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+- name: train_5shot_seed0_fullactionhead_12k + max_steps: 12000 + save_steps: 0 + save_step_list: + - 2000 + - 5000 + - 8000 + - 12000 + trainable: + tune_llm: false + tune_visual: false + tune_projector: true + tune_diffusion_model: true +resolved_sweep: {} diff --git a/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/seed0.yaml b/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/seed0.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53caecd75b21acfdc823d04ce07e16e2910019e2 --- /dev/null +++ b/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/seed0.yaml @@ -0,0 +1,27 @@ +experiment_name: fewshot_39tasks_5shot_from_baseline26_fullactionhead_seed0 +policy_type: baseline +base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-120000 +output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0 +dataset: + dataset_soup: fewshot_heldout_atomic39_human_5shot 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b/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/config.json @@ -0,0 +1,64 @@ +{ + "action_dim": 32, + "action_head_cfg": { + "action_dim": 32, + "action_horizon": 16, + "add_pos_embed": true, + "backbone_embedding_dim": 2048, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "cross_attention_dim": 2048, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 16, + "output_dim": 1024, + "positional_embeddings": null + }, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "max_action_dim": 32, + "max_state_dim": 64, + "model_dtype": "float32", + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_inference_timesteps": 4, + "num_target_vision_tokens": 32, + "num_timestep_buckets": 1000, + "tune_diffusion_model": true, + "tune_projector": true, + "use_vlln": true, + "vl_self_attention_cfg": { + "attention_head_dim": 64, + "dropout": 0.2, + "final_dropout": true, + "num_attention_heads": 32, + "num_layers": 4, + "positional_embeddings": null + } + }, + "action_horizon": 16, + "architectures": [ + "GR00T_N1_5" + ], + "attn_implementation": null, + "backbone_cfg": { + "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops", + "load_bf16": false, + "project_to_dim": null, + "reproject_vision": false, + "select_layer": 12, + "tune_llm": false, + "tune_visual": true, + "use_flash_attention": true + }, + "compute_dtype": "bfloat16", + "hidden_size": 2048, + "model_dtype": "float32", + "model_type": "gr00t_n1_5", + "torch_dtype": "bfloat16", + "transformers_version": "4.51.3" +} diff --git a/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000/eval.log b/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..e26e777f9ec309d7e9f22b7d6024d7d0b16d2b6c --- /dev/null +++ b/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000/eval.log @@ -0,0 +1,212 @@ +[Thu Jul 2 10:00:57 KST 2026] START gpu=0 port=18650 ckpt=5000 +model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000 +video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000 +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +WARNING: mimicgen environments not imported since mimicgen is not installed! +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000 +Tune backbone vision tower: True +Tune backbone LLM: False +Tune action head projector: True +Tune action head DiT: True +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000 +Available modality configs: +Tune backbone llm: False +Tune backbone visual: True +Total number of DiT parameters: 550386688 +Total number of SelfAttentionTransformer parameters: 201433088 +Tune action head projector: True +Tune action head diffusion model: True + Loading checkpoint shards: 0%| | 0/2 [00:00 +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-8 - Shutting it down + self._raise_if_errors(successes) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 704, in _async_worker + observation, info = env.reset(**data) + ^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset + obs, info = super().reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 259, in reset + result = super().reset(**kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 133, in reset + obs, info = super().reset(seed=reset_seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset + return super().reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 293, in reset + return env_reset_passive_checker(self.env, seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py", line 185, in env_reset_passive_checker + result = env.reset(**kwargs) + ^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 361, in reset + raw_obs = self.env.reset() + ^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd + + self._raise_if_errors(successes) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Raising the last exception back to the main process. + self._raise_if_errors(successes) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDishwasher... +Running 50 episodes for robocasa/CloseDishwasher with 10 environments +Creating CloseDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDrawer... +Running 50 episodes for robocasa/CloseDrawer with 10 environments +Creating CloseDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseElectricKettleLid... +Running 50 episodes for robocasa/CloseElectricKettleLid with 10 environments +Creating CloseElectricKettleLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseFridgeDrawer... +Running 50 episodes for robocasa/CloseFridgeDrawer with 10 environments +Creating CloseFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseMicrowave... +Running 50 episodes for robocasa/CloseMicrowave with 10 environments +Creating CloseMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseOven... +Running 50 episodes for robocasa/CloseOven with 10 environments +Creating CloseOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseStandMixerHead... +Running 50 episodes for robocasa/CloseStandMixerHead with 10 environments +Creating CloseStandMixerHead with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CoffeeServeMug... +Running 50 episodes for robocasa/CoffeeServeMug with 10 environments +Creating CoffeeServeMug with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for LowerHeat... +Running 50 episodes for robocasa/LowerHeat with 10 environments +Creating LowerHeat with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for MakeIcedCoffee... +Running 50 episodes for robocasa/MakeIcedCoffee with 10 environments +Creating MakeIcedCoffee with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenBlenderLid... +Running 50 episodes for robocasa/OpenBlenderLid with 10 environments +Creating OpenBlenderLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenDishwasher... +Running 50 episodes for robocasa/OpenDishwasher with 10 environments +Creating OpenDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridge... +Running 50 episodes for robocasa/OpenFridge with 10 environments +Creating OpenFridge with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridgeDrawer... +Running 50 episodes for robocasa/OpenFridgeDrawer with 10 environments +Creating OpenFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenMicrowave... +Running 50 episodes for robocasa/OpenMicrowave with 10 environments +Creating OpenMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenOven... +Running 50 episodes for robocasa/OpenOven with 10 environments +Creating OpenOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenToasterOvenDoor... +Running 50 episodes for robocasa/OpenToasterOvenDoor with 10 environments +Creating OpenToasterOvenDoor with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PackDessert... +Running 50 episodes for robocasa/PackDessert with 10 environments +Creating PackDessert with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Process Worker-7: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Process Worker-3: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-2: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-1: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-0: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Process Worker-4: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToBlender... +Running 50 episodes for robocasa/PickPlaceCounterToBlender with 10 environments +Creating PickPlaceCounterToBlender with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Process Worker-2: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToBlender with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-6: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToBlender with split=pretrain +Process Worker-0: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToBlender with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-8: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToBlender with split=pretrain +Process Worker-5: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToBlender with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToDrawer... +Running 50 episodes for robocasa/PickPlaceCounterToDrawer with 10 environments +Creating PickPlaceCounterToDrawer with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Process Worker-3: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-1: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Process Worker-5: +Traceback (most recent call last): +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + self.con.free() +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-8: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Process Worker-9: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Process Worker-6: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-4: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Process Worker-2: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +Process Worker-7: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToDrawer with split=pretrain +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToMicrowave... +Running 50 episodes for robocasa/PickPlaceCounterToMicrowave with 10 environments +Creating PickPlaceCounterToMicrowave with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Process Worker-2: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-7: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-9: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Process Worker-5: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-1: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-4: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Process Worker-0: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-8: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Process Worker-6: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToOven... +Running 50 episodes for robocasa/PickPlaceCounterToOven with 10 environments +Creating PickPlaceCounterToOven with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") diff --git a/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu0_seed0.pid b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu0_seed0.pid new file mode 100644 index 0000000000000000000000000000000000000000..52ea9e5356719065f22435963eebb5dafd40cf13 --- /dev/null +++ b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu0_seed0.pid @@ -0,0 +1 @@ +2602827 diff --git a/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu0_seed1.log b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu0_seed1.log new file mode 100644 index 0000000000000000000000000000000000000000..86d21df42e5c68d8cbedb61b19a86a03556aceca --- /dev/null +++ b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu0_seed1.log @@ -0,0 +1,376 @@ +[Thu Jul 2 10:04:13 KST 2026] worker start gpu=0 seed=seed1 port=18651 train_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k +[Thu Jul 2 10:04:13 KST 2026] worker gpu=0 seed=seed1 train_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k ckpt=5000 port=18651 +[Thu Jul 2 10:04:13 KST 2026] START gpu=0 port=18651 ckpt=5000 +model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000 +video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000 +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +WARNING: mimicgen environments not imported since mimicgen is not installed! +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000 +Tune backbone vision tower: True +Tune backbone LLM: False +Tune action head projector: True +Tune action head DiT: True +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000 +Available modality configs: +Tune backbone llm: False +Tune backbone visual: True +Total number of DiT parameters: 550386688 +Total number of SelfAttentionTransformer parameters: 201433088 +Tune action head projector: True +Tune action head diffusion model: True + Loading checkpoint shards: 0%| | 0/2 [00:00 +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDishwasher... +Running 50 episodes for robocasa/CloseDishwasher with 10 environments +Creating CloseDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDrawer... +Running 50 episodes for robocasa/CloseDrawer with 10 environments +Creating CloseDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseElectricKettleLid... +Running 50 episodes for robocasa/CloseElectricKettleLid with 10 environments +Creating CloseElectricKettleLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseFridgeDrawer... +Running 50 episodes for robocasa/CloseFridgeDrawer with 10 environments +Creating CloseFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseMicrowave... +Running 50 episodes for robocasa/CloseMicrowave with 10 environments +Creating CloseMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseOven... +Running 50 episodes for robocasa/CloseOven with 10 environments +Creating CloseOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseStandMixerHead... +Running 50 episodes for robocasa/CloseStandMixerHead with 10 environments +Creating CloseStandMixerHead with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CoffeeServeMug... +Running 50 episodes for robocasa/CoffeeServeMug with 10 environments +Creating CoffeeServeMug with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for LowerHeat... +Running 50 episodes for robocasa/LowerHeat with 10 environments +Creating LowerHeat with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for MakeIcedCoffee... +Running 50 episodes for robocasa/MakeIcedCoffee with 10 environments +Creating MakeIcedCoffee with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenBlenderLid... +Running 50 episodes for robocasa/OpenBlenderLid with 10 environments +Creating OpenBlenderLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenDishwasher... +Running 50 episodes for robocasa/OpenDishwasher with 10 environments +Creating OpenDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridge... +Running 50 episodes for robocasa/OpenFridge with 10 environments +Creating OpenFridge with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridgeDrawer... +Running 50 episodes for robocasa/OpenFridgeDrawer with 10 environments +Creating OpenFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenMicrowave... +Running 50 episodes for robocasa/OpenMicrowave with 10 environments +Creating OpenMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenOven... +Running 50 episodes for robocasa/OpenOven with 10 environments +Creating OpenOven with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Process Worker-5: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenOven with split=pretrain +Process Worker-0: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenOven with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception! [Errno 32] Broken pipe +Running simulation for OpenToasterOvenDoor... +Running 50 episodes for robocasa/OpenToasterOvenDoor with 10 environments +Creating OpenToasterOvenDoor with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PackDessert... +Running 50 episodes for robocasa/PackDessert with 10 environments +Creating PackDessert with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToBlender... +Running 50 episodes for robocasa/PickPlaceCounterToBlender with 10 environments +Creating PickPlaceCounterToBlender with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToDrawer... +Running 50 episodes for robocasa/PickPlaceCounterToDrawer with 10 environments +Creating PickPlaceCounterToDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToMicrowave... +Running 50 episodes for robocasa/PickPlaceCounterToMicrowave with 10 environments +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToOven... +Running 50 episodes for robocasa/PickPlaceCounterToOven with 10 environments +Creating PickPlaceCounterToOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToSink... +Running 50 episodes for robocasa/PickPlaceCounterToSink with 10 environments +Creating PickPlaceCounterToSink with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToStandMixer... +Running 50 episodes for robocasa/PickPlaceCounterToStandMixer with 10 environments +Creating PickPlaceCounterToStandMixer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToToasterOven... +Running 50 episodes for robocasa/PickPlaceCounterToToasterOven with 10 environments +Creating PickPlaceCounterToToasterOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceFridgeDrawerToShelf... +Running 50 episodes for robocasa/PickPlaceFridgeDrawerToShelf with 10 environments +Creating PickPlaceFridgeDrawerToShelf with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceFridgeShelfToDrawer... +Running 50 episodes for robocasa/PickPlaceFridgeShelfToDrawer with 10 environments +Creating PickPlaceFridgeShelfToDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceMicrowaveToCounter... +Running 50 episodes for robocasa/PickPlaceMicrowaveToCounter with 10 environments +Creating PickPlaceMicrowaveToCounter with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceStoveToCounter... +Running 50 episodes for robocasa/PickPlaceStoveToCounter with 10 environments +Creating PickPlaceStoveToCounter with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceToasterOvenToCounter... +Running 50 episodes for robocasa/PickPlaceToasterOvenToCounter with 10 environments +Creating PickPlaceToasterOvenToCounter with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PreheatOven... +Running 50 episodes for robocasa/PreheatOven with 10 environments +Creating PreheatOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for SlideOvenRack... +Running 50 episodes for robocasa/SlideOvenRack with 10 environments +Creating SlideOvenRack with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for SlideToasterOvenRack... +Running 50 episodes for robocasa/SlideToasterOvenRack with 10 environments +Creating SlideToasterOvenRack with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for StartCoffeeMachine... +Running 50 episodes for robocasa/StartCoffeeMachine with 10 environments +Creating StartCoffeeMachine with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for TurnOnBlender... +Running 50 episodes for robocasa/TurnOnBlender with 10 environments +Creating TurnOnBlender with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for TurnOnToaster... +Running 50 episodes for robocasa/TurnOnToaster with 10 environments +Creating TurnOnToaster with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for TurnOnToasterOven... +Running 50 episodes for robocasa/TurnOnToasterOven with 10 environments +Creating TurnOnToasterOven with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Process Worker-0: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnToasterOven with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. + return _methods._mean(a, axis=axis, dtype=dtype, +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide + ret = ret.dtype.type(ret / rcount) +Exception! [Errno 32] Broken pipe +Eval metadata +- total_eval_time: 43m 16s (2596.22s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000 +- checkpoint_name: checkpoint-5000 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k +- video_dir: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000 +- task_set: fewshot_heldout_atomic39 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- save_video: True +- video_steps_per_render: 2 +- seed: 42 +- episode_seed_start: 42 +- episode_seed_manifest: None +- episode_manifest_output: None +- command: my_scripts/Fewshot/fewshot_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000 --task_set fewshot_heldout_atomic39 --split pretrain --video_dir /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000 --n_episodes 50 --n_envs 10 --seed 42 --port 18750 --save_video --stats_output /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/summary.txt +- config_yaml_candidates: none found in /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k +- selected_config_yaml: none + +Stats for task group: FEWSHOT_HELDOUT_ATOMIC39 +CheesyBread: 42 | None +AVG: 42.0 | nan + +Fewshot task success rates +- CheesyBread: 42.0% (21/50) +- CloseCabinet: missing +- CloseDishwasher: missing +- CloseDrawer: missing +- CloseElectricKettleLid: missing +- CloseFridgeDrawer: missing +- CloseMicrowave: missing +- CloseOven: missing +- CloseStandMixerHead: missing +- CoffeeServeMug: missing +- LowerHeat: missing +- MakeIcedCoffee: missing +- OpenBlenderLid: missing +- OpenDishwasher: missing +- OpenFridge: missing +- OpenFridgeDrawer: missing +- OpenMicrowave: missing +- OpenOven: missing +- OpenToasterOvenDoor: missing +- PackDessert: missing +- PickPlaceCounterToBlender: missing +- PickPlaceCounterToDrawer: missing +- PickPlaceCounterToMicrowave: missing +- PickPlaceCounterToOven: missing +- PickPlaceCounterToSink: missing +- PickPlaceCounterToStandMixer: missing +- PickPlaceCounterToToasterOven: missing +- PickPlaceFridgeDrawerToShelf: missing +- PickPlaceFridgeShelfToDrawer: missing +- PickPlaceMicrowaveToCounter: missing +- PickPlaceStoveToCounter: missing +- PickPlaceToasterOvenToCounter: missing +- PreheatOven: missing +- SlideOvenRack: missing +- SlideToasterOvenRack: missing +- StartCoffeeMachine: missing +- TurnOnBlender: missing +- TurnOnToaster: missing +- TurnOnToasterOven: missing +- AVG: 42.0% + +Eval completeness check +- split: pretrain +- expected tasks: 39 +- completed tasks: 1/39 +- expected episodes per task: 50 +- missing tasks: + - CloseCabinet + - CloseDishwasher + - CloseDrawer + - CloseElectricKettleLid + - CloseFridgeDrawer + - CloseMicrowave + - CloseOven + - CloseStandMixerHead + - CoffeeServeMug + - LowerHeat + - MakeIcedCoffee + - OpenBlenderLid + - OpenDishwasher + - OpenFridge + - OpenFridgeDrawer + - OpenMicrowave + - OpenOven + - OpenToasterOvenDoor + - PackDessert + - PickPlaceCounterToBlender + - PickPlaceCounterToDrawer + - PickPlaceCounterToMicrowave + - PickPlaceCounterToOven + - PickPlaceCounterToSink + - PickPlaceCounterToStandMixer + - PickPlaceCounterToToasterOven + - PickPlaceFridgeDrawerToShelf + - PickPlaceFridgeShelfToDrawer + - PickPlaceMicrowaveToCounter + - PickPlaceStoveToCounter + - PickPlaceToasterOvenToCounter + - PreheatOven + - SlideOvenRack + - SlideToasterOvenRack + - StartCoffeeMachine + - TurnOnBlender + - TurnOnToaster + - TurnOnToasterOven +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 1069, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 888, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. +[Thu Jul 2 10:47:39 KST 2026] DONE gpu=2 port=18750 ckpt=5000 out_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000 +[Thu Jul 2 10:47:44 KST 2026] worker gpu=2 seed=seed0 train_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k ckpt=8000 port=18750 +[Thu Jul 2 10:47:44 KST 2026] START gpu=2 port=18750 ckpt=8000 +model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000 +video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-8000 +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +WARNING: mimicgen environments not imported since mimicgen is not installed! +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000 +Tune backbone vision tower: True +Tune backbone LLM: False +Tune action head projector: True +Tune action head DiT: True +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000 +Available modality configs: +Tune backbone llm: False +Tune backbone visual: True +Total number of DiT parameters: 550386688 +Total number of SelfAttentionTransformer parameters: 201433088 +Tune action head projector: True +Tune action head diffusion model: True + Loading checkpoint shards: 0%| | 0/2 [00:00 +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:422: UserWarning: ERROR: Received the following error from Worker-7 - Shutting it down + self._raise_if_errors(successes) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:422: UserWarning: ERROR: Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 714, in _async_worker + observation, info = env.reset() + ^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset + obs, info = super().reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 259, in reset + result = super().reset(**kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 133, in reset + obs, info = super().reset(seed=reset_seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset + return super().reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 295, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 361, in reset + raw_obs = self.env.reset() + ^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd + + self._raise_if_errors(successes) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:422: UserWarning: ERROR: Raising the last exception back to the main process. + self._raise_if_errors(successes) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +EP 1 success: False; Cumulative success rate: 0.0 +EP 2 success: False; Cumulative success rate: 0.0 +EP 3 success: False; Cumulative success rate: 0.0 +EP 4 success: False; Cumulative success rate: 0.0 +EP 5 success: False; Cumulative success rate: 0.0 +EP 6 success: False; Cumulative success rate: 0.0 +EP 7 success: False; Cumulative success rate: 0.0 +EP 8 success: False; Cumulative success rate: 0.0 +EP 9 success: False; Cumulative success rate: 0.0 +EP 10 success: False; Cumulative success rate: 0.0 +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDishwasher... +Running 50 episodes for robocasa/CloseDishwasher with 10 environments +Creating CloseDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDrawer... +Running 50 episodes for robocasa/CloseDrawer with 10 environments +Creating CloseDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseElectricKettleLid... +Running 50 episodes for robocasa/CloseElectricKettleLid with 10 environments +Creating CloseElectricKettleLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseFridgeDrawer... +Running 50 episodes for robocasa/CloseFridgeDrawer with 10 environments +Creating CloseFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseMicrowave... +Running 50 episodes for robocasa/CloseMicrowave with 10 environments +Creating CloseMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseOven... +Running 50 episodes for robocasa/CloseOven with 10 environments +Creating CloseOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseStandMixerHead... +Running 50 episodes for robocasa/CloseStandMixerHead with 10 environments +Creating CloseStandMixerHead with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CoffeeServeMug... +Running 50 episodes for robocasa/CoffeeServeMug with 10 environments +Creating CoffeeServeMug with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for LowerHeat... +Running 50 episodes for robocasa/LowerHeat with 10 environments +Creating LowerHeat with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for MakeIcedCoffee... +Running 50 episodes for robocasa/MakeIcedCoffee with 10 environments +Creating MakeIcedCoffee with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenBlenderLid... +Running 50 episodes for robocasa/OpenBlenderLid with 10 environments +Creating OpenBlenderLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenDishwasher... +Running 50 episodes for robocasa/OpenDishwasher with 10 environments +Creating OpenDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridge... +Running 50 episodes for robocasa/OpenFridge with 10 environments +Creating OpenFridge with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridgeDrawer... +Running 50 episodes for robocasa/OpenFridgeDrawer with 10 environments +Creating OpenFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenMicrowave... +Running 50 episodes for robocasa/OpenMicrowave with 10 environments +Creating OpenMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenOven... +Running 50 episodes for robocasa/OpenOven with 10 environments +Creating OpenOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenToasterOvenDoor... +Running 50 episodes for robocasa/OpenToasterOvenDoor with 10 environments +Creating OpenToasterOvenDoor with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PackDessert... +Running 50 episodes for robocasa/PackDessert with 10 environments +Creating PackDessert with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") diff --git a/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu2_seed1.pid b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu2_seed1.pid new file mode 100644 index 0000000000000000000000000000000000000000..ed02cd38e4218cc5d75f815cc1fe95f07eb060ab --- /dev/null +++ b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu2_seed1.pid @@ -0,0 +1 @@ +2602836 diff --git a/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu2_seed2.log b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu2_seed2.log new file mode 100644 index 0000000000000000000000000000000000000000..f8851e879ff8231490bb51a678caef5a999972f9 --- /dev/null +++ b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu2_seed2.log @@ -0,0 +1,397 @@ +[Thu Jul 2 10:04:13 KST 2026] worker start gpu=2 seed=seed2 port=18752 train_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed2/default/train_5shot_seed2_processingline_12k +[Thu Jul 2 10:04:13 KST 2026] worker gpu=2 seed=seed2 train_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed2/default/train_5shot_seed2_processingline_12k ckpt=5000 port=18752 +[Thu Jul 2 10:04:13 KST 2026] START gpu=2 port=18752 ckpt=5000 +model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed2/default/train_5shot_seed2_processingline_12k/checkpoint-5000 +video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed2/default/train_5shot_seed2_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000 +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +WARNING: mimicgen environments not imported since mimicgen is not installed! +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed2/default/train_5shot_seed2_processingline_12k/checkpoint-5000 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed2/default/train_5shot_seed2_processingline_12k/checkpoint-5000 +Tune backbone vision tower: True +Tune backbone LLM: False +Tune action head projector: True +Tune action head DiT: True +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed2/default/train_5shot_seed2_processingline_12k/checkpoint-5000 +Available modality configs: +Tune backbone llm: False +Tune backbone visual: True +Total number of DiT parameters: 550386688 +Total number of SelfAttentionTransformer parameters: 201433088 +Tune action head projector: True +Tune action head diffusion model: True + Loading checkpoint shards: 0%| | 0/2 [00:00 +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Received the following error from Worker-8 - Shutting it down + self._raise_if_errors(successes) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 704, in _async_worker + observation, info = env.reset(**data) + ^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/multistep_wrapper.py", line 189, in reset + obs, info = super().reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/wrappers/video_recording_wrapper.py", line 259, in reset + result = super().reset(**kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 133, in reset + obs, info = super().reset(seed=reset_seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 400, in reset + return super().reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/core.py", line 328, in reset + return self.env.reset(seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 293, in reset + return env_reset_passive_checker(self.env, seed=seed, options=options) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py", line 185, in env_reset_passive_checker + result = env.reset(**kwargs) + ^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 361, in reset + raw_obs = self.env.reset() + ^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 302, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd + + self._raise_if_errors(successes) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py:326: UserWarning: ERROR: Raising the last exception back to the main process. + self._raise_if_errors(successes) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDishwasher... +Running 50 episodes for robocasa/CloseDishwasher with 10 environments +Creating CloseDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseDrawer... +Running 50 episodes for robocasa/CloseDrawer with 10 environments +Creating CloseDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseElectricKettleLid... +Running 50 episodes for robocasa/CloseElectricKettleLid with 10 environments +Creating CloseElectricKettleLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseFridgeDrawer... +Running 50 episodes for robocasa/CloseFridgeDrawer with 10 environments +Creating CloseFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseMicrowave... +Running 50 episodes for robocasa/CloseMicrowave with 10 environments +Creating CloseMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseOven... +Running 50 episodes for robocasa/CloseOven with 10 environments +Creating CloseOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CloseStandMixerHead... +Running 50 episodes for robocasa/CloseStandMixerHead with 10 environments +Creating CloseStandMixerHead with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for CoffeeServeMug... +Running 50 episodes for robocasa/CoffeeServeMug with 10 environments +Creating CoffeeServeMug with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for LowerHeat... +Running 50 episodes for robocasa/LowerHeat with 10 environments +Creating LowerHeat with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for MakeIcedCoffee... +Running 50 episodes for robocasa/MakeIcedCoffee with 10 environments +Creating MakeIcedCoffee with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenBlenderLid... +Running 50 episodes for robocasa/OpenBlenderLid with 10 environments +Creating OpenBlenderLid with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenDishwasher... +Running 50 episodes for robocasa/OpenDishwasher with 10 environments +Creating OpenDishwasher with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridge... +Running 50 episodes for robocasa/OpenFridge with 10 environments +Creating OpenFridge with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenFridgeDrawer... +Running 50 episodes for robocasa/OpenFridgeDrawer with 10 environments +Creating OpenFridgeDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenMicrowave... +Running 50 episodes for robocasa/OpenMicrowave with 10 environments +Creating OpenMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenOven... +Running 50 episodes for robocasa/OpenOven with 10 environments +Creating OpenOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for OpenToasterOvenDoor... +Running 50 episodes for robocasa/OpenToasterOvenDoor with 10 environments +Creating OpenToasterOvenDoor with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PackDessert... +Running 50 episodes for robocasa/PackDessert with 10 environments +Creating PackDessert with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Process Worker-1: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +Process Worker-8: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__ + self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__ + raise ImportError( +ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context. +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +libEGL warning: egl: failed to create dri2 screen +Process Worker-2: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__ + self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__ + raise ImportError( +ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context. +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +Process Worker-5: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 83, in __init__ + self.gl_ctx = GLContext(max_width=max_width, max_height=max_height, device_id=self.device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/renderers/context/egl_context.py", line 123, in __init__ + raise ImportError( +ImportError: Cannot initialize a EGL device display. This likely means that your EGL driver does not support the PLATFORM_DEVICE extension, which is required for creating a headless rendering context. +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Process Worker-0: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Process Worker-9: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Process Worker-3: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 692, in _async_worker + env = env_fn() + ^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/utils/misc.py", line 36, in __call__ + return self.fn() + ^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/fewshot_eval.py", line 145, in _create_manifest_single_env + env = gym.make(config.env_name, split=config.split, enable_render=True) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 740, in make + env = env_creator(**env_spec_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 423, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 184, in __init__ + self.env.reset() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 314, in reset + self._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/environments/kitchen/kitchen.py", line 1099, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/base.py", line 380, in _reset_internal + render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 218, in __init__ + super().__init__(sim, offscreen=True, device_id=device_id, max_width=max_width, max_height=max_height) + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 115, in __init__ + self._set_mujoco_context_and_buffers() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 118, in _set_mujoco_context_and_buffers + self.con = mujoco.MjrContext(self.model._model, mujoco.mjtFontScale.mjFONTSCALE_150) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PackDessert with split=pretrain +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception ignored in: +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/utils/binding_utils.py", line 202, in __del__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToBlender... +Running 50 episodes for robocasa/PickPlaceCounterToBlender with 10 environments +Creating PickPlaceCounterToBlender with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToDrawer... +Running 50 episodes for robocasa/PickPlaceCounterToDrawer with 10 environments +Creating PickPlaceCounterToDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToMicrowave... +Running 50 episodes for robocasa/PickPlaceCounterToMicrowave with 10 environments +Creating PickPlaceCounterToMicrowave with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToOven... +Running 50 episodes for robocasa/PickPlaceCounterToOven with 10 environments +Creating PickPlaceCounterToOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToSink... +Running 50 episodes for robocasa/PickPlaceCounterToSink with 10 environments +Creating PickPlaceCounterToSink with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToStandMixer... +Running 50 episodes for robocasa/PickPlaceCounterToStandMixer with 10 environments +Creating PickPlaceCounterToStandMixer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceCounterToToasterOven... +Running 50 episodes for robocasa/PickPlaceCounterToToasterOven with 10 environments +Creating PickPlaceCounterToToasterOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceFridgeDrawerToShelf... +Running 50 episodes for robocasa/PickPlaceFridgeDrawerToShelf with 10 environments +Creating PickPlaceFridgeDrawerToShelf with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceFridgeShelfToDrawer... +Running 50 episodes for robocasa/PickPlaceFridgeShelfToDrawer with 10 environments +Creating PickPlaceFridgeShelfToDrawer with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceMicrowaveToCounter... +Running 50 episodes for robocasa/PickPlaceMicrowaveToCounter with 10 environments +Creating PickPlaceMicrowaveToCounter with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceStoveToCounter... +Running 50 episodes for robocasa/PickPlaceStoveToCounter with 10 environments +Creating PickPlaceStoveToCounter with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PickPlaceToasterOvenToCounter... +Running 50 episodes for robocasa/PickPlaceToasterOvenToCounter with 10 environments +Creating PickPlaceToasterOvenToCounter with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for PreheatOven... +Running 50 episodes for robocasa/PreheatOven with 10 environments +Creating PreheatOven with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for SlideOvenRack... +Running 50 episodes for robocasa/SlideOvenRack with 10 environments +Creating SlideOvenRack with split=pretrain +Exception! Offscreen framebuffer is not complete, error 0x8cdd +Running simulation for SlideToasterOvenRack... +Running 50 episodes for robocasa/SlideToasterOvenRack with 10 environments +Creating SlideToasterOvenRack with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideToasterOvenRack with split=pretrain +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +EP 1 success: True; Cumulative success rate: 1.0 +EP 2 success: False; Cumulative success rate: 0.5 +EP 3 success: True; Cumulative success rate: 0.6666666666666666 +EP 4 success: False; Cumulative success rate: 0.5 +EP 5 success: True; Cumulative success rate: 0.6 +EP 6 success: True; Cumulative success rate: 0.6666666666666666 +EP 7 success: False; Cumulative success rate: 0.5714285714285714 +EP 8 success: True; Cumulative success rate: 0.625 +EP 9 success: True; Cumulative success rate: 0.6666666666666666 +EP 10 success: False; Cumulative success rate: 0.6 +EP 11 success: False; Cumulative success rate: 0.5454545454545454 +EP 12 success: True; Cumulative success rate: 0.5833333333333334 +EP 13 success: True; Cumulative success rate: 0.6153846153846154 +EP 14 success: False; Cumulative success rate: 0.5714285714285714 +EP 15 success: False; Cumulative success rate: 0.5333333333333333 +EP 16 success: False; Cumulative success rate: 0.5 +EP 17 success: True; Cumulative success rate: 0.5294117647058824 +EP 18 success: True; Cumulative success rate: 0.5555555555555556 +EP 19 success: False; Cumulative success rate: 0.5263157894736842 +EP 20 success: False; Cumulative success rate: 0.5 +EP 21 success: True; Cumulative success rate: 0.5238095238095238 +EP 22 success: False; Cumulative success rate: 0.5 +EP 23 success: False; Cumulative success rate: 0.4782608695652174 +EP 24 success: False; Cumulative success rate: 0.4583333333333333 +EP 25 success: False; Cumulative success rate: 0.44 +EP 26 success: False; Cumulative success rate: 0.4230769230769231 +EP 27 success: True; Cumulative success rate: 0.4444444444444444 +EP 28 success: False; Cumulative success rate: 0.42857142857142855 +EP 29 success: True; Cumulative success rate: 0.4482758620689655 +EP 30 success: False; Cumulative success rate: 0.43333333333333335 +EP 31 success: True; Cumulative success rate: 0.45161290322580644 +EP 32 success: False; Cumulative success rate: 0.4375 +EP 33 success: False; Cumulative success rate: 0.42424242424242425 +EP 34 success: True; Cumulative success rate: 0.4411764705882353 +EP 35 success: False; Cumulative success rate: 0.42857142857142855 +EP 36 success: False; Cumulative success rate: 0.4166666666666667 +EP 37 success: False; Cumulative success rate: 0.40540540540540543 +EP 38 success: True; Cumulative success rate: 0.42105263157894735 +EP 39 success: False; Cumulative success rate: 0.41025641025641024 +EP 40 success: True; Cumulative success rate: 0.425 +EP 41 success: False; Cumulative success rate: 0.4146341463414634 +EP 42 success: False; Cumulative success rate: 0.40476190476190477 +EP 43 success: True; Cumulative success rate: 0.4186046511627907 +EP 44 success: True; Cumulative success rate: 0.4318181818181818 +EP 45 success: True; Cumulative success rate: 0.4444444444444444 +EP 46 success: False; Cumulative success rate: 0.43478260869565216 +EP 47 success: False; Cumulative success rate: 0.425531914893617 +EP 48 success: False; Cumulative success rate: 0.4166666666666667 +EP 49 success: False; Cumulative success rate: 0.40816326530612246 +EP 50 success: False; Cumulative success rate: 0.4 +Collecting 50 episodes took 863.76 seconds +Results for SlideToasterOvenRack: +Success rate: 0.40 +saved stats to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/evals/pretrain/SlideToasterOvenRack/stats.json +saved episode results to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/evals/pretrain/SlideToasterOvenRack/episode_results.json +saved episode seed manifest to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/eval_manifest.json + +Running simulation for StartCoffeeMachine... +Running 50 episodes for robocasa/StartCoffeeMachine with 10 environments +Creating StartCoffeeMachine with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space. + logger.warn(f"{pre} is not within the observation space.") diff --git a/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu3_seed0.pid b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu3_seed0.pid new file mode 100644 index 0000000000000000000000000000000000000000..e056e0bc34c039dc763086a20cf9e5d2e5cb0fa9 --- /dev/null +++ b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu3_seed0.pid @@ -0,0 +1 @@ +2602841 diff --git a/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu3_seed1.log b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu3_seed1.log new file mode 100644 index 0000000000000000000000000000000000000000..39e12c1fa6f7f1e131d4b3449c34efab15c1c839 --- /dev/null +++ b/FewShot/39tasks/5shot/_eval_launch_20260702_100413/gpu3_seed1.log @@ -0,0 +1,376 @@ +[Thu Jul 2 10:04:13 KST 2026] worker start gpu=3 seed=seed1 port=18851 train_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed1/default/train_5shot_seed1_processingline_12k +[Thu Jul 2 10:04:13 KST 2026] worker gpu=3 seed=seed1 train_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed1/default/train_5shot_seed1_processingline_12k ckpt=5000 port=18851 +[Thu Jul 2 10:04:13 KST 2026] START gpu=3 port=18851 ckpt=5000 +model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed1/default/train_5shot_seed1_processingline_12k/checkpoint-5000 +video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed1/default/train_5shot_seed1_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000 +[robosuite WARNING] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30) +[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40) +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1. + check_for_updates() +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +WARNING: mimicgen environments not imported since mimicgen is not installed! +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed1/default/train_5shot_seed1_processingline_12k/checkpoint-5000 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed1/default/train_5shot_seed1_processingline_12k/checkpoint-5000 +Tune backbone vision tower: True +Tune backbone LLM: False +Tune action head projector: True +Tune action head DiT: True +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline/seed1/default/train_5shot_seed1_processingline_12k/checkpoint-5000 +Available modality configs: +Tune backbone llm: False +Tune backbone visual: True +Total number of DiT parameters: 550386688 +Total number of SelfAttentionTransformer parameters: 201433088 +Tune action head projector: True +Tune action head diffusion model: True + Loading checkpoint shards: 0%| | 0/2 [00:00