dvoidus
commented
1 month ago I was able to fix previous error by setting self.load_full_data to True and run script once to generate stats.npz and data.npz files I think it makes sense to update inference instructions to include this step.
Unfortunately it still crashes with a different error:
(amdm) PS> python run_env.py --arg_file .\args\RP_amdm_lafan1.txt
Setting seed: 114510
Pytorch doesn't support NCCL on Windows, defaulting to gloo backend
Loading LAFAN1 dataset class
Loading LAFAN1 dataset
Loading test file: data/LAFAN1/aiming1_subject4.bvh
Loading model param:output/base/amdm_lafan1/model_param.pth
model config:output/base/amdm_lafan1/config.yaml
Building AMDM model
Using EMA
Building policy.envs.randomplay_env:RandomPlayEnv-RandomPlayEnv
pybullet build time: Oct 20 2024 12:41:38
argv[0]=--background_color_red=0.2
argv[1]=--background_color_green=0.2
argv[2]=--background_color_blue=0.2
starting thread 0
started testThreads thread 0 with threadHandle 0000000000000688
argc=5
argv[0] = --unused
argv[1] = --background_color_red=0.2
argv[2] = --background_color_green=0.2
argv[3] = --background_color_blue=0.2
argv[4] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
Version = 4.6.0 NVIDIA 560.70
Vendor = NVIDIA Corporation
Renderer = NVIDIA GeForce RTX 3070/PCIe/SSE2
b3Printf: Selected demo: Physics Server
starting thread 0
started MotionThreads thread 0 with threadHandle 0000000000000AC8
MotionThreadFunc thread started
agent is None, test no agent
E:\miniconda3\envs\amdm\lib\site-packages\gymnasium\utils\passive_env_checker.py:198: DeprecationWarning: WARN: Current gymnasium version requires that `Env.reset` can be passed a `seed` instead of using `Env.seed` for resetting the environment random number generator.
"Current gymnasium version requires that `Env.reset` can be passed a `seed` instead of using `Env.seed` for resetting the environment random number generator."
E:\miniconda3\envs\amdm\lib\site-packages\gymnasium\utils\passive_env_checker.py:211: DeprecationWarning: WARN: Current gymnasium version requires that `Env.reset` can be passed `options` to allow the environment initialisation to be passed additional information.
"Current gymnasium version requires that `Env.reset` can be passed `options` to allow the environment initialisation to be passed additional information."
resetting, starting frame index: 4808
resetting, starting frame index: 4009
Traceback (most recent call last):
File "run_env.py", line 241, in <module>
main(sys.argv)
File "run_env.py", line 233, in main
run(0, num_workers, args)
File "run_env.py", line 207, in run
test_no_agent(env)
File "run_env.py", line 87, in test_no_agent
_, reward, done, info = env.calc_env_state(frame)
File "*\AMDM\policy\envs\randomplay_env.py", line 133, in calc_env_state
self.render()
File "*\AMDM\policy\envs\randomplay_env.py", line 144, in render
torch.tensor(self.dataset.x_to_jnts(frame, mode='angle'),device=self.device, dtype=self.history.dtype), # 0 is the newest
File "*\AMDM\dataset\base_dataset.py", line 685, in x_to_jnts
jnts = self.fk_local_seq(x)
File "*\AMDM\dataset\base_dataset.py", line 605, in fk_local_seq
joint_positions[:,i] = joint_positions[:,self.joint_parent[i]] + np.matmul(joint_orientations[:,self.joint_parent[i]], joint_offset[i])
ValueError: matmul: Input operand 1 has a mismatch in its core dimension 0, with gufunc signature (n?,k),(k,m?)->(n?,m?) (size 22 is different from 3)
numActiveThreads = 0
stopping threads
Thread with taskId 0 with handle 0000000000000AC8 exiting
Thread TERMINATED
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 with handle 0000000000000688 exiting
Thread TERMINATED
Yi-Shi94
Followed installation steps and tried running default inference commad:
python run_env.py --arg_file .\args\RP_amdm_lafan1.txtgot the error:
Modified
skeleton_info.pyso that LAFAN1 skel_dict item includes'links': LAFAN1_linksfield, now getting the following error:Any advice on what am I missing to make it work?