plan_grasp() failing with error: cuda graph reset not available

[Abhijit16]

Hello,

I am trying to use plan_grasp() function of MotionGen in cuRobo in my scene, for manipulating a Franka panda arm, to a target location(a small cube), however i am getting below error:
[Error] [omni.graph.core.plugin] ValueError: changing goal type, cuda graph reset not available, consider updating to cuda >= 12.0

When I use MotionGen's plan_single() function, it works well, & the robot is able to move to the target location, but plan_grasp() fails.

My cuda version is 12.1.
cuRobo installation mode: isaacsim
python(using in conda env) version: 3.10.16
GPU: 4080 super
OS: Windows
Isaacsim version: 4.5.0

The code snippet(used inside a script node in action graph) is as below:

`
import os
import torch
import omni.usd
from pxr import Usd, UsdPhysics, Gf
from curobo.util.usd_helper import UsdHelper
import numpy as np

from omni.isaac.core.objects import cuboid, sphere
from curobo.types.math import Pose
from curobo.types.robot import JointState
from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig

from scipy.spatial.transform import Rotation
from scipy.spatial.transform import Rotation as R
from curobo.types.base import TensorDeviceType

device = "cuda" if torch.cuda.is_available() else "cpu"

def world_cfg():
stage = omni.usd.get_context().get_stage() # get the current USD stage.
usd_helper = UsdHelper() # Create an instance of UsdHelper.

world_config = usd_helper.load_stage(stage)   # Load the stage into UsdHelper and generate WorldConfig.

#"""
# WorldConfig object is a dictionary-based representation of the obstacles.
ignore_substrings = [
"/World/Ground",
#"/World/goalCube",
"/World/franka",  
]

world_config_dict = usd_helper.get_obstacles_from_stage(
    only_paths=["/World"],
    reference_prim_path="/World/franka",
    #reference_prim_path="/World/franka/panda_link0",
    ignore_substring=ignore_substrings
).get_collision_check_world()
return world_config_dict

def execute_plan_grasp(motion_gen, goal_position, goal_orientation, start_state):
result = None

tens_device_type = TensorDeviceType(device=device, dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32)
grasp_poses_batch = Pose.from_batch_list([[goal_position[0], goal_position[1], goal_position[2], goal_orientation[3], goal_orientation[0], goal_orientation[1], goal_orientation[2]]], tensor_args=tens_device_type)

pre_grasp_tensor = torch.tensor(goal_position)
pre_grasp_tensor[-1] -= 0.1
pre_grasp_offset_pose = Pose(position=pre_grasp_tensor, quaternion=torch.tensor(goal_orientation), name='panda_hand')
#Pose.from_list([goal_position[0], goal_position[1], goal_position[2]-0.1, goal_orientation[0], goal_orientation[1], goal_orientation[2]])    # Move 10cm back(offset) along the z-axis of the grasp frame. Note that orientation is in (x,y,z) format, not (w,x,y,z).
# Define a retraction offset after grasping.
retract_offset_pose = Pose(position=pre_grasp_tensor, quaternion=torch.tensor(goal_orientation), name='panda_hand')
#Pose.from_list([goal_position[0], goal_position[1], goal_position[2]-0.1, goal_orientation[0], goal_orientation[1], goal_orientation[2]])   # Move 10cm back along the z-axis. orientation is in (x,y,z) format.

#print(f"cuda version: {torch.version.cuda}")   # version = 12.1

motionplan_config = MotionGenPlanConfig(
    # enabling or disabling below aparmertes doesn't help in making plan_grasp() work.
    #enable_graph = False,
    #enable_graph_attempt = 1,
    #max_attempts = 1,   # 1 to 4 seems reasonable.
    #enable_finetune_trajopt = False,
)
franka_links = ['panda_hand', 'panda_leftfinger', 'panda_rightfinger']
# The function will plan the sequence: approach -> grasp -> retract.
# The `disable_collision_in_grasp` argument is useful for the moment of contact.
result = motion_gen.plan_grasp(
    start_state = start_state,
    grasp_poses = grasp_poses_batch,
    plan_config = motionplan_config,
    grasp_approach_offset = pre_grasp_offset_pose,
    retract_offset = retract_offset_pose,
    #disable_collision_links=franka_links,
    plan_approach_to_grasp = True,
    plan_grasp_to_retract = True,
)
print("Abhijit result: ", result)
return result

def compute(db: og.Database):
#db.outputs.trajectory = []
# (1) generate WorldConfig from current stage.
world_config = world_cfg()

#franka_prim = db.inputs.franka_prim  # data type:IBundle2.

# (2) load config for franka, from .yml config file, to generate a 'motion generation config' data.
motion_gen_config = MotionGenConfig.load_from_robot_config("franka.yml", world_config, interpolation_dt=0.01,)


# prepare for motion planning.
motion_gen = MotionGen(motion_gen_config)
motion_gen.warmup()
motion_gen.update_world(world_config)

# Articulation state is used to get the jonits values for a robot's joints, when it's prim is set to that robot.
# https://docs.isaacsim.omniverse.nvidia.com/latest/py/source/extensions/isaacsim.core.nodes/docs/ogn/OgnIsaacArticulationState.html
franka_joints_state = db.inputs.franka_joints_state     # type: numpy-ndarray
# convert franka_joints_state to torch tensor on cuda. Supply all joint values, except gripper joints(i.e. last 2 joints).
# NOTE: the joints values should have shape:[1,<no. of joint values>](hence use unsqueeze()); & should be of type 'float32'(hence use to(dtype=)).
franka_joints_state_tensor = torch.from_numpy(franka_joints_state[:-2]).to(dtype=torch.float32).unsqueeze(dim=0).cuda()

# define the start state. 'franka_joint_state' provides the current joint state of the arm.
start_state = JointState.from_position(
franka_joints_state_tensor,
# franka panda has 8 joints(panda_joint8, panda_hand_joint are fixed joints). gripper joints are not used here(panda_finger_joint2 is mimic joint).
joint_names=["panda_joint1", "panda_joint2", "panda_joint3", "panda_joint4",
    "panda_joint5", "panda_joint6", "panda_joint7",
    #"panda_finger_joint1",
    ],
)

# debug -draw collision spheres.
#draw_collision_spheres(motion_gen, start_state)

#print(f"Abhijit: start_state: {start_state}")

# get goal position & orientation, as the final position to move the arm to.
goal_position = db.inputs.goal_position   #[x,y,z]
goal_orientation = db.inputs.goal_orientation    # [x,y,z,w]
#print(f"pos:{goal_position}, orient:{goal_orientation}")
# generate aggregate goal pose from goal object's translation & orientation. Note the order of orientation supplied i.e. w,x,y,z.

goal_pose = Pose.from_list([goal_position[0], goal_position[1], goal_position[2], goal_orientation[3], goal_orientation[0], goal_orientation[1], goal_orientation[2]], q_xyzw=True)  # x, y, z, qw, qx, qy, qz.

# method1: generate motion plan - plan_single() generates a single, optimized trajectory to reach a specified goal pose.
#result = motion_gen.plan_single(start_state, goal_pose, MotionGenPlanConfig(max_attempts=1))

# method2: generate complete plan for moving & grasping a target. plan_grasp() plans a full sequence of motions that includes an approach, the grasp itself, and a retraction.
#"""
result = execute_plan_grasp(motion_gen, goal_position, goal_orientation, start_state)
print("Abhijit - completed")
return True

`

A more detailed error log:

2025-09-27 05:14:59 [Error] [curobo] changing goal type, cuda graph reset not available, consider updating to cuda >= 12.0
2025-09-27 05:14:59 [Error] [curobo] NoneType: None
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] /World/Graphs/frankaActionGraph/motion_gen_script_node: [/World/Graphs/frankaActionGraph] OmniGraph Error: Traceback (most recent call last):
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Users\abhij\AppData\Local\Temp\tmpeqtcyn2a.py", line 234, in compute
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Users\abhij\AppData\Local\Temp\tmpeqtcyn2a.py", line 126, in execute_plan_grasp
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\motion_gen.py", line 4269, in plan_grasp
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] goalset_motion_gen_result = self.plan_goalset(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\motion_gen.py", line 1615, in plan_goalset
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] result = self._plan_attempts(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\motion_gen.py", line 3046, in _plan_attempts
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] result = self._plan_from_solve_state(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\motion_gen.py", line 3308, in _plan_from_solve_state
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] ik_result = self._solve_ik_from_solve_state(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Users\abhij\anaconda3\envs\issacsim\lib\contextlib.py", line 79, in inner
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] return func(*args, **kwds)
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\motion_gen.py", line 2820, in _solve_ik_from_solve_state
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] ik_result = self.ik_solver.solve_any(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\ik_solver.py", line 1201, in solve_any
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] return self.solve_goalset(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\ik_solver.py", line 757, in solve_goalset
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] return self._solve_from_solve_state(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\ik_solver.py", line 1066, in _solve_from_solve_state
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] goal_buffer = self._update_goal_buffer(solve_state, goal_pose, retract_config, link_poses)
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\wrap\reacher\ik_solver.py", line 613, in _update_goal_buffer
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] log_error(
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] File "C:\Abhijit\Programs\Pytorch\issaclab\curobo\src\curobo\util\logger.py", line 103, in log_error
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] raise ValueError(txt)
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] ValueError: changing goal type, cuda graph reset not available, consider updating to cuda >= 12.0
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin]
2025-09-27 05:14:59 [Error] [omni.graph.core.plugin] (from _print_stacktrace() at line 133 in c:\users\abhij\anaconda3\envs\issacsim\lib\site-packages\isaacsim\extscache\omni.graph.scriptnode-1.40.1+106.5.0\omni\graph\scriptnode\ogn\python\nodes\OgnScriptNode.py)

Any help would be much appreciated, thank you.

Regards,
Abhijit