test_catalog_names_and_budgets_are_real_registered_factories (test_added_actions_upstream.AddedActionPhysicsTests.test_catalog_names_and_budgets_are_real_registered_factories) ... ok
test_restored_rough_sitstand_and_pick_compile_reset_step (test_added_actions_upstream.AddedActionPhysicsTests.test_restored_rough_sitstand_and_pick_compile_reset_step) ... 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
Terrain generation took 0.1265 seconds.
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

+--------------------------------+
|        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   | randomize_com               |
|   5   | randomize_head_com          |
|   6   | randomize_armature          |
|   7   | randomize_joint_friction    |
+-------+-----------------------------+
+----------------------------------------------------+
|       Active Event Terms in Mode: 'interval'       |
+-------+------------------+-------------------------+
| Index | Name             | Interval time range (s) |
+-------+------------------+-------------------------+
|   0   | push_robot       |        (3.0, 6.0)       |
|   1   | seated_head_jerk |        (0.3, 0.8)       |
|   2   | seated_tip       |        (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          |
+-------+---------------------+

Module repeat_array_kernel_39317a34 8b94c13 load on device 'cpu' took 1.62 ms  (cached)
Module repeat_array_kernel_39317a34 83c495b load on device 'cpu' took 0.16 ms  (cached)
Module repeat_array_kernel_39317a34 024b13f load on device 'cpu' took 0.19 ms  (cached)
Module repeat_array_kernel_39317a34 c14a6b4 load on device 'cpu' took 0.23 ms  (cached)
[INFO] <CommandManager> contains 2 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-----------+--------------------+
| Index | Name      |        Type        |
+-------+-----------+--------------------+
|   0   | twist     |  SitStandCommand   |
|   1   | head_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 21 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   | posture_pose_legs    |    4.0 |
|   5   | head_pose_tracking   |   0.75 |
|   6   | posture_pose_l1      |    1.0 |
|   7   | posture_height       |    1.0 |
|   8   | posture_height_sharp |    1.0 |
|   9   | posture_height_l1    |    6.0 |
|   10  | rise_bootstrap       |   0.75 |
|   11  | descent_speed        |   10.0 |
|   12  | rise_speed           |    0.0 |
|   13  | gentle_motion        |   0.05 |
|   14  | upright_linear       |    2.5 |
|   15  | upright_while_tall   |    1.5 |
|   16  | posture_stillness    |    2.0 |
|   17  | posture_composite    |    3.0 |
|   18  | joint_torque_rate_l2 |    0.0 |
|   19  | neck_strain_leaned   |   -0.5 |
|   20  | self_collisions      |   -1.0 |
+-------+----------------------+--------+

[INFO] <CurriculumManager> contains 11 active terms.
+-------------------------------+
|    Active Curriculum Terms    |
+-------+-----------------------+
| Index | Name                  |
+-------+-----------------------+
|   0   | terrain_levels        |
|   1   | head_pose_range       |
|   2   | com_range             |
|   3   | head_com_range        |
|   4   | push_magnitude        |
|   5   | action_rate_weight    |
|   6   | descent_speed_weight  |
|   7   | rise_speed_weight     |
|   8   | seated_head_jerk_prob |
|   9   | seated_tip_range      |
|   10  | torque_rate_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 0.49 ms  (cached)
Module mujoco_warp._src.smooth 8731313 load on device 'cpu' took 0.56 ms  (cached)
Module _tile_cholesky_factorize__locals__cholesky_factorize_a02b7349 70689db load on device 'cpu' took 0.32 ms  (cached)
Module _tile_cholesky_solve__locals__cholesky_solve_8c82e9f1 b8f2819 load on device 'cpu' took 0.21 ms  (cached)
Module reset_data__locals__reset_xfrc_applied_e7898c5c 1f5e12c load on device 'cpu' took 0.34 ms  (cached)
Module reset_data__locals__reset_qM_10d3c793 f59ca3c load on device 'cpu' took 0.17 ms  (cached)
Module reset_data__locals__reset_mocap_ff71f630 d0e4e7e load on device 'cpu' took 0.15 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 0.36 ms  (cached)
Module mujoco_warp._src.collision_driver eed4cf3 load on device 'cpu' took 0.27 ms  (cached)
Module _nxn_broadphase__locals__kernel_e73b1315 157cf89 load on device 'cpu' took 0.24 ms  (cached)
Module ccd_hfield_kernel_builder__locals__ccd_hfield_kernel_156fde10 0fb991f load on device 'cpu' took 0.46 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_bd5ecce0 042bf16 load on device 'cpu' took 0.47 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_a573e946 4e29c77 load on device 'cpu' took 0.34 ms  (cached)
Module mujoco_warp._src.constraint 02b3f03 load on device 'cpu' took 0.39 ms  (cached)
Module _efc_contact_init__locals__kernel_fda71e14 d197232 load on device 'cpu' took 0.27 ms  (cached)
Module _efc_contact_jac_dense__locals__kernel_7974b597 a581aa2 load on device 'cpu' took 0.27 ms  (cached)
Module _efc_contact_update__locals__kernel_90315d53 49b5115 load on device 'cpu' took 0.22 ms  (cached)
Module mujoco_warp._src.sensor 93435cc load on device 'cpu' took 0.37 ms  (cached)
Module mujoco_warp._src.forward 5dcb54e load on device 'cpu' took 0.32 ms  (cached)
Module mujoco_warp._src.passive 12b3435 load on device 'cpu' took 0.28 ms  (cached)
Module mujoco_warp._src.support fda47c6 load on device 'cpu' took 0.28 ms  (cached)
Module _tile_cholesky_factorize_solve__locals__cholesky_factorize_solve_b16bf393 cd62458 load on device 'cpu' took 0.21 ms  (cached)
Module mujoco_warp._src.solver 2f1f5c6 load on device 'cpu' took 0.72 ms  (cached)
Module solve_init_jaref__locals__kernel_5208712d fbe27e4 load on device 'cpu' took 0.15 ms  (cached)
Module mul_m_dense__locals___mul_m_dense_b66df345 db44421 load on device 'cpu' took 0.13 ms  (cached)
Module update_constraint_efc__locals__kernel_32935e9d 7127a83 load on device 'cpu' took 0.49 ms  (cached)
Module update_constraint_gauss_cost__locals__kernel_baf8e129 efdabd1 load on device 'cpu' took 0.20 ms  (cached)
Module update_gradient_JTDAJ_dense_tiled__locals__kernel_9404d42c 6b42f96 load on device 'cpu' took 0.17 ms  (cached)
Module update_gradient_cholesky__locals__kernel_5ee47d83 702e3ec load on device 'cpu' took 0.17 ms  (cached)
Module linesearch_jv_fused__locals__kernel_7bf09094 6b3208c load on device 'cpu' took 0.14 ms  (cached)
Module linesearch_prepare_gauss__locals__kernel_97347d38 0cadf6d load on device 'cpu' took 0.14 ms  (cached)
Module update_constraint_efc__locals__kernel_3c1a9816 0242ddf load on device 'cpu' took 0.21 ms  (cached)
Module _contact_sort__locals__contact_sort_304c86df 71fdfff load on device 'cpu' took 0.19 ms  (cached)
Module mujoco_warp._src.derivative 77f0d4f load on device 'cpu' took 0.71 ms  (cached)
CPU_NEW_ROUGH_OK Mjlab-SitStand-Rough-MicroDuck
Terrain generation took 0.1110 seconds.
[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   | randomize_com               |
|   5   | randomize_head_com          |
|   6   | randomize_armature          |
|   7   | randomize_joint_friction    |
+-------+-----------------------------+
+----------------------------------------------------+
|       Active Event Terms in Mode: 'interval'       |
+-------+------------------+-------------------------+
| Index | Name             | Interval time range (s) |
+-------+------------------+-------------------------+
|   0   | push_robot       |        (3.0, 6.0)       |
|   1   | seated_head_jerk |        (0.3, 0.8)       |
|   2   | seated_tip       |        (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 2 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-----------+--------------------+
| Index | Name      |        Type        |
+-------+-----------+--------------------+
|   0   | twist     |  SitStandCommand   |
|   1   | head_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 21 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   | posture_pose_legs    |    4.0 |
|   5   | head_pose_tracking   |   0.75 |
|   6   | posture_pose_l1      |    1.0 |
|   7   | posture_height       |    1.0 |
|   8   | posture_height_sharp |    1.0 |
|   9   | posture_height_l1    |    6.0 |
|   10  | rise_bootstrap       |   0.75 |
|   11  | descent_speed        |   10.0 |
|   12  | rise_speed           |    0.0 |
|   13  | gentle_motion        |   0.05 |
|   14  | upright_linear       |    2.5 |
|   15  | upright_while_tall   |    1.5 |
|   16  | posture_stillness    |    2.0 |
|   17  | posture_composite    |    3.0 |
|   18  | joint_torque_rate_l2 |    0.0 |
|   19  | neck_strain_leaned   |   -0.5 |
|   20  | self_collisions      |   -1.0 |
+-------+----------------------+--------+

[INFO] <CurriculumManager> contains 11 active terms.
+-------------------------------+
|    Active Curriculum Terms    |
+-------+-----------------------+
| Index | Name                  |
+-------+-----------------------+
|   0   | terrain_levels        |
|   1   | head_pose_range       |
|   2   | com_range             |
|   3   | head_com_range        |
|   4   | push_magnitude        |
|   5   | action_rate_weight    |
|   6   | descent_speed_weight  |
|   7   | rise_speed_weight     |
|   8   | seated_head_jerk_prob |
|   9   | seated_tip_range      |
|   10  | torque_rate_weight    |
+-------+-----------------------+

[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_55de0719 a9973d6 load on device 'cpu' took 0.28 ms  (cached)
Module _efc_contact_init__locals__kernel_346f6f0c 35ddffe load on device 'cpu' took 0.36 ms  (cached)
Module _efc_contact_jac_sparse__locals__kernel_86e47ecb 8f91a00 load on device 'cpu' took 0.21 ms  (cached)
Module solve_init_jaref__locals__kernel_63515ecb 4d85a14 load on device 'cpu' took 0.19 ms  (cached)
Module mul_m_sparse__locals___mul_m_sparse_0e88d329 43cf822 load on device 'cpu' took 0.14 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 0.28 ms  (cached)
Module linesearch_jv_fused__locals__kernel_7b416447 e07f2a6 load on device 'cpu' took 0.16 ms  (cached)
Module linesearch_prepare_gauss__locals__kernel_f5448712 532e099 load on device 'cpu' took 0.14 ms  (cached)
Module update_gradient_cholesky_blocked_skip_unchanged__locals__kernel_b35f4e9a 1ee56aa load on device 'cpu' took 0.18 ms  (cached)
CPU_NEW_ROUGH_OK Mjlab-SitStand-Rough-Backlash-MicroDuck
Terrain generation took 0.2015 seconds.
[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

+--------------------------------+
|        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   | sample_mouth_payload        |
|   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   | 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 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: (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 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 19 active terms.
+------------------------------------------------+
|              Active Reward Terms               |
+-------+-------------------------------+--------+
| Index | Name                          | Weight |
+-------+-------------------------------+--------+
|   0   | upright                       |    0.2 |
|   1   | body_ang_vel                  |  -0.05 |
|   2   | angular_momentum              |  -0.02 |
|   3   | dof_pos_limits                |   -1.0 |
|   4   | action_rate_l2                |   -2.0 |
|   5   | soft_landing                  | -1e-05 |
|   6   | mouth_ground_proximity        |    3.0 |
|   7   | mouth_perpendicular_to_ground |    2.0 |
|   8   | ground_pick_return_pose_legs  |    6.0 |
|   9   | ground_pick_return_pose_neck  |    6.0 |
|   10  | return_upright                |    4.0 |
|   11  | neck_vel_descent              |   -0.1 |
|   12  | mouth_payload_force           |    0.0 |
|   13  | feet_grounded                 |    3.0 |
|   14  | feet_flat                     |   -2.0 |
|   15  | neck_action_rate_l2           |   -1.0 |
|   16  | joint_torques_l2              | -0.005 |
|   17  | self_collisions               |   -1.0 |
|   18  | head_impact_penalty           |   -2.0 |
+-------+-------------------------------+--------+

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

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

[INFO] <NullRecorderManager> (inactive)
CPU_NEW_ROUGH_OK Mjlab-GroundPick-Rough-MicroDuck
Terrain generation took 0.1769 seconds.
[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   | sample_mouth_payload        |
|   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   | 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 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: (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 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 19 active terms.
+------------------------------------------------+
|              Active Reward Terms               |
+-------+-------------------------------+--------+
| Index | Name                          | Weight |
+-------+-------------------------------+--------+
|   0   | upright                       |    0.2 |
|   1   | body_ang_vel                  |  -0.05 |
|   2   | angular_momentum              |  -0.02 |
|   3   | dof_pos_limits                |   -1.0 |
|   4   | action_rate_l2                |   -2.0 |
|   5   | soft_landing                  | -1e-05 |
|   6   | mouth_ground_proximity        |    3.0 |
|   7   | mouth_perpendicular_to_ground |    2.0 |
|   8   | ground_pick_return_pose_legs  |    6.0 |
|   9   | ground_pick_return_pose_neck  |    6.0 |
|   10  | return_upright                |    4.0 |
|   11  | neck_vel_descent              |   -0.1 |
|   12  | mouth_payload_force           |    0.0 |
|   13  | feet_grounded                 |    3.0 |
|   14  | feet_flat                     |   -2.0 |
|   15  | neck_action_rate_l2           |   -1.0 |
|   16  | joint_torques_l2              | -0.005 |
|   17  | self_collisions               |   -1.0 |
|   18  | head_impact_penalty           |   -2.0 |
+-------+-------------------------------+--------+

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

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

[INFO] <NullRecorderManager> (inactive)
CPU_NEW_ROUGH_OK Mjlab-GroundPick-Rough-Backlash-MicroDuck
ok

----------------------------------------------------------------------
Ran 2 tests in 15.577s

OK
