OSError: Parsing error in set_kps() during runtime

[Jaimeh9]

Hi, thank you for sharing this great project!

I'm trying to run the script v2_rl_walk_mujoco.py using your provided ONNX model and duck config file. The program detects /dev/ttyACM0 correctly, but I run into this error:

It seems to come from the call to set_kps(). Do you have any suggestions on what format self.kps or self.joints.values() should follow?

• Environment: Raspberry Pi OS, Python 3.11
• USB detected: /dev/ttyACM0
• Config used: duck_config.json
• Model used: BEST_WALK_ONNX_2.onnx

Let me know if I can provide more debug info. Thanks a lot!

[apirrone]

Hi @Jaimeh9

Does this happen every time or only occasionally ?

Are you on the 64bit version of the os ? Can you try with python 3.10 ?

[CDonosoK]

Having the same problem here, why this could be?

[TommyZihao]

looks like the same problem

[ncnynl]

This problem could be caused by not finding a suitable servo. Test by using check_motor.py to check if all servos can be found correctly.

[ioloizou]

I tried the check_motor.py, and all the motors seem fine, and I still get this error. Does anyone know what's the cause or how to fix it?

[ioloizou]

I tried the check_motor.py, and all the motors seem fine, and I still get this error. Does anyone know what's the cause or how to fix it?

For those who may be in the same situation check that all the motors have exactly the same version of firmware, both main and sub. I had some motors that were in different sub version. After upgrading every motor to the last version using the Feetech software in Windows (Linux version doesn't have upgrade capability) the parsing error was fixed.