Error in differentiable_push.py: RuntimeError

[andrewlyu]

M1 macbook, Anaconda, Python3.11, Latest version from the main branch

[Genesis] [18:53:58] [INFO] Building scene <dbe79fe>...
Traceback (most recent call last):
  File "/Users/duchaolv/projects/genesis_playground/examples/differentiable_push.py", line 152, in <module>
    main()
  File "/Users/duchaolv/projects/genesis_playground/examples/differentiable_push.py", line 89, in main
    scene.build()
  File "/Users/duchaolv/projects/repos/Genesis/genesis/utils/misc.py", line 38, in wrapper
    return method(self, *args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/duchaolv/projects/repos/Genesis/genesis/engine/scene.py", line 596, in build
    self._reset()
  File "/Users/duchaolv/projects/repos/Genesis/genesis/engine/scene.py", line 685, in _reset
    self._init_state = self._get_state()
                       ^^^^^^^^^^^^^^^^^
  File "/Users/duchaolv/projects/repos/Genesis/genesis/engine/scene.py", line 700, in _get_state
    return self._sim.get_state()
           ^^^^^^^^^^^^^^^^^^^^^
  File "/Users/duchaolv/projects/repos/Genesis/genesis/engine/simulator.py", line 360, in get_state
    state = SimState(
            ^^^^^^^^^
  File "/Users/duchaolv/projects/repos/Genesis/genesis/engine/states/solvers.py", line 21, in __init__
    self._solvers_state.append(solver.get_state(f_local))
                               ^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/duchaolv/projects/repos/Genesis/genesis/engine/solvers/tool_solver.py", line 59, in get_state
    state.entities.append(entity.get_state(f))
                          ^^^^^^^^^^^^^^^^^^^
  File "/Users/duchaolv/projects/repos/Genesis/genesis/engine/entities/tool_entity/tool_entity.py", line 284, in get_state
    self.get_frame(f, state.pos, state.quat, state.vel, state.ang)
  File "/opt/anaconda3/envs/torch_env/lib/python3.11/site-packages/taichi/lang/kernel_impl.py", line 1174, in __call__
    return self._primal(self._kernel_owner, *args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/anaconda3/envs/torch_env/lib/python3.11/site-packages/taichi/lang/kernel_impl.py", line 1045, in __call__
    return self.launch_kernel(kernel_cpp, *args)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/anaconda3/envs/torch_env/lib/python3.11/site-packages/taichi/lang/kernel_impl.py", line 993, in launch_kernel
    c()
  File "/opt/anaconda3/envs/torch_env/lib/python3.11/site-packages/taichi/lang/kernel_impl.py", line 758, in call_back
    u.copy_(v)
  File "/Users/duchaolv/projects/repos/Genesis/genesis/grad/tensor.py", line 46, in __torch_function__
    obj = super().__torch_function__(func, types, args, kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/opt/anaconda3/envs/torch_env/lib/python3.11/site-packages/torch/_tensor.py", line 1512, in __torch_function__
    ret = func(*args, **kwargs)
          ^^^^^^^^^^^^^^^^^^^^^
RuntimeError: a view of a leaf Variable that requires grad is being used in an in-place operation.