RuntimeError: Incompatible data types: torch.float64 and <class 'warp.types.vec4f'> about curobo HOT 2 CLOSED

This is the full error message:
platform linux -- Python 3.7.16, pytest-7.1.2, pluggy-1.0.0
rootdir: /home/chen/curobo, configfile: pyproject.toml
plugins: torchtyping-0.1.4, typeguard-4.1.2
collected 121 items / 2 errors / 2 skipped

================================================================================================== ERRORS ==================================================================================================
_________________________________________________________________________________ ERROR collecting tests/ik_config_test.py _________________________________________________________________________________
tests/ik_config_test.py:134: in
(ik_base_config(), True),
tests/ik_config_test.py:36: in ik_base_config
load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
src/curobo/types/robot.py:49: in from_dict
CudaRobotGeneratorConfig(**data_dict_in["kinematics"], tensor_args=tensor_args)
:31: in init
???
src/curobo/cuda_robot_model/cuda_robot_generator.py:203: in post_init
self.extra_links[k] = LinkParams.from_dict(self.extra_links[k])
src/curobo/cuda_robot_model/kinematics_parser.py:43: in from_dict
Pose.from_list(dict_data["fixed_transform"], tensor_args=TensorDeviceType())
src/curobo/types/math.py:281: in get_numpy_matrix
return self.get_matrix().cpu().numpy()
../miniconda3/envs/curobo2/lib/python3.7/contextlib.py:74: in inner
return func(*args, **kwds)
src/curobo/types/math.py:277: in get_matrix
full_mat = pose_to_matrix(self.position, self.quaternion, out_matrix)
src/curobo/geom/transform.py:163: in pose_to_matrix
out_matrix[..., :3, :3] = quaternion_to_matrix(quaternion)
src/curobo/geom/transform.py:110: in quaternion_to_matrix
out_mat = QuatToMatrix.apply(quaternions, out_mat, adj_quaternion)
src/curobo/geom/transform.py:1078: in forward
wp.from_torch(quaternion.detach().view(-1, 4).contiguous(), dtype=wp.vec4),
../miniconda3/envs/curobo2/lib/python3.7/site-packages/warp/torch.py:115: in from_torch
raise RuntimeError(f"Incompatible data types: {t.dtype} and {dtype}")
E RuntimeError: Incompatible data types: torch.float64 and <class 'warp.types.vec4f'>
______________________________________________________________________________ ERROR collecting tests/trajopt_config_test.py _______________________________________________________________________________
tests/trajopt_config_test.py:115: in
(trajopt_base_config(), True),
tests/trajopt_config_test.py:31: in trajopt_base_config
load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
src/curobo/types/robot.py:49: in from_dict
CudaRobotGeneratorConfig(**data_dict_in["kinematics"], tensor_args=tensor_args)
:31: in init
???
src/curobo/cuda_robot_model/cuda_robot_generator.py:203: in post_init
self.extra_links[k] = LinkParams.from_dict(self.extra_links[k])
src/curobo/cuda_robot_model/kinematics_parser.py:43: in from_dict
Pose.from_list(dict_data["fixed_transform"], tensor_args=TensorDeviceType())
src/curobo/types/math.py:281: in get_numpy_matrix
return self.get_matrix().cpu().numpy()
../miniconda3/envs/curobo2/lib/python3.7/contextlib.py:74: in inner
return func(*args, **kwds)
src/curobo/types/math.py:277: in get_matrix
full_mat = pose_to_matrix(self.position, self.quaternion, out_matrix)
src/curobo/geom/transform.py:163: in pose_to_matrix
out_matrix[..., :3, :3] = quaternion_to_matrix(quaternion)
src/curobo/geom/transform.py:110: in quaternion_to_matrix
out_mat = QuatToMatrix.apply(quaternions, out_mat, adj_quaternion)
src/curobo/geom/transform.py:1078: in forward
wp.from_torch(quaternion.detach().view(-1, 4).contiguous(), dtype=wp.vec4),
../miniconda3/envs/curobo2/lib/python3.7/site-packages/warp/torch.py:115: in from_torch
raise RuntimeError(f"Incompatible data types: {t.dtype} and {dtype}")
E RuntimeError: Incompatible data types: torch.float64 and <class 'warp.types.vec4f'>
============================================================================================= warnings summary =============================================================================================
:14
:14: DeprecationWarning: invalid escape sequence \p

-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
========================================================================================= short test summary info ==========================================================================================
ERROR tests/ik_config_test.py - RuntimeError: Incompatible data types: torch.float64 and <class 'warp.types.vec4f'>
ERROR tests/trajopt_config_test.py - RuntimeError: Incompatible data types: torch.float64 and <class 'warp.types.vec4f'>

from curobo.

The problem is solved.Its the CUDA version which not fit curobo.I used CUDA11.7 and pytorch 1.13.1, and everything will be right.

from curobo.