Bug fixes

habitat-lab/habitat/datasets/rearrange/rearrange_generator.py

@@ -464,9 +464,10 @@ def generate_episodes(
             try:
                 self._scene_sampler.set_cur_episode(len(generated_episodes))
                 new_episode = self.generate_single_episode()
-            except Exception:
+            except Exception as e:
                 new_episode = None
                 logger.error("Generation failed with exception...")
+                logger.error(e)
             if new_episode is None:
                 failed_episodes += 1
                 continue
@@ -559,7 +560,10 @@ def generate_single_episode(self) -> Optional[RearrangeEpisode]:
         for sampler_name, num_targets in target_numbers.items():
             new_target_receptacles: List[Receptacle] = []
             failed_samplers: Dict[str, bool] = defaultdict(bool)
-            while len(new_target_receptacles) < num_targets:
+            tries = 0
+            max_tries = 100
+            while len(new_target_receptacles) < num_targets and tries < max_tries:
+                tries += 1
                 assert len(failed_samplers.keys()) < len(
                     targ_sampler_name_to_obj_sampler_names[sampler_name]
                 ), f"All target samplers failed to find a match for '{sampler_name}'."
@@ -590,6 +594,10 @@ def generate_single_episode(self) -> Optional[RearrangeEpisode]:
                 )  # type: ignore
                 if len(new_receptacle) != 0:  # type: ignore
                     new_target_receptacles.append(new_receptacle[0])  # type: ignore
+
+            assert (
+                len(new_target_receptacles) >= num_targets
+            ), "Unable to sample target Receptacles for all requested targets."
 
             target_receptacles[obj_sampler_name].extend(new_target_receptacles)
             all_target_receptacles.extend(new_target_receptacles)

habitat-lab/habitat/sims/habitat_simulator/debug_visualizer.py

@@ -14,6 +14,7 @@
 import habitat_sim
 from habitat.core.logging import logger
 from habitat.utils.common import check_make_dir
+from habitat_sim.agent.agent import AgentState
 
 
 class DebugObservation:
@@ -147,6 +148,7 @@ def create_dbv_agent(
         )
         self.agent = self.sim.agents[-1]
         self.agent_id = len(self.sim.agents) - 1
+        self.agent.initial_state = AgentState()
         self.sim._Simulator__sensors.append({})
         self.sim._update_simulator_sensors(self.sensor_uuid, self.agent_id)
         self.sensor = self.sim._Simulator__sensors[self.agent_id][