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go2 controls movement #48

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Open
go2 controls movement#48
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bugSomething isn't working
@gaorui470208

Description

@gaorui470208
gaorui470208
opened on May 9, 2026

Summary

Go2 cannot be controlled to move using WASD

Environment

  • Unreal Engine version:5.7
  • OS (Windows / Linux) and version:Windows
  • URLab plugin version / commit SHA:0.1-alpha
  • Visual Studio version (Windows only):2022

Reproduction steps

I obtained go2 from MuJoCo Menagerie and dragged go2.xml and go_2mjx.xml files into the content browser, but only the feet of the model were correct, and the size of the other parts of the model was 0x0x0. This was the first issue. After manually converting the model, I assigned the correct model to each part according to the corresponding relationship
PDCControllers were added to go2 and go_2 mjx, with kd and kv values set to 35 and 5, respectively. Then, the go2 and go_2 mjx blueprints and AMjManager were dragged into the scene, run, click 'play', and execute 'uv run src/run. py -- ui' to start URLab Debug DashBoard

  1. The initial posture of go2 and go_2 mjx is incorrect, and it is inconsistent with using 'python - m mujoco. viewer -- mjcf' to launch scene.xml and scene_mjx.xml. I will attach screenshots, with go2 on the left and go_2 mjx on the right
  2. I selected 'Unitree Locomotion (12DOF)' in the Policy Control of URLab Debug DashBoard, clicked on 'Start Policy', then returned to Possess' go2 'in Unreal and pressed WASDQE. In the' Twist/Base 'tab of URLab Debug DashBoard, Vx, Vy, and Yaw all have values, but go2 in Unreal has no response. I don't know where the problem lies
  3. After selecting Internal Control on the interface, go2 will cycle from lying down to standing, but go2.mjx has no response
  4. I noticed a video titled 'Unreal Robotics Lab' posted by Dimitrios Kanoulas on Youtube where I saw a quadruped robot dog under pressure and walking. Can you share a complete engineering example with me? Thank you very much
    Thanks again!
Image Image Image
20260509_091022.mp4

Expected behaviour

  1. The initial posture is correct and consistent with mujoco
  2. Can make go2 stand and control go2 movement through WASDQE

Actual behaviour

  1. The initial posture is incorrect and inconsistent with mujoco
  2. Go2 is unable to stand and can be controlled to move through WASDQE

Relevant logs

09:29:06 urlab_policy.dashboard INFO — ZMQ Thread running.
09:29:06 urlab_policy.dashboard INFO — State: tcp://127.0.0.1:5555, Cam: tcp://127.0.0.1:5558, Info: tcp://127.0.0.1:5557, Control: tcp://127.0.0.1:5556
09:29:12 urlab_policy.dashboard INFO — Policy will target articulation: 'go2_C_1'
05-09 09:29:14.203 [DEBUG] [robojudo] ========== robojudo-1.5.0 init done ==========

05-09 09:29:14.214 [INFO] [robojudo.pipeline.base_pipeline] Using device: cpu
[Environment] Dynamic import of environment: UnrealEnv
05-09 09:29:14.221 [INFO] [robojudo.utils.rotation] base set to pos: [0. 0. 0.], quat: [0. 0. 0. 1.]
09:29:14 urlab_policy.unreal_env INFO — ZMQ state: tcp://127.0.0.1:5555  control: tcp://127.0.0.1:5556
09:29:14 urlab_policy.unreal_env INFO — Using specified articulation prefix: 'go2_C_1'
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'left_hip_pitch_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'left_hip_roll_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'left_hip_yaw_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'left_knee_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'left_ankle_pitch_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'left_ankle_roll_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'right_hip_pitch_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'right_hip_roll_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'right_hip_yaw_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'right_knee_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'right_ankle_pitch_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env WARNING —   Joint 'right_ankle_roll_joint' not found in ZMQ stream
09:29:14 urlab_policy.unreal_env INFO —   Mapped 0/12 joints
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 14: FL_hip_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 15: FL_thigh_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 16: FL_calf_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 17: FR_hip_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 18: FR_thigh_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 19: FR_calf_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 20: RL_hip_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 21: RL_thigh_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 22: RL_calf_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 23: RR_hip_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 24: RR_thigh_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env INFO —     ZMQ ID 25: RR_calf_joint [UNMAPPED]
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_hip_pitch_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_hip_roll_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_hip_yaw_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_knee_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_ankle_pitch_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_ankle_roll_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_hip_pitch_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_hip_roll_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_hip_yaw_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_knee_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_ankle_pitch_joint' not found in info
09:29:14 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_ankle_roll_joint' not found in info
09:29:14 urlab_policy.unreal_env INFO —   Discovered actuator IDs: [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]
09:29:14 urlab_policy.unreal_env INFO — ZMQ subscription filtered to prefix: 'go2_C_1'
09:29:14 urlab_policy.unreal_env INFO — UnrealEnv ready — prefix='go2_C_1', 12 DOFs, control_dt=0.0200s (50Hz)
[Registry][robojudo.policy] UnitreePolicy, total: 2
[Policy] Dynamic import of policy: UnitreePolicy
05-09 09:29:14.680 [DEBUG] [robojudo.policy.base_policy] Loading jit from C:/Work/UEProjects/Learn_Pro57/Plugins/UnrealRoboticsLab-main/URLab_Bridge/RoboJuDo/assets/models/g1/unitree/policy_lstm_1.pt...
05-09 09:29:14.699 [DEBUG] [robojudo.policy.base_policy] Initializing history buffer as 0 x 0
05-09 09:29:14.705 [DEBUG] [robojudo.tools.dof] [DoF] override default_pos with [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, -0.1, 0.0, 0.0, 0.3, -0.2, 0.0]
05-09 09:29:14.707 [DEBUG] [robojudo.tools.dof] [DoF] override stiffness with [100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40]
05-09 09:29:14.707 [DEBUG] [robojudo.tools.dof] [DoF] override damping with [2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2]
05-09 09:29:14.707 [DEBUG] [robojudo.tools.dof] [DoF] override torque_limits with [88, 88, 88, 139, 50, 50, 88, 88, 88, 139, 50, 50]
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_hip_pitch_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_hip_roll_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_hip_yaw_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_knee_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_ankle_pitch_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'left_ankle_roll_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_hip_pitch_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_hip_roll_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_hip_yaw_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_knee_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_ankle_pitch_joint' not found in info
09:29:15 urlab_policy.unreal_env WARNING —   Actuator for joint 'right_ankle_roll_joint' not found in info
09:29:15 urlab_policy.unreal_env INFO —   Discovered actuator IDs: [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]
09:29:15 urlab_policy.unreal_env INFO — DOF config updated — 12 DOFs, joints: ['left_hip_pitch_joint', 'left_hip_roll_joint', 'left_hip_yaw_joint']...
09:29:15 urlab_policy.unreal_env INFO — Running self-check...
09:29:15 urlab_policy.unreal_env INFO — Base state received! pos=[ 1.31732917 -4.09999704  0.21684305], quat=[-2.18094275e-08 -1.67298334e-01 -1.83201590e-06  9.85906318e-01], angvel=[-1.05603446e-08  1.09385871e-06  1.27777540e-08]
09:29:15 urlab_policy.unreal_env INFO — Self-check passed — data flowing after 0ms
05-09 09:29:15.766 [INFO] [robojudo.pipeline.rl_pipeline] Pipeline reset
05-09 09:29:15.766 [INFO] [robojudo.utils.rotation] base set to pos: [0. 0. 0.], quat: [0. 0. 0. 1.]
05-09 09:29:15.768 [DEBUG] [robojudo.policy.base_policy] Initializing history buffer as 0 x 0
09:29:15 urlab_policy.dashboard INFO — Waiting for valid base state from ZMQ...
09:29:15 urlab_policy.dashboard INFO — Base state valid: pos=[ 1.31733036 -4.09999704  0.21683651]
09:29:15 urlab_policy.dashboard INFO — Stabilizing with policy at frame 0 (250 steps / 5s)...
05-09 09:29:15.770 [INFO] [robojudo.pipeline.rl_pipeline] Pipeline reset
05-09 09:29:15.770 [INFO] [robojudo.utils.rotation] base set to pos: [ 1.31733036 -4.09999704  0.        ], quat: [ 0.00000000e+00  0.00000000e+00 -1.90286904e-06  1.00000000e+00]
05-09 09:29:15.771 [DEBUG] [robojudo.policy.base_policy] Initializing history buffer as 0 x 0
09:29:21 urlab_policy.dashboard INFO — Stabilization done — recomputing alignment from settled pose
05-09 09:29:21.643 [INFO] [robojudo.pipeline.rl_pipeline] Pipeline reset
05-09 09:29:21.646 [INFO] [robojudo.utils.rotation] base set to pos: [3.45706940e-06 1.31567006e-11 0.00000000e+00], quat: [0.00000000e+00 0.00000000e+00 1.38234944e-08 1.00000000e+00]
05-09 09:29:21.647 [DEBUG] [robojudo.policy.base_policy] Initializing history buffer as 0 x 0
09:29:28 urlab_policy.dashboard INFO — [DIAG step=250] ts=300 action_rms=1.282 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[0.000,0.000,0.000] torso=[0.000,0.000,0.000]
09:29:33 urlab_policy.dashboard INFO — [DIAG step=500] ts=550 action_rms=1.373 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[-0.000,0.000,-0.000] torso=[0.000,0.000,0.000]
09:29:35 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:35 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:36 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:37 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:38 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.dashboard INFO — [DIAG step=750] ts=800 action_rms=1.978 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[0.000,0.000,-0.000] torso=[0.000,0.000,0.000]
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:39 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.800 vy=0.000 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:41 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=-0.500 yaw=0.000
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:42 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:43 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=-1.570
09:29:44 urlab_policy.dashboard INFO — [DIAG step=1000] ts=1050 action_rms=1.833 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[0.000,0.000,-0.000] torso=[0.000,0.000,0.000]
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:44 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.000 yaw=1.570
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:45 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=-0.800 vy=0.000 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:46 urlab_policy.unreal_twist_ctrl INFO — Twist cmd: vx=0.000 vy=0.500 yaw=0.000
09:29:49 urlab_policy.dashboard INFO — [DIAG step=1250] ts=1300 action_rms=1.641 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,0.000,-0.000] ang_vel=[-0.000,0.000,0.000] torso=[0.000,0.000,0.000]
09:29:54 urlab_policy.dashboard INFO — [DIAG step=1500] ts=1550 action_rms=1.991 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[0.000,0.000,-0.000] torso=[0.000,0.000,0.000]
09:29:59 urlab_policy.dashboard INFO — [DIAG step=1750] ts=1800 action_rms=1.497 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,0.000,-0.000] ang_vel=[-0.000,0.000,0.000] torso=[0.000,0.000,0.000]
09:30:05 urlab_policy.dashboard INFO — [DIAG step=2000] ts=2050 action_rms=1.330 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[-0.000,0.000,-0.000] torso=[0.000,0.000,0.000]
09:30:10 urlab_policy.dashboard INFO — [DIAG step=2250] ts=2300 action_rms=1.316 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,0.000,-0.000] ang_vel=[-0.000,0.000,0.000] torso=[0.000,0.000,0.000]
09:30:15 urlab_policy.dashboard INFO — [DIAG step=2500] ts=2550 action_rms=1.519 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[0.000,-0.000,-0.000] torso=[0.000,0.000,0.000]
09:30:20 urlab_policy.dashboard INFO — [DIAG step=2750] ts=2800 action_rms=1.495 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[-0.000,-0.000,-0.000] torso=[0.000,0.000,0.000]
09:30:26 urlab_policy.dashboard INFO — [DIAG step=3000] ts=3050 action_rms=0.843 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[0.000,0.000,-0.000] torso=[0.000,0.000,0.000]
09:30:31 urlab_policy.dashboard INFO — [DIAG step=3250] ts=3300 action_rms=1.768 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,-0.000,-0.000] ang_vel=[0.000,0.000,-0.000] torso=[0.000,0.000,0.000]
09:30:36 urlab_policy.dashboard INFO — [DIAG step=3500] ts=3550 action_rms=2.119 dof_err=0.300 base_pos=[1.317,-4.100,0.217] base_quat=[-0.000,-0.167,-0.000,0.986] lin_vel=[0.000,0.000,-0.000] ang_vel=[0.000,0.000,-0.000] torso=[0.000,0.000,0.000]

Before submitting

  • I searched existing issues and didn't find a duplicate.
  • I'm on a supported Unreal Engine version (5.7 or newer), or I've noted why not in the environment block.
  • I reproduced this on the latest main (or noted the commit I'm on).

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