============= Config ============= { "name": "square", "type": "robosuite", "experiment": { "name": "demo_src_square_task_D0", "source": { "dataset_path": "/home/tiger/mg_ws/mimicgen/mimicgen/../datasets/source/square.hdf5", "filter_key": null, "n": 10, "start": null }, "generation": { "path": "/tmp/core_datasets/square", "guarantee": true, "keep_failed": true, "num_trials": 300, "select_src_per_subtask": false, "transform_first_robot_pose": false, "interpolate_from_last_target_pose": true }, "task": { "name": "Square_D0", "robot": null, "gripper": null, "env_meta_update_kwargs": {}, "interface": null, "interface_type": null }, "max_num_failures": 25, "render_video": true, "num_demo_to_render": 10, "num_fail_demo_to_render": 25, "log_every_n_attempts": 50, "seed": 1 }, "obs": { "collect_obs": true, "camera_names": [ "agentview", "robot0_eye_in_hand" ], "camera_height": 256, "camera_width": 256 }, "task": { "task_spec": { "subtask_1": { "object_ref": "square_nut", "subtask_term_signal": "grasp", "subtask_term_offset_range": [ 10, 20 ], "selection_strategy": "nearest_neighbor_object", "selection_strategy_kwargs": { "nn_k": 3 }, "action_noise": 0.05, "num_interpolation_steps": 5, "num_fixed_steps": 0, "apply_noise_during_interpolation": false }, "subtask_2": { "object_ref": "square_peg", "subtask_term_signal": null, "subtask_term_offset_range": null, "selection_strategy": "nearest_neighbor_object", "selection_strategy_kwargs": { "nn_k": 3 }, "action_noise": 0.05, "num_interpolation_steps": 5, "num_fixed_steps": 0, "apply_noise_during_interpolation": false } } } } Import error. Trying to rebuild mujoco_py. ============= Initialized Observation Utils with Obs Spec ============= using obs modality: low_dim with keys: [] using obs modality: rgb with keys: ['robot0_eye_in_hand_image', 'agentview_image'] INFO:root:Device 0 is available for rendering INFO:root:Device 1 is available for rendering INFO:root:Device 2 is available for rendering INFO:root:Device 3 is available for rendering INFO:root:Device 4 is available for rendering INFO:root:Device 5 is available for rendering INFO:root:Device 6 is available for rendering INFO:root:Device 7 is available for rendering ==== Using environment with the following metadata ==== { "env_name": "Square_D0", "env_version": "1.4.1", "type": 1, "env_kwargs": { "has_renderer": false, "has_offscreen_renderer": true, "ignore_done": true, "use_object_obs": true, "use_camera_obs": true, "control_freq": 20, "controller_configs": { "type": "OSC_POSE", "input_max": 1, "input_min": -1, "output_max": [ 0.05, 0.05, 0.05, 0.5, 0.5, 0.5 ], "output_min": [ -0.05, -0.05, -0.05, -0.5, -0.5, -0.5 ], "kp": 150, "damping": 1, "impedance_mode": "fixed", "kp_limits": [ 0, 300 ], "damping_limits": [ 0, 10 ], "position_limits": null, "orientation_limits": null, "uncouple_pos_ori": true, "control_delta": true, "interpolation": null, "ramp_ratio": 0.2 }, "robots": [ "Panda" ], "camera_depths": false, "camera_heights": 256, "camera_widths": 256, "render_gpu_device_id": 0, "reward_shaping": false, "camera_names": [ "agentview", "robot0_eye_in_hand" ] } } Created environment interface: MG_Square DataGenerator: loading dataset at path /home/tiger/mg_ws/mimicgen/mimicgen/../datasets/source/square.hdf5... 0%| | 0/10 [00:00 Traceback (most recent call last): File "/home/tiger/mg_ws/robosuite/robosuite/utils/binding_utils.py", line 199, in __del__ self.gl_ctx.free() File "/home/tiger/mg_ws/robosuite/robosuite/renderers/context/egl_context.py", line 150, in free EGL.eglDestroyContext(EGL_DISPLAY, self._context) File "/home/tiger/miniconda3/envs/mimicgen_env/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError raise self._errorClass( OpenGL.raw.EGL._errors.EGLError: EGLError( err = EGL_NOT_INITIALIZED, baseOperation = eglDestroyContext, cArguments = ( , , ), result = 0 ) Exception ignored in: Traceback (most recent call last): File "/home/tiger/mg_ws/robosuite/robosuite/renderers/context/egl_context.py", line 155, in __del__ self.free() File "/home/tiger/mg_ws/robosuite/robosuite/renderers/context/egl_context.py", line 150, in free EGL.eglDestroyContext(EGL_DISPLAY, self._context) File "/home/tiger/miniconda3/envs/mimicgen_env/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError raise self._errorClass( OpenGL.raw.EGL._errors.EGLError: EGLError( err = EGL_NOT_INITIALIZED, baseOperation = eglDestroyContext, cArguments = ( , , ), result = 0 ) Exception ignored in: Traceback (most recent call last): File "/home/tiger/mg_ws/robosuite/robosuite/utils/binding_utils.py", line 199, in __del__ self.gl_ctx.free() File "/home/tiger/mg_ws/robosuite/robosuite/renderers/context/egl_context.py", line 149, in free EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) File "/home/tiger/miniconda3/envs/mimicgen_env/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError raise self._errorClass( OpenGL.raw.EGL._errors.EGLError: EGLError( err = EGL_NOT_INITIALIZED, baseOperation = eglMakeCurrent, cArguments = ( , , , , ), result = 0 ) Exception ignored in: Traceback (most recent call last): File "/home/tiger/mg_ws/robosuite/robosuite/renderers/context/egl_context.py", line 155, in __del__ self.free() File "/home/tiger/mg_ws/robosuite/robosuite/renderers/context/egl_context.py", line 149, in free EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) File "/home/tiger/miniconda3/envs/mimicgen_env/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError raise self._errorClass( OpenGL.raw.EGL._errors.EGLError: EGLError( err = EGL_NOT_INITIALIZED, baseOperation = eglMakeCurrent, cArguments = ( , , , , ), result = 0 )