S600-Pi0测试排坑（curobo安装/参数错误/warp版本）

开发与问题 应用开发
1

Pi0推理测试

参考：视觉语言动作模型（VLA） | RDK Cases DOC

curobo导入失败

报错

ImportError: cannot import name 'CuroboPlanner' from 'envs.robot.planner' (/home/agv-rnd02/yy_workspace/RoboTwin/./envs/robot/planner.py)

解决

安装低版本

# 通过 git log --oneline查看版本
# ...
# 2fbffc3 (tag: v0.7.6) fix terminal action, 10x more accurate pose reaching
# ...

git checkout 2fbffc3
# 之后再pip install

load model

报错

FileNotFoundError: Metadata file (named _METADATA) does not exist at /home/agv-rnd02/yy_workspace/RoboTwin/policy/pi0/torch_model/pi0_aloha_pytorch_hammer_vispruner_1126/params.

解法

task_config/config.yaml 将 stage:3 改为 stage:2。

Sapien仿真报错

报错

'Robot' object has no attribute 'left_planner'
error occurs !

定位error_occurs的位置在 eval_policy.py 的 if expert_check: 代码段内。去掉 try-catch，得到报错：

  File "/home/agv-rnd02/yy_workspace/RoboTwin/envs/curobo/src/curobo/geom/sdf/utils.py", line 43, in create_collision_checker
    return WorldMeshCollision(config)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/agv-rnd02/yy_workspace/RoboTwin/envs/curobo/src/curobo/geom/sdf/world_mesh.py", line 67, in __init__
    self._wp_device = wp.torch.device_from_torch(self.tensor_args.device)
                      ^^^^^^^^
  File "/home/agv-rnd02/yy_workspace/RoboTwin/policy/pi0/.venv/lib/python3.11/site-packages/warp/__init__.py", line 504, in __getattr__
    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
AttributeError: module 'warp' has no attribute 'torch'

解法

降级warp版本

pip install warp-lang==1.7.0