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tool_hang_img/_2025_12_21_04_16_57.log

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+Initializing environment for image rendering with cameras: ['sideview', 'robot0_eye_in_hand']
+No private macro file found!
+It is recommended to use a private macro file
+To setup, run: python /local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/robosuite/scripts/setup_macros.py
+No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+Device 0 is available for rendering
+Device 1 is available for rendering
+Device 2 is available for rendering
+Device 3 is available for rendering
+Device 4 is available for rendering
+Device 5 is available for rendering
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '6']' returned non-zero exit status 1.
+Device 6 is not available for rendering
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '7']' returned non-zero exit status 1.
+Device 7 is not available for rendering
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '8']' returned non-zero exit status 1.
+Device 8 is not available for rendering
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '9']' returned non-zero exit status 1.
+Device 9 is not available for rendering
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '10']' returned non-zero exit status 1.
+Device 10 is not available for rendering
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '11']' returned non-zero exit status 1.
+Device 11 is not available for rendering
+Environment initialized: ToolHang
+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Total low-dim observation dim: 9
+Original action dim: 7
+Final action dim: 7
+===== Basic stats =====
+Total transitions: 95962
+Total trajectories: 200
+Traj length mean/std: 479.81, 88.47046908432215
+Traj length min/max: 332, 744
+obs min: [-0.25212712 -0.3076412   0.          0.         -0.09916491 -0.76001649
+ -0.30110673  0.         -0.04176795]
+obs max: [0.1476329  0.12601176 1.18004313 0.99990962 0.80055273 0.12088151
+ 0.4543784  0.04131866 0.        ]
+action min: [-1.         -1.         -1.         -0.35410371 -0.49649122 -0.72497994
+ -1.        ]
+action max: [1.         1.         1.         0.32611984 0.61583012 1.
+ 1.        ]
+Trajectory demo_0: cumulative reward = 1.0 (length: 681 -> 677)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_0: shape (677, 6, 240, 240)
+Trajectory demo_1: cumulative reward = 1.0 (length: 613 -> 609)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_1: shape (609, 6, 240, 240)
+Trajectory demo_2: cumulative reward = 1.0 (length: 737 -> 733)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_2: shape (733, 6, 240, 240)
+Trajectory demo_3: cumulative reward = 1.0 (length: 582 -> 578)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_3: shape (578, 6, 240, 240)
+Trajectory demo_4: cumulative reward = 1.0 (length: 552 -> 548)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_4: shape (548, 6, 240, 240)
+Trajectory demo_5: cumulative reward = 1.0 (length: 681 -> 677)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_5: shape (677, 6, 240, 240)
+Trajectory demo_6: cumulative reward = 1.0 (length: 587 -> 551)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_6: shape (551, 6, 240, 240)
+Trajectory demo_7: cumulative reward = 1.0 (length: 622 -> 618)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_7: shape (618, 6, 240, 240)
+Trajectory demo_8: cumulative reward = 1.0 (length: 514 -> 510)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_8: shape (510, 6, 240, 240)
+Trajectory demo_9: cumulative reward = 1.0 (length: 623 -> 619)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_9: shape (619, 6, 240, 240)
+Trajectory demo_10: cumulative reward = 1.0 (length: 497 -> 493)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_10: shape (493, 6, 240, 240)
+Trajectory demo_11: cumulative reward = 1.0 (length: 478 -> 474)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_11: shape (474, 6, 240, 240)
+Trajectory demo_12: cumulative reward = 1.0 (length: 496 -> 492)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_12: shape (492, 6, 240, 240)
+Trajectory demo_13: cumulative reward = 1.0 (length: 514 -> 510)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_13: shape (510, 6, 240, 240)
+Trajectory demo_14: cumulative reward = 1.0 (length: 708 -> 704)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_14: shape (704, 6, 240, 240)
+Trajectory demo_15: cumulative reward = 1.0 (length: 510 -> 505)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_15: shape (505, 6, 240, 240)
+DEBUG Trajectory 16 (demo_16): Original length=676, non-zero rewards=10
+DEBUG Trajectory 16 (demo_16): Reward sum=10.0, unique rewards=[0. 1.]
+DEBUG Trajectory 16 (demo_16): Last 20 rewards: [0. 0. 0. 0. 0. 0. 0. 0. 1. 1. 1. 1. 1. 0. 0. 1. 1. 1. 1. 1.]
+DEBUG Trajectory 16 (demo_16): Truncating at index 665, cumsum at that point = 1.0
+Trajectory demo_16: cumulative reward = 1.0 (length: 676 -> 665)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_16: shape (665, 6, 240, 240)
+Trajectory demo_17: cumulative reward = 1.0 (length: 677 -> 668)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_17: shape (668, 6, 240, 240)
+Trajectory demo_18: cumulative reward = 1.0 (length: 632 -> 605)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_18: shape (605, 6, 240, 240)
+Trajectory demo_19: cumulative reward = 1.0 (length: 569 -> 565)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_19: shape (565, 6, 240, 240)
+Trajectory demo_20: cumulative reward = 1.0 (length: 565 -> 561)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_20: shape (561, 6, 240, 240)
+Trajectory demo_21: cumulative reward = 1.0 (length: 575 -> 572)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_21: shape (572, 6, 240, 240)
+Trajectory demo_22: cumulative reward = 1.0 (length: 711 -> 707)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_22: shape (707, 6, 240, 240)
+Trajectory demo_23: cumulative reward = 1.0 (length: 742 -> 738)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_23: shape (738, 6, 240, 240)
+Trajectory demo_24: cumulative reward = 1.0 (length: 537 -> 533)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_24: shape (533, 6, 240, 240)
+Trajectory demo_25: cumulative reward = 1.0 (length: 480 -> 475)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_25: shape (475, 6, 240, 240)
+Trajectory demo_26: cumulative reward = 1.0 (length: 429 -> 425)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_26: shape (425, 6, 240, 240)
+Trajectory demo_27: cumulative reward = 1.0 (length: 469 -> 465)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_27: shape (465, 6, 240, 240)
+Trajectory demo_28: cumulative reward = 1.0 (length: 512 -> 505)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_28: shape (505, 6, 240, 240)
+Trajectory demo_29: cumulative reward = 1.0 (length: 532 -> 526)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_29: shape (526, 6, 240, 240)
+Trajectory demo_30: cumulative reward = 1.0 (length: 409 -> 405)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_30: shape (405, 6, 240, 240)
+Trajectory demo_31: cumulative reward = 1.0 (length: 476 -> 458)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_31: shape (458, 6, 240, 240)
+Trajectory demo_32: cumulative reward = 1.0 (length: 473 -> 467)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_32: shape (467, 6, 240, 240)
+Trajectory demo_33: cumulative reward = 1.0 (length: 398 -> 394)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_33: shape (394, 6, 240, 240)
+Trajectory demo_34: cumulative reward = 1.0 (length: 574 -> 570)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_34: shape (570, 6, 240, 240)
+Trajectory demo_35: cumulative reward = 1.0 (length: 589 -> 585)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_35: shape (585, 6, 240, 240)
+Trajectory demo_36: cumulative reward = 1.0 (length: 532 -> 528)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_36: shape (528, 6, 240, 240)
+Trajectory demo_37: cumulative reward = 1.0 (length: 567 -> 563)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_37: shape (563, 6, 240, 240)
+Trajectory demo_38: cumulative reward = 1.0 (length: 471 -> 466)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_38: shape (466, 6, 240, 240)
+Trajectory demo_39: cumulative reward = 1.0 (length: 485 -> 481)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_39: shape (481, 6, 240, 240)
+Trajectory demo_40: cumulative reward = 1.0 (length: 649 -> 645)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_40: shape (645, 6, 240, 240)
+Trajectory demo_41: cumulative reward = 1.0 (length: 538 -> 534)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_41: shape (534, 6, 240, 240)
+Trajectory demo_42: cumulative reward = 1.0 (length: 580 -> 576)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_42: shape (576, 6, 240, 240)
+Trajectory demo_43: cumulative reward = 1.0 (length: 495 -> 491)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_43: shape (491, 6, 240, 240)
+Trajectory demo_44: cumulative reward = 1.0 (length: 523 -> 516)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_44: shape (516, 6, 240, 240)
+Trajectory demo_45: cumulative reward = 1.0 (length: 627 -> 623)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_45: shape (623, 6, 240, 240)
+Trajectory demo_46: cumulative reward = 1.0 (length: 450 -> 446)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_46: shape (446, 6, 240, 240)
+Trajectory demo_47: cumulative reward = 1.0 (length: 539 -> 535)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_47: shape (535, 6, 240, 240)
+Trajectory demo_48: cumulative reward = 1.0 (length: 508 -> 504)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_48: shape (504, 6, 240, 240)
+Trajectory demo_49: cumulative reward = 1.0 (length: 555 -> 551)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_49: shape (551, 6, 240, 240)
+Trajectory demo_50: cumulative reward = 1.0 (length: 509 -> 432)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_50: shape (432, 6, 240, 240)
+Trajectory demo_51: cumulative reward = 1.0 (length: 502 -> 498)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_51: shape (498, 6, 240, 240)
+Trajectory demo_52: cumulative reward = 1.0 (length: 577 -> 573)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_52: shape (573, 6, 240, 240)
+Trajectory demo_53: cumulative reward = 1.0 (length: 457 -> 453)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_53: shape (453, 6, 240, 240)
+Trajectory demo_54: cumulative reward = 1.0 (length: 489 -> 485)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_54: shape (485, 6, 240, 240)
+Trajectory demo_55: cumulative reward = 1.0 (length: 521 -> 517)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_55: shape (517, 6, 240, 240)
+Trajectory demo_56: cumulative reward = 1.0 (length: 469 -> 465)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_56: shape (465, 6, 240, 240)
+Trajectory demo_57: cumulative reward = 1.0 (length: 476 -> 472)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_57: shape (472, 6, 240, 240)
+Trajectory demo_58: cumulative reward = 1.0 (length: 433 -> 429)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_58: shape (429, 6, 240, 240)
+Trajectory demo_59: cumulative reward = 1.0 (length: 404 -> 379)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_59: shape (379, 6, 240, 240)
+Trajectory demo_60: cumulative reward = 1.0 (length: 477 -> 451)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_60: shape (451, 6, 240, 240)
+Trajectory demo_61: cumulative reward = 1.0 (length: 541 -> 537)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_61: shape (537, 6, 240, 240)
+Trajectory demo_62: cumulative reward = 1.0 (length: 490 -> 486)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_62: shape (486, 6, 240, 240)
+Trajectory demo_63: cumulative reward = 1.0 (length: 495 -> 487)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_63: shape (487, 6, 240, 240)
+Trajectory demo_64: cumulative reward = 1.0 (length: 508 -> 504)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_64: shape (504, 6, 240, 240)
+Trajectory demo_65: cumulative reward = 1.0 (length: 399 -> 395)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_65: shape (395, 6, 240, 240)
+Trajectory demo_66: cumulative reward = 1.0 (length: 461 -> 458)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_66: shape (458, 6, 240, 240)
+Trajectory demo_67: cumulative reward = 1.0 (length: 474 -> 470)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_67: shape (470, 6, 240, 240)
+Trajectory demo_68: cumulative reward = 1.0 (length: 419 -> 415)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_68: shape (415, 6, 240, 240)
+Trajectory demo_69: cumulative reward = 1.0 (length: 542 -> 538)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_69: shape (538, 6, 240, 240)
+Trajectory demo_70: cumulative reward = 1.0 (length: 421 -> 417)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_70: shape (417, 6, 240, 240)
+Trajectory demo_71: cumulative reward = 1.0 (length: 562 -> 555)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_71: shape (555, 6, 240, 240)
+Trajectory demo_72: cumulative reward = 1.0 (length: 416 -> 412)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_72: shape (412, 6, 240, 240)
+Trajectory demo_73: cumulative reward = 1.0 (length: 432 -> 428)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_73: shape (428, 6, 240, 240)
+Trajectory demo_74: cumulative reward = 1.0 (length: 470 -> 466)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_74: shape (466, 6, 240, 240)
+Trajectory demo_75: cumulative reward = 1.0 (length: 407 -> 403)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_75: shape (403, 6, 240, 240)
+Trajectory demo_76: cumulative reward = 1.0 (length: 439 -> 412)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_76: shape (412, 6, 240, 240)
+Trajectory demo_77: cumulative reward = 1.0 (length: 429 -> 425)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_77: shape (425, 6, 240, 240)
+Trajectory demo_78: cumulative reward = 1.0 (length: 452 -> 448)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_78: shape (448, 6, 240, 240)
+Trajectory demo_79: cumulative reward = 1.0 (length: 414 -> 410)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_79: shape (410, 6, 240, 240)
+Trajectory demo_80: cumulative reward = 1.0 (length: 537 -> 533)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_80: shape (533, 6, 240, 240)
+Trajectory demo_81: cumulative reward = 1.0 (length: 363 -> 359)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_81: shape (359, 6, 240, 240)
+Trajectory demo_82: cumulative reward = 1.0 (length: 422 -> 416)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_82: shape (416, 6, 240, 240)
+Trajectory demo_83: cumulative reward = 1.0 (length: 440 -> 408)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_83: shape (408, 6, 240, 240)
+Trajectory demo_84: cumulative reward = 1.0 (length: 430 -> 426)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_84: shape (426, 6, 240, 240)
+Trajectory demo_85: cumulative reward = 1.0 (length: 488 -> 484)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_85: shape (484, 6, 240, 240)
+Trajectory demo_86: cumulative reward = 1.0 (length: 479 -> 475)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_86: shape (475, 6, 240, 240)
+Trajectory demo_87: cumulative reward = 1.0 (length: 443 -> 438)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_87: shape (438, 6, 240, 240)
+Trajectory demo_88: cumulative reward = 1.0 (length: 433 -> 429)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_88: shape (429, 6, 240, 240)
+Trajectory demo_89: cumulative reward = 1.0 (length: 444 -> 439)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_89: shape (439, 6, 240, 240)
+Trajectory demo_90: cumulative reward = 1.0 (length: 410 -> 406)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_90: shape (406, 6, 240, 240)
+Trajectory demo_91: cumulative reward = 1.0 (length: 446 -> 421)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_91: shape (421, 6, 240, 240)
+Trajectory demo_92: cumulative reward = 1.0 (length: 369 -> 365)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_92: shape (365, 6, 240, 240)
+Trajectory demo_93: cumulative reward = 1.0 (length: 378 -> 374)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_93: shape (374, 6, 240, 240)
+Trajectory demo_94: cumulative reward = 1.0 (length: 399 -> 395)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_94: shape (395, 6, 240, 240)
+Trajectory demo_95: cumulative reward = 1.0 (length: 496 -> 490)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_95: shape (490, 6, 240, 240)
+Trajectory demo_96: cumulative reward = 1.0 (length: 523 -> 515)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_96: shape (515, 6, 240, 240)
+Trajectory demo_97: cumulative reward = 1.0 (length: 608 -> 601)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_97: shape (601, 6, 240, 240)
+Trajectory demo_98: cumulative reward = 1.0 (length: 394 -> 390)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_98: shape (390, 6, 240, 240)
+Trajectory demo_99: cumulative reward = 1.0 (length: 425 -> 421)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_99: shape (421, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_100: shape (541, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_101: shape (410, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_102: shape (586, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_103: shape (405, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_104: shape (398, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_105: shape (375, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_106: shape (419, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_107: shape (371, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_108: shape (472, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_109: shape (491, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_110: shape (371, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_111: shape (401, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_112: shape (482, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_113: shape (436, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_114: shape (455, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_115: shape (466, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_116: shape (434, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_117: shape (330, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_118: shape (390, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_119: shape (531, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_120: shape (385, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_121: shape (371, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_122: shape (356, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_123: shape (383, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_124: shape (408, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_125: shape (410, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_126: shape (365, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_127: shape (396, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_128: shape (563, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_129: shape (442, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_130: shape (474, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_131: shape (332, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_132: shape (427, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_133: shape (494, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_134: shape (328, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_135: shape (411, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_136: shape (377, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_137: shape (398, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_138: shape (554, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_139: shape (440, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_140: shape (568, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_141: shape (357, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_142: shape (442, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_143: shape (437, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_144: shape (383, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_145: shape (379, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_146: shape (351, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_147: shape (328, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_148: shape (334, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_149: shape (466, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_150: shape (358, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_151: shape (694, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_152: shape (740, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_153: shape (475, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_154: shape (393, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_155: shape (468, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_156: shape (678, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_157: shape (433, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_158: shape (422, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_159: shape (456, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_160: shape (444, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_161: shape (421, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_162: shape (462, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_163: shape (466, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_164: shape (529, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_165: shape (503, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_166: shape (386, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_167: shape (435, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_168: shape (433, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_169: shape (349, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_170: shape (520, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_171: shape (537, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_172: shape (550, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_173: shape (432, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_174: shape (448, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_175: shape (515, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_176: shape (391, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_177: shape (429, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_178: shape (380, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_179: shape (449, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_180: shape (468, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_181: shape (422, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_182: shape (582, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_183: shape (443, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_184: shape (395, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_185: shape (365, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_186: shape (447, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_187: shape (399, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_188: shape (705, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_189: shape (515, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_190: shape (416, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_191: shape (411, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_192: shape (412, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_193: shape (494, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_194: shape (360, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_195: shape (354, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_196: shape (419, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_197: shape (443, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_198: shape (487, 6, 240, 240)
+Using modified camera XML for tool_hang from /store/real/zhanyis/dice-rl/tool_hang_model_modified.xml
+Rendered images for demo_199: shape (469, 6, 240, 240)
+===== Truncation Statistics =====
+Original total steps: 95962
+Truncated total steps: 94576
+Reduction: 1386 steps (1.4%)
+Train - Trajectories: 200, Transitions: 94576
+Val - Trajectories: 0, Transitions: 0.0
+Train images shape: (94576, 6, 240, 240)
+Image value range: [0, 255]
+Cameras used: ['sideview', 'robot0_eye_in_hand']
+Image channels match expected: 6 = 2 cameras × 3 RGB

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