code/VLAarchtests2_code/reports/anybimanual_subset3_overlap_resume1000_eval.log

/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
  warnings.warn(msg, UserWarning)
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
  deprecation_warning(
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
  ret = run_job(
[2026-03-30 13:33:13,393][root][INFO] - 
method:
  name: PERACT_BC
  agent_type: leader_follower
  robot_name: bimanual
  image_crop_size: 64
  bounds_offset:
  - 0.15
  voxel_sizes:
  - 100
  include_prev_layer: false
  num_latents: 2048
  latent_dim: 512
  transformer_depth: 6
  transformer_iterations: 1
  cross_heads: 1
  cross_dim_head: 64
  latent_heads: 8
  latent_dim_head: 64
  pos_encoding_with_lang: true
  conv_downsample: true
  lang_fusion_type: seq
  voxel_patch_size: 5
  voxel_patch_stride: 5
  final_dim: 64
  low_dim_size: 4
  input_dropout: 0.1
  attn_dropout: 0.1
  decoder_dropout: 0.0
  lr: 0.0005
  lr_scheduler: false
  num_warmup_steps: 3000
  optimizer: lamb
  lambda_weight_l2: 1.0e-06
  trans_loss_weight: 1.0
  rot_loss_weight: 1.0
  grip_loss_weight: 1.0
  collision_loss_weight: 1.0
  rotation_resolution: 5
  activation: lrelu
  norm: None
  crop_augmentation: true
  transform_augmentation:
    apply_se3: true
    aug_xyz:
    - 0.125
    - 0.125
    - 0.125
    aug_rpy:
    - 0.0
    - 0.0
    - 45.0
    aug_rot_resolution: ${method.rotation_resolution}
  demo_augmentation: true
  demo_augmentation_every_n: 10
  no_skip_connection: false
  no_perceiver: false
  no_language: false
  keypoint_method: heuristic
rlbench:
  task_name: peract_bc_subset3_overlap_smoke200_fixpretrain_nowandb3
  tasks:
  - coordinated_push_box
  - coordinated_lift_ball
  - dual_push_buttons
  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
  episode_length: 25
  cameras:
  - over_shoulder_left
  - over_shoulder_right
  - overhead
  - wrist_right
  - wrist_left
  - front
  camera_resolution:
  - 256
  - 256
  scene_bounds:
  - -0.3
  - -0.5
  - 0.6
  - 0.7
  - 0.5
  - 1.6
  include_lang_goal_in_obs: true
  time_in_state: true
  headless: true
  gripper_mode: BimanualDiscrete
  arm_action_mode: BimanualEndEffectorPoseViaPlanning
  action_mode: BimanualMoveArmThenGripper
framework:
  tensorboard_logging: true
  csv_logging: true
  gpu: 0
  logdir: /workspace/baselines/AnyBimanual_overlap_runs
  start_seed: 0
  record_every_n: 5
  eval_envs: 1
  eval_from_eps_number: 0
  eval_episodes: 25
  eval_type: last
  eval_save_metrics: true
cinematic_recorder:
  enabled: false
  camera_resolution:
  - 1280
  - 720
  fps: 30
  rotate_speed: 0.005
  save_path: /tmp/videos/

[2026-03-30 13:33:13,404][root][INFO] - Using env device cuda:0.
[2026-03-30 13:33:13,425][root][INFO] - Evaluating seed 0.
[2026-03-30 13:33:13,425][root][INFO] - Using method PERACT_BC with type leader_follower
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
Last weight: [1000]
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
  @hydra.main(config_name="eval", config_path="conf")
[03/30/26 13:33:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:130
                             Launching env.                                     
                    INFO     INFO:root:Agent      _independent_env_runner.py:133
                             information:                                       
                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:134
                             ts.agent.LeaderFollo                               
                             werAgent object at                                 
                             0x7aaa1b9e54e0>                                    
[03/30/26 13:34:02] INFO     INFO:root:Using dual panda robot environment.py:117
                    INFO     INFO:root:Setting control    arm_action_modes.py:79
                             mode for both robots                               
                    WARNING  WARNING:root:not sure how    task_environment.py:57
                             _robot_shapes are used is                          
                             used.                                              
                    INFO     INFO:root:Evaluating _independent_env_runner.py:164
                             weight 1000                                        
loaded weights from /workspace/baselines/AnyBimanual_overlap_runs/peract_bc_subset3_overlap_smoke200_fixpretrain_nowandb3/PERACT_BC/seed0/weights/1000/checkpoint_peract_bc_leader_layer_0.pt
loaded weights from /workspace/baselines/AnyBimanual_overlap_runs/peract_bc_subset3_overlap_smoke200_fixpretrain_nowandb3/PERACT_BC/seed0/weights/1000/checkpoint_peract_bc_follower_layer_0.pt

Tasks:   0%|          | 0/3 [00:00<?, ?it/s]

Episodes:   0%|          | 0/25 [00:00<?, ?it/s][03/30/26 13:34:04] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 0,                                
                             seed 0.                                            
eval_demo_seed:  0
[03/30/26 13:34:43] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            
/workspace/third_party/AnyBimanual/third_party/YARR/yarr/utils/rollout_generator.py:76: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:253.)
  prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}


Episodes:   4%|▍         | 1/25 [01:00<24:20, 60.83s/it]Evaluating coordinated_push_box | Episode 0 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:35:04] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 1,                                
                             seed 1.                                            
eval_demo_seed:  1
[03/30/26 13:35:39] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:   8%|▊         | 2/25 [02:01<23:16, 60.71s/it]Evaluating coordinated_push_box | Episode 1 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:36:05] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 2,                                
                             seed 2.                                            
eval_demo_seed:  2
[03/30/26 13:36:48] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  12%|█▏        | 3/25 [03:20<25:23, 69.25s/it]Evaluating coordinated_push_box | Episode 2 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:37:25] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 3,                                
                             seed 3.                                            
eval_demo_seed:  3
[03/30/26 13:37:59] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  16%|█▌        | 4/25 [04:46<26:28, 75.66s/it]Evaluating coordinated_push_box | Episode 3 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:38:50] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 4,                                
                             seed 4.                                            
eval_demo_seed:  4
[03/30/26 13:39:23] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  20%|██        | 5/25 [05:48<23:34, 70.73s/it]Evaluating coordinated_push_box | Episode 4 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:39:52] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 5,                                
                             seed 5.                                            
eval_demo_seed:  5
[03/30/26 13:40:27] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  24%|██▍       | 6/25 [06:42<20:34, 64.99s/it]Evaluating coordinated_push_box | Episode 5 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:40:46] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 6,                                
                             seed 6.                                            
eval_demo_seed:  6
[03/30/26 13:41:21] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  28%|██▊       | 7/25 [07:32<18:05, 60.31s/it]Evaluating coordinated_push_box | Episode 6 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:41:37] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 7,                                
                             seed 7.                                            
eval_demo_seed:  7
[03/30/26 13:42:12] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  32%|███▏      | 8/25 [08:23<16:13, 57.27s/it]Evaluating coordinated_push_box | Episode 7 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:42:27] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 8,                                
                             seed 8.                                            
eval_demo_seed:  8
[03/30/26 13:43:01] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  36%|███▌      | 9/25 [09:11<14:29, 54.32s/it]Evaluating coordinated_push_box | Episode 8 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:43:15] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 9,                                
                             seed 9.                                            
eval_demo_seed:  9
[03/30/26 13:43:54] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  40%|████      | 10/25 [10:05<13:31, 54.10s/it]Evaluating coordinated_push_box | Episode 9 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:44:09] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 10,                               
                             seed 10.                                           
eval_demo_seed:  10
[03/30/26 13:44:47] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  44%|████▍     | 11/25 [11:12<13:32, 58.03s/it]Evaluating coordinated_push_box | Episode 10 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:45:16] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 11,                               
                             seed 11.                                           
eval_demo_seed:  11
[03/30/26 13:45:53] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  48%|████▊     | 12/25 [12:04<12:11, 56.27s/it]Evaluating coordinated_push_box | Episode 11 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:46:08] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 12,                               
                             seed 12.                                           
eval_demo_seed:  12
[03/30/26 13:46:40] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  52%|█████▏    | 13/25 [12:54<10:54, 54.52s/it]Evaluating coordinated_push_box | Episode 12 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:46:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 13,                               
                             seed 13.                                           
eval_demo_seed:  13
[03/30/26 13:47:32] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  56%|█████▌    | 14/25 [13:59<10:34, 57.72s/it]Evaluating coordinated_push_box | Episode 13 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:48:04] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 14,                               
                             seed 14.                                           
eval_demo_seed:  14
[03/30/26 13:48:39] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  60%|██████    | 15/25 [14:51<09:19, 55.91s/it]Evaluating coordinated_push_box | Episode 14 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:48:55] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 15,                               
                             seed 15.                                           
eval_demo_seed:  15
[03/30/26 13:49:30] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  64%|██████▍   | 16/25 [15:40<08:05, 53.91s/it]Evaluating coordinated_push_box | Episode 15 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:49:44] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 16,                               
                             seed 16.                                           
eval_demo_seed:  16
[03/30/26 13:50:23] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  68%|██████▊   | 17/25 [16:36<07:15, 54.45s/it]Evaluating coordinated_push_box | Episode 16 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:50:40] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 17,                               
                             seed 17.                                           
eval_demo_seed:  17
[03/30/26 13:51:15] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  72%|███████▏  | 18/25 [17:29<06:18, 54.04s/it]Evaluating coordinated_push_box | Episode 17 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:51:33] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 18,                               
                             seed 18.                                           
eval_demo_seed:  18
[03/30/26 13:52:10] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  76%|███████▌  | 19/25 [18:23<05:23, 53.97s/it]Evaluating coordinated_push_box | Episode 18 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:52:27] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 19,                               
                             seed 19.                                           
eval_demo_seed:  19
[03/30/26 13:53:03] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  80%|████████  | 20/25 [19:14<04:25, 53.05s/it]Evaluating coordinated_push_box | Episode 19 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:53:18] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 20,                               
                             seed 20.                                           
eval_demo_seed:  20
[03/30/26 13:53:56] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  84%|████████▍ | 21/25 [20:11<03:36, 54.20s/it]Evaluating coordinated_push_box | Episode 20 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:54:15] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 21,                               
                             seed 21.                                           
eval_demo_seed:  21
[03/30/26 13:54:49] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  88%|████████▊ | 22/25 [21:04<02:41, 53.94s/it]Evaluating coordinated_push_box | Episode 21 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:55:08] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 22,                               
                             seed 22.                                           
eval_demo_seed:  22
[03/30/26 13:55:46] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            
[03/30/26 13:55:53] WARNING  WARNING:root:Object     gripper_action_modes.py:328
                             with name cube is                                  
                             already grasped by                                 
                             right robot                                        
[03/30/26 13:55:57] WARNING  WARNING:root:Object     gripper_action_modes.py:328
                             with name cube is                                  
                             already grasped by                                 
                             right robot                                        


Episodes:  92%|█████████▏| 23/25 [22:06<01:52, 56.36s/it]Evaluating coordinated_push_box | Episode 22 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:56:10] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 23,                               
                             seed 23.                                           
eval_demo_seed:  23
[03/30/26 13:56:50] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  96%|█████████▌| 24/25 [23:26<01:03, 63.30s/it]Evaluating coordinated_push_box | Episode 23 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:57:30] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 24,                               
                             seed 24.                                           
eval_demo_seed:  24
[03/30/26 13:58:09] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes: 100%|██████████| 25/25 [24:21<00:00, 60.90s/it]
Episodes: 100%|██████████| 25/25 [24:21<00:00, 58.45s/it]

Tasks:  33%|███▎      | 1/3 [24:22<48:45, 1462.60s/it]Evaluating coordinated_push_box | Episode 24 | Score: 0.0 | Lang Goal: push the box to the red area
Finished coordinated_push_box | Final Score: 0.0

add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy


Episodes:   0%|          | 0/25 [00:00<?, ?it/s][03/30/26 13:58:26] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 0,                                
                             seed 0.                                            
eval_demo_seed:  0
                    WARNING  WARNING:root:not sure how    task_environment.py:57
                             _robot_shapes are used is                          
                             used.                                              
[03/30/26 13:58:58] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:   4%|▍         | 1/25 [01:27<35:07, 87.82s/it]Evaluating coordinated_lift_ball | Episode 0 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 13:59:54] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 1,                                
                             seed 1.                                            
eval_demo_seed:  1
[03/30/26 14:00:32] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:   8%|▊         | 2/25 [03:11<37:16, 97.23s/it]Evaluating coordinated_lift_ball | Episode 1 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:01:38] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 2,                                
                             seed 2.                                            
eval_demo_seed:  2
[03/30/26 14:02:08] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  12%|█▏        | 3/25 [04:31<32:42, 89.22s/it]Evaluating coordinated_lift_ball | Episode 2 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:02:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 3,                                
                             seed 3.                                            
eval_demo_seed:  3
[03/30/26 14:03:31] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  16%|█▌        | 4/25 [05:41<28:36, 81.76s/it]Evaluating coordinated_lift_ball | Episode 3 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:04:08] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 4,                                
                             seed 4.                                            
eval_demo_seed:  4
[03/30/26 14:04:56] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  20%|██        | 5/25 [07:12<28:20, 85.01s/it]Evaluating coordinated_lift_ball | Episode 4 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:05:39] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 5,                                
                             seed 5.                                            
eval_demo_seed:  5
[03/30/26 14:06:11] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  24%|██▍       | 6/25 [08:38<27:02, 85.40s/it]Evaluating coordinated_lift_ball | Episode 5 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:07:05] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 6,                                
                             seed 6.                                            
eval_demo_seed:  6
[03/30/26 14:07:42] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  28%|██▊       | 7/25 [10:04<25:41, 85.65s/it]Evaluating coordinated_lift_ball | Episode 6 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:08:31] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 7,                                
                             seed 7.                                            
eval_demo_seed:  7
[03/30/26 14:09:08] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            
[03/30/26 14:09:09] WARNING  WARNING:root:Waypoints are not          task.py:377
                             reachable right=(False, 'waypoint0 -               
                             DualPanda') left=(True, '')                        
                    ERROR    ERROR:root:Error when checking         scene.py:163
                             waypoints. Exception is: Error in task             
                             coordinated_lift_ball. Infeasible                  
                             episode. Can't reach waypoint ((False,             
                             'waypoint0 - DualPanda'), (True, '')).             
                    INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  32%|███▏      | 8/25 [11:19<23:19, 82.32s/it]Evaluating coordinated_lift_ball | Episode 7 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:09:46] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 8,                                
                             seed 8.                                            
eval_demo_seed:  8
[03/30/26 14:10:22] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  36%|███▌      | 9/25 [12:31<21:02, 78.91s/it]Evaluating coordinated_lift_ball | Episode 8 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:10:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 9,                                
                             seed 9.                                            
eval_demo_seed:  9
[03/30/26 14:11:34] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  40%|████      | 10/25 [13:44<19:15, 77.03s/it]Evaluating coordinated_lift_ball | Episode 9 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:12:10] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 10,                               
                             seed 10.                                           
eval_demo_seed:  10
[03/30/26 14:12:44] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  44%|████▍     | 11/25 [14:47<16:59, 72.80s/it]Evaluating coordinated_lift_ball | Episode 10 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:13:14] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 11,                               
                             seed 11.                                           
eval_demo_seed:  11
[03/30/26 14:13:46] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  48%|████▊     | 12/25 [16:11<16:30, 76.16s/it]Evaluating coordinated_lift_ball | Episode 11 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:14:37] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 12,                               
                             seed 12.                                           
eval_demo_seed:  12
[03/30/26 14:15:13] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  52%|█████▏    | 13/25 [17:31<15:29, 77.42s/it]Evaluating coordinated_lift_ball | Episode 12 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:15:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 13,                               
                             seed 13.                                           
eval_demo_seed:  13
[03/30/26 14:16:30] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  56%|█████▌    | 14/25 [18:47<14:06, 76.96s/it]Evaluating coordinated_lift_ball | Episode 13 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:17:14] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 14,                               
                             seed 14.                                           
eval_demo_seed:  14
[03/30/26 14:17:55] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  60%|██████    | 15/25 [20:57<15:29, 92.94s/it]Evaluating coordinated_lift_ball | Episode 14 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:19:24] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 15,                               
                             seed 15.                                           
eval_demo_seed:  15
[03/30/26 14:20:01] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  64%|██████▍   | 16/25 [22:42<14:28, 96.48s/it]Evaluating coordinated_lift_ball | Episode 15 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:21:08] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 16,                               
                             seed 16.                                           
eval_demo_seed:  16
[03/30/26 14:21:48] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  68%|██████▊   | 17/25 [24:17<12:49, 96.16s/it]Evaluating coordinated_lift_ball | Episode 16 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:22:44] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 17,                               
                             seed 17.                                           
eval_demo_seed:  17
[03/30/26 14:23:20] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  72%|███████▏  | 18/25 [26:04<11:34, 99.27s/it]Evaluating coordinated_lift_ball | Episode 17 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:24:30] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 18,                               
                             seed 18.                                           
eval_demo_seed:  18
[03/30/26 14:25:02] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  76%|███████▌  | 19/25 [27:20<09:13, 92.29s/it]Evaluating coordinated_lift_ball | Episode 18 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:25:46] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 19,                               
                             seed 19.                                           
eval_demo_seed:  19
[03/30/26 14:26:21] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  80%|████████  | 20/25 [28:32<07:11, 86.22s/it]Evaluating coordinated_lift_ball | Episode 19 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:26:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 20,                               
                             seed 20.                                           
eval_demo_seed:  20
[03/30/26 14:27:29] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  84%|████████▍ | 21/25 [30:05<05:53, 88.42s/it]Evaluating coordinated_lift_ball | Episode 20 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:28:32] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 21,                               
                             seed 21.                                           
eval_demo_seed:  21
[03/30/26 14:29:08] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  88%|████████▊ | 22/25 [31:33<04:24, 88.23s/it]Evaluating coordinated_lift_ball | Episode 21 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:30:00] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 22,                               
                             seed 22.                                           
eval_demo_seed:  22
[03/30/26 14:30:35] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  92%|█████████▏| 23/25 [33:00<02:55, 87.88s/it]Evaluating coordinated_lift_ball | Episode 22 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:31:27] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 23,                               
                             seed 23.                                           
eval_demo_seed:  23
[03/30/26 14:32:02] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes:  96%|█████████▌| 24/25 [34:20<01:25, 85.38s/it]Evaluating coordinated_lift_ball | Episode 23 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:32:46] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 24,                               
                             seed 24.                                           
eval_demo_seed:  24
[03/30/26 14:33:17] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
                             left=4)                                            


Episodes: 100%|██████████| 25/25 [35:53<00:00, 87.87s/it]
Episodes: 100%|██████████| 25/25 [35:53<00:00, 86.15s/it]

Tasks:  67%|██████▋   | 2/3 [1:00:19<31:10, 1870.83s/it]Evaluating coordinated_lift_ball | Episode 24 | Score: 0.0 | Lang Goal: Lift the ball
Finished coordinated_lift_ball | Final Score: 0.0

add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy


Episodes:   0%|          | 0/25 [00:00<?, ?it/s][03/30/26 14:34:23] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 0,                                
                             seed 0.                                            
eval_demo_seed:  0
                    WARNING  WARNING:root:not sure how    task_environment.py:57
                             _robot_shapes are used is                          
                             used.                                              
[03/30/26 14:34:51] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:   4%|▍         | 1/25 [00:35<14:21, 35.89s/it]Evaluating dual_push_buttons | Episode 0 | Score: 100.0 | Lang Goal: push the rose and the maroon buttons
[03/30/26 14:34:59] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 1,                                
                             seed 1.                                            
eval_demo_seed:  1
[03/30/26 14:35:26] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:   8%|▊         | 2/25 [01:22<16:12, 42.28s/it]Evaluating dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
[03/30/26 14:35:45] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 2,                                
                             seed 2.                                            
eval_demo_seed:  2
[03/30/26 14:36:11] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  12%|█▏        | 3/25 [02:10<16:23, 44.70s/it]Evaluating dual_push_buttons | Episode 2 | Score: 0.0 | Lang Goal: push the violet and the blue buttons
[03/30/26 14:36:33] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 3,                                
                             seed 3.                                            
eval_demo_seed:  3
[03/30/26 14:36:59] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  16%|█▌        | 4/25 [03:01<16:30, 47.16s/it]Evaluating dual_push_buttons | Episode 3 | Score: 0.0 | Lang Goal: push the green and the violet buttons
[03/30/26 14:37:24] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 4,                                
                             seed 4.                                            
eval_demo_seed:  4
[03/30/26 14:37:56] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  20%|██        | 5/25 [03:52<16:16, 48.81s/it]Evaluating dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
[03/30/26 14:38:16] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 5,                                
                             seed 5.                                            
eval_demo_seed:  5
[03/30/26 14:38:41] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  24%|██▍       | 6/25 [04:37<14:57, 47.25s/it]Evaluating dual_push_buttons | Episode 5 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
[03/30/26 14:39:00] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 6,                                
                             seed 6.                                            
eval_demo_seed:  6
[03/30/26 14:39:27] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  28%|██▊       | 7/25 [05:19<13:39, 45.55s/it]Evaluating dual_push_buttons | Episode 6 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
[03/30/26 14:39:42] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 7,                                
                             seed 7.                                            
eval_demo_seed:  7
[03/30/26 14:40:08] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  32%|███▏      | 8/25 [06:05<12:58, 45.82s/it]Evaluating dual_push_buttons | Episode 7 | Score: 0.0 | Lang Goal: push the white and the blue buttons
[03/30/26 14:40:28] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 8,                                
                             seed 8.                                            
eval_demo_seed:  8
[03/30/26 14:40:55] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  36%|███▌      | 9/25 [06:48<12:00, 45.05s/it]Evaluating dual_push_buttons | Episode 8 | Score: 0.0 | Lang Goal: push the yellow and the green buttons
[03/30/26 14:41:12] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 9,                                
                             seed 9.                                            
eval_demo_seed:  9
[03/30/26 14:41:39] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  40%|████      | 10/25 [07:43<11:59, 47.94s/it]Evaluating dual_push_buttons | Episode 9 | Score: 0.0 | Lang Goal: push the magenta and the azure buttons
[03/30/26 14:42:06] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 10,                               
                             seed 10.                                           
eval_demo_seed:  10
[03/30/26 14:42:36] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  44%|████▍     | 11/25 [08:33<11:19, 48.57s/it]Evaluating dual_push_buttons | Episode 10 | Score: 0.0 | Lang Goal: push the olive and the black buttons
[03/30/26 14:42:56] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 11,                               
                             seed 11.                                           
eval_demo_seed:  11
[03/30/26 14:43:25] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  48%|████▊     | 12/25 [09:42<11:54, 54.96s/it]Evaluating dual_push_buttons | Episode 11 | Score: 0.0 | Lang Goal: push the rose and the yellow buttons
[03/30/26 14:44:06] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 12,                               
                             seed 12.                                           
eval_demo_seed:  12
[03/30/26 14:44:27] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  52%|█████▏    | 13/25 [10:22<10:02, 50.21s/it]Evaluating dual_push_buttons | Episode 12 | Score: 0.0 | Lang Goal: push the rose and the violet buttons
[03/30/26 14:44:45] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 13,                               
                             seed 13.                                           
eval_demo_seed:  13
[03/30/26 14:45:13] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  56%|█████▌    | 14/25 [11:02<08:38, 47.17s/it]Evaluating dual_push_buttons | Episode 13 | Score: 100.0 | Lang Goal: push the magenta and the azure buttons
[03/30/26 14:45:25] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 14,                               
                             seed 14.                                           
eval_demo_seed:  14
[03/30/26 14:45:50] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  60%|██████    | 15/25 [11:48<07:50, 47.01s/it]Evaluating dual_push_buttons | Episode 14 | Score: 0.0 | Lang Goal: push the gray and the silver buttons
[03/30/26 14:46:12] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 15,                               
                             seed 15.                                           
eval_demo_seed:  15
[03/30/26 14:46:40] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  64%|██████▍   | 16/25 [12:36<07:03, 47.08s/it]Evaluating dual_push_buttons | Episode 15 | Score: 0.0 | Lang Goal: push the blue and the violet buttons
[03/30/26 14:46:59] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 16,                               
                             seed 16.                                           
eval_demo_seed:  16
[03/30/26 14:47:28] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  68%|██████▊   | 17/25 [13:21<06:13, 46.68s/it]Evaluating dual_push_buttons | Episode 16 | Score: 0.0 | Lang Goal: push the yellow and the green buttons
[03/30/26 14:47:45] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 17,                               
                             seed 17.                                           
eval_demo_seed:  17
[03/30/26 14:48:13] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  72%|███████▏  | 18/25 [13:53<04:54, 42.09s/it]Evaluating dual_push_buttons | Episode 17 | Score: 100.0 | Lang Goal: push the purple and the rose buttons
[03/30/26 14:48:16] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 18,                               
                             seed 18.                                           
eval_demo_seed:  18
[03/30/26 14:48:41] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  76%|███████▌  | 19/25 [14:35<04:11, 41.97s/it]Evaluating dual_push_buttons | Episode 18 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
[03/30/26 14:48:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 19,                               
                             seed 19.                                           
eval_demo_seed:  19
[03/30/26 14:49:30] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  80%|████████  | 20/25 [15:22<03:37, 43.51s/it]Evaluating dual_push_buttons | Episode 19 | Score: 0.0 | Lang Goal: push the maroon and the green buttons
[03/30/26 14:49:45] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 20,                               
                             seed 20.                                           
eval_demo_seed:  20
[03/30/26 14:50:11] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  84%|████████▍ | 21/25 [16:08<02:58, 44.51s/it]Evaluating dual_push_buttons | Episode 20 | Score: 0.0 | Lang Goal: push the purple and the violet buttons
[03/30/26 14:50:32] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 21,                               
                             seed 21.                                           
eval_demo_seed:  21
[03/30/26 14:50:59] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  88%|████████▊ | 22/25 [16:54<02:14, 44.82s/it]Evaluating dual_push_buttons | Episode 21 | Score: 0.0 | Lang Goal: push the rose and the violet buttons
[03/30/26 14:51:17] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 22,                               
                             seed 22.                                           
eval_demo_seed:  22
[03/30/26 14:52:01] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  92%|█████████▏| 23/25 [17:56<01:40, 50.07s/it]Evaluating dual_push_buttons | Episode 22 | Score: 0.0 | Lang Goal: push the olive and the orange buttons
[03/30/26 14:52:20] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 23,                               
                             seed 23.                                           
eval_demo_seed:  23
[03/30/26 14:52:48] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes:  96%|█████████▌| 24/25 [18:41<00:48, 48.56s/it]Evaluating dual_push_buttons | Episode 23 | Score: 0.0 | Lang Goal: push the violet and the magenta buttons
[03/30/26 14:53:05] INFO     INFO:root:eval_env:  _independent_env_runner.py:191
                             Starting episode 24,                               
                             seed 24.                                           
eval_demo_seed:  24
[03/30/26 14:53:33] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
                             left=2)                                            


Episodes: 100%|██████████| 25/25 [19:31<00:00, 48.78s/it]
Episodes: 100%|██████████| 25/25 [19:31<00:00, 46.85s/it]

Tasks: 100%|██████████| 3/3 [1:20:03<00:00, 1557.21s/it]
Tasks: 100%|██████████| 3/3 [1:20:03<00:00, 1601.06s/it]
Evaluating dual_push_buttons | Episode 24 | Score: 0.0 | Lang Goal: push the gray and the silver buttons
Finished dual_push_buttons | Final Score: 12.0

add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
[03/30/26 14:54:07] INFO     INFO:root:Finished   _independent_env_runner.py:292
                             evaluation.                                        
[CoppeliaSim:loadinfo]   done.
[W330 14:54:18.109468610 CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]