XiaohanLei
commented
1 month ago multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init
I have never encountered such kind of mistake. This is weird.
And from
If not the version of Habitat Sim may not be compatible with Habitat Lab version
, it seems that the habitat-sim's version is not compatible with habitat-lab, can you show the result with the command
pip list | grep habitat ?
yijieZengz
Cherryreg
Hello author,
Thank you very much for the excellent work you have done. I've had some difficulties trying to replicate your research. The following is the details of how I run the code. Thank you very much for your help. (I configured the environment strictly according to the readme documentation, and then when executing python main.py, I warned that some packages could not be found, such as mayavi, vit_pytorch, configobj, etc. I installed them with the pip command, and finally got the following error, I don't know how to fix it.)
Thank you!
(ieve) (base) zyj@uubntu:~/user_zyj/habitatIEVE/IEVE$ python main.py multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init Auto GPU config: Number of processes: 11 Number of processes on GPU 0: 4 Number of processes per GPU: 7 Dumping at ./tmp//models/exp1/ Namespace(seed=1, auto_gpu_config=1, total_num_scenes=36, num_processes=11, num_processes_per_gpu=7, num_processes_on_first_gpu=4, eval=1, num_training_frames=10000000, num_eval_episodes=125, num_train_episodes=10000, no_cuda=False, sim_gpu_id=1, sem_gpu_id=-1, log_interval=10, save_interval=1, dump_location='./tmp/', exp_name='exp1', save_periodic=50000, load='pretrained_models/sem_exp.pth', visualize=0, print_images=0, env_frame_width=480, env_frame_height=640, frame_width=120, frame_height=160, max_episode_length=1000, task_config='tasks/instance_imagenav.yaml', split='val', camera_height=0.88, hfov=79, turn_angle=30, min_depth=0.0, max_depth=30.0, success_dist=1.0, floor_thr=50, min_d=1.5, max_d=100.0, version='v3', agent='sem_exp', lr=2.5e-05, global_hidden_size=256, eps=1e-05, alpha=0.99, gamma=0.99, use_gae=False, tau=0.95, entropy_coef=0.001, value_loss_coef=0.5, max_grad_norm=0.5, num_global_steps=20, ppo_epoch=4, num_mini_batch=5, clip_param=0.2, use_recurrent_global=0, num_local_steps=10, reward_coeff=0.1, intrinsic_rew_coeff=0.02, num_sem_categories=16, sem_pred_prob_thr=0.5, global_downscaling=3, vision_range=100, map_resolution=5, du_scale=1, map_size_cm=3600, cat_pred_threshold=5.0, map_pred_threshold=1.0, exp_pred_threshold=1.0, collision_threshold=0.2, kernel_size=91, low_dense=8, succeed_match_points=200, big_enough_f=0.16666666666666666, big_enough_thresh=4, cuda=True) 2024-10-21 02:36:28,338 Initializing dataset InstanceImageNav-v1 Scenes per thread: 0%| | 0/11 [00:00<?, ?it/s]Thread 0: ['4ok3usBNeis', '5cdEh9F2hJL', '6s7QHgap2fW', '7MXmsvcQjpJ'] 9%|██████████████▍ | 1/11 [00:00<00:02, 4.42it/s]Thread 1: ['BAbdmeyTvMZ', 'CrMo8WxCyVb', 'DYehNKdT76V', 'Dd4bFSTQ8gi'] 18%|████████████████████████████▉ | 2/11 [00:00<00:02, 4.47it/s]Thread 2: ['GLAQ4DNUx5U', 'HY1NcmCgn3n', 'LT9Jq6dN3Ea', 'MHPLjHsuG27'] 27%|███████████████████████████████████████████▎ | 3/11 [00:00<00:01, 4.50it/s]Thread 3: ['Nfvxx8J5NCo', 'QaLdnwvtxbs', 'TEEsavR23oF'] 36%|█████████████████████████████████████████████████████████▊ | 4/11 [00:00<00:01, 4.52it/s]Thread 4: ['VBzV5z6i1WS', 'XB4GS9ShBRE', 'a8BtkwhxdRV'] 45%|████████████████████████████████████████████████████████████████████████▎ | 5/11 [00:01<00:01, 4.52it/s]Thread 5: ['bCPU9suPUw9', 'bxsVRursffK', 'cvZr5TUy5C5'] 55%|██████████████████████████████████████████████████████████████████████████████████████▋ | 6/11 [00:01<00:01, 3.46it/s]Thread 6: ['eF36g7L6Z9M', 'h1zeeAwLh9Z', 'k1cupFYWXJ6'] 64%|█████████████████████████████████████████████████████████████████████████████████████████████████████▏ | 7/11 [00:01<00:01, 3.76it/s]Thread 7: ['mL8ThkuaVTM', 'mv2HUxq3B53', 'p53SfW6mjZe'] 73%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████▋ | 8/11 [00:01<00:00, 3.97it/s]Thread 8: ['q3zU7Yy5E5s', 'q5QZSEeHe5g', 'qyAac8rV8Zk'] 82%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████ | 9/11 [00:02<00:00, 4.12it/s]Thread 9: ['svBbv1Pavdk', 'wcojb4TFT35', 'y9hTuugGdiq'] 91%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████▋ | 10/11 [00:02<00:00, 4.23it/s]Thread 10: ['yr17PDCnDDW', 'ziup5kvtCCR', 'zt1RVoi7PcG'] 100%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 11/11 [00:02<00:00, 4.18it/s] multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'pyface.toolkits' plugins found for toolkit 'null': pyface.ui.null.init, pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init multiple 'tvtk.toolkits' plugins found for toolkit 'null': tvtk.pyface.ui.null.init, tvtk.pyface.ui.null.init 2024-10-21 02:36:34,859 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:34,973 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,039 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,066 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,075 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,075 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,086 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,099 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,099 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,106 Initializing dataset InstanceImageNav-v1 2024-10-21 02:36:35,107 initializing sim Sim-v0 Process ForkServerProcess-2: Traceback (most recent call last): File "/home/zyj/user_zyj/anaconda3/envs/ieve/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap self.run() File "/home/zyj/user_zyj/anaconda3/envs/ieve/lib/python3.9/multiprocessing/process.py", line 108, in run self._target(*self._args, *self._kwargs) File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/envs/habitat/utils/vector_env.py", line 191, in _worker_env env = env_fn(env_fn_args) File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/envs/habitat/init.py", line 27, in make_env_fn env = Instance_Exp_Env_Agent(args=args, rank=rank, File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/agents/instance_exp.py", line 43, in init super().init(args, rank, config_env, dataset) File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/envs/habitat/imagegoal_env.py", line 33, in init super().init(config_env, dataset) File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/3rdparty/habitat-lab/habitat/core/env.py", line 382, in init self._env = Env(config, dataset) File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/3rdparty/habitat-lab/habitat/core/env.py", line 114, in init self._sim = make_sim( File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/3rdparty/habitat-lab/habitat/sims/registration.py", line 19, in make_sim return _sim(**kwargs) File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/3rdparty/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 287, in init self.sim_config = self.create_sim_config(self._sensor_suite) File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/3rdparty/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 324, in create_sim_config overwrite_config( File "/mnt/disk2/zyj/user_zyj/habitatIEVE/IEVE/3rdparty/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 84, in overwrite_config raise NameError( NameError: cell_height is not found on habitat_sim but is found on habitat_lab config. It's also not in the list of keys to ignore: {'start_rotation', 'is_set_start_state', 'robot_type', 'sensors', 'joint_start_noise', 'robot_urdf', 'ik_arm_urdf', 'start_position', 'sim_sensors'} Did you make a typo in the config? If not the version of Habitat Sim may not be compatible with Habitat Lab version: {'height': 0.88, 'radius': 0.1, 'cell_height': 0.2, 'max_climb': 0.2, 'sim_sensors': {'rgb_sensor': {'type': 'HabitatSimRGBSensor', 'height': 640, 'width': 480, 'position': [0.0, 0.88, 0.0], 'orientation': [0.0, 0.0, 0.0], 'hfov': 79, 'sensor_subtype': 'PINHOLE', 'noise_model': 'None', 'noise_model_kwargs': {}}, 'depth_sensor': {'type': 'HabitatSimDepthSensor', 'height': 640, 'width': 480, 'position': [0.0, 0.88, 0.0], 'orientation': [0.0, 0.0, 0.0], 'hfov': 79, 'sensor_subtype': 'PINHOLE', 'noise_model': 'None', 'noise_model_kwargs': {}, 'min_depth': 0.0, 'max_depth': 30.0, 'normalize_depth': True}, 'semantic_sensor': {'type': 'HabitatSimSemanticSensor', 'height': 640, 'width': 480, 'position': [0.0, 0.88, 0.0], 'orientation': [0.0, 0.0, 0.0], 'hfov': 79, 'sensor_subtype': 'PINHOLE', 'noise_model': 'None', 'noise_model_kwargs': {}}}, 'is_set_start_state': False, 'start_position': [0.0, 0.0, 0.0], 'start_rotation': [0.0, 0.0, 0.0, 1.0], 'joint_start_noise': 0.1, 'robot_urdf': 'data/robots/hab_fetch/robots/hab_fetch.urdf', 'robot_type': 'FetchRobot', 'ik_arm_urdf': 'data/robots/hab_fetch/robots/fetch_onlyarm.urdf'}