From 594a8d6bbdcb4c75a17e3fc305eb85bd37030036 Mon Sep 17 00:00:00 2001
From: Tom <tom@primozic.org>
Date: Fri, 11 Oct 2024 16:57:33 +0200
Subject: [PATCH] Fix "mutable default is not allowed"

fixes https://github.com/NVlabs/curobo/issues/407
---
 src/curobo/rollout/rollout_base.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/curobo/rollout/rollout_base.py b/src/curobo/rollout/rollout_base.py
index 9ab335c..bab37c4 100644
--- a/src/curobo/rollout/rollout_base.py
+++ b/src/curobo/rollout/rollout_base.py
@@ -14,7 +14,7 @@ from __future__ import annotations
 
 # Standard Library
 from abc import abstractmethod, abstractproperty
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Sequence
 
 # Third Party
@@ -91,7 +91,7 @@ class Goal(Sequence):
 
     name: str = "goal"
     goal_state: Optional[State] = None
-    goal_pose: Pose = Pose()
+    goal_pose: Pose = field(default_factory=Pose)
     links_goal_pose: Optional[Dict[str, Pose]] = None
     current_state: Optional[State] = None
     retract_state: Optional[T_DOF] = None