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尝试运行模拟时出错

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尝试运行模拟时出错

我正在使用 Ubuntu 22.04。这是我在尝试运行模拟时遇到的错误。有什么解决办法吗？

python3 -m motion_imitation.examples.test_env_gui --robot_type=A1 --motor_control_mode=Position --on_rack=True
pybullet build time: May 20 2022 19:43:01
/home/user/motion_imitation/motion_imitation/robots/a1.py:104: RuntimeWarning: invalid value encountered in arccos
  (2 * l_low * l_up))
/home/user/miniconda3/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
argv[0]=
startThreads creating 1 threads.
starting thread 0
started thread 0 
argc=3
argv[0] = --unused
argv[1] = 
argv[2] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=Intel
GL_RENDERER=Mesa Intel(R) Graphics (ADL GT2)
GL_VERSION=4.6 (Core Profile) Mesa 22.2.5
GL_SHADING_LANGUAGE_VERSION=4.60
pthread_getconcurrency()=0
Version = 4.6 (Core Profile) Mesa 22.2.5
Vendor = Intel
Renderer = Mesa Intel(R) Graphics (ADL GT2)
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
  0%|                                                   | 0/800 [00:00<?, ?it/s]ven = Intel
Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu
ven = Intel
Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu
100%|█████████████████████████████████████████| 800/800 [00:36<00:00, 21.90it/s]
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
destroy semaphore
semaphore destroyed
Thread TERMINATED
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed

答案1

根据您提供的输出，似乎没有任何明确的错误消息。但是，输出中出现了一些警告消息和说明。

与“通过转换为 float32 降低了 Box 边界精度”相关的警告消息通常可以安全地忽略，因为它是 Gym 库警告，与您的模拟无关。

与“arccos 中遇到无效值”相关的另一条消息是运行时警告，可能与 a1.py 脚本中的某些计算有关，该脚本是模拟代码库的一部分。此警告可能与数学错误有关，例如尝试计算 -1 到 1 范围之外的值的反余弦值。您可能需要检查 a1.py 脚本的代码以查找任何潜在问题。

总的来说，我建议检查 motion_imitation 包的文档，并尝试了解 test_env_gui 脚本的作用以及传递给它的选项。此外，您可能希望检查任何安装要求并确保所有依赖项都已正确安装。最后，您可能希望在启用详细日志记录的情况下运行模拟，以更好地了解模拟过程中发生的情况。

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