Physics simulation causes "time_out" during render_script

[yuanfei-Wang]

I am trying the unity_demo.ipynb provided in this repo. Everything is fine until I start to run the physics simulation code. The render_script of putting an apple on the desk gets stuck and the error appears to be "time_out". However, if I skip the comm.activate_physics(), then comm.render_script works normally. The detailed error outputs are listed below. Thanks in advance!

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:384 in _make_request │ │ │ │ 381 │ │ │ │ except Exception as e: │ │ 382 │ │ │ │ │ # Remove the TypeError from the exception chain in Python 3; │ │ 383 │ │ │ │ │ # otherwise it looks like a programming error was the cause. │ │ ❱ 384 │ │ │ │ │ six.raise_from(e, None) │ │ 385 │ │ except (SocketTimeout, BaseSSLError, SocketError) as e: │ │ 386 │ │ │ self._raise_timeout(err=e, url=url, timeout_value=read_timeout) │ │ 387 │ │ │ raise │ │ in raise_from:2 │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:380 in _make_request │ │ │ │ 377 │ │ │ │ httplib_response = conn.getresponse(buffering=True) │ │ 378 │ │ │ except TypeError: # Python 3 │ │ 379 │ │ │ │ try: │ │ ❱ 380 │ │ │ │ │ httplib_response = conn.getresponse() │ │ 381 │ │ │ │ except Exception as e: │ │ 382 │ │ │ │ │ # Remove the TypeError from the exception chain in Python 3; │ │ 383 │ │ │ │ │ # otherwise it looks like a programming error was the cause. │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/http/client.py:1348 in getresponse │ │ │ │ 1345 │ │ │ │ 1346 │ │ try: │ │ 1347 │ │ │ try: │ │ ❱ 1348 │ │ │ │ response.begin() │ │ 1349 │ │ │ except ConnectionError: │ │ 1350 │ │ │ │ self.close() │ │ 1351 │ │ │ │ raise │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/http/client.py:316 in begin │ │ │ │ 313 │ │ │ │ 314 │ │ # read until we get a non-100 response │ │ 315 │ │ while True: │ │ ❱ 316 │ │ │ version, status, reason = self._read_status() │ │ 317 │ │ │ if status != CONTINUE: │ │ 318 │ │ │ │ break │ │ 319 │ │ │ # skip the header from the 100 response │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/http/client.py:277 in _read_status │ │ │ │ 274 │ │ self.will_close = _UNKNOWN # conn will close at end of response │ │ 275 │ │ │ 276 │ def _read_status(self): │ │ ❱ 277 │ │ line = str(self.fp.readline(_MAXLINE + 1), "iso-8859-1") │ │ 278 │ │ if len(line) > _MAXLINE: │ │ 279 │ │ │ raise LineTooLong("status line") │ │ 280 │ │ if self.debuglevel > 0: │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/socket.py:669 in readinto │ │ │ │ 666 │ │ │ raise OSError("cannot read from timed out object") │ │ 667 │ │ while True: │ │ 668 │ │ │ try: │ │ ❱ 669 │ │ │ │ return self._sock.recv_into(b) │ │ 670 │ │ │ except timeout: │ │ 671 │ │ │ │ self._timeout_occurred = True │ │ 672 │ │ │ │ raise │ ╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ timeout: timed out

During handling of the above exception, another exception occurred:

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/adapters.py:439 in send │ │ │ │ 436 │ │ │ │ 437 │ │ try: │ │ 438 │ │ │ if not chunked: │ │ ❱ 439 │ │ │ │ resp = conn.urlopen( │ │ 440 │ │ │ │ │ method=request.method, │ │ 441 │ │ │ │ │ url=url, │ │ 442 │ │ │ │ │ body=request.body, │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:637 in urlopen │ │ │ │ 634 │ │ │ elif isinstance(e, (SocketError, HTTPException)): │ │ 635 │ │ │ │ e = ProtocolError('Connection aborted.', e) │ │ 636 │ │ │ │ │ ❱ 637 │ │ │ retries = retries.increment(method, url, error=e, _pool=self, │ │ 638 │ │ │ │ │ │ │ │ │ │ _stacktrace=sys.exc_info()[2]) │ │ 639 │ │ │ retries.sleep() │ │ 640 │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/util/retry.py:368 in increment │ │ │ │ 365 │ │ elif error and self._is_read_error(error): │ │ 366 │ │ │ # Read retry? │ │ 367 │ │ │ if read is False or not self._is_method_retryable(method): │ │ ❱ 368 │ │ │ │ raise six.reraise(type(error), error, _stacktrace) │ │ 369 │ │ │ elif read is not None: │ │ 370 │ │ │ │ read -= 1 │ │ 371 │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/packages/six.py:686 in reraise │ │ │ │ 683 │ │ │ value = tp() │ │ 684 │ │ if value.traceback is not tb: │ │ 685 │ │ │ raise value.withtraceback(tb) │ │ ❱ 686 │ │ raise value │ │ 687 │ │ 688 else: │ │ 689 │ def exec(code, globs=None, locs=None): │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:597 in urlopen │ │ │ │ 594 │ │ │ │ self._prepare_proxy(conn) │ │ 595 │ │ │ │ │ 596 │ │ │ # Make the request on the httplib connection object. │ │ ❱ 597 │ │ │ httplib_response = self._make_request(conn, method, url, │ │ 598 │ │ │ │ │ │ │ │ │ │ │ │ timeout=timeout_obj, │ │ 599 │ │ │ │ │ │ │ │ │ │ │ │ body=body, headers=headers, │ │ 600 │ │ │ │ │ │ │ │ │ │ │ │ chunked=chunked) │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:386 in _make_request │ │ │ │ 383 │ │ │ │ │ # otherwise it looks like a programming error was the cause. │ │ 384 │ │ │ │ │ six.raise_from(e, None) │ │ 385 │ │ except (SocketTimeout, BaseSSLError, SocketError) as e: │ │ ❱ 386 │ │ │ self._raise_timeout(err=e, url=url, timeout_value=read_timeout) │ │ 387 │ │ │ raise │ │ 388 │ │ │ │ 389 │ │ # AppEngine doesn't have a version attr. │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:306 in _raise_timeout │ │ │ │ 303 │ │ """Is the error actually a timeout? Will raise a ReadTimeout or pass""" │ │ 304 │ │ │ │ 305 │ │ if isinstance(err, SocketTimeout): │ │ ❱ 306 │ │ │ raise ReadTimeoutError(self, url, "Read timed out. (read timeout=%s)" % time │ │ 307 │ │ │ │ 308 │ │ # See the above comment about EAGAIN in Python 3. In Python 2 we have │ │ 309 │ │ # to specifically catch it and throw the timeout error │ ╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ ReadTimeoutError: HTTPConnectionPool(host='127.0.0.1', port=8082): Read timed out. (read timeout=30)

During handling of the above exception, another exception occurred:

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮ │ /home/unison/Github/virtualhome/src/virtualhome/demo/../simulation/unity_simulator/comm_unity.py:92 in │ │ post_command │ │ │ │ 89 │ │ │ if repeat: │ │ 90 │ │ │ │ resp = self.requests_retry_session().post(self._address, json=request_di │ │ 91 │ │ │ else: │ │ ❱ 92 │ │ │ │ resp = requests.post(self._address, json=request_dict, timeout=self.time │ │ 93 │ │ │ if resp.status_code != requests.codes.ok: │ │ 94 │ │ │ │ print(resp) │ │ 95 │ │ │ │ raise UnityEngineException(resp.status_code, resp.json()) │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/api.py:116 in post │ │ │ │ 113 │ :rtype: requests.Response │ │ 114 │ """ │ │ 115 │ │ │ ❱ 116 │ return request('post', url, data=data, json=json, kwargs) │ │ 117 │ │ 118 │ │ 119 def put(url, data=None, kwargs): │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/api.py:60 in request │ │ │ │ 57 │ # avoid leaving sockets open which can trigger a ResourceWarning in some │ │ 58 │ # cases, and look like a memory leak in others. │ │ 59 │ with sessions.Session() as session: │ │ ❱ 60 │ │ return session.request(method=method, url=url, kwargs) │ │ 61 │ │ 62 │ │ 63 def get(url, params=None, kwargs): │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/sessions.py:533 in request │ │ │ │ 530 │ │ │ 'allow_redirects': allow_redirects, │ │ 531 │ │ } │ │ 532 │ │ send_kwargs.update(settings) │ │ ❱ 533 │ │ resp = self.send(prep, send_kwargs) │ │ 534 │ │ │ │ 535 │ │ return resp │ │ 536 │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/sessions.py:646 in send │ │ │ │ 643 │ │ start = preferred_clock() │ │ 644 │ │ │ │ 645 │ │ # Send the request │ │ ❱ 646 │ │ r = adapter.send(request, kwargs) │ │ 647 │ │ │ │ 648 │ │ # Total elapsed time of the request (approximately) │ │ 649 │ │ elapsed = preferred_clock() - start │ │ │ │ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/adapters.py:529 in send │ │ │ │ 526 │ │ │ │ # This branch is for urllib3 versions earlier than v1.22 │ │ 527 │ │ │ │ raise SSLError(e, request=request) │ │ 528 │ │ │ elif isinstance(e, ReadTimeoutError): │ │ ❱ 529 │ │ │ │ raise ReadTimeout(e, request=request) │ │ 530 │ │ │ else: │ │ 531 │ │ │ │ raise │ │ 532 │ ╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ ReadTimeout: HTTPConnectionPool(host='127.0.0.1', port=8082): Read timed out. (read timeout=30)

During handling of the above exception, another exception occurred:

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮ │ in :9 │ │ │ │ 6 │ │ ' [grab] ({})'.format(apple), │ │ 7 │ │ ' [put] ({}) ({} 0,-3)'.format(apple, desk), │ │ 8 │ │ ] │ │ ❱ 9 success, message = comm.render_script(script=script[:2], │ │ 10 │ │ │ │ │ │ │ │ │ find_solution=True, │ │ 11 │ │ │ │ │ │ │ │ │ processing_time_limit=80, │ │ 12 │ │ │ │ │ │ │ │ │ frame_rate=15, │ │ │ │ /home/unison/Github/virtualhome/src/virtualhome/demo/../simulation/unity_simulator/comm_unity.py:492 in │ │ render_script │ │ │ │ 489 │ │ │ │ 'camera_mode': camera_mode, 'recording': recording, │ │ 490 │ │ │ │ 'image_width': image_width, 'image_height': image_height, │ │ 491 │ │ │ │ 'time_scale': time_scale, 'skip_animation': skip_animation} │ │ ❱ 492 │ │ response = self.post_command({'id': str(time.time()), 'action': 'render_script', │ │ 493 │ │ │ │ │ │ │ │ │ 'stringParams': [json.dumps(params)] + script}) │ │ 494 │ │ │ │ 495 │ │ try: │ │ │ │ /home/unison/Github/virtualhome/src/virtualhome/demo/../simulation/unity_simulator/comm_unity.py:98 in │ │ post_command │ │ │ │ 95 │ │ │ │ raise UnityEngineException(resp.status_code, resp.json()) │ │ 96 │ │ │ return resp.json() │ │ 97 │ │ except requests.exceptions.RequestException as e: │ │ ❱ 98 │ │ │ raise UnityCommunicationException(str(e)) │ │ 99 │ │ │ 100 │ def check_connection(self): │ │ 101 │ │ response = self.post_command( │ ╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯ UnityCommunicationException: HTTPConnectionPool(host='127.0.0.1', port=8082): Read timed out. (read timeout=30)

[HuiHuiSun]

Hello! I'm meeting the same error. Did you solve it?

[RichardChangCA]

Hello! I'm meeting the same error. Did you solve it?

[RichardChangCA]

@HuiHuiSun Hello! I'm meeting the same error. Did you solve it?

[YoheiHayamizu]

Hello!

I realized that render_script raises the error when the argument types are wrong. e.g., image_synthesis and camera_mode must be lists.

I could get it working by adding the following line to ensure the parameters sent to the unity simulator are correct.

  def render_script(self, script, randomize_execution=False, random_seed=-1, processing_time_limit=10,
                    skip_execution=False, find_solution=False, output_folder='Output/', file_name_prefix="script",
                    frame_rate=5, image_synthesis=['normal'], save_pose_data=False,
                    image_width=640, image_height=480, recording=False,
                    save_scene_states=False, camera_mode=['AUTO'], time_scale=1.0, skip_animation=False):
      assert isinstance(script, list), \
          "Script must be a list of strings"
      assert isinstance(image_synthesis, list), \
          "image_synthesis must be a list of strings"
      assert isinstance(camera_mode, list), \
          "camera_mode must be a list of strings"
      ...