missing data for rl_hierarchical_oracle_nav_human.yaml?

[nicklhy]

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: 0.3.1

Habitat-Sim: 0.3.1

🐛 Bug

I tried to run rearrange/rl_hierarchical_oracle_nav_human.yaml. But the script just crashed with file not found errors. After looking into the config file, I noticed there are two files which are not included in the humanoid dataset.

• articulated_agent_urdf: 'data/humanoids/humanoid_data/armatures/human_armature.urdf'
• motion_data_path: "data/humanoids/humanoid_data/walking_motion_processed.pkl"

Steps to Reproduce

python -u -m habitat_baselines.run \
    --config-name=rearrange/rl_hierarchical_oracle_nav_human \
    habitat_baselines.evaluate=True \
    habitat_baselines.video_dir=video_rearrange_rl_hierarchical_oracle_nav_human \
    habitat_baselines.num_environments=2

The script would crash with the following output

[18:28:36:224795]:[Error]:[Metadata] AOAttributesManager.cpp(190)::registerObjectFinalize : ArticulatedObjectAttributes template named `data/humanoids/humanoid_data/armatures/human_armature.urdf` specifi
es the URDF Filepath `data/humanoids/humanoid_data/armatures/human_armature.urdf`, but this file cannot be found, so registration is aborted.
[18:28:36:224947]:[Error]:[Metadata] AOAttributesManager.cpp(190)::registerObjectFinalize : ArticulatedObjectAttributes template named `data/humanoids/humanoid_data/armatures/human_armature.urdf` specifi
es the URDF Filepath `data/humanoids/humanoid_data/armatures/human_armature.urdf`, but this file cannot be found, so registration is aborted.
Error executing job with overrides: ['habitat_baselines.evaluate=True', 'habitat_baselines.video_dir=video_rearrange_rl_hierarchical_oracle_nav_human', 'habitat_baselines.num_environments=2']
Traceback (most recent call last):                                                                   
  File "/mnt/habitat-lab/habitat-baselines/habitat_baselines/run.py", line 31, in main
    execute_exp(cfg, "eval" if cfg.habitat_baselines.evaluate else "train")
  File "/mnt/habitat-lab/habitat-baselines/habitat_baselines/run.py", line 62, in execute_exp
    trainer.eval()                                
  File "/mnt/habitat-lab/habitat-baselines/habitat_baselines/common/base_trainer.py", line 129, in eval                                                                                                        self._eval_checkpoint(                                                                                                                                                                                 
  File "/mnt/habitat-lab/habitat-baselines/habitat_baselines/rl/ppo/ppo_trainer.py", line 889, in _eval_checkpoint
    evaluator.evaluate_agent(                                                                        
  File "/mnt/habitat-lab/habitat-baselines/habitat_baselines/rl/ppo/habitat_evaluator.py", line 48, in evaluate_agent
    observations = envs.reset()
  File "/mnt/habitat-lab/habitat-lab/habitat/core/vector_env.py", line 389, in reset
    results.append(read_fn())
  File "/mnt/habitat-lab/habitat-lab/habitat/core/vector_env.py", line 110, in __call__
    res = self.read_fn()                          
  File "/mnt/habitat-lab/habitat-lab/habitat/utils/pickle5_multiprocessing.py", line 68, in recv
    buf = self.recv_bytes()
  File "/opt/miniconda3/envs/habitat/lib/python3.9/multiprocessing/connection.py", line 216, in recv_bytes
    buf = self._recv_bytes(maxlength)
  File "/opt/miniconda3/envs/habitat/lib/python3.9/multiprocessing/connection.py", line 414, in _recv_bytes
    buf = self._recv(4)                           
  File "/opt/miniconda3/envs/habitat/lib/python3.9/multiprocessing/connection.py", line 383, in _recv
    raise EOFError

[xavierpuigf]

Hi, could you try replacing the following fields in rl_hierarchical_nav_human.yaml
We will correct it.

articulated_agent_urdf: "data/humanoids/humanoid_data/female_2/female_2.urdf"
motion_data_path: "data/humanoids/humanoid_data/female_2/female_2_motion_data_smplx.pkl"