Implicit copy in Pose.create

[BlGene]

Hi Team,

this just caused a bug for me and feels a bit inconsistent. My expectation would be that Pose.create creates a new instance, ChatGPT thinks so too ;)

(Pdb) new_pose = Pose.create(start_pose)
(Pdb) id(new_pose)
132378980628320
(Pdb) id(start_pose)
132378980628320
(Pdb) new_pose = Pose.create_from_pq(p=start_pose.get_p(), q=start_pose.get_q())
(Pdb) id(new_pose)
132378980629664

(Pdb) mani_skill.__version__
'3.0.0b10'

[StoneT2000]

I would think so as well lol. Thanks for bringing this up.

ManiSkill/mani_skill/utils/structs/pose.py

Line 125 in 3086a0f

return pose

Is the culprit probably. Would also need to clone the original raw pose data. I think the one where you do new_pose = Pose.create_from_pq(p=start_pose.get_p(), q=start_pose.get_q()) might also be problematic since if start_pose changes new_pose might also change.