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Is habitat sim version v0.2.2 compitable? #1

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jeezrick opened this issue Nov 20, 2023 · 5 comments
Open

Is habitat sim version v0.2.2 compitable? #1

jeezrick opened this issue Nov 20, 2023 · 5 comments

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@jeezrick
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jeezrick commented Nov 20, 2023 •
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Hi, I am encountering an issue while attempting to reproduce results reported in your paper by using the provided checkpoints. I cloned habitat-lab version 0.2.2 and habitat-sim version 0.2.2, and installed them accordingly(I tried git submodule stuff, failed).

$ conda list | grep habitat
habitat                   0.2.2                    pypi_0    pypi
habitat-sim               0.2.2                    pypi_0    pypi

However, when I run the evaluation script, I encounter the following error (similar to the issue that occurred with the 'mass' item in the config; I attempted to address it by adding 'mass' to 'ignore_keys', but it did not resolve the problem).

 ./scripts/1-objectnav-rl-ft-eval.sh objectnav_rl_ft_hd.ckpt  > output.txt
+ echo 'In ObjectNav IL DDP'
+ python -u -m run --exp-config configs/experiments/rl_ft_objectnav.yaml --run-type eval TENSORBOARD_DIR tb/objectnav_il_rl_ft/ovrl_resnet50/seed_1/ EVAL_CKPT_PATH_DIR objectnav_rl_ft_hd.ckpt NUM_UPDATES 20000 NUM_ENVIRONMENTS 8 RL.DDPPO.pretrained False TASK_CONFIG.DATASET.SPLIT val TASK_CONFIG.DATASET.DATA_PATH 'data/datasets/objectnav/objectnav_hm3d/objectnav_hm3d_v1//{split}/{split}.json.gz'
2023-11-20 13:52:17,187 Using a generated random seed 18520230
2023-11-20 13:52:17,490 env config: BASE_TASK_CONFIG_PATH: configs/tasks/objectnav_hm3d.yaml
CHECKPOINT_FOLDER: data/new_checkpoints/objectnav_il_rl_ft/ddppo_hm3d_pt_77k/rgb_ovrl_with_augs/sparse_reward/hm3d_v0_1_0/seed_2/
CHECKPOINT_INTERVAL: -1
CMD_TRAILING_OPTS: ['TASK_CONFIG.ENVIRONMENT.ITERATOR_OPTIONS.MAX_SCENE_REPEAT_STEPS', '50000', 'TENSORBOARD_DIR', 'tb/objectnav_il_rl_ft/ovrl_resnet50/seed_1/', 'EVAL_CKPT_PATH_DIR', 'objectnav_rl_ft_hd.ckpt', 'NUM_UPDATES', '20000', 'NUM_ENVIRONMENTS', '8', 'RL.DDPPO.pretrained', 'False', 'TASK_CONFIG.DATASET.SPLIT', 'val', 'TASK_CONFIG.DATASET.DATA_PATH', 'data/datasets/objectnav/objectnav_hm3d/objectnav_hm3d_v1//{split}/{split}.json.gz']
ENV_NAME: SimpleRLEnv
EVAL:
  ENSEMBLE: False
  EVAL_FREQ: 5
  SHOULD_LOAD_CKPT: True
  SPLIT: val
  USE_CKPT_CONFIG: True
  meta_file: tb/objectnav_il_rl_ft/overfitting/seed_1/evaluation_meta.json
EVAL_CKPT_PATH_DIR: objectnav_rl_ft_hd.ckpt
EVAL_CKPT_PATH_DIR_POLICY_A: data/checkpoints
EVAL_CKPT_PATH_DIR_POLICY_B: data/checkpoints
EVAL_KEYS_TO_INCLUDE_IN_NAME: []
FORCE_BLIND_POLICY: False
FORCE_TORCH_SINGLE_THREADED: True
IL:
  BehaviorCloning:
    clip_param: 0.2
    encoder_lr: 0.001
    entropy_coef: 0.0
    eps: 1e-05
    hidden_size: 2048
    lr: 0.001
    max_grad_norm: 0.2
    num_mini_batch: 2
    num_steps: 64
    reward_window_size: 50
    sync_frac: 0.6
    use_double_buffered_sampler: False
    use_linear_clip_decay: False
    use_linear_lr_decay: True
    wd: 0.0
  POLICY:
    USE_IW: True
    distrib_backend: NCCL
    name: ObjectNavILMAEPolicy
LOG_FILE: data/train.log
LOG_INTERVAL: 10
MODEL:
  CRITIC:
    hidden_dim: 512
    mlp_critic: True
    no_critic: False
  DEPTH_ENCODER:
    backbone: resnet50
    cnn_type: None
    ddppo_checkpoint: data/ddppo-models/gibson-2plus-resnet50.pth
    output_size: 128
    trainable: False
  RGB_ENCODER:
    augmentations_name: jitter+shift
    avgpooled_image: False
    backbone: resnet50
    cnn_type: VisualEncoder
    drop_path_rate: 0.0
    freeze_backbone: False
    hidden_size: 512
    image_size: 256
    normalize_visual_inputs: False
    output_size: 256
    pretrained_encoder: data/visual_encoders/omnidata_DINO_02.pth
    randomize_augmentations_over_envs: False
    resnet_baseplanes: 32
    train_encoder: True
    use_augmentations: True
    use_augmentations_test_time: True
    vit_global_pool: False
    vit_mask_ratio: None
    vit_use_cls: False
    vit_use_fc_norm: False
  SEMANTIC_ENCODER:
    backbone: resnet18
    cnn_type: ResnetSemSegEncoder
    embedding_size: 4
    is_hm3d: False
    is_thda: False
    num_classes: 29
    output_size: 256
    rednet_ckpt: data/rednet-models/rednet_semmap_mp3d_40_v2_vince.pth
    train_encoder: True
  SEMANTIC_PREDICTOR:
    DETIC:
      config: Detic/configs/Detic_LbaseI_CLIP_R5021k_640b64_4x_ft4x_max-size.yaml
      pretrained_weights: Detic/models/Detic_LbaseI_CLIP_R5021k_640b64_4x_ft4x_max-size.pth
      score_threshold: 0.3
    REDNET:
      num_classes: 29
      pretrained_weights: data/rednet-models/rednet_semmap_mp3d_40_v2_vince.pth
    SHAPECONV:
      config: configs/semantic_predictor/shapeconv/hm3d_deeplabv3plus_resnet101_baseline.py
      pretrained_weights: data/new_checkpoints/mmdet/semantic_predictor/shapeconv/shapeconv_23cat_best_class_acc_with_bg.pth
    name: rednet
  SEQ2SEQ:
    use_prev_action: True
  STATE_ENCODER:
    hidden_size: 2048
    num_recurrent_layers: 2
    rnn_type: GRU
  SWITCH_TO_PRED_SEMANTICS_UPDATE: 0
  USE_PRED_SEMANTICS: False
  USE_SEMANTICS: False
  embed_sge: False
  hm3d_goal: False
NUM_CHECKPOINTS: 10
NUM_ENVIRONMENTS: 8
NUM_PROCESSES: 20
NUM_UPDATES: 20000
ORBSLAM2:
  ANGLE_TH: 0.2617993877991494
  BETA: 100
  CAMERA_HEIGHT: 1.25
  DEPTH_DENORM: 10.0
  DIST_REACHED_TH: 0.15
  DIST_TO_STOP: 0.05
  D_OBSTACLE_MAX: 4.0
  D_OBSTACLE_MIN: 0.1
  H_OBSTACLE_MAX: 1.25
  H_OBSTACLE_MIN: 0.375
  MAP_CELL_SIZE: 0.1
  MAP_SIZE: 40
  MIN_PTS_IN_OBSTACLE: 320.0
  NEXT_WAYPOINT_TH: 0.5
  NUM_ACTIONS: 3
  PLANNER_MAX_STEPS: 500
  PREPROCESS_MAP: True
  SLAM_SETTINGS_PATH: habitat_baselines/slambased/data/mp3d3_small1k.yaml
  SLAM_VOCAB_PATH: habitat_baselines/slambased/data/ORBvoc.txt
POLICY:
  CRITIC:
    hidden_dim: 512
    mlp_critic: False
    no_critic: False
  RGB_ENCODER:
    augmentations_name: jitter+shift
    avgpooled_image: False
    backbone: resnet50
    drop_path_rate: 0.0
    freeze_backbone: False
    hidden_size: 512
    image_size: 256
    normalize_visual_inputs: False
    pretrained_encoder: None
    randomize_augmentations_over_envs: False
    resnet_baseplanes: 32
    use_augmentations: True
    use_augmentations_test_time: True
    vit_global_pool: False
    vit_mask_ratio: None
    vit_use_cls: False
    vit_use_fc_norm: False
  SEQ2SEQ:
    use_prev_action: True
  STATE_ENCODER:
    hidden_size: 2048
    num_recurrent_layers: 2
    rnn_type: GRU
PROFILING:
  CAPTURE_START_STEP: -1
  NUM_STEPS_TO_CAPTURE: -1
RL:
  COVERAGE_ATTENUATION: 0.99
  COVERAGE_BONUS_SCALE: 0.5
  COVERAGE_FALLOFF_RADIUS: 2.0
  COVERAGE_REWARD: 0.25
  COVERAGE_TYPE: VISIT
  COVERAGE_VISIT_EXP: 1
  DDPPO:
    backbone: resnet18
    distrib_backend: NCCL
    downsample_critic: 1
    force_distributed: False
    num_recurrent_layers: 1
    pretrained: False
    pretrained_encoder: False
    pretrained_weights: data/new_checkpoints/objectnav_il/objectnav_hm3d/objectnav_hm3d_77k/rgb_ovrl/seed_1/ObjectNav_omnidata_DINO_02_77k_with_augs.pth
    reset_critic: True
    rnn_type: GRU
    sync_frac: 0.6
    train_encoder: True
  EXPLORE_GOAL_SEEN_THRESHOLD: 0.05
  Finetune:
    actor_lr_warmup_update: 750
    critic_lr_decay_update: 500
    finetune: True
    finetune_full_agent: False
    freeze_encoders: True
    lr: 1.5e-05
    policy_ft_lr: 1.5e-05
    start_actor_finetuning_at: 325
    start_actor_update_at: 100
    start_actor_warmup_at: 50
    start_critic_update_at: 80
    start_critic_warmup_at: 250
    unfreeze_encoders_after_warmup: False
  POLICY:
    ACTION_DIST:
      action_activation: tanh
      clamp_std: True
      max_log_std: 2
      max_std: 1
      min_log_std: -5
      min_std: 1e-06
      use_log_std: True
      use_softplus: False
      use_std_param: False
    OBS_TRANSFORMS:
      CENTER_CROPPER:
        HEIGHT: 256
        WIDTH: 256
      CUBE2EQ:
        HEIGHT: 256
        SENSOR_UUIDS: []
        WIDTH: 512
      CUBE2FISH:
        FOV: 180
        HEIGHT: 256
        PARAMS: (0.2, 0.2, 0.2)
        SENSOR_UUIDS: []
        WIDTH: 256
      ENABLED_TRANSFORMS: ()
      EQ2CUBE:
        HEIGHT: 256
        SENSOR_UUIDS: []
        WIDTH: 256
      RESIZE_SHORTEST_EDGE:
        SIZE: 256
    action_distribution_type: categorical
    name: ObjectNavILMAEPolicy
  PPO:
    clip_param: 0.2
    entropy_coef: 0.01
    eps: 1e-05
    gamma: 0.99
    hidden_size: 512
    lr: 0.00025
    max_grad_norm: 0.2
    num_mini_batch: 2
    num_steps: 64
    ppo_epoch: 4
    reward_window_size: 50
    tau: 0.95
    use_double_buffered_sampler: False
    use_gae: True
    use_linear_clip_decay: False
    use_linear_lr_decay: True
    use_normalized_advantage: False
    value_loss_coef: 0.5
  REWARD_MEASURE: distance_to_goal
  SLACK_REWARD: -0.001
  SUCCESS_MEASURE: spl
  SUCCESS_REWARD: 2.5
  preemption:
    append_slurm_job_id: False
    save_resume_state_interval: 100
    save_state_batch_only: False
RUN_TYPE: eval
SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
SIMULATOR_GPU_ID: 0
TASK_CONFIG:
  DATASET:
    CONTENT_SCENES: ['*']
    DATA_PATH: data/datasets/objectnav/objectnav_hm3d/objectnav_hm3d_v1//{split}/{split}.json.gz
    MAX_EPISODE_STEPS: 500
    SCENES_DIR: data/scene_datasets/
    SPLIT: val
    TYPE: ObjectNav-v2
  ENVIRONMENT:
    ITERATOR_OPTIONS:
      CYCLE: True
      GROUP_BY_SCENE: True
      MAX_SCENE_REPEAT_EPISODES: -1
      MAX_SCENE_REPEAT_STEPS: 50000
      NUM_EPISODE_SAMPLE: -1
      SHUFFLE: True
      STEP_REPETITION_RANGE: 0.2
    MAX_EPISODE_SECONDS: 10000000
    MAX_EPISODE_STEPS: 500
  GYM:
    ACHIEVED_GOAL_KEYS: []
    ACTION_KEYS: None
    AUTO_NAME: 
    CLASS_NAME: RearrangeRLEnv
    DESIRED_GOAL_KEYS: []
    FIX_INFO_DICT: True
    OBS_KEYS: None
  PYROBOT:
    BASE_CONTROLLER: proportional
    BASE_PLANNER: none
    BUMP_SENSOR:
      TYPE: PyRobotBumpSensor
    DEPTH_SENSOR:
      CENTER_CROP: False
      HEIGHT: 480
      MAX_DEPTH: 5.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      TYPE: PyRobotDepthSensor
      WIDTH: 640
    LOCOBOT:
      ACTIONS: ['BASE_ACTIONS', 'CAMERA_ACTIONS']
      BASE_ACTIONS: ['go_to_relative', 'go_to_absolute']
      CAMERA_ACTIONS: ['set_pan', 'set_tilt', 'set_pan_tilt']
    RGB_SENSOR:
      CENTER_CROP: False
      HEIGHT: 480
      TYPE: PyRobotRGBSensor
      WIDTH: 640
    ROBOT: locobot
    ROBOTS: ['locobot']
    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'BUMP_SENSOR']
  SCENE_DATASET: data/scene_datasets/hm3d/hm3d_annotated_basis.scene_dataset_config.json
  SEED: 18520230
  SIMULATOR:
    ACTION_SPACE_CONFIG: v1
    AC_FREQ_RATIO: 4
    ADDITIONAL_OBJECT_PATHS: []
    AGENTS: ['AGENT_0']
    AGENT_0:
      ANGULAR_ACCELERATION: 12.56
      ANGULAR_FRICTION: 1.0
      COEFFICIENT_OF_RESTITUTION: 0.0
      HEIGHT: 0.88
      IS_SET_START_STATE: False
      LINEAR_ACCELERATION: 20.0
      LINEAR_FRICTION: 0.5
      MASS: 32.0
      RADIUS: 0.18
      SENSORS: ['RGB_SENSOR']
      START_POSITION: [0, 0, 0]
      START_ROTATION: [0, 0, 0, 1]
    ARM_DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 90
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      UUID: robot_arm_depth
      WIDTH: 640
    ARM_REST: [0.6, 0.0, 0.9]
    ARM_RGB_SENSOR:
      HEIGHT: 480
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      UUID: robot_arm_rgb
      WIDTH: 640
    AUTO_SLEEP: False
    CONCUR_RENDER: False
    CREATE_RENDERER: False
    CTRL_FREQ: 120.0
    DEBUG_RENDER: False
    DEBUG_RENDER_GOAL: True
    DEFAULT_AGENT_ID: 0
    DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 79
      MAX_DEPTH: 5.0
      MIN_DEPTH: 0.5
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 0.88, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      WIDTH: 640
    EE_LINK_NAME: None
    EQUIRECT_DEPTH_SENSOR:
      HEIGHT: 480
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimEquirectangularDepthSensor
      WIDTH: 640
    EQUIRECT_RGB_SENSOR:
      HEIGHT: 480
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimEquirectangularRGBSensor
      WIDTH: 640
    EQUIRECT_SEMANTIC_SENSOR:
      HEIGHT: 480
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      TYPE: HabitatSimEquirectangularSemanticSensor
      WIDTH: 640
    FISHEYE_DEPTH_SENSOR:
      ALPHA: 0.57
      FOCAL_LENGTH: [364.84, 364.86]
      HEIGHT: 480
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      PRINCIPAL_POINT_OFFSET: None
      SENSOR_MODEL_TYPE: DOUBLE_SPHERE
      TYPE: HabitatSimFisheyeDepthSensor
      WIDTH: 640
      XI: -0.27
    FISHEYE_RGB_SENSOR:
      ALPHA: 0.57
      FOCAL_LENGTH: [364.84, 364.86]
      HEIGHT: 640
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      PRINCIPAL_POINT_OFFSET: None
      SENSOR_MODEL_TYPE: DOUBLE_SPHERE
      TYPE: HabitatSimFisheyeRGBSensor
      WIDTH: 640
      XI: -0.27
    FISHEYE_SEMANTIC_SENSOR:
      ALPHA: 0.57
      FOCAL_LENGTH: [364.84, 364.86]
      HEIGHT: 640
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      PRINCIPAL_POINT_OFFSET: None
      SENSOR_MODEL_TYPE: DOUBLE_SPHERE
      TYPE: HabitatSimFisheyeSemanticSensor
      WIDTH: 640
      XI: -0.27
    FORWARD_STEP_SIZE: 0.25
    GRASP_IMPULSE: 1000.0
    HABITAT_SIM_V0:
      ALLOW_SLIDING: False
      ENABLE_PHYSICS: False
      FRUSTUM_CULLING: True
      GPU_DEVICE_ID: 0
      GPU_GPU: False
      LEAVE_CONTEXT_WITH_BACKGROUND_RENDERER: False
      PHYSICS_CONFIG_FILE: ./data/default.physics_config.json
    HEAD_DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 90
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      UUID: robot_head_depth
      WIDTH: 640
    HEAD_RGB_SENSOR:
      HEIGHT: 480
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      UUID: robot_head_rgb
      WIDTH: 640
    HOLD_THRESH: 0.09
    IK_ARM_URDF: data/robots/hab_fetch/robots/fetch_onlyarm.urdf
    LAG_OBSERVATIONS: 0
    LOAD_OBJS: False
    NEEDS_MARKERS: True
    REQUIRES_TEXTURES: True
    RGB_SENSOR:
      HEIGHT: 480
      HFOV: 79
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 0.88, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      WIDTH: 640
    ROBOT_JOINT_START_NOISE: 0.0
    ROBOT_TYPE: FetchRobot
    ROBOT_URDF: data/robots/hab_fetch/robots/hab_fetch.urdf
    SCENE: data/scene_datasets/habitat-test-scenes/van-gogh-room.glb
    SCENE_DATASET: default
    SEED: 100
    SEMANTIC_SENSOR:
      HEIGHT: 480
      HFOV: 79
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 0.88, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimSemanticSensor
      WIDTH: 640
    STEP_PHYSICS: True
    THIRD_DEPTH_SENSOR:
      HEIGHT: 480
      HFOV: 90
      MAX_DEPTH: 10.0
      MIN_DEPTH: 0.0
      NORMALIZE_DEPTH: True
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimDepthSensor
      UUID: robot_third_rgb
      WIDTH: 640
    THIRD_RGB_SENSOR:
      HEIGHT: 480
      HFOV: 90
      ORIENTATION: [0.0, 0.0, 0.0]
      POSITION: [0, 1.25, 0]
      SENSOR_SUBTYPE: PINHOLE
      TYPE: HabitatSimRGBSensor
      UUID: robot_third_rgb
      WIDTH: 640
    TILT_ANGLE: 30
    TURN_ANGLE: 30
    TYPE: Sim-v0
    UPDATE_ROBOT: True
  TASK:
    ABS_GOAL_SENSOR:
      DIMENSIONALITY: 3
      GOAL_FORMAT: CARTESIAN
      TYPE: AbsGoalSensor
    ABS_TARGET_START_SENSOR:
      DIMENSIONALITY: 3
      GOAL_FORMAT: CARTESIAN
      TYPE: AbsTargetStartSensor
    ACTIONS:
      ANSWER:
        TYPE: AnswerAction
      ARM_ACTION:
        ARM_CONTROLLER: ArmRelPosAction
        ARM_JOINT_DIMENSIONALITY: 7
        DELTA_POS_LIMIT: 0.0125
        DISABLE_GRIP: False
        EE_CTRL_LIM: 0.015
        GRASP_THRESH_DIST: 0.15
        GRIP_CONTROLLER: None
        ORACLE_GRASP: False
        RENDER_EE_TARGET: False
        SHOULD_CLIP: False
        TYPE: ArmAction
      BASE_VELOCITY:
        ALLOW_BACK: True
        ALLOW_DYN_SLIDE: True
        ANG_SPEED: 12.0
        END_ON_STOP: False
        LIN_SPEED: 12.0
        MIN_ABS_ANG_SPEED: 1.0
        MIN_ABS_LIN_SPEED: 1.0
        TYPE: BaseVelAction
      EMPTY:
        TYPE: EmptyAction
      LOOK_DOWN:
        TYPE: LookDownAction
      LOOK_UP:
        TYPE: LookUpAction
      MOVE_FORWARD:
        TYPE: MoveForwardAction
      REARRANGE_STOP:
        TYPE: RearrangeStopAction
      STOP:
        TYPE: StopAction
      TELEPORT:
        TYPE: TeleportAction
      TURN_LEFT:
        TYPE: TurnLeftAction
      TURN_RIGHT:
        TYPE: TurnRightAction
      VELOCITY_CONTROL:
        ANG_VEL_RANGE: [-10.0, 10.0]
        LIN_VEL_RANGE: [0.0, 0.25]
        MIN_ABS_ANG_SPEED: 1.0
        MIN_ABS_LIN_SPEED: 0.025
        TIME_STEP: 1.0
        TYPE: VelocityAction
    ALL_OBJECT_POSITIONS:
      TYPE: AllObjectPositions
    ANGLE_SUCCESS:
      SUCCESS_ANGLE: 25.0
      TYPE: AngleSuccess
      USE_TRAIN_SUCCESS: True
    ANGLE_TO_GOAL:
      TYPE: AngleToGoal
    ANSWER_ACCURACY:
      TYPE: AnswerAccuracy
    ART_JOINT_SENSOR:
      TYPE: ArtJointSensor
    ART_JOINT_SENSOR_NO_VEL:
      TYPE: ArtJointSensorNoVel
    ART_OBJ_AT_DESIRED_STATE:
      SUCCESS_DIST_THRESHOLD: 0.05
      TYPE: ArtObjAtDesiredState
      USE_ABSOLUTE_DISTANCE: True
    ART_OBJ_REWARD:
      ART_AT_DESIRED_STATE_REWARD: 5.0
      ART_DIST_REWARD: 10.0
      CONSTRAINT_VIOLATE_PEN: 10.0
      DIST_REWARD: 1.0
      EE_DIST_REWARD: 10.0
      FORCE_END_PEN: 10.0
      FORCE_PEN: 0.0
      GRASP_REWARD: 0.0
      MARKER_DIST_REWARD: 0.0
      MAX_FORCE_PEN: 1.0
      TYPE: ArtObjReward
      WRONG_GRASP_END: False
      WRONG_GRASP_PEN: 5.0
    ART_OBJ_STATE:
      TYPE: ArtObjState
    ART_OBJ_SUCCESS:
      REST_DIST_THRESHOLD: 0.15
      TYPE: ArtObjSuccess
    ART_SUCC_THRESH: 0.15
    BAD_CALLED_TERMINATE:
      BAD_TERM_PEN: 0.0
      DECAY_BAD_TERM: False
      TYPE: BadCalledTerminate
    BASE_ANGLE_NOISE: 0.15
    BASE_NOISE: 0.05
    COLLISIONS:
      TYPE: Collisions
    COMPASS_SENSOR:
      TYPE: CompassSensor
    COMPOSITE_BAD_CALLED_TERMINATE:
      TYPE: CompositeBadCalledTerminate
    COMPOSITE_NODE_IDX:
      TYPE: CompositeNodeIdx
    COMPOSITE_REWARD:
      STAGE_COMPLETE_REWARD: 10.0
      SUCCESS_REWARD: 10.0
      TYPE: CompositeReward
    COMPOSITE_SUCCESS:
      TYPE: CompositeSuccess
    CONSTRAINT_VIOLATION_ENDS_EPISODE: True
    CORRECT_ANSWER:
      TYPE: CorrectAnswer
    COUNT_OBJ_COLLISIONS: True
    COUNT_ROBOT_OBJ_COLLS: False
    COVERAGE:
      EGOCENTRIC: False
      GRID_DELTA: 0.25
      TYPE: Coverage
    DEBUG_GOAL_POINT: True
    DEBUG_SKIP_TO_NODE: -1
    DEMONSTRATION_SENSOR:
      TYPE: DemonstrationSensor
    DEMONSTRATION_SENSOR_UUID: next_actions
    DESIRED_RESTING_POSITION: []
    DID_PICK_OBJECT:
      TYPE: DidPickObjectMeasure
    DID_VIOLATE_HOLD_CONSTRAINT:
      TYPE: DidViolateHoldConstraintMeasure
    DISTANCE_TO_GOAL:
      DISTANCE_TO: VIEW_POINTS
      TYPE: DistanceToGoal
    DIST_TO_GOAL:
      TYPE: DistToGoal
    DIST_TO_NAV_GOAL:
      TYPE: DistToNavGoalSensor
    DOES_WANT_TERMINATE:
      TYPE: DoesWantTerminate
    EASY_INIT: False
    EE_DIST_TO_MARKER:
      TYPE: EndEffectorDistToMarker
    EE_EXCLUDE_REGION: 0.0
    EE_SAMPLE_FACTOR: 0.2
    END_EFFECTOR_SENSOR:
      TYPE: EEPositionSensor
    END_EFFECTOR_TO_OBJECT_DISTANCE:
      TYPE: EndEffectorToObjectDistance
    END_EFFECTOR_TO_REST_DISTANCE:
      TYPE: EndEffectorToRestDistance
    END_ON_SUCCESS: False
    EPISODE_INFO:
      TYPE: EpisodeInfo
    ETN_REWARD:
      ATTENUATION: 0.995
      EXPLORE_GOAL_SEEN_THRESHOLD: 0.02
      REWARD: 0.25
      TYPE: ExploreThenNavReward
      VISIT_EXP: 1
    EXPLORATION_METRICS:
      TYPE: ExplorationMetrics
    FILTER_NAV_TO_TASKS: []
    FORCE_REGENERATE: False
    FORCE_TERMINATE:
      MAX_ACCUM_FORCE: -1.0
      TYPE: ForceTerminate
    GOAL_OBJECT_VISIBLE:
      TYPE: GoalObjectVisible
    GOAL_SENSOR:
      DIMENSIONALITY: 3
      GOAL_FORMAT: CARTESIAN
      TYPE: GoalSensor
    GOAL_SENSOR_UUID: objectgoal
    GPS_SENSOR:
      DIMENSIONALITY: 2
      TYPE: GPSSensor
    HEADING_SENSOR:
      TYPE: HeadingSensor
    IMAGEGOAL_SENSOR:
      TYPE: ImageGoalSensor
    INCREASE_DIST: False
    INFLECTION_WEIGHT_SENSOR:
      INFLECTION_COEF: 3.477512060914205
      TYPE: InflectionWeightSensor
    INFLECTION_WEIGHT_SENSOR_UUID: inflection_weight
    INSTRUCTION_SENSOR:
      TYPE: InstructionSensor
    INSTRUCTION_SENSOR_UUID: instruction
    IS_HOLDING_SENSOR:
      TYPE: IsHoldingSensor
    JOINT_MAX_IMPULSE: -1.0
    JOINT_SENSOR:
      DIMENSIONALITY: 7
      TYPE: JointSensor
    JOINT_VELOCITY_SENSOR:
      DIMENSIONALITY: 7
      TYPE: JointVelocitySensor
    LIMIT_TASK_LEN_SCALING: 0.0
    LIMIT_TASK_NODE: -1
    LOCALIZATION_SENSOR:
      TYPE: LocalizationSensor
    MARKER_REL_POS_SENSOR:
      TYPE: MarkerRelPosSensor
    MAX_COLLISIONS: -1.0
    MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SUCCESS', 'SPL', 'SOFT_SPL', 'SPARSE_REWARD']
    MIN_DISTANCE_TO_GOAL:
      TYPE: MinDistanceToGoal
    MOVE_OBJECTS_REWARD:
      CONSTRAINT_VIOLATE_PEN: 10.0
      DIST_REWARD: 1.0
      FORCE_END_PEN: 10.0
      FORCE_PEN: 0.001
      MAX_FORCE_PEN: 1.0
      PICK_REWARD: 1.0
      SINGLE_REARRANGE_REWARD: 1.0
      SUCCESS_DIST: 0.15
      TYPE: MoveObjectsReward
    MUST_LOOK_AT_TARG: True
    NAV_GOAL_SENSOR:
      TYPE: NavGoalSensor
    NAV_TO_POS_SUCC:
      SUCCESS_DISTANCE: 0.2
      TYPE: NavToPosSucc
    NAV_TO_SKILL_SENSOR:
      NUM_SKILLS: 8
      TYPE: NavToSkillSensor
    NUM_OBJECT_COPIES: 3
    NUM_STEPS:
      TYPE: NumStepsMeasure
    NUM_UNIQ_SELECTED_OBJECTS: 5
    OBJECTGOAL_SENSOR:
      GOAL_SPEC: TASK_CATEGORY_ID
      GOAL_SPEC_MAX_VAL: 50
      TYPE: ObjectGoalSensor
    OBJECT_IN_HAND_SAMPLE_PROB: 0.167
    OBJECT_SENSOR:
      DIMENSIONALITY: 3
      GOAL_FORMAT: CARTESIAN
      TYPE: TargetCurrentSensor
    OBJECT_TO_GOAL_DISTANCE:
      TYPE: ObjectToGoalDistance
    OBJ_AT_GOAL:
      SUCC_THRESH: 0.15
      TYPE: ObjAtGoal
    OBJ_GEN_FAR_DIST: 5.0
    OBJ_GEN_NEAR_DIST: 1.0
    OBJ_SUCC_THRESH: 0.3
    ORACLE_NAV_ACTION_SENSOR:
      TYPE: OracleNavigationActionSensor
    PDDL_DOMAIN_DEF: configs/tasks/rearrange/pddl/replica_cad_domain.yaml
    PICK_REWARD:
      COLLISION_PENALTY: 0.0
      COLL_PEN: 1.0
      CONSTRAINT_VIOLATE_PEN: 10.0
      DIST_REWARD: 20.0
      DROP_OBJ_SHOULD_END: False
      DROP_PEN: 5.0
      FORCE_END_PEN: 10.0
      FORCE_PEN: 0.001
      MAX_ACCUM_FORCE: 5000.0
      MAX_FORCE_PEN: 1.0
      PICK_REWARD: 20.0
      ROBOT_OBJ_COLLISION_PENALTY: 0.0
      ROBOT_OBJ_COLL_PEN: 0.0
      SUCC_REWARD: 10.0
      TYPE: RearrangePickReward
      USE_DIFF: True
      WRONG_PICK_PEN: 5.0
      WRONG_PICK_SHOULD_END: False
    PICK_SUCCESS:
      EE_RESTING_SUCCESS_THRESHOLD: 0.15
      TYPE: RearrangePickSuccess
    PLACE_REWARD:
      CONSTRAINT_VIOLATE_PEN: 10.0
      DIST_REWARD: 20.0
      DROP_PEN: 5.0
      FORCE_END_PEN: 10.0
      FORCE_PEN: 0.001
      MAX_FORCE_PEN: 1.0
      PLACE_REWARD: 20.0
      SUCC_REWARD: 10.0
      TYPE: PlaceReward
      USE_DIFF: True
      WRONG_DROP_SHOULD_END: False
    PLACE_SUCCESS:
      EE_RESTING_SUCCESS_THRESHOLD: 0.15
      TYPE: PlaceSuccess
    POINTGOAL_SENSOR:
      DIMENSIONALITY: 2
      GOAL_FORMAT: POLAR
      TYPE: PointGoalSensor
    POINTGOAL_WITH_GPS_COMPASS_SENSOR:
      DIMENSIONALITY: 2
      GOAL_FORMAT: POLAR
      TYPE: PointGoalWithGPSCompassSensor
    POSSIBLE_ACTIONS: ['STOP', 'MOVE_FORWARD', 'TURN_LEFT', 'TURN_RIGHT', 'LOOK_UP', 'LOOK_DOWN']
    PROXIMITY_SENSOR:
      MAX_DETECTION_RADIUS: 2.0
      TYPE: ProximitySensor
    QUESTION_SENSOR:
      TYPE: QuestionSensor
    REARRANGE_NAV_TO_OBJ_REWARD:
      ANGLE_DIST_REWARD: 1.0
      CONSTRAINT_VIOLATE_PEN: 10.0
      DIST_REWARD: 10.0
      FORCE_END_PEN: 10.0
      FORCE_PEN: 0.0
      MAX_FORCE_PEN: 1.0
      SHOULD_REWARD_TURN: True
      TURN_REWARD_DIST: 0.1
      TYPE: NavToObjReward
    REARRANGE_NAV_TO_OBJ_SUCCESS:
      HEURISTIC_STOP: False
      MUST_CALL_STOP: True
      MUST_LOOK_AT_TARG: True
      SUCCESS_ANGLE_DIST: 0.15
      TYPE: NavToObjSuccess
    REARRANGE_REACH_REWARD:
      DIFF_REWARD: True
      SCALE: 1.0
      SPARSE_REWARD: False
      TYPE: RearrangeReachReward
    REARRANGE_REACH_SUCCESS:
      SUCC_THRESH: 0.2
      TYPE: RearrangeReachSuccess
    RELATIVE_RESTING_POS_SENSOR:
      TYPE: RelativeRestingPositionSensor
    RENDER_TARGET: True
    RESTING_POS_SENSOR:
      TYPE: RestingPositionSensor
    REWARD_MEASURE: distance_to_goal
    REWARD_MEASUREMENT: 
    ROBOT_COLLS:
      TYPE: RobotCollisions
    ROBOT_FORCE:
      MIN_FORCE: 20.0
      TYPE: RobotForce
    ROT_DIST_TO_GOAL:
      TYPE: RotDistToGoal
    SENSORS: ['OBJECTGOAL_SENSOR', 'COMPASS_SENSOR', 'GPS_SENSOR']
    SETTLE_STEPS: 5
    SHOULD_ENFORCE_TARGET_WITHIN_REACH: False
    SHOULD_SAVE_TO_CACHE: True
    SIMPLE_REWARD:
      ANGLE_SUCCESS_REWARD: 2.5
      ATG_REWARD_DISTANCE: 1.0
      DTG_THRESHOLD: 2.0
      SLACK_PENALTY: -0.01
      STRICT_SUCCESS_DISTANCE: 0.05
      SUCCESS_REWARD: 2.5
      TYPE: SimpleReward
      USE_ANGLE_SUCCESS_REWARD: False
      USE_ATG_FIX: True
      USE_ATG_REWARD: True
      USE_DTG_REWARD: True
      USE_SLACK_PENALTY: False
      USE_STRICT_SUCCESS_REWARD: False
      USE_STRICT_SUCCESS_REWARD_V2: False
    SINGLE_EVAL_NODE: -1
    SKIP_NODES: ['move_obj']
    SLACK_REWARD: -0.01
    SOFT_SPL:
      TYPE: SoftSPL
    SPARSE_REWARD:
      SUCCESS_REWARD: 2.5
      TYPE: SparseReward
    SPAWN_REGION_SCALE: 0.2
    SPL:
      TYPE: SPL
    STRICT_SUCCESS:
      SUCCESS_DISTANCE: 0.1
      TYPE: StrictSuccess
      VIEW_POINT_THRESHOLD: 0.1
    SUCCESS:
      SUCCESS_DISTANCE: 0.1
      THDA_SUCCESS_DISTANCE: 1.0
      TYPE: Success
    SUCCESS_DISTANCE: 0.1
    SUCCESS_MEASURE: success
    SUCCESS_MEASUREMENT: 
    SUCCESS_REWARD: 2.5
    SUCCESS_STATE: 0.0
    TARGET_GOAL_GPS_COMPASS_SENSOR:
      TYPE: TargetGoalGpsCompassSensor
    TARGET_START_GPS_COMPASS_SENSOR:
      TYPE: TargetStartGpsCompassSensor
    TARGET_START_POINT_GOAL_SENSOR:
      TYPE: TargetOrGoalStartPointGoalSensor
    TARGET_START_SENSOR:
      DIMENSIONALITY: 3
      GOAL_FORMAT: CARTESIAN
      TYPE: TargetStartSensor
    TASK_SPEC: nav_pick
    TASK_SPEC_BASE_PATH: configs/tasks/rearrange/pddl/
    TOP_DOWN_MAP:
      DRAW_BORDER: True
      DRAW_GOAL_AABBS: True
      DRAW_GOAL_POSITIONS: True
      DRAW_SHORTEST_PATH: True
      DRAW_SOURCE: True
      DRAW_VIEW_POINTS: True
      DRAW_VIEW_POINTS_WITHIN_1M: False
      FOG_OF_WAR:
        DRAW: True
        FOV: 90
        VISIBILITY_DIST: 5.0
      MAP_PADDING: 3
      MAP_RESOLUTION: 1024
      MAX_EPISODE_STEPS: 1000
      TYPE: TopDownMap
    TRAIN_SUCCESS:
      SUCCESS_DISTANCE: 0.1
      TYPE: TrainSuccess
    TYPE: ObjectNav-v2
    USE_MARKER_T: True
    USING_SUBTASKS: False
TENSORBOARD_DIR: tb/objectnav_il_rl_ft/ovrl_resnet50/seed_1/
TEST_EPISODE_COUNT: -1
TORCH_GPU_ID: 0
TOTAL_NUM_STEPS: -1.0
TRAINER_NAME: pirlnav-ppo
VERBOSE: True
VIDEO_DIR: video_dir
VIDEO_FPS: 10
VIDEO_OPTION: []
VIDEO_RENDER_ALL_INFO: False
VIDEO_RENDER_TOP_DOWN: True
WANDB:
  GROUP_NAME: rgbd
  JOB_TYPE: train
  LOG_DIR: wandb/
  MODE: online
  PROJECT_NAME: objectnav_il_rl
  RESUME: must
  TAGS: ['sparse_reward', 'mlp_critic', 'lr_decay']
WB:
  ENTITY: 
  GROUP: 
  PROJECT_NAME: 
  RUN_NAME: 
WRITER_TYPE: tb
2023-11-20 13:52:17,490 Initializing dataset ObjectNav-v2
2023-11-20 13:52:18,864 Initializing dataset ObjectNav-v2
2023-11-20 13:52:18,879 Initializing dataset ObjectNav-v2
2023-11-20 13:52:18,897 Initializing dataset ObjectNav-v2
2023-11-20 13:52:18,949 Initializing dataset ObjectNav-v2
2023-11-20 13:52:18,960 initializing sim Sim-v0
2023-11-20 13:52:18,961 Initializing dataset ObjectNav-v2
Process ForkServerProcess-2:
Traceback (most recent call last):
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/contextlib.py", line 74, in inner
    return func(*args, **kwds)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 233, in _worker_env
    env = env_fn(*env_fn_args)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/env_utils.py", line 32, in make_env_fn
    env = env_class(config=config, dataset=dataset)
  File "/home/dwang/code/rep/pirlnav/pirlnav/environment.py", line 11, in __init__
    super().__init__(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 374, in __init__
    self._env = Env(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 105, in __init__
    id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/registration.py", line 19, in make_sim
    return _sim(**kwargs)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 276, in __init__
    self.sim_config = self.create_sim_config(self._sensor_suite)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 319, in create_sim_config
    'mass',
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 83, in overwrite_config
    """
NameError: linear_acceleration is not found on habitat_sim but is found on habitat_lab config.
                    It's also not in the list of keys to ignore: {'sensors', 'start_position', 'mass', 'is_set_start_state', 'start_rotation'}
                    Did you make a typo in the config?
                    If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGULAR_ACCELERATION: 12.56
ANGULAR_FRICTION: 1.0
COEFFICIENT_OF_RESTITUTION: 0.0
HEIGHT: 0.88
IS_SET_START_STATE: False
LINEAR_ACCELERATION: 20.0
LINEAR_FRICTION: 0.5
MASS: 32.0
RADIUS: 0.18
SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
START_POSITION: [0, 0, 0]
START_ROTATION: [0, 0, 0, 1]
                    
Exception ignored in: <function Simulator.__del__ at 0x7f9a961a03b0>
Traceback (most recent call last):
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 555, in __del__
    self.close(destroy=True)
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 131, in close
    if not self._initialized:
AttributeError: 'HabitatSim' object has no attribute '_initialized'
2023-11-20 13:52:18,978 initializing sim Sim-v0
2023-11-20 13:52:18,980 Initializing dataset ObjectNav-v2
2023-11-20 13:52:18,985 initializing sim Sim-v0
Process ForkServerProcess-7:
Traceback (most recent call last):
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/contextlib.py", line 74, in inner
    return func(*args, **kwds)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 233, in _worker_env
    env = env_fn(*env_fn_args)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/env_utils.py", line 32, in make_env_fn
    env = env_class(config=config, dataset=dataset)
  File "/home/dwang/code/rep/pirlnav/pirlnav/environment.py", line 11, in __init__
    super().__init__(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 374, in __init__
    self._env = Env(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 105, in __init__
    id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/registration.py", line 19, in make_sim
    return _sim(**kwargs)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 276, in __init__
    self.sim_config = self.create_sim_config(self._sensor_suite)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 319, in create_sim_config
    'mass',
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 83, in overwrite_config
    """
NameError: linear_acceleration is not found on habitat_sim but is found on habitat_lab config.
                    It's also not in the list of keys to ignore: {'sensors', 'start_position', 'mass', 'is_set_start_state', 'start_rotation'}
                    Did you make a typo in the config?
                    If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGULAR_ACCELERATION: 12.56
ANGULAR_FRICTION: 1.0
COEFFICIENT_OF_RESTITUTION: 0.0
HEIGHT: 0.88
IS_SET_START_STATE: False
LINEAR_ACCELERATION: 20.0
LINEAR_FRICTION: 0.5
MASS: 32.0
RADIUS: 0.18
SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
START_POSITION: [0, 0, 0]
START_ROTATION: [0, 0, 0, 1]
                    
Exception ignored in: <function Simulator.__del__ at 0x7f9aaf0e4440>
Traceback (most recent call last):
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 555, in __del__
    self.close(destroy=True)
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 131, in close
    if not self._initialized:
AttributeError: 'HabitatSim' object has no attribute '_initialized'
Process ForkServerProcess-8:
Traceback (most recent call last):
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/contextlib.py", line 74, in inner
    return func(*args, **kwds)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 233, in _worker_env
    env = env_fn(*env_fn_args)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/env_utils.py", line 32, in make_env_fn
    env = env_class(config=config, dataset=dataset)
  File "/home/dwang/code/rep/pirlnav/pirlnav/environment.py", line 11, in __init__
    super().__init__(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 374, in __init__
    self._env = Env(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 105, in __init__
    id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/registration.py", line 19, in make_sim
    return _sim(**kwargs)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 276, in __init__
    self.sim_config = self.create_sim_config(self._sensor_suite)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 319, in create_sim_config
    'mass',
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 83, in overwrite_config
    """
NameError: linear_acceleration is not found on habitat_sim but is found on habitat_lab config.
                    It's also not in the list of keys to ignore: {'sensors', 'start_position', 'mass', 'is_set_start_state', 'start_rotation'}
                    Did you make a typo in the config?
                    If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGULAR_ACCELERATION: 12.56
ANGULAR_FRICTION: 1.0
COEFFICIENT_OF_RESTITUTION: 0.0
HEIGHT: 0.88
IS_SET_START_STATE: False
LINEAR_ACCELERATION: 20.0
LINEAR_FRICTION: 0.5
MASS: 32.0
RADIUS: 0.18
SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
START_POSITION: [0, 0, 0]
START_ROTATION: [0, 0, 0, 1]
                    
Exception ignored in: <function Simulator.__del__ at 0x7f99d7e69440>
Traceback (most recent call last):
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 555, in __del__
    self.close(destroy=True)
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 131, in close
    if not self._initialized:
AttributeError: 'HabitatSim' object has no attribute '_initialized'
2023-11-20 13:52:19,019 Initializing dataset ObjectNav-v2
2023-11-20 13:52:19,019 Initializing dataset ObjectNav-v2
2023-11-20 13:52:19,075 initializing sim Sim-v0
2023-11-20 13:52:19,084 initializing sim Sim-v0
Process ForkServerProcess-1:
Traceback (most recent call last):
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/contextlib.py", line 74, in inner
    return func(*args, **kwds)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 233, in _worker_env
    env = env_fn(*env_fn_args)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/env_utils.py", line 32, in make_env_fn
    env = env_class(config=config, dataset=dataset)
  File "/home/dwang/code/rep/pirlnav/pirlnav/environment.py", line 11, in __init__
    super().__init__(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 374, in __init__
    self._env = Env(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 105, in __init__
    id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/registration.py", line 19, in make_sim
    return _sim(**kwargs)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 276, in __init__
    self.sim_config = self.create_sim_config(self._sensor_suite)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 319, in create_sim_config
    'mass',
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 83, in overwrite_config
    """
NameError: linear_acceleration is not found on habitat_sim but is found on habitat_lab config.
                    It's also not in the list of keys to ignore: {'sensors', 'start_position', 'mass', 'is_set_start_state', 'start_rotation'}
                    Did you make a typo in the config?
                    If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGULAR_ACCELERATION: 12.56
ANGULAR_FRICTION: 1.0
COEFFICIENT_OF_RESTITUTION: 0.0
HEIGHT: 0.88
IS_SET_START_STATE: False
LINEAR_ACCELERATION: 20.0
LINEAR_FRICTION: 0.5
MASS: 32.0
RADIUS: 0.18
SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
START_POSITION: [0, 0, 0]
START_ROTATION: [0, 0, 0, 1]
                    
Exception ignored in: <function Simulator.__del__ at 0x7f9a8e2673b0>
Traceback (most recent call last):
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 555, in __del__
    self.close(destroy=True)
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 131, in close
    if not self._initialized:
AttributeError: 'HabitatSim' object has no attribute '_initialized'
2023-11-20 13:52:19,091 initializing sim Sim-v0
Process ForkServerProcess-3:
Traceback (most recent call last):
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/contextlib.py", line 74, in inner
    return func(*args, **kwds)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 233, in _worker_env
    env = env_fn(*env_fn_args)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/env_utils.py", line 32, in make_env_fn
    env = env_class(config=config, dataset=dataset)
  File "/home/dwang/code/rep/pirlnav/pirlnav/environment.py", line 11, in __init__
    super().__init__(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 374, in __init__
    self._env = Env(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 105, in __init__
    id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/registration.py", line 19, in make_sim
    return _sim(**kwargs)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 276, in __init__
    self.sim_config = self.create_sim_config(self._sensor_suite)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 319, in create_sim_config
    'mass',
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 83, in overwrite_config
    """
NameError: linear_acceleration is not found on habitat_sim but is found on habitat_lab config.
                    It's also not in the list of keys to ignore: {'sensors', 'start_position', 'mass', 'is_set_start_state', 'start_rotation'}
                    Did you make a typo in the config?
                    If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGULAR_ACCELERATION: 12.56
ANGULAR_FRICTION: 1.0
COEFFICIENT_OF_RESTITUTION: 0.0
HEIGHT: 0.88
IS_SET_START_STATE: False
LINEAR_ACCELERATION: 20.0
LINEAR_FRICTION: 0.5
MASS: 32.0
RADIUS: 0.18
SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
START_POSITION: [0, 0, 0]
START_ROTATION: [0, 0, 0, 1]
                    
Exception ignored in: <function Simulator.__del__ at 0x7f9a921bc3b0>
Traceback (most recent call last):
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 555, in __del__
    self.close(destroy=True)
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 131, in close
    if not self._initialized:
AttributeError: 'HabitatSim' object has no attribute '_initialized'
Process ForkServerProcess-4:
Traceback (most recent call last):
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/contextlib.py", line 74, in inner
    return func(*args, **kwds)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 233, in _worker_env
    env = env_fn(*env_fn_args)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/env_utils.py", line 32, in make_env_fn
    env = env_class(config=config, dataset=dataset)
  File "/home/dwang/code/rep/pirlnav/pirlnav/environment.py", line 11, in __init__
    super().__init__(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 374, in __init__
    self._env = Env(config, dataset)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/env.py", line 105, in __init__
    id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/registration.py", line 19, in make_sim
    return _sim(**kwargs)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 276, in __init__
    self.sim_config = self.create_sim_config(self._sensor_suite)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 319, in create_sim_config
    'mass',
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 83, in overwrite_config
    """
NameError: linear_acceleration is not found on habitat_sim but is found on habitat_lab config.
                    It's also not in the list of keys to ignore: {'sensors', 'start_position', 'mass', 'is_set_start_state', 'start_rotation'}
                    Did you make a typo in the config?
                    If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGULAR_ACCELERATION: 12.56
ANGULAR_FRICTION: 1.0
COEFFICIENT_OF_RESTITUTION: 0.0
HEIGHT: 0.88
IS_SET_START_STATE: False
LINEAR_ACCELERATION: 20.0
LINEAR_FRICTION: 0.5
MASS: 32.0
RADIUS: 0.18
SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
START_POSITION: [0, 0, 0]
START_ROTATION: [0, 0, 0, 1]
                    
Exception ignored in: <function Simulator.__del__ at 0x7f99d7e1b3b0>
Traceback (most recent call last):
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 555, in __del__
    self.close(destroy=True)
  File "/home/dwang/code/rep/pirlnav/habitat-sim/src_python/habitat_sim/simulator.py", line 131, in close
    if not self._initialized:
AttributeError: 'HabitatSim' object has no attribute '_initialized'
Traceback (most recent call last):
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/home/dwang/code/rep/pirlnav/run.py", line 94, in <module>
    main()
  File "/home/dwang/code/rep/pirlnav/run.py", line 42, in main
    run_exp(**vars(args))
  File "/home/dwang/code/rep/pirlnav/run.py", line 90, in run_exp
    execute_exp(config, run_type)
  File "/home/dwang/code/rep/pirlnav/run.py", line 75, in execute_exp
    trainer.eval()
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat_baselines/common/base_trainer.py", line 113, in eval
    checkpoint_index=ckpt_idx,
  File "/home/dwang/code/rep/pirlnav/pirlnav/ppo_trainer.py", line 563, in _eval_checkpoint
    self._init_envs(config)
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat_baselines/rl/ppo/ppo_trainer.py", line 206, in _init_envs
    workers_ignore_signals=is_slurm_batch_job(),
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/env_utils.py", line 116, in construct_envs
    workers_ignore_signals=workers_ignore_signals,
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 194, in __init__
    read_fn() for read_fn in self._connection_read_fns
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 194, in <listcomp>
    read_fn() for read_fn in self._connection_read_fns
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 97, in __call__
    res = self.read_fn()
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/pickle5_multiprocessing.py", line 67, in recv
    buf = self.recv_bytes()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/connection.py", line 216, in recv_bytes
    buf = self._recv_bytes(maxlength)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/connection.py", line 407, in _recv_bytes
    buf = self._recv(4)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/connection.py", line 379, in _recv
    chunk = read(handle, remaining)
ConnectionResetError: [Errno 104] Connection reset by peer
Exception ignored in: <function VectorEnv.__del__ at 0x7fab7348a290>
Traceback (most recent call last):
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 592, in __del__
    self.close()
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 460, in close
    read_fn()
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/core/vector_env.py", line 97, in __call__
    res = self.read_fn()
  File "/home/dwang/code/rep/pirlnav/habitat-lab/habitat/utils/pickle5_multiprocessing.py", line 67, in recv
    buf = self.recv_bytes()
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/connection.py", line 216, in recv_bytes
    buf = self._recv_bytes(maxlength)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/connection.py", line 407, in _recv_bytes
    buf = self._recv(4)
  File "/home/dwang/anaconda3/envs/pirlnav/lib/python3.7/multiprocessing/connection.py", line 383, in _recv
    raise EOFError
EOFError:

So, I am wondering if I used wrong habitat-sim version? Could you tell me more infomation?
@Cassie-Lim
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Hi, I encountered the same issue, and downloading the version from here solved my problem: https://anaconda.org/aihabitat/habitat-sim-challenge-2022

@yusirhhh
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I encountered the same issue while using the same habitat_sim and habitat_lab as the project (git submodule update --init).

The error message indicates as follows:

NameError: mass is not found on habitat_sim but is found on habitat_lab config.
                    It's also not in the list of keys to ignore: {'start_rotation', 'start_position', 'is_set_start_state', 'sensors'}
                    Did you make a typo in the config?
                    If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGULAR_ACCELERATION: 12.56

@yusirhhh
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yusirhhh commented Feb 21, 2024 •
edited
Loading

@Cassie-Lim
When I use the version of habitat-sim-challenge-2022,

git clone --branch challenge-2022 https://github.com/facebookresearch/habitat-sim.git
 ./build.sh --headless --bullet

I encountered the issues:

AttributeError: 'HabitatSim' object has no attribute '_initialized'

Can you give me some suggestions?

@Cassie-Lim
Copy link

@Cassie-Lim When I use the version of habitat-sim-challenge-2022,

git clone --branch challenge-2022 https://github.com/facebookresearch/habitat-sim.git
 ./build.sh --headless --bullet

I encountered the issues:

AttributeError: 'HabitatSim' object has no attribute '_initialized'

Can you give me some suggestions?

Hi, I download the habitat-sim from anaconda instead of from the tagged version in the official repo. Not sure if the two are the same. You can try if this command works for you:
conda install aihabitat::habitat-sim-challenge-2022

@Zeying-Gong
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I got the same error, finally found that habitat-lab version 0.2.2_rc1 and (conda install) habitat-sim version 0.2.1 resolved the issue. It seems that the version of Habitat-Lab might make a difference.

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4 participants
@Zeying-Gong @yusirhhh @jeezrick @Cassie-Lim