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siyandong / NeuralCoMapping

[CVPR 2022] Multi-Robot Active Mapping via Neural Bipartite Graph Matching.
MIT License
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About training error #10

Closed JiayunjieJYJ closed 1 year ago

JiayunjieJYJ commented 1 year ago

After build the env, I only download the gibson_v2_4+.tar.gz dataset, and run this command: python -m gibson2.utils.assets_utils --download_dataset {URL}

And I check Gibson Dataset path:

/NCM/NeuralCoMapping-main$ python -m gibson2.utils.assets_utils --download_assets
INFO:root:Importing iGibson (gibson2 module)
INFO:root:Assets path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets
INFO:root:Gibson Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset
INFO:root:iG Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/ig_dataset
INFO:root:3D-FRONT Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/threedfront_dataset
INFO:root:CubiCasa5K Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/cubicasa_dataset
INFO:root:Example path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/examples
INFO:root:Example config path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/examples/configs

And then I run the training command:

/NCM/NeuralCoMapping-main$ python main.py --global_lr 5e-4 --exp_name 'ma3_history' --critic_lr_coef 5e-2 --train_global 1 --dump_location train --scenes_file scenes/train.scenes

But it occurs an error, there is not the scene:

/NCM/NeuralCoMapping-main$ python main.py --global_lr 5e-4 --exp_name 'ma3_history' --critic_lr_coef 5e-2 --train_global 1 --dump_location train --scenes_file scenes/train.scenes
/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gym/core.py:27: UserWarning: WARN: Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+
  "Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+"
INFO:root:Importing iGibson (gibson2 module)
INFO:root:Assets path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets
INFO:root:Gibson Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset
INFO:root:iG Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/ig_dataset
INFO:root:3D-FRONT Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/threedfront_dataset
INFO:root:CubiCasa5K Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/cubicasa_dataset
INFO:root:Example path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/examples
INFO:root:Example config path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/examples/configs
args = get_args()
main()
Dumping at train/models/ma3_history/
INFO:root:Namespace(ablation=0, action_loss_coef=1.0, baseline='none', centralized=1, clip_param=0.2, config_file='basic.yaml', critic_lr_coef=0.05, cuda=True, depth_noise_rate=0, depth_obs=0, du_scale=2, dump_location='train', entropy_coef=0.0001, env_frame_height=192, env_frame_width=192, eps=1e-05, eval=0, eval_eps_freq=0, exp_name='ma3_history', frame_height=192, frame_width=192, g_input_content='gaussian_dist_map', gamma=0.99, global_downscaling=2, global_lr=0.0005, hfov=90.0, load_global='0', load_global_critic='0', log_interval=250, map_size_cm=4800, max_batch_size=0, max_collisions_allowed=-1, max_episode_length=3000, max_grad_norm=0.5, noise_level=0.1, noisy_actions=0, noisy_odometry=0, num_episodes=10000, num_global_steps=120, num_gnn_layer=3, num_local_steps=25, num_mini_batch=12, num_processes=12, num_robots=3, object_randomization_freq=0.0, obs_threshold=1, obstacle_boundary=20, ppo_epoch=4, ppo_sample_eps=1, print_images=False, reset_floor=0, reset_orientation=1, restore_eps=0, reward_bias=4, reward_scale=0.005, robot_scale=1, rotation_augmentation=1, save_interval=10000, save_periodic=500000, scene_per_process=1, scenes_file='scenes/train.scenes', seed=1, short_goal_dist=1, snp_location='./snp', tau=0.95, texture_randomization_freq=0.0, train_global=1, unit_size_cm=10, use_clipped_value_loss=1, use_distance_field=1, use_gae=1, use_history=1, use_single_gpu=0, value_loss_coef=3.0, vis_type=0, vision_range=32, z_offset=0.4)
INFO:root:SNP allocated 47.3 MB
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Beach
INFO:root:StaticIndoorScene scene: Beach
Traceback (most recent call last):
  File "main.py", line 612, in <module>
    main()
  File "main.py", line 112, in main
    envs = construct_envs(args, snp.dump())
  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/__init__.py", line 316, in construct_envs
    envs = ParallelNavEnv(make_env_fns, args.device)
  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/__init__.py", line 81, in __init__
    self.start()
  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/__init__.py", line 93, in start
    env.start()
  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/__init__.py", line 177, in start
    assert result is self._READY, result
AssertionError: (5, 'Traceback (most recent call last):\n  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/__init__.py", line 256, in _worker\n    env = env_constructor()\n  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/__init__.py", line 295, in make_env_fn\n    env = Exploration_Env(args, config_file, scene_id, device_idx, rank, snp_data)\n  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/exploration_env.py", line 157, in __init__\n    super().__init__(config_file, scene_ids=scene_ids, device_idx=device_idx)\n  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/ma_env_base.py", line 522, in __init__\n    render_to_tensor=render_to_tensor)\n  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/ma_env_base.py", line 319, in __init__\n    self.load()\n  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/ma_env_base.py", line 665, in load\n    super(MAGibsonEnv, self).load()\n  File "/home/jyj/NCM/NeuralCoMapping-main/env/gibson_api/ma_env_base.py", line 389, in load\n    scene, load_texture=self.config.get(\'load_texture\', True) and self.config[\'scene_id\'] not in [\'CVPR2022\', \'Cross\'])\n  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/simulator.py", line 156, in wrapped_load_func\n    res = load_func(*args, **kwargs)\n  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/simulator.py", line 183, in import_scene\n    new_object_pb_ids = scene.load()\n  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/scenes/gibson_indoor_scene.py", line 123, in load\n    self.load_floor_metadata()\n  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/scenes/gibson_indoor_scene.py", line 61, in load_floor_metadata\n    get_scene_path(self.scene_id), \'floors.txt\')\n  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/utils/assets_utils.py", line 143, in get_scene_path\n    data_path) or scene_id == \'stadium\', "Scene {} does not exist".format(scene_id)\nAssertionError: Scene Beach does not exist\n')

Could you please tell me what's wrong?

Thank you very much!

illusive-chase commented 1 year ago

Please check the dir /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset. There should be a subdirectory called Beach if the dataset is downloaded correctly.

JiayunjieJYJ commented 1 year ago

Please check the dir /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset. There should be a subdirectory called Beach if the dataset is downloaded correctly.

Thanks for your timely reply, I find there is not Beach dir:

~/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset$ ll
total 52
drwxrwxr-x   7 jyj jyj  4096  3月 18 17:28 ./
drwxrwxr-x   5 jyj jyj  4096  3月 18 20:19 ../
-rw-r--r--   1 jyj jyj   801  3月  3  2022 contribute.md
-rw-r--r--   1 jyj jyj  1091  3月  3  2022 LICENSE
drwxr-xr-x  30 jyj jyj  4096 11月 15  2021 materials/
drwxr-xr-x   2 jyj jyj  4096  2月 17  2022 metadata/
drwxr-xr-x 377 jyj jyj 12288  3月  3  2022 objects/
-rw-r--r--   1 jyj jyj  1621  3月  3  2022 README.md
drwxr-xr-x  18 jyj jyj  4096 11月 15  2021 scenes/
drwxr-xr-x   2 jyj jyj  4096  2月 17  2022 tests/
-rw-r--r--   1 jyj jyj     6  3月  3  2022 VERSION
JiayunjieJYJ commented 1 year ago

Please check the dir /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset. There should be a subdirectory called Beach if the dataset is downloaded correctly.

Thanks for your timely reply, I find there is not Beach dir:

~/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset$ ll
total 52
drwxrwxr-x   7 jyj jyj  4096  3月 18 17:28 ./
drwxrwxr-x   5 jyj jyj  4096  3月 18 20:19 ../
-rw-r--r--   1 jyj jyj   801  3月  3  2022 contribute.md
-rw-r--r--   1 jyj jyj  1091  3月  3  2022 LICENSE
drwxr-xr-x  30 jyj jyj  4096 11月 15  2021 materials/
drwxr-xr-x   2 jyj jyj  4096  2月 17  2022 metadata/
drwxr-xr-x 377 jyj jyj 12288  3月  3  2022 objects/
-rw-r--r--   1 jyj jyj  1621  3月  3  2022 README.md
drwxr-xr-x  18 jyj jyj  4096 11月 15  2021 scenes/
drwxr-xr-x   2 jyj jyj  4096  2月 17  2022 tests/
-rw-r--r--   1 jyj jyj     6  3月  3  2022 VERSION

But I indeed have downloaded the gibson_v2_4+.tar.gz, I don't know why.

illusive-chase commented 1 year ago

Well, that's abnormal. Try find | grep Beach here.

JiayunjieJYJ commented 1 year ago

Well, that's abnormal. Try find | grep Beach here.

Thanks for your patience, I really appreciate it!

I have tried find | grep Beach at the top dir level, but I didn't find it.

Now I wonder if there is something wrong with the compressed package I downloaded? I download link is: https://storage.googleapis.com/gibson_scenes/ig_dataset.tar.gz, and I unpack it, after that it looks like:

/NCM/ig_dataset$ ll
total 52
drwxr-xr-x   7 jyj jyj  4096  3月  3  2022 ./
drwxrwxr-x   4 jyj jyj  4096  3月 18 19:44 ../
-rw-r--r--   1 jyj jyj   801  3月  3  2022 contribute.md
-rw-r--r--   1 jyj jyj  1091  3月  3  2022 LICENSE
drwxr-xr-x  30 jyj jyj  4096 11月 15  2021 materials/
drwxr-xr-x   2 jyj jyj  4096  2月 17  2022 metadata/
drwxr-xr-x 377 jyj jyj 12288  3月  3  2022 objects/
-rw-r--r--   1 jyj jyj  1621  3月  3  2022 README.md
drwxr-xr-x  18 jyj jyj  4096 11月 15  2021 scenes/
drwxr-xr-x   2 jyj jyj  4096  2月 17  2022 tests/
-rw-r--r--   1 jyj jyj     6  3月  3  2022 VERSION

And I go to /scenes dir, it looks like:

/NCM/ig_dataset/scenes$ ll
total 72
drwxr-xr-x 18 jyj jyj 4096 11月 15  2021 ./
drwxr-xr-x  7 jyj jyj 4096  3月  3  2022 ../
drwxr-xr-x  2 jyj jyj 4096 11月 15  2021 background/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Beechwood_0_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Beechwood_1_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Benevolence_0_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Benevolence_1_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Benevolence_2_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Ihlen_0_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Ihlen_1_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Merom_0_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Merom_1_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Pomaria_0_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Pomaria_1_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Pomaria_2_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Rs_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Wainscott_0_int/
drwxr-xr-x  7 jyj jyj 4096 11月 15  2021 Wainscott_1_int/

Is there any problem? Thank you very much!

illusive-chase commented 1 year ago

What you downloaded is the iGibson dataset. But we need the gibson2 dataset. You can check the google forms and look for the link that ends with gibson_v2_4+.tar.gz.

JiayunjieJYJ commented 1 year ago

What you downloaded is the iGibson dataset. But we need the gibson2 dataset. You can check the google forms and look for the link that ends with gibson_v2_4+.tar.gz.

Thanks very much for your help! I have solved that problem, but a new problem occurs, I think it is maybe about cuDNN version, this is my log:

/NCM/NeuralCoMapping-main$ python main.py --global_lr 5e-4 --exp_name 'ma3_history' --critic_lr_coef 5e-2 --train_global 1 --dump_location train --scenes_file scenes/train.scenes
/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gym/core.py:27: UserWarning: WARN: Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+
  "Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+"
INFO:root:Importing iGibson (gibson2 module)
INFO:root:Assets path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets
INFO:root:Gibson Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset
INFO:root:iG Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/ig_dataset
INFO:root:3D-FRONT Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/threedfront_dataset
INFO:root:CubiCasa5K Dataset path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/cubicasa_dataset
INFO:root:Example path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/examples
INFO:root:Example config path: /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/examples/configs
args = get_args()
main()
Dumping at train/models/ma3_history/
INFO:root:Namespace(ablation=0, action_loss_coef=1.0, baseline='none', centralized=1, clip_param=0.2, config_file='basic.yaml', critic_lr_coef=0.05, cuda=True, depth_noise_rate=0, depth_obs=0, du_scale=2, dump_location='train', entropy_coef=0.0001, env_frame_height=192, env_frame_width=192, eps=1e-05, eval=0, eval_eps_freq=0, exp_name='ma3_history', frame_height=192, frame_width=192, g_input_content='gaussian_dist_map', gamma=0.99, global_downscaling=2, global_lr=0.0005, hfov=90.0, load_global='0', load_global_critic='0', log_interval=250, map_size_cm=4800, max_batch_size=0, max_collisions_allowed=-1, max_episode_length=3000, max_grad_norm=0.5, noise_level=0.1, noisy_actions=0, noisy_odometry=0, num_episodes=10000, num_global_steps=120, num_gnn_layer=3, num_local_steps=25, num_mini_batch=12, num_processes=12, num_robots=3, object_randomization_freq=0.0, obs_threshold=1, obstacle_boundary=20, ppo_epoch=4, ppo_sample_eps=1, print_images=False, reset_floor=0, reset_orientation=1, restore_eps=0, reward_bias=4, reward_scale=0.005, robot_scale=1, rotation_augmentation=1, save_interval=10000, save_periodic=500000, scene_per_process=1, scenes_file='scenes/train.scenes', seed=1, short_goal_dist=1, snp_location='./snp', tau=0.95, texture_randomization_freq=0.0, train_global=1, unit_size_cm=10, use_clipped_value_loss=1, use_distance_field=1, use_gae=1, use_history=1, use_single_gpu=0, value_loss_coef=3.0, vis_type=0, vision_range=32, z_offset=0.4)
INFO:root:SNP allocated 47.3 MB
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Beach
INFO:root:StaticIndoorScene scene: Beach
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Beach/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Colebrook
INFO:root:StaticIndoorScene scene: Colebrook
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Colebrook/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Connellsville
INFO:root:StaticIndoorScene scene: Connellsville
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Connellsville/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Edgemere
INFO:root:StaticIndoorScene scene: Edgemere
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Edgemere/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Delton
INFO:root:StaticIndoorScene scene: Delton
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Delton/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Dunmor
INFO:root:StaticIndoorScene scene: Dunmor
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Dunmor/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Ewansville
INFO:root:StaticIndoorScene scene: Ewansville
INFO:root:Building traversable graph
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Ewansville/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Goffs
INFO:root:StaticIndoorScene scene: Goffs
INFO:root:Building traversable graph
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Goffs/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Maryhill
INFO:root:StaticIndoorScene scene: Maryhill
INFO:root:Building traversable graph
INFO:root:Building traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Maryhill/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Delton
INFO:root:StaticIndoorScene scene: Delton
INFO:root:Loading traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Delton/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Ewansville
INFO:root:StaticIndoorScene scene: Ewansville
INFO:root:Loading traversable graph
INFO:root:Loading traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Ewansville/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/wheel.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/turtlebot_description/meshes/sensors/kinect.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
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Loading basic.yaml
INFO:root:Device 0 is available for rendering
INFO:root:Device 1 is available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '2']' returned non-zero exit status 1.
INFO:root:Device 2 is not available for rendering
INFO:root:Command '['/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/render/mesh_renderer/build/test_device', '3']' returned non-zero exit status 1.
INFO:root:Device 3 is not available for rendering
INFO:root:Using device 0 for rendering
INFO:root:IndoorScene model: Maryhill
INFO:root:StaticIndoorScene scene: Maryhill
INFO:root:Loading traversable graph
INFO:root:Loading traversable graph
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/g_dataset/Maryhill/mesh_z_up.obj
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading robot model file: turtlebot/turtlebot.urdf
INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/turtlebot/kobuki_description/meshes/main_body.obj
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INFO:root:Loading /home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/gibson2/data/assets/models/mjcf_primitives/cube.obj
2023-03-18 22:32:52,157 Computing map for Beach
2023-03-18 22:32:52,238 Computing map for Delton
2023-03-18 22:32:52,251 Computing map for Colebrook
2023-03-18 22:32:52,254 Computing map for Edgemere
2023-03-18 22:32:52,254 Computing map for Dunmor
2023-03-18 22:32:52,254 Computing map for Ewansville
2023-03-18 22:32:52,257 Computing map for Delton
2023-03-18 22:32:52,272 Computing map for Maryhill
2023-03-18 22:32:52,286 Computing map for Ewansville
2023-03-18 22:32:52,286 Computing map for Connellsville
2023-03-18 22:32:52,286 Computing map for Goffs
2023-03-18 22:32:52,314 Computing map for Maryhill
++++++++++++++++++++++++++++++++++++++++++++++++++++  envs.reset()
++++++++++++++++++++++++++++++++++++++++++++++++++++  RL_Policy
Traceback (most recent call last):
  File "main.py", line 612, in <module>
    main()
  File "main.py", line 194, in main
    deterministic=False
  File "/home/jyj/NCM/NeuralCoMapping-main/model.py", line 121, in act
    value, actor_features, rnn_hxs = self(inputs, rnn_hxs, masks, extras)
  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/torch/nn/modules/module.py", line 547, in __call__
    result = self.forward(*input, **kwargs)
  File "/home/jyj/NCM/NeuralCoMapping-main/model.py", line 117, in forward
    return self.network(inputs, rnn_hxs, masks, extras)
  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/torch/nn/modules/module.py", line 547, in __call__
    result = self.forward(*input, **kwargs)
  File "/home/jyj/NCM/NeuralCoMapping-main/utils/gnn.py", line 393, in forward
    value = self.critic(inputs[:, :6, :, :]).squeeze(-1) - 1.5
  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/torch/nn/modules/module.py", line 547, in __call__
    result = self.forward(*input, **kwargs)
  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/torch/nn/modules/container.py", line 92, in forward
    input = module(input)
  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/torch/nn/modules/module.py", line 547, in __call__
    result = self.forward(*input, **kwargs)
  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/torch/nn/modules/conv.py", line 343, in forward
    return self.conv2d_forward(input, self.weight)
  File "/home/jyj/NCM/NeuralCoMapping-main/venv/lib/python3.6/site-packages/torch/nn/modules/conv.py", line 340, in conv2d_forward
    self.padding, self.dilation, self.groups)
RuntimeError: cuDNN error: CUDNN_STATUS_EXECUTION_FAILED

My GPU is RTX 4060, and my CUDA is 12.0:

/NCM/NeuralCoMapping-main$ nvidia-smi 
Sat Mar 18 22:40:41 2023       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 525.85.05    Driver Version: 525.85.05    CUDA Version: 12.0     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
illusive-chase commented 1 year ago

I think it's a version mismatch between CUDA and torch. Google RuntimeError: cuDNN error: CUDNN_STATUS_EXECUTION_FAILED may help.

JiayunjieJYJ commented 1 year ago

I think it's a version mismatch between CUDA and torch. Google RuntimeError: cuDNN error: CUDNN_STATUS_EXECUTION_FAILED may help.

OK, thanks, I will try!

I have an additional question: During the training phase, can the current code be trained when the number of robots varies among episodes (But the number of robots in one episode remains unchanged.)? If not, how to modify it?

illusive-chase commented 1 year ago

Cannot.

It will be very complicated to modify it. You have to first fully understand the code and then rewrite it (mainly in exploration_env.py).

Because our code is written with an assumption that the number of robots will not vary among episodes, there are many arrays allocated with a fixed dimension that represents the robot number. Therefore, using a dynamic robot number requires some reallocation at many places.

JiayunjieJYJ commented 1 year ago

I think it's a version mismatch between CUDA and torch. Google RuntimeError: cuDNN error: CUDNN_STATUS_EXECUTION_FAILED may help.

Thanks for your help! After I changed torch to 1.10.2+cu113, the program does begin to train.

JiayunjieJYJ commented 1 year ago

Cannot.

It will be very complicated to modify it. You have to first fully understand the code and then rewrite it (mainly in exploration_env.py).

Because our code is written with an assumption that the number of robots will not vary among episodes, there are many arrays allocated with a fixed dimension that represents the robot number. Therefore, using a dynamic robot number requires some reallocation at many places.

Theoretically, is it mainly due to the different number of robots corresponding to different sizes of model action spaces? And different sizes of model action spaces lead to the different numbers of model parameters?

illusive-chase commented 1 year ago

No. The neural model supports variable number of robot number. However, there are some other modules which cannot, such as map manager. You can simply search num_robots to see.

JiayunjieJYJ commented 1 year ago

No. The neural model supports variable number of robot number. However, there are some other modules which cannot, such as map manager. You can simply search num_robots to see.

Thanks! So theoretically, if other modules (environment, etc.) support a variable number of robots, then the model's inference process and parameter updating process can actually adapt to any number of robots. Is it right?

illusive-chase commented 1 year ago

Sure.

JiayunjieJYJ commented 1 year ago

OK! Thanks for your help!