有关self._render_context_offscreen的问题

[liaojiaxin97]

当我正常安装依赖后，运行pipeline中的dp_robomimic.py，出现了几个问题：
1.yaml文件中的dataset_path:的路径使用相对路径会出现该问题OSError: Unable to synchronously open file，改为绝对路径后可以加载路径（有更好的解决办法吗？）
2.再次运行后出现以下错误
Error executing job with overrides: []
Traceback (most recent call last):
File "/home/pxw/QDU/Neo/Project/CleanDiffuser-main/CleanDiffuser-main/pipelines/dp_robomimic.py", line 272, in pipeline
metrics.update(inference(args, envs, dataset, agent, logger))
File "/home/pxw/QDU/Neo/Project/CleanDiffuser-main/CleanDiffuser-main/pipelines/dp_robomimic.py", line 134, in inference
obs, reward, done, info = envs.step(action)
File "/home/pxw/anaconda3/envs/cdiff_v3/lib/python3.9/site-packages/gym/vector/vector_env.py", line 112, in step
return self.step_wait()
File "/home/pxw/anaconda3/envs/cdiff_v3/lib/python3.9/site-packages/gym/vector/sync_vector_env.py", line 138, in step_wait
observation, self._rewards[i], self._dones[i], info = env.step(action)
File "/home/pxw/QDU/Neo/Project/CleanDiffuser-main/CleanDiffuser-main/cleandiffuser/env/wrapper.py", line 110, in step
observation, reward, done, info = super().step(act)
File "/home/pxw/anaconda3/envs/cdiff_v3/lib/python3.9/site-packages/gym/core.py", line 280, in step
return self.env.step(action)
File "/home/pxw/QDU/Neo/Project/CleanDiffuser-main/CleanDiffuser-main/cleandiffuser/env/wrapper.py", line 248, in step
frame = self.env.render(
File "/home/pxw/QDU/Neo/Project/CleanDiffuser-main/CleanDiffuser-main/cleandiffuser/env/robomimic/robomimic_lowdim_wrapper.py", line 93, in render
return self.env.render(mode=mode,
File "/home/pxw/QDU/Neo/Project/CleanDiffuser-main/robomimic-master/robomimic/envs/env_robosuite.py", line 196, in render
im = self.env.sim.render(height=height, width=width, camera_name=camera_name)
File "/home/pxw/QDU/Neo/Project/CleanDiffuser-main/robosuite/robosuite/utils/binding_utils.py", line 1126, in render
assert self._render_context_offscreen is not None
AssertionError

我找到该文件binding_utils.py，debug发现self._render_context_offscreen为None，并且没有发现能给self._render_context_offscreen赋值的地方，请问该如何修改才能正常运行？
……
if camera_name is None:
camera_id = None
else:
camera_id = self.model.camera_name2id(camera_name)

    assert mode == "offscreen", "only offscreen supported for now"
    assert **self._render_context_offscreen is not None**
    with _MjSim_render_lock:
        self._render_context_offscreen.render(
            width=width, height=height, camera_id=camera_id, segmentation=segmentation
        )
        return self._render_context_offscreen.read_pixels(width, height, depth=depth, segmentation=segmentation)

……

[pickxiguapi]

Hi, unfortunately, the source of this problem is the robomimic environment, can you test your robomimic environment with an simple example?

[liaojiaxin97]

Thanks for your reply, I can run normally by setting save_video:false.
This is the simple solution, I try to find the root of the error, but do not know how to solve it.Strangely, I can normally use save_video in push_t,kitchen and mujoco env

Here is a test example I can provide.I can run the following code and render the diagram.
When the following code is run, self._render_context_offscreen is not empty and is an object type

import argparse
import os

import mujoco

import robosuite as suite
from robosuite.utils import OpenCVRenderer
from robosuite.utils.binding_utils import MjRenderContext, MjSim

if __name__ == "__main__":

    arena_file = os.path.join(suite.models.assets_root, "arenas/pegs_arena.xml")

    parser = argparse.ArgumentParser()
    parser.add_argument("--filepath", type=str, default=arena_file)
    args = parser.parse_args()

    model = mujoco.MjModel.from_xml_path(args.filepath)
    sim = MjSim(model)
    render_context = MjRenderContext(sim)
    sim.add_render_context(render_context)
    viewer = OpenCVRenderer(sim)

    print("Press ESC to exit...")
    while True:
        sim.step()
        viewer.render()

[pickxiguapi]

Thanks for the simple solution, I think it's an important reference for subsequent users in the short term, I'll reproduce your bug report and find a solution as soon as possible.

[Go2SchooI]

I also met this problem with "assert self._render_context_offscreen is not None"

[Go2SchooI]

I can run the robomimic task in "https://github.com/real-stanford/diffusion_policy" with robomimic=0.2.0 and robosuite=1.2.0. I met this problem in CleanDiffuser with the version of robomimic 0.4.0 and robosuite 1.4.0. I tried to downgrade these two pkg but met other problems.

[Go2SchooI]

似乎解决了这个问题：在binding_utils.py报错语句assert self._render_context_offscreen is not None前加上
if self._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self, device_id=-1)
self.add_render_context(render_context)

测试可以正常保存视频，版本是robomimic 0.4.0，robosuite 1.5.1