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huangwl18 / ReKep

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
https://rekep-robot.github.io/
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AssertionError: Rendering dt (0.03333333333333333) must be a multiple of physics dt (0.01) #12

Open SherylSandberg opened 1 month ago

SherylSandberg commented 1 month ago

I'm experiencing a crash when executing the following command:

python main.py --use_cached_query --visualize

The terminal output indicates the following warnings and an error traceback:

2024-10-09 11:40:21 [8,580ms] [Warning] [omni.particle.system.core.scripts.extension] 
            ATTENTION!: omni.particle.system.core is currently undergoing extensive (breaking) changes.
            Please be aware that systems built with the existing extension will need to be rebuilt in
            the USD Composer 2023.2 release.
[8.597s] [ext: omni.kit.browser.folder.core-1.9.12] startup
[8.605s] [ext: omni.particle.system.ui-105.1.10] startup
[8.708s] [ext: omni.graph.window.particle.system-105.1.18] startup
DYNAMICS_TODO:
  Make sure "omni.particle.system.core2" is a proper dependency.
  For now, it can just be set to autoload.
DYNAMICS_TODO:
  Make sure "omni.particle.system.core2" is a proper dependency.
  For now, it can just be set to autoload.
[8.742s] [ext: omni.particle.system.bundle-105.1.0] startup
Traceback (most recent call last):
  File "/home/ariel/ReKep/main.py", line 379, in <module>
    main = Main(scene_file, visualize=args.visualize)
  File "/home/ariel/ReKep/main.py", line 40, in __init__
    self.env = ReKepOGEnv(global_config['env'], scene_file, verbose=False)
  File "/home/ariel/ReKep/environment.py", line 69, in __init__
    self.og_env = og.Environment(dict(scene=self.config['scene'], robots=[self.config['robot']['robot_config']], env=self.config['og_sim']))
  File "/home/ariel/miniconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/utils/python_utils.py", line 93, in wrapper
    func(*values.args, **values.kwargs)
  File "/home/ariel/miniconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/envs/env_base.py", line 103, in __init__
    og.launch(
  File "/home/ariel/miniconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/simulator.py", line 1780, in _launch_simulator
    Simulator(*args, **kwargs)
  File "/home/ariel/miniconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/simulator.py", line 295, in __init__
    self._validate_dts(physics_dt, rendering_dt, sim_step_dt)
  File "/home/ariel/miniconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/simulator.py", line 508, in _validate_dts
    assert math.isclose(
AssertionError: Rendering dt (0.03333333333333333) must be a multiple of physics dt (0.01)
2024-10-09 11:40:21 [8,742ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/ariel/miniconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.4+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-10-09 11:40:21 [8,747ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/ariel/miniconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-10-09 11:40:21 [8,750ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-10-09 11:40:21 [8,753ms] [Warning] [omni.physx.plugin] Detach stage failed!
2024-10-09 11:40:21 [8,895ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
sumo43 commented 1 month ago

in config.yaml, set num physics_frequency=30 or 60

SherylSandberg commented 1 month ago

in config.yaml, set num physics_frequency=30 or 60

Thank you, it works

Benxiaogu commented 1 week ago

Hello,my friends! I have the same problem as you, and I set num physics_frequency=30. But after that, I have new problem as follow: Warning: Possible version incompatibility. Attempting to load omni::fabric::IStageReaderWriter with version v0.10 against v0.9. 2024-11-08 08:42:31 [6,822ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. 2024-11-08 08:42:31 [6,904ms] [Warning] [omni.fabric.plugin] removePath called on non-existent path /Render/RenderProduct_Replicator/PostRender/SDGPipeline/RenderProduct_Replicator_GpuInteropEntry 

               ____________
              /          / \
             /          / /__
            /          / /  /\
           /__________/ /__/  \
           \   _____  \ \__\  /
            \  \  / \  \ \_/ /
             \  \/___\  \   /
              \__________\_/  
   ___                  _  ____ _ _                     
  / _ \ _ __ ___  _ __ (_)/ ___(_) |__  ___  ___  _ __  
 | | | | '_ ` _ \| '_ \| | |  _| | '_ \/ __|/ _ \| '_ \ 
 | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | |
  \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_|

[INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- Traceback (most recent call last): File "/home/dawn/workspace/ReKep/main.py", line 379, in main = Main(scene_file, visualize=args.visualize) File "/home/dawn/workspace/ReKep/main.py", line 40, in init self.env = ReKepOGEnv(global_config['env'], scene_file, verbose=False) File "/home/dawn/workspace/ReKep/environment.py", line 69, in init self.og_env = og.Environment(dict(scene=self.config['scene'], robots=[self.config['robot']['robot_config']], env=self.config['og_sim'])) File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/utils/python_utils.py", line 93, in wrapper func(*values.args, values.kwargs) File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/envs/env_base.py", line 128, in init self.load() File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/envs/env_base.py", line 429, in load self._load_scene() File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/envs/env_base.py", line 257, in _load_scene og.sim.import_scene(self._scene) File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/simulator.py", line 700, in import_scene self._last_scene_edge = scene.load( File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/scenes/scene_base.py", line 449, in load new_scene_edge = self._load_scene_prim_with_objects(kwargs) File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/scenes/scene_base.py", line 364, in _load_scene_prim_with_objects self.add_object(obj) File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/scenes/scene_base.py", line 630, in add_object prim = obj.load(self) File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/objects/object_base.py", line 123, in load prim = super().load(scene) File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/prims/prim_base.py", line 116, in load self._post_load() File "/home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/omnigibson/objects/dataset_object.py", line 234, in _post_load assert th.all(scale > 1e-4), f"Scale of {self.name} is too small: {scale}" TypeError: all() received an invalid combination of arguments - got (bool), but expected one of:

2024-11-08 08:42:32 [8,165ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.4+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request 2024-11-08 08:42:32 [8,170ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/dawn/anaconda3/envs/omnigibson/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal 2024-11-08 08:42:32 [8,172ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal 2024-11-08 08:42:32 [8,366ms] [Warning] [carb] Client omni.syntheticdata.plugin Failed to acquire interface [omni::graph::core::INode v4.10] while unloading all plugins Fatal Python error: Segmentation fault

Current thread 0x00007f5637910740 (most recent call first):

Extension modules: mkl._mklinit, mkl._py_mkl_service, numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, torch._C, torch._C._dynamo.autograd_compiler, torch._C._dynamo.eval_frame, torch._C._dynamo.guards, torch._C._dynamo.utils, torch._C._fft, torch._C._linalg, torch._C._nested, torch._C._nn, torch._C._sparse, torch._C._special, scipy._lib._ccallback_c, yaml._yaml, numba.core.typeconv._typeconv, numba._helperlib, numba._dynfunc, numba._dispatcher, numba.core.runtime._nrt_python, numba.np.ufunc._internal, numba.experimental.jitclass._box, scipy.sparse._sparsetools, _csparsetools, scipy.sparse._csparsetools, scipy.linalg._fblas, scipy.linalg._flapack, scipy.linalg.cython_lapack, scipy.linalg._cythonized_array_utils, scipy.linalg._solve_toeplitz, scipy.linalg._decomp_lu_cython, scipy.linalg._matfuncs_sqrtm_triu, scipy.linalg.cython_blas, scipy.linalg._matfuncs_expm, scipy.linalg._decomp_update, scipy.sparse.linalg._dsolve._superlu, scipy.sparse.linalg._eigen.arpack._arpack, scipy.sparse.linalg._propack._spropack, scipy.sparse.linalg._propack._dpropack, scipy.sparse.linalg._propack._cpropack, scipy.sparse.linalg._propack._zpropack, scipy.sparse.csgraph._tools, scipy.sparse.csgraph._shortest_path, scipy.sparse.csgraph._traversal, scipy.sparse.csgraph._min_spanning_tree, scipy.sparse.csgraph._flow, scipy.sparse.csgraph._matching, scipy.sparse.csgraph._reordering, scipy.spatial._ckdtree, scipy._lib.messagestream, scipy.spatial._qhull, scipy.spatial._voronoi, scipy.spatial._distance_wrap, scipy.spatial._hausdorff, scipy.special._ufuncs_cxx, scipy.special._ufuncs, scipy.special._specfun, scipy.special._comb, scipy.special._ellip_harm_2, scipy.spatial.transform._rotation, scipy.optimize._group_columns, scipy.optimize._trlib._trlib, scipy.optimize._lbfgsb, _moduleTNC, scipy.optimize._moduleTNC, scipy.optimize._cobyla, scipy.optimize._slsqp, scipy.optimize._minpack, scipy.optimize._lsq.givens_elimination, scipy.optimize._zeros, scipy.optimize._highs.cython.src._highs_wrapper, scipy.optimize._highs._highs_wrapper, scipy.optimize._highs.cython.src._highs_constants, scipy.optimize._highs._highs_constants, scipy.linalg._interpolative, scipy.optimize._bglu_dense, scipy.optimize._lsap, scipy.optimize._direct, psutil._psutil_linux, psutil._psutil_posix, PIL._imaging, markupsafe._speedups, sklearn.__check_build._check_build, scipy.integrate._odepack, scipy.integrate._quadpack, scipy.integrate._vode, scipy.integrate._dop, scipy.integrate._lsoda, scipy.interpolate._fitpack, scipy.interpolate._dfitpack, scipy.interpolate._bspl, scipy.interpolate._ppoly, scipy.interpolate.interpnd, scipy.interpolate._rbfinterp_pythran, scipy.interpolate._rgi_cython, scipy.special.cython_special, scipy.stats._stats, scipy.stats._biasedurn, scipy.stats._levy_stable.levyst, scipy.stats._stats_pythran, scipy._lib._uarray._uarray, scipy.stats._ansari_swilk_statistics, scipy.stats._sobol, scipy.stats._qmc_cy, scipy.stats._mvn, scipy.stats._rcont.rcont, scipy.stats._unuran.unuran_wrapper, scipy.ndimage._nd_image, _ni_label, scipy.ndimage._ni_label, pandas._libs.tslibs.ccalendar, pandas._libs.tslibs.np_datetime, pandas._libs.tslibs.dtypes, pandas._libs.tslibs.base, pandas._libs.tslibs.nattype, pandas._libs.tslibs.timezones, pandas._libs.tslibs.fields, pandas._libs.tslibs.timedeltas, pandas._libs.tslibs.tzconversion, pandas._libs.tslibs.timestamps, pandas._libs.properties, pandas._libs.tslibs.offsets, pandas._libs.tslibs.strptime, pandas._libs.tslibs.parsing, pandas._libs.tslibs.conversion, pandas._libs.tslibs.period, pandas._libs.tslibs.vectorized, pandas._libs.ops_dispatch, pandas._libs.missing, pandas._libs.hashtable, pandas._libs.algos, pandas._libs.interval, pandas._libs.lib, pandas._libs.ops, pandas._libs.hashing, pandas._libs.arrays, pandas._libs.tslib, pandas._libs.sparse, pandas._libs.internals, pandas._libs.indexing, pandas._libs.index, pandas._libs.writers, pandas._libs.join, pandas._libs.window.aggregations, pandas._libs.window.indexers, pandas._libs.reshape, pandas._libs.groupby, pandas._libs.json, pandas._libs.parsers, pandas._libs.testing, sklearn.utils._isfinite, sklearn.utils.sparsefuncs_fast, sklearn.utils.murmurhash, sklearn.utils._openmp_helpers, sklearn.metrics.cluster._expected_mutual_info_fast, sklearn.preprocessing._csr_polynomial_expansion, sklearn.preprocessing._target_encoder_fast, sklearn.metrics._dist_metrics, sklearn.metrics._pairwise_distances_reduction._datasets_pair, sklearn.utils._cython_blas, sklearn.metrics._pairwise_distances_reduction._base, sklearn.metrics._pairwise_distances_reduction._middle_term_computer, sklearn.utils._heap, sklearn.utils._sorting, sklearn.metrics._pairwise_distances_reduction._argkmin, sklearn.metrics._pairwise_distances_reduction._argkmin_classmode, sklearn.utils._vector_sentinel, sklearn.metrics._pairwise_distances_reduction._radius_neighbors, sklearn.metrics._pairwise_distances_reduction._radius_neighbors_classmode, sklearn.metrics._pairwise_fast, sklearn.neighbors._partition_nodes, sklearn.neighbors._ball_tree, sklearn.neighbors._kd_tree, sklearn.utils.arrayfuncs, sklearn.utils._random, sklearn.utils._seq_dataset, sklearn.linear_model._cd_fast, _loss, sklearn._loss._loss, sklearn.svm._liblinear, sklearn.svm._libsvm, sklearn.svm._libsvm_sparse, sklearn.utils._weight_vector, sklearn.linear_model._sgd_fast, sklearn.linear_model._sag_fast, sklearn.decomposition._online_lda_fast, sklearn.decomposition._cdnmf_fast, h5py._errors, h5py.defs, h5py._objects, h5py.h5, h5py.utils, h5py.h5t, h5py.h5s, h5py.h5ac, h5py.h5p, h5py.h5r, h5py._proxy, h5py._conv, h5py.h5z, h5py.h5a, h5py.h5d, h5py.h5ds, h5py.h5g, h5py.h5i, h5py.h5f, h5py.h5fd, h5py.h5pl, h5py.h5o, h5py.h5l, h5py._selector, _cffi_backend, kiwisolver._cext, sklearn.utils._fast_dict, sklearn.cluster._hierarchical_fast, sklearn.cluster._k_means_common, sklearn.cluster._k_means_elkan, sklearn.cluster._k_means_lloyd, sklearn.cluster._k_means_minibatch, sklearn.cluster._dbscan_inner, sklearn.cluster._hdbscan._tree, sklearn.cluster._hdbscan._linkage, sklearn.cluster._hdbscan._reachability, sklearn._isotonic, sklearn.tree._utils, sklearn.tree._tree, sklearn.tree._splitter, sklearn.tree._criterion, sklearn.neighbors._quad_tree, sklearn.manifold._barnes_hut_tsne, sklearn.manifold._utils, _brotli, gmpy2.gmpy2, omni.mdl.pymdlsdk._pymdlsdk, PIL._imagingft, osqp._osqp, multidict._multidict, yarl._quoting_c, aiohttp._helpers, aiohttp._http_writer, aiohttp._http_parser, aiohttp._websocket, frozenlist._frozenlist, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, scipy.io.matlab._mio5_utils (total: 259) 段错误 (核心已转储) I will appreciate it if you could answer that!