mobile_aloha训练与验证过程中pycharm编辑器遇到的问题记录

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已于 2024-10-01 15:04:18 修改

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分类专栏： Aloha Linux Python 文章标签： python 深度学习编辑器 linux

于 2024-09-30 19:41:06 首次发布

本文链接：https://blog.csdn.net/qq_54900679/article/details/142662749

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目前在研究mobile aloha的训练算法部分，运行文件为imitate_episodes.py，对应指令：

# To train ACT:
python3 imitate_episodes.py --task_name mobile_imu --ckpt_dir /home/song/hjx/aloha/mobile-aloha_multi-sensor/ckpt/mobile_imu --policy_class ACT --kl_weight 80 --chunk_size 100 --hidden_dim 512 --batch_size 8 --dim_feedforward 3200 --num_epochs 8000  --lr 1e-5 --seed 0

在运行代码时遇到了报错，使用的是pycharm编辑器。报错如下：

原因是pycharm编辑器找不到interbotix_xs_msgs这个模块。

解决方案为添加如下路径：

添加完成后的路径为：

重新run，该报错便可解决！

另外，在运行imitate_episodes.py文件时，还遇到如下报错：

Traceback (most recent call last):
File "imitate_episodes.py", line 437, in <module>
main(vars(parser.parse_args()))
File "imitate_episodes.py", line 45, in main
num_episodes = task_config['num_episodes']
KeyError: 'num_episodes'

这个报错的原因是num_episodes没有定义出来，在如下代码段处跳入constants.py:

在对应的训练任务参数中添加：

"num_episodes": 50

重新run，该报错便可解决！

注意：act的软件训练代码与aloha_scripts硬件代码要放在同一文件夹中

下面是eval环节：
在首次运行时遇到报错：

Traceback (most recent call last): File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/act/imitate_episodes.py", line 437, in <module> main(vars(parser.parse_args())) File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/act/imitate_episodes.py", line 95, in main success_rate, avg_return = eval_bc(config, ckpt_name, save_episode=True) File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/act/imitate_episodes.py", line 183, in eval_bc from aloha_scripts.real_env import make_real_env # requires aloha File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/real_env.py", line 16, in <module> import pyagxrobots File "/home/song/anaconda3/envs/aloha/lib/python3.8/site-packages/pyagxrobots/__init__.py", line 5, in <module> from pyagxrobots import pysdkugv File "/home/song/anaconda3/envs/aloha/lib/python3.8/site-packages/pyagxrobots/pysdkugv.py", line 6, in <module> from wrapt.wrappers import transient_function_wrapper ImportError: cannot import name 'transient_function_wrapper' from 'wrapt.wrappers' (/home/song/anaconda3/envs/aloha/lib/python3.8/site-packages/wrapt/wrappers.py)

解决方案：

修改导入语句：如果wrapt库是最新的，那么你需要修改导入语句。在pyagxrobots/pysdkugv.py文件中，将导入语句从：

from wrapt.wrappers import transient_function_wrapper

修改为：

from wrapt import transient_function_wrapper

即可解决

后续又遇到这个报错：

错误信息表明你的Python环境中缺少名为dynamixel_client的模块。这个模块可能是用于控制Dynamixel系列伺服电机的自定义Python包。

解决方案：

sudo apt-get install ros-$ROS_DISTRO-dynamixel-sdk

但发现：ros-noetic-dynamixel-sdk 已经是最新版 (3.7.51-4focal.20230620.184449)。

说明dynamixel是已经安装好的

后来才发现，应该将这段代码：

from dynamixel_client import DynamixelClient

修改为：

from aloha_scripts.dynamixel_client import DynamixelClient

即可解决

最后又遇到了这个报错提示：
<All keys matched successfully>
Loaded: /home/song/hjx/aloha/mobile-aloha_multi-sensor/act/ckpt/mobile_imu/policy_best.ckpt
Unable to register with master node [http://localhost:11311]: master may not be running yet. Will keep trying.

这个错误通常意味着你的脚本尝试连接到ROS Master（roscore），但是没有成功。

以下是一些可能的解决步骤：

确保roscore正在运行：在一个新的终端中运行roscore来启动ROS Master。
检查网络连接：确保你的机器可以访问运行roscore的机器。如果你在本地机器上运行，确保ROS_MASTER_URI环境变量设置为http://localhost:11311。
检查防火墙设置：确保没有防火墙规则阻止了与roscore的通信。

🍀了，这个时候直接放弃pycharm编辑器运行，改用终端运行！

可能会遇到该报错：

ModuleNotFoundError: No module named 'serial' Exception ignored in: <function DynamixelClient.__del__ at 0x7fefae64faf0> Traceback (most recent call last): File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/dynamixel_client.py", line 346, in __del__ self.disconnect() File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/dynamixel_client.py", line 169, in disconnect if not self.is_connected: File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/dynamixel_client.py", line 140, in is_connected return self.port_handler.is_open AttributeError: 'DynamixelClient' object has no attribute 'port_handler'

解决方案：

pip install pyserial

还有一个非常关键的报错，双臂能启动了目前，但终端报错：

Traceback (most recent call last):
File "/home/song/anaconda3/envs/aloha/lib/python3.8/site-packages/serial/serialposix.py", line 322, in open
self.fd = os.open(self.portstr, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
FileNotFoundError: [Errno 2] No such file or directory: '/dev/ttyDXL_wheels'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "imitate_episodes.py", line 437, in <module>
    main(vars(parser.parse_args()))
File "imitate_episodes.py", line 95, in main
    success_rate, avg_return = eval_bc(config, ckpt_name, save_episode=True)
File "imitate_episodes.py", line 209, in eval_bc
    ts = env.reset()
File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/real_env.py", line 185, in reset
    observation=self.get_observation())
File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/real_env.py", line 166, in get_observation
    obs['base_vel'] = self.get_base_vel()
File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/real_env.py", line 129, in get_base_vel
    left_vel, right_vel = self.dxl_client.read_pos_vel_cur()[1]
File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/dynamixel_client.py", line 212, in read_pos_vel_cur
    return self._pos_vel_cur_reader.read()
File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/dynamixel_client.py", line 376, in read
    self.client.check_connected()
File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/dynamixel_client.py", line 302, in check_connected
    self.connect()
File "/home/song/hjx/aloha/mobile-aloha_multi-sensor/aloha_scripts/dynamixel_client.py", line 150, in connect
    if self.port_handler.openPort():
File "/opt/ros/noetic/lib/python3/dist-packages/dynamixel_sdk/port_handler.py", line 44, in openPort
    return self.setBaudRate(self.baudrate)
File "/opt/ros/noetic/lib/python3/dist-packages/dynamixel_sdk/port_handler.py", line 68, in setBaudRate
    return self.setupPort(baud)
File "/opt/ros/noetic/lib/python3/dist-packages/dynamixel_sdk/port_handler.py", line 114, in setupPort
    self.ser = serial.Serial(
File "/home/song/anaconda3/envs/aloha/lib/python3.8/site-packages/serial/serialutil.py", line 244, in __init__
    self.open()
File "/home/song/anaconda3/envs/aloha/lib/python3.8/site-packages/serial/serialposix.py", line 325, in open
    raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg))
serial.serialutil.SerialException: [Errno 2] could not open port /dev/ttyDXL_wheels: [Errno 2] No such file or directory: '/dev/ttyDXL_wheels'

这个错误信息表明你的程序试图打开一个串行端口/dev/ttyDXL_wheels，但是在系统中找不到这个端口。这通常发生在尝试与串行设备（如Dynamixel伺服电机）通信时，设备的端口路径不正确或设备未正确连接。

解决步骤：

检查设备连接：确保你的Dynamixel设备已经正确连接到计算机，并且连接线没有问题。
检查端口名称：端口名称/dev/ttyDXL_wheels可能不正确或不符合你的系统。通常，Linux系统中的串行端口名称类似于/dev/ttyUSB0、/dev/ttyACM0等。你可以使用以下命令来列出所有可用的串行设备：