[mdp] Patches 1-2 active: NaN-safe reward/advantage
[mdp] Patch 4 active: ONNX export filters passive_* joints
[mdp] Patch 5 active: MICRODUCK_WARM_START=1 restarts curricula after checkpoint load
building CPU simulation
Warp CUDA warning: Could not find or load the NVIDIA CUDA driver. GPU execution will not be available.
Warp 1.12.0 initialized:
   CUDA Toolkit 12.9, CUDA driver not available (NVRTC compilation available)
   Devices:
     "cpu"      : "x86_64"
   Kernel cache:
     /tmp/md0151-cache/warp/1.12.0
[BamActuator] model='m6' joints=14 kt=0.6238 R=4.9102 vin=range=(7.4, 8.0) drop_gain_range=(0.0, 0.2) force_limit=±1.02Nm friction_base=0.0158 friction_viscous=0.0003 envs=4 device=cpu
Module mujoco_warp._src.render_util 3cd330a load on device 'cpu' took 1609.79 ms  (compiled)
Module mujoco_warp._src.bvh e843d00 load on device 'cpu' took 2103.22 ms  (compiled)

+--------------------------------+
|        Base Environment        |
+------------------------+-------+
| Property               | Value |
+------------------------+-------+
| Number of environments | 4     |
| Environment device     | cpu   |
| Environment seed       | None  |
| Physics step-size      | 0.005 |
| Environment step-size  | 0.02  |
+------------------------+-------+

[INFO] <EventManager> contains 3 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+-------+-----------------------------+
| Index | Name                        |
+-------+-----------------------------+
|   0   | reset_base                  |
|   1   | reset_robot_joints          |
|   2   | reset_action_history        |
|   3   | randomize_com               |
|   4   | randomize_head_com          |
|   5   | randomize_joint_friction    |
|   6   | randomize_armature          |
+-------+-----------------------------+
+----------------------------------------------+
|    Active Event Terms in Mode: 'interval'    |
+-------+------------+-------------------------+
| Index | Name       | Interval time range (s) |
+-------+------------+-------------------------+
|   0   | push_robot |        (3.0, 6.0)       |
+-------+------------+-------------------------+
+---------------------------------------+
| Active Event Terms in Mode: 'startup' |
+-------+-------------------------------+
| Index | Name                          |
+-------+-------------------------------+
|   0   | foot_friction                 |
|   1   | encoder_bias                  |
|   2   | base_com                      |
|   3   | expand_bam_friction_fields    |
|   4   | randomize_mass_inertia        |
+-------+-------------------------------+
+-----------------------------+
| Domain Randomization Fields |
+-------+---------------------+
| Index | Field Name          |
+-------+---------------------+
|   0   | geom_friction       |
|   1   | body_ipos           |
|   2   | body_subtreemass    |
|   3   | dof_invweight0      |
|   4   | body_invweight0     |
|   5   | tendon_length0      |
|   6   | tendon_invweight0   |
|   7   | dof_frictionloss    |
|   8   | dof_damping         |
|   9   | body_mass           |
|   10  | body_inertia        |
|   11  | body_iquat          |
|   12  | dof_armature        |
+-------+---------------------+

Module repeat_array_kernel_39317a34 8b94c13 load on device 'cpu' took 1441.72 ms  (compiled)
Module repeat_array_kernel_39317a34 83c495b load on device 'cpu' took 1455.49 ms  (compiled)
Module repeat_array_kernel_39317a34 024b13f load on device 'cpu' took 1497.21 ms  (compiled)
Module repeat_array_kernel_39317a34 c14a6b4 load on device 'cpu' took 1491.73 ms  (compiled)
[INFO] <CommandManager> contains 3 active terms.
+------------------------------------------------+
|              Active Command Terms              |
+-------+-----------+----------------------------+
| Index | Name      |            Type            |
+-------+-----------+----------------------------+
|   0   | twist     | VelocityCommandCommandOnly |
|   1   | head_pose |     UniformPoseCommand     |
|   2   | body_pose |     UniformPoseCommand     |
+-------+-----------+----------------------------+

[INFO] <ActionManager> contains 1 active terms.
+---------------------------------+
| Active Action Terms (shape: 14) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          14 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 2 groups.
+-----------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (61,)) |
+-----------+----------------------------------+------------+
|   Index   | Name                             |   Shape    |
+-----------+----------------------------------+------------+
|     0     | base_ang_vel                     |    (3,)    |
|     1     | projected_gravity                |    (3,)    |
|     2     | joint_pos                        |   (14,)    |
|     3     | joint_vel                        |   (14,)    |
|     4     | actions                          |   (14,)    |
|     5     | command                          |    (3,)    |
|     6     | head_command                     |    (4,)    |
|     7     | body_command                     |    (6,)    |
+-----------+----------------------------------+------------+
+------------------------------------------------------------+
| Active Observation Terms in Group: 'critic' (shape: (76,)) |
+----------+------------------------------------+------------+
|  Index   | Name                               |   Shape    |
+----------+------------------------------------+------------+
|    0     | base_lin_vel                       |    (3,)    |
|    1     | base_ang_vel                       |    (3,)    |
|    2     | projected_gravity                  |    (3,)    |
|    3     | joint_pos                          |   (14,)    |
|    4     | joint_vel                          |   (14,)    |
|    5     | actions                            |   (14,)    |
|    6     | command                            |    (3,)    |
|    7     | foot_height                        |    (2,)    |
|    8     | foot_air_time                      |    (2,)    |
|    9     | foot_contact                       |    (2,)    |
|    10    | foot_contact_forces                |    (6,)    |
|    11    | head_command                       |    (4,)    |
|    12    | body_command                       |    (6,)    |
+----------+------------------------------------+------------+

[INFO] <TerminationManager> contains 4 active terms.
+------------------------------------------+
|         Active Termination Terms         |
+-------+-----------------------+----------+
| Index | Name                  | Time Out |
+-------+-----------------------+----------+
|   0   | time_out              |   True   |
|   1   | fell_over             |  False   |
|   2   | out_of_terrain_bounds |   True   |
|   3   | nan_state             |  False   |
+-------+-----------------------+----------+

[INFO] <RewardManager> contains 16 active terms.
+-----------------------------------------+
|           Active Reward Terms           |
+-------+------------------------+--------+
| Index | Name                   | Weight |
+-------+------------------------+--------+
|   0   | track_linear_velocity  |    2.0 |
|   1   | track_angular_velocity |    2.0 |
|   2   | upright                |    2.0 |
|   3   | pose                   |    1.0 |
|   4   | body_ang_vel           |  -0.05 |
|   5   | angular_momentum       |  -0.02 |
|   6   | dof_pos_limits         |   -1.0 |
|   7   | action_rate_l2         |   -0.1 |
|   8   | air_time               |    3.0 |
|   9   | foot_clearance         |   -2.0 |
|   10  | foot_swing_height      |  -0.25 |
|   11  | foot_slip              |   -0.1 |
|   12  | self_collisions        |   -1.0 |
|   13  | head_pose_tracking     |    2.0 |
|   14  | body_pose_tracking     |    0.0 |
|   15  | head_pose_bias         |    0.0 |
+-------+------------------------+--------+

[INFO] <CurriculumManager> contains 7 active terms.
+-------------------------------+
|    Active Curriculum Terms    |
+-------+-----------------------+
| Index | Name                  |
+-------+-----------------------+
|   0   | action_rate_weight    |
|   1   | standing_envs         |
|   2   | head_pose_range       |
|   3   | body_pose_range       |
|   4   | com_range             |
|   5   | head_com_range        |
|   6   | head_pose_bias_weight |
+-------+-----------------------+

[INFO] <MetricsManager> contains 1 active terms.
+-------------------------+
|   Active Metrics Terms  |
+-------+-----------------+
| Index | Name            |
+-------+-----------------+
|   0   | mean_action_acc |
+-------+-----------------+

[INFO] <NullRecorderManager> (inactive)
Module mujoco_warp._src.io 0374352 load on device 'cpu' took 1999.90 ms  (compiled)
Module mujoco_warp._src.smooth 8731313 load on device 'cpu' took 4308.10 ms  (compiled)
Module _tile_cholesky_factorize__locals__cholesky_factorize_a02b7349 70689db load on device 'cpu' took 1522.50 ms  (compiled)
Module _tile_cholesky_solve__locals__cholesky_solve_8c82e9f1 b8f2819 load on device 'cpu' took 1559.23 ms  (compiled)
Module reset_data__locals__reset_xfrc_applied_e7898c5c 1f5e12c load on device 'cpu' took 1496.39 ms  (compiled)
Module reset_data__locals__reset_qM_10d3c793 f59ca3c load on device 'cpu' took 1476.36 ms  (compiled)
Module reset_data__locals__reset_mocap_ff71f630 d0e4e7e load on device 'cpu' took 1433.47 ms  (compiled)
Module reset_data__locals__reset_contact_df686d47 3af0a2f load on device 'cpu' took 1484.67 ms  (compiled)
Module reset_data__locals__reset_nworld_6e0d904e aef9a67 load on device 'cpu' took 1488.78 ms  (compiled)
Module mujoco_warp._src.collision_driver eed4cf3 load on device 'cpu' took 1476.71 ms  (compiled)
Module _nxn_broadphase__locals__kernel_e73b1315 157cf89 load on device 'cpu' took 1705.99 ms  (compiled)
Module ccd_kernel_builder__locals__ccd_kernel_079dfa94 f710486 load on device 'cpu' took 4232.93 ms  (compiled)
Module _primitive_narrowphase__locals__primitive_narrowphase_b282a07a b20db85 load on device 'cpu' took 2326.27 ms  (compiled)
Module mujoco_warp._src.constraint 02b3f03 load on device 'cpu' took 2958.33 ms  (compiled)
Module _efc_contact_init__locals__kernel_fda71e14 d197232 load on device 'cpu' took 1467.88 ms  (compiled)
Module _efc_contact_jac_dense__locals__kernel_7974b597 a581aa2 load on device 'cpu' took 2014.19 ms  (compiled)
Module _efc_contact_update__locals__kernel_90315d53 49b5115 load on device 'cpu' took 1537.12 ms  (compiled)
Module mujoco_warp._src.sensor 93435cc load on device 'cpu' took 4938.70 ms  (compiled)
Module mujoco_warp._src.forward 5dcb54e load on device 'cpu' took 2260.20 ms  (compiled)
Module mujoco_warp._src.passive 12b3435 load on device 'cpu' took 2361.46 ms  (compiled)
Module mujoco_warp._src.support fda47c6 load on device 'cpu' took 1591.19 ms  (compiled)
Module _tile_cholesky_factorize_solve__locals__cholesky_factorize_solve_b16bf393 cd62458 load on device 'cpu' took 1580.50 ms  (compiled)
Module mujoco_warp._src.solver 2f1f5c6 load on device 'cpu' took 2243.46 ms  (compiled)
Module solve_init_jaref__locals__kernel_5208712d fbe27e4 load on device 'cpu' took 1464.22 ms  (compiled)
Module mul_m_dense__locals___mul_m_dense_b66df345 db44421 load on device 'cpu' took 1512.18 ms  (compiled)
Module update_constraint_efc__locals__kernel_32935e9d 7127a83 load on device 'cpu' took 1513.35 ms  (compiled)
Module update_constraint_gauss_cost__locals__kernel_baf8e129 efdabd1 load on device 'cpu' took 1455.49 ms  (compiled)
Module update_gradient_JTDAJ_dense_tiled__locals__kernel_731d8066 7eeffec load on device 'cpu' took 1766.64 ms  (compiled)
Module update_gradient_cholesky__locals__kernel_5ee47d83 702e3ec load on device 'cpu' took 1781.41 ms  (compiled)
Module linesearch_jv_fused__locals__kernel_7bf09094 6b3208c load on device 'cpu' took 1462.88 ms  (compiled)
Module linesearch_prepare_gauss__locals__kernel_97347d38 0cadf6d load on device 'cpu' took 1461.71 ms  (compiled)
Module update_constraint_efc__locals__kernel_3c1a9816 0242ddf load on device 'cpu' took 1522.22 ms  (compiled)
Module _contact_sort__locals__contact_sort_304c86df 71fdfff load on device 'cpu' took 1598.36 ms  (compiled)
Module mujoco_warp._src.ray abbcfd9 load on device 'cpu' took 2486.48 ms  (compiled)
actor shape torch.Size([4, 61])
friction before step [[0.9698607921600342], [0.9310854077339172], [1.0013399124145508], [0.953815221786499]]
Module mujoco_warp._src.derivative 77f0d4f load on device 'cpu' took 2084.39 ms  (compiled)
('log',) {'line': '[摩擦随机化读回] 官方事件已识别飞特执行器 0；4 个环境；任务范围 0.9000～1.1000；实际倍率 0.9311～1.0013。'}
REAL_CPU_STEPS_OK
