[Bug]: SelfCollisionDistance's backward arise a broadcast error #707

from curobo.collision_checking import RobotCollisionChecker, RobotCollisionCheckerCfg
from curobo.scene import Scene
import torch
# Create collision checker for custom pipeline
config = RobotCollisionCheckerCfg.load_from_config(
 robot_config="franka.yml",
 scene_model="collision_test.yml",
 collision_activation_distance=0.01,
)
checker = RobotCollisionChecker(config)
# Query collision at joint configurations
joint_positions = torch.rand((10, 50, 7)).to('cuda:0') # 10 configurations, horizon 1
scene_distance, self_distance = checker.get_scene_self_collision_distance_from_joints(
 joint_positions
)
# Validate configurations
is_valid = checker.validate(joint_positions)
# Use in custom optimization (differentiable)
joint_positions.requires_grad = True
scene_dist, self_dist = checker.get_scene_self_collision_distance_from_joints(
 joint_positions
)
cost = scene_dist.sum() + self_dist.sum()
print(scene_dist.shape,self_dist.shape)
cost.backward() # Gradients flow through

.venv/lib/python3.11/site-packages/curobo/_src/curobolib/cuda_ops/geometry.py", line 101, in backward
 g_vec = g_vec * grad_out_distance
 ~~~~~~^~~~~~~~~~~~~~~~~~~
RuntimeError: The size of tensor a (65) must match the size of tensor b (50) at non-singleton dimension 2