Getting IndexError: list index out of range
Closed this issue · 4 comments
francescotaioli commented
Hi, I'm getting the following exception:
File "/home/ftaioli/projects/OpenFMNav/envs/habitat/objectgoal_env21.py", line 219, in _preprocess_semantic
if self.scene.objects[se[i]].category.name() in self.hm3d_semantic_mapping:
IndexError: list index out of range
as soon as I start the evaluation with the following command:
CUDA_VISIBLE_DEVICES=0 python main.py --split val --eval 1 --auto_gpu_config 0 --prompt_type scoring -n 1 --num_eval_episodes 100 --text_threshold 0.55 --boundary_coeff 12 --start_episode 0 --tag_freq 100 --use_gtsem 0 --num_local_steps 20 --print_images 1 --exp_name test
Infos
I downloaded the scene dataset with the following command:
python -m habitat_sim.utils.datasets_download --username <api-token-id> --password <api-token-secret> --uids hm3d_val_v0.1
and downloaded the task dataset from here.
Specifically, I've tried objectnav_hm3d_v1.zip and with objectnav_hm3d_v2.zip.
Did you encounter this particular issue?
yxKryptonite commented
Hi, have you tried downloading the scene dataset from https://github.com/matterport/habitat-matterport-3dresearch? I use v0.2 and it works fine.
francescotaioli commented
Yes, same error. Just to confirm, my scene dataset folder looks like this:
├── 00800-TEEsavR23oF
│ ├── TEEsavR23oF.basis.glb
│ ├── TEEsavR23oF.basis.navmesh
│ ├── TEEsavR23oF.semantic.glb
│ └── TEEsavR23oF.semantic.txt
├── 00801-HaxA7YrQdEC
│ ├── HaxA7YrQdEC.basis.glb
│ └── HaxA7YrQdEC.basis.navmesh
├── 00802-wcojb4TFT35
│ ├── wcojb4TFT35.basis.glb
│ ├── wcojb4TFT35.basis.navmesh
│ ├── wcojb4TFT35.semantic.glb
│ └── wcojb4TFT35.semantic.txt
├── 00803-k1cupFYWXJ6
│ ├── k1cupFYWXJ6.basis.glb
│ ├── k1cupFYWXJ6.basis.navmesh
│ ├── k1cupFYWXJ6.semantic.glb
│ └── k1cupFYWXJ6.semantic.txt
├── 00804-BHXhpBwSMLh
│ ├── BHXhpBwSMLh.basis.glb
│ └── BHXhpBwSMLh.basis.navmesh
├── 00805-SUHsP6z2gcJ
│ ├── SUHsP6z2gcJ.basis.glb
│ └── SUHsP6z2gcJ.basis.navmesh
├── 00806-tQ5s4ShP627
│ ├── tQ5s4ShP627.basis.glb
│ └── tQ5s4ShP627.basis.navmesh
├── 00807-rsggHU7g7dh
│ ├── rsggHU7g7dh.basis.glb
│ └── rsggHU7g7dh.basis.navmesh
├── 00808-y9hTuugGdiq
│ ├── y9hTuugGdiq.basis.glb
│ ├── y9hTuugGdiq.basis.navmesh
│ ├── y9hTuugGdiq.semantic.glb
│ └── y9hTuugGdiq.semantic.txt
├── 00809-Qpor2mEya8F
│ ├── Qpor2mEya8F.basis.glb
│ └── Qpor2mEya8F.basis.navmesh
├── 00810-CrMo8WxCyVb
│ ├── CrMo8WxCyVb.basis.glb
│ ├── CrMo8WxCyVb.basis.navmesh
│ ├── CrMo8WxCyVb.semantic.glb
│ └── CrMo8WxCyVb.semantic.txt
├── 00811-7UrtFsADwob
│ ├── 7UrtFsADwob.basis.glb
│ └── 7UrtFsADwob.basis.navmesh
├── 00812-mma8eWq3nNQ
│ ├── mma8eWq3nNQ.basis.glb
│ └── mma8eWq3nNQ.basis.navmesh
├── 00813-svBbv1Pavdk
│ ├── svBbv1Pavdk.basis.glb
│ ├── svBbv1Pavdk.basis.navmesh
│ ├── svBbv1Pavdk.semantic.glb
│ └── svBbv1Pavdk.semantic.txt
├── 00814-p53SfW6mjZe
│ ├── p53SfW6mjZe.basis.glb
│ ├── p53SfW6mjZe.basis.navmesh
│ ├── p53SfW6mjZe.semantic.glb
│ └── p53SfW6mjZe.semantic.txt
├── 00815-h1zeeAwLh9Z
│ ├── h1zeeAwLh9Z.basis.glb
│ ├── h1zeeAwLh9Z.basis.navmesh
│ ├── h1zeeAwLh9Z.semantic.glb
│ └── h1zeeAwLh9Z.semantic.txt
├── 00816-q3hn1WQ12rz
│ ├── q3hn1WQ12rz.basis.glb
│ └── q3hn1WQ12rz.basis.navmesh
├── 00817-X4qjx5vquwH
│ ├── X4qjx5vquwH.basis.glb
│ └── X4qjx5vquwH.basis.navmesh
├── 00818-rJhMRvNn4DS
│ ├── rJhMRvNn4DS.basis.glb
│ └── rJhMRvNn4DS.basis.navmesh
├── 00819-6D36GQHuP8H
│ ├── 6D36GQHuP8H.basis.glb
│ └── 6D36GQHuP8H.basis.navmesh
├── 00820-mL8ThkuaVTM
│ ├── mL8ThkuaVTM.basis.glb
│ ├── mL8ThkuaVTM.basis.navmesh
│ ├── mL8ThkuaVTM.semantic.glb
│ └── mL8ThkuaVTM.semantic.txt
├── 00821-eF36g7L6Z9M
│ ├── eF36g7L6Z9M.basis.glb
│ ├── eF36g7L6Z9M.basis.navmesh
│ ├── eF36g7L6Z9M.semantic.glb
│ └── eF36g7L6Z9M.semantic.txt
├── 00822-nrA1tAA17Yp
│ ├── nrA1tAA17Yp.basis.glb
│ └── nrA1tAA17Yp.basis.navmesh
├── 00823-7MXmsvcQjpJ
│ ├── 7MXmsvcQjpJ.basis.glb
│ ├── 7MXmsvcQjpJ.basis.navmesh
│ ├── 7MXmsvcQjpJ.semantic.glb
│ └── 7MXmsvcQjpJ.semantic.txt
├── 00824-Dd4bFSTQ8gi
│ ├── Dd4bFSTQ8gi.basis.glb
│ ├── Dd4bFSTQ8gi.basis.navmesh
│ ├── Dd4bFSTQ8gi.semantic.glb
│ └── Dd4bFSTQ8gi.semantic.txt
├── 00825-jgPBycuV1Jq
│ ├── jgPBycuV1Jq.basis.glb
│ └── jgPBycuV1Jq.basis.navmesh
├── 00826-BFRyYbPCCPE
│ ├── BFRyYbPCCPE.basis.glb
│ └── BFRyYbPCCPE.basis.navmesh
├── 00827-BAbdmeyTvMZ
│ ├── BAbdmeyTvMZ.basis.glb
│ ├── BAbdmeyTvMZ.basis.navmesh
│ ├── BAbdmeyTvMZ.semantic.glb
│ └── BAbdmeyTvMZ.semantic.txt
├── 00828-X7gTkoDHViv
│ ├── X7gTkoDHViv.basis.glb
│ └── X7gTkoDHViv.basis.navmesh
├── 00829-QaLdnwvtxbs
│ ├── QaLdnwvtxbs.basis.glb
│ ├── QaLdnwvtxbs.basis.navmesh
│ ├── QaLdnwvtxbs.semantic.glb
│ └── QaLdnwvtxbs.semantic.txt
├── 00830-5jp3fCRSRjc
│ ├── 5jp3fCRSRjc.basis.glb
│ └── 5jp3fCRSRjc.basis.navmesh
├── 00831-yr17PDCnDDW
│ ├── yr17PDCnDDW.basis.glb
│ ├── yr17PDCnDDW.basis.navmesh
│ ├── yr17PDCnDDW.semantic.glb
│ └── yr17PDCnDDW.semantic.txt
├── 00832-qyAac8rV8Zk
│ ├── qyAac8rV8Zk.basis.glb
│ ├── qyAac8rV8Zk.basis.navmesh
│ ├── qyAac8rV8Zk.semantic.glb
│ └── qyAac8rV8Zk.semantic.txt
├── 00833-dHwjuKfkRUR
│ ├── dHwjuKfkRUR.basis.glb
│ └── dHwjuKfkRUR.basis.navmesh
├── 00834-AWUFxHEyV3T
│ ├── AWUFxHEyV3T.basis.glb
│ └── AWUFxHEyV3T.basis.navmesh
├── 00835-q3zU7Yy5E5s
│ ├── q3zU7Yy5E5s.basis.glb
│ ├── q3zU7Yy5E5s.basis.navmesh
│ ├── q3zU7Yy5E5s.semantic.glb
│ └── q3zU7Yy5E5s.semantic.txt
├── 00836-7GAhQPFzMot
│ ├── 7GAhQPFzMot.basis.glb
│ └── 7GAhQPFzMot.basis.navmesh
├── 00837-vBMLrTe4uLA
│ ├── vBMLrTe4uLA.basis.glb
│ └── vBMLrTe4uLA.basis.navmesh
├── 00838-kJJyRFXVpx2
│ ├── kJJyRFXVpx2.basis.glb
│ └── kJJyRFXVpx2.basis.navmesh
├── 00839-zt1RVoi7PcG
│ ├── zt1RVoi7PcG.basis.glb
│ ├── zt1RVoi7PcG.basis.navmesh
│ ├── zt1RVoi7PcG.semantic.glb
│ └── zt1RVoi7PcG.semantic.txt
├── 00840-z9YwN9M8FpG
│ ├── z9YwN9M8FpG.basis.glb
│ └── z9YwN9M8FpG.basis.navmesh
├── 00841-SByzJLxpRGn
│ ├── SByzJLxpRGn.basis.glb
│ └── SByzJLxpRGn.basis.navmesh
├── 00842-hkr2MGpHD6B
│ ├── hkr2MGpHD6B.basis.glb
│ └── hkr2MGpHD6B.basis.navmesh
├── 00843-DYehNKdT76V
│ ├── DYehNKdT76V.basis.glb
│ ├── DYehNKdT76V.basis.navmesh
│ ├── DYehNKdT76V.semantic.glb
│ └── DYehNKdT76V.semantic.txt
├── 00844-q5QZSEeHe5g
│ ├── q5QZSEeHe5g.basis.glb
│ ├── q5QZSEeHe5g.basis.navmesh
│ ├── q5QZSEeHe5g.semantic.glb
│ └── q5QZSEeHe5g.semantic.txt
├── 00845-c3WKCnkEdha
│ ├── c3WKCnkEdha.basis.glb
│ └── c3WKCnkEdha.basis.navmesh
├── 00846-LNg5mXe1BDj
│ ├── LNg5mXe1BDj.basis.glb
│ └── LNg5mXe1BDj.basis.navmesh
├── 00847-bCPU9suPUw9
│ ├── bCPU9suPUw9.basis.glb
│ ├── bCPU9suPUw9.basis.navmesh
│ ├── bCPU9suPUw9.semantic.glb
│ └── bCPU9suPUw9.semantic.txt
├── 00848-ziup5kvtCCR
│ ├── ziup5kvtCCR.basis.glb
│ ├── ziup5kvtCCR.basis.navmesh
│ ├── ziup5kvtCCR.semantic.glb
│ └── ziup5kvtCCR.semantic.txt
├── 00849-a8BtkwhxdRV
│ ├── a8BtkwhxdRV.basis.glb
│ ├── a8BtkwhxdRV.basis.navmesh
│ ├── a8BtkwhxdRV.semantic.glb
│ └── a8BtkwhxdRV.semantic.txt
├── 00850-W7k2QWzBrFY
│ ├── W7k2QWzBrFY.basis.glb
│ └── W7k2QWzBrFY.basis.navmesh
├── 00851-YRUkbU5xsYj
│ ├── YRUkbU5xsYj.basis.glb
│ └── YRUkbU5xsYj.basis.navmesh
├── 00852-T6nG3E2Uui9
│ ├── T6nG3E2Uui9.basis.glb
│ └── T6nG3E2Uui9.basis.navmesh
├── 00853-5cdEh9F2hJL
│ ├── 5cdEh9F2hJL.basis.glb
│ ├── 5cdEh9F2hJL.basis.navmesh
│ ├── 5cdEh9F2hJL.semantic.glb
│ └── 5cdEh9F2hJL.semantic.txt
├── 00854-SiKqEZx7Ejt
│ ├── SiKqEZx7Ejt.basis.glb
│ └── SiKqEZx7Ejt.basis.navmesh
├── 00855-c5eTyR3Rxyh
│ ├── c5eTyR3Rxyh.basis.glb
│ └── c5eTyR3Rxyh.basis.navmesh
├── 00856-FnSn2KSrALj
│ ├── FnSn2KSrALj.basis.glb
│ └── FnSn2KSrALj.basis.navmesh
├── 00857-L53DsRRk4Ch
│ ├── L53DsRRk4Ch.basis.glb
│ └── L53DsRRk4Ch.basis.navmesh
├── 00858-cYkrGrCg2kB
│ ├── cYkrGrCg2kB.basis.glb
│ └── cYkrGrCg2kB.basis.navmesh
├── 00859-3t8DB4Uzvkt
│ ├── 3t8DB4Uzvkt.basis.glb
│ └── 3t8DB4Uzvkt.basis.navmesh
├── 00860-RJaJt8UjXav
│ ├── RJaJt8UjXav.basis.glb
│ └── RJaJt8UjXav.basis.navmesh
├── 00861-GLAQ4DNUx5U
│ ├── GLAQ4DNUx5U.basis.glb
│ ├── GLAQ4DNUx5U.basis.navmesh
│ ├── GLAQ4DNUx5U.semantic.glb
│ └── GLAQ4DNUx5U.semantic.txt
├── 00862-LT9Jq6dN3Ea
│ ├── LT9Jq6dN3Ea.basis.glb
│ ├── LT9Jq6dN3Ea.basis.navmesh
│ ├── LT9Jq6dN3Ea.semantic.glb
│ └── LT9Jq6dN3Ea.semantic.txt
├── 00863-b28CWbpQvor
│ ├── b28CWbpQvor.basis.glb
│ └── b28CWbpQvor.basis.navmesh
├── 00864-QHhQZWdMpGJ
│ ├── QHhQZWdMpGJ.basis.glb
│ └── QHhQZWdMpGJ.basis.navmesh
├── 00865-fsQtJ8t3nTf
│ ├── fsQtJ8t3nTf.basis.glb
│ └── fsQtJ8t3nTf.basis.navmesh
├── 00866-XNeHsjL6nBB
│ ├── XNeHsjL6nBB.basis.glb
│ └── XNeHsjL6nBB.basis.navmesh
├── 00867-uLz9jNga3kC
│ ├── uLz9jNga3kC.basis.glb
│ └── uLz9jNga3kC.basis.navmesh
├── 00868-vd3HHTEpmyA
│ ├── vd3HHTEpmyA.basis.glb
│ └── vd3HHTEpmyA.basis.navmesh
├── 00869-MHPLjHsuG27
│ ├── MHPLjHsuG27.basis.glb
│ ├── MHPLjHsuG27.basis.navmesh
│ ├── MHPLjHsuG27.semantic.glb
│ └── MHPLjHsuG27.semantic.txt
├── 00870-AYpsNQsWncn
│ ├── AYpsNQsWncn.basis.glb
│ └── AYpsNQsWncn.basis.navmesh
├── 00871-VBzV5z6i1WS
│ ├── VBzV5z6i1WS.basis.glb
│ ├── VBzV5z6i1WS.basis.navmesh
│ ├── VBzV5z6i1WS.semantic.glb
│ └── VBzV5z6i1WS.semantic.txt
├── 00872-F7EAMsdDASd
│ ├── F7EAMsdDASd.basis.glb
│ └── F7EAMsdDASd.basis.navmesh
├── 00873-bxsVRursffK
│ ├── bxsVRursffK.basis.glb
│ ├── bxsVRursffK.basis.navmesh
│ ├── bxsVRursffK.semantic.glb
│ └── bxsVRursffK.semantic.txt
├── 00874-uSKXQ5fFg6u
│ ├── uSKXQ5fFg6u.basis.glb
│ └── uSKXQ5fFg6u.basis.navmesh
├── 00875-66seV3BWPoX
│ ├── 66seV3BWPoX.basis.glb
│ └── 66seV3BWPoX.basis.navmesh
├── 00876-mv2HUxq3B53
│ ├── mv2HUxq3B53.basis.glb
│ ├── mv2HUxq3B53.basis.navmesh
│ ├── mv2HUxq3B53.semantic.glb
│ └── mv2HUxq3B53.semantic.txt
├── 00877-4ok3usBNeis
│ ├── 4ok3usBNeis.basis.glb
│ ├── 4ok3usBNeis.basis.navmesh
│ ├── 4ok3usBNeis.semantic.glb
│ └── 4ok3usBNeis.semantic.txt
├── 00878-XB4GS9ShBRE
│ ├── XB4GS9ShBRE.basis.glb
│ ├── XB4GS9ShBRE.basis.navmesh
│ ├── XB4GS9ShBRE.semantic.glb
│ └── XB4GS9ShBRE.semantic.txt
├── 00879-7Ukhou1GxYi
│ ├── 7Ukhou1GxYi.basis.glb
│ └── 7Ukhou1GxYi.basis.navmesh
├── 00880-Nfvxx8J5NCo
│ ├── Nfvxx8J5NCo.basis.glb
│ ├── Nfvxx8J5NCo.basis.navmesh
│ ├── Nfvxx8J5NCo.semantic.glb
│ └── Nfvxx8J5NCo.semantic.txt
├── 00881-u1bkiGRVyu9
│ ├── u1bkiGRVyu9.basis.glb
│ └── u1bkiGRVyu9.basis.navmesh
├── 00882-rXXL6twQiWc
│ ├── rXXL6twQiWc.basis.glb
│ └── rXXL6twQiWc.basis.navmesh
├── 00883-u8ug2rtNARf
│ ├── u8ug2rtNARf.basis.glb
│ └── u8ug2rtNARf.basis.navmesh
├── 00884-XMHNu9rRQ1y
│ ├── XMHNu9rRQ1y.basis.glb
│ └── XMHNu9rRQ1y.basis.navmesh
├── 00885-dVW2D7TDctW
│ ├── dVW2D7TDctW.basis.glb
│ └── dVW2D7TDctW.basis.navmesh
├── 00886-TPhiubUHKcP
│ ├── TPhiubUHKcP.basis.glb
│ └── TPhiubUHKcP.basis.navmesh
├── 00887-hyFzGGJCSYs
│ ├── hyFzGGJCSYs.basis.glb
│ └── hyFzGGJCSYs.basis.navmesh
├── 00888-hDBqLgydy1n
│ ├── hDBqLgydy1n.basis.glb
│ └── hDBqLgydy1n.basis.navmesh
├── 00889-HMkoS756sz6
│ ├── HMkoS756sz6.basis.glb
│ └── HMkoS756sz6.basis.navmesh
├── 00890-6s7QHgap2fW
│ ├── 6s7QHgap2fW.basis.glb
│ ├── 6s7QHgap2fW.basis.navmesh
│ ├── 6s7QHgap2fW.semantic.glb
│ └── 6s7QHgap2fW.semantic.txt
├── 00891-cvZr5TUy5C5
│ ├── cvZr5TUy5C5.basis.glb
│ ├── cvZr5TUy5C5.basis.navmesh
│ ├── cvZr5TUy5C5.semantic.glb
│ └── cvZr5TUy5C5.semantic.txt
├── 00892-bzCsHPLDztK
│ ├── bzCsHPLDztK.basis.glb
│ └── bzCsHPLDztK.basis.navmesh
├── 00893-yZME6UR9dUN
│ ├── yZME6UR9dUN.basis.glb
│ └── yZME6UR9dUN.basis.navmesh
├── 00894-HY1NcmCgn3n
│ ├── HY1NcmCgn3n.basis.glb
│ ├── HY1NcmCgn3n.basis.navmesh
│ ├── HY1NcmCgn3n.semantic.glb
│ └── HY1NcmCgn3n.semantic.txt
├── 00895-auFeVz9Go4m
│ ├── auFeVz9Go4m.basis.glb
│ └── auFeVz9Go4m.basis.navmesh
├── 00896-5hGmubEE6ZF
│ ├── 5hGmubEE6ZF.basis.glb
│ └── 5hGmubEE6ZF.basis.navmesh
├── 00897-LEFTm3JecaC
│ ├── LEFTm3JecaC.basis.glb
│ └── LEFTm3JecaC.basis.navmesh
├── 00898-8CRYizAb6yd
│ ├── 8CRYizAb6yd.basis.glb
│ └── 8CRYizAb6yd.basis.navmesh
├── 00899-58NLZxWBSpk
│ ├── 58NLZxWBSpk.basis.glb
│ └── 58NLZxWBSpk.basis.navmesh
├── hm3d_annotated_basis.scene_dataset_config.json
└── hm3d_annotated_val_basis.scene_dataset_config.json
I changed the path in OpenFMNav/envs/habitat/configs/tasks/objectnav_hm3d.yaml
francescotaioli commented
More on that, when running your command for inference, the first scene to be loaded is 4ok3usBNeis
which contains
00877-4ok3usBNeis
│ ├── 4ok3usBNeis.basis.glb
│ ├── 4ok3usBNeis.basis.navmesh
│ ├── 4ok3usBNeis.semantic.glb
│ └── 4ok3usBNeis.semantic.txt
but during loading
[11:28:52:201771]:[Sim] Simulator.cpp(432)::instanceStageForSceneAttributes : Successfully loaded stage named : [path]/hm3d_sem/hm3d_v0.2/val/00877-4ok3usBNeis/4ok3usBNeis.basis.glb
[11:28:52:201823]:[Sim] Simulator.cpp(464)::instanceStageForSceneAttributes :
---
The active scene does not contain semantic annotations : activeSemanticSceneID_ = 0
---
francescotaioli commented
Finally, I found the problem. I was loading the scene dataset from HDD, so I changed the scene dataset path from OpenFMNav/envs/habitat/configs/tasks/objectnav_hm3d.yaml.
This is fine to do. However, habitat expects that the file
hm3d_annotated_basis.scene_dataset_config.json and hm3d_val_basis.scene_dataset_config.json must be present in data/scene_datasets/hm3d_v0.2. Or, at least, I didn't find a way to also override these files.
To sum up, after symlinking hm3d_annotated_basis.scene_dataset_config.json and hm3d_val_basis.scene_dataset_config.json to data/scene_datasets/hm3d_v0.2 the code works fine.
Explain in detail here.