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[spacemonqi]

Good day,

After trying the suggested solutions in the other two issues on the same topic, when running

python experiments/robosuite/dreamer/dreamer_v2_single_task_primitives_door.py --mode here_no_doodad --exp_prefix test

I still get

2022-12-06 19:05:46.506113 CET | Variant:
2022-12-06 19:05:46.506515 CET | {
  "algorithm": "DreamerV2",
  "version": "normal",
  "replay_buffer_size": 500000,
  "algorithm_kwargs": {
    "num_epochs": 1000,
    "num_eval_steps_per_epoch": 30,
    "min_num_steps_before_training": 2500,
    "num_pretrain_steps": 100,
    "max_path_length": 5,
    "batch_size": 417,
    "num_expl_steps_per_train_loop": 60,
    "num_train_loops_per_epoch": 20,
    "num_trains_per_train_loop": 20
  },
  "env_name": "Door",
  "use_raw_actions": false,
  "env_suite": "robosuite",
  "env_kwargs": {
    "robots": "Panda",
    "has_renderer": false,
    "has_offscreen_renderer": false,
    "use_camera_obs": false,
    "camera_heights": 64,
    "camera_widths": 64,
    "controller_configs": {
      "type": "OSC_POSE",
      "input_max": 1,
      "input_min": -1,
      "output_max": [
        0.1,
        0.1,
        0.1,
        0.5,
        0.5,
        0.5
      ],
      "output_min": [
        -0.1,
        -0.1,
        -0.1,
        -0.5,
        -0.5,
        -0.5
      ],
      "kp": 150,
      "damping_ratio": 1,
      "impedance_mode": "fixed",
      "kp_limits": [
        0,
        300
      ],
      "damping_ratio_limits": [
        0,
        10
      ],
      "position_limits": null,
      "orientation_limits": null,
      "uncouple_pos_ori": true,
      "control_delta": true,
      "interpolation": null,
      "ramp_ratio": 0.2
    },
    "horizon": 5,
    "control_freq": 20,
    "reward_shaping": false,
    "reset_action_space_kwargs": {
      "control_mode": "primitives",
      "action_scale": 1,
      "max_path_length": 5,
      "workspace_low": [
        -0.3,
        -0.4,
        0.8
      ],
      "workspace_high": [
        0.0,
        0.2,
        1.3
      ],
      "go_to_pose_iterations": 40,
      "camera_settings": {
        "distance": 0.9532481338137215,
        "lookat": [
          -0.30494697896254724,
          -0.4394507345054956,
          0.9492024838769221
        ],
        "azimuth": -125.859375,
        "elevation": -29.062499923165888
      }
    },
    "usage_kwargs": {
      "use_dm_backend": true,
      "max_path_length": 5
    },
    "image_kwargs": {}
  },
  "actor_kwargs": {
    "discrete_continuous_dist": true,
    "init_std": 0.0,
    "num_layers": 4,
    "min_std": 0.1,
    "dist": "tanh_normal_dreamer_v1"
  },
  "vf_kwargs": {
    "num_layers": 3
  },
  "model_kwargs": {
    "model_hidden_size": 400,
    "stochastic_state_size": 50,
    "deterministic_state_size": 200,
    "embedding_size": 1024,
    "rssm_hidden_size": 200,
    "reward_num_layers": 2,
    "pred_discount_num_layers": 3,
    "gru_layer_norm": true,
    "std_act": "sigmoid2"
  },
  "trainer_kwargs": {
    "adam_eps": 1e-05,
    "discount": 0.8,
    "lam": 0.95,
    "forward_kl": false,
    "free_nats": 1.0,
    "pred_discount_loss_scale": 10.0,
    "kl_loss_scale": 0.0,
    "transition_loss_scale": 0.8,
    "actor_lr": 8e-05,
    "vf_lr": 8e-05,
    "world_model_lr": 0.0003,
    "reward_loss_scale": 2.0,
    "use_pred_discount": true,
    "policy_gradient_loss_scale": 1.0,
    "actor_entropy_loss_schedule": "1e-4",
    "target_update_period": 100,
    "detach_rewards": false,
    "imagination_horizon": 5
  },
  "num_expl_envs": 10,
  "num_eval_envs": 1,
  "expl_amount": 0.3,
  "pass_render_kwargs": true,
  "save_video": true,
  "seed": "31079",
  "exp_id": "0",
  "exp_prefix": "12-06-test",
  "instance_type": "None",
  "exp_name": "12-06-test_2022_12_06_19_05_46_0000--s-31079"
}
Process SpawnProcess-7:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-8:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-10:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-2:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-3:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-1:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-6:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-4:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-5:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Process SpawnProcess-9:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 104, in make_env
    from rlkit.envs.primitives_wrappers import (
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_wrappers.py", line 2, in <module>
    import mujoco_py
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/__init__.py", line 3, in <module>
    from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 510, in <module>
    cymj = load_cython_ext(mujoco_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 101, in load_cython_ext
    mod = load_dynamic_ext('cymj', cext_so_path)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/site-packages/mujoco_py/builder.py", line 125, in load_dynamic_ext
    return loader.load_module()
  File "mujoco_py/cymj.pyx", line 1, in init mujoco_py.cymj
ValueError: numpy.ndarray size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
Traceback (most recent call last):
  File "/home/dve/raps/rlkit/experiments/robosuite/dreamer/dreamer_v2_single_task_primitives_door.py", line 167, in <module>
    run_experiment(
  File "/home/dve/raps/rlkit/rlkit/launchers/launcher_util.py", line 590, in run_experiment
    return run_experiment_here(method_call, **run_experiment_kwargs)
  File "/home/dve/raps/rlkit/rlkit/launchers/launcher_util.py", line 168, in run_experiment_here
    return experiment_function(variant)
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 45, in experiment
    expl_env = StableBaselinesVecEnv(env_fns=env_fns, start_method="fork")
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 134, in __init__
    observation_space, action_space = self.remotes[0].recv()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/connection.py", line 255, in recv
    buf = self._recv_bytes()
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/connection.py", line 419, in _recv_bytes
    buf = self._recv(4)
  File "/home/dve/anaconda3/envs/pt1.7/lib/python3.9/multiprocessing/connection.py", line 384, in _recv
    chunk = read(handle, remaining)
ConnectionResetError: [Errno 104] Connection reset by peer

Note that my installed packages are:

Package                  Version       
------------------------ ----------------- 
a2c-ppo-acktr            0.0.1     
absl-py                  1.3.0
awscli                   1.27.23
boto                     2.49.0
boto3                    1.26.23
botocore                 1.29.23
certifi                  2022.9.24
cffi                     1.15.1
charset-normalizer       2.1.1
click                    8.0.1
cloudpickle              1.6.0
colorama                 0.4.4
contourpy                1.0.6
cycler                   0.11.0
Cython                   0.29.32
d4rl                     1.1               
dm-control               1.0.0
dm-env                   1.5
dm-tree                  0.1.7
docutils                 0.16
doodad                   0.2.1.dev0        /home/dve/raps/doodad
fasteners                0.18
Flask                    2.1.2
fonttools                4.38.0
future                   0.18.2
glfw                     2.5.5
gtimer                   1.0.0b5
gym                      0.18.3
gym-notices              0.0.8
h5py                     3.7.0
idna                     3.4
imageio                  2.9.0
importlib-metadata       4.13.0
itsdangerous             2.1.2
Jinja2                   3.1.2
jmespath                 1.0.1
kiwisolver               1.4.4
labmaze                  1.0.6
llvmlite                 0.36.0
lxml                     4.9.1
MarkupSafe               2.1.1
matplotlib               3.3.4
metaworld                0.0.0    
mjrl                     1.0.0
mujoco-py                2.0.2.13
networkx                 2.8.8
numba                    0.53.1
numpy                    1.21.6
numpy-quaternion         2021.4.5.14.42.35
nvidia-cublas-cu11       11.10.3.66
nvidia-cuda-nvrtc-cu11   11.7.99
nvidia-cuda-runtime-cu11 11.7.99
nvidia-cudnn-cu11        8.5.0.96
opencv-python            4.5.2.52
packaging                21.3
pandas                   1.5.2
Pillow                   8.2.0
pip                      22.2.2
plotly                   4.0.0
protobuf                 4.21.10
pyasn1                   0.4.8
pybullet                 3.2.5
pycparser                2.21
pyglet                   1.5.15
PyOpenGL                 3.1.6
pyparsing                2.4.7
python-dateutil          2.8.1
pytz                     2022.6
PyWavelets               1.4.1
PyYAML                   5.4.1
rad                      1.0.0          
requests                 2.28.1
retrying                 1.3.4
rlkit                    0.2.1.dev0   
robosuite                1.2.0          
rsa                      4.7.2
s3transfer               0.6.0
scikit-image             0.17.2
scipy                    1.9.3
setuptools               65.5.0
six                      1.16.0
stable-baselines3        1.0
termcolor                1.1.0
tifffile                 2022.10.10
torch                    1.7.1
torchvision              0.8.2
tqdm                     4.64.1
typing_extensions        4.4.0
urllib3                  1.26.13
viskit                   0.1     
Werkzeug                 2.2.2
wheel                    0.37.1
zipp                     3.11.0

Any help would be much appreciated! Kind regards

[spacemonqi]

The previous was with python3.9 - when using python3.7 the following results:

Same value for key: env_name
2022-12-07 00:11:36.028866 CET | Variant:
2022-12-07 00:11:36.029354 CET | {
  "env_name": "Lift",
  "algorithm": "DreamerV2",
  "version": "normal",
  "replay_buffer_size": 500000,
  "algorithm_kwargs": {
    "num_epochs": 1000,
    "num_eval_steps_per_epoch": 30,
    "min_num_steps_before_training": 2500,
    "num_pretrain_steps": 100,
    "max_path_length": 5,
    "batch_size": 417,
    "num_expl_steps_per_train_loop": 60,
    "num_train_loops_per_epoch": 20,
    "num_trains_per_train_loop": 20
  },
  "use_raw_actions": false,
  "env_suite": "robosuite",
  "env_kwargs": {
    "robots": "Panda",
    "has_renderer": false,
    "has_offscreen_renderer": false,
    "use_camera_obs": false,
    "camera_heights": 64,
    "camera_widths": 64,
    "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_ratio": 1,
      "impedance_mode": "fixed",
      "kp_limits": [
        0,
        300
      ],
      "damping_ratio_limits": [
        0,
        10
      ],
      "position_limits": null,
      "orientation_limits": null,
      "uncouple_pos_ori": true,
      "control_delta": true,
      "interpolation": null,
      "ramp_ratio": 0.2
    },
    "horizon": 5,
    "control_freq": 40,
    "reward_shaping": false,
    "reset_action_space_kwargs": {
      "control_mode": "primitives",
      "action_scale": 1,
      "max_path_length": 5,
      "workspace_low": [
        0.0,
        -0.2,
        0.6
      ],
      "workspace_high": [
        0.3,
        0.2,
        1
      ],
      "camera_settings": {
        "distance": 0.2613113661860936,
        "lookat": [
          -0.13466918548055004,
          -0.0808556895915784,
          0.898754837869992
        ],
        "azimuth": 30.234375,
        "elevation": -34.21874942723662
      }
    },
    "usage_kwargs": {
      "use_dm_backend": true,
      "max_path_length": 5
    },
    "image_kwargs": {}
  },
  "actor_kwargs": {
    "discrete_continuous_dist": true,
    "init_std": 0.0,
    "num_layers": 4,
    "min_std": 0.1,
    "dist": "tanh_normal_dreamer_v1"
  },
  "vf_kwargs": {
    "num_layers": 3
  },
  "model_kwargs": {
    "model_hidden_size": 400,
    "stochastic_state_size": 50,
    "deterministic_state_size": 200,
    "embedding_size": 1024,
    "rssm_hidden_size": 200,
    "reward_num_layers": 2,
    "pred_discount_num_layers": 3,
    "gru_layer_norm": true,
    "std_act": "sigmoid2"
  },
  "trainer_kwargs": {
    "adam_eps": 1e-05,
    "discount": 0.8,
    "lam": 0.95,
    "forward_kl": false,
    "free_nats": 1.0,
    "pred_discount_loss_scale": 10.0,
    "kl_loss_scale": 0.0,
    "transition_loss_scale": 0.8,
    "actor_lr": 8e-05,
    "vf_lr": 8e-05,
    "world_model_lr": 0.0003,
    "reward_loss_scale": 2.0,
    "use_pred_discount": true,
    "policy_gradient_loss_scale": 1.0,
    "actor_entropy_loss_schedule": "1e-4",
    "target_update_period": 100,
    "detach_rewards": false,
    "imagination_horizon": 5
  },
  "num_expl_envs": 10,
  "num_eval_envs": 1,
  "expl_amount": 0.3,
  "pass_render_kwargs": true,
  "save_video": true,
  "seed": "97140",
  "exp_id": "0",
  "exp_prefix": "12-07-temp",
  "instance_type": "None",
  "exp_name": "12-07-temp_2022_12_07_00_11_36_0000--s-97140"
}
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
Process SpawnProcess-6:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 138, in make_env
    env = make_base_robosuite_env(env_name, env_kwargs_new, use_dm_backend)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 26, in make_base_robosuite_env
    env = suite.make(env_name, **env_kwargs_new)
  File "/home/dve/raps/robosuite/robosuite/environments/base.py", line 41, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
  File "/home/dve/raps/robosuite/robosuite/environments/manipulation/lift.py", line 190, in __init__
    camera_depths=camera_depths,
  File "/home/dve/raps/robosuite/robosuite/environments/manipulation/manipulation_env.py", line 168, in __init__
    robot_configs=robot_configs,
  File "/home/dve/raps/robosuite/robosuite/environments/robot_env.py", line 196, in __init__
    hard_reset=hard_reset,
  File "/home/dve/raps/robosuite/robosuite/environments/base.py", line 144, in __init__
    self._initialize_sim()
  File "/home/dve/raps/rlkit/rlkit/envs/dm_backend_wrappers.py", line 643, in _initialize_sim
    self.dm_sim = dm_mujoco.Physics.from_xml_string(st)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 424, in from_xml_string
    return cls.from_model(model)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 407, in from_model
    return cls(data)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 122, in __init__
    self._reload_from_data(data)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 389, in _reload_from_data
    data=index.struct_indexer(self.data, 'mjdata', axis_indexers),)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/index.py", line 623, in struct_indexer
    attr = getattr(struct, field_name)
AttributeError: 'MjData' object has no attribute 'qacc_unc'
Process SpawnProcess-1:
Traceback (most recent call last):
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 72, in _worker
    env = env_fn_wrapper.var()
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 42, in <lambda>
    lambda: primitives_make_env.make_env(env_suite, env_name, env_kwargs)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 138, in make_env
    env = make_base_robosuite_env(env_name, env_kwargs_new, use_dm_backend)
  File "/home/dve/raps/rlkit/rlkit/envs/primitives_make_env.py", line 26, in make_base_robosuite_env
    env = suite.make(env_name, **env_kwargs_new)
  File "/home/dve/raps/robosuite/robosuite/environments/base.py", line 41, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
  File "/home/dve/raps/robosuite/robosuite/environments/manipulation/lift.py", line 190, in __init__
    camera_depths=camera_depths,
  File "/home/dve/raps/robosuite/robosuite/environments/manipulation/manipulation_env.py", line 168, in __init__
    robot_configs=robot_configs,
  File "/home/dve/raps/robosuite/robosuite/environments/robot_env.py", line 196, in __init__
    hard_reset=hard_reset,
  File "/home/dve/raps/robosuite/robosuite/environments/base.py", line 144, in __init__
    self._initialize_sim()
  File "/home/dve/raps/rlkit/rlkit/envs/dm_backend_wrappers.py", line 643, in _initialize_sim
    self.dm_sim = dm_mujoco.Physics.from_xml_string(st)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 424, in from_xml_string
    return cls.from_model(model)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 407, in from_model
    return cls(data)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 122, in __init__
    self._reload_from_data(data)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/engine.py", line 389, in _reload_from_data
    data=index.struct_indexer(self.data, 'mjdata', axis_indexers),)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/dm_control/mujoco/index.py", line 623, in struct_indexer
    attr = getattr(struct, field_name)
AttributeError: 'MjData' object has no attribute 'qacc_unc'
/home/dve/anaconda3/envs/raps/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32
  warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow'))
Traceback (most recent call last):
  File "experiments/robosuite/dreamer/dreamer_v2_single_task_primitives_lift.py", line 182, in <module>
    exp_id=exp_id,
  File "/home/dve/raps/rlkit/rlkit/launchers/launcher_util.py", line 590, in run_experiment
    return run_experiment_here(method_call, **run_experiment_kwargs)
  File "/home/dve/raps/rlkit/rlkit/launchers/launcher_util.py", line 168, in run_experiment_here
    return experiment_function(variant)
  File "/home/dve/raps/rlkit/rlkit/torch/model_based/dreamer/experiments/kitchen_dreamer.py", line 45, in experiment
    expl_env = StableBaselinesVecEnv(env_fns=env_fns, start_method="fork")
  File "/home/dve/raps/rlkit/rlkit/envs/mujoco_vec_wrappers.py", line 134, in __init__
    observation_space, action_space = self.remotes[0].recv()
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/multiprocessing/connection.py", line 250, in recv
    buf = self._recv_bytes()
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/multiprocessing/connection.py", line 407, in _recv_bytes
    buf = self._recv(4)
  File "/home/dve/anaconda3/envs/raps/lib/python3.7/multiprocessing/connection.py", line 379, in _recv
    chunk = read(handle, remaining)
ConnectionResetError: [Errno 104] Connection reset by peer

[spacemonqi]

Figured it out now:

1. python3.7
2. pip uninstall mujoco
3. pip install mujoco==2.1.5

However, I still run out of memory, not sure how to alleviate that in the robosuite case.