facebookresearch / habitat-lab

A modular high-level library to train embodied AI agents across a variety of tasks and environments.
https://aihabitat.org/
MIT License
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Unable to run baseline object navigation #707

Open mbgniuxya opened 3 years ago

mbgniuxya commented 3 years ago

Hi all, I'm having trouble running habitat object navigation baseline on matterport 3d dataset on ubuntu 20.04. I have nvidia driver 465.19.01 with cuda version 11.3, rtx 3090 gpu. The command I used to run the baseline: python habitat_baselines/run.py --exp-config habitat_baselines/config/objectnav/ddppo_objectnav.yaml --run-type train The output I got:

2021-08-11 10:55:51,410 config: BASE_TASK_CONFIG_PATH: ../configs/tasks/objectnav_mp3d.yaml
CHECKPOINT_FOLDER: ../data/new_checkpoints
CHECKPOINT_INTERVAL: -1
CMD_TRAILING_OPTS: ['TASK_CONFIG.ENVIRONMENT.ITERATOR_OPTIONS.MAX_SCENE_REPEAT_STEPS', '50000']
ENV_NAME: NavRLEnv
EVAL:
  SPLIT: val
  USE_CKPT_CONFIG: True
EVAL_CKPT_PATH_DIR: ../data/new_checkpoints
FORCE_BLIND_POLICY: False
FORCE_TORCH_SINGLE_THREADED: True
LOG_FILE: train.log
LOG_INTERVAL: 10
NUM_CHECKPOINTS: 100
NUM_ENVIRONMENTS: 4
NUM_PROCESSES: -1
NUM_UPDATES: 270000
ORBSLAM2:
  ANGLE_TH: 0.2617993877991494
  BETA: 100
  CAMERA_HEIGHT: 1.25
  DEPTH_DENORM: 10.0
  DIST_REACHED_TH: 0.15
  DIST_TO_STOP: 0.05
  D_OBSTACLE_MAX: 4.0
  D_OBSTACLE_MIN: 0.1
  H_OBSTACLE_MAX: 1.25
  H_OBSTACLE_MIN: 0.375
  MAP_CELL_SIZE: 0.1
  MAP_SIZE: 40
  MIN_PTS_IN_OBSTACLE: 320.0
  NEXT_WAYPOINT_TH: 0.5
  NUM_ACTIONS: 3
  PLANNER_MAX_STEPS: 500
  PREPROCESS_MAP: True
  SLAM_SETTINGS_PATH: habitat_baselines/slambased/data/mp3d3_small1k.yaml
  SLAM_VOCAB_PATH: habitat_baselines/slambased/data/ORBvoc.txt
PROFILING:
  CAPTURE_START_STEP: -1
  NUM_STEPS_TO_CAPTURE: -1
RL:
  DDPPO:
    backbone: resnet50
    distrib_backend: NCCL
    force_distributed: False
    num_recurrent_layers: 2
    pretrained: False
    pretrained_encoder: False
    pretrained_weights: data/ddppo-models/gibson-2plus-resnet50.pth
    reset_critic: True
    rnn_type: LSTM
    sync_frac: 0.6
    train_encoder: True
  POLICY:
    ACTION_DIST:
      action_activation: tanh
      max_log_std: 2
      max_std: 1
      min_log_std: -5
      min_std: 1e-06
      use_log_std: False
      use_softplus: False
    OBS_TRANSFORMS:
      CENTER_CROPPER:
        HEIGHT: 256
        WIDTH: 256
      CUBE2EQ:
        HEIGHT: 256
        SENSOR_UUIDS: []
        WIDTH: 512
      CUBE2FISH:
        FOV: 180
        HEIGHT: 256
        PARAMS: (0.2, 0.2, 0.2)
        SENSOR_UUIDS: []
        WIDTH: 256
      ENABLED_TRANSFORMS: ()
      EQ2CUBE:
        HEIGHT: 256
        SENSOR_UUIDS: []
        WIDTH: 256
      RESIZE_SHORTEST_EDGE:
        SIZE: 256
    action_distribution_type: categorical
    name: PointNavResNetPolicy
  PPO:
    clip_param: 0.2
    entropy_coef: 0.01
    eps: 1e-05
    gamma: 0.99
    hidden_size: 512
    lr: 0.00025
    max_grad_norm: 0.2
    num_mini_batch: 2
    num_steps: 64
    ppo_epoch: 4
    reward_window_size: 50
    tau: 0.95
    use_double_buffered_sampler: False
    use_gae: True
    use_linear_clip_decay: False
    use_linear_lr_decay: False
    use_normalized_advantage: False
    value_loss_coef: 0.5
  REWARD_MEASURE: distance_to_goal
  SLACK_REWARD: -0.001
  SUCCESS_MEASURE: spl
  SUCCESS_REWARD: 2.5
  preemption:
    append_slurm_job_id: False
    save_resume_state_interval: 100
    save_state_batch_only: False
SENSORS: ['DEPTH_SENSOR', 'RGB_SENSOR']
SIMULATOR_GPU_ID: 0
TASK_CONFIG:
  DATASET:
    CONTENT_SCENES: ['*']
    DATA_PATH: ../data/datasets/objectnav/mp3d/v1/{split}/{split}.json.gz
    SCENES_DIR: ../data/scene_datasets/
    SPLIT: train
    TYPE: ObjectNav-v1
  ENVIRONMENT:
    ITERATOR_OPTIONS:
      CYCLE: True
      GROUP_BY_SCENE: True
      MAX_SCENE_REPEAT_EPISODES: -1
      MAX_SCENE_REPEAT_STEPS: 10000
      NUM_EPISODE_SAMPLE: -1
      SHUFFLE: True
      STEP_REPETITION_RANGE: 0.2
    MAX_EPISODE_SECONDS: 10000000
    MAX_EPISODE_STEPS: 500
  PYROBOT:
    BASE_CONTROLLER: proportional
    BASE_PLANNER: none
    BUMP_SENSOR:
      TYPE: PyRobotBumpSensor
    DEPTH_SENSOR:
      CENTER_CROP: False
      HEIGHT: 480
      MAX_DEPTH: 5.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      TYPE: PyRobotDepthSensor
      WIDTH: 640
    LOCOBOT:
      ACTIONS: ['BASE_ACTIONS', 'CAMERA_ACTIONS']
      BASE_ACTIONS: ['go_to_relative', 'go_to_absolute']
      CAMERA_ACTIONS: ['set_pan', 'set_tilt', 'set_pan_tilt']
    RGB_SENSOR:
      CENTER_CROP: False
      HEIGHT: 480
      TYPE: PyRobotRGBSensor
      WIDTH: 640
    ROBOT: locobot
    ROBOTS: ['locobot']
    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'BUMP_SENSOR']
  SEED: 100
  SIMULATOR:
    ACTION_SPACE_CONFIG: v1
    AGENTS: ['AGENT_0']
    AGENT_0:
      ANGULAR_ACCELERATION: 12.56
      ANGULAR_FRICTION: 1.0
      COEFFICIENT_OF_RESTITUTION: 0.0
      HEIGHT: 0.88
      IS_SET_START_STATE: False
      LINEAR_ACCELERATION: 20.0
      LINEAR_FRICTION: 0.5
      MASS: 32.0
      RADIUS: 0.18
      SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR']
      START_POSITION: [0, 0, 0]
      START_ROTATION: [0, 0, 0, 1]
    ARM_DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 90
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      UUID: robot_arm_depth
      WIDTH: 640
    ARM_RGB_SENSOR:
      HEIGHT: 480
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      UUID: robot_arm_rgb
      WIDTH: 640
    DEFAULT_AGENT_ID: 0
    DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 79
      MAX_DEPTH: 5.0
      MIN_DEPTH: 0.5
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 0.88, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      WIDTH: 640
    EQUIRECT_DEPTH_SENSOR:
      HEIGHT: 480
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimEquirectangularDepthSensor
      WIDTH: 640
    EQUIRECT_RGB_SENSOR:
      HEIGHT: 480
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimEquirectangularRGBSensor
      WIDTH: 640
    EQUIRECT_SEMANTIC_SENSOR:
      HEIGHT: 480
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimEquirectangularSemanticSensor
      WIDTH: 640
    FISHEYE_DEPTH_SENSOR:
      ALPHA: 0.57
      FOCAL_LENGTH: [364.84, 364.86]
      HEIGHT: 480
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      PRINCIPAL_POINT_OFFSET: None
      SENSOR_MODEL_TYPE: DOUBLE_SPHERE
      TYPE: HabitatSimFisheyeDepthSensor
      WIDTH: 640
      XI: -0.27
    FISHEYE_RGB_SENSOR:
      ALPHA: 0.57
      FOCAL_LENGTH: [364.84, 364.86]
      HEIGHT: 640
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      PRINCIPAL_POINT_OFFSET: None
      SENSOR_MODEL_TYPE: DOUBLE_SPHERE
      TYPE: HabitatSimFisheyeRGBSensor
      WIDTH: 640
      XI: -0.27
    FISHEYE_SEMANTIC_SENSOR:
      ALPHA: 0.57
      FOCAL_LENGTH: [364.84, 364.86]
      HEIGHT: 640
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      PRINCIPAL_POINT_OFFSET: None
      SENSOR_MODEL_TYPE: DOUBLE_SPHERE
      TYPE: HabitatSimFisheyeSemanticSensor
      WIDTH: 640
      XI: -0.27
    FORWARD_STEP_SIZE: 0.25
    HABITAT_SIM_V0:
      ALLOW_SLIDING: False
      ENABLE_PHYSICS: False
      GPU_DEVICE_ID: 0
      GPU_GPU: False
      PHYSICS_CONFIG_FILE: ./data/default.physics_config.json
    HEAD_DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 90
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      UUID: robot_head_depth
      WIDTH: 640
    HEAD_RGB_SENSOR:
      HEIGHT: 480
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      UUID: robot_head_rgb
      WIDTH: 640
    RGB_SENSOR:
      HEIGHT: 480
      HFOV: 79
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 0.88, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      WIDTH: 640
    SCENE: data/scene_datasets/habitat-test-scenes/van-gogh-room.glb
    SEED: 100
    SEMANTIC_SENSOR:
      HEIGHT: 480
      HFOV: 79
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 0.88, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimSemanticSensor
      WIDTH: 640
    THIRD_DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 90
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      UUID: robot_third_rgb
      WIDTH: 640
    THIRD_RGB_SENSOR:
      HEIGHT: 480
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      UUID: robot_third_rgb
      WIDTH: 640
    TILT_ANGLE: 30
    TURN_ANGLE: 30
    TYPE: Sim-v0
  TASK:
    ACTIONS:
      ANSWER:
        TYPE: AnswerAction
      LOOK_DOWN:
        TYPE: LookDownAction
      LOOK_UP:
        TYPE: LookUpAction
      MOVE_FORWARD:
        TYPE: MoveForwardAction
      STOP:
        TYPE: StopAction
      TELEPORT:
        TYPE: TeleportAction
      TURN_LEFT:
        TYPE: TurnLeftAction
      TURN_RIGHT:
        TYPE: TurnRightAction
      VELOCITY_CONTROL:
        ANG_VEL_RANGE: [-10.0, 10.0]
        LIN_VEL_RANGE: [0.0, 0.25]
        MIN_ABS_ANG_SPEED: 1.0
        MIN_ABS_LIN_SPEED: 0.025
        TIME_STEP: 1.0
        TYPE: VelocityAction
    ANSWER_ACCURACY:
      TYPE: AnswerAccuracy
    COLLISIONS:
      TYPE: Collisions
    COMPASS_SENSOR:
      TYPE: CompassSensor
    CORRECT_ANSWER:
      TYPE: CorrectAnswer
    DISTANCE_TO_GOAL:
      DISTANCE_TO: VIEW_POINTS
      TYPE: DistanceToGoal
    EPISODE_INFO:
      TYPE: EpisodeInfo
    GOAL_SENSOR_UUID: objectgoal
    GPS_SENSOR:
      DIMENSIONALITY: 2
      TYPE: GPSSensor
    HEADING_SENSOR:
      TYPE: HeadingSensor
    IMAGEGOAL_SENSOR:
      TYPE: ImageGoalSensor
    INSTRUCTION_SENSOR:
      TYPE: InstructionSensor
    INSTRUCTION_SENSOR_UUID: instruction
    MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SUCCESS', 'SPL', 'SOFT_SPL']
    OBJECTGOAL_SENSOR:
      GOAL_SPEC: TASK_CATEGORY_ID
      GOAL_SPEC_MAX_VAL: 50
      TYPE: ObjectGoalSensor
    POINTGOAL_SENSOR:
      DIMENSIONALITY: 2
      GOAL_FORMAT: POLAR
      TYPE: PointGoalSensor
    POINTGOAL_WITH_GPS_COMPASS_SENSOR:
      DIMENSIONALITY: 2
      GOAL_FORMAT: POLAR
      TYPE: PointGoalWithGPSCompassSensor
    POSSIBLE_ACTIONS: ['STOP', 'MOVE_FORWARD', 'TURN_LEFT', 'TURN_RIGHT', 'LOOK_UP', 'LOOK_DOWN']
    PROXIMITY_SENSOR:
      MAX_DETECTION_RADIUS: 2.0
      TYPE: ProximitySensor
    QUESTION_SENSOR:
      TYPE: QuestionSensor
    SENSORS: ['OBJECTGOAL_SENSOR', 'COMPASS_SENSOR', 'GPS_SENSOR']
    SOFT_SPL:
      TYPE: SoftSPL
    SPL:
      TYPE: SPL
    SUCCESS:
      SUCCESS_DISTANCE: 0.1
      TYPE: Success
    SUCCESS_DISTANCE: 0.1
    TOP_DOWN_MAP:
      DRAW_BORDER: True
      DRAW_GOAL_AABBS: True
      DRAW_GOAL_POSITIONS: True
      DRAW_SHORTEST_PATH: True
      DRAW_SOURCE: True
      DRAW_VIEW_POINTS: True
      FOG_OF_WAR:
        DRAW: True
        FOV: 90
        VISIBILITY_DIST: 5.0
      MAP_PADDING: 3
      MAP_RESOLUTION: 1024
      MAX_EPISODE_STEPS: 1000
      TYPE: TopDownMap
    TYPE: ObjectNav-v1
TENSORBOARD_DIR: tb
TEST_EPISODE_COUNT: -1
TORCH_GPU_ID: 0
TOTAL_NUM_STEPS: -1.0
TRAINER_NAME: ddppo
VERBOSE: True
VIDEO_DIR: video_dir
VIDEO_OPTION: []
2021-08-11 10:55:51,411 Initializing dataset ObjectNav-v1
2021-08-11 10:55:52,699 Initializing dataset ObjectNav-v1
2021-08-11 10:55:52,709 Initializing dataset ObjectNav-v1
2021-08-11 10:55:52,710 Initializing dataset ObjectNav-v1
2021-08-11 10:55:52,738 Initializing dataset ObjectNav-v1
2021-08-11 10:55:55,756 initializing sim Sim-v0
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0811 10:55:55.758397 24316 ManagedFileBasedContainer.h:210] <Dataset>::convertFilenameToPassedExt : Filename : default changed to proposed scene_dataset_config.json filename : default.scene_dataset_config.json
I0811 10:55:55.758421 24316 AttributesManagerBase.h:365] <Dataset>::createFromJsonOrDefaultInternal : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0811 10:55:55.758495 24316 AssetAttributesManager.cpp:120] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:55.758533 24316 AssetAttributesManager.cpp:120] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0811 10:55:55.758571 24316 AssetAttributesManager.cpp:120] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0811 10:55:55.758594 24316 AssetAttributesManager.cpp:120] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0811 10:55:55.758605 24316 AssetAttributesManager.cpp:120] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0811 10:55:55.758615 24316 AssetAttributesManager.cpp:120] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0811 10:55:55.758647 24316 AssetAttributesManager.cpp:120] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0811 10:55:55.758674 24316 AssetAttributesManager.cpp:120] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0811 10:55:55.758687 24316 AssetAttributesManager.cpp:120] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0811 10:55:55.758699 24316 AssetAttributesManager.cpp:120] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0811 10:55:55.758718 24316 AssetAttributesManager.cpp:120] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:55.758736 24316 AssetAttributesManager.cpp:120] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0811 10:55:55.758742 24316 AssetAttributesManager.cpp:108] ::constructor : Built default primitive asset templates : 12
I0811 10:55:55.759413 24316 SceneDatasetAttributesManager.cpp:36] File (default) not found, so new default dataset attributes created and registered.
I0811 10:55:55.759415 24316 MetadataMediator.cpp:127] ::createSceneDataset : Dataset default successfully created.
I0811 10:55:55.759419 24316 AttributesManagerBase.h:365] <Physics Manager>::createFromJsonOrDefaultInternal : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  does not exist.
I0811 10:55:55.759433 24316 PhysicsAttributesManager.cpp:26] File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
I0811 10:55:55.759435 24316 MetadataMediator.cpp:212] ::setActiveSceneDatasetName : Previous active dataset  changed to default successfully.
I0811 10:55:55.759436 24316 MetadataMediator.cpp:183] ::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
I0811 10:55:55.759439 24316 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb and dataset : default which is currently active dataset.
I0811 10:55:55.810333 24316 ManagedFileBasedContainer.h:210] <Scene Instance>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb changed to proposed scene_instance.json filename : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.scene_instance.json
I0811 10:55:55.810348 24316 MetadataMediator.cpp:311] ::getSceneAttributesByName : Dataset : default has no preloaded SceneAttributes or StageAttributes named : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb so loading/creating a new StageAttributes with this name, and then creating a SceneAttributes with the same name that references this stage.
I0811 10:55:55.810353 24316 ManagedFileBasedContainer.h:210] <Stage Template>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb changed to proposed stage_config.json filename : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.stage_config.json
I0811 10:55:55.810355 24316 AttributesManagerBase.h:365] <Stage Template>::createFromJsonOrDefaultInternal : Proposing JSON name : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.stage_config.json from original name : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb | This file  does not exist.
I0811 10:55:55.810442 24316 AbstractObjectAttributesManagerBase.h:183] File (../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
I0811 10:55:55.810472 24316 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:55.810473 24316 SceneDatasetAttributes.cpp:79] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
I0811 10:55:55.810477 24316 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:55.810479 24316 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:55.810482 24316 AttributesManagerBase.h:365] <Lighting Layout>::createFromJsonOrDefaultInternal : Proposing JSON name : no_lights.lighting_config.json from original name : no_lights | This file  does not exist.
I0811 10:55:55.810492 24316 LightLayoutAttributesManager.cpp:34] File (no_lights) not found, so new default light layout attributes created and registered.
I0811 10:55:55.810496 24316 Simulator.cpp:206] ::setSceneInstanceAttributes : Navmesh file location in scene instance : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.navmesh
I0811 10:55:55.810499 24316 Simulator.cpp:213] ::setSceneInstanceAttributes : Loading navmesh from ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.navmesh
I0811 10:55:55.810649 24316 Simulator.cpp:216] ::setSceneInstanceAttributes : Navmesh Loaded.
I0811 10:55:55.810658 24316 SceneGraph.h:85] Created DrawableGroup: 
I0811 10:55:55.810662 24316 Simulator.cpp:251] ::setSceneInstanceAttributes : SceneInstance : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb proposed Semantic Scene Descriptor filename : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.house
Renderer: NVIDIA GeForce RTX 3090/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 465.19.01
Using optional features:
    GL_ARB_vertex_array_object
    GL_ARB_ES2_compatibility
    GL_ARB_separate_shader_objects
    GL_ARB_robustness
    GL_ARB_texture_storage
    GL_ARB_invalidate_subdata
    GL_ARB_texture_storage_multisample
    GL_ARB_multi_bind
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_texture_filter_anisotropic
    GL_KHR_debug
Using driver workarounds:
    no-forward-compatible-core-context
    no-layout-qualifiers-on-old-glsl
    nv-zero-context-profile-mask
    nv-implementation-color-read-format-dsa-broken
    nv-cubemap-inconsistent-compressed-image-size
    nv-cubemap-broken-full-compressed-image-query
    nv-compressed-block-size-in-bits
W0811 10:55:55.954605 24316 Simulator.cpp:275] ::setSceneInstanceAttributes : All attempts to load SSD with SceneAttributes-provided name ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.house : exist : 0 : loaded as expected type : 1
I0811 10:55:55.954912 24316 Simulator.cpp:324] ::createSceneInstance : Using scene instance-specified Light key : -no_lights-
I0811 10:55:55.954919 24316 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb and dataset : default which is currently active dataset.
I0811 10:55:55.954947 24316 Simulator.cpp:382] ::createSceneInstance : Start to load stage named : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb with render asset : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb and collision asset : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb
I0811 10:55:55.954962 24316 ResourceManager.cpp:257] ::loadStage : Not loading semantic mesh
I0811 10:55:55.954963 24316 ResourceManager.cpp:285] ::loadStage : start load render asset ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb.
I0811 10:55:55.954965 24316 ResourceManager.cpp:699] ::loadStageInternal : Attempting to load stage ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb 
I0811 10:55:55.954984 24316 ResourceManager.cpp:1280] Importing Basis files as BC7 for 1pXnuDYAj8r.glb
2021-08-11 10:55:56,471 initializing sim Sim-v0
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0811 10:55:56.473093 24314 ManagedFileBasedContainer.h:210] <Dataset>::convertFilenameToPassedExt : Filename : default changed to proposed scene_dataset_config.json filename : default.scene_dataset_config.json
I0811 10:55:56.473114 24314 AttributesManagerBase.h:365] <Dataset>::createFromJsonOrDefaultInternal : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0811 10:55:56.473183 24314 AssetAttributesManager.cpp:120] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:56.473220 24314 AssetAttributesManager.cpp:120] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0811 10:55:56.473259 24314 AssetAttributesManager.cpp:120] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0811 10:55:56.473282 24314 AssetAttributesManager.cpp:120] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0811 10:55:56.473294 24314 AssetAttributesManager.cpp:120] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0811 10:55:56.473304 24314 AssetAttributesManager.cpp:120] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0811 10:55:56.473336 24314 AssetAttributesManager.cpp:120] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0811 10:55:56.473362 24314 AssetAttributesManager.cpp:120] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0811 10:55:56.473377 24314 AssetAttributesManager.cpp:120] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0811 10:55:56.473388 24314 AssetAttributesManager.cpp:120] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0811 10:55:56.473408 24314 AssetAttributesManager.cpp:120] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:56.473426 24314 AssetAttributesManager.cpp:120] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0811 10:55:56.473433 24314 AssetAttributesManager.cpp:108] ::constructor : Built default primitive asset templates : 12
I0811 10:55:56.474097 24314 SceneDatasetAttributesManager.cpp:36] File (default) not found, so new default dataset attributes created and registered.
I0811 10:55:56.474098 24314 MetadataMediator.cpp:127] ::createSceneDataset : Dataset default successfully created.
I0811 10:55:56.474102 24314 AttributesManagerBase.h:365] <Physics Manager>::createFromJsonOrDefaultInternal : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  does not exist.
I0811 10:55:56.474118 24314 PhysicsAttributesManager.cpp:26] File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
I0811 10:55:56.474121 24314 MetadataMediator.cpp:212] ::setActiveSceneDatasetName : Previous active dataset  changed to default successfully.
I0811 10:55:56.474123 24314 MetadataMediator.cpp:183] ::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
I0811 10:55:56.474125 24314 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb and dataset : default which is currently active dataset.
I0811 10:55:56.508798 24314 ManagedFileBasedContainer.h:210] <Scene Instance>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb changed to proposed scene_instance.json filename : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.scene_instance.json
I0811 10:55:56.508812 24314 MetadataMediator.cpp:311] ::getSceneAttributesByName : Dataset : default has no preloaded SceneAttributes or StageAttributes named : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb so loading/creating a new StageAttributes with this name, and then creating a SceneAttributes with the same name that references this stage.
I0811 10:55:56.508816 24314 ManagedFileBasedContainer.h:210] <Stage Template>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb changed to proposed stage_config.json filename : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.stage_config.json
I0811 10:55:56.508819 24314 AttributesManagerBase.h:365] <Stage Template>::createFromJsonOrDefaultInternal : Proposing JSON name : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.stage_config.json from original name : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb | This file  does not exist.
I0811 10:55:56.508906 24314 AbstractObjectAttributesManagerBase.h:183] File (../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
I0811 10:55:56.508935 24314 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:56.508939 24314 SceneDatasetAttributes.cpp:79] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
I0811 10:55:56.508940 24314 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:56.508944 24314 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:56.508946 24314 AttributesManagerBase.h:365] <Lighting Layout>::createFromJsonOrDefaultInternal : Proposing JSON name : no_lights.lighting_config.json from original name : no_lights | This file  does not exist.
I0811 10:55:56.508956 24314 LightLayoutAttributesManager.cpp:34] File (no_lights) not found, so new default light layout attributes created and registered.
I0811 10:55:56.508960 24314 Simulator.cpp:206] ::setSceneInstanceAttributes : Navmesh file location in scene instance : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.navmesh
I0811 10:55:56.508963 24314 Simulator.cpp:213] ::setSceneInstanceAttributes : Loading navmesh from ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.navmesh
I0811 10:55:56.509104 24314 Simulator.cpp:216] ::setSceneInstanceAttributes : Navmesh Loaded.
I0811 10:55:56.509111 24314 SceneGraph.h:85] Created DrawableGroup: 
I0811 10:55:56.509114 24314 Simulator.cpp:251] ::setSceneInstanceAttributes : SceneInstance : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb proposed Semantic Scene Descriptor filename : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.house
Renderer: NVIDIA GeForce RTX 3090/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 465.19.01
Using optional features:
    GL_ARB_vertex_array_object
    GL_ARB_ES2_compatibility
    GL_ARB_separate_shader_objects
    GL_ARB_robustness
    GL_ARB_texture_storage
    GL_ARB_invalidate_subdata
    GL_ARB_texture_storage_multisample
    GL_ARB_multi_bind
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_texture_filter_anisotropic
    GL_KHR_debug
Using driver workarounds:
    no-forward-compatible-core-context
    no-layout-qualifiers-on-old-glsl
    nv-zero-context-profile-mask
    nv-implementation-color-read-format-dsa-broken
    nv-cubemap-inconsistent-compressed-image-size
    nv-cubemap-broken-full-compressed-image-query
    nv-compressed-block-size-in-bits
W0811 10:55:56.606199 24314 Simulator.cpp:275] ::setSceneInstanceAttributes : All attempts to load SSD with SceneAttributes-provided name ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.house : exist : 0 : loaded as expected type : 1
I0811 10:55:56.606384 24314 Simulator.cpp:324] ::createSceneInstance : Using scene instance-specified Light key : -no_lights-
I0811 10:55:56.606389 24314 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb and dataset : default which is currently active dataset.
I0811 10:55:56.606405 24314 Simulator.cpp:382] ::createSceneInstance : Start to load stage named : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb with render asset : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb and collision asset : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb
I0811 10:55:56.606418 24314 ResourceManager.cpp:257] ::loadStage : Not loading semantic mesh
I0811 10:55:56.606420 24314 ResourceManager.cpp:285] ::loadStage : start load render asset ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb.
I0811 10:55:56.606421 24314 ResourceManager.cpp:699] ::loadStageInternal : Attempting to load stage ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb 
I0811 10:55:56.606436 24314 ResourceManager.cpp:1280] Importing Basis files as BC7 for 5LpN3gDmAk7.glb
2021-08-11 10:55:56,780 initializing sim Sim-v0
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0811 10:55:56.782594 24315 ManagedFileBasedContainer.h:210] <Dataset>::convertFilenameToPassedExt : Filename : default changed to proposed scene_dataset_config.json filename : default.scene_dataset_config.json
I0811 10:55:56.782614 24315 AttributesManagerBase.h:365] <Dataset>::createFromJsonOrDefaultInternal : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0811 10:55:56.782685 24315 AssetAttributesManager.cpp:120] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:56.782721 24315 AssetAttributesManager.cpp:120] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0811 10:55:56.782760 24315 AssetAttributesManager.cpp:120] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0811 10:55:56.782783 24315 AssetAttributesManager.cpp:120] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0811 10:55:56.782794 24315 AssetAttributesManager.cpp:120] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0811 10:55:56.782804 24315 AssetAttributesManager.cpp:120] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0811 10:55:56.782835 24315 AssetAttributesManager.cpp:120] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0811 10:55:56.782861 24315 AssetAttributesManager.cpp:120] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0811 10:55:56.782876 24315 AssetAttributesManager.cpp:120] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0811 10:55:56.782886 24315 AssetAttributesManager.cpp:120] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0811 10:55:56.782907 24315 AssetAttributesManager.cpp:120] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:56.782924 24315 AssetAttributesManager.cpp:120] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0811 10:55:56.782930 24315 AssetAttributesManager.cpp:108] ::constructor : Built default primitive asset templates : 12
I0811 10:55:56.783603 24315 SceneDatasetAttributesManager.cpp:36] File (default) not found, so new default dataset attributes created and registered.
I0811 10:55:56.783607 24315 MetadataMediator.cpp:127] ::createSceneDataset : Dataset default successfully created.
I0811 10:55:56.783610 24315 AttributesManagerBase.h:365] <Physics Manager>::createFromJsonOrDefaultInternal : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  does not exist.
I0811 10:55:56.783624 24315 PhysicsAttributesManager.cpp:26] File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
I0811 10:55:56.783627 24315 MetadataMediator.cpp:212] ::setActiveSceneDatasetName : Previous active dataset  changed to default successfully.
I0811 10:55:56.783628 24315 MetadataMediator.cpp:183] ::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
I0811 10:55:56.783632 24315 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb and dataset : default which is currently active dataset.
I0811 10:55:56.840380 24315 ManagedFileBasedContainer.h:210] <Scene Instance>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb changed to proposed scene_instance.json filename : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.scene_instance.json
I0811 10:55:56.840395 24315 MetadataMediator.cpp:311] ::getSceneAttributesByName : Dataset : default has no preloaded SceneAttributes or StageAttributes named : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb so loading/creating a new StageAttributes with this name, and then creating a SceneAttributes with the same name that references this stage.
I0811 10:55:56.840400 24315 ManagedFileBasedContainer.h:210] <Stage Template>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb changed to proposed stage_config.json filename : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.stage_config.json
I0811 10:55:56.840404 24315 AttributesManagerBase.h:365] <Stage Template>::createFromJsonOrDefaultInternal : Proposing JSON name : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.stage_config.json from original name : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb | This file  does not exist.
I0811 10:55:56.840497 24315 AbstractObjectAttributesManagerBase.h:183] File (../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
I0811 10:55:56.840528 24315 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:56.840529 24315 SceneDatasetAttributes.cpp:79] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
I0811 10:55:56.840531 24315 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:56.840535 24315 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:56.840538 24315 AttributesManagerBase.h:365] <Lighting Layout>::createFromJsonOrDefaultInternal : Proposing JSON name : no_lights.lighting_config.json from original name : no_lights | This file  does not exist.
I0811 10:55:56.840548 24315 LightLayoutAttributesManager.cpp:34] File (no_lights) not found, so new default light layout attributes created and registered.
I0811 10:55:56.840551 24315 Simulator.cpp:206] ::setSceneInstanceAttributes : Navmesh file location in scene instance : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.navmesh
I0811 10:55:56.840555 24315 Simulator.cpp:213] ::setSceneInstanceAttributes : Loading navmesh from ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.navmesh
I0811 10:55:56.840692 24315 Simulator.cpp:216] ::setSceneInstanceAttributes : Navmesh Loaded.
I0811 10:55:56.840701 24315 SceneGraph.h:85] Created DrawableGroup: 
I0811 10:55:56.840704 24315 Simulator.cpp:251] ::setSceneInstanceAttributes : SceneInstance : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb proposed Semantic Scene Descriptor filename : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.house
Renderer: NVIDIA GeForce RTX 3090/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 465.19.01
Using optional features:
    GL_ARB_vertex_array_object
    GL_ARB_ES2_compatibility
    GL_ARB_separate_shader_objects
    GL_ARB_robustness
    GL_ARB_texture_storage
    GL_ARB_invalidate_subdata
    GL_ARB_texture_storage_multisample
    GL_ARB_multi_bind
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_texture_filter_anisotropic
    GL_KHR_debug
Using driver workarounds:
    no-forward-compatible-core-context
    no-layout-qualifiers-on-old-glsl
    nv-zero-context-profile-mask
    nv-implementation-color-read-format-dsa-broken
    nv-cubemap-inconsistent-compressed-image-size
    nv-cubemap-broken-full-compressed-image-query
    nv-compressed-block-size-in-bits
W0811 10:55:56.914382 24315 Simulator.cpp:275] ::setSceneInstanceAttributes : All attempts to load SSD with SceneAttributes-provided name ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.house : exist : 0 : loaded as expected type : 1
I0811 10:55:56.914585 24315 Simulator.cpp:324] ::createSceneInstance : Using scene instance-specified Light key : -no_lights-
I0811 10:55:56.914592 24315 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb and dataset : default which is currently active dataset.
I0811 10:55:56.914610 24315 Simulator.cpp:382] ::createSceneInstance : Start to load stage named : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb with render asset : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb and collision asset : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb
I0811 10:55:56.914624 24315 ResourceManager.cpp:257] ::loadStage : Not loading semantic mesh
I0811 10:55:56.914626 24315 ResourceManager.cpp:285] ::loadStage : start load render asset ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb.
I0811 10:55:56.914628 24315 ResourceManager.cpp:699] ::loadStageInternal : Attempting to load stage ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb 
I0811 10:55:56.914644 24315 ResourceManager.cpp:1280] Importing Basis files as BC7 for 5q7pvUzZiYa.glb
2021-08-11 10:55:57,339 initializing sim Sim-v0
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0811 10:55:57.341727 24313 ManagedFileBasedContainer.h:210] <Dataset>::convertFilenameToPassedExt : Filename : default changed to proposed scene_dataset_config.json filename : default.scene_dataset_config.json
I0811 10:55:57.341750 24313 AttributesManagerBase.h:365] <Dataset>::createFromJsonOrDefaultInternal : Proposing JSON name : default.scene_dataset_config.json from original name : default | This file  does not exist.
I0811 10:55:57.341820 24313 AssetAttributesManager.cpp:120] Asset attributes (capsule3DSolid : capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:57.341858 24313 AssetAttributesManager.cpp:120] Asset attributes (capsule3DWireframe : capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
I0811 10:55:57.341897 24313 AssetAttributesManager.cpp:120] Asset attributes (coneSolid : coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
I0811 10:55:57.341920 24313 AssetAttributesManager.cpp:120] Asset attributes (coneWireframe : coneWireframe_segments_32_halfLen_1.25) created and registered.
I0811 10:55:57.341931 24313 AssetAttributesManager.cpp:120] Asset attributes (cubeSolid : cubeSolid) created and registered.
I0811 10:55:57.341941 24313 AssetAttributesManager.cpp:120] Asset attributes (cubeWireframe : cubeWireframe) created and registered.
I0811 10:55:57.341974 24313 AssetAttributesManager.cpp:120] Asset attributes (cylinderSolid : cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
I0811 10:55:57.342000 24313 AssetAttributesManager.cpp:120] Asset attributes (cylinderWireframe : cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
I0811 10:55:57.342013 24313 AssetAttributesManager.cpp:120] Asset attributes (icosphereSolid : icosphereSolid_subdivs_1) created and registered.
I0811 10:55:57.342025 24313 AssetAttributesManager.cpp:120] Asset attributes (icosphereWireframe : icosphereWireframe_subdivs_1) created and registered.
I0811 10:55:57.342043 24313 AssetAttributesManager.cpp:120] Asset attributes (uvSphereSolid : uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
I0811 10:55:57.342061 24313 AssetAttributesManager.cpp:120] Asset attributes (uvSphereWireframe : uvSphereWireframe_rings_16_segments_32) created and registered.
I0811 10:55:57.342067 24313 AssetAttributesManager.cpp:108] ::constructor : Built default primitive asset templates : 12
I0811 10:55:57.342731 24313 SceneDatasetAttributesManager.cpp:36] File (default) not found, so new default dataset attributes created and registered.
I0811 10:55:57.342733 24313 MetadataMediator.cpp:127] ::createSceneDataset : Dataset default successfully created.
I0811 10:55:57.342737 24313 AttributesManagerBase.h:365] <Physics Manager>::createFromJsonOrDefaultInternal : Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json | This file  does not exist.
I0811 10:55:57.342751 24313 PhysicsAttributesManager.cpp:26] File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
I0811 10:55:57.342754 24313 MetadataMediator.cpp:212] ::setActiveSceneDatasetName : Previous active dataset  changed to default successfully.
I0811 10:55:57.342756 24313 MetadataMediator.cpp:183] ::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
I0811 10:55:57.342759 24313 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb and dataset : default which is currently active dataset.
I0811 10:55:57.382534 24313 ManagedFileBasedContainer.h:210] <Scene Instance>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb changed to proposed scene_instance.json filename : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.scene_instance.json
I0811 10:55:57.382548 24313 MetadataMediator.cpp:311] ::getSceneAttributesByName : Dataset : default has no preloaded SceneAttributes or StageAttributes named : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb so loading/creating a new StageAttributes with this name, and then creating a SceneAttributes with the same name that references this stage.
I0811 10:55:57.382555 24313 ManagedFileBasedContainer.h:210] <Stage Template>::convertFilenameToPassedExt : Filename : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb changed to proposed stage_config.json filename : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.stage_config.json
I0811 10:55:57.382556 24313 AttributesManagerBase.h:365] <Stage Template>::createFromJsonOrDefaultInternal : Proposing JSON name : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.stage_config.json from original name : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb | This file  does not exist.
I0811 10:55:57.382647 24313 AbstractObjectAttributesManagerBase.h:183] File (../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
I0811 10:55:57.382675 24313 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:57.382678 24313 SceneDatasetAttributes.cpp:79] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
I0811 10:55:57.382680 24313 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:57.382683 24313 ManagedFileBasedContainer.h:210] <Lighting Layout>::convertFilenameToPassedExt : Filename : no_lights changed to proposed lighting_config.json filename : no_lights.lighting_config.json
I0811 10:55:57.382686 24313 AttributesManagerBase.h:365] <Lighting Layout>::createFromJsonOrDefaultInternal : Proposing JSON name : no_lights.lighting_config.json from original name : no_lights | This file  does not exist.
I0811 10:55:57.382696 24313 LightLayoutAttributesManager.cpp:34] File (no_lights) not found, so new default light layout attributes created and registered.
I0811 10:55:57.382700 24313 Simulator.cpp:206] ::setSceneInstanceAttributes : Navmesh file location in scene instance : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.navmesh
I0811 10:55:57.382704 24313 Simulator.cpp:213] ::setSceneInstanceAttributes : Loading navmesh from ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.navmesh
I0811 10:55:57.382845 24313 Simulator.cpp:216] ::setSceneInstanceAttributes : Navmesh Loaded.
I0811 10:55:57.382853 24313 SceneGraph.h:85] Created DrawableGroup: 
I0811 10:55:57.382856 24313 Simulator.cpp:251] ::setSceneInstanceAttributes : SceneInstance : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb proposed Semantic Scene Descriptor filename : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.house
Renderer: NVIDIA GeForce RTX 3090/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 465.19.01
Using optional features:
    GL_ARB_vertex_array_object
    GL_ARB_ES2_compatibility
    GL_ARB_separate_shader_objects
    GL_ARB_robustness
    GL_ARB_texture_storage
    GL_ARB_invalidate_subdata
    GL_ARB_texture_storage_multisample
    GL_ARB_multi_bind
    GL_ARB_direct_state_access
    GL_ARB_get_texture_sub_image
    GL_ARB_texture_filter_anisotropic
    GL_KHR_debug
Using driver workarounds:
    no-forward-compatible-core-context
    no-layout-qualifiers-on-old-glsl
    nv-zero-context-profile-mask
    nv-implementation-color-read-format-dsa-broken
    nv-cubemap-inconsistent-compressed-image-size
    nv-cubemap-broken-full-compressed-image-query
    nv-compressed-block-size-in-bits
W0811 10:55:57.482167 24313 Simulator.cpp:275] ::setSceneInstanceAttributes : All attempts to load SSD with SceneAttributes-provided name ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.house : exist : 0 : loaded as expected type : 1
I0811 10:55:57.482393 24313 Simulator.cpp:324] ::createSceneInstance : Using scene instance-specified Light key : -no_lights-
I0811 10:55:57.482398 24313 MetadataMediator.cpp:68] ::setSimulatorConfiguration : Set new simulator config for scene/stage : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb and dataset : default which is currently active dataset.
I0811 10:55:57.482419 24313 Simulator.cpp:382] ::createSceneInstance : Start to load stage named : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb with render asset : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb and collision asset : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb
I0811 10:55:57.482432 24313 ResourceManager.cpp:257] ::loadStage : Not loading semantic mesh
I0811 10:55:57.482435 24313 ResourceManager.cpp:285] ::loadStage : start load render asset ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb.
I0811 10:55:57.482436 24313 ResourceManager.cpp:699] ::loadStageInternal : Attempting to load stage ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb 
I0811 10:55:57.482450 24313 ResourceManager.cpp:1280] Importing Basis files as BC7 for 1LXtFkjw3qL.glb
I0811 10:55:58.547897 24314 Simulator.cpp:400] ::createSceneInstance : Successfully loaded stage named : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb
W0811 10:55:58.547919 24314 Simulator.cpp:435] 
---
Simulator::createSceneInstance : The active scene does not contain semantic annotations. 
---
I0811 10:55:58.547927 24314 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb.
I0811 10:55:58.547935 24314 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:58.547936 24314 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:55:58.547941 24314 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb.
I0811 10:55:58.547945 24314 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:58.547946 24314 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:55:58.547973 24314 Simulator.cpp:182] Simulator::reconfigure() : createSceneInstance success == true for active scene name : ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb with renderer.
I0811 10:55:58.548334 24314 simulator.py:221] Loaded navmesh ../data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.navmesh
I0811 10:55:58.548546 24314 simulator.py:233] Recomputing navmesh for agent's height 0.88 and radius 0.18.
I0811 10:55:58.551968 24314 PathFinder.cpp:382] Building navmesh with 493x483 cells
I0811 10:55:58.697257 24314 PathFinder.cpp:652] Created navmesh with 926 vertices 480 polygons
I0811 10:55:58.697286 24314 Simulator.cpp:798] reconstruct navmesh successful
2021-08-11 10:55:58,698 Initializing task ObjectNav-v1
I0811 10:55:59.356576 24315 Simulator.cpp:400] ::createSceneInstance : Successfully loaded stage named : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb
W0811 10:55:59.356603 24315 Simulator.cpp:435] 
---
Simulator::createSceneInstance : The active scene does not contain semantic annotations. 
---
I0811 10:55:59.356614 24315 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb.
I0811 10:55:59.356623 24315 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:59.356626 24315 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:55:59.356631 24315 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb.
I0811 10:55:59.356634 24315 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb' specified in Scene Attributes exists in dataset library.
I0811 10:55:59.356637 24315 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:55:59.356837 24315 Simulator.cpp:182] Simulator::reconfigure() : createSceneInstance success == true for active scene name : ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb with renderer.
I0811 10:55:59.357269 24315 simulator.py:221] Loaded navmesh ../data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.navmesh
I0811 10:55:59.357532 24315 simulator.py:233] Recomputing navmesh for agent's height 0.88 and radius 0.18.
I0811 10:55:59.363610 24315 PathFinder.cpp:382] Building navmesh with 577x299 cells
I0811 10:55:59.515296 24315 PathFinder.cpp:652] Created navmesh with 923 vertices 478 polygons
I0811 10:55:59.515336 24315 Simulator.cpp:798] reconstruct navmesh successful
2021-08-11 10:55:59,517 Initializing task ObjectNav-v1
I0811 10:56:00.021075 24316 Simulator.cpp:400] ::createSceneInstance : Successfully loaded stage named : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb
W0811 10:56:00.021109 24316 Simulator.cpp:435] 
---
Simulator::createSceneInstance : The active scene does not contain semantic annotations. 
---
I0811 10:56:00.021121 24316 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb.
I0811 10:56:00.021131 24316 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb' specified in Scene Attributes exists in dataset library.
I0811 10:56:00.021133 24316 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:56:00.021139 24316 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb.
I0811 10:56:00.021143 24316 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb' specified in Scene Attributes exists in dataset library.
I0811 10:56:00.021147 24316 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:56:00.021250 24316 Simulator.cpp:182] Simulator::reconfigure() : createSceneInstance success == true for active scene name : ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb with renderer.
I0811 10:56:00.021701 24316 simulator.py:221] Loaded navmesh ../data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.navmesh
I0811 10:56:00.021964 24316 simulator.py:233] Recomputing navmesh for agent's height 0.88 and radius 0.18.
I0811 10:56:00.035627 24316 PathFinder.cpp:382] Building navmesh with 394x509 cells
I0811 10:56:00.216998 24316 PathFinder.cpp:652] Created navmesh with 1097 vertices 543 polygons
I0811 10:56:00.217036 24316 Simulator.cpp:798] reconstruct navmesh successful
2021-08-11 10:56:00,218 Initializing task ObjectNav-v1
I0811 10:56:00.658850 24313 Simulator.cpp:400] ::createSceneInstance : Successfully loaded stage named : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb
W0811 10:56:00.658872 24313 Simulator.cpp:435] 
---
Simulator::createSceneInstance : The active scene does not contain semantic annotations. 
---
I0811 10:56:00.658879 24313 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb.
I0811 10:56:00.658886 24313 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb' specified in Scene Attributes exists in dataset library.
I0811 10:56:00.658888 24313 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:56:00.658893 24313 MetadataMediator.cpp:262] ::getSceneAttributesByName : Query dataset : default for SceneAttributes named : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb yields 1 candidates.  Using ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb.
I0811 10:56:00.658896 24313 SceneDatasetAttributes.cpp:45] ::addNewSceneInstanceToDataset : Dataset : 'default' : Stage Attributes '../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb' specified in Scene Attributes exists in dataset library.
I0811 10:56:00.658898 24313 SceneDatasetAttributes.cpp:85] ::addNewSceneInstanceToDataset : Dataset : 'default' : Lighting Layout Attributes no_lights specified in Scene Attributes exists in dataset library.
I0811 10:56:00.658982 24313 Simulator.cpp:182] Simulator::reconfigure() : createSceneInstance success == true for active scene name : ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb with renderer.
I0811 10:56:00.659324 24313 simulator.py:221] Loaded navmesh ../data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.navmesh
I0811 10:56:00.659529 24313 simulator.py:233] Recomputing navmesh for agent's height 0.88 and radius 0.18.
I0811 10:56:00.667335 24313 PathFinder.cpp:382] Building navmesh with 236x436 cells
I0811 10:56:00.857362 24313 PathFinder.cpp:652] Created navmesh with 1029 vertices 528 polygons
I0811 10:56:00.857391 24313 Simulator.cpp:798] reconstruct navmesh successful
2021-08-11 10:56:00,859 Initializing task ObjectNav-v1
2021-08-11 10:56:03,213 agent number of parameters: 11804891
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:526: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint8 = np.dtype([("qint8", np.int8, 1)])
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:527: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_quint8 = np.dtype([("quint8", np.uint8, 1)])
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:528: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint16 = np.dtype([("qint16", np.int16, 1)])
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:529: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_quint16 = np.dtype([("quint16", np.uint16, 1)])
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:530: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint32 = np.dtype([("qint32", np.int32, 1)])
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/tensorflow-1.13.1-py3.6-linux-x86_64.egg/tensorflow/python/framework/dtypes.py:535: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  np_resource = np.dtype([("resource", np.ubyte, 1)])
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/torch/nn/functional.py:718: UserWarning: Named tensors and all their associated APIs are an experimental feature and subject to change. Please do not use them for anything important until they are released as stable. (Triggered internally at  /pytorch/c10/core/TensorImpl.h:1156.)
  return torch.max_pool2d(input, kernel_size, stride, padding, dilation, ceil_mode)
/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/torch/_tensor.py:575: UserWarning: floor_divide is deprecated, and will be removed in a future version of pytorch. It currently rounds toward 0 (like the 'trunc' function NOT 'floor'). This results in incorrect rounding for negative values.
To keep the current behavior, use torch.div(a, b, rounding_mode='trunc'), or for actual floor division, use torch.div(a, b, rounding_mode='floor'). (Triggered internally at  /pytorch/aten/src/ATen/native/BinaryOps.cpp:467.)
  return torch.floor_divide(self, other)
Traceback (most recent call last):
  File "/home/xxxxxxx/habitat-lab/habitat_baselines/run.py", line 81, in <module>
    main()
  File "/home/xxxxxxx/habitat-lab/habitat_baselines/run.py", line 40, in main
    run_exp(**vars(args))
  File "/home/xxxxxxx/habitat-lab/habitat_baselines/run.py", line 77, in run_exp
    execute_exp(config, run_type)
  File "/home/xxxxxxx/habitat-lab/habitat_baselines/run.py", line 60, in execute_exp
    trainer.train()
  File "/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/contextlib.py", line 52, in inner
    return func(*args, **kwds)
  File "/home/xxxxxxx/habitat-lab/habitat_baselines/rl/ppo/ppo_trainer.py", line 837, in train
    ) = self._update_agent()
  File "/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/contextlib.py", line 52, in inner
    return func(*args, **kwds)
  File "/home/xxxxxxx/habitat-lab/habitat_baselines/rl/ppo/ppo_trainer.py", line 578, in _update_agent
    self.rollouts
  File "/home/xxxxxxx/habitat-lab/habitat_baselines/rl/ppo/ppo.py", line 134, in update
    total_loss.backward()
  File "/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/torch/_tensor.py", line 255, in backward
    torch.autograd.backward(self, gradient, retain_graph, create_graph, inputs=inputs)
  File "/home/xxxxxxx/anaconda3/envs/habitat/lib/python3.6/site-packages/torch/autograd/__init__.py", line 149, in backward
    allow_unreachable=True, accumulate_grad=True)  # allow_unreachable flag
RuntimeError: Function AddmmBackward returned an invalid gradient at index 1 - got [128, 2058] but expected shape compatible with [128, 3360]
Exception ignored in: <bound method VectorEnv.__del__ of <habitat.core.vector_env.VectorEnv object at 0x7f83564ad828>>
Traceback (most recent call last):
  File "/home/xxxxxxx/habitat-lab/habitat/core/vector_env.py", line 592, in __del__
  File "/home/xxxxxxx/habitat-lab/habitat/core/vector_env.py", line 463, in close
  File "/home/xxxxxxx/habitat-lab/habitat/core/vector_env.py", line 118, in __call__
  File "/home/xxxxxxx/habitat-lab/habitat/utils/pickle5_multiprocessing.py", line 61, in send
TypeError: 'NoneType' object is not callable

Process finished with exit code 1
mathfac commented 3 years ago

@mbgniuxya, thank you for reporting the issue. What is PyTorch version and installation you're using? Is that issue persistent. Can you try instructions from our challenge setup here for training.

mbgniuxya commented 3 years ago

Thanks for your reply. I think the issue is here: https://github.com/facebookresearch/habitat-lab/blob/7a1605cd9d5b21a5c23dd91f2b9eecc6e760d4c4/habitat_baselines/rl/ddppo/policy/resnet_policy.py#L332 it seems the input size is calculated using width width rather than height width from config file. I manually changed it to fit the actual input size and it works now.

apoorvkh commented 3 years ago

I am having the same issue -- using resnet50, visual_encoder.output_shape is currently set to (42, 7, 7) (as it should be). But actually, the model produces features of size (42, 8, 10). So there must be some error in the ResNet implementation. Reverting to the "challenge-2021" or "v0.1.7" branches resolves this for me.