ERROR for ik_config_test and trajopt_config_test

[Treeeplanter]

If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions

Please provide the below information in addition to your issue:

1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): python
2. python version: 3.10.16
3. Isaac Sim version (if using):

---

Issue Details
hi, I'm trying to install curobo as a package in python, but can not pass the test after installition.

My Env:
PyTorch version: 2.1.0+cu118
CUDA available: True
CUDA version (from torch): 11.8
Device count: 1
Device name: NVIDIA GeForce RTX 4090

I have followed the installiztion torturial in the website of curobo and get this:

pip show nvidia-curobo

Name: nvidia_curobo
Version: 0.7.6
Summary: GPU robot motion toolkit containing cuda accelerated kinematics, IK, MPC, Global motion planning, and optimization solvers.
Home-page: https://curobo.org
Author: NVIDIA Seattle Robotics Lab
Author-email:
License: NVIDIA
Location: /home/shuo/anaconda3/envs/mjthor/lib/python3.10/site-packages
Editable project location: /home/shuo/research/mujoco-thor/external_src/curobo
Requires: importlib_resources, networkx, numpy, numpy-quaternion, pybind11, pyyaml, scikit-image, scipy, setuptools_scm, torch, tqdm, trimesh, warp-lang, wheel, yourdfpy

then I run test and found that I can not pass the test:

python3 -m pytest .

========================================================================= test session starts =========================================================================
platform linux -- Python 3.10.16, pytest-8.3.5, pluggy-1.5.0
rootdir: /home/shuo/research/mujoco-thor/external_src/curobo
configfile: pyproject.toml
plugins: anyio-4.9.0, dash-3.0.2
collected 258 items / 2 errors / 3 skipped

=============================================================================== ERRORS ================================================================================
______________________________________________________________ ERROR collecting tests/ik_config_test.py _______________________________________________________________
tests/ik_config_test.py:134: in
(ik_base_config(), True),
tests/ik_config_test.py:39: in ik_base_config
ik_config = IKSolverConfig.load_from_robot_config(
/home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner
return func(*args, **kwds)
src/curobo/wrap/reacher/ik_solver.py:293: in load_from_robot_config
grad_cfg = ArmReacherConfig.from_dict(
/home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner
return func(*args, **kwds)
src/curobo/rollout/arm_base.py:195: in from_dict
cost = cls.cost_from_dict(
src/curobo/rollout/arm_reacher.py:141: in cost_from_dict
return ArmReacherCostConfig.from_dict(
src/curobo/rollout/arm_reacher.py:118: in from_dict
data = ArmCostConfig._get_formatted_dict(
src/curobo/rollout/arm_base.py:94: in _get_formatted_dict
data[k] = cost_key_list[k](**data_dict[k], tensor_args=tensor_args)
:19: in init
???
src/curobo/rollout/cost/dist_cost.py:44: in post_init
return super().post_init()
src/curobo/rollout/cost/cost_base.py:39: in post_init
self.weight = self.tensor_args.to_device(self.weight)
src/curobo/types/base.py:35: in to_device
return torch.as_tensor(np.array(data_tensor), device=self.device, dtype=self.dtype)
E TypeError: len() of unsized object
____________________________________________________________ ERROR collecting tests/trajopt_config_test.py ____________________________________________________________
tests/trajopt_config_test.py:115: in
(trajopt_base_config(), True),
tests/trajopt_config_test.py:35: in trajopt_base_config
trajopt_config = TrajOptSolverConfig.load_from_robot_config(
/home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner
return func(*args, **kwds)
src/curobo/wrap/reacher/trajopt.py:399: in load_from_robot_config
grad_cfg = ArmReacherConfig.from_dict(
/home/shuo/anaconda3/envs/mjthor/lib/python3.10/contextlib.py:79: in inner
return func(*args, **kwds)
src/curobo/rollout/arm_base.py:195: in from_dict
cost = cls.cost_from_dict(
src/curobo/rollout/arm_reacher.py:141: in cost_from_dict
return ArmReacherCostConfig.from_dict(
src/curobo/rollout/arm_reacher.py:118: in from_dict
data = ArmCostConfig._get_formatted_dict(
src/curobo/rollout/arm_base.py:94: in _get_formatted_dict
data[k] = cost_key_list[k](**data_dict[k], tensor_args=tensor_args)
:19: in init
???
src/curobo/rollout/cost/dist_cost.py:44: in post_init
return super().post_init()
src/curobo/rollout/cost/cost_base.py:39: in post_init
self.weight = self.tensor_args.to_device(self.weight)
src/curobo/types/base.py:35: in to_device
return torch.as_tensor(np.array(data_tensor), device=self.device, dtype=self.dtype)
E TypeError: len() of unsized object
======================================================================= short test summary info =======================================================================
ERROR tests/ik_config_test.py - TypeError: len() of unsized object
ERROR tests/trajopt_config_test.py - TypeError: len() of unsized object
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Interrupted: 2 errors during collection !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
==================================================================== 3 skipped, 2 errors in 2.16s =====================================================================. It did not happen for another repo, where I also used curobo as another source, can you help me? thank you!