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b/processing_line_only_v2/MGD_v2/mgd_v2_loss_mse/mgd_token_mask_ratio_0.3/phase3/eval.log @@ -0,0 +1,5480 @@ +[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/processing_line_only_v2/MGD_v2/mgd_v2_loss_mse/mgd_token_mask_ratio_0.3/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/processing_line_only_v2/MGD_v2/mgd_v2_loss_mse/mgd_token_mask_ratio_0.3/phase3 +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/processing_line_only_v2/MGD_v2/mgd_v2_loss_mse/mgd_token_mask_ratio_0.3/phase3 +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 [00:00-5: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Process Worker-7: +Running simulation for CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +/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. +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-6: +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed![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) + +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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] 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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +/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. +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-2: +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 17m 37s (1057.44s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_221635.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_221635.log new file mode 100644 index 0000000000000000000000000000000000000000..f902fdb0317f456fc418dc15a0be19f38ff24945 --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_221635.log @@ -0,0 +1,9179 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-0: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-5: +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +Exception! [Errno 32] Broken pipe +Running simulation for CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed! + +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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): +Process Worker-9: + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-4: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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__ +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' + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' +Exception! [Errno 32] Broken pipe +Running simulation for TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 17m 21s (1040.90s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_223425.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_223425.log new file mode 100644 index 0000000000000000000000000000000000000000..0cfb8f93ec33ef600db7fbf27444ad977263f7ba --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_223425.log @@ -0,0 +1,8646 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-0: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-8: +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__ + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Process Worker-3: +Traceback (most recent call last): +Process Worker-7: + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed! + +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-8: +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed! + +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +/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. +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 17m 20s (1039.83s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_225216.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_225216.log new file mode 100644 index 0000000000000000000000000000000000000000..9ddd766bbab4ef35c71bd1f6e490b2c94a2f3ecb --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_225216.log @@ -0,0 +1,9465 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-6: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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] 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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +/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. +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove with split=pretrain +Creating TurnOnStove 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) +[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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 17m 42s (1061.98s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_231038.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_231038.log new file mode 100644 index 0000000000000000000000000000000000000000..834e97c0a752b516282fa4983ed9d44b5e3cea44 --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_231038.log @@ -0,0 +1,9158 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-0: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +/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. +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +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' +Running simulation for PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter with split=pretrainCreating PickPlaceToasterToCounter 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) +[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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave with split=pretrain +Creating TurnOffMicrowave 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) +[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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-3: +Process Worker-7: +Traceback (most recent call last): +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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/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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 + 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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] 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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +/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() +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +`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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-7: +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__ +Traceback (most recent call last): + self.con.free() + ^^^^^^^^ +AttributeError: 'MjRenderContextOffscreen' object has no attribute 'con' + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +/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() +Creating TurnOnStove 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) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 17m 30s (1049.81s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_232829.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_232829.log new file mode 100644 index 0000000000000000000000000000000000000000..c48f0f9c2bf4b4465efcfa46ecbfbe6057f1353b --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_232829.log @@ -0,0 +1,9231 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-5: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +/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. +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +`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. +Creating CoffeeSetupMug 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) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +/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. +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +libEGL warning: failed to open /dev/dri/renderD131: Permission denied + +libEGL warning: egl: failed to create dri2 screen +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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' +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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: +Process Worker-2: +Traceback (most recent call last): +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +/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. +Creating TurnSinkSpout 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 16m 55s (1014.71s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_234549.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_234549.log new file mode 100644 index 0000000000000000000000000000000000000000..99ff07c3c7724bd6eb570a8a668dd653683280ec --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260621_234549.log @@ -0,0 +1,9632 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-8: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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): +Process Worker-2: + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor with split=pretrainCreating CloseToasterOvenDoor 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) +[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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +/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. +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Process Worker-1: +Process Worker-0: +Traceback (most recent call last): +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/environments/robot_env.py", line 524, in _reset_internal + super()._reset_internal() + 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/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/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/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/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/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) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed! + +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed! + +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +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' +Running simulation for PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed! + +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +`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. +Creating TurnOnStove 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) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +Creating TurnOnStove 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) +`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout with split=pretrain +Creating TurnSinkSpout 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) +[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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 18m 6s (1085.97s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_000410.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_000410.log new file mode 100644 index 0000000000000000000000000000000000000000..7eb1c0be5bee7fa4c4f1e465d129ebae64c8dfbc --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_000410.log @@ -0,0 +1,9634 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-3: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed!WARNING: mimicgen environments not imported since mimicgen is not installed! + +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet with split=pretrain +Creating OpenCabinet 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) +[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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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): +Process Worker-2: + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-9: +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Process Worker-7: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove with split=pretrain +Creating TurnOffStove 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) +[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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +/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. +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +Creating TurnOnElectricKettle 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +Creating TurnOnMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +Creating TurnOnSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +Creating TurnOnStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +Creating TurnSinkSpout 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 +/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) +Eval metadata +- total_eval_time: 17m 9s (1028.96s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 0/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature + - CloseBlenderLid + - CloseFridge + - CloseToasterOvenDoor + - CoffeeSetupMug + - NavigateKitchen + - OpenCabinet + - OpenDrawer + - OpenElectricKettleLid + - OpenStandMixerHead + - PickPlaceCabinetToCounter + - PickPlaceCounterToCabinet + - PickPlaceCounterToStove + - PickPlaceDrawerToCounter + - PickPlaceSinkToCounter + - PickPlaceToasterToCounter + - SlideDishwasherRack + - TurnOffMicrowave + - TurnOffSinkFaucet + - TurnOffStove + - TurnOnElectricKettle + - TurnOnMicrowave + - TurnOnSinkFaucet + - TurnOnStove + - TurnSinkSpout +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_002201.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_002201.log new file mode 100644 index 0000000000000000000000000000000000000000..aed19730e600f0b0eb90768ac879589374d60f56 --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_002201.log @@ -0,0 +1,7750 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-4: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +Creating CloseBlenderLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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 CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +Creating CloseFridge 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) +/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. +Creating CloseFridge 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +Creating CloseToasterOvenDoor 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +Creating CoffeeSetupMug 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +Creating NavigateKitchen 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +Creating OpenCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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) +[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] No private macro file found! (macros.py:57) +[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +Creating OpenDrawer 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +Creating OpenElectricKettleLid 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +Creating OpenStandMixerHead 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-4: +Process Worker-5: +Traceback (most recent call last): +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 + 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +Creating PickPlaceCabinetToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +Creating PickPlaceCounterToCabinet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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) +[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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +Creating PickPlaceCounterToStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +Creating PickPlaceDrawerToCounter 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) +/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. +Creating PickPlaceDrawerToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +Creating PickPlaceSinkToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +Exception! [Errno 32] Broken pipe +Running simulation for PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +Creating PickPlaceToasterToCounter 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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) +[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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +Creating SlideDishwasherRack 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +Process Worker-2: +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +Creating TurnOffMicrowave 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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) +[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 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 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 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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +Creating TurnOffSinkFaucet 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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-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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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) +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +Creating TurnOffStove 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) +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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' +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 +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 TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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) +Process Worker-2: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-8: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-7: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-3: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-9: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-4: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-5: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-6: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-1: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +Process Worker-0: +Traceback (most recent call last): + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/vector/async_vector_env.py", line 701, in _async_worker + command, data = pipe.recv() + ^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 250, in recv + buf = self._recv_bytes() + ^^^^^^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 430, in _recv_bytes + buf = self._recv(4) + ^^^^^^^^^^^^^ + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 399, in _recv + raise EOFError +EOFError + +During handling of the above exception, another exception occurred: + +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 779, in _async_worker + pipe.send((None, False)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 206, in send + self._send_bytes(_ForkingPickler.dumps(obj)) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 427, in _send_bytes + self._send(header + buf) + File "/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/connection.py", line 384, in _send + n = write(self._handle, buf) + ^^^^^^^^^^^^^^^^^^^^^^^^ +BrokenPipeError: [Errno 32] Broken pipe +/home/seonho/miniconda3/envs/robocasa/lib/python3.11/multiprocessing/resource_tracker.py:254: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown + warnings.warn('resource_tracker: There appear to be %d ' diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_102144_gpu0_forced.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_102144_gpu0_forced.log new file mode 100644 index 0000000000000000000000000000000000000000..6a12f2d6de885f94abd166ce714759ce055b2716 --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_20260622_102144_gpu0_forced.log @@ -0,0 +1,5496 @@ +[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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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 [00:00-0: +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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 AdjustWaterTemperature 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 AdjustWaterTemperature 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/Isaac-GR00T/gr00t/eval/simulation.py", line 184, in _create_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 408, in + "__init__": lambda self, **kwargs: super(self.__class__, self).__init__( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/seonho/clvla/benchmarks/robocasa_v2/robocasa/robocasa/wrappers/gym_wrapper.py", line 178, 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 AdjustWaterTemperature 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 CloseBlenderLid... +Running 50 episodes for robocasa/CloseBlenderLid with 10 environments +Creating CloseBlenderLid 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 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) +/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 CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseBlenderLid 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: False; Cumulative success rate: 0.3333333333333333 +EP 4 success: False; Cumulative success rate: 0.25 +EP 5 success: False; Cumulative success rate: 0.2 +EP 6 success: False; Cumulative success rate: 0.16666666666666666 +EP 7 success: True; Cumulative success rate: 0.2857142857142857 +EP 8 success: False; Cumulative success rate: 0.25 +EP 9 success: False; Cumulative success rate: 0.2222222222222222 +EP 10 success: False; Cumulative success rate: 0.2 +EP 11 success: False; Cumulative success rate: 0.18181818181818182 +EP 12 success: False; Cumulative success rate: 0.16666666666666666 +EP 13 success: False; Cumulative success rate: 0.15384615384615385 +EP 14 success: False; Cumulative success rate: 0.14285714285714285 +EP 15 success: False; Cumulative success rate: 0.13333333333333333 +EP 16 success: False; Cumulative success rate: 0.125 +EP 17 success: False; Cumulative success rate: 0.11764705882352941 +EP 18 success: False; Cumulative success rate: 0.1111111111111111 +EP 19 success: False; Cumulative success rate: 0.10526315789473684 +EP 20 success: False; Cumulative success rate: 0.1 +EP 21 success: False; Cumulative success rate: 0.09523809523809523 +EP 22 success: True; Cumulative success rate: 0.13636363636363635 +EP 23 success: False; Cumulative success rate: 0.13043478260869565 +EP 24 success: False; Cumulative success rate: 0.125 +EP 25 success: False; Cumulative success rate: 0.12 +EP 26 success: False; Cumulative success rate: 0.11538461538461539 +EP 27 success: False; Cumulative success rate: 0.1111111111111111 +EP 28 success: False; Cumulative success rate: 0.10714285714285714 +EP 29 success: False; Cumulative success rate: 0.10344827586206896 +EP 30 success: False; Cumulative success rate: 0.1 +EP 31 success: True; Cumulative success rate: 0.12903225806451613 +EP 32 success: False; Cumulative success rate: 0.125 +EP 33 success: False; Cumulative success rate: 0.12121212121212122 +EP 34 success: False; Cumulative success rate: 0.11764705882352941 +EP 35 success: False; Cumulative success rate: 0.11428571428571428 +EP 36 success: False; Cumulative success rate: 0.1111111111111111 +EP 37 success: False; Cumulative success rate: 0.10810810810810811 +EP 38 success: False; Cumulative success rate: 0.10526315789473684 +EP 39 success: False; Cumulative success rate: 0.10256410256410256 +EP 40 success: False; Cumulative success rate: 0.1 +EP 41 success: False; Cumulative success rate: 0.0975609756097561 +EP 42 success: False; Cumulative success rate: 0.09523809523809523 +EP 43 success: False; Cumulative success rate: 0.09302325581395349 +EP 44 success: False; Cumulative success rate: 0.09090909090909091 +EP 45 success: True; Cumulative success rate: 0.1111111111111111 +EP 46 success: False; Cumulative success rate: 0.10869565217391304 +EP 47 success: False; Cumulative success rate: 0.10638297872340426 +EP 48 success: False; Cumulative success rate: 0.10416666666666667 +EP 49 success: False; Cumulative success rate: 0.10204081632653061 +EP 50 success: False; Cumulative success rate: 0.1 +Collecting 50 episodes took 1951.50 seconds +Results for robocasa/CloseBlenderLid: +Success rate: 0.10 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/CloseBlenderLid/stats.json + +Running simulation for CloseFridge... +Running 50 episodes for robocasa/CloseFridge with 10 environments +Creating CloseFridge 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) +[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. +[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) +/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 CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseFridge 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: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: True; Cumulative success rate: 1.0 +EP 5 success: True; Cumulative success rate: 1.0 +EP 6 success: True; Cumulative success rate: 1.0 +EP 7 success: False; Cumulative success rate: 0.8571428571428571 +EP 8 success: True; Cumulative success rate: 0.875 +EP 9 success: True; Cumulative success rate: 0.8888888888888888 +EP 10 success: True; Cumulative success rate: 0.9 +EP 11 success: False; Cumulative success rate: 0.8181818181818182 +EP 12 success: False; Cumulative success rate: 0.75 +EP 13 success: False; Cumulative success rate: 0.6923076923076923 +EP 14 success: True; Cumulative success rate: 0.7142857142857143 +EP 15 success: True; Cumulative success rate: 0.7333333333333333 +EP 16 success: False; Cumulative success rate: 0.6875 +EP 17 success: True; Cumulative success rate: 0.7058823529411765 +EP 18 success: True; Cumulative success rate: 0.7222222222222222 +EP 19 success: True; Cumulative success rate: 0.7368421052631579 +EP 20 success: True; Cumulative success rate: 0.75 +EP 21 success: True; Cumulative success rate: 0.7619047619047619 +EP 22 success: True; Cumulative success rate: 0.7727272727272727 +EP 23 success: True; Cumulative success rate: 0.782608695652174 +EP 24 success: True; Cumulative success rate: 0.7916666666666666 +EP 25 success: True; Cumulative success rate: 0.8 +EP 26 success: True; Cumulative success rate: 0.8076923076923077 +EP 27 success: True; Cumulative success rate: 0.8148148148148148 +EP 28 success: False; Cumulative success rate: 0.7857142857142857 +EP 29 success: False; Cumulative success rate: 0.7586206896551724 +EP 30 success: True; Cumulative success rate: 0.7666666666666667 +EP 31 success: True; Cumulative success rate: 0.7741935483870968 +EP 32 success: True; Cumulative success rate: 0.78125 +EP 33 success: True; Cumulative success rate: 0.7878787878787878 +EP 34 success: True; Cumulative success rate: 0.7941176470588235 +EP 35 success: True; Cumulative success rate: 0.8 +EP 36 success: True; Cumulative success rate: 0.8055555555555556 +EP 37 success: True; Cumulative success rate: 0.8108108108108109 +EP 38 success: True; Cumulative success rate: 0.8157894736842105 +EP 39 success: True; Cumulative success rate: 0.8205128205128205 +EP 40 success: False; Cumulative success rate: 0.8 +EP 41 success: True; Cumulative success rate: 0.8048780487804879 +EP 42 success: True; Cumulative success rate: 0.8095238095238095 +EP 43 success: True; Cumulative success rate: 0.813953488372093 +EP 44 success: True; Cumulative success rate: 0.8181818181818182 +EP 45 success: True; Cumulative success rate: 0.8222222222222222 +EP 46 success: False; Cumulative success rate: 0.8043478260869565 +EP 47 success: True; Cumulative success rate: 0.8085106382978723 +EP 48 success: True; Cumulative success rate: 0.8125 +EP 49 success: False; Cumulative success rate: 0.7959183673469388 +EP 50 success: False; Cumulative success rate: 0.78 +Collecting 50 episodes took 2014.03 seconds +Results for robocasa/CloseFridge: +Success rate: 0.78 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/CloseFridge/stats.json + +Running simulation for CloseToasterOvenDoor... +Running 50 episodes for robocasa/CloseToasterOvenDoor with 10 environments +Creating CloseToasterOvenDoor 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. +`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 `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 CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CloseToasterOvenDoor 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: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: True; Cumulative success rate: 1.0 +EP 5 success: True; Cumulative success rate: 1.0 +EP 6 success: True; Cumulative success rate: 1.0 +EP 7 success: False; Cumulative success rate: 0.8571428571428571 +EP 8 success: True; Cumulative success rate: 0.875 +EP 9 success: True; Cumulative success rate: 0.8888888888888888 +EP 10 success: True; Cumulative success rate: 0.9 +EP 11 success: True; Cumulative success rate: 0.9090909090909091 +EP 12 success: True; Cumulative success rate: 0.9166666666666666 +EP 13 success: False; Cumulative success rate: 0.8461538461538461 +EP 14 success: True; Cumulative success rate: 0.8571428571428571 +EP 15 success: True; Cumulative success rate: 0.8666666666666667 +EP 16 success: False; Cumulative success rate: 0.8125 +EP 17 success: True; Cumulative success rate: 0.8235294117647058 +EP 18 success: False; Cumulative success rate: 0.7777777777777778 +EP 19 success: True; Cumulative success rate: 0.7894736842105263 +EP 20 success: True; Cumulative success rate: 0.8 +EP 21 success: True; Cumulative success rate: 0.8095238095238095 +EP 22 success: False; Cumulative success rate: 0.7727272727272727 +EP 23 success: True; Cumulative success rate: 0.782608695652174 +EP 24 success: True; Cumulative success rate: 0.7916666666666666 +EP 25 success: False; Cumulative success rate: 0.76 +EP 26 success: True; Cumulative success rate: 0.7692307692307693 +EP 27 success: True; Cumulative success rate: 0.7777777777777778 +EP 28 success: False; Cumulative success rate: 0.75 +EP 29 success: True; Cumulative success rate: 0.7586206896551724 +EP 30 success: True; Cumulative success rate: 0.7666666666666667 +EP 31 success: True; Cumulative success rate: 0.7741935483870968 +EP 32 success: True; Cumulative success rate: 0.78125 +EP 33 success: True; Cumulative success rate: 0.7878787878787878 +EP 34 success: True; Cumulative success rate: 0.7941176470588235 +EP 35 success: True; Cumulative success rate: 0.8 +EP 36 success: False; Cumulative success rate: 0.7777777777777778 +EP 37 success: True; Cumulative success rate: 0.7837837837837838 +EP 38 success: True; Cumulative success rate: 0.7894736842105263 +EP 39 success: True; Cumulative success rate: 0.7948717948717948 +EP 40 success: True; Cumulative success rate: 0.8 +EP 41 success: False; Cumulative success rate: 0.7804878048780488 +EP 42 success: True; Cumulative success rate: 0.7857142857142857 +EP 43 success: True; Cumulative success rate: 0.7906976744186046 +EP 44 success: False; Cumulative success rate: 0.7727272727272727 +EP 45 success: True; Cumulative success rate: 0.7777777777777778 +EP 46 success: False; Cumulative success rate: 0.7608695652173914 +EP 47 success: False; Cumulative success rate: 0.7446808510638298 +EP 48 success: False; Cumulative success rate: 0.7291666666666666 +EP 49 success: True; Cumulative success rate: 0.7346938775510204 +EP 50 success: True; Cumulative success rate: 0.74 +Collecting 50 episodes took 976.49 seconds +Results for robocasa/CloseToasterOvenDoor: +Success rate: 0.74 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/CloseToasterOvenDoor/stats.json + +Running simulation for CoffeeSetupMug... +Running 50 episodes for robocasa/CoffeeSetupMug with 10 environments +Creating CoffeeSetupMug 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 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) +/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. +`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 `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 CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating CoffeeSetupMug 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: False; Cumulative success rate: 0.3333333333333333 +EP 4 success: True; Cumulative success rate: 0.5 +EP 5 success: False; Cumulative success rate: 0.4 +EP 6 success: False; Cumulative success rate: 0.3333333333333333 +EP 7 success: True; Cumulative success rate: 0.42857142857142855 +EP 8 success: False; Cumulative success rate: 0.375 +EP 9 success: True; Cumulative success rate: 0.4444444444444444 +EP 10 success: True; Cumulative success rate: 0.5 +EP 11 success: False; Cumulative success rate: 0.45454545454545453 +EP 12 success: False; Cumulative success rate: 0.4166666666666667 +EP 13 success: False; Cumulative success rate: 0.38461538461538464 +EP 14 success: True; Cumulative success rate: 0.42857142857142855 +EP 15 success: True; Cumulative success rate: 0.4666666666666667 +EP 16 success: True; Cumulative success rate: 0.5 +EP 17 success: False; Cumulative success rate: 0.47058823529411764 +EP 18 success: False; Cumulative success rate: 0.4444444444444444 +EP 19 success: False; Cumulative success rate: 0.42105263157894735 +EP 20 success: False; Cumulative success rate: 0.4 +EP 21 success: False; Cumulative success rate: 0.38095238095238093 +EP 22 success: False; Cumulative success rate: 0.36363636363636365 +EP 23 success: False; Cumulative success rate: 0.34782608695652173 +EP 24 success: True; Cumulative success rate: 0.375 +EP 25 success: True; Cumulative success rate: 0.4 +EP 26 success: False; Cumulative success rate: 0.38461538461538464 +EP 27 success: True; Cumulative success rate: 0.4074074074074074 +EP 28 success: False; Cumulative success rate: 0.39285714285714285 +EP 29 success: False; Cumulative success rate: 0.3793103448275862 +EP 30 success: False; Cumulative success rate: 0.36666666666666664 +EP 31 success: True; Cumulative success rate: 0.3870967741935484 +EP 32 success: True; Cumulative success rate: 0.40625 +EP 33 success: True; Cumulative success rate: 0.42424242424242425 +EP 34 success: False; Cumulative success rate: 0.4117647058823529 +EP 35 success: True; 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: False; Cumulative success rate: 0.39473684210526316 +EP 39 success: False; Cumulative success rate: 0.38461538461538464 +EP 40 success: False; Cumulative success rate: 0.375 +EP 41 success: True; Cumulative success rate: 0.3902439024390244 +EP 42 success: True; Cumulative success rate: 0.40476190476190477 +EP 43 success: False; Cumulative success rate: 0.3953488372093023 +EP 44 success: False; Cumulative success rate: 0.38636363636363635 +EP 45 success: True; Cumulative success rate: 0.4 +EP 46 success: False; Cumulative success rate: 0.391304347826087 +EP 47 success: True; Cumulative success rate: 0.40425531914893614 +EP 48 success: True; Cumulative success rate: 0.4166666666666667 +EP 49 success: True; Cumulative success rate: 0.42857142857142855 +EP 50 success: False; Cumulative success rate: 0.42 +Collecting 50 episodes took 1332.93 seconds +Results for robocasa/CoffeeSetupMug: +Success rate: 0.42 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/CoffeeSetupMug/stats.json + +Running simulation for NavigateKitchen... +Running 50 episodes for robocasa/NavigateKitchen with 10 environments +Creating NavigateKitchen 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. +[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) +`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) +/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.") +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating NavigateKitchen 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: False; Cumulative success rate: 0.4 +EP 6 success: False; Cumulative success rate: 0.3333333333333333 +EP 7 success: False; Cumulative success rate: 0.2857142857142857 +EP 8 success: False; Cumulative success rate: 0.25 +EP 9 success: False; Cumulative success rate: 0.2222222222222222 +EP 10 success: False; Cumulative success rate: 0.2 +EP 11 success: True; Cumulative success rate: 0.2727272727272727 +EP 12 success: True; Cumulative success rate: 0.3333333333333333 +EP 13 success: False; Cumulative success rate: 0.3076923076923077 +EP 14 success: True; Cumulative success rate: 0.35714285714285715 +EP 15 success: False; Cumulative success rate: 0.3333333333333333 +EP 16 success: False; Cumulative success rate: 0.3125 +EP 17 success: False; Cumulative success rate: 0.29411764705882354 +EP 18 success: True; Cumulative success rate: 0.3333333333333333 +EP 19 success: False; Cumulative success rate: 0.3157894736842105 +EP 20 success: False; Cumulative success rate: 0.3 +EP 21 success: False; Cumulative success rate: 0.2857142857142857 +EP 22 success: True; Cumulative success rate: 0.3181818181818182 +EP 23 success: True; Cumulative success rate: 0.34782608695652173 +EP 24 success: False; Cumulative success rate: 0.3333333333333333 +EP 25 success: True; Cumulative success rate: 0.36 +EP 26 success: False; Cumulative success rate: 0.34615384615384615 +EP 27 success: False; Cumulative success rate: 0.3333333333333333 +EP 28 success: True; Cumulative success rate: 0.35714285714285715 +EP 29 success: False; Cumulative success rate: 0.3448275862068966 +EP 30 success: False; Cumulative success rate: 0.3333333333333333 +EP 31 success: True; Cumulative success rate: 0.3548387096774194 +EP 32 success: False; Cumulative success rate: 0.34375 +EP 33 success: False; Cumulative success rate: 0.3333333333333333 +EP 34 success: False; Cumulative success rate: 0.3235294117647059 +EP 35 success: False; Cumulative success rate: 0.3142857142857143 +EP 36 success: True; Cumulative success rate: 0.3333333333333333 +EP 37 success: False; Cumulative success rate: 0.32432432432432434 +EP 38 success: False; Cumulative success rate: 0.3157894736842105 +EP 39 success: True; Cumulative success rate: 0.3333333333333333 +EP 40 success: False; Cumulative success rate: 0.325 +EP 41 success: True; Cumulative success rate: 0.34146341463414637 +EP 42 success: True; Cumulative success rate: 0.35714285714285715 +EP 43 success: False; Cumulative success rate: 0.3488372093023256 +EP 44 success: True; Cumulative success rate: 0.36363636363636365 +EP 45 success: False; Cumulative success rate: 0.35555555555555557 +EP 46 success: True; Cumulative success rate: 0.3695652173913043 +EP 47 success: True; Cumulative success rate: 0.3829787234042553 +EP 48 success: False; Cumulative success rate: 0.375 +EP 49 success: True; Cumulative success rate: 0.3877551020408163 +EP 50 success: False; Cumulative success rate: 0.38 +Collecting 50 episodes took 1013.38 seconds +Results for robocasa/NavigateKitchen: +Success rate: 0.38 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/NavigateKitchen/stats.json + +Running simulation for OpenCabinet... +Running 50 episodes for robocasa/OpenCabinet with 10 environments +Creating OpenCabinet 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. +[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) +`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) +/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.") +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenCabinet 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: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: False; Cumulative success rate: 0.75 +EP 5 success: True; Cumulative success rate: 0.8 +EP 6 success: True; Cumulative success rate: 0.8333333333333334 +EP 7 success: True; Cumulative success rate: 0.8571428571428571 +EP 8 success: True; Cumulative success rate: 0.875 +EP 9 success: True; Cumulative success rate: 0.8888888888888888 +EP 10 success: False; Cumulative success rate: 0.8 +EP 11 success: True; Cumulative success rate: 0.8181818181818182 +EP 12 success: False; Cumulative success rate: 0.75 +EP 13 success: False; Cumulative success rate: 0.6923076923076923 +EP 14 success: False; Cumulative success rate: 0.6428571428571429 +EP 15 success: False; Cumulative success rate: 0.6 +EP 16 success: False; Cumulative success rate: 0.5625 +EP 17 success: False; Cumulative success rate: 0.5294117647058824 +EP 18 success: True; Cumulative success rate: 0.5555555555555556 +EP 19 success: True; Cumulative success rate: 0.5789473684210527 +EP 20 success: True; Cumulative success rate: 0.6 +EP 21 success: True; Cumulative success rate: 0.6190476190476191 +EP 22 success: False; Cumulative success rate: 0.5909090909090909 +EP 23 success: False; Cumulative success rate: 0.5652173913043478 +EP 24 success: True; Cumulative success rate: 0.5833333333333334 +EP 25 success: False; Cumulative success rate: 0.56 +EP 26 success: False; Cumulative success rate: 0.5384615384615384 +EP 27 success: False; Cumulative success rate: 0.5185185185185185 +EP 28 success: True; Cumulative success rate: 0.5357142857142857 +EP 29 success: False; Cumulative success rate: 0.5172413793103449 +EP 30 success: False; Cumulative success rate: 0.5 +EP 31 success: False; Cumulative success rate: 0.4838709677419355 +EP 32 success: True; Cumulative success rate: 0.5 +EP 33 success: False; Cumulative success rate: 0.48484848484848486 +EP 34 success: False; Cumulative success rate: 0.47058823529411764 +EP 35 success: False; Cumulative success rate: 0.45714285714285713 +EP 36 success: True; Cumulative success rate: 0.4722222222222222 +EP 37 success: False; Cumulative success rate: 0.4594594594594595 +EP 38 success: True; Cumulative success rate: 0.47368421052631576 +EP 39 success: True; Cumulative success rate: 0.48717948717948717 +EP 40 success: False; Cumulative success rate: 0.475 +EP 41 success: False; Cumulative success rate: 0.4634146341463415 +EP 42 success: False; Cumulative success rate: 0.4523809523809524 +EP 43 success: True; Cumulative success rate: 0.46511627906976744 +EP 44 success: False; Cumulative success rate: 0.45454545454545453 +EP 45 success: False; Cumulative success rate: 0.4444444444444444 +EP 46 success: True; Cumulative success rate: 0.45652173913043476 +EP 47 success: True; Cumulative success rate: 0.46808510638297873 +EP 48 success: False; Cumulative success rate: 0.4583333333333333 +EP 49 success: False; Cumulative success rate: 0.4489795918367347 +EP 50 success: True; Cumulative success rate: 0.46 +Collecting 50 episodes took 2291.59 seconds +Results for robocasa/OpenCabinet: +Success rate: 0.46 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/OpenCabinet/stats.json + +Running simulation for OpenDrawer... +Running 50 episodes for robocasa/OpenDrawer with 10 environments +Creating OpenDrawer 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] 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] 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 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) +/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) +[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. +[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 OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenDrawer 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: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: True; Cumulative success rate: 1.0 +EP 5 success: True; Cumulative success rate: 1.0 +EP 6 success: False; Cumulative success rate: 0.8333333333333334 +EP 7 success: False; Cumulative success rate: 0.7142857142857143 +EP 8 success: False; Cumulative success rate: 0.625 +EP 9 success: False; Cumulative success rate: 0.5555555555555556 +EP 10 success: True; 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: False; Cumulative success rate: 0.5384615384615384 +EP 14 success: False; Cumulative success rate: 0.5 +EP 15 success: True; Cumulative success rate: 0.5333333333333333 +EP 16 success: False; Cumulative success rate: 0.5 +EP 17 success: False; Cumulative success rate: 0.47058823529411764 +EP 18 success: True; Cumulative success rate: 0.5 +EP 19 success: True; Cumulative success rate: 0.5263157894736842 +EP 20 success: True; Cumulative success rate: 0.55 +EP 21 success: False; Cumulative success rate: 0.5238095238095238 +EP 22 success: False; Cumulative success rate: 0.5 +EP 23 success: True; Cumulative success rate: 0.5217391304347826 +EP 24 success: True; Cumulative success rate: 0.5416666666666666 +EP 25 success: False; Cumulative success rate: 0.52 +EP 26 success: False; Cumulative success rate: 0.5 +EP 27 success: True; Cumulative success rate: 0.5185185185185185 +EP 28 success: True; Cumulative success rate: 0.5357142857142857 +EP 29 success: True; Cumulative success rate: 0.5517241379310345 +EP 30 success: True; Cumulative success rate: 0.5666666666666667 +EP 31 success: False; Cumulative success rate: 0.5483870967741935 +EP 32 success: True; Cumulative success rate: 0.5625 +EP 33 success: False; Cumulative success rate: 0.5454545454545454 +EP 34 success: False; Cumulative success rate: 0.5294117647058824 +EP 35 success: False; Cumulative success rate: 0.5142857142857142 +EP 36 success: True; Cumulative success rate: 0.5277777777777778 +EP 37 success: True; Cumulative success rate: 0.5405405405405406 +EP 38 success: True; Cumulative success rate: 0.5526315789473685 +EP 39 success: False; Cumulative success rate: 0.5384615384615384 +EP 40 success: True; Cumulative success rate: 0.55 +EP 41 success: True; Cumulative success rate: 0.5609756097560976 +EP 42 success: True; Cumulative success rate: 0.5714285714285714 +EP 43 success: False; Cumulative success rate: 0.5581395348837209 +EP 44 success: False; Cumulative success rate: 0.5454545454545454 +EP 45 success: True; Cumulative success rate: 0.5555555555555556 +EP 46 success: False; Cumulative success rate: 0.5434782608695652 +EP 47 success: False; Cumulative success rate: 0.5319148936170213 +EP 48 success: True; Cumulative success rate: 0.5416666666666666 +EP 49 success: True; Cumulative success rate: 0.5510204081632653 +EP 50 success: True; Cumulative success rate: 0.56 +Collecting 50 episodes took 1702.15 seconds +Results for robocasa/OpenDrawer: +Success rate: 0.56 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/OpenDrawer/stats.json + +Running simulation for OpenElectricKettleLid... +Running 50 episodes for robocasa/OpenElectricKettleLid with 10 environments +Creating OpenElectricKettleLid 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 OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenElectricKettleLid 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: False; Cumulative success rate: 0.0 +EP 2 success: True; 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: False; Cumulative success rate: 0.5 +EP 7 success: False; Cumulative success rate: 0.42857142857142855 +EP 8 success: True; Cumulative success rate: 0.5 +EP 9 success: True; Cumulative success rate: 0.5555555555555556 +EP 10 success: False; Cumulative success rate: 0.5 +EP 11 success: True; 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: True; Cumulative success rate: 0.6428571428571429 +EP 15 success: True; Cumulative success rate: 0.6666666666666666 +EP 16 success: True; Cumulative success rate: 0.6875 +EP 17 success: False; Cumulative success rate: 0.6470588235294118 +EP 18 success: False; Cumulative success rate: 0.6111111111111112 +EP 19 success: True; Cumulative success rate: 0.631578947368421 +EP 20 success: True; Cumulative success rate: 0.65 +EP 21 success: False; Cumulative success rate: 0.6190476190476191 +EP 22 success: True; Cumulative success rate: 0.6363636363636364 +EP 23 success: False; Cumulative success rate: 0.6086956521739131 +EP 24 success: True; Cumulative success rate: 0.625 +EP 25 success: False; Cumulative success rate: 0.6 +EP 26 success: True; Cumulative success rate: 0.6153846153846154 +EP 27 success: True; Cumulative success rate: 0.6296296296296297 +EP 28 success: False; Cumulative success rate: 0.6071428571428571 +EP 29 success: True; Cumulative success rate: 0.6206896551724138 +EP 30 success: False; Cumulative success rate: 0.6 +EP 31 success: False; Cumulative success rate: 0.5806451612903226 +EP 32 success: True; Cumulative success rate: 0.59375 +EP 33 success: True; Cumulative success rate: 0.6060606060606061 +EP 34 success: False; Cumulative success rate: 0.5882352941176471 +EP 35 success: True; Cumulative success rate: 0.6 +EP 36 success: True; Cumulative success rate: 0.6111111111111112 +EP 37 success: False; Cumulative success rate: 0.5945945945945946 +EP 38 success: False; Cumulative success rate: 0.5789473684210527 +EP 39 success: True; Cumulative success rate: 0.5897435897435898 +EP 40 success: False; Cumulative success rate: 0.575 +EP 41 success: False; Cumulative success rate: 0.5609756097560976 +EP 42 success: False; Cumulative success rate: 0.5476190476190477 +EP 43 success: False; Cumulative success rate: 0.5348837209302325 +EP 44 success: False; Cumulative success rate: 0.5227272727272727 +EP 45 success: False; Cumulative success rate: 0.5111111111111111 +EP 46 success: False; Cumulative success rate: 0.5 +EP 47 success: True; Cumulative success rate: 0.5106382978723404 +EP 48 success: True; Cumulative success rate: 0.5208333333333334 +EP 49 success: False; Cumulative success rate: 0.5102040816326531 +EP 50 success: True; Cumulative success rate: 0.52 +Collecting 50 episodes took 694.86 seconds +Results for robocasa/OpenElectricKettleLid: +Success rate: 0.52 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/OpenElectricKettleLid/stats.json + +Running simulation for OpenStandMixerHead... +Running 50 episodes for robocasa/OpenStandMixerHead with 10 environments +Creating OpenStandMixerHead 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 OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating OpenStandMixerHead 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: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: True; Cumulative success rate: 1.0 +EP 5 success: True; Cumulative success rate: 1.0 +EP 6 success: True; Cumulative success rate: 1.0 +EP 7 success: True; Cumulative success rate: 1.0 +EP 8 success: True; Cumulative success rate: 1.0 +EP 9 success: True; Cumulative success rate: 1.0 +EP 10 success: True; Cumulative success rate: 1.0 +EP 11 success: True; Cumulative success rate: 1.0 +EP 12 success: True; Cumulative success rate: 1.0 +EP 13 success: True; Cumulative success rate: 1.0 +EP 14 success: True; Cumulative success rate: 1.0 +EP 15 success: True; Cumulative success rate: 1.0 +EP 16 success: True; Cumulative success rate: 1.0 +EP 17 success: True; Cumulative success rate: 1.0 +EP 18 success: True; Cumulative success rate: 1.0 +EP 19 success: True; Cumulative success rate: 1.0 +EP 20 success: True; Cumulative success rate: 1.0 +EP 21 success: True; Cumulative success rate: 1.0 +EP 22 success: True; Cumulative success rate: 1.0 +EP 23 success: True; Cumulative success rate: 1.0 +EP 24 success: True; Cumulative success rate: 1.0 +EP 25 success: True; Cumulative success rate: 1.0 +EP 26 success: True; Cumulative success rate: 1.0 +EP 27 success: True; Cumulative success rate: 1.0 +EP 28 success: True; Cumulative success rate: 1.0 +EP 29 success: True; Cumulative success rate: 1.0 +EP 30 success: True; Cumulative success rate: 1.0 +EP 31 success: True; Cumulative success rate: 1.0 +EP 32 success: True; Cumulative success rate: 1.0 +EP 33 success: False; Cumulative success rate: 0.9696969696969697 +EP 34 success: True; Cumulative success rate: 0.9705882352941176 +EP 35 success: True; Cumulative success rate: 0.9714285714285714 +EP 36 success: True; Cumulative success rate: 0.9722222222222222 +EP 37 success: False; Cumulative success rate: 0.9459459459459459 +EP 38 success: False; Cumulative success rate: 0.9210526315789473 +EP 39 success: True; Cumulative success rate: 0.9230769230769231 +EP 40 success: False; Cumulative success rate: 0.9 +EP 41 success: True; Cumulative success rate: 0.9024390243902439 +EP 42 success: True; Cumulative success rate: 0.9047619047619048 +EP 43 success: True; Cumulative success rate: 0.9069767441860465 +EP 44 success: True; Cumulative success rate: 0.9090909090909091 +EP 45 success: True; Cumulative success rate: 0.9111111111111111 +EP 46 success: True; Cumulative success rate: 0.9130434782608695 +EP 47 success: True; Cumulative success rate: 0.9148936170212766 +EP 48 success: True; Cumulative success rate: 0.9166666666666666 +EP 49 success: True; Cumulative success rate: 0.9183673469387755 +EP 50 success: False; Cumulative success rate: 0.9 +Collecting 50 episodes took 1001.89 seconds +Results for robocasa/OpenStandMixerHead: +Success rate: 0.90 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/OpenStandMixerHead/stats.json + +Running simulation for PickPlaceCabinetToCounter... +Running 50 episodes for robocasa/PickPlaceCabinetToCounter with 10 environments +Creating PickPlaceCabinetToCounter 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() +`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() +/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() +[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. +/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. +/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() +[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) +`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) +/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.") +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCabinetToCounter 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: False; Cumulative success rate: 0.0 +EP 2 success: True; Cumulative success rate: 0.5 +EP 3 success: False; Cumulative success rate: 0.3333333333333333 +EP 4 success: False; Cumulative success rate: 0.25 +EP 5 success: True; Cumulative success rate: 0.4 +EP 6 success: True; Cumulative success rate: 0.5 +EP 7 success: False; Cumulative success rate: 0.42857142857142855 +EP 8 success: False; Cumulative success rate: 0.375 +EP 9 success: False; Cumulative success rate: 0.3333333333333333 +EP 10 success: True; Cumulative success rate: 0.4 +EP 11 success: True; Cumulative success rate: 0.45454545454545453 +EP 12 success: False; Cumulative success rate: 0.4166666666666667 +EP 13 success: False; Cumulative success rate: 0.38461538461538464 +EP 14 success: False; Cumulative success rate: 0.35714285714285715 +EP 15 success: False; Cumulative success rate: 0.3333333333333333 +EP 16 success: False; Cumulative success rate: 0.3125 +EP 17 success: True; Cumulative success rate: 0.35294117647058826 +EP 18 success: False; Cumulative success rate: 0.3333333333333333 +EP 19 success: False; Cumulative success rate: 0.3157894736842105 +EP 20 success: True; Cumulative success rate: 0.35 +EP 21 success: True; Cumulative success rate: 0.38095238095238093 +EP 22 success: False; Cumulative success rate: 0.36363636363636365 +EP 23 success: True; Cumulative success rate: 0.391304347826087 +EP 24 success: False; Cumulative success rate: 0.375 +EP 25 success: False; Cumulative success rate: 0.36 +EP 26 success: True; Cumulative success rate: 0.38461538461538464 +EP 27 success: True; Cumulative success rate: 0.4074074074074074 +EP 28 success: True; 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: False; Cumulative success rate: 0.41935483870967744 +EP 32 success: False; Cumulative success rate: 0.40625 +EP 33 success: False; Cumulative success rate: 0.3939393939393939 +EP 34 success: True; Cumulative success rate: 0.4117647058823529 +EP 35 success: False; Cumulative success rate: 0.4 +EP 36 success: False; Cumulative success rate: 0.3888888888888889 +EP 37 success: True; 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: False; Cumulative success rate: 0.4 +EP 41 success: True; Cumulative success rate: 0.4146341463414634 +EP 42 success: True; Cumulative success rate: 0.42857142857142855 +EP 43 success: False; Cumulative success rate: 0.4186046511627907 +EP 44 success: False; Cumulative success rate: 0.4090909090909091 +EP 45 success: False; Cumulative success rate: 0.4 +EP 46 success: False; Cumulative success rate: 0.391304347826087 +EP 47 success: False; Cumulative success rate: 0.3829787234042553 +EP 48 success: False; Cumulative success rate: 0.375 +EP 49 success: True; Cumulative success rate: 0.3877551020408163 +EP 50 success: True; Cumulative success rate: 0.4 +Collecting 50 episodes took 1132.44 seconds +Results for robocasa/PickPlaceCabinetToCounter: +Success rate: 0.40 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/PickPlaceCabinetToCounter/stats.json + +Running simulation for PickPlaceCounterToCabinet... +Running 50 episodes for robocasa/PickPlaceCounterToCabinet with 10 environments +Creating PickPlaceCounterToCabinet 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 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 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) +/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 `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 PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToCabinet 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: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: False; Cumulative success rate: 0.75 +EP 5 success: False; Cumulative success rate: 0.6 +EP 6 success: False; Cumulative success rate: 0.5 +EP 7 success: False; Cumulative success rate: 0.42857142857142855 +EP 8 success: False; Cumulative success rate: 0.375 +EP 9 success: False; Cumulative success rate: 0.3333333333333333 +EP 10 success: True; Cumulative success rate: 0.4 +EP 11 success: False; Cumulative success rate: 0.36363636363636365 +EP 12 success: False; Cumulative success rate: 0.3333333333333333 +EP 13 success: True; Cumulative success rate: 0.38461538461538464 +EP 14 success: False; Cumulative success rate: 0.35714285714285715 +EP 15 success: False; Cumulative success rate: 0.3333333333333333 +EP 16 success: True; Cumulative success rate: 0.375 +EP 17 success: False; Cumulative success rate: 0.35294117647058826 +EP 18 success: True; Cumulative success rate: 0.3888888888888889 +EP 19 success: True; Cumulative success rate: 0.42105263157894735 +EP 20 success: False; Cumulative success rate: 0.4 +EP 21 success: True; Cumulative success rate: 0.42857142857142855 +EP 22 success: True; Cumulative success rate: 0.45454545454545453 +EP 23 success: False; Cumulative success rate: 0.43478260869565216 +EP 24 success: True; Cumulative success rate: 0.4583333333333333 +EP 25 success: True; Cumulative success rate: 0.48 +EP 26 success: False; Cumulative success rate: 0.46153846153846156 +EP 27 success: False; Cumulative success rate: 0.4444444444444444 +EP 28 success: True; Cumulative success rate: 0.4642857142857143 +EP 29 success: True; Cumulative success rate: 0.4827586206896552 +EP 30 success: True; Cumulative success rate: 0.5 +EP 31 success: False; Cumulative success rate: 0.4838709677419355 +EP 32 success: False; Cumulative success rate: 0.46875 +EP 33 success: False; Cumulative success rate: 0.45454545454545453 +EP 34 success: False; Cumulative success rate: 0.4411764705882353 +EP 35 success: False; Cumulative success rate: 0.42857142857142855 +EP 36 success: True; Cumulative success rate: 0.4444444444444444 +EP 37 success: False; Cumulative success rate: 0.43243243243243246 +EP 38 success: False; 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: True; Cumulative success rate: 0.43902439024390244 +EP 42 success: True; Cumulative success rate: 0.4523809523809524 +EP 43 success: True; Cumulative success rate: 0.46511627906976744 +EP 44 success: False; Cumulative success rate: 0.45454545454545453 +EP 45 success: False; Cumulative success rate: 0.4444444444444444 +EP 46 success: True; Cumulative success rate: 0.45652173913043476 +EP 47 success: True; Cumulative success rate: 0.46808510638297873 +EP 48 success: True; Cumulative success rate: 0.4791666666666667 +EP 49 success: True; Cumulative success rate: 0.4897959183673469 +EP 50 success: True; Cumulative success rate: 0.5 +Collecting 50 episodes took 1228.33 seconds +Results for robocasa/PickPlaceCounterToCabinet: +Success rate: 0.50 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/PickPlaceCounterToCabinet/stats.json + +Running simulation for PickPlaceCounterToStove... +Running 50 episodes for robocasa/PickPlaceCounterToStove with 10 environments +Creating PickPlaceCounterToStove 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 PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceCounterToStove 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: True; Cumulative success rate: 0.75 +EP 5 success: False; Cumulative success rate: 0.6 +EP 6 success: True; Cumulative success rate: 0.6666666666666666 +EP 7 success: True; Cumulative success rate: 0.7142857142857143 +EP 8 success: False; Cumulative success rate: 0.625 +EP 9 success: True; Cumulative success rate: 0.6666666666666666 +EP 10 success: True; Cumulative success rate: 0.7 +EP 11 success: False; Cumulative success rate: 0.6363636363636364 +EP 12 success: False; Cumulative success rate: 0.5833333333333334 +EP 13 success: False; Cumulative success rate: 0.5384615384615384 +EP 14 success: True; Cumulative success rate: 0.5714285714285714 +EP 15 success: True; Cumulative success rate: 0.6 +EP 16 success: False; Cumulative success rate: 0.5625 +EP 17 success: False; Cumulative success rate: 0.5294117647058824 +EP 18 success: True; Cumulative success rate: 0.5555555555555556 +EP 19 success: True; Cumulative success rate: 0.5789473684210527 +EP 20 success: False; Cumulative success rate: 0.55 +EP 21 success: True; Cumulative success rate: 0.5714285714285714 +EP 22 success: True; Cumulative success rate: 0.5909090909090909 +EP 23 success: False; Cumulative success rate: 0.5652173913043478 +EP 24 success: False; Cumulative success rate: 0.5416666666666666 +EP 25 success: False; Cumulative success rate: 0.52 +EP 26 success: True; Cumulative success rate: 0.5384615384615384 +EP 27 success: True; Cumulative success rate: 0.5555555555555556 +EP 28 success: True; Cumulative success rate: 0.5714285714285714 +EP 29 success: False; Cumulative success rate: 0.5517241379310345 +EP 30 success: True; Cumulative success rate: 0.5666666666666667 +EP 31 success: True; Cumulative success rate: 0.5806451612903226 +EP 32 success: False; Cumulative success rate: 0.5625 +EP 33 success: False; Cumulative success rate: 0.5454545454545454 +EP 34 success: False; Cumulative success rate: 0.5294117647058824 +EP 35 success: True; Cumulative success rate: 0.5428571428571428 +EP 36 success: False; Cumulative success rate: 0.5277777777777778 +EP 37 success: True; Cumulative success rate: 0.5405405405405406 +EP 38 success: False; Cumulative success rate: 0.5263157894736842 +EP 39 success: True; Cumulative success rate: 0.5384615384615384 +EP 40 success: True; Cumulative success rate: 0.55 +EP 41 success: False; Cumulative success rate: 0.5365853658536586 +EP 42 success: True; Cumulative success rate: 0.5476190476190477 +EP 43 success: False; Cumulative success rate: 0.5348837209302325 +EP 44 success: False; Cumulative success rate: 0.5227272727272727 +EP 45 success: True; Cumulative success rate: 0.5333333333333333 +EP 46 success: True; Cumulative success rate: 0.5434782608695652 +EP 47 success: True; Cumulative success rate: 0.5531914893617021 +EP 48 success: True; Cumulative success rate: 0.5625 +EP 49 success: False; Cumulative success rate: 0.5510204081632653 +EP 50 success: False; Cumulative success rate: 0.54 +Collecting 50 episodes took 995.40 seconds +Results for robocasa/PickPlaceCounterToStove: +Success rate: 0.54 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/PickPlaceCounterToStove/stats.json + +Running simulation for PickPlaceDrawerToCounter... +Running 50 episodes for robocasa/PickPlaceDrawerToCounter with 10 environments +Creating PickPlaceDrawerToCounter 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 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) +/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. +[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) +`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) +/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 PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceDrawerToCounter 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: False; Cumulative success rate: 0.3333333333333333 +EP 4 success: True; Cumulative success rate: 0.5 +EP 5 success: False; Cumulative success rate: 0.4 +EP 6 success: True; Cumulative success rate: 0.5 +EP 7 success: False; Cumulative success rate: 0.42857142857142855 +EP 8 success: False; Cumulative success rate: 0.375 +EP 9 success: False; Cumulative success rate: 0.3333333333333333 +EP 10 success: False; Cumulative success rate: 0.3 +EP 11 success: False; Cumulative success rate: 0.2727272727272727 +EP 12 success: False; Cumulative success rate: 0.25 +EP 13 success: False; Cumulative success rate: 0.23076923076923078 +EP 14 success: False; Cumulative success rate: 0.21428571428571427 +EP 15 success: False; Cumulative success rate: 0.2 +EP 16 success: True; Cumulative success rate: 0.25 +EP 17 success: True; Cumulative success rate: 0.29411764705882354 +EP 18 success: True; Cumulative success rate: 0.3333333333333333 +EP 19 success: False; Cumulative success rate: 0.3157894736842105 +EP 20 success: True; Cumulative success rate: 0.35 +EP 21 success: False; Cumulative success rate: 0.3333333333333333 +EP 22 success: False; Cumulative success rate: 0.3181818181818182 +EP 23 success: False; Cumulative success rate: 0.30434782608695654 +EP 24 success: False; Cumulative success rate: 0.2916666666666667 +EP 25 success: False; Cumulative success rate: 0.28 +EP 26 success: False; Cumulative success rate: 0.2692307692307692 +EP 27 success: True; Cumulative success rate: 0.2962962962962963 +EP 28 success: False; Cumulative success rate: 0.2857142857142857 +EP 29 success: True; Cumulative success rate: 0.3103448275862069 +EP 30 success: False; Cumulative success rate: 0.3 +EP 31 success: True; Cumulative success rate: 0.3225806451612903 +EP 32 success: True; Cumulative success rate: 0.34375 +EP 33 success: True; Cumulative success rate: 0.36363636363636365 +EP 34 success: True; Cumulative success rate: 0.38235294117647056 +EP 35 success: False; Cumulative success rate: 0.37142857142857144 +EP 36 success: True; Cumulative success rate: 0.3888888888888889 +EP 37 success: False; Cumulative success rate: 0.3783783783783784 +EP 38 success: True; Cumulative success rate: 0.39473684210526316 +EP 39 success: True; 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: True; Cumulative success rate: 0.42857142857142855 +EP 43 success: False; Cumulative success rate: 0.4186046511627907 +EP 44 success: False; Cumulative success rate: 0.4090909090909091 +EP 45 success: True; Cumulative success rate: 0.4222222222222222 +EP 46 success: False; Cumulative success rate: 0.41304347826086957 +EP 47 success: False; Cumulative success rate: 0.40425531914893614 +EP 48 success: False; Cumulative success rate: 0.3958333333333333 +EP 49 success: True; Cumulative success rate: 0.40816326530612246 +EP 50 success: True; Cumulative success rate: 0.42 +Collecting 50 episodes took 1233.50 seconds +Results for robocasa/PickPlaceDrawerToCounter: +Success rate: 0.42 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/PickPlaceDrawerToCounter/stats.json + +Running simulation for PickPlaceSinkToCounter... +Running 50 episodes for robocasa/PickPlaceSinkToCounter with 10 environments +Creating PickPlaceSinkToCounter 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 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) +/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) +[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) +/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 PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceSinkToCounter 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: False; Cumulative success rate: 0.0 +EP 2 success: True; Cumulative success rate: 0.5 +EP 3 success: True; Cumulative success rate: 0.6666666666666666 +EP 4 success: True; Cumulative success rate: 0.75 +EP 5 success: False; Cumulative success rate: 0.6 +EP 6 success: True; Cumulative success rate: 0.6666666666666666 +EP 7 success: True; Cumulative success rate: 0.7142857142857143 +EP 8 success: True; Cumulative success rate: 0.75 +EP 9 success: False; Cumulative success rate: 0.6666666666666666 +EP 10 success: True; Cumulative success rate: 0.7 +EP 11 success: True; Cumulative success rate: 0.7272727272727273 +EP 12 success: True; Cumulative success rate: 0.75 +EP 13 success: False; Cumulative success rate: 0.6923076923076923 +EP 14 success: False; Cumulative success rate: 0.6428571428571429 +EP 15 success: False; Cumulative success rate: 0.6 +EP 16 success: True; Cumulative success rate: 0.625 +EP 17 success: True; Cumulative success rate: 0.6470588235294118 +EP 18 success: True; Cumulative success rate: 0.6666666666666666 +EP 19 success: True; Cumulative success rate: 0.6842105263157895 +EP 20 success: False; Cumulative success rate: 0.65 +EP 21 success: True; Cumulative success rate: 0.6666666666666666 +EP 22 success: False; Cumulative success rate: 0.6363636363636364 +EP 23 success: False; Cumulative success rate: 0.6086956521739131 +EP 24 success: False; Cumulative success rate: 0.5833333333333334 +EP 25 success: True; Cumulative success rate: 0.6 +EP 26 success: False; Cumulative success rate: 0.5769230769230769 +EP 27 success: True; Cumulative success rate: 0.5925925925925926 +EP 28 success: True; Cumulative success rate: 0.6071428571428571 +EP 29 success: True; Cumulative success rate: 0.6206896551724138 +EP 30 success: False; Cumulative success rate: 0.6 +EP 31 success: False; Cumulative success rate: 0.5806451612903226 +EP 32 success: False; Cumulative success rate: 0.5625 +EP 33 success: True; Cumulative success rate: 0.5757575757575758 +EP 34 success: False; Cumulative success rate: 0.5588235294117647 +EP 35 success: False; Cumulative success rate: 0.5428571428571428 +EP 36 success: True; Cumulative success rate: 0.5555555555555556 +EP 37 success: False; Cumulative success rate: 0.5405405405405406 +EP 38 success: True; Cumulative success rate: 0.5526315789473685 +EP 39 success: True; Cumulative success rate: 0.5641025641025641 +EP 40 success: True; Cumulative success rate: 0.575 +EP 41 success: False; Cumulative success rate: 0.5609756097560976 +EP 42 success: True; Cumulative success rate: 0.5714285714285714 +EP 43 success: True; Cumulative success rate: 0.5813953488372093 +EP 44 success: True; Cumulative success rate: 0.5909090909090909 +EP 45 success: True; Cumulative success rate: 0.6 +EP 46 success: False; Cumulative success rate: 0.5869565217391305 +EP 47 success: False; Cumulative success rate: 0.574468085106383 +EP 48 success: False; Cumulative success rate: 0.5625 +EP 49 success: False; Cumulative success rate: 0.5510204081632653 +EP 50 success: True; Cumulative success rate: 0.56 +Collecting 50 episodes took 1138.85 seconds +Results for robocasa/PickPlaceSinkToCounter: +Success rate: 0.56 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/PickPlaceSinkToCounter/stats.json + +Running simulation for PickPlaceToasterToCounter... +Running 50 episodes for robocasa/PickPlaceToasterToCounter with 10 environments +Creating PickPlaceToasterToCounter 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 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) +/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 `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 PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating PickPlaceToasterToCounter 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: True; Cumulative success rate: 1.0 +EP 3 success: False; 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: False; Cumulative success rate: 0.5555555555555556 +EP 10 success: True; Cumulative success rate: 0.6 +EP 11 success: True; Cumulative success rate: 0.6363636363636364 +EP 12 success: True; Cumulative success rate: 0.6666666666666666 +EP 13 success: True; Cumulative success rate: 0.6923076923076923 +EP 14 success: True; Cumulative success rate: 0.7142857142857143 +EP 15 success: True; Cumulative success rate: 0.7333333333333333 +EP 16 success: True; Cumulative success rate: 0.75 +EP 17 success: True; Cumulative success rate: 0.7647058823529411 +EP 18 success: True; Cumulative success rate: 0.7777777777777778 +EP 19 success: True; Cumulative success rate: 0.7894736842105263 +EP 20 success: False; Cumulative success rate: 0.75 +EP 21 success: True; Cumulative success rate: 0.7619047619047619 +EP 22 success: True; Cumulative success rate: 0.7727272727272727 +EP 23 success: True; Cumulative success rate: 0.782608695652174 +EP 24 success: True; Cumulative success rate: 0.7916666666666666 +EP 25 success: True; Cumulative success rate: 0.8 +EP 26 success: True; Cumulative success rate: 0.8076923076923077 +EP 27 success: True; Cumulative success rate: 0.8148148148148148 +EP 28 success: True; Cumulative success rate: 0.8214285714285714 +EP 29 success: True; Cumulative success rate: 0.8275862068965517 +EP 30 success: True; Cumulative success rate: 0.8333333333333334 +EP 31 success: True; Cumulative success rate: 0.8387096774193549 +EP 32 success: True; Cumulative success rate: 0.84375 +EP 33 success: True; Cumulative success rate: 0.8484848484848485 +EP 34 success: True; Cumulative success rate: 0.8529411764705882 +EP 35 success: False; Cumulative success rate: 0.8285714285714286 +EP 36 success: False; Cumulative success rate: 0.8055555555555556 +EP 37 success: True; Cumulative success rate: 0.8108108108108109 +EP 38 success: True; Cumulative success rate: 0.8157894736842105 +EP 39 success: True; Cumulative success rate: 0.8205128205128205 +EP 40 success: True; Cumulative success rate: 0.825 +EP 41 success: True; Cumulative success rate: 0.8292682926829268 +EP 42 success: True; Cumulative success rate: 0.8333333333333334 +EP 43 success: True; Cumulative success rate: 0.8372093023255814 +EP 44 success: True; Cumulative success rate: 0.8409090909090909 +EP 45 success: True; Cumulative success rate: 0.8444444444444444 +EP 46 success: False; Cumulative success rate: 0.8260869565217391 +EP 47 success: True; Cumulative success rate: 0.8297872340425532 +EP 48 success: False; Cumulative success rate: 0.8125 +EP 49 success: False; Cumulative success rate: 0.7959183673469388 +EP 50 success: True; Cumulative success rate: 0.8 +Collecting 50 episodes took 563.52 seconds +Results for robocasa/PickPlaceToasterToCounter: +Success rate: 0.80 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/PickPlaceToasterToCounter/stats.json + +Running simulation for SlideDishwasherRack... +Running 50 episodes for robocasa/SlideDishwasherRack with 10 environments +Creating SlideDishwasherRack 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 `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 SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating SlideDishwasherRack 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: True; Cumulative success rate: 0.75 +EP 5 success: False; 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: False; Cumulative success rate: 0.5 +EP 9 success: False; Cumulative success rate: 0.4444444444444444 +EP 10 success: True; Cumulative success rate: 0.5 +EP 11 success: True; 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: True; Cumulative success rate: 0.6 +EP 16 success: False; Cumulative success rate: 0.5625 +EP 17 success: False; 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: True; Cumulative success rate: 0.5454545454545454 +EP 23 success: True; Cumulative success rate: 0.5652173913043478 +EP 24 success: False; Cumulative success rate: 0.5416666666666666 +EP 25 success: True; Cumulative success rate: 0.56 +EP 26 success: True; Cumulative success rate: 0.5769230769230769 +EP 27 success: True; Cumulative success rate: 0.5925925925925926 +EP 28 success: True; Cumulative success rate: 0.6071428571428571 +EP 29 success: True; Cumulative success rate: 0.6206896551724138 +EP 30 success: True; Cumulative success rate: 0.6333333333333333 +EP 31 success: True; Cumulative success rate: 0.6451612903225806 +EP 32 success: True; Cumulative success rate: 0.65625 +EP 33 success: True; Cumulative success rate: 0.6666666666666666 +EP 34 success: False; Cumulative success rate: 0.6470588235294118 +EP 35 success: True; Cumulative success rate: 0.6571428571428571 +EP 36 success: True; Cumulative success rate: 0.6666666666666666 +EP 37 success: False; Cumulative success rate: 0.6486486486486487 +EP 38 success: True; Cumulative success rate: 0.6578947368421053 +EP 39 success: True; Cumulative success rate: 0.6666666666666666 +EP 40 success: True; Cumulative success rate: 0.675 +EP 41 success: True; Cumulative success rate: 0.6829268292682927 +EP 42 success: True; Cumulative success rate: 0.6904761904761905 +EP 43 success: False; Cumulative success rate: 0.6744186046511628 +EP 44 success: True; Cumulative success rate: 0.6818181818181818 +EP 45 success: True; Cumulative success rate: 0.6888888888888889 +EP 46 success: True; Cumulative success rate: 0.6956521739130435 +EP 47 success: True; Cumulative success rate: 0.7021276595744681 +EP 48 success: True; Cumulative success rate: 0.7083333333333334 +EP 49 success: True; Cumulative success rate: 0.7142857142857143 +EP 50 success: False; Cumulative success rate: 0.7 +Collecting 50 episodes took 384.62 seconds +Results for robocasa/SlideDishwasherRack: +Success rate: 0.70 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/SlideDishwasherRack/stats.json + +Running simulation for TurnOffMicrowave... +Running 50 episodes for robocasa/TurnOffMicrowave with 10 environments +Creating TurnOffMicrowave 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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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 `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 TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffMicrowave 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: False; Cumulative success rate: 0.3333333333333333 +EP 4 success: False; Cumulative success rate: 0.25 +EP 5 success: False; Cumulative success rate: 0.2 +EP 6 success: True; Cumulative success rate: 0.3333333333333333 +EP 7 success: True; Cumulative success rate: 0.42857142857142855 +EP 8 success: False; Cumulative success rate: 0.375 +EP 9 success: False; Cumulative success rate: 0.3333333333333333 +EP 10 success: False; Cumulative success rate: 0.3 +EP 11 success: False; Cumulative success rate: 0.2727272727272727 +EP 12 success: False; Cumulative success rate: 0.25 +EP 13 success: False; Cumulative success rate: 0.23076923076923078 +EP 14 success: False; Cumulative success rate: 0.21428571428571427 +EP 15 success: False; Cumulative success rate: 0.2 +EP 16 success: False; Cumulative success rate: 0.1875 +EP 17 success: False; Cumulative success rate: 0.17647058823529413 +EP 18 success: False; Cumulative success rate: 0.16666666666666666 +EP 19 success: False; Cumulative success rate: 0.15789473684210525 +EP 20 success: False; Cumulative success rate: 0.15 +EP 21 success: True; Cumulative success rate: 0.19047619047619047 +EP 22 success: False; Cumulative success rate: 0.18181818181818182 +EP 23 success: True; Cumulative success rate: 0.21739130434782608 +EP 24 success: False; Cumulative success rate: 0.20833333333333334 +EP 25 success: False; Cumulative success rate: 0.2 +EP 26 success: False; Cumulative success rate: 0.19230769230769232 +EP 27 success: False; Cumulative success rate: 0.18518518518518517 +EP 28 success: False; Cumulative success rate: 0.17857142857142858 +EP 29 success: True; Cumulative success rate: 0.20689655172413793 +EP 30 success: False; Cumulative success rate: 0.2 +EP 31 success: False; Cumulative success rate: 0.1935483870967742 +EP 32 success: False; Cumulative success rate: 0.1875 +EP 33 success: False; Cumulative success rate: 0.18181818181818182 +EP 34 success: False; Cumulative success rate: 0.17647058823529413 +EP 35 success: True; Cumulative success rate: 0.2 +EP 36 success: False; Cumulative success rate: 0.19444444444444445 +EP 37 success: False; Cumulative success rate: 0.1891891891891892 +EP 38 success: False; Cumulative success rate: 0.18421052631578946 +EP 39 success: False; Cumulative success rate: 0.1794871794871795 +EP 40 success: False; Cumulative success rate: 0.175 +EP 41 success: False; Cumulative success rate: 0.17073170731707318 +EP 42 success: False; Cumulative success rate: 0.16666666666666666 +EP 43 success: False; Cumulative success rate: 0.16279069767441862 +EP 44 success: False; Cumulative success rate: 0.1590909090909091 +EP 45 success: False; Cumulative success rate: 0.15555555555555556 +EP 46 success: False; Cumulative success rate: 0.15217391304347827 +EP 47 success: True; Cumulative success rate: 0.1702127659574468 +EP 48 success: False; Cumulative success rate: 0.16666666666666666 +EP 49 success: False; Cumulative success rate: 0.16326530612244897 +EP 50 success: False; Cumulative success rate: 0.16 +Collecting 50 episodes took 322.21 seconds +Results for robocasa/TurnOffMicrowave: +Success rate: 0.16 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnOffMicrowave/stats.json + +Running simulation for TurnOffSinkFaucet... +Running 50 episodes for robocasa/TurnOffSinkFaucet with 10 environments +Creating TurnOffSinkFaucet 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 TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffSinkFaucet 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: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: True; Cumulative success rate: 1.0 +EP 5 success: True; Cumulative success rate: 1.0 +EP 6 success: False; Cumulative success rate: 0.8333333333333334 +EP 7 success: True; Cumulative success rate: 0.8571428571428571 +EP 8 success: False; Cumulative success rate: 0.75 +EP 9 success: True; Cumulative success rate: 0.7777777777777778 +EP 10 success: True; Cumulative success rate: 0.8 +EP 11 success: False; Cumulative success rate: 0.7272727272727273 +EP 12 success: True; Cumulative success rate: 0.75 +EP 13 success: True; Cumulative success rate: 0.7692307692307693 +EP 14 success: True; Cumulative success rate: 0.7857142857142857 +EP 15 success: True; Cumulative success rate: 0.8 +EP 16 success: True; Cumulative success rate: 0.8125 +EP 17 success: True; Cumulative success rate: 0.8235294117647058 +EP 18 success: True; Cumulative success rate: 0.8333333333333334 +EP 19 success: True; Cumulative success rate: 0.8421052631578947 +EP 20 success: True; Cumulative success rate: 0.85 +EP 21 success: True; Cumulative success rate: 0.8571428571428571 +EP 22 success: True; Cumulative success rate: 0.8636363636363636 +EP 23 success: False; Cumulative success rate: 0.8260869565217391 +EP 24 success: True; Cumulative success rate: 0.8333333333333334 +EP 25 success: False; Cumulative success rate: 0.8 +EP 26 success: True; Cumulative success rate: 0.8076923076923077 +EP 27 success: False; Cumulative success rate: 0.7777777777777778 +EP 28 success: True; Cumulative success rate: 0.7857142857142857 +EP 29 success: True; Cumulative success rate: 0.7931034482758621 +EP 30 success: True; Cumulative success rate: 0.8 +EP 31 success: False; Cumulative success rate: 0.7741935483870968 +EP 32 success: True; Cumulative success rate: 0.78125 +EP 33 success: True; Cumulative success rate: 0.7878787878787878 +EP 34 success: True; Cumulative success rate: 0.7941176470588235 +EP 35 success: True; Cumulative success rate: 0.8 +EP 36 success: True; Cumulative success rate: 0.8055555555555556 +EP 37 success: True; Cumulative success rate: 0.8108108108108109 +EP 38 success: True; Cumulative success rate: 0.8157894736842105 +EP 39 success: True; Cumulative success rate: 0.8205128205128205 +EP 40 success: True; Cumulative success rate: 0.825 +EP 41 success: True; Cumulative success rate: 0.8292682926829268 +EP 42 success: True; Cumulative success rate: 0.8333333333333334 +EP 43 success: True; Cumulative success rate: 0.8372093023255814 +EP 44 success: True; Cumulative success rate: 0.8409090909090909 +EP 45 success: True; Cumulative success rate: 0.8444444444444444 +EP 46 success: True; Cumulative success rate: 0.8478260869565217 +EP 47 success: True; Cumulative success rate: 0.851063829787234 +EP 48 success: False; Cumulative success rate: 0.8333333333333334 +EP 49 success: False; Cumulative success rate: 0.8163265306122449 +EP 50 success: True; Cumulative success rate: 0.82 +Collecting 50 episodes took 425.20 seconds +Results for robocasa/TurnOffSinkFaucet: +Success rate: 0.82 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnOffSinkFaucet/stats.json + +Running simulation for TurnOffStove... +Running 50 episodes for robocasa/TurnOffStove with 10 environments +Creating TurnOffStove 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 TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOffStove 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: False; Cumulative success rate: 0.0 +EP 2 success: True; 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: False; Cumulative success rate: 0.4 +EP 6 success: False; Cumulative success rate: 0.3333333333333333 +EP 7 success: True; Cumulative success rate: 0.42857142857142855 +EP 8 success: False; Cumulative success rate: 0.375 +EP 9 success: False; Cumulative success rate: 0.3333333333333333 +EP 10 success: False; Cumulative success rate: 0.3 +EP 11 success: True; Cumulative success rate: 0.36363636363636365 +EP 12 success: False; Cumulative success rate: 0.3333333333333333 +EP 13 success: False; Cumulative success rate: 0.3076923076923077 +EP 14 success: True; Cumulative success rate: 0.35714285714285715 +EP 15 success: False; Cumulative success rate: 0.3333333333333333 +EP 16 success: False; Cumulative success rate: 0.3125 +EP 17 success: False; Cumulative success rate: 0.29411764705882354 +EP 18 success: True; Cumulative success rate: 0.3333333333333333 +EP 19 success: False; Cumulative success rate: 0.3157894736842105 +EP 20 success: False; Cumulative success rate: 0.3 +EP 21 success: True; Cumulative success rate: 0.3333333333333333 +EP 22 success: False; Cumulative success rate: 0.3181818181818182 +EP 23 success: False; Cumulative success rate: 0.30434782608695654 +EP 24 success: False; Cumulative success rate: 0.2916666666666667 +EP 25 success: True; Cumulative success rate: 0.32 +EP 26 success: False; Cumulative success rate: 0.3076923076923077 +EP 27 success: False; Cumulative success rate: 0.2962962962962963 +EP 28 success: False; Cumulative success rate: 0.2857142857142857 +EP 29 success: True; Cumulative success rate: 0.3103448275862069 +EP 30 success: False; Cumulative success rate: 0.3 +EP 31 success: False; Cumulative success rate: 0.2903225806451613 +EP 32 success: False; Cumulative success rate: 0.28125 +EP 33 success: False; Cumulative success rate: 0.2727272727272727 +EP 34 success: False; Cumulative success rate: 0.2647058823529412 +EP 35 success: True; Cumulative success rate: 0.2857142857142857 +EP 36 success: True; Cumulative success rate: 0.3055555555555556 +EP 37 success: True; Cumulative success rate: 0.32432432432432434 +EP 38 success: False; Cumulative success rate: 0.3157894736842105 +EP 39 success: False; Cumulative success rate: 0.3076923076923077 +EP 40 success: False; Cumulative success rate: 0.3 +EP 41 success: True; Cumulative success rate: 0.3170731707317073 +EP 42 success: False; Cumulative success rate: 0.30952380952380953 +EP 43 success: False; Cumulative success rate: 0.3023255813953488 +EP 44 success: False; Cumulative success rate: 0.29545454545454547 +EP 45 success: False; Cumulative success rate: 0.28888888888888886 +EP 46 success: True; Cumulative success rate: 0.30434782608695654 +EP 47 success: False; Cumulative success rate: 0.2978723404255319 +EP 48 success: False; Cumulative success rate: 0.2916666666666667 +EP 49 success: False; Cumulative success rate: 0.2857142857142857 +EP 50 success: False; Cumulative success rate: 0.28 +Collecting 50 episodes took 586.65 seconds +Results for robocasa/TurnOffStove: +Success rate: 0.28 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnOffStove/stats.json + +Running simulation for TurnOnElectricKettle... +Running 50 episodes for robocasa/TurnOnElectricKettle with 10 environments +Creating TurnOnElectricKettle 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 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) +/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) +[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) +/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 TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnElectricKettle 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: True; Cumulative success rate: 1.0 +EP 3 success: False; Cumulative success rate: 0.6666666666666666 +EP 4 success: True; Cumulative success rate: 0.75 +EP 5 success: False; Cumulative success rate: 0.6 +EP 6 success: True; Cumulative success rate: 0.6666666666666666 +EP 7 success: True; Cumulative success rate: 0.7142857142857143 +EP 8 success: True; Cumulative success rate: 0.75 +EP 9 success: True; Cumulative success rate: 0.7777777777777778 +EP 10 success: False; Cumulative success rate: 0.7 +EP 11 success: True; Cumulative success rate: 0.7272727272727273 +EP 12 success: True; Cumulative success rate: 0.75 +EP 13 success: True; Cumulative success rate: 0.7692307692307693 +EP 14 success: False; Cumulative success rate: 0.7142857142857143 +EP 15 success: True; Cumulative success rate: 0.7333333333333333 +EP 16 success: True; Cumulative success rate: 0.75 +EP 17 success: False; Cumulative success rate: 0.7058823529411765 +EP 18 success: False; Cumulative success rate: 0.6666666666666666 +EP 19 success: True; Cumulative success rate: 0.6842105263157895 +EP 20 success: False; Cumulative success rate: 0.65 +EP 21 success: False; Cumulative success rate: 0.6190476190476191 +EP 22 success: True; Cumulative success rate: 0.6363636363636364 +EP 23 success: True; Cumulative success rate: 0.6521739130434783 +EP 24 success: True; Cumulative success rate: 0.6666666666666666 +EP 25 success: False; Cumulative success rate: 0.64 +EP 26 success: True; Cumulative success rate: 0.6538461538461539 +EP 27 success: True; Cumulative success rate: 0.6666666666666666 +EP 28 success: False; Cumulative success rate: 0.6428571428571429 +EP 29 success: True; Cumulative success rate: 0.6551724137931034 +EP 30 success: True; Cumulative success rate: 0.6666666666666666 +EP 31 success: True; Cumulative success rate: 0.6774193548387096 +EP 32 success: True; Cumulative success rate: 0.6875 +EP 33 success: True; Cumulative success rate: 0.696969696969697 +EP 34 success: True; Cumulative success rate: 0.7058823529411765 +EP 35 success: True; Cumulative success rate: 0.7142857142857143 +EP 36 success: True; Cumulative success rate: 0.7222222222222222 +EP 37 success: True; Cumulative success rate: 0.7297297297297297 +EP 38 success: True; Cumulative success rate: 0.7368421052631579 +EP 39 success: False; Cumulative success rate: 0.717948717948718 +EP 40 success: False; Cumulative success rate: 0.7 +EP 41 success: True; Cumulative success rate: 0.7073170731707317 +EP 42 success: True; Cumulative success rate: 0.7142857142857143 +EP 43 success: False; Cumulative success rate: 0.6976744186046512 +EP 44 success: False; Cumulative success rate: 0.6818181818181818 +EP 45 success: False; Cumulative success rate: 0.6666666666666666 +EP 46 success: True; Cumulative success rate: 0.6739130434782609 +EP 47 success: True; Cumulative success rate: 0.6808510638297872 +EP 48 success: True; Cumulative success rate: 0.6875 +EP 49 success: True; Cumulative success rate: 0.6938775510204082 +EP 50 success: True; Cumulative success rate: 0.7 +Collecting 50 episodes took 407.17 seconds +Results for robocasa/TurnOnElectricKettle: +Success rate: 0.70 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnOnElectricKettle/stats.json + +Running simulation for TurnOnMicrowave... +Running 50 episodes for robocasa/TurnOnMicrowave with 10 environments +Creating TurnOnMicrowave 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. +[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) +/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.") +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnMicrowave 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: 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: True; Cumulative success rate: 0.16666666666666666 +EP 7 success: False; Cumulative success rate: 0.14285714285714285 +EP 8 success: False; Cumulative success rate: 0.125 +EP 9 success: False; Cumulative success rate: 0.1111111111111111 +EP 10 success: False; Cumulative success rate: 0.1 +EP 11 success: True; Cumulative success rate: 0.18181818181818182 +EP 12 success: True; Cumulative success rate: 0.25 +EP 13 success: False; Cumulative success rate: 0.23076923076923078 +EP 14 success: False; Cumulative success rate: 0.21428571428571427 +EP 15 success: False; Cumulative success rate: 0.2 +EP 16 success: False; Cumulative success rate: 0.1875 +EP 17 success: True; Cumulative success rate: 0.23529411764705882 +EP 18 success: True; Cumulative success rate: 0.2777777777777778 +EP 19 success: False; Cumulative success rate: 0.2631578947368421 +EP 20 success: False; Cumulative success rate: 0.25 +EP 21 success: True; Cumulative success rate: 0.2857142857142857 +EP 22 success: False; Cumulative success rate: 0.2727272727272727 +EP 23 success: False; Cumulative success rate: 0.2608695652173913 +EP 24 success: False; Cumulative success rate: 0.25 +EP 25 success: False; Cumulative success rate: 0.24 +EP 26 success: False; Cumulative success rate: 0.23076923076923078 +EP 27 success: False; Cumulative success rate: 0.2222222222222222 +EP 28 success: True; Cumulative success rate: 0.25 +EP 29 success: False; Cumulative success rate: 0.2413793103448276 +EP 30 success: False; Cumulative success rate: 0.23333333333333334 +EP 31 success: False; Cumulative success rate: 0.22580645161290322 +EP 32 success: False; Cumulative success rate: 0.21875 +EP 33 success: False; Cumulative success rate: 0.21212121212121213 +EP 34 success: False; Cumulative success rate: 0.20588235294117646 +EP 35 success: False; Cumulative success rate: 0.2 +EP 36 success: True; Cumulative success rate: 0.2222222222222222 +EP 37 success: False; Cumulative success rate: 0.21621621621621623 +EP 38 success: False; Cumulative success rate: 0.21052631578947367 +EP 39 success: False; Cumulative success rate: 0.20512820512820512 +EP 40 success: True; Cumulative success rate: 0.225 +EP 41 success: False; Cumulative success rate: 0.21951219512195122 +EP 42 success: True; Cumulative success rate: 0.23809523809523808 +EP 43 success: False; Cumulative success rate: 0.23255813953488372 +EP 44 success: False; Cumulative success rate: 0.22727272727272727 +EP 45 success: False; Cumulative success rate: 0.2222222222222222 +EP 46 success: False; Cumulative success rate: 0.21739130434782608 +EP 47 success: False; Cumulative success rate: 0.2127659574468085 +EP 48 success: False; Cumulative success rate: 0.20833333333333334 +EP 49 success: False; Cumulative success rate: 0.20408163265306123 +EP 50 success: False; Cumulative success rate: 0.2 +Collecting 50 episodes took 431.38 seconds +Results for robocasa/TurnOnMicrowave: +Success rate: 0.20 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnOnMicrowave/stats.json + +Running simulation for TurnOnSinkFaucet... +Running 50 episodes for robocasa/TurnOnSinkFaucet with 10 environments +Creating TurnOnSinkFaucet 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.") +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnSinkFaucet 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: False; Cumulative success rate: 0.0 +EP 2 success: False; Cumulative success rate: 0.0 +EP 3 success: True; Cumulative success rate: 0.3333333333333333 +EP 4 success: True; Cumulative success rate: 0.5 +EP 5 success: False; Cumulative success rate: 0.4 +EP 6 success: True; Cumulative success rate: 0.5 +EP 7 success: True; Cumulative success rate: 0.5714285714285714 +EP 8 success: True; Cumulative success rate: 0.625 +EP 9 success: False; Cumulative success rate: 0.5555555555555556 +EP 10 success: False; Cumulative success rate: 0.5 +EP 11 success: False; Cumulative success rate: 0.45454545454545453 +EP 12 success: True; Cumulative success rate: 0.5 +EP 13 success: True; Cumulative success rate: 0.5384615384615384 +EP 14 success: False; Cumulative success rate: 0.5 +EP 15 success: False; Cumulative success rate: 0.4666666666666667 +EP 16 success: False; Cumulative success rate: 0.4375 +EP 17 success: True; Cumulative success rate: 0.47058823529411764 +EP 18 success: False; Cumulative success rate: 0.4444444444444444 +EP 19 success: True; Cumulative success rate: 0.47368421052631576 +EP 20 success: True; Cumulative success rate: 0.5 +EP 21 success: True; Cumulative success rate: 0.5238095238095238 +EP 22 success: True; Cumulative success rate: 0.5454545454545454 +EP 23 success: False; Cumulative success rate: 0.5217391304347826 +EP 24 success: True; Cumulative success rate: 0.5416666666666666 +EP 25 success: True; Cumulative success rate: 0.56 +EP 26 success: True; Cumulative success rate: 0.5769230769230769 +EP 27 success: True; Cumulative success rate: 0.5925925925925926 +EP 28 success: True; Cumulative success rate: 0.6071428571428571 +EP 29 success: True; Cumulative success rate: 0.6206896551724138 +EP 30 success: True; Cumulative success rate: 0.6333333333333333 +EP 31 success: True; Cumulative success rate: 0.6451612903225806 +EP 32 success: True; Cumulative success rate: 0.65625 +EP 33 success: True; Cumulative success rate: 0.6666666666666666 +EP 34 success: False; Cumulative success rate: 0.6470588235294118 +EP 35 success: False; Cumulative success rate: 0.6285714285714286 +EP 36 success: True; Cumulative success rate: 0.6388888888888888 +EP 37 success: True; Cumulative success rate: 0.6486486486486487 +EP 38 success: True; Cumulative success rate: 0.6578947368421053 +EP 39 success: True; Cumulative success rate: 0.6666666666666666 +EP 40 success: True; Cumulative success rate: 0.675 +EP 41 success: True; Cumulative success rate: 0.6829268292682927 +EP 42 success: True; Cumulative success rate: 0.6904761904761905 +EP 43 success: True; Cumulative success rate: 0.6976744186046512 +EP 44 success: False; Cumulative success rate: 0.6818181818181818 +EP 45 success: True; Cumulative success rate: 0.6888888888888889 +EP 46 success: True; Cumulative success rate: 0.6956521739130435 +EP 47 success: False; Cumulative success rate: 0.6808510638297872 +EP 48 success: False; Cumulative success rate: 0.6666666666666666 +EP 49 success: True; Cumulative success rate: 0.673469387755102 +EP 50 success: False; Cumulative success rate: 0.66 +Collecting 50 episodes took 654.86 seconds +Results for robocasa/TurnOnSinkFaucet: +Success rate: 0.66 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnOnSinkFaucet/stats.json + +Running simulation for TurnOnStove... +Running 50 episodes for robocasa/TurnOnStove with 10 environments +Creating TurnOnStove with split=pretrain +[robosuite WARNING] No private macro file found! (macros.py:57) +[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] 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] 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 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) +/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 TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnOnStove 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: False; Cumulative success rate: 0.3333333333333333 +EP 4 success: False; Cumulative success rate: 0.25 +EP 5 success: False; Cumulative success rate: 0.2 +EP 6 success: True; Cumulative success rate: 0.3333333333333333 +EP 7 success: True; Cumulative success rate: 0.42857142857142855 +EP 8 success: False; Cumulative success rate: 0.375 +EP 9 success: False; Cumulative success rate: 0.3333333333333333 +EP 10 success: False; Cumulative success rate: 0.3 +EP 11 success: False; Cumulative success rate: 0.2727272727272727 +EP 12 success: False; Cumulative success rate: 0.25 +EP 13 success: True; Cumulative success rate: 0.3076923076923077 +EP 14 success: True; Cumulative success rate: 0.35714285714285715 +EP 15 success: False; Cumulative success rate: 0.3333333333333333 +EP 16 success: True; Cumulative success rate: 0.375 +EP 17 success: False; Cumulative success rate: 0.35294117647058826 +EP 18 success: False; Cumulative success rate: 0.3333333333333333 +EP 19 success: False; Cumulative success rate: 0.3157894736842105 +EP 20 success: False; Cumulative success rate: 0.3 +EP 21 success: True; Cumulative success rate: 0.3333333333333333 +EP 22 success: False; Cumulative success rate: 0.3181818181818182 +EP 23 success: True; Cumulative success rate: 0.34782608695652173 +EP 24 success: False; Cumulative success rate: 0.3333333333333333 +EP 25 success: True; Cumulative success rate: 0.36 +EP 26 success: False; Cumulative success rate: 0.34615384615384615 +EP 27 success: False; Cumulative success rate: 0.3333333333333333 +EP 28 success: False; Cumulative success rate: 0.32142857142857145 +EP 29 success: False; Cumulative success rate: 0.3103448275862069 +EP 30 success: False; Cumulative success rate: 0.3 +EP 31 success: True; Cumulative success rate: 0.3225806451612903 +EP 32 success: True; Cumulative success rate: 0.34375 +EP 33 success: False; Cumulative success rate: 0.3333333333333333 +EP 34 success: False; Cumulative success rate: 0.3235294117647059 +EP 35 success: False; Cumulative success rate: 0.3142857142857143 +EP 36 success: False; Cumulative success rate: 0.3055555555555556 +EP 37 success: True; Cumulative success rate: 0.32432432432432434 +EP 38 success: False; Cumulative success rate: 0.3157894736842105 +EP 39 success: False; Cumulative success rate: 0.3076923076923077 +EP 40 success: True; Cumulative success rate: 0.325 +EP 41 success: False; Cumulative success rate: 0.3170731707317073 +EP 42 success: False; Cumulative success rate: 0.30952380952380953 +EP 43 success: False; Cumulative success rate: 0.3023255813953488 +EP 44 success: True; Cumulative success rate: 0.3181818181818182 +EP 45 success: False; Cumulative success rate: 0.3111111111111111 +EP 46 success: True; Cumulative success rate: 0.32608695652173914 +EP 47 success: False; Cumulative success rate: 0.3191489361702128 +EP 48 success: True; Cumulative success rate: 0.3333333333333333 +EP 49 success: True; Cumulative success rate: 0.3469387755102041 +EP 50 success: False; Cumulative success rate: 0.34 +Collecting 50 episodes took 406.46 seconds +Results for robocasa/TurnOnStove: +Success rate: 0.34 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnOnStove/stats.json + +Running simulation for TurnSinkSpout... +Running 50 episodes for robocasa/TurnSinkSpout with 10 environments +Creating TurnSinkSpout 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] No private macro file found! (macros.py:57) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:58) +[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] 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 TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +WARNING: mimicgen environments not imported since mimicgen is not installed! +Creating TurnSinkSpout with split=pretrain +/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) +EP 1 success: True; Cumulative success rate: 1.0 +EP 2 success: True; Cumulative success rate: 1.0 +EP 3 success: True; Cumulative success rate: 1.0 +EP 4 success: False; Cumulative success rate: 0.75 +EP 5 success: True; Cumulative success rate: 0.8 +EP 6 success: True; Cumulative success rate: 0.8333333333333334 +EP 7 success: True; Cumulative success rate: 0.8571428571428571 +EP 8 success: True; Cumulative success rate: 0.875 +EP 9 success: True; Cumulative success rate: 0.8888888888888888 +EP 10 success: True; Cumulative success rate: 0.9 +EP 11 success: True; Cumulative success rate: 0.9090909090909091 +EP 12 success: True; Cumulative success rate: 0.9166666666666666 +EP 13 success: True; Cumulative success rate: 0.9230769230769231 +EP 14 success: True; Cumulative success rate: 0.9285714285714286 +EP 15 success: True; Cumulative success rate: 0.9333333333333333 +EP 16 success: True; Cumulative success rate: 0.9375 +EP 17 success: True; Cumulative success rate: 0.9411764705882353 +EP 18 success: False; Cumulative success rate: 0.8888888888888888 +EP 19 success: True; Cumulative success rate: 0.8947368421052632 +EP 20 success: False; Cumulative success rate: 0.85 +EP 21 success: True; Cumulative success rate: 0.8571428571428571 +EP 22 success: True; Cumulative success rate: 0.8636363636363636 +EP 23 success: True; Cumulative success rate: 0.8695652173913043 +EP 24 success: True; Cumulative success rate: 0.875 +EP 25 success: True; Cumulative success rate: 0.88 +EP 26 success: True; Cumulative success rate: 0.8846153846153846 +EP 27 success: False; Cumulative success rate: 0.8518518518518519 +EP 28 success: True; Cumulative success rate: 0.8571428571428571 +EP 29 success: True; Cumulative success rate: 0.8620689655172413 +EP 30 success: True; Cumulative success rate: 0.8666666666666667 +EP 31 success: True; Cumulative success rate: 0.8709677419354839 +EP 32 success: True; Cumulative success rate: 0.875 +EP 33 success: True; Cumulative success rate: 0.8787878787878788 +EP 34 success: True; Cumulative success rate: 0.8823529411764706 +EP 35 success: True; Cumulative success rate: 0.8857142857142857 +EP 36 success: True; Cumulative success rate: 0.8888888888888888 +EP 37 success: True; Cumulative success rate: 0.8918918918918919 +EP 38 success: True; Cumulative success rate: 0.8947368421052632 +EP 39 success: True; Cumulative success rate: 0.8974358974358975 +EP 40 success: True; Cumulative success rate: 0.9 +EP 41 success: True; Cumulative success rate: 0.9024390243902439 +EP 42 success: True; Cumulative success rate: 0.9047619047619048 +EP 43 success: True; Cumulative success rate: 0.9069767441860465 +EP 44 success: False; Cumulative success rate: 0.8863636363636364 +EP 45 success: True; Cumulative success rate: 0.8888888888888888 +EP 46 success: False; Cumulative success rate: 0.8695652173913043 +EP 47 success: False; Cumulative success rate: 0.851063829787234 +EP 48 success: True; Cumulative success rate: 0.8541666666666666 +EP 49 success: True; Cumulative success rate: 0.8571428571428571 +EP 50 success: True; Cumulative success rate: 0.86 +Collecting 50 episodes took 374.99 seconds +Results for robocasa/TurnSinkSpout: +Success rate: 0.86 +saved stats to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/evals/pretrain/TurnSinkSpout/stats.json + +Eval metadata +- total_eval_time: 6h 29m 39s (23379.02s) +- model_path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +- checkpoint_name: phase3 +- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default +- video_dir: /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 +- task_set: my_atomic26 +- split: pretrain +- n_envs: 10 +- n_episodes: 50 +- seed: 42 +- command: /home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 4521 --seed 42 +- config_yaml_candidates: + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/rkd_v2_1_a_stepup_phase3_only.yaml +- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/resolved_config.yaml +- copied_config_yamls: + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/resolved_config.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/rkd_v2_1_a_stepup_phase3_only.yaml + - /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/selected_eval_config.yaml + +Stats for task group: MY_ATOMIC26 +CloseBlenderLid: 10 | None +CloseFridge: 78 | None +CloseToasterOvenDoor: 74 | None +CoffeeSetupMug: 42 | None +NavigateKitchen: 38 | None +OpenCabinet: 46 | None +OpenDrawer: 56 | None +OpenStandMixerHead: 90 | None +PickPlaceCounterToCabinet: 50 | None +PickPlaceCounterToStove: 54 | None +PickPlaceDrawerToCounter: 42 | None +PickPlaceSinkToCounter: 56 | None +PickPlaceToasterToCounter: 80 | None +PickPlaceCabinetToCounter: 40 | None +TurnOnElectricKettle: 70 | None +TurnOnMicrowave: 20 | None +TurnOffMicrowave: 16 | None +OpenElectricKettleLid: 52 | None +SlideDishwasherRack: 70 | None +TurnOnSinkFaucet: 66 | None +TurnSinkSpout: 86 | None +TurnOffSinkFaucet: 82 | None +TurnOffStove: 28 | None +TurnOnStove: 34 | None +AVG: 53.3 | nan + +Eval completeness check +- split: pretrain +- expected tasks: 26 +- completed tasks: 24/26 +- expected episodes per task: 50 +- missing tasks: + - AdjustToasterOvenTemperature + - AdjustWaterTemperature +CHECK FAILED +saved eval stats report to /home/seonho/groot_robocasa/Experiments/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/summary.txt +Traceback (most recent call last): + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 485, in + run_post_eval_stats( + File "/home/seonho/clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py", line 374, in run_post_eval_stats + raise RuntimeError("Eval output validation failed.") +RuntimeError: Eval output validation failed. diff --git a/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_resume_20260622_170735_gpu0.log b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_resume_20260622_170735_gpu0.log new file mode 100644 index 0000000000000000000000000000000000000000..c853fb4c39a209df1070ce3de8509d05f5d4bb1f --- /dev/null +++ b/rkd_v2_1_moresteps/rkd_v2_1_angle/default/phase3/eval_resume_20260622_170735_gpu0.log @@ -0,0 +1,534 @@ +[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) +WARNING: mimicgen environments not imported since mimicgen is not installed! +/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. +Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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/rkd_v2_1/rkd_v2_1_angle/default/phase3 +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