Social Navigation Baselines: Object with handle '004_sugar_box_:0000' could not be found in the scene. Has the Episode been initialized

[licongfei001]

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: 0.3.2?

Habitat-Sim: 0.3.2?

Habitat is under active development, and we advise users to restrict themselves to stable releases. Are you using the latest release versions of Habitat-Lab and Habitat-Sim? Your question may already be addressed in the latest versions. We may also not be able to help with problems in earlier versions because they sometimes lack the more verbose logging needed for debugging.

Master branch contains 'bleeding edge' code and should be used at your own risk.

Docs and Tutorials

Did you read the docs? https://aihabitat.org/docs/habitat-lab/
yes
Did you check out the tutorials? https://aihabitat.org/tutorial/2020/
yes

My system is ubuntu 20.04.
The run command is
python -u -m habitat_baselines.run
--config-name=social_nav/social_nav.yaml
benchmark/multi_agent=hssd_spot_human_social_nav
habitat_baselines.evaluate=False
habitat_baselines.num_checkpoints=500
habitat_baselines.total_num_steps=1.0e9
habitat_baselines.num_environments=8
habitat_baselines.tensorboard_dir=
habitat_baselines.video_dir=video_dir
habitat_baselines.checkpoint_folder=data/checkpoints_social_nav
habitat_baselines.eval_ckpt_path_dir=data/checkpoints/social_nav_latest.pth
habitat.task.actions.agent_0_base_velocity.longitudinal_lin_speed=10.0
habitat.task.actions.agent_0_base_velocity.ang_speed=10.0
habitat.task.actions.agent_0_base_velocity.allow_dyn_slide=True
habitat.task.actions.agent_0_base_velocity.enable_rotation_check_for_dyn_slide=False
habitat.task.actions.agent_1_oracle_nav_randcoord_action.lin_speed=10.0
habitat.task.actions.agent_1_oracle_nav_randcoord_action.ang_speed=10.0
habitat.task.actions.agent_1_oracle_nav_action.lin_speed=10.0
habitat.task.actions.agent_1_oracle_nav_action.ang_speed=10.0
habitat.task.measurements.social_nav_reward.facing_human_reward=3.0
habitat.task.measurements.social_nav_reward.count_coll_pen=0.01
habitat.task.measurements.social_nav_reward.max_count_colls=-1
habitat.task.measurements.social_nav_reward.count_coll_end_pen=5
habitat.task.measurements.social_nav_reward.use_geo_distance=True
habitat.task.measurements.social_nav_reward.facing_human_dis=3.0
habitat.task.measurements.social_nav_seek_success.following_step_succ_threshold=400
habitat.task.measurements.social_nav_seek_success.need_to_face_human=True
habitat.task.measurements.social_nav_seek_success.use_geo_distance=True
habitat.task.measurements.social_nav_seek_success.facing_threshold=0.5
habitat.task.lab_sensors.humanoid_detector_sensor.return_image=True
habitat.task.lab_sensors.humanoid_detector_sensor.is_return_image_bbox=True
habitat.task.success_reward=10.0
habitat.task.end_on_success=True
habitat.task.slack_reward=-0.1
habitat.environment.max_episode_steps=50
habitat.simulator.kinematic_mode=True
habitat.simulator.ac_freq_ratio=4
habitat.simulator.ctrl_freq=120
habitat.simulator.agents.agent_0.joint_start_noise=0.0

The errors are,
2024-11-08 12:41:59,529 Cannot find active receptacle fed2a84682713eabe2b8d0e1e950d891c7442d5f_:0001|receptacle_mesh_fed2a84682713eabe2b8d0e1e950d891c7442d5f.0001, so cannot create a parent relationship. Skipping. Note that episode is likely invalid.
2024-11-08 12:41:59,589 Cannot find active receptacle 3b134d45ea8f2bd418e77c0d6a861dfe728f38a8_:0000|receptacle_mesh_3b134d45ea8f2bd418e77c0d6a861dfe728f38a8.0000, so cannot create a parent relationship. Skipping. Note that episode is likely invalid.
Exception in thread Thread-7:
Traceback (most recent call last):
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 980, in _bootstrap_inner
self.run()
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 917, in run
self._target(*self._args, **self._kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/vector_env.py", line 268, in _worker_env
observations = env.reset()
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_episode_count_wrapper.py", line 61, in reset
return self.env.reset(**kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_obs_dict_wrapper.py", line 36, in reset
return self.env.reset(**kwargs)
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/site-packages/gym/core.py", line 283, in reset
return self.env.reset(**kwargs)
Exception in thread File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_wrapper.py", line 319, in reset
Thread-8:
Traceback (most recent call last):
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 980, in _bootstrap_inner
obs = self.env.reset(*args, return_info=return_info, **kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/environments.py", line 62, in reset
return super().reset(*args, return_info=return_info, **kwargs)
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/contextlib.py", line 79, in inner
self.run()
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 917, in run
return func(*args, **kwds)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 425, in reset
self._target(*self._args, **self._kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/vector_env.py", line 268, in _worker_env
observations = self._env.reset()
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 261, in reset
observations = env.reset()
self.reconfigure(self._config)
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_episode_count_wrapper.py", line 61, in reset
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 343, in reconfigure
self._sim.reconfigure(self._config.simulator, self.current_episode)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
return self.env.reset(**kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_obs_dict_wrapper.py", line 36, in reset
return self.env.reset(**kwargs)
ret = f(self, *args, **kwargs)
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/site-packages/gym/core.py", line 283, in reset
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 358, in reconfigure
return self.env.reset(**kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_wrapper.py", line 319, in reset
obs = self.env.reset(*args, return_info=return_info, **kwargs)
Exception in thread Thread-5:
Traceback (most recent call last):
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/environments.py", line 62, in reset
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 980, in _bootstrap_inner
self.run()
Exception in thread Thread-4:
Traceback (most recent call last):
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 980, in _bootstrap_inner
self.run()
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 917, in run
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 917, in run
self._add_objs(ep_info, should_add_objects, new_scene)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
self._target(*self._args, **self._kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/vector_env.py", line 268, in _worker_env
/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/robot_specific_sensors.py:67: UserWarning: You are using SpotHeadStereoDepthSensor but you do not provide head_stereo_right_depth and head_stereo_right_depth.We return an all zero image.
warnings.warn(
self._target(*self._args, **self._kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/vector_env.py", line 268, in _worker_env
return super().reset(*args, return_info=return_info, **kwargs)
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/contextlib.py", line 79, in inner
observations = env.reset() observations = env.reset()

File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_episode_count_wrapper.py", line 61, in reset
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_episode_count_wrapper.py", line 61, in reset
ret = f(self, *args, **kwargs)
return self.env.reset(**kwargs)return self.env.reset(**kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 704, in _add_objs
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_obs_dict_wrapper.py", line 36, in reset
self.kinematic_relationship_manager.initialize_from_obj_to_rec_pairs(

File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_obs_dict_wrapper.py", line 36, in reset
return self.env.reset(**kwargs)
return func(*args, **kwds) File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/site-packages/gym/core.py", line 283, in reset
File "/home/cfli/habitat-lab/habitat-lab/habitat/sims/habitat_simulator/kinematic_relationship_manager.py", line 212, in initialize_from_obj_to_rec_pairs

return self.env.reset(**kwargs)

File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 425, in reset
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/site-packages/gym/core.py", line 283, in reset
return self.env.reset(**kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_wrapper.py", line 319, in reset
observations = self.env.reset()
assert (
AssertionErrorobs = self.env.reset(*args, return_info=return_info, **kwargs): Object with handle '002_master_chef_can:0000' could not be found in the scene. Has the Episode been initialized?
return self.env.reset(**kwargs) File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 261, in reset

self.reconfigure(self._config)

File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 343, in reconfigure
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_wrapper.py", line 319, in reset

File "/home/cfli/habitat-lab/habitat-lab/habitat/core/environments.py", line 62, in reset
obs = self.env.reset(*args, return_info=return_info, **kwargs) self._sim.reconfigure(self._config.simulator, self.current_episode)

File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/environments.py", line 62, in reset
return super().reset(*args, return_info=return_info, **kwargs)
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/contextlib.py", line 79, in inner
return super().reset(*args, return_info=return_info, **kwargs)
Exception in thread Thread-3:
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/contextlib.py", line 79, in inner
Traceback (most recent call last):
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 980, in _bootstrap_inner
return func(*args, **kwds)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 425, in reset
ret = f(self, *args, **kwargs) return func(*args, **kwds)

File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 358, in reconfigure
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 425, in reset
self.run()
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/threading.py", line 917, in run
observations = self._env.reset() observations = self._env.reset()
self._add_objs(ep_info, should_add_objects, new_scene)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper

File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 261, in reset
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 261, in reset
self.reconfigure(self._config)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 343, in reconfigure
self._target(*self._args, **self._kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/vector_env.py", line 268, in _worker_env
ret = f(self, *args, **kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 704, in _add_objs
self._sim.reconfigure(self._config.simulator, self.current_episode) observations = env.reset()

  File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_episode_count_wrapper.py", line 61, in reset

self.reconfigure(self._config) File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
return self.env.reset(**kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_env_obs_dict_wrapper.py", line 36, in reset
ret = f(self, *args, **kwargs)

File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 358, in reconfigure
self.kinematic_relationship_manager.initialize_from_obj_to_rec_pairs(
File "/home/cfli/habitat-lab/habitat-lab/habitat/sims/habitat_simulator/kinematic_relationship_manager.py", line 212, in initialize_from_obj_to_rec_pairs
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 343, in reconfigure
self._add_objs(ep_info, should_add_objects, new_scene)return self.env.reset(**kwargs)
assert (
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/site-packages/gym/core.py", line 283, in reset
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
self._sim.reconfigure(self._config.simulator, self.current_episode)

File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
ret = f(self, *args, **kwargs)
ret = f(self, *args, **kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 358, in reconfigure
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 704, in add_objs
return self.env.reset(**kwargs)AssertionError
File "/home/cfli/habitat-lab/habitat-lab/habitat/gym/gym_wrapper.py", line 319, in reset
: obs = self.env.reset(*args, return_info=return_info, **kwargs)
Object with handle '004_sugar_box:0001' could not be found in the scene. Has the Episode been initialized?self._add_objs(ep_info, should_add_objects, new_scene)self.kinematic_relationship_manager.initialize_from_obj_to_rec_pairs(

File "/home/cfli/habitat-lab/habitat-lab/habitat/core/environments.py", line 62, in reset

File "/home/cfli/habitat-lab/habitat-lab/habitat/sims/habitat_simulator/kinematic_relationship_manager.py", line 212, in initialize_from_obj_to_rec_pairs
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
assert (
AssertionError: Object with handle '003_cracker_box_:0002' could not be found in the scene. Has the Episode been initialized?
ret = f(self, *args, **kwargs)return super().reset(*args, return_info=return_info, **kwargs)
File "/home/cfli/anaconda3/envs/habitat/lib/python3.9/contextlib.py", line 79, in inner

File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 704, in _add_objs
return func(*args, **kwds)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 425, in reset
self.kinematic_relationship_manager.initialize_from_obj_to_rec_pairs(
File "/home/cfli/habitat-lab/habitat-lab/habitat/sims/habitat_simulator/kinematic_relationship_manager.py", line 212, in initialize_from_obj_to_rec_pairs
observations = self._env.reset() assert (

AssertionError File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 261, in reset
: Object with handle '004_sugar_box_:0000' could not be found in the scene. Has the Episode been initialized?
self.reconfigure(self._config)
File "/home/cfli/habitat-lab/habitat-lab/habitat/core/env.py", line 343, in reconfigure
self._sim.reconfigure(self._config.simulator, self.current_episode)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
ret = f(self, *args, **kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 358, in reconfigure
self._add_objs(ep_info, should_add_objects, new_scene)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/utils.py", line 693, in wrapper
ret = f(self, *args, **kwargs)
File "/home/cfli/habitat-lab/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py", line 704, in add_objs
self.kinematic_relationship_manager.initialize_from_obj_to_rec_pairs(
File "/home/cfli/habitat-lab/habitat-lab/habitat/sims/habitat_simulator/kinematic_relationship_manager.py", line 212, in initialize_from_obj_to_rec_pairs
assert (
AssertionError: Object with handle '004_sugar_box:0000' could not be found in the scene. Has the Episode been initialized?

I have downloaded the dataset. Could you help me out?