Physics simulation causes "time_out" during render_script

[yuanfei-Wang]

I am trying the unity_demo.ipynb provided in this repo. Everything is fine until I start to run the physics simulation code.
The render_script of putting an apple on the desk gets stuck and the error appears to be "time_out".
However, if I skip the comm.activate_physics(), then comm.render_script works normally.
The detailed error outputs are listed below. Thanks in advance!

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:384 in _make_request │
│ │
│ 381 │ │ │ │ except Exception as e: │
│ 382 │ │ │ │ │ # Remove the TypeError from the exception chain in Python 3; │
│ 383 │ │ │ │ │ # otherwise it looks like a programming error was the cause. │
│ ❱ 384 │ │ │ │ │ six.raise_from(e, None) │
│ 385 │ │ except (SocketTimeout, BaseSSLError, SocketError) as e: │
│ 386 │ │ │ self._raise_timeout(err=e, url=url, timeout_value=read_timeout) │
│ 387 │ │ │ raise │
│ in raise_from:2 │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:380 in _make_request │
│ │
│ 377 │ │ │ │ httplib_response = conn.getresponse(buffering=True) │
│ 378 │ │ │ except TypeError: # Python 3 │
│ 379 │ │ │ │ try: │
│ ❱ 380 │ │ │ │ │ httplib_response = conn.getresponse() │
│ 381 │ │ │ │ except Exception as e: │
│ 382 │ │ │ │ │ # Remove the TypeError from the exception chain in Python 3; │
│ 383 │ │ │ │ │ # otherwise it looks like a programming error was the cause. │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/http/client.py:1348 in getresponse │
│ │
│ 1345 │ │ │
│ 1346 │ │ try: │
│ 1347 │ │ │ try: │
│ ❱ 1348 │ │ │ │ response.begin() │
│ 1349 │ │ │ except ConnectionError: │
│ 1350 │ │ │ │ self.close() │
│ 1351 │ │ │ │ raise │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/http/client.py:316 in begin │
│ │
│ 313 │ │ │
│ 314 │ │ # read until we get a non-100 response │
│ 315 │ │ while True: │
│ ❱ 316 │ │ │ version, status, reason = self._read_status() │
│ 317 │ │ │ if status != CONTINUE: │
│ 318 │ │ │ │ break │
│ 319 │ │ │ # skip the header from the 100 response │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/http/client.py:277 in _read_status │
│ │
│ 274 │ │ self.will_close = _UNKNOWN # conn will close at end of response │
│ 275 │ │
│ 276 │ def _read_status(self): │
│ ❱ 277 │ │ line = str(self.fp.readline(_MAXLINE + 1), "iso-8859-1") │
│ 278 │ │ if len(line) > _MAXLINE: │
│ 279 │ │ │ raise LineTooLong("status line") │
│ 280 │ │ if self.debuglevel > 0: │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/socket.py:669 in readinto │
│ │
│ 666 │ │ │ raise OSError("cannot read from timed out object") │
│ 667 │ │ while True: │
│ 668 │ │ │ try: │
│ ❱ 669 │ │ │ │ return self._sock.recv_into(b) │
│ 670 │ │ │ except timeout: │
│ 671 │ │ │ │ self._timeout_occurred = True │
│ 672 │ │ │ │ raise │
╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
timeout: timed out

During handling of the above exception, another exception occurred:

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/adapters.py:439 in send │
│ │
│ 436 │ │ │
│ 437 │ │ try: │
│ 438 │ │ │ if not chunked: │
│ ❱ 439 │ │ │ │ resp = conn.urlopen( │
│ 440 │ │ │ │ │ method=request.method, │
│ 441 │ │ │ │ │ url=url, │
│ 442 │ │ │ │ │ body=request.body, │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:637 in urlopen │
│ │
│ 634 │ │ │ elif isinstance(e, (SocketError, HTTPException)): │
│ 635 │ │ │ │ e = ProtocolError('Connection aborted.', e) │
│ 636 │ │ │ │
│ ❱ 637 │ │ │ retries = retries.increment(method, url, error=e, _pool=self, │
│ 638 │ │ │ │ │ │ │ │ │ │ _stacktrace=sys.exc_info()[2]) │
│ 639 │ │ │ retries.sleep() │
│ 640 │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/util/retry.py:368 in increment │
│ │
│ 365 │ │ elif error and self._is_read_error(error): │
│ 366 │ │ │ # Read retry? │
│ 367 │ │ │ if read is False or not self._is_method_retryable(method): │
│ ❱ 368 │ │ │ │ raise six.reraise(type(error), error, stacktrace) │
│ 369 │ │ │ elif read is not None: │
│ 370 │ │ │ │ read -= 1 │
│ 371 │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/packages/six.py:686 in reraise │
│ │
│ 683 │ │ │ value = tp() │
│ 684 │ │ if value.traceback is not tb: │
│ 685 │ │ │ raise value.with_traceback(tb) │
│ ❱ 686 │ │ raise value │
│ 687 │
│ 688 else: │
│ 689 │ def exec(code, globs=None, locs=None): │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:597 in urlopen │
│ │
│ 594 │ │ │ │ self._prepare_proxy(conn) │
│ 595 │ │ │ │
│ 596 │ │ │ # Make the request on the httplib connection object. │
│ ❱ 597 │ │ │ httplib_response = self._make_request(conn, method, url, │
│ 598 │ │ │ │ │ │ │ │ │ │ │ │ timeout=timeout_obj, │
│ 599 │ │ │ │ │ │ │ │ │ │ │ │ body=body, headers=headers, │
│ 600 │ │ │ │ │ │ │ │ │ │ │ │ chunked=chunked) │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:386 in _make_request │
│ │
│ 383 │ │ │ │ │ # otherwise it looks like a programming error was the cause. │
│ 384 │ │ │ │ │ six.raise_from(e, None) │
│ 385 │ │ except (SocketTimeout, BaseSSLError, SocketError) as e: │
│ ❱ 386 │ │ │ self._raise_timeout(err=e, url=url, timeout_value=read_timeout) │
│ 387 │ │ │ raise │
│ 388 │ │ │
│ 389 │ │ # AppEngine doesn't have a version attr. │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/urllib3/connectionpool.py:306 in _raise_timeout │
│ │
│ 303 │ │ """Is the error actually a timeout? Will raise a ReadTimeout or pass""" │
│ 304 │ │ │
│ 305 │ │ if isinstance(err, SocketTimeout): │
│ ❱ 306 │ │ │ raise ReadTimeoutError(self, url, "Read timed out. (read timeout=%s)" % time │
│ 307 │ │ │
│ 308 │ │ # See the above comment about EAGAIN in Python 3. In Python 2 we have │
│ 309 │ │ # to specifically catch it and throw the timeout error │
╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
ReadTimeoutError: HTTPConnectionPool(host='127.0.0.1', port=8082): Read timed out. (read timeout=30)

During handling of the above exception, another exception occurred:

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮
│ /home/unison/Github/virtualhome/src/virtualhome/demo/../simulation/unity_simulator/comm_unity.py:92 in │
│ post_command │
│ │
│ 89 │ │ │ if repeat: │
│ 90 │ │ │ │ resp = self.requests_retry_session().post(self._address, json=request_di │
│ 91 │ │ │ else: │
│ ❱ 92 │ │ │ │ resp = requests.post(self._address, json=request_dict, timeout=self.time │
│ 93 │ │ │ if resp.status_code != requests.codes.ok: │
│ 94 │ │ │ │ print(resp) │
│ 95 │ │ │ │ raise UnityEngineException(resp.status_code, resp.json()) │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/api.py:116 in post │
│ │
│ 113 │ :rtype: requests.Response │
│ 114 │ """ │
│ 115 │ │
│ ❱ 116 │ return request('post', url, data=data, json=json, **kwargs) │
│ 117 │
│ 118 │
│ 119 def put(url, data=None, **kwargs): │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/api.py:60 in request │
│ │
│ 57 │ # avoid leaving sockets open which can trigger a ResourceWarning in some │
│ 58 │ # cases, and look like a memory leak in others. │
│ 59 │ with sessions.Session() as session: │
│ ❱ 60 │ │ return session.request(method=method, url=url, **kwargs) │
│ 61 │
│ 62 │
│ 63 def get(url, params=None, **kwargs): │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/sessions.py:533 in request │
│ │
│ 530 │ │ │ 'allow_redirects': allow_redirects, │
│ 531 │ │ } │
│ 532 │ │ send_kwargs.update(settings) │
│ ❱ 533 │ │ resp = self.send(prep, **send_kwargs) │
│ 534 │ │ │
│ 535 │ │ return resp │
│ 536 │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/sessions.py:646 in send │
│ │
│ 643 │ │ start = preferred_clock() │
│ 644 │ │ │
│ 645 │ │ # Send the request │
│ ❱ 646 │ │ r = adapter.send(request, **kwargs) │
│ 647 │ │ │
│ 648 │ │ # Total elapsed time of the request (approximately) │
│ 649 │ │ elapsed = preferred_clock() - start │
│ │
│ /home/unison/Miniconda3/envs/virth/lib/python3.8/site-packages/requests/adapters.py:529 in send │
│ │
│ 526 │ │ │ │ # This branch is for urllib3 versions earlier than v1.22 │
│ 527 │ │ │ │ raise SSLError(e, request=request) │
│ 528 │ │ │ elif isinstance(e, ReadTimeoutError): │
│ ❱ 529 │ │ │ │ raise ReadTimeout(e, request=request) │
│ 530 │ │ │ else: │
│ 531 │ │ │ │ raise │
│ 532 │
╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
ReadTimeout: HTTPConnectionPool(host='127.0.0.1', port=8082): Read timed out. (read timeout=30)

During handling of the above exception, another exception occurred:

╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮
│ in :9 │
│ │
│ 6 │ │ ' [grab] ({})'.format(apple), │
│ 7 │ │ ' [put] ({}) ({} 0,-3)'.format(apple, desk), │
│ 8 │ │ ] │
│ ❱ 9 success, message = comm.render_script(script=script[:2], │
│ 10 │ │ │ │ │ │ │ │ │ find_solution=True, │
│ 11 │ │ │ │ │ │ │ │ │ processing_time_limit=80, │
│ 12 │ │ │ │ │ │ │ │ │ frame_rate=15, │
│ │
│ /home/unison/Github/virtualhome/src/virtualhome/demo/../simulation/unity_simulator/comm_unity.py:492 in │
│ render_script │
│ │
│ 489 │ │ │ │ 'camera_mode': camera_mode, 'recording': recording, │
│ 490 │ │ │ │ 'image_width': image_width, 'image_height': image_height, │
│ 491 │ │ │ │ 'time_scale': time_scale, 'skip_animation': skip_animation} │
│ ❱ 492 │ │ response = self.post_command({'id': str(time.time()), 'action': 'render_script', │
│ 493 │ │ │ │ │ │ │ │ │ 'stringParams': [json.dumps(params)] + script}) │
│ 494 │ │ │
│ 495 │ │ try: │
│ │
│ /home/unison/Github/virtualhome/src/virtualhome/demo/../simulation/unity_simulator/comm_unity.py:98 in │
│ post_command │
│ │
│ 95 │ │ │ │ raise UnityEngineException(resp.status_code, resp.json()) │
│ 96 │ │ │ return resp.json() │
│ 97 │ │ except requests.exceptions.RequestException as e: │
│ ❱ 98 │ │ │ raise UnityCommunicationException(str(e)) │
│ 99 │ │
│ 100 │ def check_connection(self): │
│ 101 │ │ response = self.post_command( │
╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
UnityCommunicationException: HTTPConnectionPool(host='127.0.0.1', port=8082): Read timed out. (read timeout=30)

[HuiHuiSun]

Hello!
I'm meeting the same error. Did you solve it?

[RichardChangCA]

Hello!
I'm meeting the same error. Did you solve it?

[RichardChangCA]

@HuiHuiSun Hello!
I'm meeting the same error. Did you solve it?

[YoheiHayamizu]

Hello!

I realized that render_script raises the error when the argument types are wrong. e.g., image_synthesis and camera_mode must be lists.

I could get it working by adding the following line to ensure the parameters sent to the unity simulator are correct.

  def render_script(self, script, randomize_execution=False, random_seed=-1, processing_time_limit=10,
                    skip_execution=False, find_solution=False, output_folder='Output/', file_name_prefix="script",
                    frame_rate=5, image_synthesis=['normal'], save_pose_data=False,
                    image_width=640, image_height=480, recording=False,
                    save_scene_states=False, camera_mode=['AUTO'], time_scale=1.0, skip_animation=False):
      assert isinstance(script, list), \
          "Script must be a list of strings"
      assert isinstance(image_synthesis, list), \
          "image_synthesis must be a list of strings"
      assert isinstance(camera_mode, list), \
          "camera_mode must be a list of strings"
      ...