aloha-bigym_switch

源代码连接：https://github.com/AlmondGod/aloha-bigym/tree/master

此readme，是复现过程的记录文档。共同进步！！！

1.aloha-bigym

1.0 运行

cd /home/hhz/UCAS/2025/aloha-bigym

conda activate aloha-bigym
source .venv/bin/activate
//连接joycon
sudo /home/hhz/UCAS/2025/aloha-bigym/.venv/bin/python teleop_aloha.py

1.1 install

git clone https://github.com/AlmondGod/aloha-bigym.git
cd aloha-bigym

conda create --name aloha-bigym python=3.12
conda activate aloha-bigym
python3.12 -m venv .venv
source .venv/bin/activate
pip install .
git submodule update --init --recursive   

error1

• If you encounter this error: ImportError: cannot import name 'MujocoElement' from 'mojo.elements', add this line: from mojo.elements.element import MujocoElement to .venv/lib/python3.12/site-packages/gymnasium/envs/mujoco/mujoco_rendering.py

error2

If this error is encountered:

from mojo.elements import Body, Site, MujocoElement
ImportError: cannot import name 'MujocoElement' from 'mojo.elements'

Add this line to site-packages/mojo/elements/__init__.py in your python directory:

from mojo.elements.element import MujocoElement

1.2 复现过程

1.2.1 switch手柄：https://github.com/tocoteron/joycon-python

pip install joycon-python hidapi pyglm
pip install hid

1.2.2 本地文件没找到，导致无法import

把from reduced_configuration import ReducedConfiguration

改成from .reduced_configuration import ReducedConfiguration

reduced_configuration.py 文件和 teleop_aloha.py 文件在同一目录下，可以直接使用相对导入
├── control/
    ├── teleop_aloha.py
    ├── reduced_configuration.py
    └── loop_rate_limiters.py

改成from ..reduced_configuration import ReducedConfiguration

在 prevs 目录下的脚本（例如 joycon_aloha.py）中，可以使用相对导入来导入 reduced_configuration.py 文件
├── control/
    ├── prevs/
    │   ├── __init__.py
    │   ├── joycon_aloha.py
    │   └── other_files.py
    ├── reduced_configuration.py
    └── teleop_aloha.py

1.2.3 少python包

pip install loop_rate_limiters
pip install mink
pip install pynput
pip install h5py

error1

ImportError: Unable to load any of the following libraries:libhidapi-hidraw.so libhidapi-hidraw.so.0 libhidapi-libusb.so libhidapi-libusb.so.0 libhidapi-iohidmanager.so libhidapi-iohidmanager.so.0 libhidapi.dylib hidapi.dll libhidapi-0.dll

在 Ubuntu 系统中，您可以通过安装系统的 hidapi 库来解决这个问题。运行以下命令来安装相关依赖：

sudo apt-get install libhidapi-dev

error2

hid.HIDException: unable to open device

参考链接：https://bbs.archlinux.org/viewtopic.php?id=278341

sudo mkdir -p /etc/udev/rules.d/

echo 'KERNEL=="hidraw*", SUBSYSTEM=="hidraw", MODE="0666", TAG+="uaccess", TAG+="udev-acl"' | sudo tee /etc/udev/rules.d/92-viia.rules

sudo udevadm control --reload-rules

sudo udevadm trigger

error3

更改 /home/hhz/UCAS/2025/aloha-bigym/control/reduced_configuration.py路径

//第7行
class ReducedConfiguration(Configuration):
    def __init__(self, model, data, relevant_qpos_indices, relevant_qvel_indices):
        self.relevant_qpos_indices = relevant_qpos_indices
        self.relevant_qvel_indices = relevant_qvel_indices
        //赋值操作，放到init前
        super().__init__(model, data)

error4

更改 /home/hhz/UCAS/2025/aloha-bigym/.venv/lib/python3.12/site-packages/mink/tasks/task.py路径

//131行，把.model删去
 eye_tg = np.eye(configuration.nv)

error5

更改/home/hhz/UCAS/2025/aloha-bigym/.venv/lib/python3.12/site-packages/mink/solve_ik.py路径

//第16,17行，把.model删去
def _compute_qp_objective(
    configuration: Configuration, tasks: Sequence[Task], damping: float
) -> Objective:
    H = np.eye(configuration.nv) * damping
    c = np.zeros(configuration.nv)

2.bigym

2.1 install

git clone https://github.com/chernyadev/bigym.git
cd bigym

conda create --name bigym python=3.11
conda activate bigym
pip install .