moveit_py: RobotState joint-group setters segfault in Python

[LeeMin-hyeong]

Description

moveit_py crashes with a segmentation fault when calling RobotState.set_joint_group_positions() or RobotState.set_joint_group_active_positions() from Python, even with a valid joint group name and a correctly sized NumPy array.

I was able to reproduce this outside of MoveItPy planning/execution. The issue occurs with just RobotModel + RobotState, which suggests the problem is in the Python binding path for the joint-group setter methods.

ROS Distro

Humble

OS and version

Ubuntu 22.04

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

humble

Which RMW are you using?

None

Steps to Reproduce

I can reproduce the crash with a minimal script like this:

import glob
import numpy as np
from moveit.core.robot_model import RobotModel
from moveit.core.robot_state import RobotState

# Generate or provide a valid URDF path for the robot
urdf_path = sorted(glob.glob("/tmp/m0609_*.urdf"))[-1]
srdf_path = "/home/username/ros2_ws/install/dsr_moveit_config_m0609/share/dsr_moveit_config_m0609/config/dsr.srdf"

model = RobotModel(urdf_xml_path=urdf_path, srdf_xml_path=srdf_path)
state = RobotState(model)
state.update()

state.set_joint_group_positions(
    joint_model_group_name="manipulator",
    position_values=np.array([0.0, 0.0, 1.57, 0.0, 1.57, 0.0], dtype=float),
)

I also reproduced the same crash with:

state.set_joint_group_active_positions(
    "manipulator",
    np.array([0.0, 0.0, 1.57, 0.0, 1.57, 0.0], dtype=float),
)

Important notes:

• The group name is valid.
• The input length matches the group DOF.
• Setting individual joints through state.joint_positions = {...} works correctly.
• The crash therefore seems specific to the joint-group setter binding path.
• Reproduced consistently with Doosan Robotics config (dsr_moveit_config_m0609) on Humble.
  I have not yet confirmed whether this reproduces with other robot configs (e.g., Panda), so this may be config/model-dependent or may expose a generic binding issue.

Expected behavior

The joint group positions should be updated successfully, and the Python process should continue running normally.

Actual behavior

Python terminates with a segmentation fault.

Backtrace or Console output

[INFO] [moveit_robot_model.robot_model]: Loading robot model 'm0609'...
Segmentation fault (core dumped)

[Jerome457]

Hi, can i work on this issue?

[LeeMin-hyeong]

I tried changing the binding to use the existing std::vector<double> overload instead of the Eigen::VectorXd overload, and that resolved the segfault in my local test.

Specifically, changing these two bindings:

• RobotState.set_joint_group_positions()
• RobotState.set_joint_group_active_positions()

from the Eigen::VectorXd overload to the std::vector<double> overload made the same Python code run successfully with a NumPy array input.

Before the change, the process crashed when calling set_joint_group_positions(). After the change, the joint group positions were updated correctly and the process continued normally.