Error while running evaluation/evaluate_policy.py

[urisherman]

While in working direcory calvin/calvin_models/calvin_agent, executing evaluation/evaluate_policy.py leads to:

ImportError: Error instantiating 'calvin_env.envs.play_table_env.PlayTableSimEnv' : Encountered error: `module 'numpy' has no attribute 'int'.

The line that fails is

env = hydra.utils.instantiate(render_conf.env, show_gui=show_gui, use_vr=False, use_scene_info=True)

line 288 in https://github.com/mees/calvin_env/blob/1431a46bd36bde5903fb6345e68b5ccc30def666/calvin_env/envs/play_table_env.py

I tracked down the error to the fact that urdfpy depends on networkx 2.2 which wrongfully allows any numpy version, while it practically requires <1.20 (facebookresearch/tacto#42).

Unfortunately downgrading numpy is not an option due to other dependencies, and upgrading networkx to 3.0 doesn't help because urdfpy itself is also incompatible with numpy>=1.20 (similar "module 'numpy' has no attribute 'float'." error).

===

This doesn't happen when using an independent piece of code where hydra is initialized from the root, i.e.,
From working direcory calvin/calvin_env, running

from hydra import initialize, compose
import pprint

hydra.core.global_hydra.GlobalHydra.instance().clear()

with initialize(config_path="./calvin_env/conf/"):
  cfg = compose(config_name="config_data_collection.yaml", overrides=["cameras=static_and_gripper"])
  cfg.env["use_egl"] = False
  cfg.env["show_gui"] = False
  cfg.env["use_vr"] = False
  cfg.env["use_scene_info"] = True

env = hydra.utils.instantiate(cfg.env)

works..

[XiangH9]

Hi, sorry to bother you.

I wanted to ask whether the validation set inside the task_ABC_D folder of your CALVIN dataset has corresponding language annotation files — is there a /lang_annotations folder?

This is very important for my work. Looking forward to your reply.