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can_img/_2026_01_06_23_32_49.log

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+Initializing environment for image rendering with cameras: ['agentview', '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: PickPlaceCan
+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: 23207
+Total trajectories: 200
+Traj length mean/std: 116.035, 13.685896938089225
+Traj length min/max: 82, 151
+obs min: [-0.07376085 -0.42253869  0.          0.         -0.73516192 -0.22861566
+ -0.34267776  0.         -0.0403102 ]
+obs max: [0.29611527 0.41260722 1.22413338 0.99997648 0.47231822 0.13808564
+ 0.08067435 0.04106108 0.        ]
+action min: [-1.         -1.         -1.         -0.55634028 -1.         -1.
+ -1.        ]
+action max: [1.         1.         1.         0.72973686 0.45003703 0.74534029
+ 1.        ]
+Trajectory demo_0: cumulative reward = 1.0 (length: 118 -> 113)
+Rendered images for demo_0: shape (113, 6, 96, 96)
+Trajectory demo_1: cumulative reward = 1.0 (length: 118 -> 114)
+Rendered images for demo_1: shape (114, 6, 96, 96)
+Trajectory demo_2: cumulative reward = 1.0 (length: 113 -> 109)
+Rendered images for demo_2: shape (109, 6, 96, 96)
+Trajectory demo_3: cumulative reward = 1.0 (length: 98 -> 94)
+Rendered images for demo_3: shape (94, 6, 96, 96)
+Trajectory demo_4: cumulative reward = 1.0 (length: 102 -> 98)
+Rendered images for demo_4: shape (98, 6, 96, 96)
+Trajectory demo_5: cumulative reward = 1.0 (length: 134 -> 130)
+Rendered images for demo_5: shape (130, 6, 96, 96)
+Trajectory demo_6: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_6: shape (111, 6, 96, 96)
+Trajectory demo_7: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_7: shape (111, 6, 96, 96)
+Trajectory demo_8: cumulative reward = 1.0 (length: 127 -> 123)
+Rendered images for demo_8: shape (123, 6, 96, 96)
+Trajectory demo_9: cumulative reward = 1.0 (length: 120 -> 116)
+Rendered images for demo_9: shape (116, 6, 96, 96)
+Trajectory demo_10: cumulative reward = 1.0 (length: 129 -> 125)
+Rendered images for demo_10: shape (125, 6, 96, 96)
+Trajectory demo_11: cumulative reward = 1.0 (length: 94 -> 90)
+Rendered images for demo_11: shape (90, 6, 96, 96)
+Trajectory demo_12: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_12: shape (111, 6, 96, 96)
+Trajectory demo_13: cumulative reward = 1.0 (length: 129 -> 125)
+Rendered images for demo_13: shape (125, 6, 96, 96)
+Trajectory demo_14: cumulative reward = 1.0 (length: 113 -> 109)
+Rendered images for demo_14: shape (109, 6, 96, 96)
+Trajectory demo_15: cumulative reward = 1.0 (length: 95 -> 91)
+Rendered images for demo_15: shape (91, 6, 96, 96)
+DEBUG Trajectory 16 (demo_16): Original length=136, non-zero rewards=5
+DEBUG Trajectory 16 (demo_16): Reward sum=5.0, unique rewards=[0. 1.]
+DEBUG Trajectory 16 (demo_16): Last 20 rewards: [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 1. 1. 1. 1. 1.]
+DEBUG Trajectory 16 (demo_16): Truncating at index 132, cumsum at that point = 1.0
+Trajectory demo_16: cumulative reward = 1.0 (length: 136 -> 132)
+Rendered images for demo_16: shape (132, 6, 96, 96)
+Trajectory demo_17: cumulative reward = 1.0 (length: 108 -> 104)
+Rendered images for demo_17: shape (104, 6, 96, 96)
+Trajectory demo_18: cumulative reward = 1.0 (length: 94 -> 90)
+Rendered images for demo_18: shape (90, 6, 96, 96)
+Trajectory demo_19: cumulative reward = 1.0 (length: 111 -> 107)
+Rendered images for demo_19: shape (107, 6, 96, 96)
+Trajectory demo_20: cumulative reward = 1.0 (length: 92 -> 88)
+Rendered images for demo_20: shape (88, 6, 96, 96)
+Trajectory demo_21: cumulative reward = 1.0 (length: 100 -> 96)
+Rendered images for demo_21: shape (96, 6, 96, 96)
+Trajectory demo_22: cumulative reward = 1.0 (length: 102 -> 98)
+Rendered images for demo_22: shape (98, 6, 96, 96)
+Trajectory demo_23: cumulative reward = 1.0 (length: 142 -> 138)
+Rendered images for demo_23: shape (138, 6, 96, 96)
+Trajectory demo_24: cumulative reward = 1.0 (length: 108 -> 104)
+Rendered images for demo_24: shape (104, 6, 96, 96)
+Trajectory demo_25: cumulative reward = 1.0 (length: 131 -> 127)
+Rendered images for demo_25: shape (127, 6, 96, 96)
+Trajectory demo_26: cumulative reward = 1.0 (length: 112 -> 108)
+Rendered images for demo_26: shape (108, 6, 96, 96)
+Trajectory demo_27: cumulative reward = 1.0 (length: 124 -> 120)
+Rendered images for demo_27: shape (120, 6, 96, 96)
+Trajectory demo_28: cumulative reward = 1.0 (length: 141 -> 137)
+Rendered images for demo_28: shape (137, 6, 96, 96)
+Trajectory demo_29: cumulative reward = 1.0 (length: 107 -> 103)
+Rendered images for demo_29: shape (103, 6, 96, 96)
+Trajectory demo_30: cumulative reward = 1.0 (length: 127 -> 123)
+Rendered images for demo_30: shape (123, 6, 96, 96)
+Trajectory demo_31: cumulative reward = 1.0 (length: 96 -> 92)
+Rendered images for demo_31: shape (92, 6, 96, 96)
+Trajectory demo_32: cumulative reward = 1.0 (length: 110 -> 106)
+Rendered images for demo_32: shape (106, 6, 96, 96)
+Trajectory demo_33: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_33: shape (111, 6, 96, 96)
+Trajectory demo_34: cumulative reward = 1.0 (length: 106 -> 102)
+Rendered images for demo_34: shape (102, 6, 96, 96)
+Trajectory demo_35: cumulative reward = 1.0 (length: 111 -> 107)
+Rendered images for demo_35: shape (107, 6, 96, 96)
+Trajectory demo_36: cumulative reward = 1.0 (length: 103 -> 99)
+Rendered images for demo_36: shape (99, 6, 96, 96)
+Trajectory demo_37: cumulative reward = 1.0 (length: 116 -> 112)
+Rendered images for demo_37: shape (112, 6, 96, 96)
+Trajectory demo_38: cumulative reward = 1.0 (length: 107 -> 103)
+Rendered images for demo_38: shape (103, 6, 96, 96)
+Trajectory demo_39: cumulative reward = 1.0 (length: 113 -> 109)
+Rendered images for demo_39: shape (109, 6, 96, 96)
+Trajectory demo_40: cumulative reward = 1.0 (length: 117 -> 113)
+Rendered images for demo_40: shape (113, 6, 96, 96)
+Trajectory demo_41: cumulative reward = 1.0 (length: 136 -> 132)
+Rendered images for demo_41: shape (132, 6, 96, 96)
+Trajectory demo_42: cumulative reward = 1.0 (length: 117 -> 113)
+Rendered images for demo_42: shape (113, 6, 96, 96)
+Trajectory demo_43: cumulative reward = 1.0 (length: 106 -> 102)
+Rendered images for demo_43: shape (102, 6, 96, 96)
+Trajectory demo_44: cumulative reward = 1.0 (length: 121 -> 117)
+Rendered images for demo_44: shape (117, 6, 96, 96)
+Trajectory demo_45: cumulative reward = 1.0 (length: 127 -> 123)
+Rendered images for demo_45: shape (123, 6, 96, 96)
+Trajectory demo_46: cumulative reward = 1.0 (length: 106 -> 102)
+Rendered images for demo_46: shape (102, 6, 96, 96)
+Trajectory demo_47: cumulative reward = 1.0 (length: 129 -> 125)
+Rendered images for demo_47: shape (125, 6, 96, 96)
+Trajectory demo_48: cumulative reward = 1.0 (length: 113 -> 109)
+Rendered images for demo_48: shape (109, 6, 96, 96)
+Trajectory demo_49: cumulative reward = 1.0 (length: 106 -> 102)
+Rendered images for demo_49: shape (102, 6, 96, 96)
+Trajectory demo_50: cumulative reward = 1.0 (length: 112 -> 108)
+Rendered images for demo_50: shape (108, 6, 96, 96)
+Trajectory demo_51: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_51: shape (111, 6, 96, 96)
+Trajectory demo_52: cumulative reward = 1.0 (length: 119 -> 115)
+Rendered images for demo_52: shape (115, 6, 96, 96)
+Trajectory demo_53: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_53: shape (111, 6, 96, 96)
+Trajectory demo_54: cumulative reward = 1.0 (length: 109 -> 105)
+Rendered images for demo_54: shape (105, 6, 96, 96)
+Trajectory demo_55: cumulative reward = 1.0 (length: 101 -> 97)
+Rendered images for demo_55: shape (97, 6, 96, 96)
+Trajectory demo_56: cumulative reward = 1.0 (length: 101 -> 97)
+Rendered images for demo_56: shape (97, 6, 96, 96)
+Trajectory demo_57: cumulative reward = 1.0 (length: 119 -> 115)
+Rendered images for demo_57: shape (115, 6, 96, 96)
+Trajectory demo_58: cumulative reward = 1.0 (length: 125 -> 121)
+Rendered images for demo_58: shape (121, 6, 96, 96)
+Trajectory demo_59: cumulative reward = 1.0 (length: 113 -> 109)
+Rendered images for demo_59: shape (109, 6, 96, 96)
+Trajectory demo_60: cumulative reward = 1.0 (length: 97 -> 93)
+Rendered images for demo_60: shape (93, 6, 96, 96)
+Trajectory demo_61: cumulative reward = 1.0 (length: 113 -> 109)
+Rendered images for demo_61: shape (109, 6, 96, 96)
+Trajectory demo_62: cumulative reward = 1.0 (length: 121 -> 116)
+Rendered images for demo_62: shape (116, 6, 96, 96)
+Trajectory demo_63: cumulative reward = 1.0 (length: 130 -> 126)
+Rendered images for demo_63: shape (126, 6, 96, 96)
+Trajectory demo_64: cumulative reward = 1.0 (length: 103 -> 99)
+Rendered images for demo_64: shape (99, 6, 96, 96)
+Trajectory demo_65: cumulative reward = 1.0 (length: 112 -> 108)
+Rendered images for demo_65: shape (108, 6, 96, 96)
+Trajectory demo_66: cumulative reward = 1.0 (length: 131 -> 127)
+Rendered images for demo_66: shape (127, 6, 96, 96)
+Trajectory demo_67: cumulative reward = 1.0 (length: 133 -> 129)
+Rendered images for demo_67: shape (129, 6, 96, 96)
+Trajectory demo_68: cumulative reward = 1.0 (length: 103 -> 99)
+Rendered images for demo_68: shape (99, 6, 96, 96)
+Trajectory demo_69: cumulative reward = 1.0 (length: 125 -> 120)
+Rendered images for demo_69: shape (120, 6, 96, 96)
+Trajectory demo_70: cumulative reward = 1.0 (length: 101 -> 97)
+Rendered images for demo_70: shape (97, 6, 96, 96)
+Trajectory demo_71: cumulative reward = 1.0 (length: 109 -> 105)
+Rendered images for demo_71: shape (105, 6, 96, 96)
+Trajectory demo_72: cumulative reward = 1.0 (length: 92 -> 88)
+Rendered images for demo_72: shape (88, 6, 96, 96)
+Trajectory demo_73: cumulative reward = 1.0 (length: 119 -> 115)
+Rendered images for demo_73: shape (115, 6, 96, 96)
+Trajectory demo_74: cumulative reward = 1.0 (length: 114 -> 110)
+Rendered images for demo_74: shape (110, 6, 96, 96)
+Trajectory demo_75: cumulative reward = 1.0 (length: 103 -> 99)
+Rendered images for demo_75: shape (99, 6, 96, 96)
+Trajectory demo_76: cumulative reward = 1.0 (length: 100 -> 96)
+Rendered images for demo_76: shape (96, 6, 96, 96)
+Trajectory demo_77: cumulative reward = 1.0 (length: 121 -> 117)
+Rendered images for demo_77: shape (117, 6, 96, 96)
+Trajectory demo_78: cumulative reward = 1.0 (length: 99 -> 95)
+Rendered images for demo_78: shape (95, 6, 96, 96)
+Trajectory demo_79: cumulative reward = 1.0 (length: 93 -> 89)
+Rendered images for demo_79: shape (89, 6, 96, 96)
+Trajectory demo_80: cumulative reward = 1.0 (length: 110 -> 106)
+Rendered images for demo_80: shape (106, 6, 96, 96)
+Trajectory demo_81: cumulative reward = 1.0 (length: 150 -> 146)
+Rendered images for demo_81: shape (146, 6, 96, 96)
+Trajectory demo_82: cumulative reward = 1.0 (length: 94 -> 90)
+Rendered images for demo_82: shape (90, 6, 96, 96)
+Trajectory demo_83: cumulative reward = 1.0 (length: 108 -> 104)
+Rendered images for demo_83: shape (104, 6, 96, 96)
+Trajectory demo_84: cumulative reward = 1.0 (length: 105 -> 101)
+Rendered images for demo_84: shape (101, 6, 96, 96)
+Trajectory demo_85: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_85: shape (111, 6, 96, 96)
+Trajectory demo_86: cumulative reward = 1.0 (length: 126 -> 122)
+Rendered images for demo_86: shape (122, 6, 96, 96)
+Trajectory demo_87: cumulative reward = 1.0 (length: 88 -> 84)
+Rendered images for demo_87: shape (84, 6, 96, 96)
+Trajectory demo_88: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_88: shape (111, 6, 96, 96)
+Trajectory demo_89: cumulative reward = 1.0 (length: 115 -> 111)
+Rendered images for demo_89: shape (111, 6, 96, 96)
+Trajectory demo_90: cumulative reward = 1.0 (length: 131 -> 127)
+Rendered images for demo_90: shape (127, 6, 96, 96)
+Trajectory demo_91: cumulative reward = 1.0 (length: 114 -> 110)
+Rendered images for demo_91: shape (110, 6, 96, 96)
+Trajectory demo_92: cumulative reward = 1.0 (length: 109 -> 105)
+Rendered images for demo_92: shape (105, 6, 96, 96)
+Trajectory demo_93: cumulative reward = 1.0 (length: 96 -> 92)
+Rendered images for demo_93: shape (92, 6, 96, 96)
+Trajectory demo_94: cumulative reward = 1.0 (length: 127 -> 123)
+Rendered images for demo_94: shape (123, 6, 96, 96)
+Trajectory demo_95: cumulative reward = 1.0 (length: 121 -> 117)
+Rendered images for demo_95: shape (117, 6, 96, 96)
+Trajectory demo_96: cumulative reward = 1.0 (length: 140 -> 136)
+Rendered images for demo_96: shape (136, 6, 96, 96)
+Trajectory demo_97: cumulative reward = 1.0 (length: 104 -> 99)
+Rendered images for demo_97: shape (99, 6, 96, 96)
+Trajectory demo_98: cumulative reward = 1.0 (length: 110 -> 106)
+Rendered images for demo_98: shape (106, 6, 96, 96)
+Trajectory demo_99: cumulative reward = 1.0 (length: 113 -> 108)
+Rendered images for demo_99: shape (108, 6, 96, 96)
+Rendered images for demo_100: shape (114, 6, 96, 96)
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+Rendered images for demo_110: shape (120, 6, 96, 96)
+Rendered images for demo_111: shape (102, 6, 96, 96)
+Rendered images for demo_112: shape (103, 6, 96, 96)
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+Rendered images for demo_114: shape (120, 6, 96, 96)
+Rendered images for demo_115: shape (101, 6, 96, 96)
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+Rendered images for demo_118: shape (81, 6, 96, 96)
+Rendered images for demo_119: shape (116, 6, 96, 96)
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+Rendered images for demo_122: shape (122, 6, 96, 96)
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+Rendered images for demo_168: shape (99, 6, 96, 96)
+Rendered images for demo_169: shape (98, 6, 96, 96)
+Rendered images for demo_170: shape (99, 6, 96, 96)
+Rendered images for demo_171: shape (107, 6, 96, 96)
+Rendered images for demo_172: shape (121, 6, 96, 96)
+Rendered images for demo_173: shape (105, 6, 96, 96)
+Rendered images for demo_174: shape (116, 6, 96, 96)
+Rendered images for demo_175: shape (110, 6, 96, 96)
+Rendered images for demo_176: shape (132, 6, 96, 96)
+Rendered images for demo_177: shape (121, 6, 96, 96)
+Rendered images for demo_178: shape (115, 6, 96, 96)
+Rendered images for demo_179: shape (99, 6, 96, 96)
+Rendered images for demo_180: shape (136, 6, 96, 96)
+Rendered images for demo_181: shape (118, 6, 96, 96)
+Rendered images for demo_182: shape (122, 6, 96, 96)
+Rendered images for demo_183: shape (118, 6, 96, 96)
+Rendered images for demo_184: shape (126, 6, 96, 96)
+Rendered images for demo_185: shape (126, 6, 96, 96)
+Rendered images for demo_186: shape (102, 6, 96, 96)
+Rendered images for demo_187: shape (105, 6, 96, 96)
+Rendered images for demo_188: shape (114, 6, 96, 96)
+Rendered images for demo_189: shape (144, 6, 96, 96)
+Rendered images for demo_190: shape (106, 6, 96, 96)
+Rendered images for demo_191: shape (91, 6, 96, 96)
+Rendered images for demo_192: shape (111, 6, 96, 96)
+Rendered images for demo_193: shape (134, 6, 96, 96)
+Rendered images for demo_194: shape (104, 6, 96, 96)
+Rendered images for demo_195: shape (106, 6, 96, 96)
+Rendered images for demo_196: shape (110, 6, 96, 96)
+Rendered images for demo_197: shape (110, 6, 96, 96)
+Rendered images for demo_198: shape (122, 6, 96, 96)
+Rendered images for demo_199: shape (92, 6, 96, 96)
+===== Truncation Statistics =====
+Original total steps: 23207
+Truncated total steps: 22400
+Reduction: 807 steps (3.5%)
+Train - Trajectories: 200, Transitions: 22400
+Val - Trajectories: 0, Transitions: 0.0
+Train images shape: (22400, 6, 96, 96)
+Image value range: [0, 255]
+Cameras used: ['agentview', 'robot0_eye_in_hand']
+Image channels match expected: 6 = 2 cameras × 3 RGB

can_img/normalization.npz

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can_img/train.npz

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can_img/val.npz

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