KeyError in demo running

[cazhang]

1. Tried to run the demo:
   python projects/habitat_ovmm/eval_baselines_agent.py --env_config projects/habitat_ovmm/configs/env/hssd_demo.yaml

2. Got KeyError:
   File "/home/czhang/home-robot/src/home_robot/home_robot/perception/wrapper.py", line 126, in _process_obs
   obs.task_observations["start_recep_goal"] = self.vocabulary_name_to_id[
   KeyError: 'cabinet'

3. Checked self.vocabulary_name_to_id:
   self.vocabulary_name_to_id: {'bowl': 1, 'chair': 2, 'table': 3}

4. Checked the target hssd_demo.yaml, it has:
   start_recep: "chair"
   pick_object: "bowl"
   goal_recep: "table"

Question: 'cabinet' was not matching any of the vocabulary, wondering what caused this unexpected error?

[yvsriram]

Hi, thanks for the issue. Yes, you are right. Due to a few recent changes this hssd_demo.yaml config works only in real world. You can use hssd_eval.yaml instead.

To make it work you can remove the start_recep, pick_object, goal_recep keys from the config. These will be picked from episodes. I will push a fix right now to ensure that the passed-in values are only used in the real world.

[cazhang]

closed.