[Bug Report] RigidObjectCollection double counting of object names #4258
Description
Describe the bug
RigidObjectCollection experiences double counting of object names when simulation resets multiple times.
The _object_names_list in RigidObjectCollection accumulates duplicate entries when _initialize_impl() is called multiple times during simulation resets, particularly when using record_demos.py which performs both env.sim.reset() and env.reset() sequentially.
Bug locations:
scripts/tools/record_demos.py:447-env.sim.reset()source/isaaclab/isaaclab/envs/manager_based_env.py:171-self.sim.reset()
Steps to reproduce
- Use a RigidObjectCollection in an environment (e.g., Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0)
- Run the record_demos.py script which triggers multiple simulation resets:
Traceback (most recent call last):
File "$USER/IsaacLab/scripts/tools/record_demos.py", line 559, in <module>
main()
File "$USER/IsaacLab/scripts/tools/record_demos.py", line 549, in main
current_recorded_demo_count = run_simulation_loop(env, None, success_term, rate_limiter)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "$USER/IsaacLab/scripts/tools/record_demos.py", line 447, in run_simulation_loop
env.sim.reset()
File "$USER/IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py", line 522, in reset
self.render()
File "$USER/IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py", line 585, in render
raise exception_to_raise
File "$USER/IsaacLab/source/isaaclab/isaaclab/assets/asset_base.py", line 317, in _initialize_callback
self._initialize_impl()
File "$USER/IsaacLab/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py", line 662, in _initialize_impl
self._create_buffers()
File "$USER/IsaacLab/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py", line 684, in _create_buffers
self._data.default_mass = self.reshape_view_to_data(self.root_physx_view.get_masses().clone())
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "$USER/IsaacLab/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py", line 576, in reshape_view_to_data
return torch.einsum("ijk -> jik", data.reshape(self.num_objects, self.num_instances, -1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: shape '[4, 0, -1]' is invalid for input of size 2System Info
- Commit: [Current IsaacLab version]
- Isaac Sim Version: [5.1]
- OS: Linux (Ubuntu 22.04)
- GPU: NVIDIA GeForce RTX 4090 D
- CUDA: [12.8]
- GPU Driver: 570.133.20
Checklist
- I have checked that there is no similar issue in the repo (required)
- I have checked that the issue is not in running Isaac Sim itself and is related to the repo