XiaohanLei
commented
23 hours 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
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'}