how to use for multi plan group

[frankchan12138]

Hi @balakumar-s , right now I use CuRobo to test with a dual arm robot. I need to set three plan group

+ left_arm: 7 joints
+ right_arm: 7 joints
+ all_joint: 17 joints, two arms and a head with 3 joints

when doing my task. I can successfully plan with all_joints. But when I want to plan for the left_arm group. It will crash at line 468 of kinematic_model.py(I use plan_single_js function). the log is post bellow.

Traceback (most recent call last):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/action/server.py", line 333, in _execute_goal
    execute_result = await await_or_execute(execute_callback, goal_handle)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.10/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 1018, in execute_callback
    motion_gen_result = self.motion_gen.plan_single_js(
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py", line 2065, in plan_single_js
    valid_query, status = self.check_start_state(start_state)
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py", line 2732, in check_start_state
    metrics = self.rollout_fn.rollout_constraint(
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/rollout/arm_base.py", line 551, in rollout_constraint
    state = self.dynamics_model.forward(self.start_state, act_seq)
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/rollout/dynamics_model/kinematic_model.py", line 468, in forward
    ) = self.robot_model.forward(state_seq.position.view(shape_tup))
RuntimeError: shape '[1, 17]' is invalid for input of size 7

It seems that the code does not mean to support such application(define many plan group). Is there any advice on my problem. Or is there any sample which I can follow. Thanks!!