test_current_set_and_no_duplicate_action_entries (test_current_actions.CurrentActionTests.test_current_set_and_no_duplicate_action_entries) ... ok
test_exact_gear_play_and_teacher_matching (test_current_actions.CurrentActionTests.test_exact_gear_play_and_teacher_matching) ... ok
test_left_right_and_roller_deployment_are_distinct (test_current_actions.CurrentActionTests.test_left_right_and_roller_deployment_are_distinct) ... ok
test_backlash_ppo_checkpoint_and_official_onnx_export (test_current_actions.RealGearPlayTests.test_backlash_ppo_checkpoint_and_official_onnx_export) ... Warp CUDA warning: Could not find or load the NVIDIA CUDA driver. GPU execution will not be available.
[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
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=2 device=cpu
[BacklashEncoderBamActuator] encoder-through-backlash feedback on 14/14 joints
Module mujoco_warp._src.render_util 3cd330a load on device 'cpu' took 2.13 ms  (cached)
Module mujoco_warp._src.bvh e843d00 load on device 'cpu' took 0.33 ms  (cached)

+--------------------------------+
|        Base Environment        |
+------------------------+-------+
| Property               | Value |
+------------------------+-------+
| Number of environments | 2     |
| 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 0.19 ms  (cached)
Module repeat_array_kernel_39317a34 83c495b load on device 'cpu' took 0.14 ms  (cached)
Module repeat_array_kernel_39317a34 024b13f load on device 'cpu' took 0.17 ms  (cached)
Module repeat_array_kernel_39317a34 c14a6b4 load on device 'cpu' took 0.14 ms  (cached)
[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 0.60 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 0.16 ms  (cached)
Module reset_data__locals__reset_xfrc_applied_e7898c5c 1f5e12c load on device 'cpu' took 0.19 ms  (cached)
Module reset_data__locals__reset_qM_10d3c793 f59ca3c load on device 'cpu' took 0.19 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 0.15 ms  (cached)
Module reset_data__locals__reset_nworld_6e0d904e aef9a67 load on device 'cpu' took 0.12 ms  (cached)
Module mujoco_warp._src.collision_driver eed4cf3 load on device 'cpu' took 0.30 ms  (cached)
Module _nxn_broadphase__locals__kernel_e73b1315 157cf89 load on device 'cpu' took 0.21 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_079dfa94 f710486 load on device 'cpu' took 0.38 ms  (cached)
Module _primitive_narrowphase__locals__primitive_narrowphase_b282a07a b20db85 load on device 'cpu' took 0.59 ms  (cached)
Module mujoco_warp._src.constraint 02b3f03 load on device 'cpu' took 0.25 ms  (cached)
Module _efc_contact_init__locals__kernel_346f6f0c 35ddffe load on device 'cpu' took 0.18 ms  (cached)
Module _efc_contact_jac_sparse__locals__kernel_86e47ecb 8f91a00 load on device 'cpu' took 0.17 ms  (cached)
Module _efc_contact_update__locals__kernel_90315d53 49b5115 load on device 'cpu' took 0.15 ms  (cached)
Module mujoco_warp._src.sensor 93435cc load on device 'cpu' took 0.29 ms  (cached)
Module mujoco_warp._src.forward 5dcb54e load on device 'cpu' took 0.23 ms  (cached)
Module mujoco_warp._src.passive 12b3435 load on device 'cpu' took 0.18 ms  (cached)
Module mujoco_warp._src.support fda47c6 load on device 'cpu' took 0.14 ms  (cached)
Module mujoco_warp._src.solver 2f1f5c6 load on device 'cpu' took 0.25 ms  (cached)
Module solve_init_jaref__locals__kernel_63515ecb 4d85a14 load on device 'cpu' took 0.14 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 0.16 ms  (cached)
Module update_constraint_gauss_cost__locals__kernel_66f8146b e986f98 load on device 'cpu' took 0.14 ms  (cached)
Module update_gradient_cholesky_blocked__locals__kernel_3f89bed4 0aef8fe load on device 'cpu' took 0.19 ms  (cached)
Module linesearch_jv_fused__locals__kernel_7b416447 e07f2a6 load on device 'cpu' took 0.14 ms  (cached)
Module linesearch_prepare_gauss__locals__kernel_f5448712 532e099 load on device 'cpu' took 0.14 ms  (cached)
Module update_constraint_efc__locals__kernel_3c1a9816 0242ddf load on device 'cpu' took 0.22 ms  (cached)
Module update_gradient_cholesky_blocked_skip_unchanged__locals__kernel_b35f4e9a 1ee56aa load on device 'cpu' took 0.17 ms  (cached)
Module _contact_sort__locals__contact_sort_304c86df 71fdfff load on device 'cpu' took 0.14 ms  (cached)
Module mujoco_warp._src.ray abbcfd9 load on device 'cpu' took 0.21 ms  (cached)
--------------------------------------------------------------------------------
Resolved observation sets: 
	 actor :  ('actor',)
	 critic :  ('critic',)
--------------------------------------------------------------------------------
Actor Model: MLPModel(
  (obs_normalizer): EmpiricalNormalization()
  (distribution): GaussianDistribution()
  (mlp): MLP(
    (0): Linear(in_features=61, out_features=512, bias=True)
    (1): ELU(alpha=1.0)
    (2): Linear(in_features=512, out_features=256, bias=True)
    (3): ELU(alpha=1.0)
    (4): Linear(in_features=256, out_features=128, bias=True)
    (5): ELU(alpha=1.0)
    (6): Linear(in_features=128, out_features=14, bias=True)
  )
)
Critic Model: MLPModel(
  (obs_normalizer): EmpiricalNormalization()
  (mlp): MLP(
    (0): Linear(in_features=76, out_features=512, bias=True)
    (1): ELU(alpha=1.0)
    (2): Linear(in_features=512, out_features=256, bias=True)
    (3): ELU(alpha=1.0)
    (4): Linear(in_features=256, out_features=128, bias=True)
    (5): ELU(alpha=1.0)
    (6): Linear(in_features=128, out_features=1, bias=True)
  )
)
Could not find git repository in /workspace/scratch/37068f809c8e/training-filter-work/venv/lib/python3.12/site-packages/rsl_rl/__init__.py. Skipping.
Module mujoco_warp._src.derivative 77f0d4f load on device 'cpu' took 0.35 ms  (cached)
################################################################################
[1m                             Learning iteration 0/1                             [0m 

                               Run name: velocity
                            Total steps: 48 
                       Steps per second: 33 
                        Collection time: 1.351s 
                          Learning time: 0.096s 
                        Mean value loss: 0.0167
                    Mean surrogate loss: -0.1070
                      Mean entropy loss: 19.8623
                        Mean action std: 1.00
   Episode_Reward/track_linear_velocity: 0.0000
  Episode_Reward/track_angular_velocity: 0.0000
                 Episode_Reward/upright: 0.0000
                    Episode_Reward/pose: 0.0000
            Episode_Reward/body_ang_vel: 0.0000
        Episode_Reward/angular_momentum: 0.0000
          Episode_Reward/dof_pos_limits: 0.0000
          Episode_Reward/action_rate_l2: 0.0000
                Episode_Reward/air_time: 0.0000
          Episode_Reward/foot_clearance: 0.0000
       Episode_Reward/foot_swing_height: 0.0000
               Episode_Reward/foot_slip: 0.0000
         Episode_Reward/self_collisions: 0.0000
      Episode_Reward/head_pose_tracking: 0.0000
      Episode_Reward/body_pose_tracking: 0.0000
          Episode_Reward/head_pose_bias: 0.0000
        Episode_Metrics/mean_action_acc: 0.0000
          Curriculum/action_rate_weight: -0.1000
               Curriculum/standing_envs: 0.0200
             Curriculum/head_pose_range: 0.0700
             Curriculum/body_pose_range: 0.0500
                   Curriculum/com_range: 0.0030
              Curriculum/head_com_range: 0.0030
       Curriculum/head_pose_bias_weight: 0.0000
             Metrics/twist/error_vel_xy: 0.0000
            Metrics/twist/error_vel_yaw: 0.0000
           Episode_Termination/time_out: 0.0000
          Episode_Termination/fell_over: 0.0000
Episode_Termination/out_of_terrain_bounds: 0.0000
          Episode_Termination/nan_state: 0.0000
          Metrics/angular_momentum_mean: 0.0176
                  Metrics/air_time_mean: 0.0367
               Metrics/peak_height_mean: 0.0000
             Metrics/slip_velocity_mean: 0.1775
--------------------------------------------------------------------------------
                         Iteration time: 1.45s
                           Time elapsed: 00:00:01
                                    ETA: 00:00:00

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：无。仅作用于本次评估配置。"}
[INFO]: Loading checkpoint: model_1000.pt
[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   | randomize_com               |
|   4   | randomize_head_com          |
|   5   | randomize_joint_friction    |
|   6   | randomize_armature          |
+-------+-----------------------------+
+---------------------------------------+
| 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        |
+-------+---------------------+

[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)
--------------------------------------------------------------------------------
Resolved observation sets: 
	 actor :  ('actor',)
	 critic :  ('critic',)
--------------------------------------------------------------------------------
Actor Model: MLPModel(
  (obs_normalizer): EmpiricalNormalization()
  (distribution): GaussianDistribution()
  (mlp): MLP(
    (0): Linear(in_features=61, out_features=512, bias=True)
    (1): ELU(alpha=1.0)
    (2): Linear(in_features=512, out_features=256, bias=True)
    (3): ELU(alpha=1.0)
    (4): Linear(in_features=256, out_features=128, bias=True)
    (5): ELU(alpha=1.0)
    (6): Linear(in_features=128, out_features=14, bias=True)
  )
)/workspace/scratch/37068f809c8e/training-filter-work/venv/lib/python3.12/site-packages/mjlab/rl/runner.py:47: DeprecationWarning: You are using the legacy TorchScript-based ONNX export. Starting in PyTorch 2.9, the new torch.export-based ONNX exporter will be the default. To switch now, set dynamo=True in torch.onnx.export. This new exporter supports features like exporting LLMs with DynamicCache. We encourage you to try it and share feedback to help improve the experience. Learn more about the new export logic: https://pytorch.org/docs/stable/onnx_dynamo.html. For exporting control flow: https://pytorch.org/tutorials/beginner/onnx/export_control_flow_model_to_onnx_tutorial.html.
  torch.onnx.export(
/workspace/scratch/37068f809c8e/training-filter-work/venv/lib/python3.12/site-packages/torch/onnx/_internal/torchscript_exporter/utils.py:217: DeprecationWarning: The feature will be removed. Please remove usage of this function
  setup_onnx_logging(verbose) as log_ctx,

Critic Model: MLPModel(
  (obs_normalizer): EmpiricalNormalization()
  (mlp): MLP(
    (0): Linear(in_features=76, out_features=512, bias=True)
    (1): ELU(alpha=1.0)
    (2): Linear(in_features=512, out_features=256, bias=True)
    (3): ELU(alpha=1.0)
    (4): Linear(in_features=256, out_features=128, bias=True)
    (5): ELU(alpha=1.0)
    (6): Linear(in_features=128, out_features=1, bias=True)
  )
)
Written /tmp/tmpc5u1ai_8/policy.onnx
REAL_BACKLASH_CPU_PPO_PT_ONNX_61x14_RAW_OUTPUT_AND_DEPLOYMENT_OK
ok
test_left_factory_and_roll_crouch_real_envs (test_current_actions.RealGearPlayTests.test_left_factory_and_roll_crouch_real_envs) ... [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=2 device=cpu
[BacklashEncoderBamActuator] encoder-through-backlash feedback on 14/14 joints

+--------------------------------+
|        Base Environment        |
+------------------------+-------+
| Property               | Value |
+------------------------+-------+
| Number of environments | 2     |
| 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   | set_ground_state            |
|   4   | reset_ball                  |
|   5   | randomize_com               |
|   6   | randomize_head_com          |
|   7   | randomize_armature          |
|   8   | randomize_joint_friction    |
+-------+-----------------------------+
+----------------------------------------------+
|    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   | dof_armature        |
|   10  | body_mass           |
|   11  | body_inertia        |
|   12  | body_iquat          |
+-------+---------------------+

[INFO] <CommandManager> contains 1 active terms.
+--------------------------------------------+
|            Active Command Terms            |
+-------+-------+----------------------------+
| Index | Name  |            Type            |
+-------+-------+----------------------------+
|   0   | twist | VelocityCommandCommandOnly |
+-------+-------+----------------------------+

[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: (80,)) |
+----------+------------------------------------+------------+
|  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,)    |
|    12    | ball_position                      |    (3,)    |
|    13    | ball_velocity                      |    (3,)    |
+----------+------------------------------------+------------+

[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 12 active terms.
+----------------------------------------+
|          Active Reward Terms           |
+-------+-----------------------+--------+
| Index | Name                  | Weight |
+-------+-----------------------+--------+
|   0   | upright               |    2.0 |
|   1   | body_ang_vel          |  -0.05 |
|   2   | angular_momentum      |  -0.02 |
|   3   | dof_pos_limits        |   -1.0 |
|   4   | action_rate_l2        |   -0.1 |
|   5   | ball_forward_velocity |   12.0 |
|   6   | ball_speed_overshoot  |   -4.0 |
|   7   | support_foot_grounded |    2.0 |
|   8   | pose_stand_legs       |    2.0 |
|   9   | pose_stand_neck       |    1.0 |
|   10  | height_stand          |    1.0 |
|   11  | self_collisions       |   -1.0 |
+-------+-----------------------+--------+

[INFO] <CurriculumManager> contains 4 active terms.
+----------------------------+
|  Active Curriculum Terms   |
+-------+--------------------+
| Index | Name               |
+-------+--------------------+
|   0   | action_rate_weight |
|   1   | com_range          |
|   2   | head_com_range     |
|   3   | push_magnitude     |
+-------+--------------------+

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

[INFO] <NullRecorderManager> (inactive)
Module _solve_LD_sparse_fused__locals__kernel_0e1878e4 0bf6247 load on device 'cpu' took 0.41 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_c1d0c893 378cbd4 load on device 'cpu' took 0.40 ms  (cached)
Module _primitive_narrowphase__locals__primitive_narrowphase_19c2b5da 0a472f9 load on device 'cpu' took 0.38 ms  (cached)
Module solve_init_jaref__locals__kernel_21f4645a 00ca203 load on device 'cpu' took 0.16 ms  (cached)
Module update_constraint_gauss_cost__locals__kernel_d6355a39 9ccd762 load on device 'cpu' took 0.15 ms  (cached)
Module linesearch_jv_fused__locals__kernel_316fbf7a 956b1e2 load on device 'cpu' took 0.17 ms  (cached)/workspace/scratch/37068f809c8e/training-filter-work/venv/lib/python3.12/site-packages/mjlab/sim/sim_data.py:73: UserWarning: Use of index_put_ on expanded tensors is deprecated. Please clone() the tensor before performing this operation. This also applies to advanced indexing e.g. tensor[indices] = tensor (Triggered internally at /pytorch/aten/src/ATen/native/TensorAdvancedIndexing.cpp:972.)
  self._tensor[idx] = value
ok
test_real_feedback_position_velocity_partial_reset_and_friction (test_current_actions.RealGearPlayTests.test_real_feedback_position_velocity_partial_reset_and_friction) ... 
Module linesearch_prepare_gauss__locals__kernel_911bb516 64b0582 load on device 'cpu' took 0.14 ms  (cached)
[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=2 device=cpu
[BacklashEncoderBamActuator] encoder-through-backlash feedback on 14/14 joints

+--------------------------------+
|        Base Environment        |
+------------------------+-------+
| Property               | Value |
+------------------------+-------+
| Number of environments | 2     |
| 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_wheel_friction    |
|   4   | randomize_com               |
|   5   | randomize_head_com          |
|   6   | randomize_joint_friction    |
|   7   | 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    | encoder_bias                 |
|   1    | base_com                     |
|   2    | randomize_mass_inertia       |
+--------+------------------------------+
+-----------------------------+
| Domain Randomization Fields |
+-------+---------------------+
| Index | Field Name          |
+-------+---------------------+
|   0   | body_ipos           |
|   1   | body_subtreemass    |
|   2   | dof_invweight0      |
|   3   | body_invweight0     |
|   4   | tendon_length0      |
|   5   | tendon_invweight0   |
|   6   | dof_frictionloss    |
|   7   | body_mass           |
|   8   | body_inertia        |
|   9   | body_iquat          |
|   10  | dof_armature        |
+-------+---------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | GroundPickPhaseCommand |
+-------+-------+------------------------+

[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: (78,)) |
+----------+------------------------------------+------------+
|  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    | wheel_vel                          |    (4,)    |
|    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 12 active terms.
+---------------------------------------+
|          Active Reward Terms          |
+-------+----------------------+--------+
| Index | Name                 | Weight |
+-------+----------------------+--------+
|   0   | upright              |    2.0 |
|   1   | body_ang_vel         |  -0.05 |
|   2   | angular_momentum     |  -0.02 |
|   3   | action_rate_l2       |   -1.0 |
|   4   | crouch_glide_pose    |    6.0 |
|   5   | crouch_glide_pose_l1 |    2.0 |
|   6   | forward_speed        |    1.0 |
|   7   | crouch_forward_lean  |    1.0 |
|   8   | feet_flat            |   -2.0 |
|   9   | self_collisions      |   -1.0 |
|   10  | neck_action_rate_l2  |   -0.5 |
|   11  | joint_torques_l2     | -0.001 |
+-------+----------------------+--------+

[INFO] <CurriculumManager> contains 3 active terms.
+----------------------------+
|  Active Curriculum Terms   |
+-------+--------------------+
| Index | Name               |
+-------+--------------------+
|   0   | action_rate_weight |
|   1   | com_range          |
|   2   | head_com_range     |
+-------+--------------------+

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

[INFO] <NullRecorderManager> (inactive)
Module _solve_LD_sparse_fused__locals__kernel_b6fb5218 a3d5973 load on device 'cpu' took 0.31 ms  (cached)
Module solve_init_jaref__locals__kernel_6d3bca0b 9bfb11d load on device 'cpu' took 0.28 ms  (cached)
Module update_constraint_gauss_cost__locals__kernel_8e892ce4 5dbcbb9 load on device 'cpu' took 0.15 ms  (cached)
Module linesearch_jv_fused__locals__kernel_00914fd7 e3bf5c7 load on device 'cpu' took 0.16 ms  (cached)
Module linesearch_prepare_gauss__locals__kernel_3b3a439b 42bae34 load on device 'cpu' took 0.14 ms  (cached)
[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=2 device=cpu
[BacklashEncoderBamActuator] encoder-through-backlash feedback on 14/14 joints

+--------------------------------+
|        Base Environment        |
+------------------------+-------+
| Property               | Value |
+------------------------+-------+
| Number of environments | 2     |
| 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        |
+-------+---------------------+

[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)
REAL_HD1910_BACKLASH_POSITION_VELOCITY_RESET_FRICTION_AND_61x14_OK
ok

----------------------------------------------------------------------
Ran 6 tests in 13.793s

OK
