diff --git "a/demos/PushT-v1/rl/trajectory.none.pd_joint_delta_pos.physx_cuda.json" "b/demos/PushT-v1/rl/trajectory.none.pd_joint_delta_pos.physx_cuda.json"
--- "a/demos/PushT-v1/rl/trajectory.none.pd_joint_delta_pos.physx_cuda.json"
+++ "b/demos/PushT-v1/rl/trajectory.none.pd_joint_delta_pos.physx_cuda.json"
@@ -23,10 +23,9 @@
       "episode_id": 0,
       "episode_seed": 40194941,
       "control_mode": "pd_joint_delta_pos",
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@@ -34,8 +33,7 @@
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@@ -43,8 +41,7 @@
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+      "success": true
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@@ -52,8 +49,7 @@
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+      "success": true
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@@ -61,8 +57,7 @@
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+      "success": true
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@@ -70,8 +65,7 @@
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@@ -79,8 +73,7 @@
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@@ -88,8 +81,7 @@
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+      "success": true
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@@ -97,8 +89,7 @@
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@@ -106,17 +97,15 @@
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@@ -124,8 +113,7 @@
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+      "success": true
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@@ -133,8 +121,7 @@
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+      "success": true
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@@ -142,8 +129,7 @@
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@@ -151,8 +137,7 @@
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@@ -160,8 +145,7 @@
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@@ -169,8 +153,7 @@
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@@ -178,8 +161,7 @@
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@@ -187,35 +169,31 @@
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@@ -223,17 +201,15 @@
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@@ -241,8 +217,7 @@
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@@ -250,26 +225,23 @@
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@@ -277,8 +249,7 @@
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@@ -286,26 +257,23 @@
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@@ -313,8 +281,7 @@
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@@ -358,8 +321,7 @@
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@@ -394,17 +353,15 @@
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@@ -430,8 +385,7 @@
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@@ -439,8 +393,7 @@
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@@ -475,8 +425,7 @@
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@@ -484,8 +433,7 @@
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@@ -520,17 +465,15 @@
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@@ -6262,8 +5569,7 @@
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@@ -6271,8 +5577,7 @@
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@@ -6280,8 +5585,7 @@
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@@ -6307,8 +5609,7 @@
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@@ -6316,17 +5617,15 @@
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@@ -6334,8 +5633,7 @@
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@@ -6343,8 +5641,7 @@
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@@ -6352,8 +5649,7 @@
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@@ -6361,8 +5657,7 @@
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@@ -6370,17 +5665,15 @@
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@@ -6388,8 +5681,7 @@
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@@ -6397,8 +5689,7 @@
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@@ -6406,8 +5697,7 @@
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@@ -6415,17 +5705,15 @@
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@@ -6433,17 +5721,15 @@
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@@ -6451,8 +5737,7 @@
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@@ -6460,8 +5745,7 @@
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@@ -6469,8 +5753,7 @@
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@@ -6937,8 +6169,7 @@
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@@ -7009,8 +6233,7 @@
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@@ -7018,8 +6241,7 @@
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@@ -7027,8 +6249,7 @@
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@@ -7036,8 +6257,7 @@
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@@ -7045,8 +6265,7 @@
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@@ -7054,8 +6273,7 @@
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@@ -7063,26 +6281,23 @@
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@@ -7090,8 +6305,7 @@
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@@ -7099,17 +6313,15 @@
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@@ -7117,17 +6329,15 @@
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@@ -7135,8 +6345,7 @@
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@@ -7144,8 +6353,7 @@
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@@ -7153,8 +6361,7 @@
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@@ -7162,17 +6369,15 @@
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@@ -7180,8 +6385,7 @@
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@@ -7189,17 +6393,15 @@
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@@ -7207,8 +6409,7 @@
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@@ -7216,8 +6417,7 @@
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@@ -7225,8 +6425,7 @@
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@@ -7234,8 +6433,7 @@
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@@ -7738,8 +6881,7 @@
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@@ -7747,17 +6889,15 @@
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@@ -7783,8 +6921,7 @@
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@@ -7801,8 +6937,7 @@
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@@ -7810,8 +6945,7 @@
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@@ -7819,8 +6953,7 @@
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@@ -7828,8 +6961,7 @@
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@@ -7837,8 +6969,7 @@
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@@ -7855,17 +6985,15 @@
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@@ -7891,8 +7017,7 @@
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@@ -7900,8 +7025,7 @@
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@@ -7909,26 +7033,23 @@
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@@ -7936,35 +7057,31 @@
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@@ -8089,35 +7193,31 @@
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@@ -8557,8 +7609,7 @@
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@@ -8602,17 +7649,15 @@
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@@ -8692,8 +7729,7 @@
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@@ -8701,8 +7737,7 @@
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@@ -8710,8 +7745,7 @@
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@@ -8719,17 +7753,15 @@
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@@ -8737,8 +7769,7 @@
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@@ -8746,17 +7777,15 @@
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@@ -8764,8 +7793,7 @@
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@@ -8773,8 +7801,7 @@
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@@ -8782,8 +7809,7 @@
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@@ -8791,8 +7817,7 @@
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@@ -8800,17 +7825,15 @@
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@@ -8818,8 +7841,7 @@
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@@ -8827,8 +7849,7 @@
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@@ -8836,8 +7857,7 @@
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@@ -8845,17 +7865,15 @@
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@@ -8863,8 +7881,7 @@
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@@ -8872,8 +7889,7 @@
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@@ -8881,8 +7897,7 @@
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@@ -8890,8 +7905,7 @@
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@@ -8899,8 +7913,7 @@
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@@ -8908,26 +7921,23 @@
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@@ -8935,8 +7945,7 @@
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@@ -8944,8 +7953,7 @@
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@@ -8953,8 +7961,7 @@
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@@ -8962,8 +7969,7 @@
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@@ -8971,17 +7977,15 @@
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@@ -8989,8 +7993,7 @@
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@@ -8998,8 +8001,7 @@
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@@ -9007,8 +8009,7 @@
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   "source_type": "rl",