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INFO 2024-06-04 18:51:12 on/logger.py:39 Output dir: outputs/eval/2024-06-04/18-51-12_dora_act
INFO 2024-06-04 18:51:12 pts/eval.py:532 Making environment.
/home/peter/miniconda3/envs/reachy/lib/python3.10/site-packages/gymnasium/envs/registration.py:481: UserWarning: WARN: The environment creator metadata doesn't include `render_modes`, contains: []
  logger.warn(
INFO 2024-06-04 18:51:18 pts/eval.py:535 Making policy.
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Running rollout with at most 20000 steps:   1%|          | 247/20000 [00:08<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|          | 248/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|          | 248/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|          | 249/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 250/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 251/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 251/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 252/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 253/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 254/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 254/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 255/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 256/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 257/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 257/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 258/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 259/20000 [00:08<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 260/20000 [00:08<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 260/20000 [00:08<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 261/20000 [00:08<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 262/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 263/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 263/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 264/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 265/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 266/20000 [00:09<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 266/20000 [00:09<10:59, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 267/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 268/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 269/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 269/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 270/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 271/20000 [00:09<10:59, 29.94it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 272/20000 [00:09<10:59, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 272/20000 [00:09<10:59, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 273/20000 [00:09<10:59, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 274/20000 [00:09<10:59, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 275/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 275/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 276/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 277/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 278/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 278/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 279/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 280/20000 [00:09<10:58, 29.95it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 281/20000 [00:09<10:58, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 281/20000 [00:09<10:58, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 282/20000 [00:09<10:58, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 283/20000 [00:09<10:58, 29.93it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 284/20000 [00:09<11:40, 28.16it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 284/20000 [00:09<11:40, 28.16it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 285/20000 [00:09<11:40, 28.16it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 286/20000 [00:09<11:40, 28.16it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 287/20000 [00:09<11:27, 28.69it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 287/20000 [00:09<11:27, 28.69it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 288/20000 [00:09<11:27, 28.69it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 289/20000 [00:09<11:27, 28.69it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 290/20000 [00:09<11:18, 29.03it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 290/20000 [00:09<11:18, 29.03it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 291/20000 [00:10<11:18, 29.03it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 292/20000 [00:10<11:18, 29.03it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 293/20000 [00:10<11:14, 29.20it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 293/20000 [00:10<11:14, 29.20it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 294/20000 [00:10<11:14, 29.20it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 295/20000 [00:10<11:14, 29.20it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 296/20000 [00:10<11:10, 29.41it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 296/20000 [00:10<11:10, 29.41it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 297/20000 [00:10<11:09, 29.41it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 298/20000 [00:10<11:09, 29.41it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 299/20000 [00:10<11:07, 29.50it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   1%|▏         | 299/20000 [00:10<11:07, 29.50it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 300/20000 [00:10<11:07, 29.50it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 301/20000 [00:10<11:07, 29.50it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 302/20000 [00:10<11:09, 29.43it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 302/20000 [00:10<11:09, 29.43it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 303/20000 [00:10<11:09, 29.43it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 304/20000 [00:10<11:09, 29.43it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 305/20000 [00:10<11:05, 29.58it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 305/20000 [00:10<11:05, 29.58it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 306/20000 [00:10<11:05, 29.58it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 307/20000 [00:10<11:05, 29.58it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 308/20000 [00:10<11:12, 29.28it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 308/20000 [00:10<11:12, 29.28it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 309/20000 [00:10<11:12, 29.28it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 310/20000 [00:10<11:12, 29.28it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 311/20000 [00:10<11:50, 27.71it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 311/20000 [00:10<11:50, 27.71it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 312/20000 [00:10<11:50, 27.71it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 313/20000 [00:10<11:50, 27.71it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 314/20000 [00:10<11:35, 28.32it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 314/20000 [00:10<11:35, 28.32it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 315/20000 [00:10<11:35, 28.32it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 316/20000 [00:10<11:35, 28.32it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 317/20000 [00:10<11:26, 28.67it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 317/20000 [00:10<11:26, 28.67it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 318/20000 [00:10<11:26, 28.67it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 319/20000 [00:10<11:26, 28.67it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 320/20000 [00:10<11:23, 28.79it/s, running_success_rate=0.0%]

Running rollout with at most 20000 steps:   2%|▏         | 320/20000 [00:11<11:23, 28.79it/s, running_success_rate=0.0%]