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Evaluation error, tasks.py", line 342 assert len(self.files) > 0 AssertionError #9

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Abduoit opened this issue Jun 16, 2021 · 3 comments
Open

Evaluation error, tasks.py", line 342 assert len(self.files) > 0 AssertionError #9

Abduoit opened this issue Jun 16, 2021 · 3 comments

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@Abduoit
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Abduoit commented Jun 16, 2021

Hi

I am getting the following error when I run the evaluation code, could you please help?

This is on Ubuntu 16.04, the following is the environment info: -

(multiarm) abdu@grasp-uoit:~/decentralized-multiarm$ python
Python 3.7.9 (default, Aug 31 2020, 12:42:55) 
[GCC 7.3.0] :: Anaconda, Inc. on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import torch
>>> print(torch.__version__)
1.6.0
>>> torch.version.cuda
'10.2'
>>> torch.cuda.is_available()
True
>>> torch.cuda.current_device()
0
>>> torch.cuda.device(0)
<torch.cuda.device object at 0x7fa815a19c10>
>>> torch.cuda.device_count()
1
>>> torch.cuda.get_device_name(0)
'GeForce GTX 1080'
>>> 

(multiarm) abdu@grasp-uoit:~/decentralized-multiarm$ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2019 NVIDIA Corporation
Built on Wed_Oct_23_19:24:38_PDT_2019
Cuda compilation tools, release 10.2, V10.2.89

The output:-

(multiarm) abdu@grasp-uoit:~/decentralized-multiarm$ python main.py --mode benchmark --tasks_path benchmark/ --load ours/ours.pth --num_processes 1 --gui
pybullet build time: Jun 13 2021 11:25:20
[Setup] Parallelizing across 1 processes
2021-06-16 09:42:44,178	INFO services.py:1166 -- View the Ray dashboard at http://127.0.0.1:8265
[Setup] Creating task loader...
[Setup] Creating environments...
(pid=6025) pybullet build time: Jun 13 2021 11:25:20
(pid=6019) pybullet build time: Jun 13 2021 11:25:20
(pid=6025) [TaskLoader] WARNING: not repeating tasks.
(pid=6019) [BenchmarkEnv] config:
(pid=6019) 	episode_length:400
(pid=6019) 	action_interval:0.05
(pid=6019) 	simulation_time:20
(pid=6019) startThreads creating 1 threads.
(pid=6019) starting thread 0
(pid=6019) started thread 0 
(pid=6019) argc=2
(pid=6019) argv[0] = --unused
(pid=6019) argv[1] = --start_demo_name=Physics Server
(pid=6019) ExampleBrowserThreadFunc started
(pid=6019) X11 functions dynamically loaded using dlopen/dlsym OK!
(pid=6019) X11 functions dynamically loaded using dlopen/dlsym OK!
(pid=6019) Creating context
(pid=6019) Created GL 3.3 context
(pid=6019) Direct GLX rendering context obtained
(pid=6019) Making context current
(pid=6019) GL_VENDOR=NVIDIA Corporation
(pid=6019) GL_RENDERER=GeForce GTX 1080/PCIe/SSE2
(pid=6019) GL_VERSION=3.3.0 NVIDIA 440.33.01
(pid=6019) GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler
(pid=6019) pthread_getconcurrency()=0
(pid=6019) Version = 3.3.0 NVIDIA 440.33.01
(pid=6019) Vendor = NVIDIA Corporation
(pid=6019) Renderer = GeForce GTX 1080/PCIe/SSE2
(pid=6019) b3Printf: Selected demo: Physics Server
(pid=6019) startThreads creating 1 threads.
(pid=6019) starting thread 0
(pid=6019) started thread 0 
(pid=6019) MotionThreadFunc thread started
(pid=6019) ven = NVIDIA Corporation
(pid=6019) ven = NVIDIA Corporation
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3P
2021-06-16 09:42:51,956	ERROR worker.py:1018 -- Possible unhandled error from worker: ray::TaskLoader.__init__() (pid=6025, ip=10.128.19.62)
  File "python/ray/_raylet.pyx", line 484, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 438, in ray._raylet.execute_task.function_executor
  File "/home/abdu/decentralized-multiarm/environment/tasks.py", line 342, in __init__
    assert len(self.files) > 0
AssertionError
(pid=6019) rintf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: ee_link
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: base
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: tool0
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
(pid=6019) 
(pid=6019) b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
(pid=6019) b3Printf: b3Warning[examples/Importers/ImportURDFD
(pid=6019) 	position_tolerance:0.02
(pid=6019) 	orientation_tolerance:0.1
(pid=6019) [BaseEnv] Setting up ray: Actor(ParallelBenchmarkEnv,7bbd902801000000)
Traceback (most recent call last):
  File "main.py", line 83, in <module>
    simulate(args, config)
  File "main.py", line 55, in simulate
    observations = ray.get([e.reset.remote() for e in envs])
  File "/home/abdu/anaconda3/envs/multiarm/lib/python3.7/site-packages/ray/worker.py", line 1428, in get
    raise value.as_instanceof_cause()
ray.exceptions.RayTaskError(AssertionError): ray::ParallelBenchmarkEnv.reset() (pid=6019, ip=10.128.19.62)
  File "python/ray/_raylet.pyx", line 484, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 438, in ray._raylet.execute_task.function_executor
  File "/home/abdu/decentralized-multiarm/environment/baseEnv.py", line 582, in reset
    self.setup_task()
  File "/home/abdu/decentralized-multiarm/environment/baseEnv.py", line 617, in setup_task
    min_task_difficulty=self.min_task_difficulty)
  File "/home/abdu/decentralized-multiarm/environment/tasks.py", line 282, in setup_next_task
    self.task_loader.get_next_task.remote())
ray.exceptions.RayTaskError(AssertionError): ray::TaskLoader.get_next_task() (pid=6025, ip=10.128.19.62)
  File "python/ray/_raylet.pyx", line 445, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 479, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 483, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 484, in ray._raylet.execute_task
  File "python/ray/_raylet.pyx", line 438, in ray._raylet.execute_task.function_executor
  File "/home/abdu/decentralized-multiarm/environment/tasks.py", line 342, in __init__
    assert len(self.files) > 0
AssertionError
(pid=6021) [SAC] loading networks from  ours/ours.pth
(pid=6021) [SAC] Continuing from time step  667534701  and update step  750000
(pid=6021) StochasticActor(
(pid=6021)   (seq_net): LSTM(107, 256, batch_first=True)
(pid=6021)   (net): Sequential(
(pid=6021)     (0): Linear(in_features=256, out_features=128, bias=True)
(pid=6021)     (1): Tanh()
(pid=6021)     (2): Linear(in_features=128, out_features=64, bias=True)
(pid=6021)     (3): Tanh()
(pid=6021)     (4): Linear(in_features=64, out_features=12, bias=True)
(pid=6021)     (5): Tanh()
(pid=6021)   )
(pid=6021) )
(pid=6021) Q(
(pid=6021)   (seq_net): LSTM(107, 256, batch_first=True)
(pid=6021)   (net): Sequential(
(pid=6021)     (0): Linear(in_features=262, out_features=128, bias=True)
(pid=6021)     (1): Tanh()
(pid=6021)     (2): Linear(in_features=128, out_features=64, bias=True)
(pid=6021)     (3): Tanh()
(pid=6021)     (4): Linear(in_features=64, out_features=1, bias=True)
(pid=6021)   )
(pid=6021) )

or

(multiarm) abdu@grasp-uoit:~/decentralized-multiarm$ python benchmark_dynamic.py --mode benchmark --tasks_path benchmark/ --load ours/ours.pth --num_processes 1 --gui
pybullet build time: Jun 13 2021 11:25:20
2021-06-16 09:42:12,381	INFO services.py:1166 -- View the Ray dashboard at http://127.0.0.1:8265
[TaskLoader] WARNING: not repeating tasks.
Traceback (most recent call last):
  File "benchmark_dynamic.py", line 48, in <module>
    repeat=False)
  File "/home/abdu/decentralized-multiarm/environment/tasks.py", line 342, in __init__
    assert len(self.files) > 0
AssertionError
@movefasta
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Same output on Ubuntu 20.04 on both commands

@youdianlan
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@Abduoit I think the main problem is as following from your log:
2021-06-16 09:42:51,956 ERROR worker.py:1018 -- Possible unhandled error from worker: ray::TaskLoader.init() (pid=6025, ip=10.128.19.62)
File "python/ray/_raylet.pyx", line 484, in ray._raylet.execute_task
File "python/ray/_raylet.pyx", line 438, in ray._raylet.execute_task.function_executor
File "/home/abdu/decentralized-multiarm/environment/tasks.py", line 342, in init
assert len(self.files) > 0
AssertionError

That means no files are specified when creat tasks. Download 'tasks.tar.xz' from https://multiarm.cs.columbia.edu/downloads/data/tasks.tar.xz, extract it into your 'decentralized-multiarm' folder, then rerun the
command:
python main.py --mode benchmark --tasks_path tasks/ --load ours/ours.pth --num_processes 1 --gui
This works for me.

@GuQian-Alex
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@Abduoit I think the main problem is as following from your log: 2021-06-16 09:42:51,956 ERROR worker.py:1018 -- Possible unhandled error from worker: ray::TaskLoader.init() (pid=6025, ip=10.128.19.62) File "python/ray/_raylet.pyx", line 484, in ray._raylet.execute_task File "python/ray/_raylet.pyx", line 438, in ray._raylet.execute_task.function_executor File "/home/abdu/decentralized-multiarm/environment/tasks.py", line 342, in init assert len(self.files) > 0 AssertionError

That means no files are specified when creat tasks. Download 'tasks.tar.xz' from https://multiarm.cs.columbia.edu/downloads/data/tasks.tar.xz, extract it into your 'decentralized-multiarm' folder, then rerun the command: python main.py --mode benchmark --tasks_path tasks/ --load ours/ours.pth --num_processes 1 --gui This works for me.

Thanks, this really works .

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@movefasta @GuQian-Alex @Abduoit @youdianlan