test_real_specialist_viewer_starts_repositions_and_reports_trials (tests.test_recovery_evaluation.RecoveryUpstreamTests.test_real_specialist_viewer_starts_repositions_and_reports_trials) ... [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
MICRODUCK_ADAPTER {"kind": "log", "line": "EvalFix1：评估推扰依赖已对齐；关闭事件：push_robot；停用依赖课程：push_magnitude。仅作用于本次评估配置。"}
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:
     /root/.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=1 device=cpu
[BacklashEncoderBamActuator] encoder-through-backlash feedback on 14/14 joints

+--------------------------------+
|        Base Environment        |
+------------------------+-------+
| Property               | Value |
+------------------------+-------+
| Number of environments | 1     |
| Environment device     | cpu   |
| Environment seed       | None  |
| Physics step-size      | 0.005 |
| Environment step-size  | 0.02  |
+------------------------+-------+

[INFO] <EventManager> contains 2 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+-------+-----------------------------+
| Index | Name                        |
+-------+-----------------------------+
|   0   | reset_base                  |
|   1   | reset_robot_joints          |
|   2   | reset_action_history        |
|   3   | set_ground_state            |
|   4   | randomize_com               |
|   5   | randomize_head_com          |
|   6   | randomize_armature          |
|   7   | randomize_joint_friction    |
+-------+-----------------------------+
+---------------------------------------+
| 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        |
|   5   | studio_recovery_evaluation    |
+-------+-------------------------------+
+-----------------------------+
| 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   | dof_armature        |
|   10  | body_mass           |
|   11  | body_inertia        |
|   12  | body_iquat          |
+-------+---------------------+

[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: (74,)) |
+----------+------------------------------------+------------+
|  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_air_time                      |    (2,)    |
|    8     | foot_contact                       |    (2,)    |
|    9     | foot_contact_forces                |    (6,)    |
|    10    | head_command                       |    (4,)    |
|    11    | body_command                       |    (6,)    |
+----------+------------------------------------+------------+

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

[INFO] <RewardManager> contains 20 active terms.
+---------------------------------------+
|          Active Reward Terms          |
+-------+----------------------+--------+
| Index | Name                 | Weight |
+-------+----------------------+--------+
|   0   | body_ang_vel         |  -0.05 |
|   1   | angular_momentum     |  -0.02 |
|   2   | dof_pos_limits       |   -1.0 |
|   3   | action_rate_l2       |   -0.1 |
|   4   | pose_stand_legs      |    2.0 |
|   5   | head_pose_tracking   |   0.75 |
|   6   | head_pose_bias       |    0.0 |
|   7   | pose_stand_l1        |   1.25 |
|   8   | height_stand         |    1.0 |
|   9   | height_stand_sharp   |    1.0 |
|   10  | height_stand_l1      |    7.5 |
|   11  | com_upward_velocity  |   0.75 |
|   12  | gentle_rise          |  0.005 |
|   13  | arrival_damping      |    0.0 |
|   14  | upright_linear       |    1.5 |
|   15  | upright_sharp        |    1.5 |
|   16  | standing_composite   |   3.75 |
|   17  | body_pose_tracking   |    0.0 |
|   18  | joint_torque_rate_l2 |    0.0 |
|   19  | self_collisions      |   -1.0 |
+-------+----------------------+--------+

[INFO] <CurriculumManager> contains 13 active terms.
+-----------------------------------+
|      Active Curriculum Terms      |
+-------+---------------------------+
| Index | Name                      |
+-------+---------------------------+
|   0   | ground_state_mix          |
|   1   | head_pose_range           |
|   2   | com_range                 |
|   3   | head_com_range            |
|   4   | action_rate_weight        |
|   5   | arrival_damping_weight    |
|   6   | head_pose_bias_weight     |
|   7   | torque_rate_weight        |
|   8   | body_pose_tracking_weight |
|   9   | body_pose_range           |
|   10  | height_stand_sharp_weight |
|   11  | upright_sharp_weight      |
|   12  | standing_composite_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 2.33 ms  (cached)
Module mujoco_warp._src.smooth 8731313 load on device 'cpu' took 0.42 ms  (cached)
Module _solve_LD_sparse_fused__locals__kernel_55de0719 a9973d6 load on device 'cpu' took 0.17 ms  (cached)
Module reset_data__locals__reset_xfrc_applied_e7898c5c 1f5e12c load on device 'cpu' took 0.23 ms  (cached)
Module reset_data__locals__reset_qM_10d3c793 f59ca3c load on device 'cpu' took 0.12 ms  (cached)
Module reset_data__locals__reset_mocap_ff71f630 d0e4e7e load on device 'cpu' took 0.13 ms  (cached)
Module reset_data__locals__reset_contact_df686d47 3af0a2f load on device 'cpu' took 0.16 ms  (cached)
Module reset_data__locals__reset_nworld_6e0d904e aef9a67 load on device 'cpu' took 0.13 ms  (cached)
Module mujoco_warp._src.collision_driver eed4cf3 load on device 'cpu' took 0.37 ms  (cached)
Module _nxn_broadphase__locals__kernel_e73b1315 157cf89 load on device 'cpu' took 0.28 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_079dfa94 f710486 load on device 'cpu' took 0.39 ms  (cached)
Module _primitive_narrowphase__locals__primitive_narrowphase_b282a07a b20db85 load on device 'cpu' took 0.38 ms  (cached)
Module mujoco_warp._src.constraint 02b3f03 load on device 'cpu' took 0.30 ms  (cached)
Module _efc_contact_init__locals__kernel_346f6f0c 35ddffe load on device 'cpu' took 0.22 ms  (cached)
Module _efc_contact_jac_sparse__locals__kernel_86e47ecb 8f91a00 load on device 'cpu' took 0.19 ms  (cached)
Module _efc_contact_update__locals__kernel_90315d53 49b5115 load on device 'cpu' took 0.17 ms  (cached)
Module mujoco_warp._src.sensor 93435cc load on device 'cpu' took 0.36 ms  (cached)
Module mujoco_warp._src.forward 5dcb54e load on device 'cpu' took 0.41 ms  (cached)
Module mujoco_warp._src.passive 12b3435 load on device 'cpu' took 0.24 ms  (cached)
Module mujoco_warp._src.support fda47c6 load on device 'cpu' took 0.18 ms  (cached)
Module mujoco_warp._src.solver 2f1f5c6 load on device 'cpu' took 0.33 ms  (cached)
Module solve_init_jaref__locals__kernel_63515ecb 4d85a14 load on device 'cpu' took 0.25 ms  (cached)
Module mul_m_sparse__locals___mul_m_sparse_0e88d329 43cf822 load on device 'cpu' took 0.17 ms  (cached)
Module update_constraint_efc__locals__kernel_32935e9d 7127a83 load on device 'cpu' took 0.23 ms  (cached)
Module update_constraint_gauss_cost__locals__kernel_66f8146b e986f98 load on device 'cpu' took 0.20 ms  (cached)
Module update_gradient_cholesky_blocked__locals__kernel_3f89bed4 0aef8fe load on device 'cpu' took 0.28 ms  (cached)
Module linesearch_jv_fused__locals__kernel_7b416447 e07f2a6 load on device 'cpu' took 0.19 ms  (cached)
Module linesearch_prepare_gauss__locals__kernel_f5448712 532e099 load on device 'cpu' took 0.23 ms  (cached)
Module update_constraint_efc__locals__kernel_3c1a9816 0242ddf load on device 'cpu' took 0.20 ms  (cached)
Module update_gradient_cholesky_blocked_skip_unchanged__locals__kernel_b35f4e9a 1ee56aa load on device 'cpu' took 0.25 ms  (cached)
Module _contact_sort__locals__contact_sort_304c86df 71fdfff load on device 'cpu' took 0.19 ms  (cached)
╭──────────────── viser ────────────────╮
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│   HTTP      │ http://127.0.0.1:8080   │
│   Websocket │ ws://127.0.0.1:8080     │
│             ╵                         │
╰───────────────────────────────────────╯
Module mujoco_warp._src.derivative 77f0d4f load on device 'cpu' took 0.39 ms  (cached)
(viser) Server stopped
RECOVERY_REAL_VISER_START_REPOSITION_REPORT_CLOSE_OK
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Ran 1 test in 18.625s

OK
