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SPEAR: A Simulator for Photorealistic Embodied AI Research
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Open_Loop_Control Fetch not working for warehouse_0000 scene #276

Closed a2a4 closed 4 months ago

a2a4 commented 5 months ago

What platform am I on? What are my system specifications? Do I meet the minimum specifications for the Unreal Engine?

Ubuntu 20.04

What commit of the spear repository am I on? Am I synced to a specific tag, or am I synced to the head of the main branch?

main branch

What SpearSim executable am I using? Did I build it myself or download it? If I downloaded it, is my code synced to the correct tag?

I'm using the official release for the linux version

What am I attempting to do, what do I expect to happen, and what actually happened?

Attempting run the open_loop_control fetch run.py with warehouse_0000 scene. Although, this works with other scenes apartment_0000 and debug_0000. To add to this, warehouse_0000 scene works fine when I run "python tools/run_executable.py --executable path/to/executable --scene_id warehouse_0000"

Here is the complete console output from when when I created the spear.Env object in my application.

python examples/open_loop_control_fetch/run.py 
[SPEAR | env.py:127] Launching Unreal instance...
[SPEAR | env.py:133] Writing temp config file: /home/girishsr/Ajay/spear/tmp/config.yaml
[SPEAR | env.py:163] File or directory or symlink exists, removing: /home/girishsr/Ajay/SpearSim-v0.4.0-Linux-Shipping/SpearSim/Content/Paks/SpearPaks
[SPEAR | env.py:166] Creating symlink: /home/girishsr/Ajay/SpearSim-v0.4.0-Linux-Shipping/SpearSim/Content/Paks/SpearPaks -> /home/girishsr/Ajay/SpearSim-v0.4.0-Linux-Shipping/SpearSim/Content/Paks
[SPEAR | env.py:228] Launching executable with the following command-line arguments:
/home/girishsr/Ajay/SpearSim-v0.4.0-Linux-Shipping/SpearSim.sh -windowed -resx=512 -resy=512 -graphicsadapter=0 -nosound -fileopenlog -stdout -fullstdoutlogoutput -nologtimes -config_file=/home/girishsr/Ajay/spear/tmp/config.yaml
[SPEAR | env.py:231] Launching executable with the following config values:
CORE_UTILS:
  WAIT_FOR_KEYBOARD_INPUT_DURING_INITIALIZATION: False
SIMULATION_CONTROLLER:
  AGENT: UrdfRobotAgent
  CAMERA_AGENT:
    ACTION_COMPONENTS: ['set_location', 'set_rotation']
    CAMERA:
      FOV: 90.0
      IMAGE_HEIGHT: 512
      IMAGE_WIDTH: 512
      RENDER_PASSES: ['final_color']
    CAMERA_ACTOR_NAME: 
    OBSERVATION_COMPONENTS: ['camera']
    SPAWN_ACTOR_NAME: 
    SPAWN_LOCATION_X: 0.0
    SPAWN_LOCATION_Y: 0.0
    SPAWN_LOCATION_Z: 0.0
    SPAWN_MODE: specify_pose
    SPAWN_ROTATION_PITCH: 0.0
    SPAWN_ROTATION_ROLL: 0.0
    SPAWN_ROTATION_YAW: 0.0
    STEP_INFO_COMPONENTS: []
  CAMERA_SENSOR:
    READ_SURFACE_DATA: True
    USE_SHARED_MEMORY: True
  CUSTOM_UNREAL_CONSOLE_COMMANDS: []
  IMITATION_LEARNING_TASK:
    AGENT_ACTOR_NAME: 
    AGENT_SPAWN_OFFSET_LOCATION_X: 0.0
    AGENT_SPAWN_OFFSET_LOCATION_Y: 0.0
    AGENT_SPAWN_OFFSET_LOCATION_Z: 0.0
    EPISODES_FILE: 
    GOAL_ACTOR_NAME: 
    OBSTACLE_IGNORE_ACTOR_NAMES: []
  IMU_SENSOR:
    DEBUG_RENDER: False
  INTERACTION_MODE: programmatic
  IP: 127.0.0.1
  MAP_ID: 
  NAVMESH:
    AGENT_HEIGHT: 200.0
    AGENT_MAX_SLOPE: 1.0
    AGENT_MAX_STEP_HEIGHT: 1.0
    AGENT_RADIUS: 50.0
    CELL_HEIGHT: 1.0
    CELL_SIZE: 1.0
    DEBUG_NAVIGATION_DATA_FILE: 
    MAX_SIMPLIFICATION_ERROR: 1.3
    MERGE_REGION_SIZE: 400.0
    MIN_REGION_AREA: 100.0
    TILE_POOL_SIZE: 1024
    TILE_SIZE_UU: 1000.0
  PHYSICS:
    ENABLE_ENHANCED_DETERMINISM: True
    ENABLE_SUBSTEPPING: True
    MAX_SUBSTEPS: 100
    MAX_SUBSTEP_DELTA_TIME: 0.01
    SIMULATION_STEP_TIME: 0.05
  POINT_GOAL_NAV_TASK:
    AGENT_ACTOR_NAME: 
    EPISODE_BEGIN:
      AGENT_LOCATION_X_MAX: nan
      AGENT_LOCATION_X_MIN: nan
      AGENT_LOCATION_Y_MAX: nan
      AGENT_LOCATION_Y_MIN: nan
      AGENT_LOCATION_Z: nan
      GOAL_LOCATION_X_MAX: nan
      GOAL_LOCATION_X_MIN: nan
      GOAL_LOCATION_Y_MAX: nan
      GOAL_LOCATION_Y_MIN: nan
      GOAL_LOCATION_Z: nan
      SPAWN_DISTANCE_THRESHOLD: 1.0
    GOAL_ACTOR_NAME: 
    GOAL_MATERIAL: /Engine/BasicShapes/BasicShapeMaterial.BasicShapeMaterial
    GOAL_MESH: /Engine/BasicShapes/Cylinder.Cylinder
    OBSTACLE_IGNORE_ACTOR_NAMES: []
    RANDOM_SEED: 0
    REWARD:
      HIT_GOAL: 1.0
      HIT_OBSTACLE: -1.0
  PORT: 30000
  SCENE_ID: warehouse_0000
  SPHERE_AGENT:
    ACTION_COMPONENTS: ['add_force', 'add_to_rotation']
    CAMERA:
      FOV: 90.0
      IMAGE_HEIGHT: 512
      IMAGE_WIDTH: 512
      RENDER_PASSES: ['final_color']
    CAMERA_ACTOR_NAME: 
    OBSERVATION_COMPONENTS: ['camera', 'location', 'rotation']
    SPAWN_ACTOR_NAME: 
    SPAWN_LOCATION_X: 0.0
    SPAWN_LOCATION_Y: 0.0
    SPAWN_LOCATION_Z: 0.0
    SPAWN_MODE: specify_pose
    SPAWN_ROTATION_PITCH: 0.0
    SPAWN_ROTATION_ROLL: 0.0
    SPAWN_ROTATION_YAW: 0.0
    SPHERE:
      ANGULAR_DAMPING: 0.0
      LINEAR_DAMPING: 0.0
      MATERIAL: /Engine/BasicShapes/BasicShapeMaterial.BasicShapeMaterial
      MAX_ANGULAR_VELOCITY: 1.0
      MESH_SCALE_X: 0.5
      MESH_SCALE_Y: 0.5
      MESH_SCALE_Z: 0.5
      STATIC_MESH: /Engine/BasicShapes/Sphere.Sphere
    SPHERE_ACTOR_NAME: 
    STEP_INFO_COMPONENTS: ['debug']
  TASK: NullTask
  URDF_ROBOT_AGENT:
    ACTION_COMPONENTS: ['control_joints']
    CAMERA:
      FOV: 90.0
      IMAGE_HEIGHT: 512
      IMAGE_WIDTH: 512
      RENDER_PASSES: ['final_color']
    IS_READY_VELOCITY_THRESHOLD: 1.0
    OBSERVATION_COMPONENTS: ['links_location', 'links_rotation', 'camera']
    SPAWN_ACTOR_NAME: 
    SPAWN_LOCATION_X: -20.0
    SPAWN_LOCATION_Y: 200.0
    SPAWN_LOCATION_Z: 40.0
    SPAWN_MODE: specify_pose
    SPAWN_ROTATION_PITCH: 0.0
    SPAWN_ROTATION_ROLL: 0.0
    SPAWN_ROTATION_YAW: 0.0
    STEP_INFO_COMPONENTS: []
    URDF_ROBOT_ACTOR_NAME: UrdfRobotActor
  VEHICLE_AGENT:
    ACTION_COMPONENTS: ['set_brake_torques', 'set_drive_torques']
    CAMERA:
      FOV: 90.0
      IMAGE_HEIGHT: 512
      IMAGE_WIDTH: 512
      RENDER_PASSES: ['final_color']
    IS_READY_VELOCITY_THRESHOLD: 0.001
    OBSERVATION_COMPONENTS: ['camera', 'location', 'rotation', 'wheel_rotation_speeds']
    SPAWN_ACTOR_NAME: 
    SPAWN_LOCATION_X: 0.0
    SPAWN_LOCATION_Y: 0.0
    SPAWN_LOCATION_Z: 0.0
    SPAWN_MODE: specify_pose
    SPAWN_ROTATION_PITCH: 0.0
    SPAWN_ROTATION_ROLL: 0.0
    SPAWN_ROTATION_YAW: 0.0
    STEP_INFO_COMPONENTS: ['']
    VEHICLE_ACTOR_NAME: 
  VISUALIZER:
    ACTOR_NAME: UrdfRobotActor
    SPAWN_CAMERA: False
    SPAWN_LOCATION_X: 0.0
    SPAWN_LOCATION_Y: 0.0
    SPAWN_LOCATION_Z: 0.0
    SPAWN_ROTATION_PITCH: 0.0
    SPAWN_ROTATION_ROLL: 0.0
    SPAWN_ROTATION_YAW: 0.0
SPEAR:
  CUSTOM_COMMAND_LINE_ARGUMENTS: []
  GPU_ID: 0
  LAUNCH_MODE: standalone_executable
  MAX_NUM_TICKS_AFTER_RESET: 10
  NUM_EXTRA_WARMUP_TICKS: 10
  PAKS_DIR: /home/girishsr/Ajay/SpearSim-v0.4.0-Linux-Shipping/SpearSim/Content/Paks
  RENDER_OFFSCREEN: False
  RPC_CLIENT_INITIALIZE_CONNECTION_MAX_TIME_SECONDS: 120.0
  RPC_CLIENT_INITIALIZE_CONNECTION_SLEEP_TIME_SECONDS: 1.0
  RPC_CLIENT_INTERNAL_RECONNECT_LIMIT: 1
  RPC_CLIENT_INTERNAL_TIMEOUT_SECONDS: 10.0
  STANDALONE_EXECUTABLE: /home/girishsr/Ajay/SpearSim-v0.4.0-Linux-Shipping/SpearSim.sh
  TEMP_DIR: tmp
  UNREAL_EDITOR_EXECUTABLE: 
  UNREAL_INTERNAL_LOG_FILE: 
  UPROJECT: 
  VK_ICD_FILENAMES: 
  WINDOW_RESOLUTION_X: 512
  WINDOW_RESOLUTION_Y: 512
URDF_ROBOT:
  URDF_ROBOT_COMPONENT:
    INPUT_ACTIONS:

  URDF_ROBOT_PAWN:
    CAMERA_COMPONENT:
      ASPECT_RATIO: 1.0
      FOV: 90.0
      LOCATION_X: -70.0
      LOCATION_Y: 70.0
      LOCATION_Z: 140.0
      ROTATION_PITCH: 0.0
      ROTATION_ROLL: 0.0
      ROTATION_YAW: -30.0
    URDF_DIR: /home/girishsr/Ajay/spear/python/spear/urdf
    URDF_FILE: fetch.urdf
VEHICLE:
  VEHICLE_MOVEMENT_COMPONENT:
    CHASSIS_HEIGHT: 15.0
    CHASSIS_WIDTH: 15.0
    DRAG_COEFFICIENT: 1.0
    LEGACY_WHEEL_FRICTION_POSITION_ENABLED: False
    MASS: 11.2
    SUSPENSION_ENABLED: True
    WHEEL_FRICTION_ENABLED: True
  VEHICLE_PAWN:
    ANIM_INSTANCE: /Vehicle/OpenBot/Meshes/ABP_OpenBot.ABP_OpenBot_C
    CAMERA_COMPONENT:
      ASPECT_RATIO: 1.333333
      FOV: 70.0
      LOCATION_X: 9.0
      LOCATION_Y: 5.0
      LOCATION_Z: 10.0
      ROTATION_PITCH: 0.0
      ROTATION_ROLL: 0.0
      ROTATION_YAW: 0.0
    IMU_COMPONENT:
      LOCATION_X: 8.0
      LOCATION_Y: 0.0
      LOCATION_Z: 10.0
      ROTATION_PITCH: 0.0
      ROTATION_ROLL: 0.0
      ROTATION_YAW: 0.0
    INPUT_ACTIONS:

    SKELETAL_MESH: /Vehicle/OpenBot/Meshes/SK_OpenBot.SK_OpenBot
  VEHICLE_WHEEL:
    FRICTION_FORCE_MULTIPLIER: 3.0
    SPRING_PRELOAD: 0.033
    SPRING_RATE: 0.167
    SUSPENSION_DAMPING_RATIO: 0.5
    SUSPENSION_MAX_DROP: 0.001
    SUSPENSION_MAX_RAISE: 0.001
    WHEEL_MASS: 0.033
    WHEEL_RADIUS: 3.3
    WHEEL_WIDTH: 2.5
[SPEAR | env.py:261] Initializing RPC client...
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
[SPEAR | ClassRegistrationUtils.h:79] ClassRegistrar<...>::ClassRegistrationHandle<...>::ClassRegistrationHandle(...)
[SPEAR | ClassRegistrationUtils.h:80] Creating ClassRegistrationHandle: (nil), "CameraAgent"
[SPEAR | ClassRegistrationUtils.h:58] ClassRegistrar<...>::ClassRegistrar()
[SPEAR | ClassRegistrationUtils.h:79] ClassRegistrar<...>::ClassRegistrationHandle<...>::ClassRegistrationHandle(...)
[SPEAR | ClassRegistrationUtils.h:80] Creating ClassRegistrationHandle: 0x7fa08feb0028, "SphereAgent"
[SPEAR | ClassRegistrationUtils.h:79] ClassRegistrar<...>::ClassRegistrationHandle<...>::ClassRegistrationHandle(...)
[SPEAR | ClassRegistrationUtils.h:80] Creating ClassRegistrationHandle: 0x7fa08feb0028, "UrdfRobotAgent"
[SPEAR | ClassRegistrationUtils.h:79] ClassRegistrar<...>::ClassRegistrationHandle<...>::ClassRegistrationHandle(...)
[SPEAR | ClassRegistrationUtils.h:80] Creating ClassRegistrationHandle: 0x7fa08feb0028, "VehicleAgent"
5.2.1-26001984+++UE5+Release-5.2 1009 0
Disabling core dumps.
[SPEAR | CoreUtils.cpp:16] CoreUtils::StartupModule()
[SPEAR | Config.cpp:21] Found config file via the -config_file command-line argument: /home/girishsr/Ajay/spear/tmp/config.yaml
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | TickEventComponent.h:26] UTickEventComponent::UTickEventComponent()
[SPEAR | ActorHitEventComponent.h:27] UActorHitEventComponent::UActorHitEventComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfRobotComponent.cpp:35] UUrdfRobotComponent::UUrdfRobotComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfRobotPawn.cpp:23] AUrdfRobotPawn::AUrdfRobotPawn(...)
[SPEAR | UrdfRobotComponent.cpp:35] UUrdfRobotComponent::UUrdfRobotComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | VehicleMovementComponent.cpp:17] UVehicleMovementComponent::UVehicleMovementComponent()
[SPEAR | VehicleMovementComponent.cpp:17] UVehicleMovementComponent::UVehicleMovementComponent()
[SPEAR | VehiclePawn.cpp:44] AVehiclePawn::AVehiclePawn(...)
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | VehicleWheel.cpp:14] UVehicleWheel::UVehicleWheel()
[SPEAR | SpearSimGameEngine.cpp:20] USpearSimGameEngine::USpearSimGameEngine()
[SPEAR | SpearSimSpectatorPawn.cpp:17] ASpearSimSpectatorPawn::ASpearSimSpectatorPawn()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | SpearSimGameMode.cpp:18] ASpearSimGameMode::ASpearSimGameMode()
[SPEAR | UrdfRobot.cpp:15] UrdfRobot::StartupModule()
[SPEAR | Vehicle.cpp:15] Vehicle::StartupModule()
[SPEAR | SimulationController.cpp:55] SimulationController::StartupModule()
[SPEAR | SpearSimGameEngine.cpp:20] USpearSimGameEngine::USpearSimGameEngine()
[SPEAR | SimulationController.cpp:95] SimulationController::postWorldInitializationEventHandler(...)
[SPEAR | SimulationController.cpp:237] SimulationController::worldCleanupEventHandler(...)
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
[SPEAR | SimulationController.cpp:95] SimulationController::postWorldInitializationEventHandler(...)
[SPEAR | SimulationController.cpp:122] scene_id:                warehouse_0000
[SPEAR | SimulationController.cpp:123] map_id:                  warehouse_0000
[SPEAR | SimulationController.cpp:124] desired_world_path_name: /Game/Scenes/warehouse_0000/Maps/warehouse_0000.warehouse_0000
[SPEAR | SimulationController.cpp:125] desired_level_name:      /Game/Scenes/warehouse_0000/Maps/warehouse_0000
[SPEAR | SimulationController.cpp:126] world->GetPathName():    /Game/Scenes/apartment_0000/Maps/apartment_0000.apartment_0000
[SPEAR | SimulationController.cpp:127] open_level:              1
[SPEAR | SimulationController.cpp:130] Opening level: /Game/Scenes/warehouse_0000/Maps/warehouse_0000
[SPEAR | SpearSimGameMode.cpp:18] ASpearSimGameMode::ASpearSimGameMode()
[SPEAR | SpearSimSpectatorPawn.cpp:17] ASpearSimSpectatorPawn::ASpearSimSpectatorPawn()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | SimulationController.cpp:237] SimulationController::worldCleanupEventHandler(...)
[SPEAR | SpearSimGameMode.cpp:25] ASpearSimGameMode::~ASpearSimGameMode()
[SPEAR | SpearSimSpectatorPawn.cpp:26] ASpearSimSpectatorPawn::~ASpearSimSpectatorPawn()
[SPEAR | InputActionComponent.h:41] UInputActionComponent::~UInputActionComponent()
[SPEAR | SimulationController.cpp:95] SimulationController::postWorldInitializationEventHandler(...)
[SPEAR | SimulationController.cpp:122] scene_id:                warehouse_0000
[SPEAR | SimulationController.cpp:123] map_id:                  warehouse_0000
[SPEAR | SimulationController.cpp:124] desired_world_path_name: /Game/Scenes/warehouse_0000/Maps/warehouse_0000.warehouse_0000
[SPEAR | SimulationController.cpp:125] desired_level_name:      /Game/Scenes/warehouse_0000/Maps/warehouse_0000
[SPEAR | SimulationController.cpp:126] world->GetPathName():    /Game/Scenes/warehouse_0000/Maps/warehouse_0000.warehouse_0000
[SPEAR | SimulationController.cpp:127] open_level:              0
[SPEAR | SpearSimGameMode.cpp:18] ASpearSimGameMode::ASpearSimGameMode()
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
[SPEAR | SpearSimSpectatorPawn.cpp:17] ASpearSimSpectatorPawn::ASpearSimSpectatorPawn()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | SimulationController.cpp:161] SimulationController::worldBeginPlayEventHandler()
[SPEAR | UrdfRobotPawn.cpp:23] AUrdfRobotPawn::AUrdfRobotPawn(...)
[SPEAR | UrdfRobotComponent.cpp:35] UUrdfRobotComponent::UUrdfRobotComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
[SPEAR | UrdfLinkComponent.cpp:31] UUrdfLinkComponent::UUrdfLinkComponent()
[SPEAR | UrdfJointComponent.cpp:46] UUrdfJointComponent::UUrdfJointComponent()
[SPEAR | InputActionComponent.h:33] UInputActionComponent::UInputActionComponent()
Assertion 'navigation_data' failed (DEBUG)
  in file NavMesh.cpp, line 38
  function: void NavMesh::findObjectReferences(UWorld *)
Press (I)gnore / Ignore (F)orever / Ignore (A)ll / (D)ebug / A(b)ort: WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
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WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
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WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
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WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
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WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
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WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
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WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
WARNING:tornado.general:Connect error on fd 6: ECONNREFUSED
[SPEAR | env.py:308] ERROR: Couldn't connect, killing process 40044...
Traceback (most recent call last):
  File "examples/open_loop_control_fetch/run.py", line 52, in <module>
    env = spear.Env(config)
  File "/home/girishsr/Ajay/spear/python/spear/env.py", line 27, in __init__
    self._initialize_rpc_client()
  File "/home/girishsr/Ajay/spear/python/spear/env.py", line 310, in _initialize_rpc_client
    self._close_rpc_client()
  File "/home/girishsr/Ajay/spear/python/spear/env.py", line 353, in _close_rpc_client
    self._rpc_client._loop._ioloop.close()
  File "/home/girishsr/anaconda3/envs/spear-env/lib/python3.8/site-packages/tornado/ioloop.py", line 716, in close
    self.remove_handler(self._waker.fileno())
  File "/home/girishsr/anaconda3/envs/spear-env/lib/python3.8/site-packages/tornado/platform/posix.py", line 48, in fileno
    return self.reader.fileno()
ValueError: I/O operation on closed file
mikeroberts3000 commented 4 months ago

Hi, thanks for the questions. Can you please format your error message and other command-line invocations etc as code blocks so they're easier to read?

a2a4 commented 4 months ago

Hello @mikeroberts3000. I formatted. Thanks for the prompt reply.

mikeroberts3000 commented 4 months ago

Thanks for updating. In general, we don't necessarily expect our example apps to work on scenes other than the default ones. However, in this specific case, if you're willing to modify the source code and recompile, I think you can simply comment out where nav_mesh_ is initialized on line 204 of SimulationController.cpp, and again where it is cleaned up on line 251.

I understand this is a pretty janky workaround. The good news is that we're working on a new system for spawning agents that will enable mixing-and-matching agents and scenes in a cleaner way, and we'll have a more concrete update in a few weeks. Thanks for bearing with us 😅