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transport_img/_2025_12_21_04_00_43.log

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+Initializing environment for image rendering with cameras: ['robot0_eye_in_hand', 'robot1_eye_in_hand', 'shouldercamera0', 'shouldercamera1']
+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
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '4']' returned non-zero exit status 1.
+Device 4 is not available for rendering
+Command '['/local/real/zhanyis/miniforge3/envs/dice-rl/lib/python3.8/site-packages/egl_probe/build/test_device', '5']' returned non-zero exit status 1.
+Device 5 is not 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
+Environment initialized: TwoArmTransport
+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
+Using robot1_eef_pos with dim 3 for observation
+Using robot1_eef_quat with dim 4 for observation
+Using robot1_gripper_qpos with dim 2 for observation
+Total low-dim observation dim: 18
+Original action dim: 14
+Final action dim: 14
+===== Basic stats =====
+Total transitions: 93752
+Total trajectories: 200
+Traj length mean/std: 468.76, 53.653354042408196
+Traj length min/max: 373, 714
+obs min: [-3.17820968e-01 -6.54274595e-01  0.00000000e+00  0.00000000e+00
+  0.00000000e+00 -2.65733778e-01 -3.11878800e-01 -2.77992687e-03
+ -4.25659365e-02 -2.48138815e-01 -5.09060905e-02  0.00000000e+00
+  0.00000000e+00 -8.83605334e-01 -2.15186948e-01 -1.05269719e-01
+ -3.44856433e-04 -4.15479405e-02]
+obs max: [4.48212767e-01 6.59212559e-02 1.41933040e+00 8.93182753e-01
+ 9.43835950e-01 2.95773191e-01 2.23176203e-01 4.24095796e-02
+ 1.36586841e-03 2.42226104e-01 5.89190100e-01 1.31860728e+00
+ 9.25631215e-01 0.00000000e+00 2.77472574e-01 2.93931683e-01
+ 4.04111535e-02 0.00000000e+00]
+action min: [-1.         -1.         -1.         -0.73007483 -0.33226841 -0.53371859
+ -1.         -1.         -1.         -1.         -0.51751864 -0.39465415
+ -0.52376217 -1.        ]
+action max: [1.         1.         1.         1.         0.40902821 0.53508508
+ 1.         1.         1.         1.         0.70856958 0.21088579
+ 0.3067939  1.        ]
+Trajectory demo_0: cumulative reward = 1.0 (length: 714 -> 710)
+Rendered images for demo_0: shape (710, 12, 96, 96)
+Trajectory demo_1: cumulative reward = 1.0 (length: 424 -> 420)
+Rendered images for demo_1: shape (420, 12, 96, 96)
+Trajectory demo_2: cumulative reward = 1.0 (length: 465 -> 461)
+Rendered images for demo_2: shape (461, 12, 96, 96)
+Trajectory demo_3: cumulative reward = 1.0 (length: 414 -> 409)
+Rendered images for demo_3: shape (409, 12, 96, 96)
+Trajectory demo_4: cumulative reward = 1.0 (length: 417 -> 413)
+Rendered images for demo_4: shape (413, 12, 96, 96)
+Trajectory demo_5: cumulative reward = 1.0 (length: 424 -> 416)
+Rendered images for demo_5: shape (416, 12, 96, 96)
+Trajectory demo_6: cumulative reward = 1.0 (length: 467 -> 462)
+Rendered images for demo_6: shape (462, 12, 96, 96)
+Trajectory demo_7: cumulative reward = 1.0 (length: 475 -> 471)
+Rendered images for demo_7: shape (471, 12, 96, 96)
+Trajectory demo_8: cumulative reward = 1.0 (length: 475 -> 471)
+Rendered images for demo_8: shape (471, 12, 96, 96)
+Trajectory demo_9: cumulative reward = 1.0 (length: 431 -> 427)
+Rendered images for demo_9: shape (427, 12, 96, 96)
+Trajectory demo_10: cumulative reward = 1.0 (length: 616 -> 612)
+Rendered images for demo_10: shape (612, 12, 96, 96)
+Trajectory demo_11: cumulative reward = 1.0 (length: 497 -> 493)
+Rendered images for demo_11: shape (493, 12, 96, 96)
+Trajectory demo_12: cumulative reward = 1.0 (length: 418 -> 414)
+Rendered images for demo_12: shape (414, 12, 96, 96)
+Trajectory demo_13: cumulative reward = 1.0 (length: 428 -> 424)
+Rendered images for demo_13: shape (424, 12, 96, 96)
+Trajectory demo_14: cumulative reward = 1.0 (length: 439 -> 435)
+Rendered images for demo_14: shape (435, 12, 96, 96)
+Trajectory demo_15: cumulative reward = 1.0 (length: 481 -> 477)
+Rendered images for demo_15: shape (477, 12, 96, 96)
+DEBUG Trajectory 16 (demo_16): Original length=460, 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 456, cumsum at that point = 1.0
+Trajectory demo_16: cumulative reward = 1.0 (length: 460 -> 456)
+Rendered images for demo_16: shape (456, 12, 96, 96)
+Trajectory demo_17: cumulative reward = 1.0 (length: 475 -> 471)
+Rendered images for demo_17: shape (471, 12, 96, 96)
+Trajectory demo_18: cumulative reward = 1.0 (length: 475 -> 471)
+Rendered images for demo_18: shape (471, 12, 96, 96)
+Trajectory demo_19: cumulative reward = 1.0 (length: 444 -> 433)
+Rendered images for demo_19: shape (433, 12, 96, 96)
+Trajectory demo_20: cumulative reward = 1.0 (length: 594 -> 590)
+Rendered images for demo_20: shape (590, 12, 96, 96)
+Trajectory demo_21: cumulative reward = 1.0 (length: 499 -> 495)
+Rendered images for demo_21: shape (495, 12, 96, 96)
+Trajectory demo_22: cumulative reward = 1.0 (length: 502 -> 498)
+Rendered images for demo_22: shape (498, 12, 96, 96)
+Trajectory demo_23: cumulative reward = 1.0 (length: 479 -> 475)
+Rendered images for demo_23: shape (475, 12, 96, 96)
+Trajectory demo_24: cumulative reward = 1.0 (length: 431 -> 427)
+Rendered images for demo_24: shape (427, 12, 96, 96)
+Trajectory demo_25: cumulative reward = 1.0 (length: 458 -> 454)
+Rendered images for demo_25: shape (454, 12, 96, 96)
+Trajectory demo_26: cumulative reward = 1.0 (length: 460 -> 456)
+Rendered images for demo_26: shape (456, 12, 96, 96)
+Trajectory demo_27: cumulative reward = 1.0 (length: 415 -> 411)
+Rendered images for demo_27: shape (411, 12, 96, 96)
+Trajectory demo_28: cumulative reward = 1.0 (length: 548 -> 544)
+Rendered images for demo_28: shape (544, 12, 96, 96)
+Trajectory demo_29: cumulative reward = 1.0 (length: 532 -> 528)
+Rendered images for demo_29: shape (528, 12, 96, 96)
+Trajectory demo_30: cumulative reward = 1.0 (length: 431 -> 427)
+Rendered images for demo_30: shape (427, 12, 96, 96)
+Trajectory demo_31: cumulative reward = 1.0 (length: 422 -> 418)
+Rendered images for demo_31: shape (418, 12, 96, 96)
+Trajectory demo_32: cumulative reward = 1.0 (length: 452 -> 448)
+Rendered images for demo_32: shape (448, 12, 96, 96)
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+Trajectory demo_34: cumulative reward = 1.0 (length: 493 -> 489)
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+Trajectory demo_35: cumulative reward = 1.0 (length: 443 -> 439)
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+Trajectory demo_36: cumulative reward = 1.0 (length: 511 -> 507)
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+Trajectory demo_37: cumulative reward = 1.0 (length: 451 -> 447)
+Rendered images for demo_37: shape (447, 12, 96, 96)
+Trajectory demo_38: cumulative reward = 1.0 (length: 478 -> 474)
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+Trajectory demo_39: cumulative reward = 1.0 (length: 517 -> 513)
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+Trajectory demo_40: cumulative reward = 1.0 (length: 488 -> 484)
+Rendered images for demo_40: shape (484, 12, 96, 96)
+Trajectory demo_41: cumulative reward = 1.0 (length: 470 -> 463)
+Rendered images for demo_41: shape (463, 12, 96, 96)
+Trajectory demo_42: cumulative reward = 1.0 (length: 468 -> 461)
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+Trajectory demo_43: cumulative reward = 1.0 (length: 415 -> 411)
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+Trajectory demo_46: cumulative reward = 1.0 (length: 451 -> 447)
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+===== Truncation Statistics =====
+Original total steps: 93752
+Truncated total steps: 92833
+Reduction: 919 steps (1.0%)
+Train - Trajectories: 200, Transitions: 92833
+Val - Trajectories: 0, Transitions: 0.0
+Train images shape: (92833, 12, 96, 96)
+Image value range: [0, 255]
+Cameras used: ['robot0_eye_in_hand', 'robot1_eye_in_hand', 'shouldercamera0', 'shouldercamera1']
+Image channels match expected: 12 = 4 cameras × 3 RGB

transport_img/normalization.npz

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transport_img/train.npz

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