problem still exists.

@1270645409
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Thank you very much for your patient reply! Actually, my intention is not to resolve this bug; rather, it is to provide a reference for those who might encounter similar issues and need assistance. There are some excellent open-source projects that are using older versions of Sapien(0.8), such as Where2Act, which could benefit from the insights discussed in this issue.

@fbxiang
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fbxiang commented Mar 28, 2025

We have actually provided support to where2act back then. However it is a research project and the code is no longer maintained, and we cannot continue to support such projects. If anyone is happy to maintain an abandoned repo, we can provide support for issues encountered in upgrading.

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