commit 102fdbaf4719d1ed6b8d667258f27832f1a302c6
Author: BNDSer <zichen.feng@outlook.com>
Date:   Mon Nov 2 17:10:39 2026 +0800

    Initial commit

diff --git a/.gitignore b/.gitignore
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+# Python
+__pycache__/
+*.py[cod]
+*.egg-info/
+.eggs/
+build/
+dist/
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
+.coverage
+htmlcov/
+
+# Environments
+.conda/
+.venv/
+venv/
+
+# Editors / OS
+.idea/
+.vscode/
+.DS_Store
+*.swp
+*.swo
+
+# Training outputs: publish only the final 50k artifacts of the two released runs.
+checkpoints/
+logs/*
+!logs/s10_terrain_v4_50k_full/
+!logs/s10_terrain_v7_50k_20261101_225518/
+logs/s10_terrain_v4_50k_full/*
+logs/s10_terrain_v7_50k_20261101_225518/*
+!logs/s10_terrain_v4_50k_full/model_50000.pt
+!logs/s10_terrain_v4_50k_full/model_50000.onnx
+!logs/s10_terrain_v4_50k_full/model_50000.json
+!logs/s10_terrain_v4_50k_full/train.log
+!logs/s10_terrain_v4_50k_full/metrics.jsonl
+!logs/s10_terrain_v7_50k_20261101_225518/model_50000.pt
+!logs/s10_terrain_v7_50k_20261101_225518/model_50000.onnx
+!logs/s10_terrain_v7_50k_20261101_225518/model_50000.json
+!logs/s10_terrain_v7_50k_20261101_225518/train.log
+!logs/s10_terrain_v7_50k_20261101_225518/metrics.jsonl
diff --git a/README.md b/README.md
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+# S10 SuperMimic
+
+基于 mjlab 和 MuJoCo Warp 的 S10 轮足机器人强化学习项目。通过仿真数据训练世界模型，再利用世界模型生成想象轨迹来优化速度控制策略，支持平地、楼梯、平台、斜坡和碎石地形。
+
+演示使用v7_50k策略，在仓库中附带提交权重和模型
+
+<video src="docs/WorldModel_demo1.mp4" controls width="75%"></video>
+
+<video src="docs/Mujoco_demo2.mp4" controls width="75%"></video>
+
+## Requirements
+
+Python 3.10–3.13、PyTorch ≥ 2.7、mjlab 1.6.0、MuJoCo Warp；参考配置需要 16 GB 显存，如果使用更高显存训练，可以提高 `--imag-batch`。依赖安装：`pip install -r requirements.txt`。
+
+## Tasks
+
+- `s10-v4`：平地激进策略。
+- `s10-v7`：平地/台阶保守策略，可上 20 cm 台阶。
+- `s10-v4-upward`：倒地起身训练，开发中。
+
+## Train
+
+```bash
+export PYTHONPATH="$PWD"
+python scripts/train.py --task s10-v4 --output logs/s10_v4
+python scripts/train.py --task s10-v7 --output logs/s10_v7
+python scripts/train.py --task s10-v4-upward --output logs/s10_v4_upward
+```
+
+`--task` 加载任务默认配置，命令行参数可覆盖。训练输出 `model_<step>.pt` 和 `metrics.jsonl`；`logs/` 保留 v4、v7 的 50k 最终权重。
+
+## Play and Export
+
+```bash
+python scripts/export_onnx.py --checkpoint <pt> --output <onnx>
+```
+
+ONNX 只包含确定性 actor。`./scripts/play_gui.sh --checkpoint <pt>` 提供 GUI 交互演示，可可视化世界模型的未来预测，但不能替代 sim2sim；sim2sim 建议使用导出的 ONNX。
+
+## World model
+
+世界模型是带残差预测的前馈多层感知机（MLP），默认使用三层 512 维隐藏层和 SiLU 激活函数。它根据当前状态和动作预测下一时刻的状态变化，以及机身平面位移和偏航角变化。输入和输出使用运行统计量进行归一化。
+
+| 输入 | 维度 | 内容 |
+| --- | ---: | --- |
+| 机器人状态 | 38 | 高度 1、投影重力 3、机身线速度 3、角速度 3、腿关节位置 12、腿关节速度 12、轮速 4 |
+| 当前动作 | 16 | 12 维腿部位置控制和 4 维轮速控制 |
+| 上一动作 | 16 | 上一控制周期的动作 |
+| 物理参数 | 7 | 四个轮子的摩擦系数和机身质心偏移 |
+| 地形扫描 | 273 | 复杂地形模型使用的 21 × 13 高度采样网格 |
+
+平地世界模型输入为 **77 维**；复杂地形世界模型加入高度扫描后为 **350 维**。两者的动力学输出均为 **41 维**：38 维状态变化和 3 维平面位姿变化。复杂地形模型（revision ≥ 4）带有接触概率与接触力预测头，地形 v7 还带有非轮部位碰撞预测头。世界模型仍使用真实轮速作为训练时的特权状态，这与策略观测不同。
+
+训练时从仿真回放中采样连续片段，世界模型按时间自回归预测并拟合实际轨迹；默认训练窗口为 8 步。随后使用世界模型展开想象轨迹，并结合奖励和 critic 更新策略。
+
+## Actor
+
+Actor 根据机器人自身观测和速度指令输出控制动作。当前 S10 Actor（v4 / v4-upward / v7）每帧接收 **53 维**观测：
+
+| 观测 | 每帧维度 |
+| --- | ---: |
+| 机身角速度 | 3 |
+| 投影重力 | 3 |
+| 腿关节位置 | 12 |
+| 腿关节速度 | 12 |
+| 轮速 | 4 |
+| 上一动作 | 16 |
+| 速度指令（前后、横移、转向） | 3 |
+
+默认保留 **5 帧**历史，因此 Actor 输入为 **265 维**；各观测项分别按时间从旧到新排列。控制周期为 0.02 秒，5 帧覆盖 5 个控制时刻。
+
+Actor 是默认隐藏层为 **256 → 128 → 64** 的 MLP，使用输入归一化和 ELU 激活，最后通过 tanh 输出 **16 维动作**：12 维腿部位置控制和 4 维轮速控制。Actor 不接收地形扫描，实现盲走控制；演示时使用 Actor 生成动作。
+
+## Critic
+
+Critic 在训练中估计当前状态的未来回报，输出一个标量价值。它使用训练时可获得的特权信息，输入不需要堆叠 Actor 的历史帧：
+
+| 输入 | 维度 | 内容 |
+| --- | ---: | --- |
+| 机器人状态 | 38 | 包含机身高度、线速度、角速度、关节状态和轮速 |
+| 速度指令 | 3 | 前后、横移和转向指令 |
+| 物理参数 | 7 | 四个轮子摩擦系数和机身质心偏移 |
+| 上一动作 | 16 | 上一控制周期的动作 |
+| 地形扫描 | 273 | 复杂地形的 21 × 13 高度采样网格 |
+
+平地 Critic 输入为 **64 维**，复杂地形 Critic 输入为 **337 维**。Critic 默认同样使用 **256 → 128 → 64** 的 MLP、输入归一化和 ELU 激活，输出 **1 维**价值估计。Critic 和地形扫描只用于训练；运行策略时不需要 Critic。
+
+训练时，世界模型生成想象轨迹，Actor 通过轨迹中的奖励和目标 Critic 的末端价值优化动作；Critic 使用想象轨迹计算的 TD(λ) 回报作为目标进行拟合。Actor 的 5 帧历史与世界模型默认的 8 步训练窗口是不同的参数，分别由 `--history` 和 `--wm-window` 设置。
+
+## Structure
+
+```text
+s10_supermimic/
+├── core/    # 世界模型、策略、想象训练、经验回放与演示界面
+├── env/     # 平地及复杂地形环境
+├── tasks/   # 任务注册与默认参数
+└── robot/   # S10 机器人配置与模型资产
+scripts/     # 训练、导出与演示入口
+docs/        # 演示素材
+tests/       # 模型、任务与奖励检查
+logs/        # 保留的最终权重与训练日志
+```
+
+## References
+
+- 仿真基于：https://github.com/mujocolab/mjlab
+- 算法基于：
+  - https://github.com/zita-ch/supermimic_vibed
+  - https://github.com/uwvwko-zzz/go2w-supermimic
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diff --git a/logs/s10_terrain_v4_50k_full/metrics.jsonl b/logs/s10_terrain_v4_50k_full/metrics.jsonl
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+{"step": 49930, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49930, "total_transitions": 204513280, "num_steps_per_env": 1, "wm_loss": 0.425046443939209, "actor_loss": -8.712114334106445, "critic_loss": 0.023346079513430595, "reward": 0.07103358954191208, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2511466145515442, 0.15747441351413727, 0.25397974252700806], "policy_updates": 49830, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11116.587317115, "contact_bce": 0.30699461698532104, "contact_force_loss": 0.03187672793865204, "terrain_level_mean": 3.261474609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34814453125, "command_abs_max": [1.9989352226257324, 0.9979754686355591, 2.9992828369140625]}
+{"step": 49940, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49940, "total_transitions": 204554240, "num_steps_per_env": 1, "wm_loss": 0.38220638036727905, "actor_loss": -8.658956527709961, "critic_loss": 0.036822427064180374, "reward": 0.07103248685598373, "falls": 11, "interval_steps": 10, "velocity_mae": [0.2523346543312073, 0.15608422458171844, 0.2559962868690491], "policy_updates": 49840, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11120.098228604, "contact_bce": 0.31259438395500183, "contact_force_loss": 0.0319705493748188, "terrain_level_mean": 3.260498046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3525390625, "command_abs_max": [1.9989352226257324, 0.9979754686355591, 2.9992828369140625]}
+{"step": 49950, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49950, "total_transitions": 204595200, "num_steps_per_env": 1, "wm_loss": 0.38025203347206116, "actor_loss": -8.734837532043457, "critic_loss": 0.023768708109855652, "reward": 0.07107533514499664, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2516796588897705, 0.15708954632282257, 0.25428375601768494], "policy_updates": 49850, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11123.624266114, "contact_bce": 0.3089231252670288, "contact_force_loss": 0.031709689646959305, "terrain_level_mean": 3.260009765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35302734375, "command_abs_max": [1.9989352226257324, 0.9979754686355591, 2.9992828369140625]}
+{"step": 49960, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49960, "total_transitions": 204636160, "num_steps_per_env": 1, "wm_loss": 0.3983805179595947, "actor_loss": -8.708301544189453, "critic_loss": 0.023865951225161552, "reward": 0.0706491693854332, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25408563017845154, 0.15854115784168243, 0.25572648644447327], "policy_updates": 49860, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11127.1459235, "contact_bce": 0.3068126440048218, "contact_force_loss": 0.03247822821140289, "terrain_level_mean": 3.26025390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353271484375, "command_abs_max": [1.9989352226257324, 0.9979754686355591, 2.9992828369140625]}
+{"step": 49970, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49970, "total_transitions": 204677120, "num_steps_per_env": 1, "wm_loss": 0.39252668619155884, "actor_loss": -8.745102882385254, "critic_loss": 0.028987431898713112, "reward": 0.07067064940929413, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2538957893848419, 0.15732534229755402, 0.2514655888080597], "policy_updates": 49870, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11130.668611998, "contact_bce": 0.3039766550064087, "contact_force_loss": 0.031528424471616745, "terrain_level_mean": 3.25927734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35498046875, "command_abs_max": [1.9989352226257324, 0.9977898001670837, 2.9992828369140625]}
+{"step": 49980, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49980, "total_transitions": 204718080, "num_steps_per_env": 1, "wm_loss": 0.3877331614494324, "actor_loss": -8.690896987915039, "critic_loss": 0.029520124197006226, "reward": 0.07103347033262253, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24854716658592224, 0.1536509096622467, 0.25119540095329285], "policy_updates": 49880, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11134.191181286, "contact_bce": 0.30310410261154175, "contact_force_loss": 0.0313740074634552, "terrain_level_mean": 3.259521484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35205078125, "command_abs_max": [1.9989352226257324, 0.9977898001670837, 2.9992828369140625]}
+{"step": 49990, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49990, "total_transitions": 204759040, "num_steps_per_env": 1, "wm_loss": 0.38850468397140503, "actor_loss": -8.680500030517578, "critic_loss": 0.03492328152060509, "reward": 0.07081657648086548, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24764837324619293, 0.152267724275589, 0.2518332302570343], "policy_updates": 49890, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11137.712006557, "contact_bce": 0.30857905745506287, "contact_force_loss": 0.03240996226668358, "terrain_level_mean": 3.260009765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35009765625, "command_abs_max": [1.9989352226257324, 0.9977898001670837, 2.9992828369140625]}
+{"step": 50000, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 50000, "total_transitions": 204800000, "num_steps_per_env": 1, "wm_loss": 0.3964875340461731, "actor_loss": -8.712970733642578, "critic_loss": 0.023709772154688835, "reward": 0.07063455134630203, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2501400411128998, 0.15224096179008484, 0.2536126673221588], "policy_updates": 49900, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11141.232798002, "contact_bce": 0.30595290660858154, "contact_force_loss": 0.03146994113922119, "terrain_level_mean": 3.259521484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9989352226257324, 0.9978711605072021, 2.9992828369140625]}
diff --git a/logs/s10_terrain_v4_50k_full/model_50000.json b/logs/s10_terrain_v4_50k_full/model_50000.json
new file mode 100644
index 0000000..cf948ff
--- /dev/null
+++ b/logs/s10_terrain_v4_50k_full/model_50000.json
@@ -0,0 +1,131 @@
+{
+  "format": "s10-terrain-policy-v1",
+  "step": 50000,
+  "history": 5,
+  "frame_dim": 53,
+  "observation_dim": 265,
+  "action_dim": 16,
+  "dt": 0.02,
+  "actor_hidden": [
+    256,
+    128,
+    64
+  ],
+  "actor_params": 110288,
+  "frame_terms": [
+    {
+      "name": "base_ang_vel",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "projected_gravity",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_pos_rel",
+      "dim": 12,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_vel_rel",
+      "dim": 12,
+      "scale": 0.05
+    },
+    {
+      "name": "wheel_vel_rel",
+      "dim": 4,
+      "scale": 0.05
+    },
+    {
+      "name": "last_action",
+      "dim": 16,
+      "scale": 1.0
+    },
+    {
+      "name": "command",
+      "dim": 3,
+      "scale": 1.0
+    }
+  ],
+  "history_layout": "term-wise blocks, oldest to newest (mjlab flattening)",
+  "env_action_order": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15
+  ],
+  "leg_scale": [
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8
+  ],
+  "wheel_scale": 35.0,
+  "wheel_clip": 35.0,
+  "default_joint_pos": [
+    0.1,
+    -0.35,
+    0.65,
+    -0.1,
+    -0.35,
+    0.65,
+    0.1,
+    0.35,
+    -0.65,
+    -0.1,
+    0.35,
+    -0.65,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "leg_joint_names": [
+    "fl_hipx_joint",
+    "fl_hipy_joint",
+    "fl_knee_joint",
+    "fr_hipx_joint",
+    "fr_hipy_joint",
+    "fr_knee_joint",
+    "hl_hipx_joint",
+    "hl_hipy_joint",
+    "hl_knee_joint",
+    "hr_hipx_joint",
+    "hr_hipy_joint",
+    "hr_knee_joint"
+  ],
+  "wheel_joint_names": [
+    "fl_wheel_joint",
+    "fr_wheel_joint",
+    "hl_wheel_joint",
+    "hr_wheel_joint"
+  ],
+  "onnx": {
+    "input": "obs",
+    "output": "actions",
+    "opset": 17,
+    "max_abs_error_vs_torch": 7.487833499908447e-07
+  }
+}
diff --git a/logs/s10_terrain_v4_50k_full/model_50000.onnx b/logs/s10_terrain_v4_50k_full/model_50000.onnx
new file mode 100644
index 0000000..2ac25ca
Binary files /dev/null and b/logs/s10_terrain_v4_50k_full/model_50000.onnx differ
diff --git a/logs/s10_terrain_v4_50k_full/train.log b/logs/s10_terrain_v4_50k_full/train.log
new file mode 100644
index 0000000..fe7067c
--- /dev/null
+++ b/logs/s10_terrain_v4_50k_full/train.log
@@ -0,0 +1,4374 @@
+<conda-env>/lib/python3.11/site-packages/torch/jit/_script.py:1491: FutureWarning: `torch.jit.script` is deprecated. Please switch to `torch.compile` or `torch.export`.
+  warnings.warn(
+<conda-env>/lib/python3.11/site-packages/mujoco_warp/_src/io.py:713: UserWarning: MULTICCD is enabled, but the scene contains CCD pairs without multicontact support: [('CYLINDER', 'CYLINDER'), ('CYLINDER', 'BOX')]. At most 1 contact will be generated for these pairs.
+  warnings.warn(
+Setting seed: 0
+Warp 1.14.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 5070 Ti" (15 GiB, sm_120, mempool enabled)
+   Kernel cache:
+     <warp-cache>/1.14.0
+Module mujoco_warp._src.smooth e597d07 load on device 'cuda:0' took 4.41 ms  (cached)
+Module _nxn_broadphase__locals__kernel_df6640ed df6640e load on device 'cuda:0' took 0.98 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_f3c975b7 f3c975b load on device 'cuda:0' took 2.00 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_f3c975b7 fa59860 load on device 'cuda:0' took 2.13 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_82ff21e7 82ff21e load on device 'cuda:0' took 1.87 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_82ff21e7 fa618bd load on device 'cuda:0' took 1.87 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_240d51e8 240d51e load on device 'cuda:0' took 2.54 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_240d51e8 a5c9e1e load on device 'cuda:0' took 2.35 ms  (cached)
+Module _primitive_narrowphase__locals__primitive_narrowphase_9aaa7d98 9aaa7d9 load on device 'cuda:0' took 0.91 ms  (cached)
+Module mujoco_warp._src.constraint 880bd7f load on device 'cuda:0' took 0.70 ms  (cached)
+Module _friction_dof__locals__kernel_3c14efda 3c14efd load on device 'cuda:0' took 2.07 ms  (cached)
+Module _limit_slide_hinge__locals__kernel_4d6c55ab 4d6c55a load on device 'cuda:0' took 1.11 ms  (cached)
+Module _efc_contact_init__locals__kernel_744a1fda 744a1fd load on device 'cuda:0' took 0.84 ms  (cached)
+Module _efc_contact_jac_dense__locals__kernel_760e2e1a d6aba00 load on device 'cuda:0' took 0.80 ms  (cached)
+Module _efc_contact_update__locals__kernel_c40b0799 c40b079 load on device 'cuda:0' took 1.10 ms  (cached)
+Module mujoco_warp._src.forward 687ddb7 load on device 'cuda:0' took 1.62 ms  (cached)
+Module mujoco_warp._src.passive 8ff6993 load on device 'cuda:0' took 1.62 ms  (cached)
+Module mujoco_warp._src.forward 2190340 load on device 'cuda:0' took 1.60 ms  (cached)
+Module _qfrc_smooth__locals__kernel_6eb3d958 6eb3d95 load on device 'cuda:0' took 0.76 ms  (cached)
+Module mujoco_warp._src.support d1e71d9 load on device 'cuda:0' took 0.88 ms  (cached)
+Module _tile_cholesky_factorize_solve_block__locals__kernel_b44bd18c 0966f64 load on device 'cuda:0' took 19.14 ms  (cached)
+Module _solve_init_dof__locals__kernel_99a497d1 99a497d load on device 'cuda:0' took 0.81 ms  (cached)
+Module mujoco_warp._src.solver 245b5b3 load on device 'cuda:0' took 2.01 ms  (cached)
+Module _solve_init_jaref_kernel__locals__kernel_d620bcf9 d620bcf load on device 'cuda:0' took 0.74 ms  (cached)
+Module mul_m_kernel__locals___mul_m_fd2186c4 fd2186c load on device 'cuda:0' took 0.90 ms  (cached)
+Module _update_constraint_efc__locals__kernel_4af8f110 4af8f11 load on device 'cuda:0' took 0.74 ms  (cached)
+Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_391cb5b4 391cb5b load on device 'cuda:0' took 0.80 ms  (cached)
+Module _update_gradient_zero_grad_dot__locals__kernel_cb780630 cb78063 load on device 'cuda:0' took 0.78 ms  (cached)
+Module _update_gradient_grad__locals__kernel_0cbf4927 0cbf492 load on device 'cuda:0' took 0.69 ms  (cached)
+Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_5d6c5d76 c826079 load on device 'cuda:0' took 1.27 ms  (cached)
+Module _update_gradient_cholesky__locals__kernel_b27fc0c0 f9b150c load on device 'cuda:0' took 19.42 ms  (cached)
+Module _linesearch_iterative_kernel__locals__kernel_d3ea36af e1537a9 load on device 'cuda:0' took 1.25 ms  (cached)
+Module mujoco_warp._src.sensor 42e0a24 load on device 'cuda:0' took 2.53 ms  (cached)
+Module _contact_sort__locals__contact_sort_321f5f3e 33ea4e1 load on device 'cuda:0' took 0.99 ms  (cached)
+Module mujoco_warp._src.derivative e770e28 load on device 'cuda:0' took 1.36 ms  (cached)
+Module _next_time_builder__locals___next_time_95ad6d7a 95ad6d7 load on device 'cuda:0' took 0.98 ms  (cached)
+Module reset_data__locals__reset_xfrc_applied_03030511 0303051 load on device 'cuda:0' took 0.69 ms  (cached)
+Module reset_data__locals__reset_M_631075dd 631075d load on device 'cuda:0' took 0.90 ms  (cached)
+Module reset_data__locals__reset_mocap_6513201c 6513201 load on device 'cuda:0' took 0.69 ms  (cached)
+Module reset_data__locals__reset_contact_5c08f689 5c08f68 load on device 'cuda:0' took 0.78 ms  (cached)
+Module reset_data__locals__reset_sleep_50b990da 50b990d load on device 'cuda:0' took 0.70 ms  (cached)
+Module reset_data__locals__reset_nworld_69a10925 69a1092 load on device 'cuda:0' took 0.81 ms  (cached)
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 4096   |
+| Environment device     | cuda:0 |
+| Environment seed       | 0      |
+| 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         |
++--------+----------------------------+
++---------------------------------------+
+| Active Event Terms in Mode: 'startup' |
++-----------+---------------------------+
+|   Index   | Name                      |
++-----------+---------------------------+
+|     0     | foot_friction             |
+|     1     | encoder_bias              |
+|     2     | base_com                  |
++-----------+---------------------------+
++-----------------------------+
+| 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   | actuator_acc0       |
++-------+---------------------+
+
+Module repeat_array_kernel_4f67a4c3 711f54c load on device 'cuda:0' took 0.87 ms  (cached)
+Module repeat_array_kernel_4f67a4c3 7224d07 load on device 'cuda:0' took 0.81 ms  (cached)
+Module repeat_array_kernel_4f67a4c3 b2885b0 load on device 'cuda:0' took 0.73 ms  (cached)
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 2 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'critic' (shape: (56,)) |
++-----------+----------------------------------+-------------+
+|   Index   | Name                             |    Shape    |
++-----------+----------------------------------+-------------+
+|     0     | base_ang_vel                     |     (3,)    |
+|     1     | projected_gravity                |     (3,)    |
+|     2     | joint_pos                        |    (12,)    |
+|     3     | joint_vel                        |    (12,)    |
+|     4     | wheel_vel                        |     (4,)    |
+|     5     | actions                          |    (16,)    |
+|     6     | command                          |     (3,)    |
+|     7     | base_lin_vel                     |     (3,)    |
++-----------+----------------------------------+-------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 11 active terms.
++-----------------------------------------+
+|           Active Reward Terms           |
++-------+------------------------+--------+
+| Index | Name                   | Weight |
++-------+------------------------+--------+
+|   0   | track_linear_velocity  |    2.0 |
+|   1   | track_angular_velocity |    2.0 |
+|   2   | upright                |    1.0 |
+|   3   | leg_posture            |   -0.4 |
+|   4   | standstill             |   -2.0 |
+|   5   | action_rate_l2         |  -0.05 |
+|   6   | joint_torques_l2       | -2e-05 |
+|   7   | dof_pos_limits         |   -1.0 |
+|   8   | terminated             |  -20.0 |
+|   9   | unnecessary_wheel_lift |   -0.2 |
+|   10  | rolling_leg_motion     |  -0.12 |
++-------+------------------------+--------+
+
+[INFO] <CurriculumManager> contains 1 active terms.
++-------------------------+
+| Active Curriculum Terms |
++-----------+-------------+
+|   Index   | Name        |
++-----------+-------------+
+|     0     | course      |
++-----------+-------------+
+
+[INFO] <MetricsManager> contains 1 active terms.
++-------------------------+
+|   Active Metrics Terms  |
++-------+-----------------+
+| Index | Name            |
++-------+-----------------+
+|   0   | mean_action_acc |
++-------+-----------------+
+
+[INFO] <NullRecorderManager> (inactive)
+Module mujoco_warp._src.io 19274fb load on device 'cuda:0' took 1.88 ms  (cached)
+Module _tile_cholesky_factorize_block__locals__kernel_ccbdb7fb c86e457 load on device 'cuda:0' took 15.09 ms  (cached)
+Module _tile_cholesky_solve_block__locals__kernel_320f9d39 639ca7f load on device 'cuda:0' took 15.19 ms  (cached)
+Shared terrain atlas: 21.6 MiB
+S10 replay storage: 3344.0 MiB
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_020000.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[1648]
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+RECOVERY reset 1 invalid environments; first IDs=[577]
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+RECOVERY reset 1 invalid environments; first IDs=[1589]
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+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_021600.mp4
+{"step": 21610, "actor_lr": 1.2329837963439699e-05, "archive_windows": 100000, "env_steps": 21610, "total_transitions": 88514560, "num_steps_per_env": 1, "wm_loss": 0.5628160834312439, "actor_loss": -8.873734474182129, "critic_loss": 0.02615564502775669, "reward": 0.07175355404615402, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2274002730846405, 0.15823623538017273, 0.2587345242500305], "policy_updates": 21510, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 590.519293772, "contact_bce": 0.3336595296859741, "contact_force_loss": 0.03279820457100868, "terrain_level_mean": 2.79931640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.355224609375, "command_abs_max": [1.9987282752990723, 0.9997336864471436, 2.999065637588501]}
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+{"step": 21660, "actor_lr": 1.221278366356931e-05, "archive_windows": 100000, "env_steps": 21660, "total_transitions": 88719360, "num_steps_per_env": 1, "wm_loss": 0.5142222046852112, "actor_loss": -8.872305870056152, "critic_loss": 0.028386278077960014, "reward": 0.07240374386310577, "falls": 2, "interval_steps": 10, "velocity_mae": [0.23062114417552948, 0.15405984222888947, 0.2516022324562073], "policy_updates": 21560, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 608.821514475, "contact_bce": 0.33556458353996277, "contact_force_loss": 0.03329916298389435, "terrain_level_mean": 2.802001953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.351318359375, "command_abs_max": [1.9961209297180176, 0.9997336864471436, 2.999065637588501]}
+RECOVERY reset 1 invalid environments; first IDs=[1685]
+{"step": 21670, "actor_lr": 1.2189434179487652e-05, "archive_windows": 100000, "env_steps": 21670, "total_transitions": 88760320, "num_steps_per_env": 1, "wm_loss": 0.5857762098312378, "actor_loss": -8.895713806152344, "critic_loss": 0.02318284660577774, "reward": 0.07232024520635605, "falls": 5, "interval_steps": 10, "velocity_mae": [0.22505871951580048, 0.1535046100616455, 0.2506532073020935], "policy_updates": 21570, "skipped_updates": 0, "invalid_env_resets": 4, "elapsed_s": 612.4893474979999, "contact_bce": 0.3330983519554138, "contact_force_loss": 0.0328836590051651, "terrain_level_mean": 2.80224609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.349853515625, "command_abs_max": [1.9961209297180176, 0.9997336864471436, 2.999065637588501]}
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+RECOVERY reset 1 invalid environments; first IDs=[576]
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+RECOVERY reset 1 invalid environments; first IDs=[885]
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+Warning: EPA horizon = 24 isn't large enough.
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+Warning: EPA horizon = 24 isn't large enough.
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+RECOVERY reset 1 invalid environments; first IDs=[557]
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+RECOVERY reset 1 invalid environments; first IDs=[1979]
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+RECOVERY reset 1 invalid environments; first IDs=[1313]
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+{"step": 24140, "actor_lr": 7.111133646730132e-06, "archive_windows": 100000, "env_steps": 24140, "total_transitions": 98877440, "num_steps_per_env": 1, "wm_loss": 0.4924219250679016, "actor_loss": -8.861732482910156, "critic_loss": 0.020170580595731735, "reward": 0.07152044028043747, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24060867726802826, 0.151805579662323, 0.2532062232494354], "policy_updates": 24040, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1488.391708516, "contact_bce": 0.33010903000831604, "contact_force_loss": 0.03331726789474487, "terrain_level_mean": 2.902099609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35888671875, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.9967000484466553]}
+{"step": 24150, "actor_lr": 7.093595592778767e-06, "archive_windows": 100000, "env_steps": 24150, "total_transitions": 98918400, "num_steps_per_env": 1, "wm_loss": 0.49425458908081055, "actor_loss": -8.83974552154541, "critic_loss": 0.02719520404934883, "reward": 0.07115404307842255, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2403639554977417, 0.15101554989814758, 0.2511889934539795], "policy_updates": 24050, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1491.896422402, "contact_bce": 0.33014559745788574, "contact_force_loss": 0.03300832211971283, "terrain_level_mean": 2.9033203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.362548828125, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.9967000484466553]}
+{"step": 24160, "actor_lr": 7.0760836454687715e-06, "archive_windows": 100000, "env_steps": 24160, "total_transitions": 98959360, "num_steps_per_env": 1, "wm_loss": 0.528085470199585, "actor_loss": -8.863815307617188, "critic_loss": 0.019556013867259026, "reward": 0.07084154337644577, "falls": 8, "interval_steps": 10, "velocity_mae": [0.23673385381698608, 0.15231899917125702, 0.25200045108795166], "policy_updates": 24060, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1495.4009993060001, "contact_bce": 0.3326639235019684, "contact_force_loss": 0.03372977674007416, "terrain_level_mean": 2.90234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.361083984375, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.9967000484466553]}
+{"step": 24170, "actor_lr": 7.058597824004132e-06, "archive_windows": 100000, "env_steps": 24170, "total_transitions": 99000320, "num_steps_per_env": 1, "wm_loss": 0.5437769889831543, "actor_loss": -8.81298828125, "critic_loss": 0.020674491301178932, "reward": 0.07094766944646835, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23204198479652405, 0.15167611837387085, 0.24963369965553284], "policy_updates": 24070, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1498.906920843, "contact_bce": 0.33396968245506287, "contact_force_loss": 0.03356451541185379, "terrain_level_mean": 2.90283203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.360107421875, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.9967000484466553]}
+{"step": 24180, "actor_lr": 7.041138147560199e-06, "archive_windows": 100000, "env_steps": 24180, "total_transitions": 99041280, "num_steps_per_env": 1, "wm_loss": 0.49642714858055115, "actor_loss": -8.867359161376953, "critic_loss": 0.02390287257730961, "reward": 0.07091070711612701, "falls": 2, "interval_steps": 10, "velocity_mae": [0.23263436555862427, 0.1506645232439041, 0.25487858057022095], "policy_updates": 24080, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1502.4076082410002, "contact_bce": 0.32688337564468384, "contact_force_loss": 0.03271593898534775, "terrain_level_mean": 2.90380859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357421875, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.9967000484466553]}
+{"step": 24190, "actor_lr": 7.023704635283645e-06, "archive_windows": 100000, "env_steps": 24190, "total_transitions": 99082240, "num_steps_per_env": 1, "wm_loss": 0.5208593010902405, "actor_loss": -8.858454704284668, "critic_loss": 0.016094861552119255, "reward": 0.07116366177797318, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23466193675994873, 0.1484944075345993, 0.25693657994270325], "policy_updates": 24090, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1505.9125643880002, "contact_bce": 0.33048632740974426, "contact_force_loss": 0.03338126465678215, "terrain_level_mean": 2.905517578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357177734375, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.9967000484466553]}
+{"step": 24200, "actor_lr": 7.006297306292454e-06, "archive_windows": 100000, "env_steps": 24200, "total_transitions": 99123200, "num_steps_per_env": 1, "wm_loss": 0.5219599604606628, "actor_loss": -8.856828689575195, "critic_loss": 0.026909977197647095, "reward": 0.0709867775440216, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23717567324638367, 0.15309706330299377, 0.25733670592308044], "policy_updates": 24100, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1509.4273334640002, "contact_bce": 0.3260859549045563, "contact_force_loss": 0.033913470804691315, "terrain_level_mean": 2.906005859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3583984375, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.997731924057007]}
+{"step": 24210, "actor_lr": 6.988916179675893e-06, "archive_windows": 100000, "env_steps": 24210, "total_transitions": 99164160, "num_steps_per_env": 1, "wm_loss": 0.5729789733886719, "actor_loss": -8.877153396606445, "critic_loss": 0.017156636342406273, "reward": 0.0708608627319336, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2390098124742508, 0.15467019379138947, 0.2580101788043976], "policy_updates": 24110, "skipped_updates": 0, "invalid_env_resets": 9, "elapsed_s": 1512.940627635, "contact_bce": 0.3270377814769745, "contact_force_loss": 0.034325793385505676, "terrain_level_mean": 2.906005859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356689453125, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.997731924057007]}
+RECOVERY reset 1 invalid environments; first IDs=[838]
+{"step": 24220, "actor_lr": 6.971561274494509e-06, "archive_windows": 100000, "env_steps": 24220, "total_transitions": 99205120, "num_steps_per_env": 1, "wm_loss": 0.5052198767662048, "actor_loss": -8.894927978515625, "critic_loss": 0.02116621844470501, "reward": 0.0709705501794815, "falls": 8, "interval_steps": 10, "velocity_mae": [0.23905980587005615, 0.15295355021953583, 0.25898003578186035], "policy_updates": 24120, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1516.4734157960002, "contact_bce": 0.3272993862628937, "contact_force_loss": 0.033108439296483994, "terrain_level_mean": 2.905029296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.359619140625, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.997731924057007]}
+{"step": 24230, "actor_lr": 6.9542326097800795e-06, "archive_windows": 100000, "env_steps": 24230, "total_transitions": 99246080, "num_steps_per_env": 1, "wm_loss": 0.5076190233230591, "actor_loss": -8.84591293334961, "critic_loss": 0.016104120761156082, "reward": 0.07092004269361496, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23391640186309814, 0.1510244607925415, 0.2543734610080719], "policy_updates": 24130, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1519.9755649390002, "contact_bce": 0.32861578464508057, "contact_force_loss": 0.03284216299653053, "terrain_level_mean": 2.905517578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.36181640625, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.997731924057007]}
+{"step": 24240, "actor_lr": 6.936930204535605e-06, "archive_windows": 100000, "env_steps": 24240, "total_transitions": 99287040, "num_steps_per_env": 1, "wm_loss": 0.5094552040100098, "actor_loss": -8.839814186096191, "critic_loss": 0.027635881677269936, "reward": 0.07134654372930527, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23413799703121185, 0.15205985307693481, 0.25201842188835144], "policy_updates": 24140, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1523.4814796780001, "contact_bce": 0.32749179005622864, "contact_force_loss": 0.032854944467544556, "terrain_level_mean": 2.90625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.36328125, "command_abs_max": [1.999701976776123, 0.9984800815582275, 2.997731924057007]}
+{"step": 24250, "actor_lr": 6.9196540777353e-06, "archive_windows": 100000, "env_steps": 24250, "total_transitions": 99328000, "num_steps_per_env": 1, "wm_loss": 0.5323660373687744, "actor_loss": -8.866458892822266, "critic_loss": 0.02638993225991726, "reward": 0.07104962319135666, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23624975979328156, 0.1554398387670517, 0.25476783514022827], "policy_updates": 24150, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1526.990705093, "contact_bce": 0.3304755985736847, "contact_force_loss": 0.03399626165628433, "terrain_level_mean": 2.90625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.361083984375, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
+{"step": 24260, "actor_lr": 6.902404248324552e-06, "archive_windows": 100000, "env_steps": 24260, "total_transitions": 99368960, "num_steps_per_env": 1, "wm_loss": 0.5181485414505005, "actor_loss": -8.890958786010742, "critic_loss": 0.020594188943505287, "reward": 0.07122965902090073, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2375248670578003, 0.15397244691848755, 0.253252238035202], "policy_updates": 24160, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1530.506344054, "contact_bce": 0.3338852822780609, "contact_force_loss": 0.03370937705039978, "terrain_level_mean": 2.9072265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3603515625, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
+{"step": 24270, "actor_lr": 6.885180735219919e-06, "archive_windows": 100000, "env_steps": 24270, "total_transitions": 99409920, "num_steps_per_env": 1, "wm_loss": 0.5287923812866211, "actor_loss": -8.854789733886719, "critic_loss": 0.022309506312012672, "reward": 0.07110408693552017, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23581121861934662, 0.15532562136650085, 0.25642919540405273], "policy_updates": 24170, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1534.02826841, "contact_bce": 0.32706576585769653, "contact_force_loss": 0.032927561551332474, "terrain_level_mean": 2.908935546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.359619140625, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
+{"step": 24280, "actor_lr": 6.86798355730908e-06, "archive_windows": 100000, "env_steps": 24280, "total_transitions": 99450880, "num_steps_per_env": 1, "wm_loss": 0.49766796827316284, "actor_loss": -8.85623836517334, "critic_loss": 0.020216718316078186, "reward": 0.07107959687709808, "falls": 0, "interval_steps": 10, "velocity_mae": [0.23385636508464813, 0.15456606447696686, 0.2521205544471741], "policy_updates": 24180, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1537.5443200930001, "contact_bce": 0.3255710303783417, "contact_force_loss": 0.03364432603120804, "terrain_level_mean": 2.91015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356201171875, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
+{"step": 24290, "actor_lr": 6.85081273345087e-06, "archive_windows": 100000, "env_steps": 24290, "total_transitions": 99491840, "num_steps_per_env": 1, "wm_loss": 0.526408314704895, "actor_loss": -8.82762336730957, "critic_loss": 0.02439970150589943, "reward": 0.07070385664701462, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2359815388917923, 0.15487749874591827, 0.25562724471092224], "policy_updates": 24190, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1541.0731779720002, "contact_bce": 0.3251585066318512, "contact_force_loss": 0.03349515423178673, "terrain_level_mean": 2.9091796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35595703125, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
+{"step": 24300, "actor_lr": 6.833668282475197e-06, "archive_windows": 100000, "env_steps": 24300, "total_transitions": 99532800, "num_steps_per_env": 1, "wm_loss": 0.5061514377593994, "actor_loss": -8.826725006103516, "critic_loss": 0.04096605256199837, "reward": 0.07116439193487167, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23670579493045807, 0.15296705067157745, 0.2543136775493622], "policy_updates": 24200, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1544.593337123, "contact_bce": 0.33121609687805176, "contact_force_loss": 0.03358549624681473, "terrain_level_mean": 2.909423828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357421875, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_024300.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[2919]
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+Warning: EPA horizon = 24 isn't large enough.
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+RECOVERY reset 1 invalid environments; first IDs=[2101]
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+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_027000.mp4
+RECOVERY reset 1 invalid environments; first IDs=[2094]
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+RECOVERY reset 1 invalid environments; first IDs=[2004]
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+RECOVERY reset 1 invalid environments; first IDs=[42]
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+RECOVERY reset 1 invalid environments; first IDs=[1491]
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+RECOVERY reset 1 invalid environments; first IDs=[1814]
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+RECOVERY reset 1 invalid environments; first IDs=[1686]
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+RECOVERY reset 1 invalid environments; first IDs=[849]
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+RECOVERY reset 1 invalid environments; first IDs=[2502]
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+RECOVERY reset 1 invalid environments; first IDs=[893]
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+RECOVERY reset 1 invalid environments; first IDs=[1495]
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+RECOVERY reset 1 invalid environments; first IDs=[2762]
+{"step": 29420, "actor_lr": 1.8538441491229251e-06, "archive_windows": 100000, "env_steps": 29420, "total_transitions": 120504320, "num_steps_per_env": 1, "wm_loss": 0.4727795124053955, "actor_loss": -8.821409225463867, "critic_loss": 0.029405200853943825, "reward": 0.0713503360748291, "falls": 7, "interval_steps": 10, "velocity_mae": [0.23596537113189697, 0.15984082221984863, 0.2584713399410248], "policy_updates": 29320, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 3794.586899682, "contact_bce": 0.3229752779006958, "contact_force_loss": 0.03345143049955368, "terrain_level_mean": 3.05126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.351806640625, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9958109855651855]}
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+{"step": 29470, "actor_lr": 1.8449777124485058e-06, "archive_windows": 100000, "env_steps": 29470, "total_transitions": 120709120, "num_steps_per_env": 1, "wm_loss": 0.4892573356628418, "actor_loss": -8.840648651123047, "critic_loss": 0.018584920093417168, "reward": 0.07088325172662735, "falls": 10, "interval_steps": 10, "velocity_mae": [0.24093623459339142, 0.15899257361888885, 0.2588958144187927], "policy_updates": 29370, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 3812.250284871, "contact_bce": 0.32327911257743835, "contact_force_loss": 0.03283725678920746, "terrain_level_mean": 3.0478515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3525390625, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.995706796646118]}
+RECOVERY reset 1 invalid environments; first IDs=[1499]
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+RECOVERY reset 1 invalid environments; first IDs=[2217]
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+RECOVERY reset 1 invalid environments; first IDs=[1542]
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+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_029700.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[1999]
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+RECOVERY reset 1 invalid environments; first IDs=[485]
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+RECOVERY reset 1 invalid environments; first IDs=[977]
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+Warning: EPA horizon = 24 isn't large enough.
+RECOVERY reset 1 invalid environments; first IDs=[1010]
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+RECOVERY reset 1 invalid environments; first IDs=[1685]
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+RECOVERY reset 1 invalid environments; first IDs=[2226]
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+RECOVERY reset 1 invalid environments; first IDs=[1100]
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+RECOVERY reset 1 invalid environments; first IDs=[2203]
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+RECOVERY reset 1 invalid environments; first IDs=[2660]
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+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_032400.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[2322]
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+RECOVERY reset 1 invalid environments; first IDs=[1606]
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+RECOVERY reset 1 invalid environments; first IDs=[1040]
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+RECOVERY reset 1 invalid environments; first IDs=[1091]
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+RECOVERY reset 1 invalid environments; first IDs=[1891]
+{"step": 33240, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33240, "total_transitions": 136151040, "num_steps_per_env": 1, "wm_loss": 0.44184809923171997, "actor_loss": -8.794437408447266, "critic_loss": 0.03356785327196121, "reward": 0.07175976037979126, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23552949726581573, 0.15446460247039795, 0.24678556621074677], "policy_updates": 33140, "skipped_updates": 0, "invalid_env_resets": 40, "elapsed_s": 5206.053561754, "contact_bce": 0.31900355219841003, "contact_force_loss": 0.032925549894571304, "terrain_level_mean": 3.130859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352294921875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
+RECOVERY reset 1 invalid environments; first IDs=[828]
+{"step": 33250, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33250, "total_transitions": 136192000, "num_steps_per_env": 1, "wm_loss": 0.4130110740661621, "actor_loss": -8.768213272094727, "critic_loss": 0.02239193581044674, "reward": 0.07190725952386856, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23535104095935822, 0.15178431570529938, 0.24794676899909973], "policy_updates": 33150, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5209.590089824999, "contact_bce": 0.3137982487678528, "contact_force_loss": 0.032159674912691116, "terrain_level_mean": 3.130126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352783203125, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
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+Warning: EPA horizon = 24 isn't large enough.
+Warning: EPA horizon = 24 isn't large enough.
+{"step": 33380, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33380, "total_transitions": 136724480, "num_steps_per_env": 1, "wm_loss": 0.4627366364002228, "actor_loss": -8.791352272033691, "critic_loss": 0.030464906245470047, "reward": 0.07105465978384018, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23828855156898499, 0.1539968103170395, 0.2529023289680481], "policy_updates": 33280, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5255.286985383, "contact_bce": 0.3242783844470978, "contact_force_loss": 0.03314833715558052, "terrain_level_mean": 3.13671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35107421875, "command_abs_max": [1.9972953796386719, 0.9997413158416748, 2.9987194538116455]}
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+{"step": 33420, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33420, "total_transitions": 136888320, "num_steps_per_env": 1, "wm_loss": 0.46288052201271057, "actor_loss": -8.767379760742188, "critic_loss": 0.025977766141295433, "reward": 0.07084538042545319, "falls": 8, "interval_steps": 10, "velocity_mae": [0.23670394718647003, 0.15048815310001373, 0.24797958135604858], "policy_updates": 33320, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5269.361608806, "contact_bce": 0.32432952523231506, "contact_force_loss": 0.03290865942835808, "terrain_level_mean": 3.135986328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.9989323616027832, 0.9999687075614929, 2.9987194538116455]}
+{"step": 33430, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33430, "total_transitions": 136929280, "num_steps_per_env": 1, "wm_loss": 0.5032681822776794, "actor_loss": -8.783562660217285, "critic_loss": 0.022665096446871758, "reward": 0.07136797904968262, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23707988858222961, 0.15134862065315247, 0.24693958461284637], "policy_updates": 33330, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5272.880805504, "contact_bce": 0.3223860263824463, "contact_force_loss": 0.03332170844078064, "terrain_level_mean": 3.1357421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3515625, "command_abs_max": [1.9989323616027832, 0.9999687075614929, 2.9987194538116455]}
+RECOVERY reset 1 invalid environments; first IDs=[1310]
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+RECOVERY reset 1 invalid environments; first IDs=[2833]
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+RECOVERY reset 1 invalid environments; first IDs=[2202]
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+RECOVERY reset 1 invalid environments; first IDs=[646]
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+RECOVERY reset 1 invalid environments; first IDs=[532]
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+RECOVERY reset 1 invalid environments; first IDs=[1666]
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+RECOVERY reset 1 invalid environments; first IDs=[2109]
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+RECOVERY reset 1 invalid environments; first IDs=[2148]
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+RECOVERY reset 1 invalid environments; first IDs=[2212]
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+RECOVERY reset 1 invalid environments; first IDs=[1023]
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+RECOVERY reset 1 invalid environments; first IDs=[751]
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+RECOVERY reset 1 invalid environments; first IDs=[1293]
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+RECOVERY reset 1 invalid environments; first IDs=[838]
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+{"step": 35060, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35060, "total_transitions": 143605760, "num_steps_per_env": 1, "wm_loss": 0.4057184159755707, "actor_loss": -8.776805877685547, "critic_loss": 0.029753481969237328, "reward": 0.07148726284503937, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2442702054977417, 0.15394963324069977, 0.25601884722709656], "policy_updates": 34960, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 5847.163657864, "contact_bce": 0.31429919600486755, "contact_force_loss": 0.031614888459444046, "terrain_level_mean": 3.148193359375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345458984375, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
+{"step": 35070, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35070, "total_transitions": 143646720, "num_steps_per_env": 1, "wm_loss": 0.43856558203697205, "actor_loss": -8.725232124328613, "critic_loss": 0.031234610825777054, "reward": 0.07143349200487137, "falls": 11, "interval_steps": 10, "velocity_mae": [0.24468611180782318, 0.15603840351104736, 0.25083640217781067], "policy_updates": 34970, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 5850.684987338999, "contact_bce": 0.310376912355423, "contact_force_loss": 0.03168768435716629, "terrain_level_mean": 3.146240234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
+{"step": 35080, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35080, "total_transitions": 143687680, "num_steps_per_env": 1, "wm_loss": 0.43963587284088135, "actor_loss": -8.813899993896484, "critic_loss": 0.022453442215919495, "reward": 0.07175364345312119, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2432897388935089, 0.15598197281360626, 0.24693360924720764], "policy_updates": 34980, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 5854.20561862, "contact_bce": 0.3177333474159241, "contact_force_loss": 0.031746506690979004, "terrain_level_mean": 3.14599609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350830078125, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
+RECOVERY reset 1 invalid environments; first IDs=[1004]
+{"step": 35090, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35090, "total_transitions": 143728640, "num_steps_per_env": 1, "wm_loss": 0.41724899411201477, "actor_loss": -8.766433715820312, "critic_loss": 0.03452206030488014, "reward": 0.0714230164885521, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23999661207199097, 0.15833525359630585, 0.2521023452281952], "policy_updates": 34990, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5857.729718901, "contact_bce": 0.31214696168899536, "contact_force_loss": 0.03157445043325424, "terrain_level_mean": 3.14599609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35205078125, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
+{"step": 35100, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35100, "total_transitions": 143769600, "num_steps_per_env": 1, "wm_loss": 0.44603750109672546, "actor_loss": -8.765958786010742, "critic_loss": 0.027723688632249832, "reward": 0.0711018368601799, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24348482489585876, 0.15824341773986816, 0.25227823853492737], "policy_updates": 35000, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5861.2337149019995, "contact_bce": 0.3169389069080353, "contact_force_loss": 0.0324442982673645, "terrain_level_mean": 3.1474609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35302734375, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_035100.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[1122]
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+RECOVERY reset 1 invalid environments; first IDs=[1568]
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+RECOVERY reset 1 invalid environments; first IDs=[2154]
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+RECOVERY reset 1 invalid environments; first IDs=[657]
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+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_037800.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[1025]
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+RECOVERY reset 1 invalid environments; first IDs=[1036]
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+RECOVERY reset 1 invalid environments; first IDs=[2768]
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+RECOVERY reset 1 invalid environments; first IDs=[1689]
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+{"step": 38600, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38600, "total_transitions": 158105600, "num_steps_per_env": 1, "wm_loss": 0.44751042127609253, "actor_loss": -8.7652587890625, "critic_loss": 0.018325699493288994, "reward": 0.07103346288204193, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24520869553089142, 0.15736405551433563, 0.2525721788406372], "policy_updates": 38500, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 7104.190420454, "contact_bce": 0.3183227479457855, "contact_force_loss": 0.032821375876665115, "terrain_level_mean": 3.18115234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9989240169525146, 0.9992728233337402, 2.9986824989318848]}
+RECOVERY reset 1 invalid environments; first IDs=[530]
+{"step": 38610, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38610, "total_transitions": 158146560, "num_steps_per_env": 1, "wm_loss": 0.4234814941883087, "actor_loss": -8.742666244506836, "critic_loss": 0.025312235578894615, "reward": 0.07074350118637085, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24689367413520813, 0.15611889958381653, 0.2545056939125061], "policy_updates": 38510, "skipped_updates": 0, "invalid_env_resets": 64, "elapsed_s": 7107.711599939, "contact_bce": 0.32163724303245544, "contact_force_loss": 0.03315958008170128, "terrain_level_mean": 3.18115234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3486328125, "command_abs_max": [1.9989240169525146, 0.9992728233337402, 2.9986824989318848]}
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+RECOVERY reset 1 invalid environments; first IDs=[978]
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+RECOVERY reset 1 invalid environments; first IDs=[1572]
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+RECOVERY reset 1 invalid environments; first IDs=[2590]
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+RECOVERY reset 1 invalid environments; first IDs=[978]
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+RECOVERY reset 1 invalid environments; first IDs=[755]
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+Warning: EPA horizon = 24 isn't large enough.
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+RECOVERY reset 1 invalid environments; first IDs=[1281]
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+RECOVERY reset 1 invalid environments; first IDs=[2055]
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+RECOVERY reset 1 invalid environments; first IDs=[2001]
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+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_040500.mp4
+RECOVERY reset 1 invalid environments; first IDs=[516]
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+RECOVERY reset 1 invalid environments; first IDs=[1142]
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+RECOVERY reset 1 invalid environments; first IDs=[1331]
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+RECOVERY reset 1 invalid environments; first IDs=[2010]
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+RECOVERY reset 1 invalid environments; first IDs=[953]
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+RECOVERY reset 1 invalid environments; first IDs=[2147]
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+RECOVERY reset 1 invalid environments; first IDs=[1538]
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+RECOVERY reset 1 invalid environments; first IDs=[1199]
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+RECOVERY reset 1 invalid environments; first IDs=[702]
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+RECOVERY reset 1 invalid environments; first IDs=[1323]
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+RECOVERY reset 1 invalid environments; first IDs=[1323]
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+{"step": 43070, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43070, "total_transitions": 176414720, "num_steps_per_env": 1, "wm_loss": 0.4058241844177246, "actor_loss": -8.680535316467285, "critic_loss": 0.02902657352387905, "reward": 0.07115182280540466, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24700233340263367, 0.14863084256649017, 0.2494106888771057], "policy_updates": 42970, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 8683.776875014, "contact_bce": 0.31070104241371155, "contact_force_loss": 0.0322016105055809, "terrain_level_mean": 3.22119140625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353271484375, "command_abs_max": [1.9991984367370605, 0.9995535612106323, 2.998591423034668]}
+{"step": 43080, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43080, "total_transitions": 176455680, "num_steps_per_env": 1, "wm_loss": 0.3959822654724121, "actor_loss": -8.724649429321289, "critic_loss": 0.02784162200987339, "reward": 0.07086871564388275, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2511269152164459, 0.1507047414779663, 0.2517496943473816], "policy_updates": 42980, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 8687.273840313, "contact_bce": 0.311799019575119, "contact_force_loss": 0.031398434191942215, "terrain_level_mean": 3.22265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354736328125, "command_abs_max": [1.9991984367370605, 0.9995535612106323, 2.998591423034668]}
+RECOVERY reset 1 invalid environments; first IDs=[1181]
+{"step": 43090, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43090, "total_transitions": 176496640, "num_steps_per_env": 1, "wm_loss": 0.39046168327331543, "actor_loss": -8.773472785949707, "critic_loss": 0.01913035847246647, "reward": 0.07094510644674301, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2504626214504242, 0.1514941155910492, 0.25101742148399353], "policy_updates": 42990, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8690.793062264, "contact_bce": 0.30506381392478943, "contact_force_loss": 0.03094864822924137, "terrain_level_mean": 3.222900390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357421875, "command_abs_max": [1.9991984367370605, 0.9995535612106323, 2.998591423034668]}
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+{"step": 43120, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43120, "total_transitions": 176619520, "num_steps_per_env": 1, "wm_loss": 0.39545533061027527, "actor_loss": -8.72137451171875, "critic_loss": 0.03498021885752678, "reward": 0.07047093659639359, "falls": 1, "interval_steps": 10, "velocity_mae": [0.254968523979187, 0.15523914992809296, 0.2564918100833893], "policy_updates": 43020, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8701.304020219, "contact_bce": 0.3050864338874817, "contact_force_loss": 0.03079153224825859, "terrain_level_mean": 3.222900390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35498046875, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43130, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43130, "total_transitions": 176660480, "num_steps_per_env": 1, "wm_loss": 0.39706113934516907, "actor_loss": -8.73185920715332, "critic_loss": 0.025476723909378052, "reward": 0.07024644315242767, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2551542818546295, 0.15417692065238953, 0.2533766031265259], "policy_updates": 43030, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8704.801452166, "contact_bce": 0.3068268299102783, "contact_force_loss": 0.031892552971839905, "terrain_level_mean": 3.223876953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43140, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43140, "total_transitions": 176701440, "num_steps_per_env": 1, "wm_loss": 0.39680972695350647, "actor_loss": -8.702250480651855, "critic_loss": 0.030933335423469543, "reward": 0.07021176069974899, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2576201856136322, 0.15484420955181122, 0.25453993678092957], "policy_updates": 43040, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8708.301469608, "contact_bce": 0.3109114468097687, "contact_force_loss": 0.03217587247490883, "terrain_level_mean": 3.223876953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354736328125, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43150, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43150, "total_transitions": 176742400, "num_steps_per_env": 1, "wm_loss": 0.3938905596733093, "actor_loss": -8.762343406677246, "critic_loss": 0.02174392156302929, "reward": 0.07085198909044266, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25687140226364136, 0.15478478372097015, 0.24866245687007904], "policy_updates": 43050, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8711.818717899001, "contact_bce": 0.31047844886779785, "contact_force_loss": 0.03132310137152672, "terrain_level_mean": 3.224365234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.355712890625, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43160, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43160, "total_transitions": 176783360, "num_steps_per_env": 1, "wm_loss": 0.43137916922569275, "actor_loss": -8.705787658691406, "critic_loss": 0.029417533427476883, "reward": 0.07114458829164505, "falls": 2, "interval_steps": 10, "velocity_mae": [0.25915995240211487, 0.15685778856277466, 0.2545987367630005], "policy_updates": 43060, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8715.338194162001, "contact_bce": 0.3087979257106781, "contact_force_loss": 0.03276059404015541, "terrain_level_mean": 3.224853515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35498046875, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43170, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43170, "total_transitions": 176824320, "num_steps_per_env": 1, "wm_loss": 0.40781036019325256, "actor_loss": -8.721351623535156, "critic_loss": 0.033905014395713806, "reward": 0.07092837244272232, "falls": 10, "interval_steps": 10, "velocity_mae": [0.25887924432754517, 0.1573798656463623, 0.2512616515159607], "policy_updates": 43070, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8718.861867414, "contact_bce": 0.3114442229270935, "contact_force_loss": 0.03170973062515259, "terrain_level_mean": 3.22412109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357421875, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43180, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43180, "total_transitions": 176865280, "num_steps_per_env": 1, "wm_loss": 0.40073007345199585, "actor_loss": -8.674993515014648, "critic_loss": 0.033297665417194366, "reward": 0.07097673416137695, "falls": 5, "interval_steps": 10, "velocity_mae": [0.256389319896698, 0.1575261354446411, 0.2484705150127411], "policy_updates": 43080, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8722.385415652001, "contact_bce": 0.3135194182395935, "contact_force_loss": 0.032499026507139206, "terrain_level_mean": 3.22412109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35498046875, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43190, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43190, "total_transitions": 176906240, "num_steps_per_env": 1, "wm_loss": 0.39870136976242065, "actor_loss": -8.692139625549316, "critic_loss": 0.02352060005068779, "reward": 0.07116913050413132, "falls": 1, "interval_steps": 10, "velocity_mae": [0.25752514600753784, 0.1576976329088211, 0.24950215220451355], "policy_updates": 43090, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8725.911797479, "contact_bce": 0.3141220808029175, "contact_force_loss": 0.03164678066968918, "terrain_level_mean": 3.225341796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35400390625, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+{"step": 43200, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43200, "total_transitions": 176947200, "num_steps_per_env": 1, "wm_loss": 0.4011440575122833, "actor_loss": -8.730134963989258, "critic_loss": 0.028031086549162865, "reward": 0.07077287882566452, "falls": 8, "interval_steps": 10, "velocity_mae": [0.25808703899383545, 0.1582174003124237, 0.253781795501709], "policy_updates": 43100, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8729.425798509, "contact_bce": 0.3132611811161041, "contact_force_loss": 0.032897450029850006, "terrain_level_mean": 3.224365234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3515625, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_043200.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[1462]
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+RECOVERY reset 1 invalid environments; first IDs=[1314]
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+RECOVERY reset 1 invalid environments; first IDs=[1146]
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+RECOVERY reset 1 invalid environments; first IDs=[742]
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+RECOVERY reset 1 invalid environments; first IDs=[983]
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+RECOVERY reset 1 invalid environments; first IDs=[2111]
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+RECOVERY reset 1 invalid environments; first IDs=[2260]
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+RECOVERY reset 1 invalid environments; first IDs=[1780]
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+Warning: EPA horizon = 24 isn't large enough.
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+{"step": 45300, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45300, "total_transitions": 185548800, "num_steps_per_env": 1, "wm_loss": 0.38004055619239807, "actor_loss": -8.759550094604492, "critic_loss": 0.024235105141997337, "reward": 0.07098864763975143, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24735091626644135, 0.1534673273563385, 0.25110840797424316], "policy_updates": 45200, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9474.018683073, "contact_bce": 0.3061724603176117, "contact_force_loss": 0.03123757801949978, "terrain_level_mean": 3.228515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345703125, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9973790645599365]}
+RECOVERY reset 1 invalid environments; first IDs=[858]
+{"step": 45310, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45310, "total_transitions": 185589760, "num_steps_per_env": 1, "wm_loss": 0.39045652747154236, "actor_loss": -8.732975959777832, "critic_loss": 0.029818717390298843, "reward": 0.07062641531229019, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2469479739665985, 0.15366508066654205, 0.24851997196674347], "policy_updates": 45210, "skipped_updates": 0, "invalid_env_resets": 93, "elapsed_s": 9477.558747298, "contact_bce": 0.30899181962013245, "contact_force_loss": 0.03167622908949852, "terrain_level_mean": 3.22802734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9973790645599365]}
+RECOVERY reset 1 invalid environments; first IDs=[2043]
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+RECOVERY reset 1 invalid environments; first IDs=[495]
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+RECOVERY reset 1 invalid environments; first IDs=[1276]
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+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_045900.mp4
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+RECOVERY reset 1 invalid environments; first IDs=[1052]
+RECOVERY reset 1 invalid environments; first IDs=[1290]
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+RECOVERY reset 1 invalid environments; first IDs=[1601]
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+RECOVERY reset 1 invalid environments; first IDs=[2041]
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+RECOVERY reset 1 invalid environments; first IDs=[705]
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+RECOVERY reset 1 invalid environments; first IDs=[1851]
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+RECOVERY reset 1 invalid environments; first IDs=[1332]
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+RECOVERY reset 1 invalid environments; first IDs=[1269]
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+RECOVERY reset 1 invalid environments; first IDs=[2239]
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+RECOVERY reset 1 invalid environments; first IDs=[1136]
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+RECOVERY reset 1 invalid environments; first IDs=[1106]
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+RECOVERY reset 1 invalid environments; first IDs=[704]
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+RECOVERY reset 1 invalid environments; first IDs=[665]
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+RECOVERY reset 1 invalid environments; first IDs=[562]
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+RECOVERY reset 1 invalid environments; first IDs=[1858]
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+{"step": 48430, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48430, "total_transitions": 198369280, "num_steps_per_env": 1, "wm_loss": 0.40660855174064636, "actor_loss": -8.732851028442383, "critic_loss": 0.02089112065732479, "reward": 0.0703640878200531, "falls": 2, "interval_steps": 10, "velocity_mae": [0.25141778588294983, 0.15585680305957794, 0.25470319390296936], "policy_updates": 48330, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 10582.644528244, "contact_bce": 0.3118784427642822, "contact_force_loss": 0.03202755004167557, "terrain_level_mean": 3.26904296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3525390625, "command_abs_max": [1.9993929862976074, 0.9999192357063293, 2.9959816932678223]}
+{"step": 48440, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48440, "total_transitions": 198410240, "num_steps_per_env": 1, "wm_loss": 0.39563116431236267, "actor_loss": -8.712764739990234, "critic_loss": 0.027179265394806862, "reward": 0.07035820931196213, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25617149472236633, 0.15921606123447418, 0.26015982031822205], "policy_updates": 48340, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 10586.14887096, "contact_bce": 0.3060336410999298, "contact_force_loss": 0.03234942629933357, "terrain_level_mean": 3.268798828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352783203125, "command_abs_max": [1.9993929862976074, 0.9999192357063293, 2.999605178833008]}
+RECOVERY reset 1 invalid environments; first IDs=[1158]
+{"step": 48450, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48450, "total_transitions": 198451200, "num_steps_per_env": 1, "wm_loss": 0.40007397532463074, "actor_loss": -8.742513656616211, "critic_loss": 0.022513801231980324, "reward": 0.07013197988271713, "falls": 2, "interval_steps": 10, "velocity_mae": [0.25682809948921204, 0.16378812491893768, 0.26555266976356506], "policy_updates": 48350, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10589.666313425001, "contact_bce": 0.31243500113487244, "contact_force_loss": 0.03199509158730507, "terrain_level_mean": 3.26953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3505859375, "command_abs_max": [1.9993929862976074, 0.999182939529419, 2.999605178833008]}
+{"step": 48460, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48460, "total_transitions": 198492160, "num_steps_per_env": 1, "wm_loss": 0.4205034077167511, "actor_loss": -8.691202163696289, "critic_loss": 0.025036944076418877, "reward": 0.07059136778116226, "falls": 7, "interval_steps": 10, "velocity_mae": [0.25497952103614807, 0.16202685236930847, 0.25822585821151733], "policy_updates": 48360, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10593.187823607, "contact_bce": 0.3106616139411926, "contact_force_loss": 0.03188403695821762, "terrain_level_mean": 3.268798828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+{"step": 48470, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48470, "total_transitions": 198533120, "num_steps_per_env": 1, "wm_loss": 0.44113633036613464, "actor_loss": -8.700032234191895, "critic_loss": 0.03350403532385826, "reward": 0.07077846676111221, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2541066110134125, 0.16234074532985687, 0.2545204758644104], "policy_updates": 48370, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10596.707912, "contact_bce": 0.3126984238624573, "contact_force_loss": 0.03208163380622864, "terrain_level_mean": 3.267822265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3447265625, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+{"step": 48480, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48480, "total_transitions": 198574080, "num_steps_per_env": 1, "wm_loss": 0.41792359948158264, "actor_loss": -8.714527130126953, "critic_loss": 0.0162645410746336, "reward": 0.07067693024873734, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2509184181690216, 0.15987654030323029, 0.25351446866989136], "policy_updates": 48380, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10600.228387511, "contact_bce": 0.30621060729026794, "contact_force_loss": 0.032172247767448425, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+{"step": 48490, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48490, "total_transitions": 198615040, "num_steps_per_env": 1, "wm_loss": 0.4175683856010437, "actor_loss": -8.69261360168457, "critic_loss": 0.02654089964926243, "reward": 0.07093916833400726, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2535179853439331, 0.15673688054084778, 0.2503776252269745], "policy_updates": 48390, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10603.745658525, "contact_bce": 0.30921217799186707, "contact_force_loss": 0.03266482055187225, "terrain_level_mean": 3.26611328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34521484375, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+{"step": 48500, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48500, "total_transitions": 198656000, "num_steps_per_env": 1, "wm_loss": 0.4201186001300812, "actor_loss": -8.6314058303833, "critic_loss": 0.030393658205866814, "reward": 0.07113955914974213, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2537453770637512, 0.15816225111484528, 0.2529503107070923], "policy_updates": 48400, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10607.264781303, "contact_bce": 0.3100111782550812, "contact_force_loss": 0.032251957803964615, "terrain_level_mean": 3.2666015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.339599609375, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+RECOVERY reset 1 invalid environments; first IDs=[1876]
+{"step": 48510, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48510, "total_transitions": 198696960, "num_steps_per_env": 1, "wm_loss": 0.43755024671554565, "actor_loss": -8.686409950256348, "critic_loss": 0.03178105503320694, "reward": 0.0713406652212143, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2493501901626587, 0.1590038239955902, 0.2522357404232025], "policy_updates": 48410, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 10610.822989761, "contact_bce": 0.31982165575027466, "contact_force_loss": 0.03315227851271629, "terrain_level_mean": 3.2666015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337890625, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+{"step": 48520, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48520, "total_transitions": 198737920, "num_steps_per_env": 1, "wm_loss": 0.42149585485458374, "actor_loss": -8.731675148010254, "critic_loss": 0.022208979353308678, "reward": 0.07117991149425507, "falls": 0, "interval_steps": 10, "velocity_mae": [0.2487415224313736, 0.15637925267219543, 0.2549867630004883], "policy_updates": 48420, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 10614.575722441, "contact_bce": 0.31299254298210144, "contact_force_loss": 0.032762330025434494, "terrain_level_mean": 3.267333984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+{"step": 48530, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48530, "total_transitions": 198778880, "num_steps_per_env": 1, "wm_loss": 0.4027581214904785, "actor_loss": -8.737545013427734, "critic_loss": 0.032048746943473816, "reward": 0.07113543897867203, "falls": 5, "interval_steps": 10, "velocity_mae": [0.25024521350860596, 0.155325785279274, 0.2545826733112335], "policy_updates": 48430, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 10618.097678505, "contact_bce": 0.3107462525367737, "contact_force_loss": 0.03243550658226013, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337158203125, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
+RECOVERY reset 1 invalid environments; first IDs=[872]
+{"step": 48540, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48540, "total_transitions": 198819840, "num_steps_per_env": 1, "wm_loss": 0.4098770022392273, "actor_loss": -8.706376075744629, "critic_loss": 0.021258393302559853, "reward": 0.07140492647886276, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2490672916173935, 0.15371057391166687, 0.24848872423171997], "policy_updates": 48440, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10621.637122221, "contact_bce": 0.3084070086479187, "contact_force_loss": 0.03257416561245918, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33203125, "command_abs_max": [1.9969120025634766, 0.9998463988304138, 2.999605178833008]}
+{"step": 48550, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48550, "total_transitions": 198860800, "num_steps_per_env": 1, "wm_loss": 0.42699626088142395, "actor_loss": -8.721104621887207, "critic_loss": 0.0243561789393425, "reward": 0.07118135690689087, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24692413210868835, 0.15509915351867676, 0.2491464763879776], "policy_updates": 48450, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10625.160160517, "contact_bce": 0.31238171458244324, "contact_force_loss": 0.032662149518728256, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.330078125, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
+{"step": 48560, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48560, "total_transitions": 198901760, "num_steps_per_env": 1, "wm_loss": 0.4192313551902771, "actor_loss": -8.6913480758667, "critic_loss": 0.026765814051032066, "reward": 0.07144389301538467, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24385365843772888, 0.1555684357881546, 0.24591973423957825], "policy_updates": 48460, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10628.681500029, "contact_bce": 0.3167349100112915, "contact_force_loss": 0.033419329673051834, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3271484375, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
+{"step": 48570, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48570, "total_transitions": 198942720, "num_steps_per_env": 1, "wm_loss": 0.4098951816558838, "actor_loss": -8.683319091796875, "critic_loss": 0.020600125193595886, "reward": 0.07101389020681381, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24476222693920135, 0.15536771714687347, 0.2505955994129181], "policy_updates": 48470, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10632.197425244001, "contact_bce": 0.3083387315273285, "contact_force_loss": 0.03234424442052841, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.325439453125, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
+{"step": 48580, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48580, "total_transitions": 198983680, "num_steps_per_env": 1, "wm_loss": 0.40318936109542847, "actor_loss": -8.721353530883789, "critic_loss": 0.024478651583194733, "reward": 0.0715109184384346, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24086429178714752, 0.1541115641593933, 0.2506882846355438], "policy_updates": 48480, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10635.713108607, "contact_bce": 0.312008261680603, "contact_force_loss": 0.03250579908490181, "terrain_level_mean": 3.267822265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.32666015625, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
+RECOVERY reset 1 invalid environments; first IDs=[2237]
+{"step": 48590, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48590, "total_transitions": 199024640, "num_steps_per_env": 1, "wm_loss": 0.4016583561897278, "actor_loss": -8.70656967163086, "critic_loss": 0.02481680177152157, "reward": 0.07174815982580185, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24010364711284637, 0.15143133699893951, 0.24835491180419922], "policy_updates": 48490, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 10639.25145173, "contact_bce": 0.31159040331840515, "contact_force_loss": 0.03216252848505974, "terrain_level_mean": 3.2685546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3251953125, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
+{"step": 48600, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48600, "total_transitions": 199065600, "num_steps_per_env": 1, "wm_loss": 0.4187783896923065, "actor_loss": -8.740106582641602, "critic_loss": 0.023457607254385948, "reward": 0.07154573500156403, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24355271458625793, 0.15314701199531555, 0.24753256142139435], "policy_updates": 48500, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 10642.766192328001, "contact_bce": 0.3106763958930969, "contact_force_loss": 0.033791281282901764, "terrain_level_mean": 3.269775390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.322998046875, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
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+RECOVERY reset 1 invalid environments; first IDs=[504]
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+RECOVERY reset 1 invalid environments; first IDs=[1651]
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+RECOVERY reset 1 invalid environments; first IDs=[1193]
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+RECOVERY reset 1 invalid environments; first IDs=[1986]
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+RECOVERY reset 1 invalid environments; first IDs=[1188]
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+{"step": 50000, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 50000, "total_transitions": 204800000, "num_steps_per_env": 1, "wm_loss": 0.3964875340461731, "actor_loss": -8.712970733642578, "critic_loss": 0.023709772154688835, "reward": 0.07063455134630203, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2501400411128998, 0.15224096179008484, 0.2536126673221588], "policy_updates": 49900, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11141.232798002, "contact_bce": 0.30595290660858154, "contact_force_loss": 0.03146994113922119, "terrain_level_mean": 3.259521484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9989352226257324, 0.9978711605072021, 2.9992828369140625]}
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++----------------------------------------+
+|          Active Command Terms          |
++-------+-------+------------------------+
+| Index | Name  |          Type          |
++-------+-------+------------------------+
+|   0   | twist | UniformVelocityCommand |
++-------+-------+------------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 3 active terms.
++--------------------------------+
+|    Active Termination Terms    |
++-------+-------------+----------+
+| Index | Name        | Time Out |
++-------+-------------+----------+
+|   0   | time_out    |   True   |
+|   1   | fell_over   |  False   |
+|   2   | course_exit |   True   |
++-------+-------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_050000.mp4
+S10 training complete: logs/s10_terrain_v4_50k_full
diff --git a/logs/s10_terrain_v7_50k_20261101_225518/metrics.jsonl b/logs/s10_terrain_v7_50k_20261101_225518/metrics.jsonl
new file mode 100644
index 0000000..ccc2a06
--- /dev/null
+++ b/logs/s10_terrain_v7_50k_20261101_225518/metrics.jsonl
@@ -0,0 +1,1000 @@
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diff --git a/logs/s10_terrain_v7_50k_20261101_225518/model_50000.json b/logs/s10_terrain_v7_50k_20261101_225518/model_50000.json
new file mode 100644
index 0000000..c6b69ec
--- /dev/null
+++ b/logs/s10_terrain_v7_50k_20261101_225518/model_50000.json
@@ -0,0 +1,133 @@
+{
+  "format": "s10-terrain-policy-v1",
+  "step": 50000,
+  "history": 5,
+  "actor_schema": "s10-v7-53",
+  "actor_wheel_vel": true,
+  "frame_dim": 53,
+  "observation_dim": 265,
+  "action_dim": 16,
+  "dt": 0.02,
+  "actor_hidden": [
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+    128,
+    64
+  ],
+  "actor_params": 110288,
+  "frame_terms": [
+    {
+      "name": "base_ang_vel",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "projected_gravity",
+      "dim": 3,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_pos_rel",
+      "dim": 12,
+      "scale": 1.0
+    },
+    {
+      "name": "joint_vel_rel",
+      "dim": 12,
+      "scale": 0.05
+    },
+    {
+      "name": "wheel_vel_rel",
+      "dim": 4,
+      "scale": 0.05
+    },
+    {
+      "name": "last_action",
+      "dim": 16,
+      "scale": 1.0
+    },
+    {
+      "name": "command",
+      "dim": 3,
+      "scale": 1.0
+    }
+  ],
+  "history_layout": "term-wise blocks, oldest to newest (mjlab flattening)",
+  "env_action_order": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15
+  ],
+  "leg_scale": [
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8,
+    0.25,
+    0.6,
+    0.8
+  ],
+  "wheel_scale": 35.0,
+  "wheel_clip": 35.0,
+  "default_joint_pos": [
+    0.05,
+    -0.4363323129985824,
+    1.0,
+    -0.05,
+    -0.4363323129985824,
+    1.0,
+    0.05,
+    0.4363323129985824,
+    -1.0,
+    -0.05,
+    0.4363323129985824,
+    -1.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "leg_joint_names": [
+    "fl_hipx_joint",
+    "fl_hipy_joint",
+    "fl_knee_joint",
+    "fr_hipx_joint",
+    "fr_hipy_joint",
+    "fr_knee_joint",
+    "hl_hipx_joint",
+    "hl_hipy_joint",
+    "hl_knee_joint",
+    "hr_hipx_joint",
+    "hr_hipy_joint",
+    "hr_knee_joint"
+  ],
+  "wheel_joint_names": [
+    "fl_wheel_joint",
+    "fr_wheel_joint",
+    "hl_wheel_joint",
+    "hr_wheel_joint"
+  ],
+  "onnx": {
+    "input": "obs",
+    "output": "actions",
+    "opset": 17,
+    "max_abs_error_vs_torch": 7.897615432739258e-07
+  }
+}
diff --git a/logs/s10_terrain_v7_50k_20261101_225518/model_50000.onnx b/logs/s10_terrain_v7_50k_20261101_225518/model_50000.onnx
new file mode 100644
index 0000000..8a68c00
Binary files /dev/null and b/logs/s10_terrain_v7_50k_20261101_225518/model_50000.onnx differ
diff --git a/logs/s10_terrain_v7_50k_20261101_225518/train.log b/logs/s10_terrain_v7_50k_20261101_225518/train.log
new file mode 100644
index 0000000..0aae250
--- /dev/null
+++ b/logs/s10_terrain_v7_50k_20261101_225518/train.log
@@ -0,0 +1,42127 @@
+<conda-env>/lib/python3.11/site-packages/torch/jit/_script.py:1491: FutureWarning: `torch.jit.script` is deprecated. Please switch to `torch.compile` or `torch.export`.
+  warnings.warn(
+<conda-env>/lib/python3.11/site-packages/mujoco_warp/_src/io.py:713: UserWarning: MULTICCD is enabled, but the scene contains CCD pairs without multicontact support: [('CYLINDER', 'CYLINDER'), ('CYLINDER', 'BOX')]. At most 1 contact will be generated for these pairs.
+  warnings.warn(
+Setting seed: 0
+Warp 1.14.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 5070 Ti" (15 GiB, sm_120, mempool enabled)
+   Kernel cache:
+     <warp-cache>/1.14.0
+Module mujoco_warp._src.smooth e597d07 load on device 'cuda:0' took 1.97 ms  (cached)
+Module _nxn_broadphase__locals__kernel_df6640ed df6640e load on device 'cuda:0' took 1.01 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_f3c975b7 f3c975b load on device 'cuda:0' took 1.14 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_f3c975b7 fa59860 load on device 'cuda:0' took 0.98 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_82ff21e7 82ff21e load on device 'cuda:0' took 0.85 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_82ff21e7 fa618bd load on device 'cuda:0' took 0.95 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_240d51e8 240d51e load on device 'cuda:0' took 1.22 ms  (cached)
+Module ccd_kernel_builder__locals__ccd_kernel_240d51e8 a5c9e1e load on device 'cuda:0' took 1.08 ms  (cached)
+Module _primitive_narrowphase__locals__primitive_narrowphase_9aaa7d98 9aaa7d9 load on device 'cuda:0' took 0.44 ms  (cached)
+Module mujoco_warp._src.constraint 880bd7f load on device 'cuda:0' took 0.39 ms  (cached)
+Module _friction_dof__locals__kernel_3c14efda 3c14efd load on device 'cuda:0' took 0.28 ms  (cached)
+Module _limit_slide_hinge__locals__kernel_4d6c55ab 4d6c55a load on device 'cuda:0' took 0.47 ms  (cached)
+Module _efc_contact_init__locals__kernel_744a1fda 744a1fd load on device 'cuda:0' took 0.44 ms  (cached)
+Module _efc_contact_jac_dense__locals__kernel_760e2e1a d6aba00 load on device 'cuda:0' took 0.45 ms  (cached)
+Module _efc_contact_update__locals__kernel_c40b0799 c40b079 load on device 'cuda:0' took 0.44 ms  (cached)
+Module mujoco_warp._src.forward 687ddb7 load on device 'cuda:0' took 0.80 ms  (cached)
+Module mujoco_warp._src.passive 8ff6993 load on device 'cuda:0' took 0.89 ms  (cached)
+Module mujoco_warp._src.forward 2190340 load on device 'cuda:0' took 1.03 ms  (cached)
+Module _qfrc_smooth__locals__kernel_6eb3d958 6eb3d95 load on device 'cuda:0' took 0.34 ms  (cached)
+Module mujoco_warp._src.support d1e71d9 load on device 'cuda:0' took 0.24 ms  (cached)
+Module _tile_cholesky_factorize_solve_block__locals__kernel_b44bd18c 0966f64 load on device 'cuda:0' took 16.74 ms  (cached)
+Module _solve_init_dof__locals__kernel_99a497d1 99a497d load on device 'cuda:0' took 0.27 ms  (cached)
+Module mujoco_warp._src.solver 245b5b3 load on device 'cuda:0' took 1.12 ms  (cached)
+Module _solve_init_jaref_kernel__locals__kernel_d620bcf9 d620bcf load on device 'cuda:0' took 0.37 ms  (cached)
+Module mul_m_kernel__locals___mul_m_fd2186c4 fd2186c load on device 'cuda:0' took 0.41 ms  (cached)
+Module _update_constraint_efc__locals__kernel_4af8f110 4af8f11 load on device 'cuda:0' took 0.33 ms  (cached)
+Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_391cb5b4 391cb5b load on device 'cuda:0' took 0.40 ms  (cached)
+Module _update_gradient_zero_grad_dot__locals__kernel_cb780630 cb78063 load on device 'cuda:0' took 0.40 ms  (cached)
+Module _update_gradient_grad__locals__kernel_0cbf4927 0cbf492 load on device 'cuda:0' took 0.30 ms  (cached)
+Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_5d6c5d76 c826079 load on device 'cuda:0' took 0.52 ms  (cached)
+Module _update_gradient_cholesky__locals__kernel_b27fc0c0 f9b150c load on device 'cuda:0' took 17.63 ms  (cached)
+Module _linesearch_iterative_kernel__locals__kernel_d3ea36af e1537a9 load on device 'cuda:0' took 0.59 ms  (cached)
+Module mujoco_warp._src.sensor 42e0a24 load on device 'cuda:0' took 1.33 ms  (cached)
+Module _contact_sort__locals__contact_sort_321f5f3e 33ea4e1 load on device 'cuda:0' took 0.51 ms  (cached)
+Module mujoco_warp._src.derivative e770e28 load on device 'cuda:0' took 0.72 ms  (cached)
+Module _next_time_builder__locals___next_time_95ad6d7a 95ad6d7 load on device 'cuda:0' took 0.36 ms  (cached)
+Module reset_data__locals__reset_xfrc_applied_03030511 0303051 load on device 'cuda:0' took 0.44 ms  (cached)
+Module reset_data__locals__reset_M_631075dd 631075d load on device 'cuda:0' took 0.28 ms  (cached)
+Module reset_data__locals__reset_mocap_6513201c 6513201 load on device 'cuda:0' took 0.31 ms  (cached)
+Module reset_data__locals__reset_contact_5c08f689 5c08f68 load on device 'cuda:0' took 0.41 ms  (cached)
+Module reset_data__locals__reset_sleep_50b990da 50b990d load on device 'cuda:0' took 0.54 ms  (cached)
+Module reset_data__locals__reset_nworld_69a10925 69a1092 load on device 'cuda:0' took 0.42 ms  (cached)
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 4096   |
+| Environment device     | cuda:0 |
+| Environment seed       | 0      |
+| 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         |
++--------+----------------------------+
++---------------------------------------+
+| Active Event Terms in Mode: 'startup' |
++-----------+---------------------------+
+|   Index   | Name                      |
++-----------+---------------------------+
+|     0     | foot_friction             |
+|     1     | encoder_bias              |
+|     2     | base_com                  |
++-----------+---------------------------+
++-----------------------------+
+| 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   | actuator_acc0       |
++-------+---------------------+
+
+Module repeat_array_kernel_4f67a4c3 711f54c load on device 'cuda:0' took 0.34 ms  (cached)
+Module repeat_array_kernel_4f67a4c3 7224d07 load on device 'cuda:0' took 0.42 ms  (cached)
+Module repeat_array_kernel_4f67a4c3 b2885b0 load on device 'cuda:0' took 0.44 ms  (cached)
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 2 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'critic' (shape: (56,)) |
++-----------+----------------------------------+-------------+
+|   Index   | Name                             |    Shape    |
++-----------+----------------------------------+-------------+
+|     0     | base_ang_vel                     |     (3,)    |
+|     1     | projected_gravity                |     (3,)    |
+|     2     | joint_pos                        |    (12,)    |
+|     3     | joint_vel                        |    (12,)    |
+|     4     | wheel_vel                        |     (4,)    |
+|     5     | actions                          |    (16,)    |
+|     6     | command                          |     (3,)    |
+|     7     | base_lin_vel                     |     (3,)    |
++-----------+----------------------------------+-------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 14 active terms.
++-----------------------------------------+
+|           Active Reward Terms           |
++-------+------------------------+--------+
+| Index | Name                   | Weight |
++-------+------------------------+--------+
+|   0   | track_linear_velocity  |    2.0 |
+|   1   | track_angular_velocity |    2.0 |
+|   2   | upright                |    1.0 |
+|   3   | leg_posture            |   -0.4 |
+|   4   | standstill             |   -2.0 |
+|   5   | action_rate_l2         |  -0.05 |
+|   6   | joint_torques_l2       | -2e-05 |
+|   7   | dof_pos_limits         |   -1.0 |
+|   8   | terminated             |  -20.0 |
+|   9   | unnecessary_wheel_lift |   -0.2 |
+|   10  | rolling_leg_motion     |  -0.12 |
+|   11  | obstacle_progress      |    0.5 |
+|   12  | wheel_body_intrusion   |   -1.0 |
+|   13  | pair_body_intrusion    |   -1.0 |
++-------+------------------------+--------+
+
+[INFO] <CurriculumManager> contains 1 active terms.
++-------------------------+
+| Active Curriculum Terms |
++-----------+-------------+
+|   Index   | Name        |
++-----------+-------------+
+|     0     | course      |
++-----------+-------------+
+
+[INFO] <MetricsManager> contains 1 active terms.
++-------------------------+
+|   Active Metrics Terms  |
++-------+-----------------+
+| Index | Name            |
++-------+-----------------+
+|   0   | mean_action_acc |
++-------+-----------------+
+
+[INFO] <NullRecorderManager> (inactive)
+Module mujoco_warp._src.io 19274fb load on device 'cuda:0' took 1.04 ms  (cached)
+Module _tile_cholesky_factorize_block__locals__kernel_ccbdb7fb c86e457 load on device 'cuda:0' took 13.62 ms  (cached)
+Module _tile_cholesky_solve_block__locals__kernel_320f9d39 639ca7f load on device 'cuda:0' took 13.33 ms  (cached)
+Shared terrain atlas: 21.6 MiB
+S10 replay storage: 3424.0 MiB
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_000000.mp4
+
+==============================================================================
+Learning iteration 50/50000
+                               Total steps: 204,800
+                          Steps per second: 7,596
+                            Iteration time: 0.539s
+                           Collection time: 0.104s
+                             Learning time: 0.307s
+                               Mean reward: +0.0671
+                       Mean episode length: 46.3
+                                Actor loss: n/a
+                               Critic loss: n/a
+                          World model loss: +3.3125
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +1.1947
+     Episode_Reward/track_angular_velocity: +1.5756
+                    Episode_Reward/upright: +0.8977
+                Episode_Reward/leg_posture: -0.1223
+                 Episode_Reward/standstill: -0.3052
+             Episode_Reward/action_rate_l2: -0.0017
+           Episode_Reward/joint_torques_l2: -0.0031
+             Episode_Reward/dof_pos_limits: -0.0000
+                 Episode_Reward/terminated: -0.0010
+     Episode_Reward/unnecessary_wheel_lift: -0.0605
+         Episode_Reward/rolling_leg_motion: -0.0584
+          Episode_Reward/obstacle_progress: +0.0000
+       Episode_Reward/wheel_body_intrusion: -0.0108
+        Episode_Reward/pair_body_intrusion: -0.0019
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1936
+       Metrics/base_velocity/error_vel_yaw: 0.2417
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0909
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.9091
+==============================================================================
+
+==============================================================================
+Learning iteration 100/50000
+                               Total steps: 409,600
+                          Steps per second: 8,140
+                            Iteration time: 0.503s
+                           Collection time: 0.108s
+                             Learning time: 0.358s
+                               Mean reward: +0.0493
+                       Mean episode length: 80.0
+                                Actor loss: n/a
+                               Critic loss: n/a
+                          World model loss: +3.7498
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +1.8374
+     Episode_Reward/track_angular_velocity: +2.5339
+                    Episode_Reward/upright: +1.3571
+                Episode_Reward/leg_posture: -0.5664
+                 Episode_Reward/standstill: -0.7668
+             Episode_Reward/action_rate_l2: -0.0029
+           Episode_Reward/joint_torques_l2: -0.0109
+             Episode_Reward/dof_pos_limits: -0.0033
+                 Episode_Reward/terminated: -0.1579
+     Episode_Reward/unnecessary_wheel_lift: -0.0535
+         Episode_Reward/rolling_leg_motion: -0.0484
+          Episode_Reward/obstacle_progress: -0.0000
+       Episode_Reward/wheel_body_intrusion: -0.1348
+        Episode_Reward/pair_body_intrusion: -0.0420
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2380
+       Metrics/base_velocity/error_vel_yaw: 0.3078
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.2990
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.8010
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1966]
+
+==============================================================================
+Learning iteration 150/50000
+                               Total steps: 614,400
+                          Steps per second: 8,360
+                            Iteration time: 0.490s
+                           Collection time: 0.109s
+                             Learning time: 0.355s
+                               Mean reward: +0.0493
+                       Mean episode length: 119.8
+                                Actor loss: n/a
+                               Critic loss: n/a
+                          World model loss: +3.0211
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +2.8006
+     Episode_Reward/track_angular_velocity: +3.8681
+                    Episode_Reward/upright: +2.0143
+                Episode_Reward/leg_posture: -0.8256
+                 Episode_Reward/standstill: -1.2031
+             Episode_Reward/action_rate_l2: -0.0043
+           Episode_Reward/joint_torques_l2: -0.0158
+             Episode_Reward/dof_pos_limits: -0.0089
+                 Episode_Reward/terminated: -0.2957
+     Episode_Reward/unnecessary_wheel_lift: -0.1188
+         Episode_Reward/rolling_leg_motion: -0.0822
+          Episode_Reward/obstacle_progress: -0.0001
+       Episode_Reward/wheel_body_intrusion: -0.1721
+        Episode_Reward/pair_body_intrusion: -0.0482
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2314
+       Metrics/base_velocity/error_vel_yaw: 0.2903
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.4106
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7674
+==============================================================================
+
+==============================================================================
+Learning iteration 200/50000
+                               Total steps: 819,200
+                          Steps per second: 8,461
+                            Iteration time: 0.484s
+                           Collection time: 0.110s
+                             Learning time: 0.356s
+                               Mean reward: +0.0500
+                       Mean episode length: 139.9
+                                Actor loss: n/a
+                               Critic loss: n/a
+                          World model loss: +2.5222
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +3.2475
+     Episode_Reward/track_angular_velocity: +4.5193
+                    Episode_Reward/upright: +2.3730
+                Episode_Reward/leg_posture: -0.9561
+                 Episode_Reward/standstill: -1.3552
+             Episode_Reward/action_rate_l2: -0.0051
+           Episode_Reward/joint_torques_l2: -0.0183
+             Episode_Reward/dof_pos_limits: -0.0095
+                 Episode_Reward/terminated: -0.3176
+     Episode_Reward/unnecessary_wheel_lift: -0.1258
+         Episode_Reward/rolling_leg_motion: -0.0944
+          Episode_Reward/obstacle_progress: +0.0002
+       Episode_Reward/wheel_body_intrusion: -0.2021
+        Episode_Reward/pair_body_intrusion: -0.0529
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2339
+       Metrics/base_velocity/error_vel_yaw: 0.2904
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3916
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7814
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2386]
+
+==============================================================================
+Learning iteration 250/50000
+                               Total steps: 1,024,000
+                          Steps per second: 8,568
+                            Iteration time: 0.478s
+                           Collection time: 0.110s
+                             Learning time: 0.344s
+                               Mean reward: +0.0505
+                       Mean episode length: 148.2
+                                Actor loss: n/a
+                               Critic loss: n/a
+                          World model loss: +2.1572
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +3.4519
+     Episode_Reward/track_angular_velocity: +4.7714
+                    Episode_Reward/upright: +2.5070
+                Episode_Reward/leg_posture: -1.0174
+                 Episode_Reward/standstill: -1.3489
+             Episode_Reward/action_rate_l2: -0.0054
+           Episode_Reward/joint_torques_l2: -0.0194
+             Episode_Reward/dof_pos_limits: -0.0098
+                 Episode_Reward/terminated: -0.3486
+     Episode_Reward/unnecessary_wheel_lift: -0.1346
+         Episode_Reward/rolling_leg_motion: -0.0987
+          Episode_Reward/obstacle_progress: -0.0000
+       Episode_Reward/wheel_body_intrusion: -0.2058
+        Episode_Reward/pair_body_intrusion: -0.0601
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2333
+       Metrics/base_velocity/error_vel_yaw: 0.2940
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.4120
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7542
+==============================================================================
+
+==============================================================================
+Learning iteration 300/50000
+                               Total steps: 1,228,800
+                          Steps per second: 8,608
+                            Iteration time: 0.476s
+                           Collection time: 0.110s
+                             Learning time: 0.355s
+                               Mean reward: +0.0507
+                       Mean episode length: 155.8
+                                Actor loss: n/a
+                               Critic loss: n/a
+                          World model loss: +1.8894
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +3.6528
+     Episode_Reward/track_angular_velocity: +5.0241
+                    Episode_Reward/upright: +2.6621
+                Episode_Reward/leg_posture: -1.0477
+                 Episode_Reward/standstill: -1.4823
+             Episode_Reward/action_rate_l2: -0.0056
+           Episode_Reward/joint_torques_l2: -0.0201
+             Episode_Reward/dof_pos_limits: -0.0092
+                 Episode_Reward/terminated: -0.3467
+     Episode_Reward/unnecessary_wheel_lift: -0.1335
+         Episode_Reward/rolling_leg_motion: -0.1051
+          Episode_Reward/obstacle_progress: +0.0002
+       Episode_Reward/wheel_body_intrusion: -0.2214
+        Episode_Reward/pair_body_intrusion: -0.0612
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2312
+       Metrics/base_velocity/error_vel_yaw: 0.2926
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3591
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.8051
+==============================================================================
+<conda-env>/lib/python3.11/site-packages/triton/knobs.py:504: UserWarning: TRITON_DEFAULT_FP_FUSION is unset: defaulting to FP fusion ENABLED for backward compatibility in Triton 3.9. The default will change to DISABLED in Triton 3.10; set TRITON_DEFAULT_FP_FUSION=1 to keep fusion enabled or =0 to adopt the new default early and silence this warning.
+  warn_once(FP_FUSION_DEFAULT_WARNING)
+
+==============================================================================
+Learning iteration 350/50000
+                               Total steps: 1,433,600
+                          Steps per second: 7,614
+                            Iteration time: 0.538s
+                           Collection time: 0.110s
+                             Learning time: 0.800s
+                               Mean reward: +0.0507
+                       Mean episode length: 160.9
+                                Actor loss: -1.9025
+                               Critic loss: +0.0733
+                          World model loss: +1.7612
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +3.7773
+     Episode_Reward/track_angular_velocity: +5.2195
+                    Episode_Reward/upright: +2.7272
+                Episode_Reward/leg_posture: -1.0968
+                 Episode_Reward/standstill: -1.5107
+             Episode_Reward/action_rate_l2: -0.0058
+           Episode_Reward/joint_torques_l2: -0.0210
+             Episode_Reward/dof_pos_limits: -0.0111
+                 Episode_Reward/terminated: -0.3742
+     Episode_Reward/unnecessary_wheel_lift: -0.1427
+         Episode_Reward/rolling_leg_motion: -0.1065
+          Episode_Reward/obstacle_progress: -0.0002
+       Episode_Reward/wheel_body_intrusion: -0.2237
+        Episode_Reward/pair_body_intrusion: -0.0676
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2308
+       Metrics/base_velocity/error_vel_yaw: 0.2862
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3720
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7851
+==============================================================================
+
+==============================================================================
+Learning iteration 400/50000
+                               Total steps: 1,638,400
+                          Steps per second: 7,610
+                            Iteration time: 0.538s
+                           Collection time: 0.110s
+                             Learning time: 0.430s
+                               Mean reward: +0.0531
+                       Mean episode length: 169.3
+                                Actor loss: -2.2357
+                               Critic loss: +0.0583
+                          World model loss: +1.5993
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +4.0490
+     Episode_Reward/track_angular_velocity: +5.5182
+                    Episode_Reward/upright: +2.9128
+                Episode_Reward/leg_posture: -1.1052
+                 Episode_Reward/standstill: -1.4661
+             Episode_Reward/action_rate_l2: -0.0061
+           Episode_Reward/joint_torques_l2: -0.0212
+             Episode_Reward/dof_pos_limits: -0.0098
+                 Episode_Reward/terminated: -0.3455
+     Episode_Reward/unnecessary_wheel_lift: -0.1389
+         Episode_Reward/rolling_leg_motion: -0.1105
+          Episode_Reward/obstacle_progress: +0.0003
+       Episode_Reward/wheel_body_intrusion: -0.2217
+        Episode_Reward/pair_body_intrusion: -0.0662
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2250
+       Metrics/base_velocity/error_vel_yaw: 0.2821
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3722
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7990
+==============================================================================
+
+==============================================================================
+Learning iteration 450/50000
+                               Total steps: 1,843,200
+                          Steps per second: 7,601
+                            Iteration time: 0.539s
+                           Collection time: 0.110s
+                             Learning time: 0.434s
+                               Mean reward: +0.0545
+                       Mean episode length: 173.3
+                                Actor loss: -2.6894
+                               Critic loss: +0.0542
+                          World model loss: +1.4312
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +4.2831
+     Episode_Reward/track_angular_velocity: +5.7092
+                    Episode_Reward/upright: +3.0359
+                Episode_Reward/leg_posture: -1.0592
+                 Episode_Reward/standstill: -1.6052
+             Episode_Reward/action_rate_l2: -0.0063
+           Episode_Reward/joint_torques_l2: -0.0203
+             Episode_Reward/dof_pos_limits: -0.0087
+                 Episode_Reward/terminated: -0.3341
+     Episode_Reward/unnecessary_wheel_lift: -0.1361
+         Episode_Reward/rolling_leg_motion: -0.1142
+          Episode_Reward/obstacle_progress: +0.0011
+       Episode_Reward/wheel_body_intrusion: -0.2350
+        Episode_Reward/pair_body_intrusion: -0.0737
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2161
+       Metrics/base_velocity/error_vel_yaw: 0.2723
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3313
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.8430
+==============================================================================
+
+==============================================================================
+Learning iteration 500/50000
+                               Total steps: 2,048,000
+                          Steps per second: 7,596
+                            Iteration time: 0.539s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0522
+                       Mean episode length: 184.2
+                                Actor loss: -3.2402
+                               Critic loss: +0.0538
+                          World model loss: +1.2875
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +4.4792
+     Episode_Reward/track_angular_velocity: +6.0436
+                    Episode_Reward/upright: +3.3031
+                Episode_Reward/leg_posture: -1.0328
+                 Episode_Reward/standstill: -2.2935
+             Episode_Reward/action_rate_l2: -0.0069
+           Episode_Reward/joint_torques_l2: -0.0203
+             Episode_Reward/dof_pos_limits: -0.0073
+                 Episode_Reward/terminated: -0.2965
+     Episode_Reward/unnecessary_wheel_lift: -0.1323
+         Episode_Reward/rolling_leg_motion: -0.1271
+          Episode_Reward/obstacle_progress: +0.0105
+       Episode_Reward/wheel_body_intrusion: -0.2197
+        Episode_Reward/pair_body_intrusion: -0.0897
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2215
+       Metrics/base_velocity/error_vel_yaw: 0.2768
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.2682
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.8859
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2239]
+
+==============================================================================
+Learning iteration 550/50000
+                               Total steps: 2,252,800
+                          Steps per second: 7,587
+                            Iteration time: 0.540s
+                           Collection time: 0.111s
+                             Learning time: 0.434s
+                               Mean reward: +0.0554
+                       Mean episode length: 190.8
+                                Actor loss: -3.5373
+                               Critic loss: +0.0417
+                          World model loss: +1.2541
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +4.8436
+     Episode_Reward/track_angular_velocity: +6.2498
+                    Episode_Reward/upright: +3.4885
+                Episode_Reward/leg_posture: -0.9548
+                 Episode_Reward/standstill: -2.1755
+             Episode_Reward/action_rate_l2: -0.0074
+           Episode_Reward/joint_torques_l2: -0.0194
+             Episode_Reward/dof_pos_limits: -0.0062
+                 Episode_Reward/terminated: -0.2743
+     Episode_Reward/unnecessary_wheel_lift: -0.1343
+         Episode_Reward/rolling_leg_motion: -0.1371
+          Episode_Reward/obstacle_progress: +0.0385
+       Episode_Reward/wheel_body_intrusion: -0.2233
+        Episode_Reward/pair_body_intrusion: -0.1215
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2087
+       Metrics/base_velocity/error_vel_yaw: 0.2791
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.1957
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.9321
+==============================================================================
+
+==============================================================================
+Learning iteration 600/50000
+                               Total steps: 2,457,600
+                          Steps per second: 7,582
+                            Iteration time: 0.540s
+                           Collection time: 0.110s
+                             Learning time: 0.434s
+                               Mean reward: +0.0599
+                       Mean episode length: 208.7
+                                Actor loss: -4.1602
+                               Critic loss: +0.0695
+                          World model loss: +1.2228
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +5.5726
+     Episode_Reward/track_angular_velocity: +6.8743
+                    Episode_Reward/upright: +3.8732
+                Episode_Reward/leg_posture: -0.9660
+                 Episode_Reward/standstill: -2.1803
+             Episode_Reward/action_rate_l2: -0.0087
+           Episode_Reward/joint_torques_l2: -0.0199
+             Episode_Reward/dof_pos_limits: -0.0041
+                 Episode_Reward/terminated: -0.1659
+     Episode_Reward/unnecessary_wheel_lift: -0.0894
+         Episode_Reward/rolling_leg_motion: -0.1583
+          Episode_Reward/obstacle_progress: +0.0661
+       Episode_Reward/wheel_body_intrusion: -0.1952
+        Episode_Reward/pair_body_intrusion: -0.0869
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1953
+       Metrics/base_velocity/error_vel_yaw: 0.2740
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.2138
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.9312
+==============================================================================
+
+==============================================================================
+Learning iteration 650/50000
+                               Total steps: 2,662,400
+                          Steps per second: 7,582
+                            Iteration time: 0.540s
+                           Collection time: 0.110s
+                             Learning time: 0.430s
+                               Mean reward: +0.0562
+                       Mean episode length: 223.2
+                                Actor loss: -4.6352
+                               Critic loss: +0.0523
+                          World model loss: +1.1959
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +5.8220
+     Episode_Reward/track_angular_velocity: +7.2501
+                    Episode_Reward/upright: +4.1404
+                Episode_Reward/leg_posture: -1.0298
+                 Episode_Reward/standstill: -2.9596
+             Episode_Reward/action_rate_l2: -0.0109
+           Episode_Reward/joint_torques_l2: -0.0214
+             Episode_Reward/dof_pos_limits: -0.0038
+                 Episode_Reward/terminated: -0.1395
+     Episode_Reward/unnecessary_wheel_lift: -0.1190
+         Episode_Reward/rolling_leg_motion: -0.2150
+          Episode_Reward/obstacle_progress: +0.0818
+       Episode_Reward/wheel_body_intrusion: -0.1692
+        Episode_Reward/pair_body_intrusion: -0.0737
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.2042
+       Metrics/base_velocity/error_vel_yaw: 0.2858
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.4531
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.8219
+==============================================================================
+
+==============================================================================
+Learning iteration 700/50000
+                               Total steps: 2,867,200
+                          Steps per second: 7,582
+                            Iteration time: 0.540s
+                           Collection time: 0.110s
+                             Learning time: 0.431s
+                               Mean reward: +0.0570
+                       Mean episode length: 237.5
+                                Actor loss: -5.1414
+                               Critic loss: +0.0611
+                          World model loss: +1.1838
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +6.4777
+     Episode_Reward/track_angular_velocity: +7.7589
+                    Episode_Reward/upright: +4.4663
+                Episode_Reward/leg_posture: -0.9403
+                 Episode_Reward/standstill: -3.5809
+             Episode_Reward/action_rate_l2: -0.0159
+           Episode_Reward/joint_torques_l2: -0.0203
+             Episode_Reward/dof_pos_limits: -0.0040
+                 Episode_Reward/terminated: -0.1280
+     Episode_Reward/unnecessary_wheel_lift: -0.1213
+         Episode_Reward/rolling_leg_motion: -0.3152
+          Episode_Reward/obstacle_progress: +0.1165
+       Episode_Reward/wheel_body_intrusion: -0.1046
+        Episode_Reward/pair_body_intrusion: -0.0509
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1905
+       Metrics/base_velocity/error_vel_yaw: 0.2804
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.5725
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7319
+==============================================================================
+
+==============================================================================
+Learning iteration 750/50000
+                               Total steps: 3,072,000
+                          Steps per second: 7,582
+                            Iteration time: 0.540s
+                           Collection time: 0.110s
+                             Learning time: 0.430s
+                               Mean reward: +0.0622
+                       Mean episode length: 285.7
+                                Actor loss: -5.5572
+                               Critic loss: +0.0378
+                          World model loss: +1.1114
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +8.1537
+     Episode_Reward/track_angular_velocity: +9.5306
+                    Episode_Reward/upright: +5.4430
+                Episode_Reward/leg_posture: -1.0268
+                 Episode_Reward/standstill: -3.6588
+             Episode_Reward/action_rate_l2: -0.0199
+           Episode_Reward/joint_torques_l2: -0.0217
+             Episode_Reward/dof_pos_limits: -0.0043
+                 Episode_Reward/terminated: -0.1161
+     Episode_Reward/unnecessary_wheel_lift: -0.1400
+         Episode_Reward/rolling_leg_motion: -0.3917
+          Episode_Reward/obstacle_progress: +0.1675
+       Episode_Reward/wheel_body_intrusion: -0.0823
+        Episode_Reward/pair_body_intrusion: -0.0582
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1773
+       Metrics/base_velocity/error_vel_yaw: 0.2627
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.6106
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.6154
+==============================================================================
+
+==============================================================================
+Learning iteration 800/50000
+                               Total steps: 3,276,800
+                          Steps per second: 7,582
+                            Iteration time: 0.540s
+                           Collection time: 0.110s
+                             Learning time: 0.431s
+                               Mean reward: +0.0657
+                       Mean episode length: 300.9
+                                Actor loss: -5.9100
+                               Critic loss: +0.0253
+                          World model loss: +1.0840
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +8.8683
+     Episode_Reward/track_angular_velocity: +10.1152
+                    Episode_Reward/upright: +5.7353
+                Episode_Reward/leg_posture: -1.2377
+                 Episode_Reward/standstill: -3.0438
+             Episode_Reward/action_rate_l2: -0.0202
+           Episode_Reward/joint_torques_l2: -0.0232
+             Episode_Reward/dof_pos_limits: -0.0050
+                 Episode_Reward/terminated: -0.0840
+     Episode_Reward/unnecessary_wheel_lift: -0.1268
+         Episode_Reward/rolling_leg_motion: -0.3739
+          Episode_Reward/obstacle_progress: +0.1872
+       Episode_Reward/wheel_body_intrusion: -0.1207
+        Episode_Reward/pair_body_intrusion: -0.1043
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1658
+       Metrics/base_velocity/error_vel_yaw: 0.2561
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.4965
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7762
+==============================================================================
+
+==============================================================================
+Learning iteration 850/50000
+                               Total steps: 3,481,600
+                          Steps per second: 7,581
+                            Iteration time: 0.540s
+                           Collection time: 0.109s
+                             Learning time: 0.432s
+                               Mean reward: +0.0662
+                       Mean episode length: 345.1
+                                Actor loss: -6.2149
+                               Critic loss: +0.0234
+                          World model loss: +1.0936
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +10.3925
+     Episode_Reward/track_angular_velocity: +11.6744
+                    Episode_Reward/upright: +6.5685
+                Episode_Reward/leg_posture: -1.5710
+                 Episode_Reward/standstill: -3.3495
+             Episode_Reward/action_rate_l2: -0.0262
+           Episode_Reward/joint_torques_l2: -0.0283
+             Episode_Reward/dof_pos_limits: -0.0042
+                 Episode_Reward/terminated: -0.0964
+     Episode_Reward/unnecessary_wheel_lift: -0.1419
+         Episode_Reward/rolling_leg_motion: -0.5353
+          Episode_Reward/obstacle_progress: +0.2366
+       Episode_Reward/wheel_body_intrusion: -0.1567
+        Episode_Reward/pair_body_intrusion: -0.1181
+             Curriculum/terrain_level_mean: 0.000e+00
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1592
+       Metrics/base_velocity/error_vel_yaw: 0.2511
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3636
+           Episode_Termination/course_exit: 0.0000
+Episode_Termination/illegal_nonwheel_contact: 0.7552
+==============================================================================
+
+==============================================================================
+Learning iteration 900/50000
+                               Total steps: 3,686,400
+                          Steps per second: 7,582
+                            Iteration time: 0.540s
+                           Collection time: 0.109s
+                             Learning time: 0.430s
+                               Mean reward: +0.0716
+                       Mean episode length: 392.6
+                                Actor loss: -6.6069
+                               Critic loss: +0.0227
+                          World model loss: +1.0809
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +12.4170
+     Episode_Reward/track_angular_velocity: +13.6012
+                    Episode_Reward/upright: +7.5330
+                Episode_Reward/leg_posture: -1.6680
+                 Episode_Reward/standstill: -3.0011
+             Episode_Reward/action_rate_l2: -0.0323
+           Episode_Reward/joint_torques_l2: -0.0337
+             Episode_Reward/dof_pos_limits: -0.0045
+                 Episode_Reward/terminated: -0.0590
+     Episode_Reward/unnecessary_wheel_lift: -0.1062
+         Episode_Reward/rolling_leg_motion: -0.6175
+          Episode_Reward/obstacle_progress: +0.2904
+       Episode_Reward/wheel_body_intrusion: -0.1745
+        Episode_Reward/pair_body_intrusion: -0.0239
+             Curriculum/terrain_level_mean: 4.883e-04
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1421
+       Metrics/base_velocity/error_vel_yaw: 0.2288
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3544
+           Episode_Termination/course_exit: 0.0253
+Episode_Termination/illegal_nonwheel_contact: 0.7722
+==============================================================================
+
+==============================================================================
+Learning iteration 950/50000
+                               Total steps: 3,891,200
+                          Steps per second: 7,580
+                            Iteration time: 0.540s
+                           Collection time: 0.109s
+                             Learning time: 0.433s
+                               Mean reward: +0.0758
+                       Mean episode length: 453.3
+                                Actor loss: -6.9023
+                               Critic loss: +0.0163
+                          World model loss: +1.0748
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +14.9481
+     Episode_Reward/track_angular_velocity: +16.0827
+                    Episode_Reward/upright: +8.7521
+                Episode_Reward/leg_posture: -1.8947
+                 Episode_Reward/standstill: -2.7401
+             Episode_Reward/action_rate_l2: -0.0380
+           Episode_Reward/joint_torques_l2: -0.0401
+             Episode_Reward/dof_pos_limits: -0.0059
+                 Episode_Reward/terminated: -0.0513
+     Episode_Reward/unnecessary_wheel_lift: -0.0923
+         Episode_Reward/rolling_leg_motion: -0.6802
+          Episode_Reward/obstacle_progress: +0.3504
+       Episode_Reward/wheel_body_intrusion: -0.1886
+        Episode_Reward/pair_body_intrusion: -0.0206
+             Curriculum/terrain_level_mean: +0.0015
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1267
+       Metrics/base_velocity/error_vel_yaw: 0.2059
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.4839
+           Episode_Termination/course_exit: 0.0645
+Episode_Termination/illegal_nonwheel_contact: 0.6935
+==============================================================================
+
+==============================================================================
+Learning iteration 1000/50000
+                               Total steps: 4,096,000
+                          Steps per second: 7,575
+                            Iteration time: 0.541s
+                           Collection time: 0.108s
+                             Learning time: 0.439s
+                               Mean reward: +0.0773
+                       Mean episode length: 494.1
+                                Actor loss: -7.0796
+                               Critic loss: +0.0123
+                          World model loss: +1.0596
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +16.6281
+     Episode_Reward/track_angular_velocity: +17.6545
+                    Episode_Reward/upright: +9.5628
+                Episode_Reward/leg_posture: -2.2200
+                 Episode_Reward/standstill: -2.7688
+             Episode_Reward/action_rate_l2: -0.0369
+           Episode_Reward/joint_torques_l2: -0.0438
+             Episode_Reward/dof_pos_limits: -0.0064
+                 Episode_Reward/terminated: -0.0396
+     Episode_Reward/unnecessary_wheel_lift: -0.1022
+         Episode_Reward/rolling_leg_motion: -0.4940
+          Episode_Reward/obstacle_progress: +0.3648
+       Episode_Reward/wheel_body_intrusion: -0.2402
+        Episode_Reward/pair_body_intrusion: -0.0412
+             Curriculum/terrain_level_mean: +0.0039
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1191
+       Metrics/base_velocity/error_vel_yaw: 0.1992
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.4314
+           Episode_Termination/course_exit: 0.1961
+Episode_Termination/illegal_nonwheel_contact: 0.5294
+==============================================================================
+
+==============================================================================
+Learning iteration 1050/50000
+                               Total steps: 4,300,800
+                          Steps per second: 7,574
+                            Iteration time: 0.541s
+                           Collection time: 0.108s
+                             Learning time: 0.435s
+                               Mean reward: +0.0762
+                       Mean episode length: 565.7
+                                Actor loss: -7.3239
+                               Critic loss: +0.0114
+                          World model loss: +1.0179
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +19.0366
+     Episode_Reward/track_angular_velocity: +20.2239
+                    Episode_Reward/upright: +10.8895
+                Episode_Reward/leg_posture: -3.0924
+                 Episode_Reward/standstill: -3.1703
+             Episode_Reward/action_rate_l2: -0.0396
+           Episode_Reward/joint_torques_l2: -0.0545
+             Episode_Reward/dof_pos_limits: -0.0079
+                 Episode_Reward/terminated: -0.0431
+     Episode_Reward/unnecessary_wheel_lift: -0.1027
+         Episode_Reward/rolling_leg_motion: -0.4314
+          Episode_Reward/obstacle_progress: +0.3649
+       Episode_Reward/wheel_body_intrusion: -0.3643
+        Episode_Reward/pair_body_intrusion: -0.1202
+             Curriculum/terrain_level_mean: +0.0098
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1187
+       Metrics/base_velocity/error_vel_yaw: 0.1983
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3594
+           Episode_Termination/course_exit: 0.3906
+Episode_Termination/illegal_nonwheel_contact: 0.3281
+==============================================================================
+
+==============================================================================
+Learning iteration 1100/50000
+                               Total steps: 4,505,600
+                          Steps per second: 7,572
+                            Iteration time: 0.541s
+                           Collection time: 0.109s
+                             Learning time: 0.434s
+                               Mean reward: +0.0772
+                       Mean episode length: 593.0
+                                Actor loss: -7.4351
+                               Critic loss: +0.0118
+                          World model loss: +1.0231
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +20.1976
+     Episode_Reward/track_angular_velocity: +21.4841
+                    Episode_Reward/upright: +11.4223
+                Episode_Reward/leg_posture: -3.2362
+                 Episode_Reward/standstill: -3.3757
+             Episode_Reward/action_rate_l2: -0.0442
+           Episode_Reward/joint_torques_l2: -0.0591
+             Episode_Reward/dof_pos_limits: -0.0105
+                 Episode_Reward/terminated: -0.0452
+     Episode_Reward/unnecessary_wheel_lift: -0.1009
+         Episode_Reward/rolling_leg_motion: -0.4222
+          Episode_Reward/obstacle_progress: +0.3599
+       Episode_Reward/wheel_body_intrusion: -0.3342
+        Episode_Reward/pair_body_intrusion: -0.0724
+             Curriculum/terrain_level_mean: +0.0156
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1138
+       Metrics/base_velocity/error_vel_yaw: 0.1850
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.3538
+           Episode_Termination/course_exit: 0.4000
+Episode_Termination/illegal_nonwheel_contact: 0.4154
+==============================================================================
+
+==============================================================================
+Learning iteration 1150/50000
+                               Total steps: 4,710,400
+                          Steps per second: 7,572
+                            Iteration time: 0.541s
+                           Collection time: 0.109s
+                             Learning time: 0.433s
+                               Mean reward: +0.0783
+                       Mean episode length: 675.8
+                                Actor loss: -7.6606
+                               Critic loss: +0.0067
+                          World model loss: +1.0190
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +23.2814
+     Episode_Reward/track_angular_velocity: +24.6759
+                    Episode_Reward/upright: +13.0380
+                Episode_Reward/leg_posture: -3.4269
+                 Episode_Reward/standstill: -3.8727
+             Episode_Reward/action_rate_l2: -0.0662
+           Episode_Reward/joint_torques_l2: -0.0674
+             Episode_Reward/dof_pos_limits: -0.0181
+                 Episode_Reward/terminated: -0.0370
+     Episode_Reward/unnecessary_wheel_lift: -0.1031
+         Episode_Reward/rolling_leg_motion: -0.5566
+          Episode_Reward/obstacle_progress: +0.4161
+       Episode_Reward/wheel_body_intrusion: -0.2868
+        Episode_Reward/pair_body_intrusion: -0.0420
+             Curriculum/terrain_level_mean: +0.0271
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1099
+       Metrics/base_velocity/error_vel_yaw: 0.1769
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.1500
+           Episode_Termination/course_exit: 0.6500
+Episode_Termination/illegal_nonwheel_contact: 0.2375
+==============================================================================
+
+==============================================================================
+Learning iteration 1200/50000
+                               Total steps: 4,915,200
+                          Steps per second: 7,569
+                            Iteration time: 0.541s
+                           Collection time: 0.110s
+                             Learning time: 0.436s
+                               Mean reward: +0.0792
+                       Mean episode length: 700.4
+                                Actor loss: -7.7869
+                               Critic loss: +0.0076
+                          World model loss: +0.9589
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +24.3137
+     Episode_Reward/track_angular_velocity: +25.7290
+                    Episode_Reward/upright: +13.5084
+                Episode_Reward/leg_posture: -3.3916
+                 Episode_Reward/standstill: -3.9057
+             Episode_Reward/action_rate_l2: -0.0662
+           Episode_Reward/joint_torques_l2: -0.0701
+             Episode_Reward/dof_pos_limits: -0.0215
+                 Episode_Reward/terminated: -0.0424
+     Episode_Reward/unnecessary_wheel_lift: -0.1448
+         Episode_Reward/rolling_leg_motion: -0.5107
+          Episode_Reward/obstacle_progress: +0.4095
+       Episode_Reward/wheel_body_intrusion: -0.2761
+        Episode_Reward/pair_body_intrusion: -0.0401
+             Curriculum/terrain_level_mean: +0.0391
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1067
+       Metrics/base_velocity/error_vel_yaw: 0.1698
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.1928
+           Episode_Termination/course_exit: 0.6265
+Episode_Termination/illegal_nonwheel_contact: 0.2169
+==============================================================================
+
+==============================================================================
+Learning iteration 1250/50000
+                               Total steps: 5,120,000
+                          Steps per second: 7,566
+                            Iteration time: 0.541s
+                           Collection time: 0.110s
+                             Learning time: 0.438s
+                               Mean reward: +0.0802
+                       Mean episode length: 762.8
+                                Actor loss: -7.9281
+                               Critic loss: +0.0067
+                          World model loss: +0.9403
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +26.7116
+     Episode_Reward/track_angular_velocity: +28.2094
+                    Episode_Reward/upright: +14.7344
+                Episode_Reward/leg_posture: -3.6813
+                 Episode_Reward/standstill: -3.9842
+             Episode_Reward/action_rate_l2: -0.0616
+           Episode_Reward/joint_torques_l2: -0.0773
+             Episode_Reward/dof_pos_limits: -0.0198
+                 Episode_Reward/terminated: -0.0343
+     Episode_Reward/unnecessary_wheel_lift: -0.1236
+         Episode_Reward/rolling_leg_motion: -0.4916
+          Episode_Reward/obstacle_progress: +0.4218
+       Episode_Reward/wheel_body_intrusion: -0.3088
+        Episode_Reward/pair_body_intrusion: -0.0841
+             Curriculum/terrain_level_mean: +0.0522
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1025
+       Metrics/base_velocity/error_vel_yaw: 0.1622
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.1519
+           Episode_Termination/course_exit: 0.7089
+Episode_Termination/illegal_nonwheel_contact: 0.1519
+==============================================================================
+
+==============================================================================
+Learning iteration 1300/50000
+                               Total steps: 5,324,800
+                          Steps per second: 7,563
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.437s
+                               Mean reward: +0.0795
+                       Mean episode length: 783.3
+                                Actor loss: -8.0810
+                               Critic loss: +0.0048
+                          World model loss: +0.8892
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +27.3859
+     Episode_Reward/track_angular_velocity: +28.9032
+                    Episode_Reward/upright: +15.1066
+                Episode_Reward/leg_posture: -3.9549
+                 Episode_Reward/standstill: -4.1074
+             Episode_Reward/action_rate_l2: -0.0589
+           Episode_Reward/joint_torques_l2: -0.0835
+             Episode_Reward/dof_pos_limits: -0.0210
+                 Episode_Reward/terminated: -0.0459
+     Episode_Reward/unnecessary_wheel_lift: -0.1582
+         Episode_Reward/rolling_leg_motion: -0.5067
+          Episode_Reward/obstacle_progress: +0.4149
+       Episode_Reward/wheel_body_intrusion: -0.3965
+        Episode_Reward/pair_body_intrusion: -0.1751
+             Curriculum/terrain_level_mean: +0.0740
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1031
+       Metrics/base_velocity/error_vel_yaw: 0.1647
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.1732
+           Episode_Termination/course_exit: 0.7638
+Episode_Termination/illegal_nonwheel_contact: 0.1339
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1450]
+
+==============================================================================
+Learning iteration 1350/50000
+                               Total steps: 5,529,600
+                          Steps per second: 7,561
+                            Iteration time: 0.542s
+                           Collection time: 0.111s
+                             Learning time: 0.433s
+                               Mean reward: +0.0791
+                       Mean episode length: 787.5
+                                Actor loss: -8.1659
+                               Critic loss: +0.0053
+                          World model loss: +0.9595
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +27.4011
+     Episode_Reward/track_angular_velocity: +29.0405
+                    Episode_Reward/upright: +15.1841
+                Episode_Reward/leg_posture: -3.9480
+                 Episode_Reward/standstill: -4.1506
+             Episode_Reward/action_rate_l2: -0.0581
+           Episode_Reward/joint_torques_l2: -0.0895
+             Episode_Reward/dof_pos_limits: -0.0227
+                 Episode_Reward/terminated: -0.0554
+     Episode_Reward/unnecessary_wheel_lift: -0.2045
+         Episode_Reward/rolling_leg_motion: -0.4965
+          Episode_Reward/obstacle_progress: +0.3883
+       Episode_Reward/wheel_body_intrusion: -0.4051
+        Episode_Reward/pair_body_intrusion: -0.2680
+             Curriculum/terrain_level_mean: +0.0901
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1650
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.1308
+           Episode_Termination/course_exit: 0.6636
+Episode_Termination/illegal_nonwheel_contact: 0.2523
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1710]
+
+==============================================================================
+Learning iteration 1400/50000
+                               Total steps: 5,734,400
+                          Steps per second: 7,560
+                            Iteration time: 0.542s
+                           Collection time: 0.111s
+                             Learning time: 0.434s
+                               Mean reward: +0.0795
+                       Mean episode length: 841.8
+                                Actor loss: -8.2465
+                               Critic loss: +0.0053
+                          World model loss: +0.9002
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +29.3482
+     Episode_Reward/track_angular_velocity: +31.1705
+                    Episode_Reward/upright: +16.2487
+                Episode_Reward/leg_posture: -4.0225
+                 Episode_Reward/standstill: -4.4844
+             Episode_Reward/action_rate_l2: -0.0633
+           Episode_Reward/joint_torques_l2: -0.0966
+             Episode_Reward/dof_pos_limits: -0.0227
+                 Episode_Reward/terminated: -0.0674
+     Episode_Reward/unnecessary_wheel_lift: -0.2486
+         Episode_Reward/rolling_leg_motion: -0.5127
+          Episode_Reward/obstacle_progress: +0.4200
+       Episode_Reward/wheel_body_intrusion: -0.4237
+        Episode_Reward/pair_body_intrusion: -0.3337
+             Curriculum/terrain_level_mean: +0.1084
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1035
+       Metrics/base_velocity/error_vel_yaw: 0.1602
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0977
+           Episode_Termination/course_exit: 0.6917
+Episode_Termination/illegal_nonwheel_contact: 0.2256
+==============================================================================
+
+==============================================================================
+Learning iteration 1450/50000
+                               Total steps: 5,939,200
+                          Steps per second: 7,559
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0802
+                       Mean episode length: 835.6
+                                Actor loss: -8.3086
+                               Critic loss: +0.0041
+                          World model loss: +0.8788
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +29.3016
+     Episode_Reward/track_angular_velocity: +30.9956
+                    Episode_Reward/upright: +16.1671
+                Episode_Reward/leg_posture: -3.9575
+                 Episode_Reward/standstill: -4.4286
+             Episode_Reward/action_rate_l2: -0.0622
+           Episode_Reward/joint_torques_l2: -0.0933
+             Episode_Reward/dof_pos_limits: -0.0183
+                 Episode_Reward/terminated: -0.0326
+     Episode_Reward/unnecessary_wheel_lift: -0.1598
+         Episode_Reward/rolling_leg_motion: -0.4960
+          Episode_Reward/obstacle_progress: +0.4401
+       Episode_Reward/wheel_body_intrusion: -0.3791
+        Episode_Reward/pair_body_intrusion: -0.2968
+             Curriculum/terrain_level_mean: +0.1265
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.1007
+       Metrics/base_velocity/error_vel_yaw: 0.1582
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0556
+           Episode_Termination/course_exit: 0.8148
+Episode_Termination/illegal_nonwheel_contact: 0.1574
+==============================================================================
+
+==============================================================================
+Learning iteration 1500/50000
+                               Total steps: 6,144,000
+                          Steps per second: 7,558
+                            Iteration time: 0.542s
+                           Collection time: 0.111s
+                             Learning time: 0.433s
+                               Mean reward: +0.0810
+                       Mean episode length: 936.0
+                                Actor loss: -8.3823
+                               Critic loss: +0.0033
+                          World model loss: +0.8955
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +32.9001
+     Episode_Reward/track_angular_velocity: +34.7749
+                    Episode_Reward/upright: +18.1649
+                Episode_Reward/leg_posture: -4.1858
+                 Episode_Reward/standstill: -4.7753
+             Episode_Reward/action_rate_l2: -0.0689
+           Episode_Reward/joint_torques_l2: -0.0998
+             Episode_Reward/dof_pos_limits: -0.0148
+                 Episode_Reward/terminated: -0.0311
+     Episode_Reward/unnecessary_wheel_lift: -0.1553
+         Episode_Reward/rolling_leg_motion: -0.5592
+          Episode_Reward/obstacle_progress: +0.5039
+       Episode_Reward/wheel_body_intrusion: -0.3505
+        Episode_Reward/pair_body_intrusion: -0.2468
+             Curriculum/terrain_level_mean: +0.1414
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0999
+       Metrics/base_velocity/error_vel_yaw: 0.1562
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0805
+           Episode_Termination/course_exit: 0.8046
+Episode_Termination/illegal_nonwheel_contact: 0.1379
+==============================================================================
+
+==============================================================================
+Learning iteration 1550/50000
+                               Total steps: 6,348,800
+                          Steps per second: 7,554
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.440s
+                               Mean reward: +0.0813
+                       Mean episode length: 982.3
+                                Actor loss: -8.4340
+                               Critic loss: +0.0031
+                          World model loss: +0.8885
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +34.5657
+     Episode_Reward/track_angular_velocity: +36.5414
+                    Episode_Reward/upright: +19.0772
+                Episode_Reward/leg_posture: -4.1793
+                 Episode_Reward/standstill: -5.1171
+             Episode_Reward/action_rate_l2: -0.0750
+           Episode_Reward/joint_torques_l2: -0.1034
+             Episode_Reward/dof_pos_limits: -0.0138
+                 Episode_Reward/terminated: -0.0345
+     Episode_Reward/unnecessary_wheel_lift: -0.2059
+         Episode_Reward/rolling_leg_motion: -0.6026
+          Episode_Reward/obstacle_progress: +0.5386
+       Episode_Reward/wheel_body_intrusion: -0.3248
+        Episode_Reward/pair_body_intrusion: -0.2005
+             Curriculum/terrain_level_mean: +0.1562
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0996
+       Metrics/base_velocity/error_vel_yaw: 0.1549
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0729
+           Episode_Termination/course_exit: 0.8125
+Episode_Termination/illegal_nonwheel_contact: 0.1146
+==============================================================================
+
+==============================================================================
+Learning iteration 1600/50000
+                               Total steps: 6,553,600
+                          Steps per second: 7,553
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.434s
+                               Mean reward: +0.0820
+                       Mean episode length: 1003.7
+                                Actor loss: -8.4996
+                               Critic loss: +0.0033
+                          World model loss: +0.9072
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +35.6237
+     Episode_Reward/track_angular_velocity: +37.4385
+                    Episode_Reward/upright: +19.5210
+                Episode_Reward/leg_posture: -4.1029
+                 Episode_Reward/standstill: -5.2297
+             Episode_Reward/action_rate_l2: -0.0795
+           Episode_Reward/joint_torques_l2: -0.1030
+             Episode_Reward/dof_pos_limits: -0.0104
+                 Episode_Reward/terminated: -0.0274
+     Episode_Reward/unnecessary_wheel_lift: -0.1247
+         Episode_Reward/rolling_leg_motion: -0.6162
+          Episode_Reward/obstacle_progress: +0.5665
+       Episode_Reward/wheel_body_intrusion: -0.3199
+        Episode_Reward/pair_body_intrusion: -0.2114
+             Curriculum/terrain_level_mean: +0.1726
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0956
+       Metrics/base_velocity/error_vel_yaw: 0.1519
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.8526
+Episode_Termination/illegal_nonwheel_contact: 0.1263
+==============================================================================
+
+==============================================================================
+Learning iteration 1650/50000
+                               Total steps: 6,758,400
+                          Steps per second: 7,552
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.435s
+                               Mean reward: +0.0819
+                       Mean episode length: 1089.1
+                                Actor loss: -8.5813
+                               Critic loss: +0.0024
+                          World model loss: +0.8903
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +38.7161
+     Episode_Reward/track_angular_velocity: +40.7312
+                    Episode_Reward/upright: +21.2240
+                Episode_Reward/leg_posture: -4.4238
+                 Episode_Reward/standstill: -5.9804
+             Episode_Reward/action_rate_l2: -0.0889
+           Episode_Reward/joint_torques_l2: -0.1095
+             Episode_Reward/dof_pos_limits: -0.0047
+                 Episode_Reward/terminated: -0.0149
+     Episode_Reward/unnecessary_wheel_lift: -0.1006
+         Episode_Reward/rolling_leg_motion: -0.6739
+          Episode_Reward/obstacle_progress: +0.6122
+       Episode_Reward/wheel_body_intrusion: -0.3757
+        Episode_Reward/pair_body_intrusion: -0.2669
+             Curriculum/terrain_level_mean: +0.1909
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1487
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0225
+           Episode_Termination/course_exit: 0.9213
+Episode_Termination/illegal_nonwheel_contact: 0.0562
+==============================================================================
+
+==============================================================================
+Learning iteration 1700/50000
+                               Total steps: 6,963,200
+                          Steps per second: 7,552
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0826
+                       Mean episode length: 1074.1
+                                Actor loss: -8.6507
+                               Critic loss: +0.0025
+                          World model loss: +0.8592
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +38.3826
+     Episode_Reward/track_angular_velocity: +40.2218
+                    Episode_Reward/upright: +20.9475
+                Episode_Reward/leg_posture: -4.2699
+                 Episode_Reward/standstill: -5.5707
+             Episode_Reward/action_rate_l2: -0.0889
+           Episode_Reward/joint_torques_l2: -0.1086
+             Episode_Reward/dof_pos_limits: -0.0025
+                 Episode_Reward/terminated: -0.0147
+     Episode_Reward/unnecessary_wheel_lift: -0.1300
+         Episode_Reward/rolling_leg_motion: -0.6345
+          Episode_Reward/obstacle_progress: +0.6593
+       Episode_Reward/wheel_body_intrusion: -0.4530
+        Episode_Reward/pair_body_intrusion: -0.2645
+             Curriculum/terrain_level_mean: +0.2097
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1469
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.9263
+Episode_Termination/illegal_nonwheel_contact: 0.0632
+==============================================================================
+
+==============================================================================
+Learning iteration 1750/50000
+                               Total steps: 7,168,000
+                          Steps per second: 7,551
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.436s
+                               Mean reward: +0.0826
+                       Mean episode length: 1400.0
+                                Actor loss: -8.7178
+                               Critic loss: +0.0018
+                          World model loss: +0.9145
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9828
+     Episode_Reward/track_angular_velocity: +52.5681
+                    Episode_Reward/upright: +27.3143
+                Episode_Reward/leg_posture: -5.6674
+                 Episode_Reward/standstill: -7.3191
+             Episode_Reward/action_rate_l2: -0.1180
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0028
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.1422
+         Episode_Reward/rolling_leg_motion: -0.8202
+          Episode_Reward/obstacle_progress: +0.9026
+       Episode_Reward/wheel_body_intrusion: -0.6397
+        Episode_Reward/pair_body_intrusion: -0.3137
+             Curriculum/terrain_level_mean: +0.2288
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1441
+              Episode_Termination/time_out: 0.3960
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5705
+Episode_Termination/illegal_nonwheel_contact: 0.0336
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[761]
+
+==============================================================================
+Learning iteration 1800/50000
+                               Total steps: 7,372,800
+                          Steps per second: 7,550
+                            Iteration time: 0.542s
+                           Collection time: 0.110s
+                             Learning time: 0.434s
+                               Mean reward: +0.0827
+                       Mean episode length: 1193.0
+                                Actor loss: -8.7484
+                               Critic loss: +0.0020
+                          World model loss: +0.8744
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.6801
+     Episode_Reward/track_angular_velocity: +44.8787
+                    Episode_Reward/upright: +23.2946
+                Episode_Reward/leg_posture: -4.7039
+                 Episode_Reward/standstill: -6.4700
+             Episode_Reward/action_rate_l2: -0.1025
+           Episode_Reward/joint_torques_l2: -0.1268
+             Episode_Reward/dof_pos_limits: -0.0032
+                 Episode_Reward/terminated: -0.0047
+     Episode_Reward/unnecessary_wheel_lift: -0.1291
+         Episode_Reward/rolling_leg_motion: -0.7031
+          Episode_Reward/obstacle_progress: +0.7807
+       Episode_Reward/wheel_body_intrusion: -0.4868
+        Episode_Reward/pair_body_intrusion: -0.2630
+             Curriculum/terrain_level_mean: +0.2449
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1420
+              Episode_Termination/time_out: 0.0000
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.9767
+Episode_Termination/illegal_nonwheel_contact: 0.0233
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2141]
+
+==============================================================================
+Learning iteration 1850/50000
+                               Total steps: 7,577,600
+                          Steps per second: 7,549
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.435s
+                               Mean reward: +0.0825
+                       Mean episode length: 1257.9
+                                Actor loss: -8.8010
+                               Critic loss: +0.0020
+                          World model loss: +0.8594
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.0079
+     Episode_Reward/track_angular_velocity: +47.2924
+                    Episode_Reward/upright: +24.5501
+                Episode_Reward/leg_posture: -5.0432
+                 Episode_Reward/standstill: -6.9198
+             Episode_Reward/action_rate_l2: -0.1082
+           Episode_Reward/joint_torques_l2: -0.1362
+             Episode_Reward/dof_pos_limits: -0.0080
+                 Episode_Reward/terminated: -0.0147
+     Episode_Reward/unnecessary_wheel_lift: -0.1542
+         Episode_Reward/rolling_leg_motion: -0.7278
+          Episode_Reward/obstacle_progress: +0.8475
+       Episode_Reward/wheel_body_intrusion: -0.5088
+        Episode_Reward/pair_body_intrusion: -0.2795
+             Curriculum/terrain_level_mean: +0.2629
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1422
+              Episode_Termination/time_out: 0.1495
+             Episode_Termination/fell_over: 0.0093
+           Episode_Termination/course_exit: 0.7944
+Episode_Termination/illegal_nonwheel_contact: 0.0561
+==============================================================================
+
+==============================================================================
+Learning iteration 1900/50000
+                               Total steps: 7,782,400
+                          Steps per second: 7,547
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.437s
+                               Mean reward: +0.0827
+                       Mean episode length: 1319.2
+                                Actor loss: -8.8392
+                               Critic loss: +0.0014
+                          World model loss: +0.8567
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0869
+     Episode_Reward/track_angular_velocity: +49.7337
+                    Episode_Reward/upright: +25.7570
+                Episode_Reward/leg_posture: -5.1280
+                 Episode_Reward/standstill: -7.2209
+             Episode_Reward/action_rate_l2: -0.1182
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0110
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.1798
+         Episode_Reward/rolling_leg_motion: -0.7789
+          Episode_Reward/obstacle_progress: +0.8788
+       Episode_Reward/wheel_body_intrusion: -0.4812
+        Episode_Reward/pair_body_intrusion: -0.2688
+             Curriculum/terrain_level_mean: +0.2876
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1390
+              Episode_Termination/time_out: 0.2403
+             Episode_Termination/fell_over: 0.0260
+           Episode_Termination/course_exit: 0.7078
+Episode_Termination/illegal_nonwheel_contact: 0.0260
+==============================================================================
+
+==============================================================================
+Learning iteration 1950/50000
+                               Total steps: 7,987,200
+                          Steps per second: 7,545
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.437s
+                               Mean reward: +0.0833
+                       Mean episode length: 1402.0
+                                Actor loss: -8.9066
+                               Critic loss: +0.0012
+                          World model loss: +0.9010
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9937
+     Episode_Reward/track_angular_velocity: +53.0456
+                    Episode_Reward/upright: +27.4139
+                Episode_Reward/leg_posture: -5.0238
+                 Episode_Reward/standstill: -7.6162
+             Episode_Reward/action_rate_l2: -0.1291
+           Episode_Reward/joint_torques_l2: -0.1514
+             Episode_Reward/dof_pos_limits: -0.0085
+                 Episode_Reward/terminated: -0.0164
+     Episode_Reward/unnecessary_wheel_lift: -0.1822
+         Episode_Reward/rolling_leg_motion: -0.8462
+          Episode_Reward/obstacle_progress: +0.9247
+       Episode_Reward/wheel_body_intrusion: -0.4308
+        Episode_Reward/pair_body_intrusion: -0.2533
+             Curriculum/terrain_level_mean: +0.3071
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.3262
+             Episode_Termination/fell_over: 0.0213
+           Episode_Termination/course_exit: 0.6312
+Episode_Termination/illegal_nonwheel_contact: 0.0213
+==============================================================================
+
+==============================================================================
+Learning iteration 2000/50000
+                               Total steps: 8,192,000
+                          Steps per second: 7,545
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.433s
+                               Mean reward: +0.0830
+                       Mean episode length: 1468.5
+                                Actor loss: -8.9329
+                               Critic loss: +0.0015
+                          World model loss: +0.8494
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +52.1304
+     Episode_Reward/track_angular_velocity: +55.6474
+                    Episode_Reward/upright: +28.6664
+                Episode_Reward/leg_posture: -5.1921
+                 Episode_Reward/standstill: -8.0848
+             Episode_Reward/action_rate_l2: -0.1411
+           Episode_Reward/joint_torques_l2: -0.1561
+             Episode_Reward/dof_pos_limits: -0.0231
+                 Episode_Reward/terminated: -0.0344
+     Episode_Reward/unnecessary_wheel_lift: -0.2998
+         Episode_Reward/rolling_leg_motion: -0.8872
+          Episode_Reward/obstacle_progress: +1.0192
+       Episode_Reward/wheel_body_intrusion: -0.4324
+        Episode_Reward/pair_body_intrusion: -0.2601
+             Curriculum/terrain_level_mean: +0.3281
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4012
+             Episode_Termination/fell_over: 0.0309
+           Episode_Termination/course_exit: 0.5309
+Episode_Termination/illegal_nonwheel_contact: 0.0494
+==============================================================================
+
+==============================================================================
+Learning iteration 2050/50000
+                               Total steps: 8,396,800
+                          Steps per second: 7,545
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.432s
+                               Mean reward: +0.0832
+                       Mean episode length: 1544.7
+                                Actor loss: -8.9509
+                               Critic loss: +0.0014
+                          World model loss: +0.8765
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +55.0149
+     Episode_Reward/track_angular_velocity: +58.5443
+                    Episode_Reward/upright: +30.1741
+                Episode_Reward/leg_posture: -5.3506
+                 Episode_Reward/standstill: -8.7029
+             Episode_Reward/action_rate_l2: -0.1529
+           Episode_Reward/joint_torques_l2: -0.1602
+             Episode_Reward/dof_pos_limits: -0.0137
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.2601
+         Episode_Reward/rolling_leg_motion: -0.9530
+          Episode_Reward/obstacle_progress: +1.1556
+       Episode_Reward/wheel_body_intrusion: -0.4590
+        Episode_Reward/pair_body_intrusion: -0.2495
+             Curriculum/terrain_level_mean: +0.3486
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1322
+              Episode_Termination/time_out: 0.5707
+             Episode_Termination/fell_over: 0.0157
+           Episode_Termination/course_exit: 0.3874
+Episode_Termination/illegal_nonwheel_contact: 0.0314
+==============================================================================
+
+==============================================================================
+Learning iteration 2100/50000
+                               Total steps: 8,601,600
+                          Steps per second: 7,544
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.433s
+                               Mean reward: +0.0833
+                       Mean episode length: 1547.0
+                                Actor loss: -8.9822
+                               Critic loss: +0.0031
+                          World model loss: +0.8908
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +55.0837
+     Episode_Reward/track_angular_velocity: +58.6544
+                    Episode_Reward/upright: +30.2377
+                Episode_Reward/leg_posture: -5.2927
+                 Episode_Reward/standstill: -8.6413
+             Episode_Reward/action_rate_l2: -0.1544
+           Episode_Reward/joint_torques_l2: -0.1617
+             Episode_Reward/dof_pos_limits: -0.0121
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.2636
+         Episode_Reward/rolling_leg_motion: -0.9722
+          Episode_Reward/obstacle_progress: +1.1478
+       Episode_Reward/wheel_body_intrusion: -0.4707
+        Episode_Reward/pair_body_intrusion: -0.2929
+             Curriculum/terrain_level_mean: +0.3672
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1322
+              Episode_Termination/time_out: 0.6195
+             Episode_Termination/fell_over: 0.0133
+           Episode_Termination/course_exit: 0.3496
+Episode_Termination/illegal_nonwheel_contact: 0.0221
+==============================================================================
+
+==============================================================================
+Learning iteration 2150/50000
+                               Total steps: 8,806,400
+                          Steps per second: 7,545
+                            Iteration time: 0.543s
+                           Collection time: 0.110s
+                             Learning time: 0.430s
+                               Mean reward: +0.0831
+                       Mean episode length: 1618.7
+                                Actor loss: -9.0194
+                               Critic loss: +0.0014
+                          World model loss: +0.9040
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +57.5903
+     Episode_Reward/track_angular_velocity: +61.3159
+                    Episode_Reward/upright: +31.5922
+                Episode_Reward/leg_posture: -5.6307
+                 Episode_Reward/standstill: -9.1424
+             Episode_Reward/action_rate_l2: -0.1658
+           Episode_Reward/joint_torques_l2: -0.1744
+             Episode_Reward/dof_pos_limits: -0.0105
+                 Episode_Reward/terminated: -0.0063
+     Episode_Reward/unnecessary_wheel_lift: -0.2876
+         Episode_Reward/rolling_leg_motion: -1.0969
+          Episode_Reward/obstacle_progress: +1.2625
+       Episode_Reward/wheel_body_intrusion: -0.4594
+        Episode_Reward/pair_body_intrusion: -0.3407
+             Curriculum/terrain_level_mean: +0.3865
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.7286
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.2639
+Episode_Termination/illegal_nonwheel_contact: 0.0074
+==============================================================================
+
+==============================================================================
+Learning iteration 2200/50000
+                               Total steps: 9,011,200
+                          Steps per second: 7,545
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.432s
+                               Mean reward: +0.0833
+                       Mean episode length: 1624.9
+                                Actor loss: -9.0414
+                               Critic loss: +0.0020
+                          World model loss: +0.9355
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +57.9081
+     Episode_Reward/track_angular_velocity: +61.7684
+                    Episode_Reward/upright: +31.7032
+                Episode_Reward/leg_posture: -5.6941
+                 Episode_Reward/standstill: -9.1897
+             Episode_Reward/action_rate_l2: -0.1681
+           Episode_Reward/joint_torques_l2: -0.1784
+             Episode_Reward/dof_pos_limits: -0.0129
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.3212
+         Episode_Reward/rolling_leg_motion: -1.1081
+          Episode_Reward/obstacle_progress: +1.3751
+       Episode_Reward/wheel_body_intrusion: -0.4374
+        Episode_Reward/pair_body_intrusion: -0.3114
+             Curriculum/terrain_level_mean: +0.4080
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1287
+              Episode_Termination/time_out: 0.7771
+             Episode_Termination/fell_over: 0.0062
+           Episode_Termination/course_exit: 0.2074
+Episode_Termination/illegal_nonwheel_contact: 0.0093
+==============================================================================
+
+==============================================================================
+Learning iteration 2250/50000
+                               Total steps: 9,216,000
+                          Steps per second: 7,545
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.432s
+                               Mean reward: +0.0836
+                       Mean episode length: 1616.5
+                                Actor loss: -9.0890
+                               Critic loss: +0.0015
+                          World model loss: +0.9217
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +57.5795
+     Episode_Reward/track_angular_velocity: +61.5090
+                    Episode_Reward/upright: +31.5817
+                Episode_Reward/leg_posture: -5.4884
+                 Episode_Reward/standstill: -8.8857
+             Episode_Reward/action_rate_l2: -0.1708
+           Episode_Reward/joint_torques_l2: -0.1755
+             Episode_Reward/dof_pos_limits: -0.0087
+                 Episode_Reward/terminated: -0.0253
+     Episode_Reward/unnecessary_wheel_lift: -0.3363
+         Episode_Reward/rolling_leg_motion: -1.1126
+          Episode_Reward/obstacle_progress: +1.4187
+       Episode_Reward/wheel_body_intrusion: -0.4230
+        Episode_Reward/pair_body_intrusion: -0.3278
+             Curriculum/terrain_level_mean: +0.4272
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1271
+              Episode_Termination/time_out: 0.7968
+             Episode_Termination/fell_over: 0.0063
+           Episode_Termination/course_exit: 0.1778
+Episode_Termination/illegal_nonwheel_contact: 0.0190
+==============================================================================
+
+==============================================================================
+Learning iteration 2300/50000
+                               Total steps: 9,420,800
+                          Steps per second: 7,544
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.434s
+                               Mean reward: +0.0844
+                       Mean episode length: 1622.2
+                                Actor loss: -9.1185
+                               Critic loss: +0.0016
+                          World model loss: +0.9912
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +58.0972
+     Episode_Reward/track_angular_velocity: +61.8677
+                    Episode_Reward/upright: +31.7631
+                Episode_Reward/leg_posture: -5.2421
+                 Episode_Reward/standstill: -8.5908
+             Episode_Reward/action_rate_l2: -0.1727
+           Episode_Reward/joint_torques_l2: -0.1738
+             Episode_Reward/dof_pos_limits: -0.0057
+                 Episode_Reward/terminated: -0.0063
+     Episode_Reward/unnecessary_wheel_lift: -0.2816
+         Episode_Reward/rolling_leg_motion: -1.1119
+          Episode_Reward/obstacle_progress: +1.5173
+       Episode_Reward/wheel_body_intrusion: -0.4019
+        Episode_Reward/pair_body_intrusion: -0.3516
+             Curriculum/terrain_level_mean: +0.4446
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1245
+              Episode_Termination/time_out: 0.8020
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.1914
+Episode_Termination/illegal_nonwheel_contact: 0.0066
+==============================================================================
+
+==============================================================================
+Learning iteration 2350/50000
+                               Total steps: 9,625,600
+                          Steps per second: 7,541
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.443s
+                               Mean reward: +0.0846
+                       Mean episode length: 1530.1
+                                Actor loss: -9.1465
+                               Critic loss: +0.0015
+                          World model loss: +0.9900
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +54.7679
+     Episode_Reward/track_angular_velocity: +58.2720
+                    Episode_Reward/upright: +29.9240
+                Episode_Reward/leg_posture: -4.9095
+                 Episode_Reward/standstill: -7.6767
+             Episode_Reward/action_rate_l2: -0.1627
+           Episode_Reward/joint_torques_l2: -0.1660
+             Episode_Reward/dof_pos_limits: -0.0053
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.2876
+         Episode_Reward/rolling_leg_motion: -1.0143
+          Episode_Reward/obstacle_progress: +1.4346
+       Episode_Reward/wheel_body_intrusion: -0.4103
+        Episode_Reward/pair_body_intrusion: -0.3203
+             Curriculum/terrain_level_mean: +0.4614
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1260
+              Episode_Termination/time_out: 0.6952
+             Episode_Termination/fell_over: 0.0190
+           Episode_Termination/course_exit: 0.2714
+Episode_Termination/illegal_nonwheel_contact: 0.0190
+==============================================================================
+
+==============================================================================
+Learning iteration 2400/50000
+                               Total steps: 9,830,400
+                          Steps per second: 7,541
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.431s
+                               Mean reward: +0.0848
+                       Mean episode length: 1540.1
+                                Actor loss: -9.1875
+                               Critic loss: +0.0012
+                          World model loss: +1.0784
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +55.0564
+     Episode_Reward/track_angular_velocity: +58.6690
+                    Episode_Reward/upright: +30.1129
+                Episode_Reward/leg_posture: -4.8512
+                 Episode_Reward/standstill: -7.5538
+             Episode_Reward/action_rate_l2: -0.1667
+           Episode_Reward/joint_torques_l2: -0.1663
+             Episode_Reward/dof_pos_limits: -0.0054
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.2847
+         Episode_Reward/rolling_leg_motion: -1.0279
+          Episode_Reward/obstacle_progress: +1.5256
+       Episode_Reward/wheel_body_intrusion: -0.3891
+        Episode_Reward/pair_body_intrusion: -0.3452
+             Curriculum/terrain_level_mean: +0.4751
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1258
+              Episode_Termination/time_out: 0.6751
+             Episode_Termination/fell_over: 0.0152
+           Episode_Termination/course_exit: 0.2843
+Episode_Termination/illegal_nonwheel_contact: 0.0305
+==============================================================================
+
+==============================================================================
+Learning iteration 2450/50000
+                               Total steps: 10,035,200
+                          Steps per second: 7,541
+                            Iteration time: 0.543s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0850
+                       Mean episode length: 1506.4
+                                Actor loss: -9.1901
+                               Critic loss: +0.0018
+                          World model loss: +1.0148
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +53.9993
+     Episode_Reward/track_angular_velocity: +57.4367
+                    Episode_Reward/upright: +29.4488
+                Episode_Reward/leg_posture: -4.6378
+                 Episode_Reward/standstill: -7.5435
+             Episode_Reward/action_rate_l2: -0.1665
+           Episode_Reward/joint_torques_l2: -0.1627
+             Episode_Reward/dof_pos_limits: -0.0044
+                 Episode_Reward/terminated: -0.0265
+     Episode_Reward/unnecessary_wheel_lift: -0.2171
+         Episode_Reward/rolling_leg_motion: -0.9791
+          Episode_Reward/obstacle_progress: +1.6044
+       Episode_Reward/wheel_body_intrusion: -0.3828
+        Episode_Reward/pair_body_intrusion: -0.3375
+             Curriculum/terrain_level_mean: +0.4851
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1249
+              Episode_Termination/time_out: 0.6993
+             Episode_Termination/fell_over: 0.0261
+           Episode_Termination/course_exit: 0.2418
+Episode_Termination/illegal_nonwheel_contact: 0.0458
+==============================================================================
+
+==============================================================================
+Learning iteration 2500/50000
+                               Total steps: 10,240,000
+                          Steps per second: 7,541
+                            Iteration time: 0.543s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0850
+                       Mean episode length: 1344.9
+                                Actor loss: -9.2209
+                               Critic loss: +0.0015
+                          World model loss: +1.0290
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1264
+     Episode_Reward/track_angular_velocity: +51.2668
+                    Episode_Reward/upright: +26.3151
+                Episode_Reward/leg_posture: -4.0820
+                 Episode_Reward/standstill: -6.6966
+             Episode_Reward/action_rate_l2: -0.1502
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0049
+                 Episode_Reward/terminated: -0.0210
+     Episode_Reward/unnecessary_wheel_lift: -0.2453
+         Episode_Reward/rolling_leg_motion: -0.8744
+          Episode_Reward/obstacle_progress: +1.4176
+       Episode_Reward/wheel_body_intrusion: -0.3414
+        Episode_Reward/pair_body_intrusion: -0.3099
+             Curriculum/terrain_level_mean: +0.4978
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1252
+              Episode_Termination/time_out: 0.5271
+             Episode_Termination/fell_over: 0.0155
+           Episode_Termination/course_exit: 0.4109
+Episode_Termination/illegal_nonwheel_contact: 0.0465
+==============================================================================
+
+==============================================================================
+Learning iteration 2550/50000
+                               Total steps: 10,444,800
+                          Steps per second: 7,541
+                            Iteration time: 0.543s
+                           Collection time: 0.109s
+                             Learning time: 0.433s
+                               Mean reward: +0.0851
+                       Mean episode length: 1277.7
+                                Actor loss: -9.2467
+                               Critic loss: +0.0020
+                          World model loss: +1.0852
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7291
+     Episode_Reward/track_angular_velocity: +48.7438
+                    Episode_Reward/upright: +24.9782
+                Episode_Reward/leg_posture: -3.8931
+                 Episode_Reward/standstill: -6.2253
+             Episode_Reward/action_rate_l2: -0.1436
+           Episode_Reward/joint_torques_l2: -0.1368
+             Episode_Reward/dof_pos_limits: -0.0036
+                 Episode_Reward/terminated: -0.0250
+     Episode_Reward/unnecessary_wheel_lift: -0.1821
+         Episode_Reward/rolling_leg_motion: -0.8361
+          Episode_Reward/obstacle_progress: +1.3359
+       Episode_Reward/wheel_body_intrusion: -0.3309
+        Episode_Reward/pair_body_intrusion: -0.2733
+             Curriculum/terrain_level_mean: +0.5100
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1240
+              Episode_Termination/time_out: 0.4080
+             Episode_Termination/fell_over: 0.0560
+           Episode_Termination/course_exit: 0.5120
+Episode_Termination/illegal_nonwheel_contact: 0.0240
+==============================================================================
+
+==============================================================================
+Learning iteration 2600/50000
+                               Total steps: 10,649,600
+                          Steps per second: 7,542
+                            Iteration time: 0.543s
+                           Collection time: 0.109s
+                             Learning time: 0.432s
+                               Mean reward: +0.0851
+                       Mean episode length: 1284.6
+                                Actor loss: -9.2713
+                               Critic loss: +0.0012
+                          World model loss: +1.0234
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9370
+     Episode_Reward/track_angular_velocity: +48.9949
+                    Episode_Reward/upright: +25.0965
+                Episode_Reward/leg_posture: -3.8452
+                 Episode_Reward/standstill: -6.2666
+             Episode_Reward/action_rate_l2: -0.1453
+           Episode_Reward/joint_torques_l2: -0.1349
+             Episode_Reward/dof_pos_limits: -0.0057
+                 Episode_Reward/terminated: -0.0301
+     Episode_Reward/unnecessary_wheel_lift: -0.2464
+         Episode_Reward/rolling_leg_motion: -0.8509
+          Episode_Reward/obstacle_progress: +1.3053
+       Episode_Reward/wheel_body_intrusion: -0.2916
+        Episode_Reward/pair_body_intrusion: -0.2519
+             Curriculum/terrain_level_mean: +0.5181
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1242
+              Episode_Termination/time_out: 0.4717
+             Episode_Termination/fell_over: 0.0566
+           Episode_Termination/course_exit: 0.4151
+Episode_Termination/illegal_nonwheel_contact: 0.0755
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[826]
+
+==============================================================================
+Learning iteration 2650/50000
+                               Total steps: 10,854,400
+                          Steps per second: 7,542
+                            Iteration time: 0.543s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0852
+                       Mean episode length: 1208.8
+                                Actor loss: -9.2650
+                               Critic loss: +0.0030
+                          World model loss: +1.0813
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.3139
+     Episode_Reward/track_angular_velocity: +46.1130
+                    Episode_Reward/upright: +23.6261
+                Episode_Reward/leg_posture: -3.6371
+                 Episode_Reward/standstill: -5.8459
+             Episode_Reward/action_rate_l2: -0.1400
+           Episode_Reward/joint_torques_l2: -0.1268
+             Episode_Reward/dof_pos_limits: -0.0038
+                 Episode_Reward/terminated: -0.0118
+     Episode_Reward/unnecessary_wheel_lift: -0.2079
+         Episode_Reward/rolling_leg_motion: -0.8001
+          Episode_Reward/obstacle_progress: +1.2499
+       Episode_Reward/wheel_body_intrusion: -0.2801
+        Episode_Reward/pair_body_intrusion: -0.2374
+             Curriculum/terrain_level_mean: +0.5325
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1240
+              Episode_Termination/time_out: 0.3302
+             Episode_Termination/fell_over: 0.0283
+           Episode_Termination/course_exit: 0.6226
+Episode_Termination/illegal_nonwheel_contact: 0.0189
+==============================================================================
+
+==============================================================================
+Learning iteration 2700/50000
+                               Total steps: 11,059,200
+                          Steps per second: 7,541
+                            Iteration time: 0.543s
+                           Collection time: 0.111s
+                             Learning time: 0.436s
+                               Mean reward: +0.0851
+                       Mean episode length: 1143.5
+                                Actor loss: -9.3081
+                               Critic loss: +0.0024
+                          World model loss: +1.0784
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.0383
+     Episode_Reward/track_angular_velocity: +43.6499
+                    Episode_Reward/upright: +22.3552
+                Episode_Reward/leg_posture: -3.4108
+                 Episode_Reward/standstill: -5.7776
+             Episode_Reward/action_rate_l2: -0.1336
+           Episode_Reward/joint_torques_l2: -0.1191
+             Episode_Reward/dof_pos_limits: -0.0035
+                 Episode_Reward/terminated: -0.0290
+     Episode_Reward/unnecessary_wheel_lift: -0.2033
+         Episode_Reward/rolling_leg_motion: -0.7706
+          Episode_Reward/obstacle_progress: +1.1723
+       Episode_Reward/wheel_body_intrusion: -0.2546
+        Episode_Reward/pair_body_intrusion: -0.2165
+             Curriculum/terrain_level_mean: +0.5439
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1233
+              Episode_Termination/time_out: 0.3056
+             Episode_Termination/fell_over: 0.0648
+           Episode_Termination/course_exit: 0.5741
+Episode_Termination/illegal_nonwheel_contact: 0.0648
+==============================================================================
+<conda-env>/lib/python3.11/site-packages/mujoco_warp/_src/io.py:713: UserWarning: MULTICCD is enabled, but the scene contains CCD pairs without multicontact support: [('CYLINDER', 'CYLINDER'), ('CYLINDER', 'BOX')]. At most 1 contact will be generated for these pairs.
+  warnings.warn(
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_002700.mp4
+
+==============================================================================
+Learning iteration 2750/50000
+                               Total steps: 11,264,000
+                          Steps per second: 7,504
+                            Iteration time: 0.546s
+                           Collection time: 0.108s
+                             Learning time: 0.430s
+                               Mean reward: +0.0850
+                       Mean episode length: 1072.0
+                                Actor loss: -9.3175
+                               Critic loss: +0.0039
+                          World model loss: +1.1429
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +38.4169
+     Episode_Reward/track_angular_velocity: +40.9419
+                    Episode_Reward/upright: +20.9601
+                Episode_Reward/leg_posture: -3.1575
+                 Episode_Reward/standstill: -5.4837
+             Episode_Reward/action_rate_l2: -0.1273
+           Episode_Reward/joint_torques_l2: -0.1100
+             Episode_Reward/dof_pos_limits: -0.0045
+                 Episode_Reward/terminated: -0.0147
+     Episode_Reward/unnecessary_wheel_lift: -0.1890
+         Episode_Reward/rolling_leg_motion: -0.7224
+          Episode_Reward/obstacle_progress: +1.0591
+       Episode_Reward/wheel_body_intrusion: -0.2381
+        Episode_Reward/pair_body_intrusion: -0.1932
+             Curriculum/terrain_level_mean: +0.5562
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1226
+              Episode_Termination/time_out: 0.1935
+             Episode_Termination/fell_over: 0.0430
+           Episode_Termination/course_exit: 0.7312
+Episode_Termination/illegal_nonwheel_contact: 0.0430
+==============================================================================
+
+==============================================================================
+Learning iteration 2800/50000
+                               Total steps: 11,468,800
+                          Steps per second: 7,506
+                            Iteration time: 0.546s
+                           Collection time: 0.109s
+                             Learning time: 0.430s
+                               Mean reward: +0.0851
+                       Mean episode length: 1071.5
+                                Actor loss: -9.3151
+                               Critic loss: +0.0021
+                          World model loss: +1.1425
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +38.4018
+     Episode_Reward/track_angular_velocity: +40.9503
+                    Episode_Reward/upright: +20.9699
+                Episode_Reward/leg_posture: -3.1063
+                 Episode_Reward/standstill: -5.3678
+             Episode_Reward/action_rate_l2: -0.1301
+           Episode_Reward/joint_torques_l2: -0.1097
+             Episode_Reward/dof_pos_limits: -0.0030
+                 Episode_Reward/terminated: -0.0293
+     Episode_Reward/unnecessary_wheel_lift: -0.1710
+         Episode_Reward/rolling_leg_motion: -0.7331
+          Episode_Reward/obstacle_progress: +0.9730
+       Episode_Reward/wheel_body_intrusion: -0.2203
+        Episode_Reward/pair_body_intrusion: -0.2034
+             Curriculum/terrain_level_mean: +0.5681
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1219
+              Episode_Termination/time_out: 0.2143
+             Episode_Termination/fell_over: 0.0714
+           Episode_Termination/course_exit: 0.6607
+Episode_Termination/illegal_nonwheel_contact: 0.0536
+==============================================================================
+
+==============================================================================
+Learning iteration 2850/50000
+                               Total steps: 11,673,600
+                          Steps per second: 7,507
+                            Iteration time: 0.546s
+                           Collection time: 0.110s
+                             Learning time: 0.431s
+                               Mean reward: +0.0849
+                       Mean episode length: 1112.2
+                                Actor loss: -9.3435
+                               Critic loss: +0.0012
+                          World model loss: +1.0899
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +39.9053
+     Episode_Reward/track_angular_velocity: +42.5406
+                    Episode_Reward/upright: +21.7842
+                Episode_Reward/leg_posture: -3.1585
+                 Episode_Reward/standstill: -5.9630
+             Episode_Reward/action_rate_l2: -0.1371
+           Episode_Reward/joint_torques_l2: -0.1116
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0196
+     Episode_Reward/unnecessary_wheel_lift: -0.1628
+         Episode_Reward/rolling_leg_motion: -0.7551
+          Episode_Reward/obstacle_progress: +0.9683
+       Episode_Reward/wheel_body_intrusion: -0.2294
+        Episode_Reward/pair_body_intrusion: -0.2228
+             Curriculum/terrain_level_mean: +0.5808
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1207
+              Episode_Termination/time_out: 0.2059
+             Episode_Termination/fell_over: 0.0490
+           Episode_Termination/course_exit: 0.7059
+Episode_Termination/illegal_nonwheel_contact: 0.0392
+==============================================================================
+
+==============================================================================
+Learning iteration 2900/50000
+                               Total steps: 11,878,400
+                          Steps per second: 7,508
+                            Iteration time: 0.546s
+                           Collection time: 0.109s
+                             Learning time: 0.432s
+                               Mean reward: +0.0850
+                       Mean episode length: 1165.5
+                                Actor loss: -9.3323
+                               Critic loss: +0.0024
+                          World model loss: +1.1033
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.7832
+     Episode_Reward/track_angular_velocity: +44.6140
+                    Episode_Reward/upright: +22.8384
+                Episode_Reward/leg_posture: -3.2703
+                 Episode_Reward/standstill: -6.1790
+             Episode_Reward/action_rate_l2: -0.1459
+           Episode_Reward/joint_torques_l2: -0.1166
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0205
+     Episode_Reward/unnecessary_wheel_lift: -0.1959
+         Episode_Reward/rolling_leg_motion: -0.7963
+          Episode_Reward/obstacle_progress: +1.0242
+       Episode_Reward/wheel_body_intrusion: -0.2471
+        Episode_Reward/pair_body_intrusion: -0.2129
+             Curriculum/terrain_level_mean: +0.5957
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1198
+              Episode_Termination/time_out: 0.2705
+             Episode_Termination/fell_over: 0.0492
+           Episode_Termination/course_exit: 0.6557
+Episode_Termination/illegal_nonwheel_contact: 0.0246
+==============================================================================
+
+==============================================================================
+Learning iteration 2950/50000
+                               Total steps: 12,083,200
+                          Steps per second: 7,509
+                            Iteration time: 0.545s
+                           Collection time: 0.109s
+                             Learning time: 0.432s
+                               Mean reward: +0.0851
+                       Mean episode length: 1159.4
+                                Actor loss: -9.3537
+                               Critic loss: +0.0035
+                          World model loss: +1.1056
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.5591
+     Episode_Reward/track_angular_velocity: +44.3345
+                    Episode_Reward/upright: +22.7018
+                Episode_Reward/leg_posture: -3.1951
+                 Episode_Reward/standstill: -6.1720
+             Episode_Reward/action_rate_l2: -0.1456
+           Episode_Reward/joint_torques_l2: -0.1160
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0204
+     Episode_Reward/unnecessary_wheel_lift: -0.1667
+         Episode_Reward/rolling_leg_motion: -0.7689
+          Episode_Reward/obstacle_progress: +1.0242
+       Episode_Reward/wheel_body_intrusion: -0.2460
+        Episode_Reward/pair_body_intrusion: -0.1797
+             Curriculum/terrain_level_mean: +0.6101
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1212
+              Episode_Termination/time_out: 0.3095
+             Episode_Termination/fell_over: 0.0476
+           Episode_Termination/course_exit: 0.6190
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+
+==============================================================================
+Learning iteration 3000/50000
+                               Total steps: 12,288,000
+                          Steps per second: 7,508
+                            Iteration time: 0.546s
+                           Collection time: 0.110s
+                             Learning time: 0.440s
+                               Mean reward: +0.0850
+                       Mean episode length: 1241.1
+                                Actor loss: -9.3621
+                               Critic loss: +0.0026
+                          World model loss: +1.1739
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.5376
+     Episode_Reward/track_angular_velocity: +47.4011
+                    Episode_Reward/upright: +24.2916
+                Episode_Reward/leg_posture: -3.4504
+                 Episode_Reward/standstill: -6.6479
+             Episode_Reward/action_rate_l2: -0.1574
+           Episode_Reward/joint_torques_l2: -0.1262
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0170
+     Episode_Reward/unnecessary_wheel_lift: -0.2011
+         Episode_Reward/rolling_leg_motion: -0.8202
+          Episode_Reward/obstacle_progress: +1.1740
+       Episode_Reward/wheel_body_intrusion: -0.2814
+        Episode_Reward/pair_body_intrusion: -0.1947
+             Curriculum/terrain_level_mean: +0.6252
+                     Command/command_stage: 0
+                    Command/command_ranges: [[-0.3000, +0.8000], [-0.2000, +0.2000], [-0.5000, +0.5000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1224
+              Episode_Termination/time_out: 0.3361
+             Episode_Termination/fell_over: 0.0504
+           Episode_Termination/course_exit: 0.6050
+Episode_Termination/illegal_nonwheel_contact: 0.0084
+==============================================================================
+
+==============================================================================
+Learning iteration 3050/50000
+                               Total steps: 12,492,800
+                          Steps per second: 7,507
+                            Iteration time: 0.546s
+                           Collection time: 0.111s
+                             Learning time: 0.437s
+                               Mean reward: +0.0851
+                       Mean episode length: 1284.7
+                                Actor loss: -9.3648
+                               Critic loss: +0.0067
+                          World model loss: +1.1011
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9409
+     Episode_Reward/track_angular_velocity: +49.1132
+                    Episode_Reward/upright: +25.1388
+                Episode_Reward/leg_posture: -3.5376
+                 Episode_Reward/standstill: -6.7136
+             Episode_Reward/action_rate_l2: -0.1656
+           Episode_Reward/joint_torques_l2: -0.1305
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0201
+     Episode_Reward/unnecessary_wheel_lift: -0.2259
+         Episode_Reward/rolling_leg_motion: -0.8466
+          Episode_Reward/obstacle_progress: +1.2098
+       Episode_Reward/wheel_body_intrusion: -0.2556
+        Episode_Reward/pair_body_intrusion: -0.1979
+             Curriculum/terrain_level_mean: +0.6396
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1213
+              Episode_Termination/time_out: 0.4228
+             Episode_Termination/fell_over: 0.0407
+           Episode_Termination/course_exit: 0.5122
+Episode_Termination/illegal_nonwheel_contact: 0.0244
+==============================================================================
+
+==============================================================================
+Learning iteration 3100/50000
+                               Total steps: 12,697,600
+                          Steps per second: 7,508
+                            Iteration time: 0.546s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0850
+                       Mean episode length: 1238.0
+                                Actor loss: -9.3792
+                               Critic loss: +0.0026
+                          World model loss: +1.1943
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.0247
+     Episode_Reward/track_angular_velocity: +47.2652
+                    Episode_Reward/upright: +24.1923
+                Episode_Reward/leg_posture: -3.4207
+                 Episode_Reward/standstill: -6.2759
+             Episode_Reward/action_rate_l2: -0.1625
+           Episode_Reward/joint_torques_l2: -0.1264
+             Episode_Reward/dof_pos_limits: -0.0037
+                 Episode_Reward/terminated: -0.0242
+     Episode_Reward/unnecessary_wheel_lift: -0.1595
+         Episode_Reward/rolling_leg_motion: -0.7976
+          Episode_Reward/obstacle_progress: +1.1973
+       Episode_Reward/wheel_body_intrusion: -0.2600
+        Episode_Reward/pair_body_intrusion: -0.1619
+             Curriculum/terrain_level_mean: +0.6545
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1228
+              Episode_Termination/time_out: 0.3741
+             Episode_Termination/fell_over: 0.0360
+           Episode_Termination/course_exit: 0.5540
+Episode_Termination/illegal_nonwheel_contact: 0.0360
+==============================================================================
+
+==============================================================================
+Learning iteration 3150/50000
+                               Total steps: 12,902,400
+                          Steps per second: 7,509
+                            Iteration time: 0.546s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0845
+                       Mean episode length: 1268.2
+                                Actor loss: -9.3891
+                               Critic loss: +0.0023
+                          World model loss: +1.1008
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8164
+     Episode_Reward/track_angular_velocity: +48.3917
+                    Episode_Reward/upright: +24.7734
+                Episode_Reward/leg_posture: -3.5512
+                 Episode_Reward/standstill: -6.6418
+             Episode_Reward/action_rate_l2: -0.1709
+           Episode_Reward/joint_torques_l2: -0.1305
+             Episode_Reward/dof_pos_limits: -0.0028
+                 Episode_Reward/terminated: -0.0322
+     Episode_Reward/unnecessary_wheel_lift: -0.2061
+         Episode_Reward/rolling_leg_motion: -0.8237
+          Episode_Reward/obstacle_progress: +1.2207
+       Episode_Reward/wheel_body_intrusion: -0.2746
+        Episode_Reward/pair_body_intrusion: -0.2085
+             Curriculum/terrain_level_mean: +0.6670
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0971
+       Metrics/base_velocity/error_vel_yaw: 0.1236
+              Episode_Termination/time_out: 0.3971
+             Episode_Termination/fell_over: 0.0515
+           Episode_Termination/course_exit: 0.5074
+Episode_Termination/illegal_nonwheel_contact: 0.0515
+==============================================================================
+
+==============================================================================
+Learning iteration 3200/50000
+                               Total steps: 13,107,200
+                          Steps per second: 7,509
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0845
+                       Mean episode length: 1254.1
+                                Actor loss: -9.3876
+                               Critic loss: +0.0017
+                          World model loss: +1.1168
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.1409
+     Episode_Reward/track_angular_velocity: +47.7854
+                    Episode_Reward/upright: +24.4899
+                Episode_Reward/leg_posture: -3.5113
+                 Episode_Reward/standstill: -6.4398
+             Episode_Reward/action_rate_l2: -0.1722
+           Episode_Reward/joint_torques_l2: -0.1290
+             Episode_Reward/dof_pos_limits: -0.0024
+                 Episode_Reward/terminated: -0.0196
+     Episode_Reward/unnecessary_wheel_lift: -0.1818
+         Episode_Reward/rolling_leg_motion: -0.7906
+          Episode_Reward/obstacle_progress: +1.2483
+       Episode_Reward/wheel_body_intrusion: -0.2707
+        Episode_Reward/pair_body_intrusion: -0.1944
+             Curriculum/terrain_level_mean: +0.6833
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0985
+       Metrics/base_velocity/error_vel_yaw: 0.1254
+              Episode_Termination/time_out: 0.3643
+             Episode_Termination/fell_over: 0.0500
+           Episode_Termination/course_exit: 0.5786
+Episode_Termination/illegal_nonwheel_contact: 0.0143
+==============================================================================
+
+==============================================================================
+Learning iteration 3250/50000
+                               Total steps: 13,312,000
+                          Steps per second: 7,509
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.434s
+                               Mean reward: +0.0843
+                       Mean episode length: 1234.3
+                                Actor loss: -9.3832
+                               Critic loss: +0.0059
+                          World model loss: +1.1497
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.2401
+     Episode_Reward/track_angular_velocity: +47.0088
+                    Episode_Reward/upright: +24.0689
+                Episode_Reward/leg_posture: -3.4462
+                 Episode_Reward/standstill: -6.3685
+             Episode_Reward/action_rate_l2: -0.1722
+           Episode_Reward/joint_torques_l2: -0.1274
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0313
+     Episode_Reward/unnecessary_wheel_lift: -0.2158
+         Episode_Reward/rolling_leg_motion: -0.7602
+          Episode_Reward/obstacle_progress: +1.2820
+       Episode_Reward/wheel_body_intrusion: -0.2447
+        Episode_Reward/pair_body_intrusion: -0.1643
+             Curriculum/terrain_level_mean: +0.6973
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1005
+       Metrics/base_velocity/error_vel_yaw: 0.1260
+              Episode_Termination/time_out: 0.2712
+             Episode_Termination/fell_over: 0.0847
+           Episode_Termination/course_exit: 0.6186
+Episode_Termination/illegal_nonwheel_contact: 0.0593
+==============================================================================
+
+==============================================================================
+Learning iteration 3300/50000
+                               Total steps: 13,516,800
+                          Steps per second: 7,510
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0845
+                       Mean episode length: 1285.1
+                                Actor loss: -9.3781
+                               Critic loss: +0.0065
+                          World model loss: +1.1530
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8314
+     Episode_Reward/track_angular_velocity: +48.9360
+                    Episode_Reward/upright: +25.0498
+                Episode_Reward/leg_posture: -3.5901
+                 Episode_Reward/standstill: -6.2992
+             Episode_Reward/action_rate_l2: -0.1860
+           Episode_Reward/joint_torques_l2: -0.1339
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0176
+     Episode_Reward/unnecessary_wheel_lift: -0.1714
+         Episode_Reward/rolling_leg_motion: -0.7880
+          Episode_Reward/obstacle_progress: +1.3813
+       Episode_Reward/wheel_body_intrusion: -0.2772
+        Episode_Reward/pair_body_intrusion: -0.1853
+             Curriculum/terrain_level_mean: +0.7097
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1019
+       Metrics/base_velocity/error_vel_yaw: 0.1259
+              Episode_Termination/time_out: 0.3500
+             Episode_Termination/fell_over: 0.0500
+           Episode_Termination/course_exit: 0.5917
+Episode_Termination/illegal_nonwheel_contact: 0.0083
+==============================================================================
+
+==============================================================================
+Learning iteration 3350/50000
+                               Total steps: 13,721,600
+                          Steps per second: 7,511
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.430s
+                               Mean reward: +0.0838
+                       Mean episode length: 1293.1
+                                Actor loss: -9.4089
+                               Critic loss: +0.0031
+                          World model loss: +1.1708
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8251
+     Episode_Reward/track_angular_velocity: +49.2230
+                    Episode_Reward/upright: +25.1571
+                Episode_Reward/leg_posture: -3.6392
+                 Episode_Reward/standstill: -6.7262
+             Episode_Reward/action_rate_l2: -0.1864
+           Episode_Reward/joint_torques_l2: -0.1377
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0278
+     Episode_Reward/unnecessary_wheel_lift: -0.2129
+         Episode_Reward/rolling_leg_motion: -0.7895
+          Episode_Reward/obstacle_progress: +1.4256
+       Episode_Reward/wheel_body_intrusion: -0.3031
+        Episode_Reward/pair_body_intrusion: -0.2058
+             Curriculum/terrain_level_mean: +0.7224
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1046
+       Metrics/base_velocity/error_vel_yaw: 0.1264
+              Episode_Termination/time_out: 0.3281
+             Episode_Termination/fell_over: 0.0625
+           Episode_Termination/course_exit: 0.5859
+Episode_Termination/illegal_nonwheel_contact: 0.0234
+==============================================================================
+
+==============================================================================
+Learning iteration 3400/50000
+                               Total steps: 13,926,400
+                          Steps per second: 7,511
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.434s
+                               Mean reward: +0.0840
+                       Mean episode length: 1243.8
+                                Actor loss: -9.4017
+                               Critic loss: +0.0014
+                          World model loss: +1.1961
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.0281
+     Episode_Reward/track_angular_velocity: +47.3126
+                    Episode_Reward/upright: +24.1820
+                Episode_Reward/leg_posture: -3.4295
+                 Episode_Reward/standstill: -6.1931
+             Episode_Reward/action_rate_l2: -0.1840
+           Episode_Reward/joint_torques_l2: -0.1309
+             Episode_Reward/dof_pos_limits: -0.0022
+                 Episode_Reward/terminated: -0.0486
+     Episode_Reward/unnecessary_wheel_lift: -0.2527
+         Episode_Reward/rolling_leg_motion: -0.7538
+          Episode_Reward/obstacle_progress: +1.3719
+       Episode_Reward/wheel_body_intrusion: -0.2725
+        Episode_Reward/pair_body_intrusion: -0.2098
+             Curriculum/terrain_level_mean: +0.7339
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1051
+       Metrics/base_velocity/error_vel_yaw: 0.1275
+              Episode_Termination/time_out: 0.2590
+             Episode_Termination/fell_over: 0.1079
+           Episode_Termination/course_exit: 0.5971
+Episode_Termination/illegal_nonwheel_contact: 0.0432
+==============================================================================
+
+==============================================================================
+Learning iteration 3450/50000
+                               Total steps: 14,131,200
+                          Steps per second: 7,512
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.435s
+                               Mean reward: +0.0845
+                       Mean episode length: 1317.8
+                                Actor loss: -9.3590
+                               Critic loss: +0.0033
+                          World model loss: +1.2701
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.6371
+     Episode_Reward/track_angular_velocity: +50.1975
+                    Episode_Reward/upright: +25.6021
+                Episode_Reward/leg_posture: -3.6640
+                 Episode_Reward/standstill: -6.0442
+             Episode_Reward/action_rate_l2: -0.1950
+           Episode_Reward/joint_torques_l2: -0.1405
+             Episode_Reward/dof_pos_limits: -0.0021
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.2304
+         Episode_Reward/rolling_leg_motion: -0.7871
+          Episode_Reward/obstacle_progress: +1.4512
+       Episode_Reward/wheel_body_intrusion: -0.2892
+        Episode_Reward/pair_body_intrusion: -0.1989
+             Curriculum/terrain_level_mean: +0.7476
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1048
+       Metrics/base_velocity/error_vel_yaw: 0.1256
+              Episode_Termination/time_out: 0.3333
+             Episode_Termination/fell_over: 0.0684
+           Episode_Termination/course_exit: 0.5983
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1177]
+RECOVERY reset 1 invalid environments; first IDs=[2417]
+
+==============================================================================
+Learning iteration 3500/50000
+                               Total steps: 14,336,000
+                          Steps per second: 7,512
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.433s
+                               Mean reward: +0.0844
+                       Mean episode length: 1349.6
+                                Actor loss: -9.3945
+                               Critic loss: +0.0025
+                          World model loss: +1.2176
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6465
+     Episode_Reward/track_angular_velocity: +51.3757
+                    Episode_Reward/upright: +26.1960
+                Episode_Reward/leg_posture: -3.7414
+                 Episode_Reward/standstill: -6.1217
+             Episode_Reward/action_rate_l2: -0.2051
+           Episode_Reward/joint_torques_l2: -0.1422
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0290
+     Episode_Reward/unnecessary_wheel_lift: -0.2208
+         Episode_Reward/rolling_leg_motion: -0.8153
+          Episode_Reward/obstacle_progress: +1.4332
+       Episode_Reward/wheel_body_intrusion: -0.2912
+        Episode_Reward/pair_body_intrusion: -0.2027
+             Curriculum/terrain_level_mean: +0.7629
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1055
+       Metrics/base_velocity/error_vel_yaw: 0.1263
+              Episode_Termination/time_out: 0.4395
+             Episode_Termination/fell_over: 0.0510
+           Episode_Termination/course_exit: 0.4904
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+
+==============================================================================
+Learning iteration 3550/50000
+                               Total steps: 14,540,800
+                          Steps per second: 7,511
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.440s
+                               Mean reward: +0.0843
+                       Mean episode length: 1218.1
+                                Actor loss: -9.3776
+                               Critic loss: +0.0018
+                          World model loss: +1.2504
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.1607
+     Episode_Reward/track_angular_velocity: +46.3667
+                    Episode_Reward/upright: +23.6487
+                Episode_Reward/leg_posture: -3.3351
+                 Episode_Reward/standstill: -5.6754
+             Episode_Reward/action_rate_l2: -0.1930
+           Episode_Reward/joint_torques_l2: -0.1273
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0357
+     Episode_Reward/unnecessary_wheel_lift: -0.2338
+         Episode_Reward/rolling_leg_motion: -0.7520
+          Episode_Reward/obstacle_progress: +1.3509
+       Episode_Reward/wheel_body_intrusion: -0.2612
+        Episode_Reward/pair_body_intrusion: -0.1958
+             Curriculum/terrain_level_mean: +0.7749
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1050
+       Metrics/base_velocity/error_vel_yaw: 0.1270
+              Episode_Termination/time_out: 0.2698
+             Episode_Termination/fell_over: 0.0952
+           Episode_Termination/course_exit: 0.6111
+Episode_Termination/illegal_nonwheel_contact: 0.0238
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[972]
+
+==============================================================================
+Learning iteration 3600/50000
+                               Total steps: 14,745,600
+                          Steps per second: 7,511
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0844
+                       Mean episode length: 1319.2
+                                Actor loss: -9.3585
+                               Critic loss: +0.0023
+                          World model loss: +1.2755
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5573
+     Episode_Reward/track_angular_velocity: +50.2050
+                    Episode_Reward/upright: +25.6178
+                Episode_Reward/leg_posture: -3.5727
+                 Episode_Reward/standstill: -6.0291
+             Episode_Reward/action_rate_l2: -0.2078
+           Episode_Reward/joint_torques_l2: -0.1379
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0283
+     Episode_Reward/unnecessary_wheel_lift: -0.2007
+         Episode_Reward/rolling_leg_motion: -0.7878
+          Episode_Reward/obstacle_progress: +1.4535
+       Episode_Reward/wheel_body_intrusion: -0.2904
+        Episode_Reward/pair_body_intrusion: -0.2051
+             Curriculum/terrain_level_mean: +0.7854
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1058
+       Metrics/base_velocity/error_vel_yaw: 0.1269
+              Episode_Termination/time_out: 0.3871
+             Episode_Termination/fell_over: 0.0726
+           Episode_Termination/course_exit: 0.5242
+Episode_Termination/illegal_nonwheel_contact: 0.0161
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1701]
+
+==============================================================================
+Learning iteration 3650/50000
+                               Total steps: 14,950,400
+                          Steps per second: 7,511
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0841
+                       Mean episode length: 1329.7
+                                Actor loss: -9.3753
+                               Critic loss: +0.0016
+                          World model loss: +1.3304
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7232
+     Episode_Reward/track_angular_velocity: +50.6264
+                    Episode_Reward/upright: +25.8291
+                Episode_Reward/leg_posture: -3.6189
+                 Episode_Reward/standstill: -6.2279
+             Episode_Reward/action_rate_l2: -0.2153
+           Episode_Reward/joint_torques_l2: -0.1395
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0338
+     Episode_Reward/unnecessary_wheel_lift: -0.2700
+         Episode_Reward/rolling_leg_motion: -0.8079
+          Episode_Reward/obstacle_progress: +1.4059
+       Episode_Reward/wheel_body_intrusion: -0.2871
+        Episode_Reward/pair_body_intrusion: -0.2159
+             Curriculum/terrain_level_mean: +0.7993
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1074
+       Metrics/base_velocity/error_vel_yaw: 0.1265
+              Episode_Termination/time_out: 0.3910
+             Episode_Termination/fell_over: 0.0705
+           Episode_Termination/course_exit: 0.5256
+Episode_Termination/illegal_nonwheel_contact: 0.0128
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1141]
+
+==============================================================================
+Learning iteration 3700/50000
+                               Total steps: 15,155,200
+                          Steps per second: 7,512
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.433s
+                               Mean reward: +0.0843
+                       Mean episode length: 1337.2
+                                Actor loss: -9.3874
+                               Critic loss: +0.0018
+                          World model loss: +1.3059
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1011
+     Episode_Reward/track_angular_velocity: +50.9307
+                    Episode_Reward/upright: +25.9934
+                Episode_Reward/leg_posture: -3.5864
+                 Episode_Reward/standstill: -6.2512
+             Episode_Reward/action_rate_l2: -0.2234
+           Episode_Reward/joint_torques_l2: -0.1374
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0261
+     Episode_Reward/unnecessary_wheel_lift: -0.2507
+         Episode_Reward/rolling_leg_motion: -0.8145
+          Episode_Reward/obstacle_progress: +1.4396
+       Episode_Reward/wheel_body_intrusion: -0.2796
+        Episode_Reward/pair_body_intrusion: -0.2006
+             Curriculum/terrain_level_mean: +0.8162
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1060
+       Metrics/base_velocity/error_vel_yaw: 0.1261
+              Episode_Termination/time_out: 0.4024
+             Episode_Termination/fell_over: 0.0592
+           Episode_Termination/course_exit: 0.5385
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2850]
+RECOVERY reset 1 invalid environments; first IDs=[2386]
+
+==============================================================================
+Learning iteration 3750/50000
+                               Total steps: 15,360,000
+                          Steps per second: 7,512
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.435s
+                               Mean reward: +0.0844
+                       Mean episode length: 1416.2
+                                Actor loss: -9.3419
+                               Critic loss: +0.0036
+                          World model loss: +1.3088
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6998
+     Episode_Reward/track_angular_velocity: +53.9264
+                    Episode_Reward/upright: +27.5333
+                Episode_Reward/leg_posture: -3.7673
+                 Episode_Reward/standstill: -6.3067
+             Episode_Reward/action_rate_l2: -0.2405
+           Episode_Reward/joint_torques_l2: -0.1461
+             Episode_Reward/dof_pos_limits: -0.0020
+                 Episode_Reward/terminated: -0.0249
+     Episode_Reward/unnecessary_wheel_lift: -0.2548
+         Episode_Reward/rolling_leg_motion: -0.8567
+          Episode_Reward/obstacle_progress: +1.4905
+       Episode_Reward/wheel_body_intrusion: -0.2962
+        Episode_Reward/pair_body_intrusion: -0.2196
+             Curriculum/terrain_level_mean: +0.8289
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1074
+       Metrics/base_velocity/error_vel_yaw: 0.1260
+              Episode_Termination/time_out: 0.5490
+             Episode_Termination/fell_over: 0.0392
+           Episode_Termination/course_exit: 0.3922
+Episode_Termination/illegal_nonwheel_contact: 0.0196
+==============================================================================
+
+==============================================================================
+Learning iteration 3800/50000
+                               Total steps: 15,564,800
+                          Steps per second: 7,512
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0847
+                       Mean episode length: 1413.8
+                                Actor loss: -9.3776
+                               Critic loss: +0.0042
+                          World model loss: +1.2664
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6175
+     Episode_Reward/track_angular_velocity: +53.8636
+                    Episode_Reward/upright: +27.5116
+                Episode_Reward/leg_posture: -3.6954
+                 Episode_Reward/standstill: -6.1607
+             Episode_Reward/action_rate_l2: -0.2477
+           Episode_Reward/joint_torques_l2: -0.1446
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0166
+     Episode_Reward/unnecessary_wheel_lift: -0.2056
+         Episode_Reward/rolling_leg_motion: -0.8620
+          Episode_Reward/obstacle_progress: +1.5227
+       Episode_Reward/wheel_body_intrusion: -0.2761
+        Episode_Reward/pair_body_intrusion: -0.2289
+             Curriculum/terrain_level_mean: +0.8442
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1072
+       Metrics/base_velocity/error_vel_yaw: 0.1262
+              Episode_Termination/time_out: 0.5196
+             Episode_Termination/fell_over: 0.0223
+           Episode_Termination/course_exit: 0.4469
+Episode_Termination/illegal_nonwheel_contact: 0.0112
+==============================================================================
+
+==============================================================================
+Learning iteration 3850/50000
+                               Total steps: 15,769,600
+                          Steps per second: 7,513
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.429s
+                               Mean reward: +0.0847
+                       Mean episode length: 1478.3
+                                Actor loss: -9.3474
+                               Critic loss: +0.0040
+                          World model loss: +1.2753
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.7782
+     Episode_Reward/track_angular_velocity: +56.2916
+                    Episode_Reward/upright: +28.7531
+                Episode_Reward/leg_posture: -3.8313
+                 Episode_Reward/standstill: -6.2708
+             Episode_Reward/action_rate_l2: -0.2588
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0202
+     Episode_Reward/unnecessary_wheel_lift: -0.2240
+         Episode_Reward/rolling_leg_motion: -0.8986
+          Episode_Reward/obstacle_progress: +1.6039
+       Episode_Reward/wheel_body_intrusion: -0.2965
+        Episode_Reward/pair_body_intrusion: -0.2250
+             Curriculum/terrain_level_mean: +0.8574
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1075
+       Metrics/base_velocity/error_vel_yaw: 0.1265
+              Episode_Termination/time_out: 0.6126
+             Episode_Termination/fell_over: 0.0366
+           Episode_Termination/course_exit: 0.3508
+Episode_Termination/illegal_nonwheel_contact: 0.0052
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2261]
+
+==============================================================================
+Learning iteration 3900/50000
+                               Total steps: 15,974,400
+                          Steps per second: 7,513
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.434s
+                               Mean reward: +0.0847
+                       Mean episode length: 1490.2
+                                Actor loss: -9.3798
+                               Critic loss: +0.0015
+                          World model loss: +1.3116
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.2759
+     Episode_Reward/track_angular_velocity: +56.7564
+                    Episode_Reward/upright: +28.9578
+                Episode_Reward/leg_posture: -3.9387
+                 Episode_Reward/standstill: -6.2940
+             Episode_Reward/action_rate_l2: -0.2643
+           Episode_Reward/joint_torques_l2: -0.1549
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0349
+     Episode_Reward/unnecessary_wheel_lift: -0.2264
+         Episode_Reward/rolling_leg_motion: -0.9287
+          Episode_Reward/obstacle_progress: +1.6721
+       Episode_Reward/wheel_body_intrusion: -0.2893
+        Episode_Reward/pair_body_intrusion: -0.2548
+             Curriculum/terrain_level_mean: +0.8708
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1071
+       Metrics/base_velocity/error_vel_yaw: 0.1261
+              Episode_Termination/time_out: 0.6360
+             Episode_Termination/fell_over: 0.0526
+           Episode_Termination/course_exit: 0.3114
+Episode_Termination/illegal_nonwheel_contact: 0.0088
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[529]
+
+==============================================================================
+Learning iteration 3950/50000
+                               Total steps: 16,179,200
+                          Steps per second: 7,514
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.432s
+                               Mean reward: +0.0846
+                       Mean episode length: 1545.9
+                                Actor loss: -9.3422
+                               Critic loss: +0.0027
+                          World model loss: +1.3565
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +53.1013
+     Episode_Reward/track_angular_velocity: +58.8831
+                    Episode_Reward/upright: +30.0217
+                Episode_Reward/leg_posture: -4.1239
+                 Episode_Reward/standstill: -6.6178
+             Episode_Reward/action_rate_l2: -0.2777
+           Episode_Reward/joint_torques_l2: -0.1626
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.2465
+         Episode_Reward/rolling_leg_motion: -0.9708
+          Episode_Reward/obstacle_progress: +1.7566
+       Episode_Reward/wheel_body_intrusion: -0.2754
+        Episode_Reward/pair_body_intrusion: -0.2543
+             Curriculum/terrain_level_mean: +0.8840
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1077
+       Metrics/base_velocity/error_vel_yaw: 0.1260
+              Episode_Termination/time_out: 0.7395
+             Episode_Termination/fell_over: 0.0192
+           Episode_Termination/course_exit: 0.2375
+Episode_Termination/illegal_nonwheel_contact: 0.0038
+==============================================================================
+
+==============================================================================
+Learning iteration 4000/50000
+                               Total steps: 16,384,000
+                          Steps per second: 7,514
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0845
+                       Mean episode length: 1493.5
+                                Actor loss: -9.3541
+                               Critic loss: +0.0038
+                          World model loss: +1.3027
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.2340
+     Episode_Reward/track_angular_velocity: +56.8683
+                    Episode_Reward/upright: +29.0014
+                Episode_Reward/leg_posture: -4.0629
+                 Episode_Reward/standstill: -6.3987
+             Episode_Reward/action_rate_l2: -0.2737
+           Episode_Reward/joint_torques_l2: -0.1591
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0204
+     Episode_Reward/unnecessary_wheel_lift: -0.2504
+         Episode_Reward/rolling_leg_motion: -0.9498
+          Episode_Reward/obstacle_progress: +1.6672
+       Episode_Reward/wheel_body_intrusion: -0.3001
+        Episode_Reward/pair_body_intrusion: -0.2304
+             Curriculum/terrain_level_mean: +0.9001
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1080
+       Metrics/base_velocity/error_vel_yaw: 0.1263
+              Episode_Termination/time_out: 0.6806
+             Episode_Termination/fell_over: 0.0266
+           Episode_Termination/course_exit: 0.2928
+Episode_Termination/illegal_nonwheel_contact: 0.0076
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[820]
+
+==============================================================================
+Learning iteration 4050/50000
+                               Total steps: 16,588,800
+                          Steps per second: 7,514
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.435s
+                               Mean reward: +0.0844
+                       Mean episode length: 1481.8
+                                Actor loss: -9.3879
+                               Critic loss: +0.0038
+                          World model loss: +1.3393
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.7850
+     Episode_Reward/track_angular_velocity: +56.3318
+                    Episode_Reward/upright: +28.7533
+                Episode_Reward/leg_posture: -3.9532
+                 Episode_Reward/standstill: -6.3909
+             Episode_Reward/action_rate_l2: -0.2765
+           Episode_Reward/joint_torques_l2: -0.1568
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0289
+     Episode_Reward/unnecessary_wheel_lift: -0.2617
+         Episode_Reward/rolling_leg_motion: -0.9321
+          Episode_Reward/obstacle_progress: +1.6833
+       Episode_Reward/wheel_body_intrusion: -0.2893
+        Episode_Reward/pair_body_intrusion: -0.2070
+             Curriculum/terrain_level_mean: +0.9106
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1083
+       Metrics/base_velocity/error_vel_yaw: 0.1284
+              Episode_Termination/time_out: 0.6883
+             Episode_Termination/fell_over: 0.0433
+           Episode_Termination/course_exit: 0.2684
+Episode_Termination/illegal_nonwheel_contact: 0.0043
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2101]
+
+==============================================================================
+Learning iteration 4100/50000
+                               Total steps: 16,793,600
+                          Steps per second: 7,514
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.435s
+                               Mean reward: +0.0844
+                       Mean episode length: 1380.8
+                                Actor loss: -9.3672
+                               Critic loss: +0.0070
+                          World model loss: +1.3293
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2577
+     Episode_Reward/track_angular_velocity: +52.5476
+                    Episode_Reward/upright: +26.8008
+                Episode_Reward/leg_posture: -3.7190
+                 Episode_Reward/standstill: -5.9808
+             Episode_Reward/action_rate_l2: -0.2649
+           Episode_Reward/joint_torques_l2: -0.1477
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.1929
+         Episode_Reward/rolling_leg_motion: -0.8529
+          Episode_Reward/obstacle_progress: +1.6489
+       Episode_Reward/wheel_body_intrusion: -0.2940
+        Episode_Reward/pair_body_intrusion: -0.2317
+             Curriculum/terrain_level_mean: +0.9248
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1092
+       Metrics/base_velocity/error_vel_yaw: 0.1274
+              Episode_Termination/time_out: 0.5600
+             Episode_Termination/fell_over: 0.0343
+           Episode_Termination/course_exit: 0.4000
+Episode_Termination/illegal_nonwheel_contact: 0.0057
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2190]
+
+==============================================================================
+Learning iteration 4150/50000
+                               Total steps: 16,998,400
+                          Steps per second: 7,514
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.434s
+                               Mean reward: +0.0840
+                       Mean episode length: 1387.9
+                                Actor loss: -9.3751
+                               Critic loss: +0.0084
+                          World model loss: +1.3369
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4837
+     Episode_Reward/track_angular_velocity: +52.7422
+                    Episode_Reward/upright: +26.9335
+                Episode_Reward/leg_posture: -3.7494
+                 Episode_Reward/standstill: -6.3825
+             Episode_Reward/action_rate_l2: -0.2770
+           Episode_Reward/joint_torques_l2: -0.1501
+             Episode_Reward/dof_pos_limits: -0.0025
+                 Episode_Reward/terminated: -0.0217
+     Episode_Reward/unnecessary_wheel_lift: -0.2123
+         Episode_Reward/rolling_leg_motion: -0.8678
+          Episode_Reward/obstacle_progress: +1.6323
+       Episode_Reward/wheel_body_intrusion: -0.2839
+        Episode_Reward/pair_body_intrusion: -0.2476
+             Curriculum/terrain_level_mean: +0.9370
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1092
+       Metrics/base_velocity/error_vel_yaw: 0.1292
+              Episode_Termination/time_out: 0.5858
+             Episode_Termination/fell_over: 0.0473
+           Episode_Termination/course_exit: 0.3669
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 4200/50000
+                               Total steps: 17,203,200
+                          Steps per second: 7,514
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.435s
+                               Mean reward: +0.0840
+                       Mean episode length: 1375.1
+                                Actor loss: -9.3389
+                               Critic loss: +0.0115
+                          World model loss: +1.3954
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1619
+     Episode_Reward/track_angular_velocity: +52.2014
+                    Episode_Reward/upright: +26.6942
+                Episode_Reward/leg_posture: -3.6622
+                 Episode_Reward/standstill: -6.4330
+             Episode_Reward/action_rate_l2: -0.3006
+           Episode_Reward/joint_torques_l2: -0.1474
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0403
+     Episode_Reward/unnecessary_wheel_lift: -0.2367
+         Episode_Reward/rolling_leg_motion: -0.8847
+          Episode_Reward/obstacle_progress: +1.6961
+       Episode_Reward/wheel_body_intrusion: -0.2699
+        Episode_Reward/pair_body_intrusion: -0.2179
+             Curriculum/terrain_level_mean: +0.9456
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1083
+       Metrics/base_velocity/error_vel_yaw: 0.1310
+              Episode_Termination/time_out: 0.5541
+             Episode_Termination/fell_over: 0.0828
+           Episode_Termination/course_exit: 0.3503
+Episode_Termination/illegal_nonwheel_contact: 0.0127
+==============================================================================
+
+==============================================================================
+Learning iteration 4250/50000
+                               Total steps: 17,408,000
+                          Steps per second: 7,513
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.439s
+                               Mean reward: +0.0838
+                       Mean episode length: 1314.4
+                                Actor loss: -9.3490
+                               Critic loss: +0.0109
+                          World model loss: +1.3547
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.0273
+     Episode_Reward/track_angular_velocity: +49.8287
+                    Episode_Reward/upright: +25.4951
+                Episode_Reward/leg_posture: -3.5172
+                 Episode_Reward/standstill: -6.1885
+             Episode_Reward/action_rate_l2: -0.3030
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0257
+     Episode_Reward/unnecessary_wheel_lift: -0.2188
+         Episode_Reward/rolling_leg_motion: -0.8675
+          Episode_Reward/obstacle_progress: +1.5794
+       Episode_Reward/wheel_body_intrusion: -0.2755
+        Episode_Reward/pair_body_intrusion: -0.2156
+             Curriculum/terrain_level_mean: +0.9597
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1091
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.4258
+             Episode_Termination/fell_over: 0.0581
+           Episode_Termination/course_exit: 0.5097
+Episode_Termination/illegal_nonwheel_contact: 0.0065
+==============================================================================
+
+==============================================================================
+Learning iteration 4300/50000
+                               Total steps: 17,612,800
+                          Steps per second: 7,513
+                            Iteration time: 0.545s
+                           Collection time: 0.111s
+                             Learning time: 0.436s
+                               Mean reward: +0.0840
+                       Mean episode length: 1216.9
+                                Actor loss: -9.3960
+                               Critic loss: +0.0025
+                          World model loss: +1.4374
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.7825
+     Episode_Reward/track_angular_velocity: +46.1770
+                    Episode_Reward/upright: +23.5933
+                Episode_Reward/leg_posture: -3.2030
+                 Episode_Reward/standstill: -5.7822
+             Episode_Reward/action_rate_l2: -0.2856
+           Episode_Reward/joint_torques_l2: -0.1317
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0309
+     Episode_Reward/unnecessary_wheel_lift: -0.1381
+         Episode_Reward/rolling_leg_motion: -0.7995
+          Episode_Reward/obstacle_progress: +1.4615
+       Episode_Reward/wheel_body_intrusion: -0.2296
+        Episode_Reward/pair_body_intrusion: -0.1642
+             Curriculum/terrain_level_mean: +0.9688
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1082
+       Metrics/base_velocity/error_vel_yaw: 0.1312
+              Episode_Termination/time_out: 0.4297
+             Episode_Termination/fell_over: 0.0938
+           Episode_Termination/course_exit: 0.4688
+Episode_Termination/illegal_nonwheel_contact: 0.0078
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[802]
+
+==============================================================================
+Learning iteration 4350/50000
+                               Total steps: 17,817,600
+                          Steps per second: 7,511
+                            Iteration time: 0.545s
+                           Collection time: 0.112s
+                             Learning time: 0.447s
+                               Mean reward: +0.0844
+                       Mean episode length: 1258.7
+                                Actor loss: -9.4101
+                               Critic loss: +0.0026
+                          World model loss: +1.3852
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.3230
+     Episode_Reward/track_angular_velocity: +47.7322
+                    Episode_Reward/upright: +24.4470
+                Episode_Reward/leg_posture: -3.1841
+                 Episode_Reward/standstill: -5.8533
+             Episode_Reward/action_rate_l2: -0.3053
+           Episode_Reward/joint_torques_l2: -0.1341
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0221
+     Episode_Reward/unnecessary_wheel_lift: -0.1445
+         Episode_Reward/rolling_leg_motion: -0.8117
+          Episode_Reward/obstacle_progress: +1.5533
+       Episode_Reward/wheel_body_intrusion: -0.2403
+        Episode_Reward/pair_body_intrusion: -0.1622
+             Curriculum/terrain_level_mean: +0.9817
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1070
+       Metrics/base_velocity/error_vel_yaw: 0.1321
+              Episode_Termination/time_out: 0.4351
+             Episode_Termination/fell_over: 0.0534
+           Episode_Termination/course_exit: 0.4962
+Episode_Termination/illegal_nonwheel_contact: 0.0229
+==============================================================================
+
+==============================================================================
+Learning iteration 4400/50000
+                               Total steps: 18,022,400
+                          Steps per second: 7,510
+                            Iteration time: 0.545s
+                           Collection time: 0.110s
+                             Learning time: 0.437s
+                               Mean reward: +0.0842
+                       Mean episode length: 1202.5
+                                Actor loss: -9.4081
+                               Critic loss: +0.0034
+                          World model loss: +1.4562
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.3537
+     Episode_Reward/track_angular_velocity: +45.5888
+                    Episode_Reward/upright: +23.3546
+                Episode_Reward/leg_posture: -3.0723
+                 Episode_Reward/standstill: -5.6774
+             Episode_Reward/action_rate_l2: -0.3032
+           Episode_Reward/joint_torques_l2: -0.1283
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0258
+     Episode_Reward/unnecessary_wheel_lift: -0.1311
+         Episode_Reward/rolling_leg_motion: -0.7913
+          Episode_Reward/obstacle_progress: +1.4555
+       Episode_Reward/wheel_body_intrusion: -0.2423
+        Episode_Reward/pair_body_intrusion: -0.1681
+             Curriculum/terrain_level_mean: +0.9939
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1074
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.3577
+             Episode_Termination/fell_over: 0.0511
+           Episode_Termination/course_exit: 0.5620
+Episode_Termination/illegal_nonwheel_contact: 0.0292
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1560]
+
+==============================================================================
+Learning iteration 4450/50000
+                               Total steps: 18,227,200
+                          Steps per second: 7,516
+                            Iteration time: 0.545s
+                           Collection time: 0.103s
+                             Learning time: 0.407s
+                               Mean reward: +0.0844
+                       Mean episode length: 1244.1
+                                Actor loss: -9.3731
+                               Critic loss: +0.0049
+                          World model loss: +1.4871
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.8766
+     Episode_Reward/track_angular_velocity: +47.2121
+                    Episode_Reward/upright: +24.1750
+                Episode_Reward/leg_posture: -3.1762
+                 Episode_Reward/standstill: -5.7684
+             Episode_Reward/action_rate_l2: -0.3155
+           Episode_Reward/joint_torques_l2: -0.1331
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0146
+     Episode_Reward/unnecessary_wheel_lift: -0.1353
+         Episode_Reward/rolling_leg_motion: -0.7980
+          Episode_Reward/obstacle_progress: +1.5198
+       Episode_Reward/wheel_body_intrusion: -0.2412
+        Episode_Reward/pair_body_intrusion: -0.1697
+             Curriculum/terrain_level_mean: +1.0054
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1065
+       Metrics/base_velocity/error_vel_yaw: 0.1309
+              Episode_Termination/time_out: 0.4375
+             Episode_Termination/fell_over: 0.0391
+           Episode_Termination/course_exit: 0.5156
+Episode_Termination/illegal_nonwheel_contact: 0.0234
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[424]
+
+==============================================================================
+Learning iteration 4500/50000
+                               Total steps: 18,432,000
+                          Steps per second: 7,522
+                            Iteration time: 0.545s
+                           Collection time: 0.102s
+                             Learning time: 0.403s
+                               Mean reward: +0.0840
+                       Mean episode length: 1194.4
+                                Actor loss: -9.3845
+                               Critic loss: +0.0036
+                          World model loss: +1.4965
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.1738
+     Episode_Reward/track_angular_velocity: +45.3390
+                    Episode_Reward/upright: +23.1956
+                Episode_Reward/leg_posture: -3.0665
+                 Episode_Reward/standstill: -5.8966
+             Episode_Reward/action_rate_l2: -0.3113
+           Episode_Reward/joint_torques_l2: -0.1284
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0327
+     Episode_Reward/unnecessary_wheel_lift: -0.1520
+         Episode_Reward/rolling_leg_motion: -0.7648
+          Episode_Reward/obstacle_progress: +1.4283
+       Episode_Reward/wheel_body_intrusion: -0.2313
+        Episode_Reward/pair_body_intrusion: -0.1820
+             Curriculum/terrain_level_mean: +1.0166
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1063
+       Metrics/base_velocity/error_vel_yaw: 0.1309
+              Episode_Termination/time_out: 0.3223
+             Episode_Termination/fell_over: 0.1157
+           Episode_Termination/course_exit: 0.5620
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 4550/50000
+                               Total steps: 18,636,800
+                          Steps per second: 7,533
+                            Iteration time: 0.544s
+                           Collection time: 0.098s
+                             Learning time: 0.373s
+                               Mean reward: +0.0836
+                       Mean episode length: 1280.8
+                                Actor loss: -9.4140
+                               Critic loss: +0.0032
+                          World model loss: +1.4973
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.0624
+     Episode_Reward/track_angular_velocity: +48.5585
+                    Episode_Reward/upright: +24.8761
+                Episode_Reward/leg_posture: -3.3196
+                 Episode_Reward/standstill: -6.7015
+             Episode_Reward/action_rate_l2: -0.3353
+           Episode_Reward/joint_torques_l2: -0.1376
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0350
+     Episode_Reward/unnecessary_wheel_lift: -0.1875
+         Episode_Reward/rolling_leg_motion: -0.8225
+          Episode_Reward/obstacle_progress: +1.5289
+       Episode_Reward/wheel_body_intrusion: -0.2521
+        Episode_Reward/pair_body_intrusion: -0.1937
+             Curriculum/terrain_level_mean: +1.0273
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1075
+       Metrics/base_velocity/error_vel_yaw: 0.1323
+              Episode_Termination/time_out: 0.3926
+             Episode_Termination/fell_over: 0.1037
+           Episode_Termination/course_exit: 0.5037
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 4600/50000
+                               Total steps: 18,841,600
+                          Steps per second: 7,574
+                            Iteration time: 0.541s
+                           Collection time: 0.077s
+                             Learning time: 0.194s
+                               Mean reward: +0.0840
+                       Mean episode length: 1213.6
+                                Actor loss: -9.4142
+                               Critic loss: +0.0025
+                          World model loss: +1.4365
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.7799
+     Episode_Reward/track_angular_velocity: +46.0153
+                    Episode_Reward/upright: +23.6022
+                Episode_Reward/leg_posture: -3.0970
+                 Episode_Reward/standstill: -5.9122
+             Episode_Reward/action_rate_l2: -0.3165
+           Episode_Reward/joint_torques_l2: -0.1313
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0284
+     Episode_Reward/unnecessary_wheel_lift: -0.2000
+         Episode_Reward/rolling_leg_motion: -0.7685
+          Episode_Reward/obstacle_progress: +1.4348
+       Episode_Reward/wheel_body_intrusion: -0.2546
+        Episode_Reward/pair_body_intrusion: -0.1788
+             Curriculum/terrain_level_mean: +1.0388
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1067
+       Metrics/base_velocity/error_vel_yaw: 0.1322
+              Episode_Termination/time_out: 0.3778
+             Episode_Termination/fell_over: 0.0741
+           Episode_Termination/course_exit: 0.5333
+Episode_Termination/illegal_nonwheel_contact: 0.0148
+==============================================================================
+
+==============================================================================
+Learning iteration 4650/50000
+                               Total steps: 19,046,400
+                          Steps per second: 7,579
+                            Iteration time: 0.540s
+                           Collection time: 0.102s
+                             Learning time: 0.405s
+                               Mean reward: +0.0839
+                       Mean episode length: 1267.4
+                                Actor loss: -9.4090
+                               Critic loss: +0.0033
+                          World model loss: +1.4178
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.6214
+     Episode_Reward/track_angular_velocity: +48.0383
+                    Episode_Reward/upright: +24.6476
+                Episode_Reward/leg_posture: -3.2162
+                 Episode_Reward/standstill: -6.3863
+             Episode_Reward/action_rate_l2: -0.3468
+           Episode_Reward/joint_torques_l2: -0.1372
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0322
+     Episode_Reward/unnecessary_wheel_lift: -0.2043
+         Episode_Reward/rolling_leg_motion: -0.8162
+          Episode_Reward/obstacle_progress: +1.5446
+       Episode_Reward/wheel_body_intrusion: -0.2550
+        Episode_Reward/pair_body_intrusion: -0.1644
+             Curriculum/terrain_level_mean: +1.0471
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1071
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4597
+             Episode_Termination/fell_over: 0.0968
+           Episode_Termination/course_exit: 0.4355
+Episode_Termination/illegal_nonwheel_contact: 0.0081
+==============================================================================
+
+==============================================================================
+Learning iteration 4700/50000
+                               Total steps: 19,251,200
+                          Steps per second: 7,584
+                            Iteration time: 0.540s
+                           Collection time: 0.102s
+                             Learning time: 0.406s
+                               Mean reward: +0.0841
+                       Mean episode length: 1305.1
+                                Actor loss: -9.4048
+                               Critic loss: +0.0026
+                          World model loss: +1.4708
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8979
+     Episode_Reward/track_angular_velocity: +49.4907
+                    Episode_Reward/upright: +25.4037
+                Episode_Reward/leg_posture: -3.2582
+                 Episode_Reward/standstill: -6.3748
+             Episode_Reward/action_rate_l2: -0.3527
+           Episode_Reward/joint_torques_l2: -0.1412
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0178
+     Episode_Reward/unnecessary_wheel_lift: -0.1196
+         Episode_Reward/rolling_leg_motion: -0.8267
+          Episode_Reward/obstacle_progress: +1.5270
+       Episode_Reward/wheel_body_intrusion: -0.2552
+        Episode_Reward/pair_body_intrusion: -0.2066
+             Curriculum/terrain_level_mean: +1.0586
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1070
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.4254
+             Episode_Termination/fell_over: 0.0522
+           Episode_Termination/course_exit: 0.5299
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 4750/50000
+                               Total steps: 19,456,000
+                          Steps per second: 7,589
+                            Iteration time: 0.540s
+                           Collection time: 0.102s
+                             Learning time: 0.406s
+                               Mean reward: +0.0840
+                       Mean episode length: 1220.6
+                                Actor loss: -9.4095
+                               Critic loss: +0.0060
+                          World model loss: +1.4412
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.0473
+     Episode_Reward/track_angular_velocity: +46.2478
+                    Episode_Reward/upright: +23.7440
+                Episode_Reward/leg_posture: -3.1106
+                 Episode_Reward/standstill: -5.9072
+             Episode_Reward/action_rate_l2: -0.3415
+           Episode_Reward/joint_torques_l2: -0.1337
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0429
+     Episode_Reward/unnecessary_wheel_lift: -0.1891
+         Episode_Reward/rolling_leg_motion: -0.7728
+          Episode_Reward/obstacle_progress: +1.4767
+       Episode_Reward/wheel_body_intrusion: -0.2490
+        Episode_Reward/pair_body_intrusion: -0.2111
+             Curriculum/terrain_level_mean: +1.0667
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1063
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.3636
+             Episode_Termination/fell_over: 0.1405
+           Episode_Termination/course_exit: 0.4876
+Episode_Termination/illegal_nonwheel_contact: 0.0083
+==============================================================================
+
+==============================================================================
+Learning iteration 4800/50000
+                               Total steps: 19,660,800
+                          Steps per second: 7,593
+                            Iteration time: 0.539s
+                           Collection time: 0.103s
+                             Learning time: 0.406s
+                               Mean reward: +0.0841
+                       Mean episode length: 1246.1
+                                Actor loss: -9.4108
+                               Critic loss: +0.0054
+                          World model loss: +1.3881
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.8039
+     Episode_Reward/track_angular_velocity: +47.2139
+                    Episode_Reward/upright: +24.2650
+                Episode_Reward/leg_posture: -3.1401
+                 Episode_Reward/standstill: -5.9095
+             Episode_Reward/action_rate_l2: -0.3511
+           Episode_Reward/joint_torques_l2: -0.1353
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0365
+     Episode_Reward/unnecessary_wheel_lift: -0.2086
+         Episode_Reward/rolling_leg_motion: -0.7882
+          Episode_Reward/obstacle_progress: +1.5237
+       Episode_Reward/wheel_body_intrusion: -0.2510
+        Episode_Reward/pair_body_intrusion: -0.1805
+             Curriculum/terrain_level_mean: +1.0796
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1072
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.3660
+             Episode_Termination/fell_over: 0.0980
+           Episode_Termination/course_exit: 0.5359
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 4850/50000
+                               Total steps: 19,865,600
+                          Steps per second: 7,598
+                            Iteration time: 0.539s
+                           Collection time: 0.102s
+                             Learning time: 0.406s
+                               Mean reward: +0.0846
+                       Mean episode length: 1272.6
+                                Actor loss: -9.4127
+                               Critic loss: +0.0023
+                          World model loss: +1.4552
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.8437
+     Episode_Reward/track_angular_velocity: +48.2440
+                    Episode_Reward/upright: +24.8163
+                Episode_Reward/leg_posture: -3.1715
+                 Episode_Reward/standstill: -5.7300
+             Episode_Reward/action_rate_l2: -0.3622
+           Episode_Reward/joint_torques_l2: -0.1394
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0224
+     Episode_Reward/unnecessary_wheel_lift: -0.1419
+         Episode_Reward/rolling_leg_motion: -0.7989
+          Episode_Reward/obstacle_progress: +1.5208
+       Episode_Reward/wheel_body_intrusion: -0.2600
+        Episode_Reward/pair_body_intrusion: -0.1872
+             Curriculum/terrain_level_mean: +1.0913
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1062
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4265
+             Episode_Termination/fell_over: 0.0662
+           Episode_Termination/course_exit: 0.5074
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 4900/50000
+                               Total steps: 20,070,400
+                          Steps per second: 7,600
+                            Iteration time: 0.539s
+                           Collection time: 0.106s
+                             Learning time: 0.415s
+                               Mean reward: +0.0840
+                       Mean episode length: 1265.0
+                                Actor loss: -9.3824
+                               Critic loss: +0.0050
+                          World model loss: +1.3694
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.5407
+     Episode_Reward/track_angular_velocity: +47.9287
+                    Episode_Reward/upright: +24.6061
+                Episode_Reward/leg_posture: -3.1402
+                 Episode_Reward/standstill: -6.2414
+             Episode_Reward/action_rate_l2: -0.3535
+           Episode_Reward/joint_torques_l2: -0.1390
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0420
+     Episode_Reward/unnecessary_wheel_lift: -0.2304
+         Episode_Reward/rolling_leg_motion: -0.7937
+          Episode_Reward/obstacle_progress: +1.5242
+       Episode_Reward/wheel_body_intrusion: -0.2430
+        Episode_Reward/pair_body_intrusion: -0.1817
+             Curriculum/terrain_level_mean: +1.1030
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1067
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4255
+             Episode_Termination/fell_over: 0.1135
+           Episode_Termination/course_exit: 0.4539
+Episode_Termination/illegal_nonwheel_contact: 0.0071
+==============================================================================
+
+==============================================================================
+Learning iteration 4950/50000
+                               Total steps: 20,275,200
+                          Steps per second: 7,601
+                            Iteration time: 0.539s
+                           Collection time: 0.109s
+                             Learning time: 0.427s
+                               Mean reward: +0.0847
+                       Mean episode length: 1300.8
+                                Actor loss: -9.4156
+                               Critic loss: +0.0028
+                          World model loss: +1.4785
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8555
+     Episode_Reward/track_angular_velocity: +49.3052
+                    Episode_Reward/upright: +25.3262
+                Episode_Reward/leg_posture: -3.1809
+                 Episode_Reward/standstill: -5.8020
+             Episode_Reward/action_rate_l2: -0.3718
+           Episode_Reward/joint_torques_l2: -0.1432
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0178
+     Episode_Reward/unnecessary_wheel_lift: -0.1549
+         Episode_Reward/rolling_leg_motion: -0.8103
+          Episode_Reward/obstacle_progress: +1.6366
+       Episode_Reward/wheel_body_intrusion: -0.2577
+        Episode_Reward/pair_body_intrusion: -0.1705
+             Curriculum/terrain_level_mean: +1.1130
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1059
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.4733
+             Episode_Termination/fell_over: 0.0534
+           Episode_Termination/course_exit: 0.4733
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 5000/50000
+                               Total steps: 20,480,000
+                          Steps per second: 7,602
+                            Iteration time: 0.539s
+                           Collection time: 0.107s
+                             Learning time: 0.422s
+                               Mean reward: +0.0846
+                       Mean episode length: 1252.6
+                                Actor loss: -9.4025
+                               Critic loss: +0.0030
+                          World model loss: +1.4712
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.2498
+     Episode_Reward/track_angular_velocity: +47.4359
+                    Episode_Reward/upright: +24.3571
+                Episode_Reward/leg_posture: -3.0467
+                 Episode_Reward/standstill: -5.7600
+             Episode_Reward/action_rate_l2: -0.3618
+           Episode_Reward/joint_torques_l2: -0.1424
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0294
+     Episode_Reward/unnecessary_wheel_lift: -0.1330
+         Episode_Reward/rolling_leg_motion: -0.7740
+          Episode_Reward/obstacle_progress: +1.6314
+       Episode_Reward/wheel_body_intrusion: -0.2408
+        Episode_Reward/pair_body_intrusion: -0.1839
+             Curriculum/terrain_level_mean: +1.1240
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1056
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.3485
+             Episode_Termination/fell_over: 0.0909
+           Episode_Termination/course_exit: 0.5606
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2643]
+RECOVERY reset 1 invalid environments; first IDs=[1752]
+
+==============================================================================
+Learning iteration 5050/50000
+                               Total steps: 20,684,800
+                          Steps per second: 7,605
+                            Iteration time: 0.539s
+                           Collection time: 0.108s
+                             Learning time: 0.409s
+                               Mean reward: +0.0845
+                       Mean episode length: 1249.0
+                                Actor loss: -9.3800
+                               Critic loss: +0.0038
+                          World model loss: +1.4425
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.1158
+     Episode_Reward/track_angular_velocity: +47.3319
+                    Episode_Reward/upright: +24.2410
+                Episode_Reward/leg_posture: -3.0729
+                 Episode_Reward/standstill: -5.9413
+             Episode_Reward/action_rate_l2: -0.3630
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0073
+     Episode_Reward/unnecessary_wheel_lift: -0.1218
+         Episode_Reward/rolling_leg_motion: -0.7558
+          Episode_Reward/obstacle_progress: +1.6815
+       Episode_Reward/wheel_body_intrusion: -0.2501
+        Episode_Reward/pair_body_intrusion: -0.1852
+             Curriculum/terrain_level_mean: +1.1377
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1058
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.3667
+             Episode_Termination/fell_over: 0.0250
+           Episode_Termination/course_exit: 0.6083
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[855]
+
+==============================================================================
+Learning iteration 5100/50000
+                               Total steps: 20,889,600
+                          Steps per second: 7,608
+                            Iteration time: 0.538s
+                           Collection time: 0.104s
+                             Learning time: 0.410s
+                               Mean reward: +0.0844
+                       Mean episode length: 1317.5
+                                Actor loss: -9.4311
+                               Critic loss: +0.0029
+                          World model loss: +1.4028
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5144
+     Episode_Reward/track_angular_velocity: +49.8937
+                    Episode_Reward/upright: +25.5575
+                Episode_Reward/leg_posture: -3.2321
+                 Episode_Reward/standstill: -6.3496
+             Episode_Reward/action_rate_l2: -0.3851
+           Episode_Reward/joint_torques_l2: -0.1538
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0309
+     Episode_Reward/unnecessary_wheel_lift: -0.1324
+         Episode_Reward/rolling_leg_motion: -0.7983
+          Episode_Reward/obstacle_progress: +1.7543
+       Episode_Reward/wheel_body_intrusion: -0.2676
+        Episode_Reward/pair_body_intrusion: -0.2218
+             Curriculum/terrain_level_mean: +1.1477
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1054
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4091
+             Episode_Termination/fell_over: 0.0833
+           Episode_Termination/course_exit: 0.5076
+Episode_Termination/illegal_nonwheel_contact: 0.0076
+==============================================================================
+
+==============================================================================
+Learning iteration 5150/50000
+                               Total steps: 21,094,400
+                          Steps per second: 7,631
+                            Iteration time: 0.537s
+                           Collection time: 0.089s
+                             Learning time: 0.287s
+                               Mean reward: +0.0845
+                       Mean episode length: 1246.7
+                                Actor loss: -9.4228
+                               Critic loss: +0.0028
+                          World model loss: +1.3794
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.1903
+     Episode_Reward/track_angular_velocity: +47.2656
+                    Episode_Reward/upright: +24.1829
+                Episode_Reward/leg_posture: -2.9714
+                 Episode_Reward/standstill: -6.0972
+             Episode_Reward/action_rate_l2: -0.3700
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0365
+     Episode_Reward/unnecessary_wheel_lift: -0.1551
+         Episode_Reward/rolling_leg_motion: -0.7545
+          Episode_Reward/obstacle_progress: +1.6768
+       Episode_Reward/wheel_body_intrusion: -0.2467
+        Episode_Reward/pair_body_intrusion: -0.2197
+             Curriculum/terrain_level_mean: +1.1606
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1042
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.3226
+             Episode_Termination/fell_over: 0.0968
+           Episode_Termination/course_exit: 0.5806
+Episode_Termination/illegal_nonwheel_contact: 0.0065
+==============================================================================
+
+==============================================================================
+Learning iteration 5200/50000
+                               Total steps: 21,299,200
+                          Steps per second: 7,634
+                            Iteration time: 0.537s
+                           Collection time: 0.104s
+                             Learning time: 0.411s
+                               Mean reward: +0.0848
+                       Mean episode length: 1289.6
+                                Actor loss: -9.4317
+                               Critic loss: +0.0033
+                          World model loss: +1.5216
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8005
+     Episode_Reward/track_angular_velocity: +48.9274
+                    Episode_Reward/upright: +25.0472
+                Episode_Reward/leg_posture: -3.0494
+                 Episode_Reward/standstill: -6.1054
+             Episode_Reward/action_rate_l2: -0.3892
+           Episode_Reward/joint_torques_l2: -0.1480
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0428
+     Episode_Reward/unnecessary_wheel_lift: -0.1435
+         Episode_Reward/rolling_leg_motion: -0.7886
+          Episode_Reward/obstacle_progress: +1.7298
+       Episode_Reward/wheel_body_intrusion: -0.2890
+        Episode_Reward/pair_body_intrusion: -0.1892
+             Curriculum/terrain_level_mean: +1.1711
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1030
+       Metrics/base_velocity/error_vel_yaw: 0.1316
+              Episode_Termination/time_out: 0.4178
+             Episode_Termination/fell_over: 0.1096
+           Episode_Termination/course_exit: 0.4658
+Episode_Termination/illegal_nonwheel_contact: 0.0068
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2265]
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 5250/50000
+                               Total steps: 21,504,000
+                          Steps per second: 7,633
+                            Iteration time: 0.537s
+                           Collection time: 0.110s
+                             Learning time: 0.431s
+                               Mean reward: +0.0849
+                       Mean episode length: 1352.0
+                                Actor loss: -9.4143
+                               Critic loss: +0.0029
+                          World model loss: +1.4113
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0007
+     Episode_Reward/track_angular_velocity: +51.3104
+                    Episode_Reward/upright: +26.2787
+                Episode_Reward/leg_posture: -3.2211
+                 Episode_Reward/standstill: -6.3750
+             Episode_Reward/action_rate_l2: -0.4046
+           Episode_Reward/joint_torques_l2: -0.1542
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0238
+     Episode_Reward/unnecessary_wheel_lift: -0.1503
+         Episode_Reward/rolling_leg_motion: -0.8256
+          Episode_Reward/obstacle_progress: +1.8380
+       Episode_Reward/wheel_body_intrusion: -0.2898
+        Episode_Reward/pair_body_intrusion: -0.2316
+             Curriculum/terrain_level_mean: +1.1826
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1030
+       Metrics/base_velocity/error_vel_yaw: 0.1312
+              Episode_Termination/time_out: 0.4808
+             Episode_Termination/fell_over: 0.0513
+           Episode_Termination/course_exit: 0.4615
+Episode_Termination/illegal_nonwheel_contact: 0.0064
+==============================================================================
+
+==============================================================================
+Learning iteration 5300/50000
+                               Total steps: 21,708,800
+                          Steps per second: 7,631
+                            Iteration time: 0.537s
+                           Collection time: 0.110s
+                             Learning time: 0.441s
+                               Mean reward: +0.0850
+                       Mean episode length: 1336.7
+                                Actor loss: -9.4121
+                               Critic loss: +0.0039
+                          World model loss: +1.4502
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4706
+     Episode_Reward/track_angular_velocity: +50.7701
+                    Episode_Reward/upright: +25.9723
+                Episode_Reward/leg_posture: -3.1489
+                 Episode_Reward/standstill: -6.1241
+             Episode_Reward/action_rate_l2: -0.4043
+           Episode_Reward/joint_torques_l2: -0.1517
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1538
+         Episode_Reward/rolling_leg_motion: -0.8044
+          Episode_Reward/obstacle_progress: +1.7961
+       Episode_Reward/wheel_body_intrusion: -0.2886
+        Episode_Reward/pair_body_intrusion: -0.2454
+             Curriculum/terrain_level_mean: +1.1919
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1028
+       Metrics/base_velocity/error_vel_yaw: 0.1302
+              Episode_Termination/time_out: 0.4758
+             Episode_Termination/fell_over: 0.0484
+           Episode_Termination/course_exit: 0.4677
+Episode_Termination/illegal_nonwheel_contact: 0.0081
+==============================================================================
+
+==============================================================================
+Learning iteration 5350/50000
+                               Total steps: 21,913,600
+                          Steps per second: 7,630
+                            Iteration time: 0.537s
+                           Collection time: 0.110s
+                             Learning time: 0.435s
+                               Mean reward: +0.0846
+                       Mean episode length: 1258.2
+                                Actor loss: -9.4242
+                               Critic loss: +0.0045
+                          World model loss: +1.4285
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.6326
+     Episode_Reward/track_angular_velocity: +47.7252
+                    Episode_Reward/upright: +24.4358
+                Episode_Reward/leg_posture: -3.0413
+                 Episode_Reward/standstill: -5.9827
+             Episode_Reward/action_rate_l2: -0.3872
+           Episode_Reward/joint_torques_l2: -0.1451
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0442
+     Episode_Reward/unnecessary_wheel_lift: -0.1806
+         Episode_Reward/rolling_leg_motion: -0.7687
+          Episode_Reward/obstacle_progress: +1.6923
+       Episode_Reward/wheel_body_intrusion: -0.2768
+        Episode_Reward/pair_body_intrusion: -0.2219
+             Curriculum/terrain_level_mean: +1.2019
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1040
+       Metrics/base_velocity/error_vel_yaw: 0.1319
+              Episode_Termination/time_out: 0.3493
+             Episode_Termination/fell_over: 0.1164
+           Episode_Termination/course_exit: 0.5274
+Episode_Termination/illegal_nonwheel_contact: 0.0068
+==============================================================================
+
+==============================================================================
+Learning iteration 5400/50000
+                               Total steps: 22,118,400
+                          Steps per second: 7,629
+                            Iteration time: 0.537s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0850
+                       Mean episode length: 1269.6
+                                Actor loss: -9.4322
+                               Critic loss: +0.0031
+                          World model loss: +1.4730
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.1384
+     Episode_Reward/track_angular_velocity: +48.1870
+                    Episode_Reward/upright: +24.6828
+                Episode_Reward/leg_posture: -2.9834
+                 Episode_Reward/standstill: -5.9269
+             Episode_Reward/action_rate_l2: -0.3999
+           Episode_Reward/joint_torques_l2: -0.1435
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0322
+     Episode_Reward/unnecessary_wheel_lift: -0.1342
+         Episode_Reward/rolling_leg_motion: -0.7783
+          Episode_Reward/obstacle_progress: +1.7122
+       Episode_Reward/wheel_body_intrusion: -0.2478
+        Episode_Reward/pair_body_intrusion: -0.1879
+             Curriculum/terrain_level_mean: +1.2144
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1028
+       Metrics/base_velocity/error_vel_yaw: 0.1312
+              Episode_Termination/time_out: 0.3846
+             Episode_Termination/fell_over: 0.0833
+           Episode_Termination/course_exit: 0.5321
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_005400.mp4
+
+==============================================================================
+Learning iteration 5450/50000
+                               Total steps: 22,323,200
+                          Steps per second: 7,609
+                            Iteration time: 0.538s
+                           Collection time: 0.110s
+                             Learning time: 0.431s
+                               Mean reward: +0.0850
+                       Mean episode length: 1381.8
+                                Actor loss: -9.4182
+                               Critic loss: +0.0036
+                          World model loss: +1.3859
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1282
+     Episode_Reward/track_angular_velocity: +52.4425
+                    Episode_Reward/upright: +26.8807
+                Episode_Reward/leg_posture: -3.2770
+                 Episode_Reward/standstill: -6.3574
+             Episode_Reward/action_rate_l2: -0.4519
+           Episode_Reward/joint_torques_l2: -0.1580
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.1354
+         Episode_Reward/rolling_leg_motion: -0.8476
+          Episode_Reward/obstacle_progress: +1.8504
+       Episode_Reward/wheel_body_intrusion: -0.2915
+        Episode_Reward/pair_body_intrusion: -0.2478
+             Curriculum/terrain_level_mean: +1.2263
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1021
+       Metrics/base_velocity/error_vel_yaw: 0.1315
+              Episode_Termination/time_out: 0.5062
+             Episode_Termination/fell_over: 0.0375
+           Episode_Termination/course_exit: 0.4562
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 5500/50000
+                               Total steps: 22,528,000
+                          Steps per second: 7,609
+                            Iteration time: 0.538s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0850
+                       Mean episode length: 1339.0
+                                Actor loss: -9.4301
+                               Critic loss: +0.0105
+                          World model loss: +1.4177
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6988
+     Episode_Reward/track_angular_velocity: +50.8357
+                    Episode_Reward/upright: +26.0620
+                Episode_Reward/leg_posture: -3.1635
+                 Episode_Reward/standstill: -6.3420
+             Episode_Reward/action_rate_l2: -0.4295
+           Episode_Reward/joint_torques_l2: -0.1495
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0288
+     Episode_Reward/unnecessary_wheel_lift: -0.1377
+         Episode_Reward/rolling_leg_motion: -0.8200
+          Episode_Reward/obstacle_progress: +1.7686
+       Episode_Reward/wheel_body_intrusion: -0.2532
+        Episode_Reward/pair_body_intrusion: -0.2268
+             Curriculum/terrain_level_mean: +1.2397
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1018
+       Metrics/base_velocity/error_vel_yaw: 0.1310
+              Episode_Termination/time_out: 0.4780
+             Episode_Termination/fell_over: 0.0566
+           Episode_Termination/course_exit: 0.4528
+Episode_Termination/illegal_nonwheel_contact: 0.0126
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1166]
+
+==============================================================================
+Learning iteration 5550/50000
+                               Total steps: 22,732,800
+                          Steps per second: 7,607
+                            Iteration time: 0.538s
+                           Collection time: 0.110s
+                             Learning time: 0.443s
+                               Mean reward: +0.0850
+                       Mean episode length: 1372.1
+                                Actor loss: -9.4005
+                               Critic loss: +0.0045
+                          World model loss: +1.4284
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7251
+     Episode_Reward/track_angular_velocity: +52.0917
+                    Episode_Reward/upright: +26.7176
+                Episode_Reward/leg_posture: -3.1722
+                 Episode_Reward/standstill: -6.4440
+             Episode_Reward/action_rate_l2: -0.4381
+           Episode_Reward/joint_torques_l2: -0.1513
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0295
+     Episode_Reward/unnecessary_wheel_lift: -0.1387
+         Episode_Reward/rolling_leg_motion: -0.8327
+          Episode_Reward/obstacle_progress: +1.7783
+       Episode_Reward/wheel_body_intrusion: -0.2767
+        Episode_Reward/pair_body_intrusion: -0.2354
+             Curriculum/terrain_level_mean: +1.2510
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1023
+       Metrics/base_velocity/error_vel_yaw: 0.1308
+              Episode_Termination/time_out: 0.5515
+             Episode_Termination/fell_over: 0.0667
+           Episode_Termination/course_exit: 0.3818
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 5600/50000
+                               Total steps: 22,937,600
+                          Steps per second: 7,606
+                            Iteration time: 0.539s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0848
+                       Mean episode length: 1431.6
+                                Actor loss: -9.4043
+                               Critic loss: +0.0035
+                          World model loss: +1.4075
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6771
+     Episode_Reward/track_angular_velocity: +54.2750
+                    Episode_Reward/upright: +27.8880
+                Episode_Reward/leg_posture: -3.3615
+                 Episode_Reward/standstill: -6.6983
+             Episode_Reward/action_rate_l2: -0.4629
+           Episode_Reward/joint_torques_l2: -0.1578
+             Episode_Reward/dof_pos_limits: -0.0019
+                 Episode_Reward/terminated: -0.0056
+     Episode_Reward/unnecessary_wheel_lift: -0.1420
+         Episode_Reward/rolling_leg_motion: -0.8589
+          Episode_Reward/obstacle_progress: +1.8604
+       Episode_Reward/wheel_body_intrusion: -0.2889
+        Episode_Reward/pair_body_intrusion: -0.2760
+             Curriculum/terrain_level_mean: +1.2644
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1031
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.5978
+             Episode_Termination/fell_over: 0.0112
+           Episode_Termination/course_exit: 0.3911
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1997]
+
+==============================================================================
+Learning iteration 5650/50000
+                               Total steps: 23,142,400
+                          Steps per second: 7,606
+                            Iteration time: 0.539s
+                           Collection time: 0.110s
+                             Learning time: 0.432s
+                               Mean reward: +0.0842
+                       Mean episode length: 1444.1
+                                Actor loss: -9.4367
+                               Critic loss: +0.0026
+                          World model loss: +1.3570
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0331
+     Episode_Reward/track_angular_velocity: +54.7130
+                    Episode_Reward/upright: +28.1198
+                Episode_Reward/leg_posture: -3.3835
+                 Episode_Reward/standstill: -7.4268
+             Episode_Reward/action_rate_l2: -0.4925
+           Episode_Reward/joint_torques_l2: -0.1604
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0423
+     Episode_Reward/unnecessary_wheel_lift: -0.1620
+         Episode_Reward/rolling_leg_motion: -0.9032
+          Episode_Reward/obstacle_progress: +1.8179
+       Episode_Reward/wheel_body_intrusion: -0.2806
+        Episode_Reward/pair_body_intrusion: -0.2732
+             Curriculum/terrain_level_mean: +1.2749
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1037
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.6132
+             Episode_Termination/fell_over: 0.0708
+           Episode_Termination/course_exit: 0.3160
+Episode_Termination/illegal_nonwheel_contact: 0.0047
+==============================================================================
+
+==============================================================================
+Learning iteration 5700/50000
+                               Total steps: 23,347,200
+                          Steps per second: 7,631
+                            Iteration time: 0.537s
+                           Collection time: 0.086s
+                             Learning time: 0.248s
+                               Mean reward: +0.0846
+                       Mean episode length: 1454.2
+                                Actor loss: -9.4223
+                               Critic loss: +0.0026
+                          World model loss: +1.3427
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.4793
+     Episode_Reward/track_angular_velocity: +55.0361
+                    Episode_Reward/upright: +28.3227
+                Episode_Reward/leg_posture: -3.3160
+                 Episode_Reward/standstill: -6.9917
+             Episode_Reward/action_rate_l2: -0.5174
+           Episode_Reward/joint_torques_l2: -0.1592
+             Episode_Reward/dof_pos_limits: -0.0001
+                 Episode_Reward/terminated: -0.0398
+     Episode_Reward/unnecessary_wheel_lift: -0.1864
+         Episode_Reward/rolling_leg_motion: -0.9163
+          Episode_Reward/obstacle_progress: +1.8283
+       Episode_Reward/wheel_body_intrusion: -0.2794
+        Episode_Reward/pair_body_intrusion: -0.2509
+             Curriculum/terrain_level_mean: +1.2856
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1026
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.6398
+             Episode_Termination/fell_over: 0.0551
+           Episode_Termination/course_exit: 0.3008
+Episode_Termination/illegal_nonwheel_contact: 0.0085
+==============================================================================
+
+==============================================================================
+Learning iteration 5750/50000
+                               Total steps: 23,552,000
+                          Steps per second: 7,666
+                            Iteration time: 0.534s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0847
+                       Mean episode length: 1473.0
+                                Actor loss: -9.4256
+                               Critic loss: +0.0027
+                          World model loss: +1.3875
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.1404
+     Episode_Reward/track_angular_velocity: +55.7540
+                    Episode_Reward/upright: +28.7124
+                Episode_Reward/leg_posture: -3.3525
+                 Episode_Reward/standstill: -6.9695
+             Episode_Reward/action_rate_l2: -0.5410
+           Episode_Reward/joint_torques_l2: -0.1602
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0345
+     Episode_Reward/unnecessary_wheel_lift: -0.1595
+         Episode_Reward/rolling_leg_motion: -0.9419
+          Episode_Reward/obstacle_progress: +1.8397
+       Episode_Reward/wheel_body_intrusion: -0.3382
+        Episode_Reward/pair_body_intrusion: -0.2407
+             Curriculum/terrain_level_mean: +1.2961
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1027
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.6638
+             Episode_Termination/fell_over: 0.0393
+           Episode_Termination/course_exit: 0.2838
+Episode_Termination/illegal_nonwheel_contact: 0.0131
+==============================================================================
+
+==============================================================================
+Learning iteration 5800/50000
+                               Total steps: 23,756,800
+                          Steps per second: 7,700
+                            Iteration time: 0.532s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0847
+                       Mean episode length: 1444.4
+                                Actor loss: -9.4263
+                               Critic loss: +0.0035
+                          World model loss: +1.4471
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1921
+     Episode_Reward/track_angular_velocity: +54.6168
+                    Episode_Reward/upright: +28.1874
+                Episode_Reward/leg_posture: -3.2679
+                 Episode_Reward/standstill: -6.7822
+             Episode_Reward/action_rate_l2: -0.5580
+           Episode_Reward/joint_torques_l2: -0.1586
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0310
+     Episode_Reward/unnecessary_wheel_lift: -0.1449
+         Episode_Reward/rolling_leg_motion: -0.9335
+          Episode_Reward/obstacle_progress: +1.8245
+       Episode_Reward/wheel_body_intrusion: -0.3287
+        Episode_Reward/pair_body_intrusion: -0.2859
+             Curriculum/terrain_level_mean: +1.3076
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1026
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.6162
+             Episode_Termination/fell_over: 0.0556
+           Episode_Termination/course_exit: 0.3283
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 5850/50000
+                               Total steps: 23,961,600
+                          Steps per second: 7,734
+                            Iteration time: 0.530s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0848
+                       Mean episode length: 1396.0
+                                Actor loss: -9.4347
+                               Critic loss: +0.0026
+                          World model loss: +1.2956
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4675
+     Episode_Reward/track_angular_velocity: +52.8182
+                    Episode_Reward/upright: +27.2453
+                Episode_Reward/leg_posture: -3.1720
+                 Episode_Reward/standstill: -6.4447
+             Episode_Reward/action_rate_l2: -0.5380
+           Episode_Reward/joint_torques_l2: -0.1524
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.1304
+         Episode_Reward/rolling_leg_motion: -0.8944
+          Episode_Reward/obstacle_progress: +1.7900
+       Episode_Reward/wheel_body_intrusion: -0.3130
+        Episode_Reward/pair_body_intrusion: -0.2383
+             Curriculum/terrain_level_mean: +1.3191
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1027
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5663
+             Episode_Termination/fell_over: 0.0361
+           Episode_Termination/course_exit: 0.3855
+Episode_Termination/illegal_nonwheel_contact: 0.0120
+==============================================================================
+
+==============================================================================
+Learning iteration 5900/50000
+                               Total steps: 24,166,400
+                          Steps per second: 7,768
+                            Iteration time: 0.527s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0846
+                       Mean episode length: 1370.1
+                                Actor loss: -9.4130
+                               Critic loss: +0.0025
+                          World model loss: +1.3728
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5817
+     Episode_Reward/track_angular_velocity: +51.8853
+                    Episode_Reward/upright: +26.7433
+                Episode_Reward/leg_posture: -3.1098
+                 Episode_Reward/standstill: -6.6427
+             Episode_Reward/action_rate_l2: -0.5265
+           Episode_Reward/joint_torques_l2: -0.1534
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0321
+     Episode_Reward/unnecessary_wheel_lift: -0.1579
+         Episode_Reward/rolling_leg_motion: -0.8661
+          Episode_Reward/obstacle_progress: +1.7421
+       Episode_Reward/wheel_body_intrusion: -0.3058
+        Episode_Reward/pair_body_intrusion: -0.2438
+             Curriculum/terrain_level_mean: +1.3289
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1026
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.5521
+             Episode_Termination/fell_over: 0.0613
+           Episode_Termination/course_exit: 0.3742
+Episode_Termination/illegal_nonwheel_contact: 0.0184
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2200]
+
+==============================================================================
+Learning iteration 5950/50000
+                               Total steps: 24,371,200
+                          Steps per second: 7,801
+                            Iteration time: 0.525s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0846
+                       Mean episode length: 1284.4
+                                Actor loss: -9.4271
+                               Critic loss: +0.0035
+                          World model loss: +1.3641
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.6234
+     Episode_Reward/track_angular_velocity: +48.6299
+                    Episode_Reward/upright: +25.0432
+                Episode_Reward/leg_posture: -2.9207
+                 Episode_Reward/standstill: -6.1843
+             Episode_Reward/action_rate_l2: -0.4956
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0452
+     Episode_Reward/unnecessary_wheel_lift: -0.1495
+         Episode_Reward/rolling_leg_motion: -0.8134
+          Episode_Reward/obstacle_progress: +1.6016
+       Episode_Reward/wheel_body_intrusion: -0.2753
+        Episode_Reward/pair_body_intrusion: -0.2013
+             Curriculum/terrain_level_mean: +1.3389
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1024
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.4400
+             Episode_Termination/fell_over: 0.0971
+           Episode_Termination/course_exit: 0.4571
+Episode_Termination/illegal_nonwheel_contact: 0.0114
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2138]
+
+==============================================================================
+Learning iteration 6000/50000
+                               Total steps: 24,576,000
+                          Steps per second: 7,834
+                            Iteration time: 0.523s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0843
+                       Mean episode length: 1302.0
+                                Actor loss: -9.4111
+                               Critic loss: +0.0024
+                          World model loss: +1.3713
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.1722
+     Episode_Reward/track_angular_velocity: +49.2876
+                    Episode_Reward/upright: +25.3791
+                Episode_Reward/leg_posture: -3.0207
+                 Episode_Reward/standstill: -6.4595
+             Episode_Reward/action_rate_l2: -0.5045
+           Episode_Reward/joint_torques_l2: -0.1462
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0432
+     Episode_Reward/unnecessary_wheel_lift: -0.1673
+         Episode_Reward/rolling_leg_motion: -0.8329
+          Episode_Reward/obstacle_progress: +1.5889
+       Episode_Reward/wheel_body_intrusion: -0.3099
+        Episode_Reward/pair_body_intrusion: -0.2306
+             Curriculum/terrain_level_mean: +1.3481
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1029
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4459
+             Episode_Termination/fell_over: 0.1019
+           Episode_Termination/course_exit: 0.4459
+Episode_Termination/illegal_nonwheel_contact: 0.0127
+==============================================================================
+
+==============================================================================
+Learning iteration 6050/50000
+                               Total steps: 24,780,800
+                          Steps per second: 7,866
+                            Iteration time: 0.521s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0845
+                       Mean episode length: 1298.5
+                                Actor loss: -9.4172
+                               Critic loss: +0.0048
+                          World model loss: +1.3496
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.0992
+     Episode_Reward/track_angular_velocity: +49.0972
+                    Episode_Reward/upright: +25.3203
+                Episode_Reward/leg_posture: -2.9855
+                 Episode_Reward/standstill: -6.3596
+             Episode_Reward/action_rate_l2: -0.5095
+           Episode_Reward/joint_torques_l2: -0.1472
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0304
+     Episode_Reward/unnecessary_wheel_lift: -0.1358
+         Episode_Reward/rolling_leg_motion: -0.8009
+          Episode_Reward/obstacle_progress: +1.6631
+       Episode_Reward/wheel_body_intrusion: -0.3076
+        Episode_Reward/pair_body_intrusion: -0.2446
+             Curriculum/terrain_level_mean: +1.3574
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1023
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4609
+             Episode_Termination/fell_over: 0.0938
+           Episode_Termination/course_exit: 0.4453
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 6100/50000
+                               Total steps: 24,985,600
+                          Steps per second: 7,898
+                            Iteration time: 0.519s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0841
+                       Mean episode length: 1342.0
+                                Actor loss: -9.3806
+                               Critic loss: +0.0066
+                          World model loss: +1.3984
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4601
+     Episode_Reward/track_angular_velocity: +50.7312
+                    Episode_Reward/upright: +26.1495
+                Episode_Reward/leg_posture: -3.0619
+                 Episode_Reward/standstill: -6.9605
+             Episode_Reward/action_rate_l2: -0.5365
+           Episode_Reward/joint_torques_l2: -0.1543
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0341
+     Episode_Reward/unnecessary_wheel_lift: -0.1169
+         Episode_Reward/rolling_leg_motion: -0.8453
+          Episode_Reward/obstacle_progress: +1.7427
+       Episode_Reward/wheel_body_intrusion: -0.3258
+        Episode_Reward/pair_body_intrusion: -0.2289
+             Curriculum/terrain_level_mean: +1.3650
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1036
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4583
+             Episode_Termination/fell_over: 0.0903
+           Episode_Termination/course_exit: 0.4514
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[661]
+
+==============================================================================
+Learning iteration 6150/50000
+                               Total steps: 25,190,400
+                          Steps per second: 7,931
+                            Iteration time: 0.516s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0842
+                       Mean episode length: 1239.4
+                                Actor loss: -9.4032
+                               Critic loss: +0.0055
+                          World model loss: +1.3149
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.9730
+     Episode_Reward/track_angular_velocity: +46.8822
+                    Episode_Reward/upright: +24.1542
+                Episode_Reward/leg_posture: -2.8226
+                 Episode_Reward/standstill: -6.3618
+             Episode_Reward/action_rate_l2: -0.5007
+           Episode_Reward/joint_torques_l2: -0.1428
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0194
+     Episode_Reward/unnecessary_wheel_lift: -0.1110
+         Episode_Reward/rolling_leg_motion: -0.7706
+          Episode_Reward/obstacle_progress: +1.6069
+       Episode_Reward/wheel_body_intrusion: -0.3079
+        Episode_Reward/pair_body_intrusion: -0.2211
+             Curriculum/terrain_level_mean: +1.3752
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1030
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4211
+             Episode_Termination/fell_over: 0.0702
+           Episode_Termination/course_exit: 0.5088
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 6200/50000
+                               Total steps: 25,395,200
+                          Steps per second: 7,963
+                            Iteration time: 0.514s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0839
+                       Mean episode length: 1315.4
+                                Actor loss: -9.4183
+                               Critic loss: +0.0027
+                          World model loss: +1.3390
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.4016
+     Episode_Reward/track_angular_velocity: +49.7918
+                    Episode_Reward/upright: +25.6189
+                Episode_Reward/leg_posture: -3.0053
+                 Episode_Reward/standstill: -6.8038
+             Episode_Reward/action_rate_l2: -0.5329
+           Episode_Reward/joint_torques_l2: -0.1533
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0283
+     Episode_Reward/unnecessary_wheel_lift: -0.1501
+         Episode_Reward/rolling_leg_motion: -0.8178
+          Episode_Reward/obstacle_progress: +1.6681
+       Episode_Reward/wheel_body_intrusion: -0.3328
+        Episode_Reward/pair_body_intrusion: -0.2731
+             Curriculum/terrain_level_mean: +1.3835
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1047
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4526
+             Episode_Termination/fell_over: 0.0730
+           Episode_Termination/course_exit: 0.4672
+Episode_Termination/illegal_nonwheel_contact: 0.0146
+==============================================================================
+
+==============================================================================
+Learning iteration 6250/50000
+                               Total steps: 25,600,000
+                          Steps per second: 7,994
+                            Iteration time: 0.512s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0841
+                       Mean episode length: 1240.9
+                                Actor loss: -9.3968
+                               Critic loss: +0.0030
+                          World model loss: +1.3735
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.9436
+     Episode_Reward/track_angular_velocity: +46.9299
+                    Episode_Reward/upright: +24.1566
+                Episode_Reward/leg_posture: -2.7861
+                 Episode_Reward/standstill: -6.3700
+             Episode_Reward/action_rate_l2: -0.5169
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0267
+     Episode_Reward/unnecessary_wheel_lift: -0.1339
+         Episode_Reward/rolling_leg_motion: -0.7638
+          Episode_Reward/obstacle_progress: +1.6630
+       Episode_Reward/wheel_body_intrusion: -0.3085
+        Episode_Reward/pair_body_intrusion: -0.2397
+             Curriculum/terrain_level_mean: +1.3938
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1039
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4370
+             Episode_Termination/fell_over: 0.0741
+           Episode_Termination/course_exit: 0.4815
+Episode_Termination/illegal_nonwheel_contact: 0.0148
+==============================================================================
+
+==============================================================================
+Learning iteration 6300/50000
+                               Total steps: 25,804,800
+                          Steps per second: 8,026
+                            Iteration time: 0.510s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0839
+                       Mean episode length: 1300.6
+                                Actor loss: -9.3951
+                               Critic loss: +0.0045
+                          World model loss: +1.3106
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8868
+     Episode_Reward/track_angular_velocity: +49.1480
+                    Episode_Reward/upright: +25.3027
+                Episode_Reward/leg_posture: -2.9455
+                 Episode_Reward/standstill: -6.7819
+             Episode_Reward/action_rate_l2: -0.5542
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0254
+     Episode_Reward/unnecessary_wheel_lift: -0.1282
+         Episode_Reward/rolling_leg_motion: -0.8217
+          Episode_Reward/obstacle_progress: +1.7118
+       Episode_Reward/wheel_body_intrusion: -0.3209
+        Episode_Reward/pair_body_intrusion: -0.2443
+             Curriculum/terrain_level_mean: +1.4043
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1047
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.4444
+             Episode_Termination/fell_over: 0.0625
+           Episode_Termination/course_exit: 0.4861
+Episode_Termination/illegal_nonwheel_contact: 0.0069
+==============================================================================
+
+==============================================================================
+Learning iteration 6350/50000
+                               Total steps: 26,009,600
+                          Steps per second: 8,056
+                            Iteration time: 0.508s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0839
+                       Mean episode length: 1291.4
+                                Actor loss: -9.3851
+                               Critic loss: +0.0065
+                          World model loss: +1.3168
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.5701
+     Episode_Reward/track_angular_velocity: +48.8661
+                    Episode_Reward/upright: +25.1136
+                Episode_Reward/leg_posture: -2.9393
+                 Episode_Reward/standstill: -6.7481
+             Episode_Reward/action_rate_l2: -0.5387
+           Episode_Reward/joint_torques_l2: -0.1505
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0353
+     Episode_Reward/unnecessary_wheel_lift: -0.1094
+         Episode_Reward/rolling_leg_motion: -0.7975
+          Episode_Reward/obstacle_progress: +1.6740
+       Episode_Reward/wheel_body_intrusion: -0.3061
+        Episode_Reward/pair_body_intrusion: -0.2397
+             Curriculum/terrain_level_mean: +1.4124
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1048
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4252
+             Episode_Termination/fell_over: 0.0945
+           Episode_Termination/course_exit: 0.4646
+Episode_Termination/illegal_nonwheel_contact: 0.0315
+==============================================================================
+
+==============================================================================
+Learning iteration 6400/50000
+                               Total steps: 26,214,400
+                          Steps per second: 8,086
+                            Iteration time: 0.507s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0836
+                       Mean episode length: 1242.9
+                                Actor loss: -9.4173
+                               Critic loss: +0.0057
+                          World model loss: +1.2763
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.8263
+     Episode_Reward/track_angular_velocity: +47.0519
+                    Episode_Reward/upright: +24.1405
+                Episode_Reward/leg_posture: -2.8584
+                 Episode_Reward/standstill: -6.7784
+             Episode_Reward/action_rate_l2: -0.5192
+           Episode_Reward/joint_torques_l2: -0.1465
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0364
+     Episode_Reward/unnecessary_wheel_lift: -0.1350
+         Episode_Reward/rolling_leg_motion: -0.7627
+          Episode_Reward/obstacle_progress: +1.6338
+       Episode_Reward/wheel_body_intrusion: -0.2961
+        Episode_Reward/pair_body_intrusion: -0.2769
+             Curriculum/terrain_level_mean: +1.4224
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1053
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.3836
+             Episode_Termination/fell_over: 0.0959
+           Episode_Termination/course_exit: 0.5137
+Episode_Termination/illegal_nonwheel_contact: 0.0137
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[976]
+
+==============================================================================
+Learning iteration 6450/50000
+                               Total steps: 26,419,200
+                          Steps per second: 8,117
+                            Iteration time: 0.505s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0835
+                       Mean episode length: 1345.3
+                                Actor loss: -9.4023
+                               Critic loss: +0.0045
+                          World model loss: +1.2962
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2980
+     Episode_Reward/track_angular_velocity: +50.8692
+                    Episode_Reward/upright: +26.1288
+                Episode_Reward/leg_posture: -3.0455
+                 Episode_Reward/standstill: -7.3709
+             Episode_Reward/action_rate_l2: -0.5849
+           Episode_Reward/joint_torques_l2: -0.1596
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0447
+     Episode_Reward/unnecessary_wheel_lift: -0.1639
+         Episode_Reward/rolling_leg_motion: -0.8374
+          Episode_Reward/obstacle_progress: +1.7522
+       Episode_Reward/wheel_body_intrusion: -0.3061
+        Episode_Reward/pair_body_intrusion: -0.2351
+             Curriculum/terrain_level_mean: +1.4302
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1060
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4863
+             Episode_Termination/fell_over: 0.1027
+           Episode_Termination/course_exit: 0.3973
+Episode_Termination/illegal_nonwheel_contact: 0.0137
+==============================================================================
+
+==============================================================================
+Learning iteration 6500/50000
+                               Total steps: 26,624,000
+                          Steps per second: 8,147
+                            Iteration time: 0.503s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0838
+                       Mean episode length: 1201.2
+                                Actor loss: -9.3878
+                               Critic loss: +0.0087
+                          World model loss: +1.2695
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.4287
+     Episode_Reward/track_angular_velocity: +45.3758
+                    Episode_Reward/upright: +23.3201
+                Episode_Reward/leg_posture: -2.7132
+                 Episode_Reward/standstill: -6.2583
+             Episode_Reward/action_rate_l2: -0.5565
+           Episode_Reward/joint_torques_l2: -0.1443
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0282
+     Episode_Reward/unnecessary_wheel_lift: -0.1147
+         Episode_Reward/rolling_leg_motion: -0.7415
+          Episode_Reward/obstacle_progress: +1.6486
+       Episode_Reward/wheel_body_intrusion: -0.2858
+        Episode_Reward/pair_body_intrusion: -0.2282
+             Curriculum/terrain_level_mean: +1.4387
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1051
+       Metrics/base_velocity/error_vel_yaw: 0.1373
+              Episode_Termination/time_out: 0.3500
+             Episode_Termination/fell_over: 0.0917
+           Episode_Termination/course_exit: 0.5500
+Episode_Termination/illegal_nonwheel_contact: 0.0333
+==============================================================================
+
+==============================================================================
+Learning iteration 6550/50000
+                               Total steps: 26,828,800
+                          Steps per second: 8,177
+                            Iteration time: 0.501s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0841
+                       Mean episode length: 1340.0
+                                Actor loss: -9.3873
+                               Critic loss: +0.0106
+                          World model loss: +1.2722
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3224
+     Episode_Reward/track_angular_velocity: +50.6677
+                    Episode_Reward/upright: +26.0181
+                Episode_Reward/leg_posture: -2.9616
+                 Episode_Reward/standstill: -6.9144
+             Episode_Reward/action_rate_l2: -0.6181
+           Episode_Reward/joint_torques_l2: -0.1606
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0445
+     Episode_Reward/unnecessary_wheel_lift: -0.1686
+         Episode_Reward/rolling_leg_motion: -0.8232
+          Episode_Reward/obstacle_progress: +1.9343
+       Episode_Reward/wheel_body_intrusion: -0.2868
+        Episode_Reward/pair_body_intrusion: -0.2049
+             Curriculum/terrain_level_mean: +1.4448
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4571
+             Episode_Termination/fell_over: 0.1214
+           Episode_Termination/course_exit: 0.4214
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 6600/50000
+                               Total steps: 27,033,600
+                          Steps per second: 8,207
+                            Iteration time: 0.499s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0844
+                       Mean episode length: 1309.6
+                                Actor loss: -9.4018
+                               Critic loss: +0.0033
+                          World model loss: +1.2731
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.2728
+     Episode_Reward/track_angular_velocity: +49.4021
+                    Episode_Reward/upright: +25.4137
+                Episode_Reward/leg_posture: -2.9106
+                 Episode_Reward/standstill: -6.2457
+             Episode_Reward/action_rate_l2: -0.5893
+           Episode_Reward/joint_torques_l2: -0.1585
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0307
+     Episode_Reward/unnecessary_wheel_lift: -0.1323
+         Episode_Reward/rolling_leg_motion: -0.7970
+          Episode_Reward/obstacle_progress: +1.9104
+       Episode_Reward/wheel_body_intrusion: -0.3043
+        Episode_Reward/pair_body_intrusion: -0.2556
+             Curriculum/terrain_level_mean: +1.4541
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1045
+       Metrics/base_velocity/error_vel_yaw: 0.1392
+              Episode_Termination/time_out: 0.4483
+             Episode_Termination/fell_over: 0.0759
+           Episode_Termination/course_exit: 0.4690
+Episode_Termination/illegal_nonwheel_contact: 0.0207
+==============================================================================
+
+==============================================================================
+Learning iteration 6650/50000
+                               Total steps: 27,238,400
+                          Steps per second: 8,236
+                            Iteration time: 0.497s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0845
+                       Mean episode length: 1344.0
+                                Actor loss: -9.3992
+                               Critic loss: +0.0074
+                          World model loss: +1.3024
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5517
+     Episode_Reward/track_angular_velocity: +50.8197
+                    Episode_Reward/upright: +26.0991
+                Episode_Reward/leg_posture: -2.9932
+                 Episode_Reward/standstill: -6.5527
+             Episode_Reward/action_rate_l2: -0.6099
+           Episode_Reward/joint_torques_l2: -0.1644
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0236
+     Episode_Reward/unnecessary_wheel_lift: -0.1171
+         Episode_Reward/rolling_leg_motion: -0.8203
+          Episode_Reward/obstacle_progress: +1.9803
+       Episode_Reward/wheel_body_intrusion: -0.3196
+        Episode_Reward/pair_body_intrusion: -0.2409
+             Curriculum/terrain_level_mean: +1.4622
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1037
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4667
+             Episode_Termination/fell_over: 0.0593
+           Episode_Termination/course_exit: 0.4667
+Episode_Termination/illegal_nonwheel_contact: 0.0222
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2262]
+
+==============================================================================
+Learning iteration 6700/50000
+                               Total steps: 27,443,200
+                          Steps per second: 8,266
+                            Iteration time: 0.496s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1332.4
+                                Actor loss: -9.4259
+                               Critic loss: +0.0048
+                          World model loss: +1.3096
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2268
+     Episode_Reward/track_angular_velocity: +50.3434
+                    Episode_Reward/upright: +25.8621
+                Episode_Reward/leg_posture: -3.0093
+                 Episode_Reward/standstill: -6.4709
+             Episode_Reward/action_rate_l2: -0.5777
+           Episode_Reward/joint_torques_l2: -0.1632
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0182
+     Episode_Reward/unnecessary_wheel_lift: -0.1157
+         Episode_Reward/rolling_leg_motion: -0.8042
+          Episode_Reward/obstacle_progress: +1.9884
+       Episode_Reward/wheel_body_intrusion: -0.3131
+        Episode_Reward/pair_body_intrusion: -0.2057
+             Curriculum/terrain_level_mean: +1.4690
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1031
+       Metrics/base_velocity/error_vel_yaw: 0.1372
+              Episode_Termination/time_out: 0.5043
+             Episode_Termination/fell_over: 0.0598
+           Episode_Termination/course_exit: 0.4359
+Episode_Termination/illegal_nonwheel_contact: 0.0171
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1866]
+
+==============================================================================
+Learning iteration 6750/50000
+                               Total steps: 27,648,000
+                          Steps per second: 8,295
+                            Iteration time: 0.494s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0846
+                       Mean episode length: 1272.3
+                                Actor loss: -9.4179
+                               Critic loss: +0.0032
+                          World model loss: +1.2711
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.0370
+     Episode_Reward/track_angular_velocity: +48.0494
+                    Episode_Reward/upright: +24.7019
+                Episode_Reward/leg_posture: -2.8523
+                 Episode_Reward/standstill: -6.1472
+             Episode_Reward/action_rate_l2: -0.5315
+           Episode_Reward/joint_torques_l2: -0.1551
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0298
+     Episode_Reward/unnecessary_wheel_lift: -0.1193
+         Episode_Reward/rolling_leg_motion: -0.7508
+          Episode_Reward/obstacle_progress: +1.8941
+       Episode_Reward/wheel_body_intrusion: -0.2812
+        Episode_Reward/pair_body_intrusion: -0.2013
+             Curriculum/terrain_level_mean: +1.4761
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1042
+       Metrics/base_velocity/error_vel_yaw: 0.1375
+              Episode_Termination/time_out: 0.4035
+             Episode_Termination/fell_over: 0.1053
+           Episode_Termination/course_exit: 0.4912
+Episode_Termination/illegal_nonwheel_contact: 0.0088
+==============================================================================
+
+==============================================================================
+Learning iteration 6800/50000
+                               Total steps: 27,852,800
+                          Steps per second: 8,324
+                            Iteration time: 0.492s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1238.3
+                                Actor loss: -9.3973
+                               Critic loss: +0.0089
+                          World model loss: +1.3099
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.8543
+     Episode_Reward/track_angular_velocity: +46.7912
+                    Episode_Reward/upright: +24.0425
+                Episode_Reward/leg_posture: -2.8206
+                 Episode_Reward/standstill: -5.7614
+             Episode_Reward/action_rate_l2: -0.5193
+           Episode_Reward/joint_torques_l2: -0.1528
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0314
+     Episode_Reward/unnecessary_wheel_lift: -0.1306
+         Episode_Reward/rolling_leg_motion: -0.7445
+          Episode_Reward/obstacle_progress: +1.8373
+       Episode_Reward/wheel_body_intrusion: -0.3139
+        Episode_Reward/pair_body_intrusion: -0.2395
+             Curriculum/terrain_level_mean: +1.4880
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.3600
+             Episode_Termination/fell_over: 0.0800
+           Episode_Termination/course_exit: 0.5533
+Episode_Termination/illegal_nonwheel_contact: 0.0133
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[839]
+
+==============================================================================
+Learning iteration 6850/50000
+                               Total steps: 28,057,600
+                          Steps per second: 8,353
+                            Iteration time: 0.490s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0848
+                       Mean episode length: 1249.4
+                                Actor loss: -9.4059
+                               Critic loss: +0.0122
+                          World model loss: +1.2676
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.3127
+     Episode_Reward/track_angular_velocity: +47.2193
+                    Episode_Reward/upright: +24.2445
+                Episode_Reward/leg_posture: -2.8602
+                 Episode_Reward/standstill: -5.7014
+             Episode_Reward/action_rate_l2: -0.5286
+           Episode_Reward/joint_torques_l2: -0.1520
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0317
+     Episode_Reward/unnecessary_wheel_lift: -0.1176
+         Episode_Reward/rolling_leg_motion: -0.7479
+          Episode_Reward/obstacle_progress: +1.8606
+       Episode_Reward/wheel_body_intrusion: -0.3031
+        Episode_Reward/pair_body_intrusion: -0.2132
+             Curriculum/terrain_level_mean: +1.4978
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1039
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4167
+             Episode_Termination/fell_over: 0.0833
+           Episode_Termination/course_exit: 0.4931
+Episode_Termination/illegal_nonwheel_contact: 0.0139
+==============================================================================
+
+==============================================================================
+Learning iteration 6900/50000
+                               Total steps: 28,262,400
+                          Steps per second: 8,381
+                            Iteration time: 0.489s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1335.8
+                                Actor loss: -9.4023
+                               Critic loss: +0.0064
+                          World model loss: +1.2630
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2608
+     Episode_Reward/track_angular_velocity: +50.5514
+                    Episode_Reward/upright: +25.9491
+                Episode_Reward/leg_posture: -3.0205
+                 Episode_Reward/standstill: -6.2421
+             Episode_Reward/action_rate_l2: -0.5626
+           Episode_Reward/joint_torques_l2: -0.1598
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0313
+     Episode_Reward/unnecessary_wheel_lift: -0.1448
+         Episode_Reward/rolling_leg_motion: -0.7905
+          Episode_Reward/obstacle_progress: +1.9474
+       Episode_Reward/wheel_body_intrusion: -0.3324
+        Episode_Reward/pair_body_intrusion: -0.2609
+             Curriculum/terrain_level_mean: +1.5059
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1038
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4671
+             Episode_Termination/fell_over: 0.0658
+           Episode_Termination/course_exit: 0.4539
+Episode_Termination/illegal_nonwheel_contact: 0.0329
+==============================================================================
+
+==============================================================================
+Learning iteration 6950/50000
+                               Total steps: 28,467,200
+                          Steps per second: 8,409
+                            Iteration time: 0.487s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0848
+                       Mean episode length: 1349.8
+                                Actor loss: -9.4363
+                               Critic loss: +0.0036
+                          World model loss: +1.2549
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8984
+     Episode_Reward/track_angular_velocity: +51.0888
+                    Episode_Reward/upright: +26.2431
+                Episode_Reward/leg_posture: -3.0301
+                 Episode_Reward/standstill: -6.5118
+             Episode_Reward/action_rate_l2: -0.5721
+           Episode_Reward/joint_torques_l2: -0.1613
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.1260
+         Episode_Reward/rolling_leg_motion: -0.8047
+          Episode_Reward/obstacle_progress: +1.9916
+       Episode_Reward/wheel_body_intrusion: -0.3185
+        Episode_Reward/pair_body_intrusion: -0.2424
+             Curriculum/terrain_level_mean: +1.5151
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1025
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4357
+             Episode_Termination/fell_over: 0.0500
+           Episode_Termination/course_exit: 0.5143
+Episode_Termination/illegal_nonwheel_contact: 0.0143
+==============================================================================
+
+==============================================================================
+Learning iteration 7000/50000
+                               Total steps: 28,672,000
+                          Steps per second: 8,437
+                            Iteration time: 0.485s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0851
+                       Mean episode length: 1328.4
+                                Actor loss: -9.4232
+                               Critic loss: +0.0050
+                          World model loss: +1.2726
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1909
+     Episode_Reward/track_angular_velocity: +50.2962
+                    Episode_Reward/upright: +25.8341
+                Episode_Reward/leg_posture: -2.9556
+                 Episode_Reward/standstill: -6.0898
+             Episode_Reward/action_rate_l2: -0.5601
+           Episode_Reward/joint_torques_l2: -0.1584
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0311
+     Episode_Reward/unnecessary_wheel_lift: -0.1201
+         Episode_Reward/rolling_leg_motion: -0.7999
+          Episode_Reward/obstacle_progress: +1.9928
+       Episode_Reward/wheel_body_intrusion: -0.3074
+        Episode_Reward/pair_body_intrusion: -0.2294
+             Curriculum/terrain_level_mean: +1.5269
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1025
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5217
+             Episode_Termination/fell_over: 0.0745
+           Episode_Termination/course_exit: 0.4037
+Episode_Termination/illegal_nonwheel_contact: 0.0311
+==============================================================================
+
+==============================================================================
+Learning iteration 7050/50000
+                               Total steps: 28,876,800
+                          Steps per second: 8,464
+                            Iteration time: 0.484s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0852
+                       Mean episode length: 1336.9
+                                Actor loss: -9.4167
+                               Critic loss: +0.0051
+                          World model loss: +1.2110
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4929
+     Episode_Reward/track_angular_velocity: +50.6016
+                    Episode_Reward/upright: +26.0002
+                Episode_Reward/leg_posture: -2.9746
+                 Episode_Reward/standstill: -6.1266
+             Episode_Reward/action_rate_l2: -0.5631
+           Episode_Reward/joint_torques_l2: -0.1594
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.1245
+         Episode_Reward/rolling_leg_motion: -0.8143
+          Episode_Reward/obstacle_progress: +2.0636
+       Episode_Reward/wheel_body_intrusion: -0.3239
+        Episode_Reward/pair_body_intrusion: -0.2022
+             Curriculum/terrain_level_mean: +1.5347
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1025
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4841
+             Episode_Termination/fell_over: 0.0635
+           Episode_Termination/course_exit: 0.4524
+Episode_Termination/illegal_nonwheel_contact: 0.0079
+==============================================================================
+
+==============================================================================
+Learning iteration 7100/50000
+                               Total steps: 29,081,600
+                          Steps per second: 8,492
+                            Iteration time: 0.482s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0853
+                       Mean episode length: 1315.3
+                                Actor loss: -9.3748
+                               Critic loss: +0.0145
+                          World model loss: +1.2051
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7079
+     Episode_Reward/track_angular_velocity: +49.7863
+                    Episode_Reward/upright: +25.5824
+                Episode_Reward/leg_posture: -2.9245
+                 Episode_Reward/standstill: -5.8115
+             Episode_Reward/action_rate_l2: -0.5483
+           Episode_Reward/joint_torques_l2: -0.1562
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0257
+     Episode_Reward/unnecessary_wheel_lift: -0.1164
+         Episode_Reward/rolling_leg_motion: -0.7761
+          Episode_Reward/obstacle_progress: +2.0583
+       Episode_Reward/wheel_body_intrusion: -0.3274
+        Episode_Reward/pair_body_intrusion: -0.2607
+             Curriculum/terrain_level_mean: +1.5449
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1025
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4681
+             Episode_Termination/fell_over: 0.0638
+           Episode_Termination/course_exit: 0.4610
+Episode_Termination/illegal_nonwheel_contact: 0.0213
+==============================================================================
+
+==============================================================================
+Learning iteration 7150/50000
+                               Total steps: 29,286,400
+                          Steps per second: 8,519
+                            Iteration time: 0.481s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0848
+                       Mean episode length: 1282.3
+                                Actor loss: -9.4164
+                               Critic loss: +0.0034
+                          World model loss: +1.1969
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.5000
+     Episode_Reward/track_angular_velocity: +48.5033
+                    Episode_Reward/upright: +24.9526
+                Episode_Reward/leg_posture: -2.8420
+                 Episode_Reward/standstill: -6.1919
+             Episode_Reward/action_rate_l2: -0.5370
+           Episode_Reward/joint_torques_l2: -0.1523
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0301
+     Episode_Reward/unnecessary_wheel_lift: -0.1543
+         Episode_Reward/rolling_leg_motion: -0.7801
+          Episode_Reward/obstacle_progress: +2.0227
+       Episode_Reward/wheel_body_intrusion: -0.3225
+        Episode_Reward/pair_body_intrusion: -0.2483
+             Curriculum/terrain_level_mean: +1.5544
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1034
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4157
+             Episode_Termination/fell_over: 0.0602
+           Episode_Termination/course_exit: 0.5120
+Episode_Termination/illegal_nonwheel_contact: 0.0361
+==============================================================================
+
+==============================================================================
+Learning iteration 7200/50000
+                               Total steps: 29,491,200
+                          Steps per second: 8,546
+                            Iteration time: 0.479s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0850
+                       Mean episode length: 1375.0
+                                Actor loss: -9.4092
+                               Critic loss: +0.0107
+                          World model loss: +1.2478
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8912
+     Episode_Reward/track_angular_velocity: +52.0261
+                    Episode_Reward/upright: +26.7561
+                Episode_Reward/leg_posture: -3.0522
+                 Episode_Reward/standstill: -6.7785
+             Episode_Reward/action_rate_l2: -0.5581
+           Episode_Reward/joint_torques_l2: -0.1643
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0322
+     Episode_Reward/unnecessary_wheel_lift: -0.1309
+         Episode_Reward/rolling_leg_motion: -0.8144
+          Episode_Reward/obstacle_progress: +2.2295
+       Episode_Reward/wheel_body_intrusion: -0.3275
+        Episode_Reward/pair_body_intrusion: -0.2276
+             Curriculum/terrain_level_mean: +1.5613
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1022
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.5106
+             Episode_Termination/fell_over: 0.0709
+           Episode_Termination/course_exit: 0.4043
+Episode_Termination/illegal_nonwheel_contact: 0.0355
+==============================================================================
+
+==============================================================================
+Learning iteration 7250/50000
+                               Total steps: 29,696,000
+                          Steps per second: 8,573
+                            Iteration time: 0.478s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1408.1
+                                Actor loss: -9.4162
+                               Critic loss: +0.0040
+                          World model loss: +1.2293
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9587
+     Episode_Reward/track_angular_velocity: +53.1918
+                    Episode_Reward/upright: +27.3889
+                Episode_Reward/leg_posture: -3.0991
+                 Episode_Reward/standstill: -7.0167
+             Episode_Reward/action_rate_l2: -0.5838
+           Episode_Reward/joint_torques_l2: -0.1684
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0275
+     Episode_Reward/unnecessary_wheel_lift: -0.1322
+         Episode_Reward/rolling_leg_motion: -0.8362
+          Episode_Reward/obstacle_progress: +2.2936
+       Episode_Reward/wheel_body_intrusion: -0.3467
+        Episode_Reward/pair_body_intrusion: -0.3025
+             Curriculum/terrain_level_mean: +1.5703
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1026
+       Metrics/base_velocity/error_vel_yaw: 0.1372
+              Episode_Termination/time_out: 0.5030
+             Episode_Termination/fell_over: 0.0473
+           Episode_Termination/course_exit: 0.4379
+Episode_Termination/illegal_nonwheel_contact: 0.0178
+==============================================================================
+
+==============================================================================
+Learning iteration 7300/50000
+                               Total steps: 29,900,800
+                          Steps per second: 8,600
+                            Iteration time: 0.476s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1382.6
+                                Actor loss: -9.3951
+                               Critic loss: +0.0034
+                          World model loss: +1.2529
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0180
+     Episode_Reward/track_angular_velocity: +52.2670
+                    Episode_Reward/upright: +26.8818
+                Episode_Reward/leg_posture: -3.0834
+                 Episode_Reward/standstill: -6.9541
+             Episode_Reward/action_rate_l2: -0.5669
+           Episode_Reward/joint_torques_l2: -0.1663
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0324
+     Episode_Reward/unnecessary_wheel_lift: -0.1779
+         Episode_Reward/rolling_leg_motion: -0.8373
+          Episode_Reward/obstacle_progress: +2.1950
+       Episode_Reward/wheel_body_intrusion: -0.3673
+        Episode_Reward/pair_body_intrusion: -0.2763
+             Curriculum/terrain_level_mean: +1.5796
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.5200
+             Episode_Termination/fell_over: 0.0600
+           Episode_Termination/course_exit: 0.4200
+Episode_Termination/illegal_nonwheel_contact: 0.0100
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2156]
+RECOVERY reset 1 invalid environments; first IDs=[2359]
+RECOVERY reset 1 invalid environments; first IDs=[1704]
+
+==============================================================================
+Learning iteration 7350/50000
+                               Total steps: 30,105,600
+                          Steps per second: 8,626
+                            Iteration time: 0.475s
+                           Collection time: 0.077s
+                             Learning time: 0.184s
+                               Mean reward: +0.0850
+                       Mean episode length: 1372.8
+                                Actor loss: -9.4259
+                               Critic loss: +0.0052
+                          World model loss: +1.2124
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8635
+     Episode_Reward/track_angular_velocity: +51.9394
+                    Episode_Reward/upright: +26.7027
+                Episode_Reward/leg_posture: -3.0421
+                 Episode_Reward/standstill: -6.5484
+             Episode_Reward/action_rate_l2: -0.5892
+           Episode_Reward/joint_torques_l2: -0.1646
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0322
+     Episode_Reward/unnecessary_wheel_lift: -0.1610
+         Episode_Reward/rolling_leg_motion: -0.8221
+          Episode_Reward/obstacle_progress: +2.2220
+       Episode_Reward/wheel_body_intrusion: -0.3547
+        Episode_Reward/pair_body_intrusion: -0.2748
+             Curriculum/terrain_level_mean: +1.5889
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1016
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.5444
+             Episode_Termination/fell_over: 0.0667
+           Episode_Termination/course_exit: 0.3889
+Episode_Termination/illegal_nonwheel_contact: 0.0056
+==============================================================================
+
+==============================================================================
+Learning iteration 7400/50000
+                               Total steps: 30,310,400
+                          Steps per second: 8,653
+                            Iteration time: 0.473s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0850
+                       Mean episode length: 1439.3
+                                Actor loss: -9.4271
+                               Critic loss: +0.0032
+                          World model loss: +1.2461
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1201
+     Episode_Reward/track_angular_velocity: +54.3581
+                    Episode_Reward/upright: +28.0038
+                Episode_Reward/leg_posture: -3.1420
+                 Episode_Reward/standstill: -6.8968
+             Episode_Reward/action_rate_l2: -0.6161
+           Episode_Reward/joint_torques_l2: -0.1701
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0365
+     Episode_Reward/unnecessary_wheel_lift: -0.1557
+         Episode_Reward/rolling_leg_motion: -0.8582
+          Episode_Reward/obstacle_progress: +2.3090
+       Episode_Reward/wheel_body_intrusion: -0.3556
+        Episode_Reward/pair_body_intrusion: -0.2562
+             Curriculum/terrain_level_mean: +1.5979
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1022
+       Metrics/base_velocity/error_vel_yaw: 0.1372
+              Episode_Termination/time_out: 0.5918
+             Episode_Termination/fell_over: 0.0612
+           Episode_Termination/course_exit: 0.3418
+Episode_Termination/illegal_nonwheel_contact: 0.0153
+==============================================================================
+
+==============================================================================
+Learning iteration 7450/50000
+                               Total steps: 30,515,200
+                          Steps per second: 8,679
+                            Iteration time: 0.472s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0855
+                       Mean episode length: 1443.8
+                                Actor loss: -9.3989
+                               Critic loss: +0.0073
+                          World model loss: +1.2130
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.3944
+     Episode_Reward/track_angular_velocity: +54.5123
+                    Episode_Reward/upright: +28.1089
+                Episode_Reward/leg_posture: -3.1752
+                 Episode_Reward/standstill: -6.3288
+             Episode_Reward/action_rate_l2: -0.6225
+           Episode_Reward/joint_torques_l2: -0.1718
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0310
+     Episode_Reward/unnecessary_wheel_lift: -0.1422
+         Episode_Reward/rolling_leg_motion: -0.8614
+          Episode_Reward/obstacle_progress: +2.3349
+       Episode_Reward/wheel_body_intrusion: -0.3556
+        Episode_Reward/pair_body_intrusion: -0.2699
+             Curriculum/terrain_level_mean: +1.6077
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1009
+       Metrics/base_velocity/error_vel_yaw: 0.1375
+              Episode_Termination/time_out: 0.6219
+             Episode_Termination/fell_over: 0.0348
+           Episode_Termination/course_exit: 0.3284
+Episode_Termination/illegal_nonwheel_contact: 0.0299
+==============================================================================
+
+==============================================================================
+Learning iteration 7500/50000
+                               Total steps: 30,720,000
+                          Steps per second: 8,705
+                            Iteration time: 0.471s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0853
+                       Mean episode length: 1464.2
+                                Actor loss: -9.4413
+                               Critic loss: +0.0024
+                          World model loss: +1.2290
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.0311
+     Episode_Reward/track_angular_velocity: +55.3384
+                    Episode_Reward/upright: +28.4828
+                Episode_Reward/leg_posture: -3.1489
+                 Episode_Reward/standstill: -6.6255
+             Episode_Reward/action_rate_l2: -0.6341
+           Episode_Reward/joint_torques_l2: -0.1729
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0229
+     Episode_Reward/unnecessary_wheel_lift: -0.1576
+         Episode_Reward/rolling_leg_motion: -0.8716
+          Episode_Reward/obstacle_progress: +2.3808
+       Episode_Reward/wheel_body_intrusion: -0.3492
+        Episode_Reward/pair_body_intrusion: -0.2871
+             Curriculum/terrain_level_mean: +1.6179
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1012
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.6505
+             Episode_Termination/fell_over: 0.0323
+           Episode_Termination/course_exit: 0.3065
+Episode_Termination/illegal_nonwheel_contact: 0.0215
+==============================================================================
+
+==============================================================================
+Learning iteration 7550/50000
+                               Total steps: 30,924,800
+                          Steps per second: 8,730
+                            Iteration time: 0.469s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0852
+                       Mean episode length: 1402.3
+                                Actor loss: -9.4431
+                               Critic loss: +0.0030
+                          World model loss: +1.1840
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7715
+     Episode_Reward/track_angular_velocity: +52.9433
+                    Episode_Reward/upright: +27.2467
+                Episode_Reward/leg_posture: -3.0322
+                 Episode_Reward/standstill: -6.2501
+             Episode_Reward/action_rate_l2: -0.6094
+           Episode_Reward/joint_torques_l2: -0.1664
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0356
+     Episode_Reward/unnecessary_wheel_lift: -0.1416
+         Episode_Reward/rolling_leg_motion: -0.8392
+          Episode_Reward/obstacle_progress: +2.2598
+       Episode_Reward/wheel_body_intrusion: -0.3544
+        Episode_Reward/pair_body_intrusion: -0.2604
+             Curriculum/terrain_level_mean: +1.6267
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1025
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.5812
+             Episode_Termination/fell_over: 0.0576
+           Episode_Termination/course_exit: 0.3508
+Episode_Termination/illegal_nonwheel_contact: 0.0157
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2229]
+
+==============================================================================
+Learning iteration 7600/50000
+                               Total steps: 31,129,600
+                          Steps per second: 8,756
+                            Iteration time: 0.468s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0853
+                       Mean episode length: 1397.0
+                                Actor loss: -9.4354
+                               Critic loss: +0.0034
+                          World model loss: +1.1513
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6001
+     Episode_Reward/track_angular_velocity: +52.7536
+                    Episode_Reward/upright: +27.1303
+                Episode_Reward/leg_posture: -3.0680
+                 Episode_Reward/standstill: -6.1049
+             Episode_Reward/action_rate_l2: -0.6018
+           Episode_Reward/joint_torques_l2: -0.1674
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.1316
+         Episode_Reward/rolling_leg_motion: -0.8334
+          Episode_Reward/obstacle_progress: +2.2732
+       Episode_Reward/wheel_body_intrusion: -0.3595
+        Episode_Reward/pair_body_intrusion: -0.2936
+             Curriculum/terrain_level_mean: +1.6365
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1024
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.5617
+             Episode_Termination/fell_over: 0.0432
+           Episode_Termination/course_exit: 0.3889
+Episode_Termination/illegal_nonwheel_contact: 0.0185
+==============================================================================
+
+==============================================================================
+Learning iteration 7650/50000
+                               Total steps: 31,334,400
+                          Steps per second: 8,781
+                            Iteration time: 0.466s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0850
+                       Mean episode length: 1372.8
+                                Actor loss: -9.4370
+                               Critic loss: +0.0040
+                          World model loss: +1.2038
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7058
+     Episode_Reward/track_angular_velocity: +51.7922
+                    Episode_Reward/upright: +26.6492
+                Episode_Reward/leg_posture: -2.9986
+                 Episode_Reward/standstill: -6.3183
+             Episode_Reward/action_rate_l2: -0.5937
+           Episode_Reward/joint_torques_l2: -0.1654
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.1350
+         Episode_Reward/rolling_leg_motion: -0.8049
+          Episode_Reward/obstacle_progress: +2.2464
+       Episode_Reward/wheel_body_intrusion: -0.3486
+        Episode_Reward/pair_body_intrusion: -0.3072
+             Curriculum/terrain_level_mean: +1.6448
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1031
+       Metrics/base_velocity/error_vel_yaw: 0.1384
+              Episode_Termination/time_out: 0.5223
+             Episode_Termination/fell_over: 0.0446
+           Episode_Termination/course_exit: 0.4204
+Episode_Termination/illegal_nonwheel_contact: 0.0510
+==============================================================================
+
+==============================================================================
+Learning iteration 7700/50000
+                               Total steps: 31,539,200
+                          Steps per second: 8,806
+                            Iteration time: 0.465s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0848
+                       Mean episode length: 1359.6
+                                Actor loss: -9.4124
+                               Critic loss: +0.0034
+                          World model loss: +1.1549
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1988
+     Episode_Reward/track_angular_velocity: +51.2570
+                    Episode_Reward/upright: +26.3816
+                Episode_Reward/leg_posture: -2.9665
+                 Episode_Reward/standstill: -6.3957
+             Episode_Reward/action_rate_l2: -0.5744
+           Episode_Reward/joint_torques_l2: -0.1641
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0425
+     Episode_Reward/unnecessary_wheel_lift: -0.1319
+         Episode_Reward/rolling_leg_motion: -0.8263
+          Episode_Reward/obstacle_progress: +2.1969
+       Episode_Reward/wheel_body_intrusion: -0.3542
+        Episode_Reward/pair_body_intrusion: -0.3025
+             Curriculum/terrain_level_mean: +1.6519
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1036
+       Metrics/base_velocity/error_vel_yaw: 0.1393
+              Episode_Termination/time_out: 0.5600
+             Episode_Termination/fell_over: 0.0800
+           Episode_Termination/course_exit: 0.3486
+Episode_Termination/illegal_nonwheel_contact: 0.0286
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1051]
+
+==============================================================================
+Learning iteration 7750/50000
+                               Total steps: 31,744,000
+                          Steps per second: 8,831
+                            Iteration time: 0.464s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0849
+                       Mean episode length: 1315.1
+                                Actor loss: -9.4148
+                               Critic loss: +0.0045
+                          World model loss: +1.1778
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.6537
+     Episode_Reward/track_angular_velocity: +49.6006
+                    Episode_Reward/upright: +25.5351
+                Episode_Reward/leg_posture: -2.8867
+                 Episode_Reward/standstill: -6.0314
+             Episode_Reward/action_rate_l2: -0.5539
+           Episode_Reward/joint_torques_l2: -0.1582
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0283
+     Episode_Reward/unnecessary_wheel_lift: -0.1314
+         Episode_Reward/rolling_leg_motion: -0.7866
+          Episode_Reward/obstacle_progress: +2.0906
+       Episode_Reward/wheel_body_intrusion: -0.3270
+        Episode_Reward/pair_body_intrusion: -0.2804
+             Curriculum/terrain_level_mean: +1.6609
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1032
+       Metrics/base_velocity/error_vel_yaw: 0.1389
+              Episode_Termination/time_out: 0.4882
+             Episode_Termination/fell_over: 0.0529
+           Episode_Termination/course_exit: 0.4471
+Episode_Termination/illegal_nonwheel_contact: 0.0235
+==============================================================================
+
+==============================================================================
+Learning iteration 7800/50000
+                               Total steps: 31,948,800
+                          Steps per second: 8,856
+                            Iteration time: 0.463s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0853
+                       Mean episode length: 1274.9
+                                Actor loss: -9.4131
+                               Critic loss: +0.0102
+                          World model loss: +1.1577
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.3789
+     Episode_Reward/track_angular_velocity: +48.1885
+                    Episode_Reward/upright: +24.7881
+                Episode_Reward/leg_posture: -2.7696
+                 Episode_Reward/standstill: -5.7223
+             Episode_Reward/action_rate_l2: -0.5378
+           Episode_Reward/joint_torques_l2: -0.1514
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0324
+     Episode_Reward/unnecessary_wheel_lift: -0.1166
+         Episode_Reward/rolling_leg_motion: -0.7642
+          Episode_Reward/obstacle_progress: +2.0202
+       Episode_Reward/wheel_body_intrusion: -0.3111
+        Episode_Reward/pair_body_intrusion: -0.2543
+             Curriculum/terrain_level_mean: +1.6694
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1020
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4067
+             Episode_Termination/fell_over: 0.0733
+           Episode_Termination/course_exit: 0.5067
+Episode_Termination/illegal_nonwheel_contact: 0.0533
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1288]
+
+==============================================================================
+Learning iteration 7850/50000
+                               Total steps: 32,153,600
+                          Steps per second: 8,881
+                            Iteration time: 0.461s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0853
+                       Mean episode length: 1275.8
+                                Actor loss: -9.3975
+                               Critic loss: +0.0040
+                          World model loss: +1.1332
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.3067
+     Episode_Reward/track_angular_velocity: +48.2504
+                    Episode_Reward/upright: +24.8133
+                Episode_Reward/leg_posture: -2.7291
+                 Episode_Reward/standstill: -5.7623
+             Episode_Reward/action_rate_l2: -0.5535
+           Episode_Reward/joint_torques_l2: -0.1503
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0299
+     Episode_Reward/unnecessary_wheel_lift: -0.1105
+         Episode_Reward/rolling_leg_motion: -0.7600
+          Episode_Reward/obstacle_progress: +2.0281
+       Episode_Reward/wheel_body_intrusion: -0.3179
+        Episode_Reward/pair_body_intrusion: -0.2182
+             Curriculum/terrain_level_mean: +1.6750
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4500
+             Episode_Termination/fell_over: 0.0643
+           Episode_Termination/course_exit: 0.4643
+Episode_Termination/illegal_nonwheel_contact: 0.0286
+==============================================================================
+
+==============================================================================
+Learning iteration 7900/50000
+                               Total steps: 32,358,400
+                          Steps per second: 8,905
+                            Iteration time: 0.460s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0854
+                       Mean episode length: 1245.7
+                                Actor loss: -9.4068
+                               Critic loss: +0.0025
+                          World model loss: +1.1452
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.2933
+     Episode_Reward/track_angular_velocity: +47.1250
+                    Episode_Reward/upright: +24.2301
+                Episode_Reward/leg_posture: -2.6515
+                 Episode_Reward/standstill: -5.6674
+             Episode_Reward/action_rate_l2: -0.5362
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0170
+     Episode_Reward/unnecessary_wheel_lift: -0.1032
+         Episode_Reward/rolling_leg_motion: -0.7335
+          Episode_Reward/obstacle_progress: +2.0512
+       Episode_Reward/wheel_body_intrusion: -0.2831
+        Episode_Reward/pair_body_intrusion: -0.2191
+             Curriculum/terrain_level_mean: +1.6829
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1027
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4478
+             Episode_Termination/fell_over: 0.0448
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0149
+==============================================================================
+
+==============================================================================
+Learning iteration 7950/50000
+                               Total steps: 32,563,200
+                          Steps per second: 8,930
+                            Iteration time: 0.459s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0852
+                       Mean episode length: 1258.9
+                                Actor loss: -9.4027
+                               Critic loss: +0.0034
+                          World model loss: +1.1766
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.6899
+     Episode_Reward/track_angular_velocity: +47.5865
+                    Episode_Reward/upright: +24.4946
+                Episode_Reward/leg_posture: -2.6731
+                 Episode_Reward/standstill: -5.8645
+             Episode_Reward/action_rate_l2: -0.5366
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0221
+     Episode_Reward/unnecessary_wheel_lift: -0.1178
+         Episode_Reward/rolling_leg_motion: -0.7443
+          Episode_Reward/obstacle_progress: +2.0743
+       Episode_Reward/wheel_body_intrusion: -0.3079
+        Episode_Reward/pair_body_intrusion: -0.2298
+             Curriculum/terrain_level_mean: +1.6938
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4257
+             Episode_Termination/fell_over: 0.0541
+           Episode_Termination/course_exit: 0.5135
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+
+==============================================================================
+Learning iteration 8000/50000
+                               Total steps: 32,768,000
+                          Steps per second: 8,954
+                            Iteration time: 0.457s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0851
+                       Mean episode length: 1351.5
+                                Actor loss: -9.3824
+                               Critic loss: +0.0033
+                          World model loss: +1.1847
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0393
+     Episode_Reward/track_angular_velocity: +51.0541
+                    Episode_Reward/upright: +26.2937
+                Episode_Reward/leg_posture: -2.8965
+                 Episode_Reward/standstill: -6.3782
+             Episode_Reward/action_rate_l2: -0.5692
+           Episode_Reward/joint_torques_l2: -0.1605
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.1213
+         Episode_Reward/rolling_leg_motion: -0.7803
+          Episode_Reward/obstacle_progress: +2.1923
+       Episode_Reward/wheel_body_intrusion: -0.3335
+        Episode_Reward/pair_body_intrusion: -0.2481
+             Curriculum/terrain_level_mean: +1.7014
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1021
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.4828
+             Episode_Termination/fell_over: 0.0276
+           Episode_Termination/course_exit: 0.4759
+Episode_Termination/illegal_nonwheel_contact: 0.0138
+==============================================================================
+
+==============================================================================
+Learning iteration 8050/50000
+                               Total steps: 32,972,800
+                          Steps per second: 8,978
+                            Iteration time: 0.456s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0852
+                       Mean episode length: 1322.0
+                                Actor loss: -9.4284
+                               Critic loss: +0.0029
+                          World model loss: +1.1413
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8950
+     Episode_Reward/track_angular_velocity: +49.9375
+                    Episode_Reward/upright: +25.7277
+                Episode_Reward/leg_posture: -2.8078
+                 Episode_Reward/standstill: -5.9718
+             Episode_Reward/action_rate_l2: -0.5678
+           Episode_Reward/joint_torques_l2: -0.1568
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0207
+     Episode_Reward/unnecessary_wheel_lift: -0.1226
+         Episode_Reward/rolling_leg_motion: -0.7575
+          Episode_Reward/obstacle_progress: +2.1576
+       Episode_Reward/wheel_body_intrusion: -0.3221
+        Episode_Reward/pair_body_intrusion: -0.2951
+             Curriculum/terrain_level_mean: +1.7092
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1027
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.4776
+             Episode_Termination/fell_over: 0.0597
+           Episode_Termination/course_exit: 0.4627
+Episode_Termination/illegal_nonwheel_contact: 0.0299
+==============================================================================
+
+==============================================================================
+Learning iteration 8100/50000
+                               Total steps: 33,177,600
+                          Steps per second: 9,001
+                            Iteration time: 0.455s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0850
+                       Mean episode length: 1323.9
+                                Actor loss: -9.4184
+                               Critic loss: +0.0028
+                          World model loss: +1.1443
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9810
+     Episode_Reward/track_angular_velocity: +50.0343
+                    Episode_Reward/upright: +25.7733
+                Episode_Reward/leg_posture: -2.8536
+                 Episode_Reward/standstill: -6.2065
+             Episode_Reward/action_rate_l2: -0.5730
+           Episode_Reward/joint_torques_l2: -0.1573
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0207
+     Episode_Reward/unnecessary_wheel_lift: -0.1177
+         Episode_Reward/rolling_leg_motion: -0.7589
+          Episode_Reward/obstacle_progress: +2.1407
+       Episode_Reward/wheel_body_intrusion: -0.3741
+        Episode_Reward/pair_body_intrusion: -0.3161
+             Curriculum/terrain_level_mean: +1.7183
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1027
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4526
+             Episode_Termination/fell_over: 0.0438
+           Episode_Termination/course_exit: 0.4891
+Episode_Termination/illegal_nonwheel_contact: 0.0438
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_008100.mp4
+
+==============================================================================
+Learning iteration 8150/50000
+                               Total steps: 33,382,400
+                          Steps per second: 9,011
+                            Iteration time: 0.455s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0851
+                       Mean episode length: 1294.1
+                                Actor loss: -9.3942
+                               Critic loss: +0.0067
+                          World model loss: +1.1927
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8985
+     Episode_Reward/track_angular_velocity: +48.9311
+                    Episode_Reward/upright: +25.1847
+                Episode_Reward/leg_posture: -2.8376
+                 Episode_Reward/standstill: -5.7784
+             Episode_Reward/action_rate_l2: -0.5529
+           Episode_Reward/joint_torques_l2: -0.1541
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0253
+     Episode_Reward/unnecessary_wheel_lift: -0.1329
+         Episode_Reward/rolling_leg_motion: -0.7393
+          Episode_Reward/obstacle_progress: +2.0632
+       Episode_Reward/wheel_body_intrusion: -0.3693
+        Episode_Reward/pair_body_intrusion: -0.2951
+             Curriculum/terrain_level_mean: +1.7251
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1031
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4351
+             Episode_Termination/fell_over: 0.0611
+           Episode_Termination/course_exit: 0.4885
+Episode_Termination/illegal_nonwheel_contact: 0.0611
+==============================================================================
+
+==============================================================================
+Learning iteration 8200/50000
+                               Total steps: 33,587,200
+                          Steps per second: 9,034
+                            Iteration time: 0.453s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0853
+                       Mean episode length: 1317.9
+                                Actor loss: -9.4301
+                               Critic loss: +0.0035
+                          World model loss: +1.1375
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7445
+     Episode_Reward/track_angular_velocity: +49.9383
+                    Episode_Reward/upright: +25.6501
+                Episode_Reward/leg_posture: -2.9043
+                 Episode_Reward/standstill: -5.8683
+             Episode_Reward/action_rate_l2: -0.5584
+           Episode_Reward/joint_torques_l2: -0.1558
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0309
+     Episode_Reward/unnecessary_wheel_lift: -0.1212
+         Episode_Reward/rolling_leg_motion: -0.7491
+          Episode_Reward/obstacle_progress: +2.1234
+       Episode_Reward/wheel_body_intrusion: -0.3689
+        Episode_Reward/pair_body_intrusion: -0.3151
+             Curriculum/terrain_level_mean: +1.7324
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1028
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4776
+             Episode_Termination/fell_over: 0.0672
+           Episode_Termination/course_exit: 0.4328
+Episode_Termination/illegal_nonwheel_contact: 0.0597
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1109]
+
+==============================================================================
+Learning iteration 8250/50000
+                               Total steps: 33,792,000
+                          Steps per second: 9,057
+                            Iteration time: 0.452s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0852
+                       Mean episode length: 1282.1
+                                Actor loss: -9.4145
+                               Critic loss: +0.0028
+                          World model loss: +1.1247
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.3546
+     Episode_Reward/track_angular_velocity: +48.4950
+                    Episode_Reward/upright: +24.9582
+                Episode_Reward/leg_posture: -2.7776
+                 Episode_Reward/standstill: -5.6310
+             Episode_Reward/action_rate_l2: -0.5583
+           Episode_Reward/joint_torques_l2: -0.1513
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0250
+     Episode_Reward/unnecessary_wheel_lift: -0.1330
+         Episode_Reward/rolling_leg_motion: -0.7388
+          Episode_Reward/obstacle_progress: +2.0618
+       Episode_Reward/wheel_body_intrusion: -0.3421
+        Episode_Reward/pair_body_intrusion: -0.2772
+             Curriculum/terrain_level_mean: +1.7400
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1044
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4274
+             Episode_Termination/fell_over: 0.0403
+           Episode_Termination/course_exit: 0.4919
+Episode_Termination/illegal_nonwheel_contact: 0.0645
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[842]
+RECOVERY reset 1 invalid environments; first IDs=[466]
+
+==============================================================================
+Learning iteration 8300/50000
+                               Total steps: 33,996,800
+                          Steps per second: 9,080
+                            Iteration time: 0.451s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0852
+                       Mean episode length: 1333.9
+                                Actor loss: -9.3846
+                               Critic loss: +0.0031
+                          World model loss: +1.1215
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1996
+     Episode_Reward/track_angular_velocity: +50.4783
+                    Episode_Reward/upright: +25.9865
+                Episode_Reward/leg_posture: -2.9120
+                 Episode_Reward/standstill: -5.8803
+             Episode_Reward/action_rate_l2: -0.5711
+           Episode_Reward/joint_torques_l2: -0.1582
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0287
+     Episode_Reward/unnecessary_wheel_lift: -0.1218
+         Episode_Reward/rolling_leg_motion: -0.7852
+          Episode_Reward/obstacle_progress: +2.0672
+       Episode_Reward/wheel_body_intrusion: -0.3756
+        Episode_Reward/pair_body_intrusion: -0.2921
+             Curriculum/terrain_level_mean: +1.7468
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1037
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4832
+             Episode_Termination/fell_over: 0.0537
+           Episode_Termination/course_exit: 0.4430
+Episode_Termination/illegal_nonwheel_contact: 0.0268
+==============================================================================
+
+==============================================================================
+Learning iteration 8350/50000
+                               Total steps: 34,201,600
+                          Steps per second: 9,102
+                            Iteration time: 0.450s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0851
+                       Mean episode length: 1332.5
+                                Actor loss: -9.4059
+                               Critic loss: +0.0226
+                          World model loss: +1.1053
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0670
+     Episode_Reward/track_angular_velocity: +50.4676
+                    Episode_Reward/upright: +25.9431
+                Episode_Reward/leg_posture: -2.9079
+                 Episode_Reward/standstill: -5.9554
+             Episode_Reward/action_rate_l2: -0.5724
+           Episode_Reward/joint_torques_l2: -0.1582
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0286
+     Episode_Reward/unnecessary_wheel_lift: -0.1249
+         Episode_Reward/rolling_leg_motion: -0.7818
+          Episode_Reward/obstacle_progress: +2.1008
+       Episode_Reward/wheel_body_intrusion: -0.3472
+        Episode_Reward/pair_body_intrusion: -0.3134
+             Curriculum/terrain_level_mean: +1.7534
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4514
+             Episode_Termination/fell_over: 0.0556
+           Episode_Termination/course_exit: 0.4722
+Episode_Termination/illegal_nonwheel_contact: 0.0208
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1570]
+
+==============================================================================
+Learning iteration 8400/50000
+                               Total steps: 34,406,400
+                          Steps per second: 9,125
+                            Iteration time: 0.449s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0847
+                       Mean episode length: 1251.0
+                                Actor loss: -9.3898
+                               Critic loss: +0.0054
+                          World model loss: +1.1679
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.2233
+     Episode_Reward/track_angular_velocity: +47.3479
+                    Episode_Reward/upright: +24.3314
+                Episode_Reward/leg_posture: -2.7518
+                 Episode_Reward/standstill: -5.9682
+             Episode_Reward/action_rate_l2: -0.5436
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0147
+     Episode_Reward/unnecessary_wheel_lift: -0.1320
+         Episode_Reward/rolling_leg_motion: -0.7411
+          Episode_Reward/obstacle_progress: +1.9436
+       Episode_Reward/wheel_body_intrusion: -0.3133
+        Episode_Reward/pair_body_intrusion: -0.2658
+             Curriculum/terrain_level_mean: +1.7661
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1048
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.3688
+             Episode_Termination/fell_over: 0.0250
+           Episode_Termination/course_exit: 0.5938
+Episode_Termination/illegal_nonwheel_contact: 0.0187
+==============================================================================
+
+==============================================================================
+Learning iteration 8450/50000
+                               Total steps: 34,611,200
+                          Steps per second: 9,148
+                            Iteration time: 0.448s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0852
+                       Mean episode length: 1311.1
+                                Actor loss: -9.4275
+                               Critic loss: +0.0026
+                          World model loss: +1.1436
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.3749
+     Episode_Reward/track_angular_velocity: +49.6266
+                    Episode_Reward/upright: +25.5140
+                Episode_Reward/leg_posture: -2.8998
+                 Episode_Reward/standstill: -5.7510
+             Episode_Reward/action_rate_l2: -0.5626
+           Episode_Reward/joint_torques_l2: -0.1575
+             Episode_Reward/dof_pos_limits: -0.0016
+                 Episode_Reward/terminated: -0.0179
+     Episode_Reward/unnecessary_wheel_lift: -0.1394
+         Episode_Reward/rolling_leg_motion: -0.7668
+          Episode_Reward/obstacle_progress: +2.0423
+       Episode_Reward/wheel_body_intrusion: -0.3309
+        Episode_Reward/pair_body_intrusion: -0.2824
+             Curriculum/terrain_level_mean: +1.7729
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1042
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4211
+             Episode_Termination/fell_over: 0.0526
+           Episode_Termination/course_exit: 0.5263
+Episode_Termination/illegal_nonwheel_contact: 0.0226
+==============================================================================
+
+==============================================================================
+Learning iteration 8500/50000
+                               Total steps: 34,816,000
+                          Steps per second: 9,170
+                            Iteration time: 0.447s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0847
+                       Mean episode length: 1209.8
+                                Actor loss: -9.4120
+                               Critic loss: +0.0043
+                          World model loss: +1.0839
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +41.8205
+     Episode_Reward/track_angular_velocity: +45.7830
+                    Episode_Reward/upright: +23.5339
+                Episode_Reward/leg_posture: -2.6446
+                 Episode_Reward/standstill: -5.8565
+             Episode_Reward/action_rate_l2: -0.5294
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0331
+     Episode_Reward/unnecessary_wheel_lift: -0.1425
+         Episode_Reward/rolling_leg_motion: -0.7007
+          Episode_Reward/obstacle_progress: +1.9055
+       Episode_Reward/wheel_body_intrusion: -0.3045
+        Episode_Reward/pair_body_intrusion: -0.2503
+             Curriculum/terrain_level_mean: +1.7820
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1047
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.3582
+             Episode_Termination/fell_over: 0.0896
+           Episode_Termination/course_exit: 0.5373
+Episode_Termination/illegal_nonwheel_contact: 0.0672
+==============================================================================
+
+==============================================================================
+Learning iteration 8550/50000
+                               Total steps: 35,020,800
+                          Steps per second: 9,193
+                            Iteration time: 0.446s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0849
+                       Mean episode length: 1313.4
+                                Actor loss: -9.3726
+                               Critic loss: +0.0048
+                          World model loss: +1.0885
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5039
+     Episode_Reward/track_angular_velocity: +49.6615
+                    Episode_Reward/upright: +25.5192
+                Episode_Reward/leg_posture: -2.8055
+                 Episode_Reward/standstill: -6.2243
+             Episode_Reward/action_rate_l2: -0.5807
+           Episode_Reward/joint_torques_l2: -0.1589
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0333
+     Episode_Reward/unnecessary_wheel_lift: -0.1275
+         Episode_Reward/rolling_leg_motion: -0.7605
+          Episode_Reward/obstacle_progress: +2.2001
+       Episode_Reward/wheel_body_intrusion: -0.3495
+        Episode_Reward/pair_body_intrusion: -0.3314
+             Curriculum/terrain_level_mean: +1.7893
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1036
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4331
+             Episode_Termination/fell_over: 0.0637
+           Episode_Termination/course_exit: 0.4841
+Episode_Termination/illegal_nonwheel_contact: 0.0446
+==============================================================================
+
+==============================================================================
+Learning iteration 8600/50000
+                               Total steps: 35,225,600
+                          Steps per second: 9,215
+                            Iteration time: 0.444s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0845
+                       Mean episode length: 1322.8
+                                Actor loss: -9.3953
+                               Critic loss: +0.0059
+                          World model loss: +1.1142
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.6484
+     Episode_Reward/track_angular_velocity: +49.9362
+                    Episode_Reward/upright: +25.6883
+                Episode_Reward/leg_posture: -2.7762
+                 Episode_Reward/standstill: -6.7027
+             Episode_Reward/action_rate_l2: -0.5847
+           Episode_Reward/joint_torques_l2: -0.1607
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0284
+     Episode_Reward/unnecessary_wheel_lift: -0.1281
+         Episode_Reward/rolling_leg_motion: -0.7582
+          Episode_Reward/obstacle_progress: +2.2243
+       Episode_Reward/wheel_body_intrusion: -0.3442
+        Episode_Reward/pair_body_intrusion: -0.2983
+             Curriculum/terrain_level_mean: +1.7954
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1053
+       Metrics/base_velocity/error_vel_yaw: 0.1374
+              Episode_Termination/time_out: 0.4685
+             Episode_Termination/fell_over: 0.0699
+           Episode_Termination/course_exit: 0.4545
+Episode_Termination/illegal_nonwheel_contact: 0.0280
+==============================================================================
+
+==============================================================================
+Learning iteration 8650/50000
+                               Total steps: 35,430,400
+                          Steps per second: 9,237
+                            Iteration time: 0.443s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0849
+                       Mean episode length: 1266.6
+                                Actor loss: -9.4039
+                               Critic loss: +0.0064
+                          World model loss: +1.0633
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.8513
+     Episode_Reward/track_angular_velocity: +47.9165
+                    Episode_Reward/upright: +24.6050
+                Episode_Reward/leg_posture: -2.6723
+                 Episode_Reward/standstill: -6.1476
+             Episode_Reward/action_rate_l2: -0.5490
+           Episode_Reward/joint_torques_l2: -0.1555
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0223
+     Episode_Reward/unnecessary_wheel_lift: -0.1249
+         Episode_Reward/rolling_leg_motion: -0.7198
+          Episode_Reward/obstacle_progress: +2.1203
+       Episode_Reward/wheel_body_intrusion: -0.3139
+        Episode_Reward/pair_body_intrusion: -0.2651
+             Curriculum/terrain_level_mean: +1.8066
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1041
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4610
+             Episode_Termination/fell_over: 0.0390
+           Episode_Termination/course_exit: 0.4805
+Episode_Termination/illegal_nonwheel_contact: 0.0325
+==============================================================================
+
+==============================================================================
+Learning iteration 8700/50000
+                               Total steps: 35,635,200
+                          Steps per second: 9,259
+                            Iteration time: 0.442s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1318.5
+                                Actor loss: -9.4100
+                               Critic loss: +0.0047
+                          World model loss: +1.0930
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5608
+     Episode_Reward/track_angular_velocity: +49.9002
+                    Episode_Reward/upright: +25.6111
+                Episode_Reward/leg_posture: -2.7881
+                 Episode_Reward/standstill: -6.5796
+             Episode_Reward/action_rate_l2: -0.5713
+           Episode_Reward/joint_torques_l2: -0.1613
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0180
+     Episode_Reward/unnecessary_wheel_lift: -0.1371
+         Episode_Reward/rolling_leg_motion: -0.7535
+          Episode_Reward/obstacle_progress: +2.1996
+       Episode_Reward/wheel_body_intrusion: -0.3124
+        Episode_Reward/pair_body_intrusion: -0.2666
+             Curriculum/terrain_level_mean: +1.8171
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4395
+             Episode_Termination/fell_over: 0.0446
+           Episode_Termination/course_exit: 0.5159
+Episode_Termination/illegal_nonwheel_contact: 0.0064
+==============================================================================
+
+==============================================================================
+Learning iteration 8750/50000
+                               Total steps: 35,840,000
+                          Steps per second: 9,281
+                            Iteration time: 0.441s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0842
+                       Mean episode length: 1298.3
+                                Actor loss: -9.4196
+                               Critic loss: +0.0030
+                          World model loss: +1.0823
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.9471
+     Episode_Reward/track_angular_velocity: +49.0726
+                    Episode_Reward/upright: +25.2125
+                Episode_Reward/leg_posture: -2.7385
+                 Episode_Reward/standstill: -7.0230
+             Episode_Reward/action_rate_l2: -0.5621
+           Episode_Reward/joint_torques_l2: -0.1578
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0406
+     Episode_Reward/unnecessary_wheel_lift: -0.1204
+         Episode_Reward/rolling_leg_motion: -0.7468
+          Episode_Reward/obstacle_progress: +2.1537
+       Episode_Reward/wheel_body_intrusion: -0.3294
+        Episode_Reward/pair_body_intrusion: -0.2953
+             Curriculum/terrain_level_mean: +1.8210
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4379
+             Episode_Termination/fell_over: 0.0784
+           Episode_Termination/course_exit: 0.4575
+Episode_Termination/illegal_nonwheel_contact: 0.0654
+==============================================================================
+
+==============================================================================
+Learning iteration 8800/50000
+                               Total steps: 36,044,800
+                          Steps per second: 9,303
+                            Iteration time: 0.440s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0846
+                       Mean episode length: 1329.0
+                                Actor loss: -9.3783
+                               Critic loss: +0.0049
+                          World model loss: +1.0921
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9315
+     Episode_Reward/track_angular_velocity: +50.2863
+                    Episode_Reward/upright: +25.8042
+                Episode_Reward/leg_posture: -2.7966
+                 Episode_Reward/standstill: -6.6913
+             Episode_Reward/action_rate_l2: -0.5790
+           Episode_Reward/joint_torques_l2: -0.1613
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0337
+     Episode_Reward/unnecessary_wheel_lift: -0.1257
+         Episode_Reward/rolling_leg_motion: -0.7537
+          Episode_Reward/obstacle_progress: +2.1404
+       Episode_Reward/wheel_body_intrusion: -0.3211
+        Episode_Reward/pair_body_intrusion: -0.2802
+             Curriculum/terrain_level_mean: +1.8281
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1050
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4531
+             Episode_Termination/fell_over: 0.0859
+           Episode_Termination/course_exit: 0.4453
+Episode_Termination/illegal_nonwheel_contact: 0.0391
+==============================================================================
+
+==============================================================================
+Learning iteration 8850/50000
+                               Total steps: 36,249,600
+                          Steps per second: 9,324
+                            Iteration time: 0.439s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0841
+                       Mean episode length: 1317.2
+                                Actor loss: -9.4123
+                               Critic loss: +0.0029
+                          World model loss: +1.0741
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5337
+     Episode_Reward/track_angular_velocity: +49.8068
+                    Episode_Reward/upright: +25.5795
+                Episode_Reward/leg_posture: -2.7826
+                 Episode_Reward/standstill: -7.2234
+             Episode_Reward/action_rate_l2: -0.5610
+           Episode_Reward/joint_torques_l2: -0.1590
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0334
+     Episode_Reward/unnecessary_wheel_lift: -0.1492
+         Episode_Reward/rolling_leg_motion: -0.7527
+          Episode_Reward/obstacle_progress: +2.1664
+       Episode_Reward/wheel_body_intrusion: -0.3372
+        Episode_Reward/pair_body_intrusion: -0.2929
+             Curriculum/terrain_level_mean: +1.8340
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4354
+             Episode_Termination/fell_over: 0.0612
+           Episode_Termination/course_exit: 0.4762
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+
+==============================================================================
+Learning iteration 8900/50000
+                               Total steps: 36,454,400
+                          Steps per second: 9,345
+                            Iteration time: 0.438s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1385.4
+                                Actor loss: -9.3705
+                               Critic loss: +0.0167
+                          World model loss: +1.1001
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9479
+     Episode_Reward/track_angular_velocity: +52.3954
+                    Episode_Reward/upright: +26.9401
+                Episode_Reward/leg_posture: -2.9058
+                 Episode_Reward/standstill: -7.1553
+             Episode_Reward/action_rate_l2: -0.5899
+           Episode_Reward/joint_torques_l2: -0.1669
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0325
+     Episode_Reward/unnecessary_wheel_lift: -0.1379
+         Episode_Reward/rolling_leg_motion: -0.7886
+          Episode_Reward/obstacle_progress: +2.3018
+       Episode_Reward/wheel_body_intrusion: -0.3693
+        Episode_Reward/pair_body_intrusion: -0.2837
+             Curriculum/terrain_level_mean: +1.8416
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5185
+             Episode_Termination/fell_over: 0.0617
+           Episode_Termination/course_exit: 0.4074
+Episode_Termination/illegal_nonwheel_contact: 0.0247
+==============================================================================
+
+==============================================================================
+Learning iteration 8950/50000
+                               Total steps: 36,659,200
+                          Steps per second: 9,367
+                            Iteration time: 0.437s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0848
+                       Mean episode length: 1339.2
+                                Actor loss: -9.3520
+                               Critic loss: +0.0089
+                          World model loss: +1.0863
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2383
+     Episode_Reward/track_angular_velocity: +50.6495
+                    Episode_Reward/upright: +26.0369
+                Episode_Reward/leg_posture: -2.8589
+                 Episode_Reward/standstill: -6.4734
+             Episode_Reward/action_rate_l2: -0.5759
+           Episode_Reward/joint_torques_l2: -0.1609
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0314
+     Episode_Reward/unnecessary_wheel_lift: -0.1453
+         Episode_Reward/rolling_leg_motion: -0.7518
+          Episode_Reward/obstacle_progress: +2.2341
+       Episode_Reward/wheel_body_intrusion: -0.3579
+        Episode_Reward/pair_body_intrusion: -0.2997
+             Curriculum/terrain_level_mean: +1.8484
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1050
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5035
+             Episode_Termination/fell_over: 0.0638
+           Episode_Termination/course_exit: 0.4113
+Episode_Termination/illegal_nonwheel_contact: 0.0567
+==============================================================================
+
+==============================================================================
+Learning iteration 9000/50000
+                               Total steps: 36,864,000
+                          Steps per second: 9,387
+                            Iteration time: 0.436s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0846
+                       Mean episode length: 1367.9
+                                Actor loss: -9.3708
+                               Critic loss: +0.0041
+                          World model loss: +1.0923
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2934
+     Episode_Reward/track_angular_velocity: +51.7639
+                    Episode_Reward/upright: +26.6081
+                Episode_Reward/leg_posture: -2.8997
+                 Episode_Reward/standstill: -6.9565
+             Episode_Reward/action_rate_l2: -0.5985
+           Episode_Reward/joint_torques_l2: -0.1626
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0321
+     Episode_Reward/unnecessary_wheel_lift: -0.1371
+         Episode_Reward/rolling_leg_motion: -0.7738
+          Episode_Reward/obstacle_progress: +2.2786
+       Episode_Reward/wheel_body_intrusion: -0.3321
+        Episode_Reward/pair_body_intrusion: -0.3271
+             Curriculum/terrain_level_mean: +1.8550
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1046
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5287
+             Episode_Termination/fell_over: 0.0573
+           Episode_Termination/course_exit: 0.3949
+Episode_Termination/illegal_nonwheel_contact: 0.0573
+==============================================================================
+
+==============================================================================
+Learning iteration 9050/50000
+                               Total steps: 37,068,800
+                          Steps per second: 9,407
+                            Iteration time: 0.435s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0840
+                       Mean episode length: 1367.7
+                                Actor loss: -9.4020
+                               Critic loss: +0.0044
+                          World model loss: +1.0637
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2590
+     Episode_Reward/track_angular_velocity: +51.7825
+                    Episode_Reward/upright: +26.5982
+                Episode_Reward/leg_posture: -2.9394
+                 Episode_Reward/standstill: -7.4296
+             Episode_Reward/action_rate_l2: -0.5994
+           Episode_Reward/joint_torques_l2: -0.1619
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0427
+     Episode_Reward/unnecessary_wheel_lift: -0.1641
+         Episode_Reward/rolling_leg_motion: -0.8034
+          Episode_Reward/obstacle_progress: +2.1850
+       Episode_Reward/wheel_body_intrusion: -0.3576
+        Episode_Reward/pair_body_intrusion: -0.3912
+             Curriculum/terrain_level_mean: +1.8616
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1048
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.5444
+             Episode_Termination/fell_over: 0.0667
+           Episode_Termination/course_exit: 0.3667
+Episode_Termination/illegal_nonwheel_contact: 0.0389
+==============================================================================
+
+==============================================================================
+Learning iteration 9100/50000
+                               Total steps: 37,273,600
+                          Steps per second: 9,428
+                            Iteration time: 0.434s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0845
+                       Mean episode length: 1377.8
+                                Actor loss: -9.3669
+                               Critic loss: +0.0247
+                          World model loss: +1.1051
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7023
+     Episode_Reward/track_angular_velocity: +52.1603
+                    Episode_Reward/upright: +26.8236
+                Episode_Reward/leg_posture: -2.9659
+                 Episode_Reward/standstill: -7.0721
+             Episode_Reward/action_rate_l2: -0.5970
+           Episode_Reward/joint_torques_l2: -0.1635
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0323
+     Episode_Reward/unnecessary_wheel_lift: -0.1469
+         Episode_Reward/rolling_leg_motion: -0.8043
+          Episode_Reward/obstacle_progress: +2.2200
+       Episode_Reward/wheel_body_intrusion: -0.3560
+        Episode_Reward/pair_body_intrusion: -0.3631
+             Curriculum/terrain_level_mean: +1.8682
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1035
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5385
+             Episode_Termination/fell_over: 0.0296
+           Episode_Termination/course_exit: 0.3905
+Episode_Termination/illegal_nonwheel_contact: 0.0651
+==============================================================================
+
+==============================================================================
+Learning iteration 9150/50000
+                               Total steps: 37,478,400
+                          Steps per second: 9,449
+                            Iteration time: 0.433s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0845
+                       Mean episode length: 1373.6
+                                Actor loss: -9.4040
+                               Critic loss: +0.0047
+                          World model loss: +1.0877
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5483
+     Episode_Reward/track_angular_velocity: +51.9684
+                    Episode_Reward/upright: +26.7363
+                Episode_Reward/leg_posture: -2.9240
+                 Episode_Reward/standstill: -7.0270
+             Episode_Reward/action_rate_l2: -0.6000
+           Episode_Reward/joint_torques_l2: -0.1611
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0349
+     Episode_Reward/unnecessary_wheel_lift: -0.1450
+         Episode_Reward/rolling_leg_motion: -0.7990
+          Episode_Reward/obstacle_progress: +2.2249
+       Episode_Reward/wheel_body_intrusion: -0.3264
+        Episode_Reward/pair_body_intrusion: -0.3378
+             Curriculum/terrain_level_mean: +1.8743
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1038
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.5497
+             Episode_Termination/fell_over: 0.0585
+           Episode_Termination/course_exit: 0.3743
+Episode_Termination/illegal_nonwheel_contact: 0.0526
+==============================================================================
+
+==============================================================================
+Learning iteration 9200/50000
+                               Total steps: 37,683,200
+                          Steps per second: 9,469
+                            Iteration time: 0.433s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0850
+                       Mean episode length: 1486.8
+                                Actor loss: -9.4168
+                               Critic loss: +0.0043
+                          World model loss: +1.1104
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.4177
+     Episode_Reward/track_angular_velocity: +56.2942
+                    Episode_Reward/upright: +28.9744
+                Episode_Reward/leg_posture: -3.1568
+                 Episode_Reward/standstill: -7.1015
+             Episode_Reward/action_rate_l2: -0.6349
+           Episode_Reward/joint_torques_l2: -0.1738
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0203
+     Episode_Reward/unnecessary_wheel_lift: -0.1349
+         Episode_Reward/rolling_leg_motion: -0.8450
+          Episode_Reward/obstacle_progress: +2.3827
+       Episode_Reward/wheel_body_intrusion: -0.3392
+        Episode_Reward/pair_body_intrusion: -0.3316
+             Curriculum/terrain_level_mean: +1.8796
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1038
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.6264
+             Episode_Termination/fell_over: 0.0230
+           Episode_Termination/course_exit: 0.3333
+Episode_Termination/illegal_nonwheel_contact: 0.0402
+==============================================================================
+
+==============================================================================
+Learning iteration 9250/50000
+                               Total steps: 37,888,000
+                          Steps per second: 9,490
+                            Iteration time: 0.432s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0849
+                       Mean episode length: 1390.4
+                                Actor loss: -9.4040
+                               Critic loss: +0.0044
+                          World model loss: +1.0296
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2036
+     Episode_Reward/track_angular_velocity: +52.6460
+                    Episode_Reward/upright: +27.0795
+                Episode_Reward/leg_posture: -2.9437
+                 Episode_Reward/standstill: -6.8837
+             Episode_Reward/action_rate_l2: -0.6003
+           Episode_Reward/joint_torques_l2: -0.1640
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0272
+     Episode_Reward/unnecessary_wheel_lift: -0.1419
+         Episode_Reward/rolling_leg_motion: -0.7921
+          Episode_Reward/obstacle_progress: +2.2859
+       Episode_Reward/wheel_body_intrusion: -0.3360
+        Episode_Reward/pair_body_intrusion: -0.3319
+             Curriculum/terrain_level_mean: +1.8877
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1027
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5775
+             Episode_Termination/fell_over: 0.0481
+           Episode_Termination/course_exit: 0.3690
+Episode_Termination/illegal_nonwheel_contact: 0.0321
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1438]
+
+==============================================================================
+Learning iteration 9300/50000
+                               Total steps: 38,092,800
+                          Steps per second: 9,510
+                            Iteration time: 0.431s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0851
+                       Mean episode length: 1412.9
+                                Actor loss: -9.4108
+                               Critic loss: +0.0039
+                          World model loss: +1.1142
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9204
+     Episode_Reward/track_angular_velocity: +53.5948
+                    Episode_Reward/upright: +27.5139
+                Episode_Reward/leg_posture: -3.0428
+                 Episode_Reward/standstill: -6.6329
+             Episode_Reward/action_rate_l2: -0.5917
+           Episode_Reward/joint_torques_l2: -0.1658
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0276
+     Episode_Reward/unnecessary_wheel_lift: -0.1401
+         Episode_Reward/rolling_leg_motion: -0.7931
+          Episode_Reward/obstacle_progress: +2.3339
+       Episode_Reward/wheel_body_intrusion: -0.3416
+        Episode_Reward/pair_body_intrusion: -0.3592
+             Curriculum/terrain_level_mean: +1.8936
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1034
+       Metrics/base_velocity/error_vel_yaw: 0.1314
+              Episode_Termination/time_out: 0.5636
+             Episode_Termination/fell_over: 0.0364
+           Episode_Termination/course_exit: 0.3758
+Episode_Termination/illegal_nonwheel_contact: 0.0424
+==============================================================================
+
+==============================================================================
+Learning iteration 9350/50000
+                               Total steps: 38,297,600
+                          Steps per second: 9,530
+                            Iteration time: 0.430s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0848
+                       Mean episode length: 1352.0
+                                Actor loss: -9.3826
+                               Critic loss: +0.0036
+                          World model loss: +1.0517
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6844
+     Episode_Reward/track_angular_velocity: +51.2704
+                    Episode_Reward/upright: +26.3304
+                Episode_Reward/leg_posture: -2.8793
+                 Episode_Reward/standstill: -6.6564
+             Episode_Reward/action_rate_l2: -0.5781
+           Episode_Reward/joint_torques_l2: -0.1587
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0502
+     Episode_Reward/unnecessary_wheel_lift: -0.1590
+         Episode_Reward/rolling_leg_motion: -0.7724
+          Episode_Reward/obstacle_progress: +2.1598
+       Episode_Reward/wheel_body_intrusion: -0.2911
+        Episode_Reward/pair_body_intrusion: -0.2699
+             Curriculum/terrain_level_mean: +1.8962
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1042
+       Metrics/base_velocity/error_vel_yaw: 0.1315
+              Episode_Termination/time_out: 0.5276
+             Episode_Termination/fell_over: 0.0859
+           Episode_Termination/course_exit: 0.3558
+Episode_Termination/illegal_nonwheel_contact: 0.0613
+==============================================================================
+
+==============================================================================
+Learning iteration 9400/50000
+                               Total steps: 38,502,400
+                          Steps per second: 9,550
+                            Iteration time: 0.429s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0848
+                       Mean episode length: 1359.2
+                                Actor loss: -9.4220
+                               Critic loss: +0.0026
+                          World model loss: +1.0001
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0615
+     Episode_Reward/track_angular_velocity: +51.4895
+                    Episode_Reward/upright: +26.4700
+                Episode_Reward/leg_posture: -2.8909
+                 Episode_Reward/standstill: -6.7863
+             Episode_Reward/action_rate_l2: -0.5787
+           Episode_Reward/joint_torques_l2: -0.1591
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0292
+     Episode_Reward/unnecessary_wheel_lift: -0.1314
+         Episode_Reward/rolling_leg_motion: -0.7636
+          Episode_Reward/obstacle_progress: +2.1680
+       Episode_Reward/wheel_body_intrusion: -0.3154
+        Episode_Reward/pair_body_intrusion: -0.3147
+             Curriculum/terrain_level_mean: +1.9033
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1035
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.5122
+             Episode_Termination/fell_over: 0.0610
+           Episode_Termination/course_exit: 0.4207
+Episode_Termination/illegal_nonwheel_contact: 0.0244
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1276]
+
+==============================================================================
+Learning iteration 9450/50000
+                               Total steps: 38,707,200
+                          Steps per second: 9,570
+                            Iteration time: 0.428s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0849
+                       Mean episode length: 1351.3
+                                Actor loss: -9.4160
+                               Critic loss: +0.0079
+                          World model loss: +0.9963
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7933
+     Episode_Reward/track_angular_velocity: +51.2370
+                    Episode_Reward/upright: +26.3314
+                Episode_Reward/leg_posture: -2.9015
+                 Episode_Reward/standstill: -6.5647
+             Episode_Reward/action_rate_l2: -0.5834
+           Episode_Reward/joint_torques_l2: -0.1583
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0396
+     Episode_Reward/unnecessary_wheel_lift: -0.1451
+         Episode_Reward/rolling_leg_motion: -0.7835
+          Episode_Reward/obstacle_progress: +2.1438
+       Episode_Reward/wheel_body_intrusion: -0.3303
+        Episode_Reward/pair_body_intrusion: -0.2982
+             Curriculum/terrain_level_mean: +1.9106
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1031
+       Metrics/base_velocity/error_vel_yaw: 0.1320
+              Episode_Termination/time_out: 0.5256
+             Episode_Termination/fell_over: 0.0962
+           Episode_Termination/course_exit: 0.3782
+Episode_Termination/illegal_nonwheel_contact: 0.0641
+==============================================================================
+
+==============================================================================
+Learning iteration 9500/50000
+                               Total steps: 38,912,000
+                          Steps per second: 9,589
+                            Iteration time: 0.427s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0845
+                       Mean episode length: 1397.9
+                                Actor loss: -9.4087
+                               Critic loss: +0.0038
+                          World model loss: +1.0258
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3410
+     Episode_Reward/track_angular_velocity: +52.9186
+                    Episode_Reward/upright: +27.2229
+                Episode_Reward/leg_posture: -3.0100
+                 Episode_Reward/standstill: -7.0737
+             Episode_Reward/action_rate_l2: -0.6096
+           Episode_Reward/joint_torques_l2: -0.1665
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0300
+     Episode_Reward/unnecessary_wheel_lift: -0.1259
+         Episode_Reward/rolling_leg_motion: -0.7879
+          Episode_Reward/obstacle_progress: +2.1624
+       Episode_Reward/wheel_body_intrusion: -0.3625
+        Episode_Reward/pair_body_intrusion: -0.3154
+             Curriculum/terrain_level_mean: +1.9163
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1039
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.5183
+             Episode_Termination/fell_over: 0.0488
+           Episode_Termination/course_exit: 0.4146
+Episode_Termination/illegal_nonwheel_contact: 0.0427
+==============================================================================
+
+==============================================================================
+Learning iteration 9550/50000
+                               Total steps: 39,116,800
+                          Steps per second: 9,608
+                            Iteration time: 0.426s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0849
+                       Mean episode length: 1356.4
+                                Actor loss: -9.3957
+                               Critic loss: +0.0034
+                          World model loss: +0.9875
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9251
+     Episode_Reward/track_angular_velocity: +51.3697
+                    Episode_Reward/upright: +26.4063
+                Episode_Reward/leg_posture: -2.9714
+                 Episode_Reward/standstill: -6.4815
+             Episode_Reward/action_rate_l2: -0.5808
+           Episode_Reward/joint_torques_l2: -0.1601
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.1102
+         Episode_Reward/rolling_leg_motion: -0.7737
+          Episode_Reward/obstacle_progress: +2.1797
+       Episode_Reward/wheel_body_intrusion: -0.3650
+        Episode_Reward/pair_body_intrusion: -0.3272
+             Curriculum/terrain_level_mean: +1.9253
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1032
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5033
+             Episode_Termination/fell_over: 0.0199
+           Episode_Termination/course_exit: 0.4570
+Episode_Termination/illegal_nonwheel_contact: 0.0265
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1571]
+
+==============================================================================
+Learning iteration 9600/50000
+                               Total steps: 39,321,600
+                          Steps per second: 9,628
+                            Iteration time: 0.425s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1335.5
+                                Actor loss: -9.4027
+                               Critic loss: +0.0038
+                          World model loss: +1.0201
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3045
+     Episode_Reward/track_angular_velocity: +50.5824
+                    Episode_Reward/upright: +25.9984
+                Episode_Reward/leg_posture: -2.9027
+                 Episode_Reward/standstill: -6.7462
+             Episode_Reward/action_rate_l2: -0.5827
+           Episode_Reward/joint_torques_l2: -0.1572
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0235
+     Episode_Reward/unnecessary_wheel_lift: -0.1335
+         Episode_Reward/rolling_leg_motion: -0.7539
+          Episode_Reward/obstacle_progress: +2.1286
+       Episode_Reward/wheel_body_intrusion: -0.3305
+        Episode_Reward/pair_body_intrusion: -0.3123
+             Curriculum/terrain_level_mean: +1.9319
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1025
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4521
+             Episode_Termination/fell_over: 0.0342
+           Episode_Termination/course_exit: 0.4863
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+
+==============================================================================
+Learning iteration 9650/50000
+                               Total steps: 39,526,400
+                          Steps per second: 9,647
+                            Iteration time: 0.425s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0850
+                       Mean episode length: 1370.3
+                                Actor loss: -9.3989
+                               Critic loss: +0.0027
+                          World model loss: +1.0063
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4553
+     Episode_Reward/track_angular_velocity: +51.8870
+                    Episode_Reward/upright: +26.6600
+                Episode_Reward/leg_posture: -2.9766
+                 Episode_Reward/standstill: -6.4590
+             Episode_Reward/action_rate_l2: -0.5876
+           Episode_Reward/joint_torques_l2: -0.1608
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.1178
+         Episode_Reward/rolling_leg_motion: -0.7539
+          Episode_Reward/obstacle_progress: +2.1641
+       Episode_Reward/wheel_body_intrusion: -0.3307
+        Episode_Reward/pair_body_intrusion: -0.3178
+             Curriculum/terrain_level_mean: +1.9365
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1030
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4865
+             Episode_Termination/fell_over: 0.0450
+           Episode_Termination/course_exit: 0.4505
+Episode_Termination/illegal_nonwheel_contact: 0.0541
+==============================================================================
+
+==============================================================================
+Learning iteration 9700/50000
+                               Total steps: 39,731,200
+                          Steps per second: 9,666
+                            Iteration time: 0.424s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0844
+                       Mean episode length: 1334.7
+                                Actor loss: -9.3926
+                               Critic loss: +0.0085
+                          World model loss: +1.0088
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1514
+     Episode_Reward/track_angular_velocity: +50.5876
+                    Episode_Reward/upright: +25.9432
+                Episode_Reward/leg_posture: -2.8777
+                 Episode_Reward/standstill: -7.0067
+             Episode_Reward/action_rate_l2: -0.5680
+           Episode_Reward/joint_torques_l2: -0.1559
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0339
+     Episode_Reward/unnecessary_wheel_lift: -0.1546
+         Episode_Reward/rolling_leg_motion: -0.7427
+          Episode_Reward/obstacle_progress: +2.1562
+       Episode_Reward/wheel_body_intrusion: -0.3201
+        Episode_Reward/pair_body_intrusion: -0.3636
+             Curriculum/terrain_level_mean: +1.9421
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1038
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.4422
+             Episode_Termination/fell_over: 0.0748
+           Episode_Termination/course_exit: 0.4694
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+
+==============================================================================
+Learning iteration 9750/50000
+                               Total steps: 39,936,000
+                          Steps per second: 9,685
+                            Iteration time: 0.423s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0848
+                       Mean episode length: 1332.6
+                                Actor loss: -9.3913
+                               Critic loss: +0.0044
+                          World model loss: +0.9433
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1245
+     Episode_Reward/track_angular_velocity: +50.4686
+                    Episode_Reward/upright: +25.9134
+                Episode_Reward/leg_posture: -2.8196
+                 Episode_Reward/standstill: -6.5779
+             Episode_Reward/action_rate_l2: -0.5663
+           Episode_Reward/joint_torques_l2: -0.1562
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0208
+     Episode_Reward/unnecessary_wheel_lift: -0.1166
+         Episode_Reward/rolling_leg_motion: -0.7329
+          Episode_Reward/obstacle_progress: +2.1790
+       Episode_Reward/wheel_body_intrusion: -0.3451
+        Episode_Reward/pair_body_intrusion: -0.3261
+             Curriculum/terrain_level_mean: +1.9521
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5030
+             Episode_Termination/fell_over: 0.0242
+           Episode_Termination/course_exit: 0.4485
+Episode_Termination/illegal_nonwheel_contact: 0.0364
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2027]
+
+==============================================================================
+Learning iteration 9800/50000
+                               Total steps: 40,140,800
+                          Steps per second: 9,704
+                            Iteration time: 0.422s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0846
+                       Mean episode length: 1335.6
+                                Actor loss: -9.4047
+                               Critic loss: +0.0024
+                          World model loss: +1.0166
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0616
+     Episode_Reward/track_angular_velocity: +50.5227
+                    Episode_Reward/upright: +25.9770
+                Episode_Reward/leg_posture: -2.8629
+                 Episode_Reward/standstill: -6.5720
+             Episode_Reward/action_rate_l2: -0.5775
+           Episode_Reward/joint_torques_l2: -0.1576
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1034
+         Episode_Reward/rolling_leg_motion: -0.7286
+          Episode_Reward/obstacle_progress: +2.1421
+       Episode_Reward/wheel_body_intrusion: -0.3313
+        Episode_Reward/pair_body_intrusion: -0.3571
+             Curriculum/terrain_level_mean: +1.9570
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1047
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4803
+             Episode_Termination/fell_over: 0.0394
+           Episode_Termination/course_exit: 0.4646
+Episode_Termination/illegal_nonwheel_contact: 0.0157
+==============================================================================
+
+==============================================================================
+Learning iteration 9850/50000
+                               Total steps: 40,345,600
+                          Steps per second: 9,723
+                            Iteration time: 0.421s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0843
+                       Mean episode length: 1329.2
+                                Actor loss: -9.3961
+                               Critic loss: +0.0028
+                          World model loss: +0.9880
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8552
+     Episode_Reward/track_angular_velocity: +50.2937
+                    Episode_Reward/upright: +25.8451
+                Episode_Reward/leg_posture: -2.8290
+                 Episode_Reward/standstill: -6.9189
+             Episode_Reward/action_rate_l2: -0.5756
+           Episode_Reward/joint_torques_l2: -0.1559
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0312
+     Episode_Reward/unnecessary_wheel_lift: -0.1481
+         Episode_Reward/rolling_leg_motion: -0.7380
+          Episode_Reward/obstacle_progress: +2.1665
+       Episode_Reward/wheel_body_intrusion: -0.3190
+        Episode_Reward/pair_body_intrusion: -0.3580
+             Curriculum/terrain_level_mean: +1.9636
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1045
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4853
+             Episode_Termination/fell_over: 0.0588
+           Episode_Termination/course_exit: 0.4265
+Episode_Termination/illegal_nonwheel_contact: 0.0882
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2327]
+
+==============================================================================
+Learning iteration 9900/50000
+                               Total steps: 40,550,400
+                          Steps per second: 9,742
+                            Iteration time: 0.420s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0843
+                       Mean episode length: 1330.0
+                                Actor loss: -9.3692
+                               Critic loss: +0.0049
+                          World model loss: +1.0221
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8782
+     Episode_Reward/track_angular_velocity: +50.2806
+                    Episode_Reward/upright: +25.8447
+                Episode_Reward/leg_posture: -2.8330
+                 Episode_Reward/standstill: -6.8216
+             Episode_Reward/action_rate_l2: -0.5678
+           Episode_Reward/joint_torques_l2: -0.1557
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0338
+     Episode_Reward/unnecessary_wheel_lift: -0.1519
+         Episode_Reward/rolling_leg_motion: -0.7419
+          Episode_Reward/obstacle_progress: +2.1459
+       Episode_Reward/wheel_body_intrusion: -0.3180
+        Episode_Reward/pair_body_intrusion: -0.3609
+             Curriculum/terrain_level_mean: +1.9680
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4759
+             Episode_Termination/fell_over: 0.0759
+           Episode_Termination/course_exit: 0.4345
+Episode_Termination/illegal_nonwheel_contact: 0.0621
+==============================================================================
+
+==============================================================================
+Learning iteration 9950/50000
+                               Total steps: 40,755,200
+                          Steps per second: 9,760
+                            Iteration time: 0.420s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0843
+                       Mean episode length: 1279.7
+                                Actor loss: -9.3725
+                               Critic loss: +0.0040
+                          World model loss: +0.9693
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.2565
+     Episode_Reward/track_angular_velocity: +48.4099
+                    Episode_Reward/upright: +24.8830
+                Episode_Reward/leg_posture: -2.7195
+                 Episode_Reward/standstill: -6.7445
+             Episode_Reward/action_rate_l2: -0.5484
+           Episode_Reward/joint_torques_l2: -0.1506
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0350
+     Episode_Reward/unnecessary_wheel_lift: -0.1341
+         Episode_Reward/rolling_leg_motion: -0.7018
+          Episode_Reward/obstacle_progress: +2.0733
+       Episode_Reward/wheel_body_intrusion: -0.3321
+        Episode_Reward/pair_body_intrusion: -0.3713
+             Curriculum/terrain_level_mean: +1.9722
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1036
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4508
+             Episode_Termination/fell_over: 0.0984
+           Episode_Termination/course_exit: 0.4344
+Episode_Termination/illegal_nonwheel_contact: 0.0738
+==============================================================================
+
+==============================================================================
+Learning iteration 10000/50000
+                               Total steps: 40,960,000
+                          Steps per second: 9,779
+                            Iteration time: 0.419s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0845
+                       Mean episode length: 1232.7
+                                Actor loss: -9.4037
+                               Critic loss: +0.0038
+                          World model loss: +0.9849
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +42.6498
+     Episode_Reward/track_angular_velocity: +46.7028
+                    Episode_Reward/upright: +23.9762
+                Episode_Reward/leg_posture: -2.5973
+                 Episode_Reward/standstill: -6.3892
+             Episode_Reward/action_rate_l2: -0.5218
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0265
+     Episode_Reward/unnecessary_wheel_lift: -0.1113
+         Episode_Reward/rolling_leg_motion: -0.6803
+          Episode_Reward/obstacle_progress: +2.0254
+       Episode_Reward/wheel_body_intrusion: -0.3251
+        Episode_Reward/pair_body_intrusion: -0.3457
+             Curriculum/terrain_level_mean: +1.9766
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4211
+             Episode_Termination/fell_over: 0.0677
+           Episode_Termination/course_exit: 0.5038
+Episode_Termination/illegal_nonwheel_contact: 0.0451
+==============================================================================
+
+==============================================================================
+Learning iteration 10050/50000
+                               Total steps: 41,164,800
+                          Steps per second: 9,797
+                            Iteration time: 0.418s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0844
+                       Mean episode length: 1336.8
+                                Actor loss: -9.3816
+                               Critic loss: +0.0075
+                          World model loss: +0.9884
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3089
+     Episode_Reward/track_angular_velocity: +50.5776
+                    Episode_Reward/upright: +25.9871
+                Episode_Reward/leg_posture: -2.8272
+                 Episode_Reward/standstill: -7.1395
+             Episode_Reward/action_rate_l2: -0.5624
+           Episode_Reward/joint_torques_l2: -0.1576
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0287
+     Episode_Reward/unnecessary_wheel_lift: -0.1341
+         Episode_Reward/rolling_leg_motion: -0.7426
+          Episode_Reward/obstacle_progress: +2.2147
+       Episode_Reward/wheel_body_intrusion: -0.3768
+        Episode_Reward/pair_body_intrusion: -0.3362
+             Curriculum/terrain_level_mean: +1.9854
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1028
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4785
+             Episode_Termination/fell_over: 0.0491
+           Episode_Termination/course_exit: 0.4540
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 10100/50000
+                               Total steps: 41,369,600
+                          Steps per second: 9,815
+                            Iteration time: 0.417s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0845
+                       Mean episode length: 1331.9
+                                Actor loss: -9.3451
+                               Critic loss: +0.0119
+                          World model loss: +1.0160
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9633
+     Episode_Reward/track_angular_velocity: +50.3619
+                    Episode_Reward/upright: +25.8921
+                Episode_Reward/leg_posture: -2.7807
+                 Episode_Reward/standstill: -6.7766
+             Episode_Reward/action_rate_l2: -0.5730
+           Episode_Reward/joint_torques_l2: -0.1563
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.1294
+         Episode_Reward/rolling_leg_motion: -0.7469
+          Episode_Reward/obstacle_progress: +2.1802
+       Episode_Reward/wheel_body_intrusion: -0.3420
+        Episode_Reward/pair_body_intrusion: -0.3290
+             Curriculum/terrain_level_mean: +1.9927
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1045
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4795
+             Episode_Termination/fell_over: 0.0342
+           Episode_Termination/course_exit: 0.4795
+Episode_Termination/illegal_nonwheel_contact: 0.0205
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[454]
+
+==============================================================================
+Learning iteration 10150/50000
+                               Total steps: 41,574,400
+                          Steps per second: 9,833
+                            Iteration time: 0.417s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0844
+                       Mean episode length: 1315.2
+                                Actor loss: -9.3668
+                               Critic loss: +0.0119
+                          World model loss: +0.9983
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.3414
+     Episode_Reward/track_angular_velocity: +49.7560
+                    Episode_Reward/upright: +25.5824
+                Episode_Reward/leg_posture: -2.7681
+                 Episode_Reward/standstill: -6.7917
+             Episode_Reward/action_rate_l2: -0.5647
+           Episode_Reward/joint_torques_l2: -0.1530
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0360
+     Episode_Reward/unnecessary_wheel_lift: -0.1164
+         Episode_Reward/rolling_leg_motion: -0.7384
+          Episode_Reward/obstacle_progress: +2.1533
+       Episode_Reward/wheel_body_intrusion: -0.3403
+        Episode_Reward/pair_body_intrusion: -0.3174
+             Curriculum/terrain_level_mean: +1.9978
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1047
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4744
+             Episode_Termination/fell_over: 0.0705
+           Episode_Termination/course_exit: 0.4359
+Episode_Termination/illegal_nonwheel_contact: 0.0449
+==============================================================================
+
+==============================================================================
+Learning iteration 10200/50000
+                               Total steps: 41,779,200
+                          Steps per second: 9,851
+                            Iteration time: 0.416s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0838
+                       Mean episode length: 1378.1
+                                Actor loss: -9.3873
+                               Critic loss: +0.0107
+                          World model loss: +1.0640
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4710
+     Episode_Reward/track_angular_velocity: +52.1568
+                    Episode_Reward/upright: +26.7887
+                Episode_Reward/leg_posture: -2.9051
+                 Episode_Reward/standstill: -7.7949
+             Episode_Reward/action_rate_l2: -0.5926
+           Episode_Reward/joint_torques_l2: -0.1593
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0323
+     Episode_Reward/unnecessary_wheel_lift: -0.1283
+         Episode_Reward/rolling_leg_motion: -0.7817
+          Episode_Reward/obstacle_progress: +2.2116
+       Episode_Reward/wheel_body_intrusion: -0.3636
+        Episode_Reward/pair_body_intrusion: -0.3437
+             Curriculum/terrain_level_mean: +2.0017
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4672
+             Episode_Termination/fell_over: 0.0511
+           Episode_Termination/course_exit: 0.4453
+Episode_Termination/illegal_nonwheel_contact: 0.0584
+==============================================================================
+
+==============================================================================
+Learning iteration 10250/50000
+                               Total steps: 41,984,000
+                          Steps per second: 9,869
+                            Iteration time: 0.415s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0837
+                       Mean episode length: 1370.3
+                                Actor loss: -9.3957
+                               Critic loss: +0.0049
+                          World model loss: +0.9794
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1152
+     Episode_Reward/track_angular_velocity: +51.8215
+                    Episode_Reward/upright: +26.6120
+                Episode_Reward/leg_posture: -2.9074
+                 Episode_Reward/standstill: -7.7818
+             Episode_Reward/action_rate_l2: -0.5820
+           Episode_Reward/joint_torques_l2: -0.1599
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.1312
+         Episode_Reward/rolling_leg_motion: -0.7623
+          Episode_Reward/obstacle_progress: +2.2274
+       Episode_Reward/wheel_body_intrusion: -0.3698
+        Episode_Reward/pair_body_intrusion: -0.3394
+             Curriculum/terrain_level_mean: +2.0081
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1060
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4882
+             Episode_Termination/fell_over: 0.0472
+           Episode_Termination/course_exit: 0.4409
+Episode_Termination/illegal_nonwheel_contact: 0.0394
+==============================================================================
+
+==============================================================================
+Learning iteration 10300/50000
+                               Total steps: 42,188,800
+                          Steps per second: 9,887
+                            Iteration time: 0.414s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0841
+                       Mean episode length: 1319.8
+                                Actor loss: -9.3765
+                               Critic loss: +0.0046
+                          World model loss: +1.0020
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5266
+     Episode_Reward/track_angular_velocity: +49.8795
+                    Episode_Reward/upright: +25.6482
+                Episode_Reward/leg_posture: -2.7460
+                 Episode_Reward/standstill: -7.2633
+             Episode_Reward/action_rate_l2: -0.5677
+           Episode_Reward/joint_torques_l2: -0.1529
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0387
+     Episode_Reward/unnecessary_wheel_lift: -0.1320
+         Episode_Reward/rolling_leg_motion: -0.7380
+          Episode_Reward/obstacle_progress: +2.2205
+       Episode_Reward/wheel_body_intrusion: -0.3387
+        Episode_Reward/pair_body_intrusion: -0.3617
+             Curriculum/terrain_level_mean: +2.0125
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1044
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.4691
+             Episode_Termination/fell_over: 0.0617
+           Episode_Termination/course_exit: 0.4383
+Episode_Termination/illegal_nonwheel_contact: 0.0556
+==============================================================================
+
+==============================================================================
+Learning iteration 10350/50000
+                               Total steps: 42,393,600
+                          Steps per second: 9,904
+                            Iteration time: 0.414s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0845
+                       Mean episode length: 1334.2
+                                Actor loss: -9.3700
+                               Critic loss: +0.0055
+                          World model loss: +0.9539
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9912
+     Episode_Reward/track_angular_velocity: +50.4667
+                    Episode_Reward/upright: +25.9199
+                Episode_Reward/leg_posture: -2.7695
+                 Episode_Reward/standstill: -6.8055
+             Episode_Reward/action_rate_l2: -0.5725
+           Episode_Reward/joint_torques_l2: -0.1545
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0182
+     Episode_Reward/unnecessary_wheel_lift: -0.1028
+         Episode_Reward/rolling_leg_motion: -0.7509
+          Episode_Reward/obstacle_progress: +2.1630
+       Episode_Reward/wheel_body_intrusion: -0.3439
+        Episode_Reward/pair_body_intrusion: -0.3241
+             Curriculum/terrain_level_mean: +2.0195
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1047
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4891
+             Episode_Termination/fell_over: 0.0438
+           Episode_Termination/course_exit: 0.4599
+Episode_Termination/illegal_nonwheel_contact: 0.0146
+==============================================================================
+
+==============================================================================
+Learning iteration 10400/50000
+                               Total steps: 42,598,400
+                          Steps per second: 9,922
+                            Iteration time: 0.413s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0849
+                       Mean episode length: 1400.6
+                                Actor loss: -9.3966
+                               Critic loss: +0.0044
+                          World model loss: +0.9786
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4196
+     Episode_Reward/track_angular_velocity: +52.9693
+                    Episode_Reward/upright: +27.2176
+                Episode_Reward/leg_posture: -2.8701
+                 Episode_Reward/standstill: -6.7572
+             Episode_Reward/action_rate_l2: -0.5961
+           Episode_Reward/joint_torques_l2: -0.1601
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0274
+     Episode_Reward/unnecessary_wheel_lift: -0.1200
+         Episode_Reward/rolling_leg_motion: -0.7986
+          Episode_Reward/obstacle_progress: +2.2869
+       Episode_Reward/wheel_body_intrusion: -0.3418
+        Episode_Reward/pair_body_intrusion: -0.3664
+             Curriculum/terrain_level_mean: +2.0254
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1037
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5430
+             Episode_Termination/fell_over: 0.0397
+           Episode_Termination/course_exit: 0.3907
+Episode_Termination/illegal_nonwheel_contact: 0.0464
+==============================================================================
+
+==============================================================================
+Learning iteration 10450/50000
+                               Total steps: 42,803,200
+                          Steps per second: 9,940
+                            Iteration time: 0.412s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0848
+                       Mean episode length: 1366.8
+                                Actor loss: -9.3800
+                               Critic loss: +0.0056
+                          World model loss: +0.9776
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2453
+     Episode_Reward/track_angular_velocity: +51.6920
+                    Episode_Reward/upright: +26.5830
+                Episode_Reward/leg_posture: -2.8842
+                 Episode_Reward/standstill: -6.6049
+             Episode_Reward/action_rate_l2: -0.5759
+           Episode_Reward/joint_torques_l2: -0.1569
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0347
+     Episode_Reward/unnecessary_wheel_lift: -0.1336
+         Episode_Reward/rolling_leg_motion: -0.7779
+          Episode_Reward/obstacle_progress: +2.2081
+       Episode_Reward/wheel_body_intrusion: -0.3312
+        Episode_Reward/pair_body_intrusion: -0.3481
+             Curriculum/terrain_level_mean: +2.0295
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5325
+             Episode_Termination/fell_over: 0.0390
+           Episode_Termination/course_exit: 0.3831
+Episode_Termination/illegal_nonwheel_contact: 0.0519
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[995]
+
+==============================================================================
+Learning iteration 10500/50000
+                               Total steps: 43,008,000
+                          Steps per second: 9,957
+                            Iteration time: 0.411s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0848
+                       Mean episode length: 1390.3
+                                Actor loss: -9.3545
+                               Critic loss: +0.0055
+                          World model loss: +1.0401
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1200
+     Episode_Reward/track_angular_velocity: +52.6005
+                    Episode_Reward/upright: +27.0231
+                Episode_Reward/leg_posture: -2.9791
+                 Episode_Reward/standstill: -6.7782
+             Episode_Reward/action_rate_l2: -0.5775
+           Episode_Reward/joint_torques_l2: -0.1599
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.1213
+         Episode_Reward/rolling_leg_motion: -0.7673
+          Episode_Reward/obstacle_progress: +2.2908
+       Episode_Reward/wheel_body_intrusion: -0.3871
+        Episode_Reward/pair_body_intrusion: -0.3795
+             Curriculum/terrain_level_mean: +2.0366
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1026
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.5704
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.4014
+Episode_Termination/illegal_nonwheel_contact: 0.0211
+==============================================================================
+
+==============================================================================
+Learning iteration 10550/50000
+                               Total steps: 43,212,800
+                          Steps per second: 9,974
+                            Iteration time: 0.411s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1340.8
+                                Actor loss: -9.3774
+                               Critic loss: +0.0042
+                          World model loss: +0.9005
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2916
+     Episode_Reward/track_angular_velocity: +50.7377
+                    Episode_Reward/upright: +26.0610
+                Episode_Reward/leg_posture: -2.8969
+                 Episode_Reward/standstill: -6.5181
+             Episode_Reward/action_rate_l2: -0.5527
+           Episode_Reward/joint_torques_l2: -0.1527
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1262
+         Episode_Reward/rolling_leg_motion: -0.7276
+          Episode_Reward/obstacle_progress: +2.1026
+       Episode_Reward/wheel_body_intrusion: -0.3508
+        Episode_Reward/pair_body_intrusion: -0.3557
+             Curriculum/terrain_level_mean: +2.0435
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1037
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5109
+             Episode_Termination/fell_over: 0.0292
+           Episode_Termination/course_exit: 0.4380
+Episode_Termination/illegal_nonwheel_contact: 0.0365
+==============================================================================
+
+==============================================================================
+Learning iteration 10600/50000
+                               Total steps: 43,417,600
+                          Steps per second: 9,992
+                            Iteration time: 0.410s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0849
+                       Mean episode length: 1352.2
+                                Actor loss: -9.3787
+                               Critic loss: +0.0039
+                          World model loss: +0.9334
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7115
+     Episode_Reward/track_angular_velocity: +51.2124
+                    Episode_Reward/upright: +26.3160
+                Episode_Reward/leg_posture: -2.8681
+                 Episode_Reward/standstill: -6.3542
+             Episode_Reward/action_rate_l2: -0.5636
+           Episode_Reward/joint_torques_l2: -0.1525
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.1138
+         Episode_Reward/rolling_leg_motion: -0.7511
+          Episode_Reward/obstacle_progress: +2.0903
+       Episode_Reward/wheel_body_intrusion: -0.3554
+        Episode_Reward/pair_body_intrusion: -0.3349
+             Curriculum/terrain_level_mean: +2.0496
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4898
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4694
+Episode_Termination/illegal_nonwheel_contact: 0.0272
+==============================================================================
+
+==============================================================================
+Learning iteration 10650/50000
+                               Total steps: 43,622,400
+                          Steps per second: 10,009
+                            Iteration time: 0.409s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1419.4
+                                Actor loss: -9.3725
+                               Critic loss: +0.0034
+                          World model loss: +0.8994
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9512
+     Episode_Reward/track_angular_velocity: +53.7284
+                    Episode_Reward/upright: +27.6479
+                Episode_Reward/leg_posture: -3.0500
+                 Episode_Reward/standstill: -6.7724
+             Episode_Reward/action_rate_l2: -0.5955
+           Episode_Reward/joint_torques_l2: -0.1598
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0166
+     Episode_Reward/unnecessary_wheel_lift: -0.1563
+         Episode_Reward/rolling_leg_motion: -0.8128
+          Episode_Reward/obstacle_progress: +2.1323
+       Episode_Reward/wheel_body_intrusion: -0.3757
+        Episode_Reward/pair_body_intrusion: -0.3682
+             Curriculum/terrain_level_mean: +2.0579
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1040
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.5696
+             Episode_Termination/fell_over: 0.0127
+           Episode_Termination/course_exit: 0.3924
+Episode_Termination/illegal_nonwheel_contact: 0.0316
+==============================================================================
+
+==============================================================================
+Learning iteration 10700/50000
+                               Total steps: 43,827,200
+                          Steps per second: 10,026
+                            Iteration time: 0.409s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0845
+                       Mean episode length: 1372.6
+                                Actor loss: -9.3675
+                               Critic loss: +0.0074
+                          World model loss: +0.9739
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3377
+     Episode_Reward/track_angular_velocity: +51.9752
+                    Episode_Reward/upright: +26.7189
+                Episode_Reward/leg_posture: -2.9493
+                 Episode_Reward/standstill: -6.9272
+             Episode_Reward/action_rate_l2: -0.5787
+           Episode_Reward/joint_torques_l2: -0.1523
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.1284
+         Episode_Reward/rolling_leg_motion: -0.7805
+          Episode_Reward/obstacle_progress: +2.1431
+       Episode_Reward/wheel_body_intrusion: -0.3688
+        Episode_Reward/pair_body_intrusion: -0.3241
+             Curriculum/terrain_level_mean: +2.0642
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4855
+             Episode_Termination/fell_over: 0.0217
+           Episode_Termination/course_exit: 0.4710
+Episode_Termination/illegal_nonwheel_contact: 0.0362
+==============================================================================
+
+==============================================================================
+Learning iteration 10750/50000
+                               Total steps: 44,032,000
+                          Steps per second: 10,042
+                            Iteration time: 0.408s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0844
+                       Mean episode length: 1406.5
+                                Actor loss: -9.3716
+                               Critic loss: +0.0037
+                          World model loss: +0.9159
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3879
+     Episode_Reward/track_angular_velocity: +53.3059
+                    Episode_Reward/upright: +27.3724
+                Episode_Reward/leg_posture: -3.0269
+                 Episode_Reward/standstill: -7.0545
+             Episode_Reward/action_rate_l2: -0.5858
+           Episode_Reward/joint_torques_l2: -0.1549
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0110
+     Episode_Reward/unnecessary_wheel_lift: -0.1376
+         Episode_Reward/rolling_leg_motion: -0.7832
+          Episode_Reward/obstacle_progress: +2.1015
+       Episode_Reward/wheel_body_intrusion: -0.3649
+        Episode_Reward/pair_body_intrusion: -0.3904
+             Curriculum/terrain_level_mean: +2.0725
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1045
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.5686
+             Episode_Termination/fell_over: 0.0261
+           Episode_Termination/course_exit: 0.4052
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 10800/50000
+                               Total steps: 44,236,800
+                          Steps per second: 10,059
+                            Iteration time: 0.407s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0847
+                       Mean episode length: 1404.1
+                                Actor loss: -9.3604
+                               Critic loss: +0.0036
+                          World model loss: +0.9250
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4329
+     Episode_Reward/track_angular_velocity: +53.1765
+                    Episode_Reward/upright: +27.3414
+                Episode_Reward/leg_posture: -3.0202
+                 Episode_Reward/standstill: -6.7479
+             Episode_Reward/action_rate_l2: -0.5904
+           Episode_Reward/joint_torques_l2: -0.1553
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0247
+     Episode_Reward/unnecessary_wheel_lift: -0.1314
+         Episode_Reward/rolling_leg_motion: -0.7961
+          Episode_Reward/obstacle_progress: +2.1275
+       Episode_Reward/wheel_body_intrusion: -0.3542
+        Episode_Reward/pair_body_intrusion: -0.3805
+             Curriculum/terrain_level_mean: +2.0798
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1034
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5652
+             Episode_Termination/fell_over: 0.0217
+           Episode_Termination/course_exit: 0.3859
+Episode_Termination/illegal_nonwheel_contact: 0.0380
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_010800.mp4
+
+==============================================================================
+Learning iteration 10850/50000
+                               Total steps: 44,441,600
+                          Steps per second: 10,062
+                            Iteration time: 0.407s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0843
+                       Mean episode length: 1369.1
+                                Actor loss: -9.3987
+                               Critic loss: +0.0025
+                          World model loss: +0.9454
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1331
+     Episode_Reward/track_angular_velocity: +51.8014
+                    Episode_Reward/upright: +26.6313
+                Episode_Reward/leg_posture: -2.9919
+                 Episode_Reward/standstill: -6.8831
+             Episode_Reward/action_rate_l2: -0.5705
+           Episode_Reward/joint_torques_l2: -0.1528
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.1594
+         Episode_Reward/rolling_leg_motion: -0.7553
+          Episode_Reward/obstacle_progress: +2.1034
+       Episode_Reward/wheel_body_intrusion: -0.3839
+        Episode_Reward/pair_body_intrusion: -0.3881
+             Curriculum/terrain_level_mean: +2.0891
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1042
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.5032
+             Episode_Termination/fell_over: 0.0064
+           Episode_Termination/course_exit: 0.4713
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+
+==============================================================================
+Learning iteration 10900/50000
+                               Total steps: 44,646,400
+                          Steps per second: 10,079
+                            Iteration time: 0.406s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0847
+                       Mean episode length: 1392.0
+                                Actor loss: -9.3910
+                               Critic loss: +0.0032
+                          World model loss: +0.9059
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9544
+     Episode_Reward/track_angular_velocity: +52.6642
+                    Episode_Reward/upright: +27.0727
+                Episode_Reward/leg_posture: -3.0184
+                 Episode_Reward/standstill: -6.5802
+             Episode_Reward/action_rate_l2: -0.5950
+           Episode_Reward/joint_torques_l2: -0.1528
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0245
+     Episode_Reward/unnecessary_wheel_lift: -0.1313
+         Episode_Reward/rolling_leg_motion: -0.7699
+          Episode_Reward/obstacle_progress: +2.1699
+       Episode_Reward/wheel_body_intrusion: -0.3696
+        Episode_Reward/pair_body_intrusion: -0.3800
+             Curriculum/terrain_level_mean: +2.0972
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1040
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5767
+             Episode_Termination/fell_over: 0.0307
+           Episode_Termination/course_exit: 0.3681
+Episode_Termination/illegal_nonwheel_contact: 0.0429
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1458]
+
+==============================================================================
+Learning iteration 10950/50000
+                               Total steps: 44,851,200
+                          Steps per second: 10,095
+                            Iteration time: 0.406s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0845
+                       Mean episode length: 1426.0
+                                Actor loss: -9.3527
+                               Critic loss: +0.0062
+                          World model loss: +0.9322
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0387
+     Episode_Reward/track_angular_velocity: +53.9694
+                    Episode_Reward/upright: +27.7591
+                Episode_Reward/leg_posture: -3.0865
+                 Episode_Reward/standstill: -6.7122
+             Episode_Reward/action_rate_l2: -0.6111
+           Episode_Reward/joint_torques_l2: -0.1552
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0306
+     Episode_Reward/unnecessary_wheel_lift: -0.1609
+         Episode_Reward/rolling_leg_motion: -0.8113
+          Episode_Reward/obstacle_progress: +2.1586
+       Episode_Reward/wheel_body_intrusion: -0.3702
+        Episode_Reward/pair_body_intrusion: -0.4281
+             Curriculum/terrain_level_mean: +2.1025
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5928
+             Episode_Termination/fell_over: 0.0479
+           Episode_Termination/course_exit: 0.3413
+Episode_Termination/illegal_nonwheel_contact: 0.0359
+==============================================================================
+
+==============================================================================
+Learning iteration 11000/50000
+                               Total steps: 45,056,000
+                          Steps per second: 10,111
+                            Iteration time: 0.405s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0846
+                       Mean episode length: 1381.5
+                                Actor loss: -9.3594
+                               Critic loss: +0.0045
+                          World model loss: +0.9513
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3993
+     Episode_Reward/track_angular_velocity: +52.2366
+                    Episode_Reward/upright: +26.8739
+                Episode_Reward/leg_posture: -3.0053
+                 Episode_Reward/standstill: -6.3622
+             Episode_Reward/action_rate_l2: -0.5971
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0270
+     Episode_Reward/unnecessary_wheel_lift: -0.1375
+         Episode_Reward/rolling_leg_motion: -0.7741
+          Episode_Reward/obstacle_progress: +2.1547
+       Episode_Reward/wheel_body_intrusion: -0.3703
+        Episode_Reward/pair_body_intrusion: -0.3559
+             Curriculum/terrain_level_mean: +2.1082
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1060
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.5602
+             Episode_Termination/fell_over: 0.0120
+           Episode_Termination/course_exit: 0.3795
+Episode_Termination/illegal_nonwheel_contact: 0.0602
+==============================================================================
+
+==============================================================================
+Learning iteration 11050/50000
+                               Total steps: 45,260,800
+                          Steps per second: 10,127
+                            Iteration time: 0.404s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1381.2
+                                Actor loss: -9.3391
+                               Critic loss: +0.0111
+                          World model loss: +0.9378
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5097
+     Episode_Reward/track_angular_velocity: +52.2984
+                    Episode_Reward/upright: +26.9009
+                Episode_Reward/leg_posture: -2.9781
+                 Episode_Reward/standstill: -6.6133
+             Episode_Reward/action_rate_l2: -0.5923
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0216
+     Episode_Reward/unnecessary_wheel_lift: -0.1325
+         Episode_Reward/rolling_leg_motion: -0.7755
+          Episode_Reward/obstacle_progress: +2.1336
+       Episode_Reward/wheel_body_intrusion: -0.3441
+        Episode_Reward/pair_body_intrusion: -0.3363
+             Curriculum/terrain_level_mean: +2.1157
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1046
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5032
+             Episode_Termination/fell_over: 0.0387
+           Episode_Termination/course_exit: 0.4452
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[912]
+
+==============================================================================
+Learning iteration 11100/50000
+                               Total steps: 45,465,600
+                          Steps per second: 10,143
+                            Iteration time: 0.404s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0849
+                       Mean episode length: 1412.9
+                                Actor loss: -9.3631
+                               Critic loss: +0.0065
+                          World model loss: +0.9003
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7340
+     Episode_Reward/track_angular_velocity: +53.5773
+                    Episode_Reward/upright: +27.5442
+                Episode_Reward/leg_posture: -3.0176
+                 Episode_Reward/standstill: -6.7186
+             Episode_Reward/action_rate_l2: -0.5864
+           Episode_Reward/joint_torques_l2: -0.1548
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0166
+     Episode_Reward/unnecessary_wheel_lift: -0.1292
+         Episode_Reward/rolling_leg_motion: -0.7853
+          Episode_Reward/obstacle_progress: +2.1868
+       Episode_Reward/wheel_body_intrusion: -0.3505
+        Episode_Reward/pair_body_intrusion: -0.3536
+             Curriculum/terrain_level_mean: +2.1223
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1320
+              Episode_Termination/time_out: 0.6056
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.3521
+Episode_Termination/illegal_nonwheel_contact: 0.0352
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1249]
+
+==============================================================================
+Learning iteration 11150/50000
+                               Total steps: 45,670,400
+                          Steps per second: 10,160
+                            Iteration time: 0.403s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0848
+                       Mean episode length: 1437.7
+                                Actor loss: -9.3994
+                               Critic loss: +0.0029
+                          World model loss: +0.9451
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4577
+     Episode_Reward/track_angular_velocity: +54.4747
+                    Episode_Reward/upright: +28.0078
+                Episode_Reward/leg_posture: -3.0512
+                 Episode_Reward/standstill: -6.7891
+             Episode_Reward/action_rate_l2: -0.5981
+           Episode_Reward/joint_torques_l2: -0.1558
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0225
+     Episode_Reward/unnecessary_wheel_lift: -0.1417
+         Episode_Reward/rolling_leg_motion: -0.7776
+          Episode_Reward/obstacle_progress: +2.3284
+       Episode_Reward/wheel_body_intrusion: -0.3737
+        Episode_Reward/pair_body_intrusion: -0.4180
+             Curriculum/terrain_level_mean: +2.1292
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.5732
+             Episode_Termination/fell_over: 0.0305
+           Episode_Termination/course_exit: 0.3780
+Episode_Termination/illegal_nonwheel_contact: 0.0427
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2041]
+
+==============================================================================
+Learning iteration 11200/50000
+                               Total steps: 45,875,200
+                          Steps per second: 10,176
+                            Iteration time: 0.403s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0844
+                       Mean episode length: 1352.3
+                                Actor loss: -9.3599
+                               Critic loss: +0.0068
+                          World model loss: +0.8684
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3593
+     Episode_Reward/track_angular_velocity: +51.1670
+                    Episode_Reward/upright: +26.3115
+                Episode_Reward/leg_posture: -2.9210
+                 Episode_Reward/standstill: -6.6319
+             Episode_Reward/action_rate_l2: -0.5605
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0264
+     Episode_Reward/unnecessary_wheel_lift: -0.1198
+         Episode_Reward/rolling_leg_motion: -0.7214
+          Episode_Reward/obstacle_progress: +2.1682
+       Episode_Reward/wheel_body_intrusion: -0.3672
+        Episode_Reward/pair_body_intrusion: -0.3451
+             Curriculum/terrain_level_mean: +2.1355
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1058
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5188
+             Episode_Termination/fell_over: 0.0226
+           Episode_Termination/course_exit: 0.4060
+Episode_Termination/illegal_nonwheel_contact: 0.0677
+==============================================================================
+
+==============================================================================
+Learning iteration 11250/50000
+                               Total steps: 46,080,000
+                          Steps per second: 10,192
+                            Iteration time: 0.402s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1381.6
+                                Actor loss: -9.3545
+                               Critic loss: +0.0050
+                          World model loss: +0.9202
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4288
+     Episode_Reward/track_angular_velocity: +52.3478
+                    Episode_Reward/upright: +26.9145
+                Episode_Reward/leg_posture: -2.9586
+                 Episode_Reward/standstill: -6.5637
+             Episode_Reward/action_rate_l2: -0.5791
+           Episode_Reward/joint_torques_l2: -0.1505
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0135
+     Episode_Reward/unnecessary_wheel_lift: -0.1235
+         Episode_Reward/rolling_leg_motion: -0.7566
+          Episode_Reward/obstacle_progress: +2.1872
+       Episode_Reward/wheel_body_intrusion: -0.3595
+        Episode_Reward/pair_body_intrusion: -0.3441
+             Curriculum/terrain_level_mean: +2.1423
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1048
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.5833
+             Episode_Termination/fell_over: 0.0192
+           Episode_Termination/course_exit: 0.3846
+Episode_Termination/illegal_nonwheel_contact: 0.0321
+==============================================================================
+
+==============================================================================
+Learning iteration 11300/50000
+                               Total steps: 46,284,800
+                          Steps per second: 10,207
+                            Iteration time: 0.401s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0848
+                       Mean episode length: 1391.8
+                                Actor loss: -9.3347
+                               Critic loss: +0.0114
+                          World model loss: +0.8939
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8344
+     Episode_Reward/track_angular_velocity: +52.7191
+                    Episode_Reward/upright: +27.1024
+                Episode_Reward/leg_posture: -2.9869
+                 Episode_Reward/standstill: -6.5185
+             Episode_Reward/action_rate_l2: -0.5949
+           Episode_Reward/joint_torques_l2: -0.1499
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0299
+     Episode_Reward/unnecessary_wheel_lift: -0.1517
+         Episode_Reward/rolling_leg_motion: -0.7527
+          Episode_Reward/obstacle_progress: +2.2240
+       Episode_Reward/wheel_body_intrusion: -0.3623
+        Episode_Reward/pair_body_intrusion: -0.3535
+             Curriculum/terrain_level_mean: +2.1487
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5423
+             Episode_Termination/fell_over: 0.0493
+           Episode_Termination/course_exit: 0.3803
+Episode_Termination/illegal_nonwheel_contact: 0.0563
+==============================================================================
+
+==============================================================================
+Learning iteration 11350/50000
+                               Total steps: 46,489,600
+                          Steps per second: 10,223
+                            Iteration time: 0.401s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0848
+                       Mean episode length: 1336.3
+                                Actor loss: -9.3793
+                               Critic loss: +0.0032
+                          World model loss: +0.9448
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9730
+     Episode_Reward/track_angular_velocity: +50.6265
+                    Episode_Reward/upright: +26.0178
+                Episode_Reward/leg_posture: -2.8662
+                 Episode_Reward/standstill: -6.2880
+             Episode_Reward/action_rate_l2: -0.5639
+           Episode_Reward/joint_torques_l2: -0.1458
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0444
+     Episode_Reward/unnecessary_wheel_lift: -0.1276
+         Episode_Reward/rolling_leg_motion: -0.7235
+          Episode_Reward/obstacle_progress: +2.1515
+       Episode_Reward/wheel_body_intrusion: -0.3561
+        Episode_Reward/pair_body_intrusion: -0.3145
+             Curriculum/terrain_level_mean: +2.1519
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1043
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.5141
+             Episode_Termination/fell_over: 0.0775
+           Episode_Termination/course_exit: 0.3662
+Episode_Termination/illegal_nonwheel_contact: 0.0915
+==============================================================================
+
+==============================================================================
+Learning iteration 11400/50000
+                               Total steps: 46,694,400
+                          Steps per second: 10,239
+                            Iteration time: 0.400s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0848
+                       Mean episode length: 1363.2
+                                Actor loss: -9.3188
+                               Critic loss: +0.0038
+                          World model loss: +0.8620
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9411
+     Episode_Reward/track_angular_velocity: +51.5377
+                    Episode_Reward/upright: +26.5278
+                Episode_Reward/leg_posture: -2.9602
+                 Episode_Reward/standstill: -6.2740
+             Episode_Reward/action_rate_l2: -0.5835
+           Episode_Reward/joint_torques_l2: -0.1497
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0240
+     Episode_Reward/unnecessary_wheel_lift: -0.1078
+         Episode_Reward/rolling_leg_motion: -0.7362
+          Episode_Reward/obstacle_progress: +2.2569
+       Episode_Reward/wheel_body_intrusion: -0.3937
+        Episode_Reward/pair_body_intrusion: -0.3915
+             Curriculum/terrain_level_mean: +2.1584
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1041
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.4783
+             Episode_Termination/fell_over: 0.0522
+           Episode_Termination/course_exit: 0.4435
+Episode_Termination/illegal_nonwheel_contact: 0.0609
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[574]
+
+==============================================================================
+Learning iteration 11450/50000
+                               Total steps: 46,899,200
+                          Steps per second: 10,255
+                            Iteration time: 0.399s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0849
+                       Mean episode length: 1380.7
+                                Actor loss: -9.3627
+                               Critic loss: +0.0040
+                          World model loss: +0.9197
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3996
+     Episode_Reward/track_angular_velocity: +52.1971
+                    Episode_Reward/upright: +26.8607
+                Episode_Reward/leg_posture: -2.9758
+                 Episode_Reward/standstill: -6.0396
+             Episode_Reward/action_rate_l2: -0.5821
+           Episode_Reward/joint_torques_l2: -0.1505
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.1258
+         Episode_Reward/rolling_leg_motion: -0.7539
+          Episode_Reward/obstacle_progress: +2.2021
+       Episode_Reward/wheel_body_intrusion: -0.3557
+        Episode_Reward/pair_body_intrusion: -0.4335
+             Curriculum/terrain_level_mean: +2.1650
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1051
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.5328
+             Episode_Termination/fell_over: 0.0438
+           Episode_Termination/course_exit: 0.4161
+Episode_Termination/illegal_nonwheel_contact: 0.0292
+==============================================================================
+
+==============================================================================
+Learning iteration 11500/50000
+                               Total steps: 47,104,000
+                          Steps per second: 10,271
+                            Iteration time: 0.399s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0848
+                       Mean episode length: 1405.3
+                                Actor loss: -9.3703
+                               Critic loss: +0.0038
+                          World model loss: +0.8988
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2990
+     Episode_Reward/track_angular_velocity: +53.1665
+                    Episode_Reward/upright: +27.3629
+                Episode_Reward/leg_posture: -3.0220
+                 Episode_Reward/standstill: -6.3636
+             Episode_Reward/action_rate_l2: -0.6040
+           Episode_Reward/joint_torques_l2: -0.1520
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0274
+     Episode_Reward/unnecessary_wheel_lift: -0.1328
+         Episode_Reward/rolling_leg_motion: -0.7826
+          Episode_Reward/obstacle_progress: +2.2212
+       Episode_Reward/wheel_body_intrusion: -0.3715
+        Episode_Reward/pair_body_intrusion: -0.4020
+             Curriculum/terrain_level_mean: +2.1709
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1047
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.5921
+             Episode_Termination/fell_over: 0.0395
+           Episode_Termination/course_exit: 0.3421
+Episode_Termination/illegal_nonwheel_contact: 0.0461
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1351]
+
+==============================================================================
+Learning iteration 11550/50000
+                               Total steps: 47,308,800
+                          Steps per second: 10,285
+                            Iteration time: 0.398s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0846
+                       Mean episode length: 1321.5
+                                Actor loss: -9.3380
+                               Critic loss: +0.0059
+                          World model loss: +0.9160
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.4946
+     Episode_Reward/track_angular_velocity: +49.9685
+                    Episode_Reward/upright: +25.7259
+                Episode_Reward/leg_posture: -2.8658
+                 Episode_Reward/standstill: -6.2846
+             Episode_Reward/action_rate_l2: -0.5655
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.1279
+         Episode_Reward/rolling_leg_motion: -0.7306
+          Episode_Reward/obstacle_progress: +2.1702
+       Episode_Reward/wheel_body_intrusion: -0.3760
+        Episode_Reward/pair_body_intrusion: -0.3839
+             Curriculum/terrain_level_mean: +2.1763
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1042
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4646
+             Episode_Termination/fell_over: 0.0236
+           Episode_Termination/course_exit: 0.4803
+Episode_Termination/illegal_nonwheel_contact: 0.0551
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 11600/50000
+                               Total steps: 47,513,600
+                          Steps per second: 10,301
+                            Iteration time: 0.398s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0851
+                       Mean episode length: 1321.8
+                                Actor loss: -9.3266
+                               Critic loss: +0.0045
+                          World model loss: +0.8769
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.6230
+     Episode_Reward/track_angular_velocity: +50.0812
+                    Episode_Reward/upright: +25.7494
+                Episode_Reward/leg_posture: -2.8166
+                 Episode_Reward/standstill: -6.0006
+             Episode_Reward/action_rate_l2: -0.5436
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.1127
+         Episode_Reward/rolling_leg_motion: -0.7058
+          Episode_Reward/obstacle_progress: +2.1525
+       Episode_Reward/wheel_body_intrusion: -0.3595
+        Episode_Reward/pair_body_intrusion: -0.3998
+             Curriculum/terrain_level_mean: +2.1846
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1029
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.4820
+             Episode_Termination/fell_over: 0.0360
+           Episode_Termination/course_exit: 0.4676
+Episode_Termination/illegal_nonwheel_contact: 0.0288
+==============================================================================
+
+==============================================================================
+Learning iteration 11650/50000
+                               Total steps: 47,718,400
+                          Steps per second: 10,316
+                            Iteration time: 0.397s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1330.0
+                                Actor loss: -9.3858
+                               Critic loss: +0.0094
+                          World model loss: +0.8833
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7746
+     Episode_Reward/track_angular_velocity: +50.2752
+                    Episode_Reward/upright: +25.8883
+                Episode_Reward/leg_posture: -2.8687
+                 Episode_Reward/standstill: -6.2064
+             Episode_Reward/action_rate_l2: -0.5586
+           Episode_Reward/joint_torques_l2: -0.1458
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0260
+     Episode_Reward/unnecessary_wheel_lift: -0.1348
+         Episode_Reward/rolling_leg_motion: -0.7334
+          Episode_Reward/obstacle_progress: +2.1767
+       Episode_Reward/wheel_body_intrusion: -0.3620
+        Episode_Reward/pair_body_intrusion: -0.3663
+             Curriculum/terrain_level_mean: +2.1895
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1041
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.5229
+             Episode_Termination/fell_over: 0.0458
+           Episode_Termination/course_exit: 0.4118
+Episode_Termination/illegal_nonwheel_contact: 0.0392
+==============================================================================
+
+==============================================================================
+Learning iteration 11700/50000
+                               Total steps: 47,923,200
+                          Steps per second: 10,331
+                            Iteration time: 0.396s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0851
+                       Mean episode length: 1365.6
+                                Actor loss: -9.3588
+                               Critic loss: +0.0042
+                          World model loss: +0.9069
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2239
+     Episode_Reward/track_angular_velocity: +51.6570
+                    Episode_Reward/upright: +26.5943
+                Episode_Reward/leg_posture: -2.9168
+                 Episode_Reward/standstill: -6.2278
+             Episode_Reward/action_rate_l2: -0.5819
+           Episode_Reward/joint_torques_l2: -0.1492
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.1296
+         Episode_Reward/rolling_leg_motion: -0.7434
+          Episode_Reward/obstacle_progress: +2.3203
+       Episode_Reward/wheel_body_intrusion: -0.3962
+        Episode_Reward/pair_body_intrusion: -0.4037
+             Curriculum/terrain_level_mean: +2.1948
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1028
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.5407
+             Episode_Termination/fell_over: 0.0222
+           Episode_Termination/course_exit: 0.4000
+Episode_Termination/illegal_nonwheel_contact: 0.0444
+==============================================================================
+
+==============================================================================
+Learning iteration 11750/50000
+                               Total steps: 48,128,000
+                          Steps per second: 10,346
+                            Iteration time: 0.396s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0848
+                       Mean episode length: 1360.7
+                                Actor loss: -9.3629
+                               Critic loss: +0.0026
+                          World model loss: +0.8897
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8846
+     Episode_Reward/track_angular_velocity: +51.3663
+                    Episode_Reward/upright: +26.5093
+                Episode_Reward/leg_posture: -2.8847
+                 Episode_Reward/standstill: -6.3451
+             Episode_Reward/action_rate_l2: -0.5914
+           Episode_Reward/joint_torques_l2: -0.1480
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0186
+     Episode_Reward/unnecessary_wheel_lift: -0.1221
+         Episode_Reward/rolling_leg_motion: -0.7423
+          Episode_Reward/obstacle_progress: +2.3533
+       Episode_Reward/wheel_body_intrusion: -0.3730
+        Episode_Reward/pair_body_intrusion: -0.4571
+             Curriculum/terrain_level_mean: +2.2031
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1039
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4965
+             Episode_Termination/fell_over: 0.0426
+           Episode_Termination/course_exit: 0.4539
+Episode_Termination/illegal_nonwheel_contact: 0.0426
+==============================================================================
+
+==============================================================================
+Learning iteration 11800/50000
+                               Total steps: 48,332,800
+                          Steps per second: 10,361
+                            Iteration time: 0.395s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1368.9
+                                Actor loss: -9.3672
+                               Critic loss: +0.0036
+                          World model loss: +0.8698
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0358
+     Episode_Reward/track_angular_velocity: +51.6910
+                    Episode_Reward/upright: +26.6848
+                Episode_Reward/leg_posture: -2.9005
+                 Episode_Reward/standstill: -6.4159
+             Episode_Reward/action_rate_l2: -0.5799
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.1249
+         Episode_Reward/rolling_leg_motion: -0.7327
+          Episode_Reward/obstacle_progress: +2.2812
+       Episode_Reward/wheel_body_intrusion: -0.3694
+        Episode_Reward/pair_body_intrusion: -0.4401
+             Curriculum/terrain_level_mean: +2.2114
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1051
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.5318
+             Episode_Termination/fell_over: 0.0289
+           Episode_Termination/course_exit: 0.4220
+Episode_Termination/illegal_nonwheel_contact: 0.0231
+==============================================================================
+
+==============================================================================
+Learning iteration 11850/50000
+                               Total steps: 48,537,600
+                          Steps per second: 10,376
+                            Iteration time: 0.395s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0846
+                       Mean episode length: 1417.4
+                                Actor loss: -9.3389
+                               Critic loss: +0.0057
+                          World model loss: +0.9105
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7598
+     Episode_Reward/track_angular_velocity: +53.4940
+                    Episode_Reward/upright: +27.6074
+                Episode_Reward/leg_posture: -3.0146
+                 Episode_Reward/standstill: -6.7032
+             Episode_Reward/action_rate_l2: -0.6052
+           Episode_Reward/joint_torques_l2: -0.1562
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.1299
+         Episode_Reward/rolling_leg_motion: -0.7803
+          Episode_Reward/obstacle_progress: +2.4061
+       Episode_Reward/wheel_body_intrusion: -0.4106
+        Episode_Reward/pair_body_intrusion: -0.4811
+             Curriculum/terrain_level_mean: +2.2175
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1377
+              Episode_Termination/time_out: 0.5473
+             Episode_Termination/fell_over: 0.0135
+           Episode_Termination/course_exit: 0.4189
+Episode_Termination/illegal_nonwheel_contact: 0.0270
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1771]
+
+==============================================================================
+Learning iteration 11900/50000
+                               Total steps: 48,742,400
+                          Steps per second: 10,391
+                            Iteration time: 0.394s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0850
+                       Mean episode length: 1369.5
+                                Actor loss: -9.3751
+                               Critic loss: +0.0024
+                          World model loss: +0.8746
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2316
+     Episode_Reward/track_angular_velocity: +51.6850
+                    Episode_Reward/upright: +26.6809
+                Episode_Reward/leg_posture: -2.9158
+                 Episode_Reward/standstill: -6.0222
+             Episode_Reward/action_rate_l2: -0.5788
+           Episode_Reward/joint_torques_l2: -0.1510
+             Episode_Reward/dof_pos_limits: -0.0023
+                 Episode_Reward/terminated: -0.0321
+     Episode_Reward/unnecessary_wheel_lift: -0.1270
+         Episode_Reward/rolling_leg_motion: -0.7512
+          Episode_Reward/obstacle_progress: +2.2884
+       Episode_Reward/wheel_body_intrusion: -0.4183
+        Episode_Reward/pair_body_intrusion: -0.4295
+             Curriculum/terrain_level_mean: +2.2224
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1040
+       Metrics/base_velocity/error_vel_yaw: 0.1378
+              Episode_Termination/time_out: 0.5190
+             Episode_Termination/fell_over: 0.0253
+           Episode_Termination/course_exit: 0.4051
+Episode_Termination/illegal_nonwheel_contact: 0.0696
+==============================================================================
+
+==============================================================================
+Learning iteration 11950/50000
+                               Total steps: 48,947,200
+                          Steps per second: 10,405
+                            Iteration time: 0.394s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0851
+                       Mean episode length: 1336.1
+                                Actor loss: -9.4135
+                               Critic loss: +0.0039
+                          World model loss: +0.8824
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1252
+     Episode_Reward/track_angular_velocity: +50.4411
+                    Episode_Reward/upright: +26.0316
+                Episode_Reward/leg_posture: -2.8516
+                 Episode_Reward/standstill: -5.8197
+             Episode_Reward/action_rate_l2: -0.5691
+           Episode_Reward/joint_torques_l2: -0.1462
+             Episode_Reward/dof_pos_limits: -0.0020
+                 Episode_Reward/terminated: -0.0313
+     Episode_Reward/unnecessary_wheel_lift: -0.1206
+         Episode_Reward/rolling_leg_motion: -0.7438
+          Episode_Reward/obstacle_progress: +2.2136
+       Episode_Reward/wheel_body_intrusion: -0.3847
+        Episode_Reward/pair_body_intrusion: -0.4002
+             Curriculum/terrain_level_mean: +2.2271
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1034
+       Metrics/base_velocity/error_vel_yaw: 0.1372
+              Episode_Termination/time_out: 0.5429
+             Episode_Termination/fell_over: 0.0500
+           Episode_Termination/course_exit: 0.3714
+Episode_Termination/illegal_nonwheel_contact: 0.0643
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[705]
+
+==============================================================================
+Learning iteration 12000/50000
+                               Total steps: 49,152,000
+                          Steps per second: 10,420
+                            Iteration time: 0.393s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0848
+                       Mean episode length: 1348.1
+                                Actor loss: -9.3694
+                               Critic loss: +0.0046
+                          World model loss: +0.8584
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4557
+     Episode_Reward/track_angular_velocity: +50.9330
+                    Episode_Reward/upright: +26.2604
+                Episode_Reward/leg_posture: -2.8370
+                 Episode_Reward/standstill: -6.3340
+             Episode_Reward/action_rate_l2: -0.5731
+           Episode_Reward/joint_torques_l2: -0.1483
+             Episode_Reward/dof_pos_limits: -0.0027
+                 Episode_Reward/terminated: -0.0237
+     Episode_Reward/unnecessary_wheel_lift: -0.1150
+         Episode_Reward/rolling_leg_motion: -0.7346
+          Episode_Reward/obstacle_progress: +2.2042
+       Episode_Reward/wheel_body_intrusion: -0.3977
+        Episode_Reward/pair_body_intrusion: -0.3758
+             Curriculum/terrain_level_mean: +2.2332
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1037
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4586
+             Episode_Termination/fell_over: 0.0226
+           Episode_Termination/course_exit: 0.4737
+Episode_Termination/illegal_nonwheel_contact: 0.0526
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2419]
+
+==============================================================================
+Learning iteration 12050/50000
+                               Total steps: 49,356,800
+                          Steps per second: 10,434
+                            Iteration time: 0.393s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0849
+                       Mean episode length: 1440.4
+                                Actor loss: -9.3697
+                               Critic loss: +0.0046
+                          World model loss: +0.8571
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6062
+     Episode_Reward/track_angular_velocity: +54.3965
+                    Episode_Reward/upright: +28.0245
+                Episode_Reward/leg_posture: -3.0508
+                 Episode_Reward/standstill: -6.4734
+             Episode_Reward/action_rate_l2: -0.6147
+           Episode_Reward/joint_torques_l2: -0.1586
+             Episode_Reward/dof_pos_limits: -0.0020
+                 Episode_Reward/terminated: -0.0225
+     Episode_Reward/unnecessary_wheel_lift: -0.1398
+         Episode_Reward/rolling_leg_motion: -0.7938
+          Episode_Reward/obstacle_progress: +2.3926
+       Episode_Reward/wheel_body_intrusion: -0.4133
+        Episode_Reward/pair_body_intrusion: -0.4166
+             Curriculum/terrain_level_mean: +2.2390
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1044
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.5677
+             Episode_Termination/fell_over: 0.0129
+           Episode_Termination/course_exit: 0.3806
+Episode_Termination/illegal_nonwheel_contact: 0.0516
+==============================================================================
+
+==============================================================================
+Learning iteration 12100/50000
+                               Total steps: 49,561,600
+                          Steps per second: 10,449
+                            Iteration time: 0.392s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0844
+                       Mean episode length: 1356.2
+                                Actor loss: -9.4057
+                               Critic loss: +0.0029
+                          World model loss: +0.8546
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5479
+     Episode_Reward/track_angular_velocity: +51.1627
+                    Episode_Reward/upright: +26.3633
+                Episode_Reward/leg_posture: -2.9049
+                 Episode_Reward/standstill: -6.6306
+             Episode_Reward/action_rate_l2: -0.5878
+           Episode_Reward/joint_torques_l2: -0.1522
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0291
+     Episode_Reward/unnecessary_wheel_lift: -0.1557
+         Episode_Reward/rolling_leg_motion: -0.7532
+          Episode_Reward/obstacle_progress: +2.3378
+       Episode_Reward/wheel_body_intrusion: -0.4000
+        Episode_Reward/pair_body_intrusion: -0.4004
+             Curriculum/terrain_level_mean: +2.2463
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1061
+       Metrics/base_velocity/error_vel_yaw: 0.1380
+              Episode_Termination/time_out: 0.4906
+             Episode_Termination/fell_over: 0.0377
+           Episode_Termination/course_exit: 0.4403
+Episode_Termination/illegal_nonwheel_contact: 0.0440
+==============================================================================
+
+==============================================================================
+Learning iteration 12150/50000
+                               Total steps: 49,766,400
+                          Steps per second: 10,464
+                            Iteration time: 0.391s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0846
+                       Mean episode length: 1338.2
+                                Actor loss: -9.3779
+                               Critic loss: +0.0033
+                          World model loss: +0.8748
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0072
+     Episode_Reward/track_angular_velocity: +50.4923
+                    Episode_Reward/upright: +26.0080
+                Episode_Reward/leg_posture: -2.8365
+                 Episode_Reward/standstill: -6.2469
+             Episode_Reward/action_rate_l2: -0.5875
+           Episode_Reward/joint_torques_l2: -0.1501
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0366
+     Episode_Reward/unnecessary_wheel_lift: -0.1566
+         Episode_Reward/rolling_leg_motion: -0.7341
+          Episode_Reward/obstacle_progress: +2.2422
+       Episode_Reward/wheel_body_intrusion: -0.4073
+        Episode_Reward/pair_body_intrusion: -0.3388
+             Curriculum/terrain_level_mean: +2.2495
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1052
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.4845
+             Episode_Termination/fell_over: 0.0311
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0683
+==============================================================================
+
+==============================================================================
+Learning iteration 12200/50000
+                               Total steps: 49,971,200
+                          Steps per second: 10,478
+                            Iteration time: 0.391s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0846
+                       Mean episode length: 1380.1
+                                Actor loss: -9.4153
+                               Critic loss: +0.0047
+                          World model loss: +0.9150
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6243
+     Episode_Reward/track_angular_velocity: +52.1066
+                    Episode_Reward/upright: +26.8330
+                Episode_Reward/leg_posture: -2.9453
+                 Episode_Reward/standstill: -6.7737
+             Episode_Reward/action_rate_l2: -0.5987
+           Episode_Reward/joint_torques_l2: -0.1527
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0404
+     Episode_Reward/unnecessary_wheel_lift: -0.1325
+         Episode_Reward/rolling_leg_motion: -0.7571
+          Episode_Reward/obstacle_progress: +2.3593
+       Episode_Reward/wheel_body_intrusion: -0.4234
+        Episode_Reward/pair_body_intrusion: -0.3513
+             Curriculum/terrain_level_mean: +2.2534
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1039
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.5404
+             Episode_Termination/fell_over: 0.0621
+           Episode_Termination/course_exit: 0.3665
+Episode_Termination/illegal_nonwheel_contact: 0.0621
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1193]
+
+==============================================================================
+Learning iteration 12250/50000
+                               Total steps: 50,176,000
+                          Steps per second: 10,492
+                            Iteration time: 0.390s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0848
+                       Mean episode length: 1351.8
+                                Actor loss: -9.3994
+                               Critic loss: +0.0038
+                          World model loss: +0.9035
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7259
+     Episode_Reward/track_angular_velocity: +51.0720
+                    Episode_Reward/upright: +26.3027
+                Episode_Reward/leg_posture: -2.8947
+                 Episode_Reward/standstill: -6.4329
+             Episode_Reward/action_rate_l2: -0.5907
+           Episode_Reward/joint_torques_l2: -0.1517
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0238
+     Episode_Reward/unnecessary_wheel_lift: -0.1409
+         Episode_Reward/rolling_leg_motion: -0.7376
+          Episode_Reward/obstacle_progress: +2.3897
+       Episode_Reward/wheel_body_intrusion: -0.4211
+        Episode_Reward/pair_body_intrusion: -0.4033
+             Curriculum/terrain_level_mean: +2.2598
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1029
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0256
+           Episode_Termination/course_exit: 0.4423
+Episode_Termination/illegal_nonwheel_contact: 0.0385
+==============================================================================
+
+==============================================================================
+Learning iteration 12300/50000
+                               Total steps: 50,380,800
+                          Steps per second: 10,506
+                            Iteration time: 0.390s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0845
+                       Mean episode length: 1384.4
+                                Actor loss: -9.3485
+                               Critic loss: +0.0058
+                          World model loss: +0.8779
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7033
+     Episode_Reward/track_angular_velocity: +52.2824
+                    Episode_Reward/upright: +26.9493
+                Episode_Reward/leg_posture: -2.8966
+                 Episode_Reward/standstill: -6.8374
+             Episode_Reward/action_rate_l2: -0.6128
+           Episode_Reward/joint_torques_l2: -0.1548
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0324
+     Episode_Reward/unnecessary_wheel_lift: -0.1568
+         Episode_Reward/rolling_leg_motion: -0.7605
+          Episode_Reward/obstacle_progress: +2.3689
+       Episode_Reward/wheel_body_intrusion: -0.4022
+        Episode_Reward/pair_body_intrusion: -0.4370
+             Curriculum/terrain_level_mean: +2.2661
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1041
+       Metrics/base_velocity/error_vel_yaw: 0.1369
+              Episode_Termination/time_out: 0.4932
+             Episode_Termination/fell_over: 0.0338
+           Episode_Termination/course_exit: 0.4257
+Episode_Termination/illegal_nonwheel_contact: 0.0676
+==============================================================================
+
+==============================================================================
+Learning iteration 12350/50000
+                               Total steps: 50,585,600
+                          Steps per second: 10,520
+                            Iteration time: 0.389s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0846
+                       Mean episode length: 1385.3
+                                Actor loss: -9.3925
+                               Critic loss: +0.0040
+                          World model loss: +0.8596
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7109
+     Episode_Reward/track_angular_velocity: +52.1924
+                    Episode_Reward/upright: +26.9279
+                Episode_Reward/leg_posture: -2.9096
+                 Episode_Reward/standstill: -6.7086
+             Episode_Reward/action_rate_l2: -0.6143
+           Episode_Reward/joint_torques_l2: -0.1546
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0271
+     Episode_Reward/unnecessary_wheel_lift: -0.1417
+         Episode_Reward/rolling_leg_motion: -0.7521
+          Episode_Reward/obstacle_progress: +2.4924
+       Episode_Reward/wheel_body_intrusion: -0.3862
+        Episode_Reward/pair_body_intrusion: -0.4257
+             Curriculum/terrain_level_mean: +2.2712
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1048
+       Metrics/base_velocity/error_vel_yaw: 0.1394
+              Episode_Termination/time_out: 0.5400
+             Episode_Termination/fell_over: 0.0200
+           Episode_Termination/course_exit: 0.3933
+Episode_Termination/illegal_nonwheel_contact: 0.0533
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1800]
+
+==============================================================================
+Learning iteration 12400/50000
+                               Total steps: 50,790,400
+                          Steps per second: 10,534
+                            Iteration time: 0.389s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0844
+                       Mean episode length: 1404.5
+                                Actor loss: -9.3760
+                               Critic loss: +0.0053
+                          World model loss: +0.8745
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3556
+     Episode_Reward/track_angular_velocity: +52.9601
+                    Episode_Reward/upright: +27.3038
+                Episode_Reward/leg_posture: -2.9370
+                 Episode_Reward/standstill: -7.1543
+             Episode_Reward/action_rate_l2: -0.6167
+           Episode_Reward/joint_torques_l2: -0.1575
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0274
+     Episode_Reward/unnecessary_wheel_lift: -0.1321
+         Episode_Reward/rolling_leg_motion: -0.7543
+          Episode_Reward/obstacle_progress: +2.4742
+       Episode_Reward/wheel_body_intrusion: -0.3593
+        Episode_Reward/pair_body_intrusion: -0.3854
+             Curriculum/terrain_level_mean: +2.2766
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1049
+       Metrics/base_velocity/error_vel_yaw: 0.1386
+              Episode_Termination/time_out: 0.5524
+             Episode_Termination/fell_over: 0.0350
+           Episode_Termination/course_exit: 0.3776
+Episode_Termination/illegal_nonwheel_contact: 0.0559
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[659]
+
+==============================================================================
+Learning iteration 12450/50000
+                               Total steps: 50,995,200
+                          Steps per second: 10,548
+                            Iteration time: 0.388s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0846
+                       Mean episode length: 1380.1
+                                Actor loss: -9.3672
+                               Critic loss: +0.0045
+                          World model loss: +0.8959
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6716
+     Episode_Reward/track_angular_velocity: +52.0972
+                    Episode_Reward/upright: +26.8464
+                Episode_Reward/leg_posture: -2.9295
+                 Episode_Reward/standstill: -6.9185
+             Episode_Reward/action_rate_l2: -0.5907
+           Episode_Reward/joint_torques_l2: -0.1555
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.1186
+         Episode_Reward/rolling_leg_motion: -0.7262
+          Episode_Reward/obstacle_progress: +2.4194
+       Episode_Reward/wheel_body_intrusion: -0.3700
+        Episode_Reward/pair_body_intrusion: -0.4108
+             Curriculum/terrain_level_mean: +2.2808
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1037
+       Metrics/base_velocity/error_vel_yaw: 0.1374
+              Episode_Termination/time_out: 0.5391
+             Episode_Termination/fell_over: 0.0348
+           Episode_Termination/course_exit: 0.4000
+Episode_Termination/illegal_nonwheel_contact: 0.0348
+==============================================================================
+
+==============================================================================
+Learning iteration 12500/50000
+                               Total steps: 51,200,000
+                          Steps per second: 10,561
+                            Iteration time: 0.388s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1373.7
+                                Actor loss: -9.3733
+                               Critic loss: +0.0084
+                          World model loss: +0.9200
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4225
+     Episode_Reward/track_angular_velocity: +51.8692
+                    Episode_Reward/upright: +26.7157
+                Episode_Reward/leg_posture: -2.9199
+                 Episode_Reward/standstill: -6.7751
+             Episode_Reward/action_rate_l2: -0.5776
+           Episode_Reward/joint_torques_l2: -0.1546
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0402
+     Episode_Reward/unnecessary_wheel_lift: -0.1264
+         Episode_Reward/rolling_leg_motion: -0.7399
+          Episode_Reward/obstacle_progress: +2.4301
+       Episode_Reward/wheel_body_intrusion: -0.3467
+        Episode_Reward/pair_body_intrusion: -0.3717
+             Curriculum/terrain_level_mean: +2.2859
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1038
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.5309
+             Episode_Termination/fell_over: 0.0370
+           Episode_Termination/course_exit: 0.3765
+Episode_Termination/illegal_nonwheel_contact: 0.0741
+==============================================================================
+
+==============================================================================
+Learning iteration 12550/50000
+                               Total steps: 51,404,800
+                          Steps per second: 10,575
+                            Iteration time: 0.387s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0849
+                       Mean episode length: 1386.1
+                                Actor loss: -9.3757
+                               Critic loss: +0.0045
+                          World model loss: +0.8781
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9599
+     Episode_Reward/track_angular_velocity: +52.3800
+                    Episode_Reward/upright: +26.9731
+                Episode_Reward/leg_posture: -2.9147
+                 Episode_Reward/standstill: -6.7743
+             Episode_Reward/action_rate_l2: -0.5974
+           Episode_Reward/joint_torques_l2: -0.1546
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0244
+     Episode_Reward/unnecessary_wheel_lift: -0.1469
+         Episode_Reward/rolling_leg_motion: -0.7507
+          Episode_Reward/obstacle_progress: +2.3732
+       Episode_Reward/wheel_body_intrusion: -0.3415
+        Episode_Reward/pair_body_intrusion: -0.3473
+             Curriculum/terrain_level_mean: +2.2942
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1032
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.5667
+             Episode_Termination/fell_over: 0.0278
+           Episode_Termination/course_exit: 0.3833
+Episode_Termination/illegal_nonwheel_contact: 0.0333
+==============================================================================
+
+==============================================================================
+Learning iteration 12600/50000
+                               Total steps: 51,609,600
+                          Steps per second: 10,589
+                            Iteration time: 0.387s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0846
+                       Mean episode length: 1359.0
+                                Actor loss: -9.3732
+                               Critic loss: +0.0042
+                          World model loss: +0.8789
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0388
+     Episode_Reward/track_angular_velocity: +51.3488
+                    Episode_Reward/upright: +26.4703
+                Episode_Reward/leg_posture: -2.8823
+                 Episode_Reward/standstill: -6.9188
+             Episode_Reward/action_rate_l2: -0.5816
+           Episode_Reward/joint_torques_l2: -0.1527
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0265
+     Episode_Reward/unnecessary_wheel_lift: -0.1394
+         Episode_Reward/rolling_leg_motion: -0.7327
+          Episode_Reward/obstacle_progress: +2.3061
+       Episode_Reward/wheel_body_intrusion: -0.3530
+        Episode_Reward/pair_body_intrusion: -0.3542
+             Curriculum/terrain_level_mean: +2.2993
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1028
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.5090
+             Episode_Termination/fell_over: 0.0299
+           Episode_Termination/course_exit: 0.4311
+Episode_Termination/illegal_nonwheel_contact: 0.0539
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[949]
+
+==============================================================================
+Learning iteration 12650/50000
+                               Total steps: 51,814,400
+                          Steps per second: 10,603
+                            Iteration time: 0.386s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1346.1
+                                Actor loss: -9.4109
+                               Critic loss: +0.0035
+                          World model loss: +0.8820
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6208
+     Episode_Reward/track_angular_velocity: +50.8147
+                    Episode_Reward/upright: +26.1869
+                Episode_Reward/leg_posture: -2.8282
+                 Episode_Reward/standstill: -6.7329
+             Episode_Reward/action_rate_l2: -0.5773
+           Episode_Reward/joint_torques_l2: -0.1510
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0368
+     Episode_Reward/unnecessary_wheel_lift: -0.1521
+         Episode_Reward/rolling_leg_motion: -0.7207
+          Episode_Reward/obstacle_progress: +2.2847
+       Episode_Reward/wheel_body_intrusion: -0.3470
+        Episode_Reward/pair_body_intrusion: -0.3921
+             Curriculum/terrain_level_mean: +2.3044
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1027
+       Metrics/base_velocity/error_vel_yaw: 0.1373
+              Episode_Termination/time_out: 0.5476
+             Episode_Termination/fell_over: 0.0357
+           Episode_Termination/course_exit: 0.3690
+Episode_Termination/illegal_nonwheel_contact: 0.0536
+==============================================================================
+
+==============================================================================
+Learning iteration 12700/50000
+                               Total steps: 52,019,200
+                          Steps per second: 10,616
+                            Iteration time: 0.386s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0847
+                       Mean episode length: 1392.7
+                                Actor loss: -9.3792
+                               Critic loss: +0.0044
+                          World model loss: +0.8414
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1031
+     Episode_Reward/track_angular_velocity: +52.5155
+                    Episode_Reward/upright: +27.0856
+                Episode_Reward/leg_posture: -2.8978
+                 Episode_Reward/standstill: -6.8301
+             Episode_Reward/action_rate_l2: -0.6130
+           Episode_Reward/joint_torques_l2: -0.1532
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.1455
+         Episode_Reward/rolling_leg_motion: -0.7555
+          Episode_Reward/obstacle_progress: +2.4153
+       Episode_Reward/wheel_body_intrusion: -0.3377
+        Episode_Reward/pair_body_intrusion: -0.3652
+             Curriculum/terrain_level_mean: +2.3096
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1035
+       Metrics/base_velocity/error_vel_yaw: 0.1385
+              Episode_Termination/time_out: 0.5750
+             Episode_Termination/fell_over: 0.0187
+           Episode_Termination/course_exit: 0.3750
+Episode_Termination/illegal_nonwheel_contact: 0.0437
+==============================================================================
+
+==============================================================================
+Learning iteration 12750/50000
+                               Total steps: 52,224,000
+                          Steps per second: 10,630
+                            Iteration time: 0.385s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0850
+                       Mean episode length: 1395.0
+                                Actor loss: -9.3616
+                               Critic loss: +0.0055
+                          World model loss: +0.8966
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3591
+     Episode_Reward/track_angular_velocity: +52.7006
+                    Episode_Reward/upright: +27.1624
+                Episode_Reward/leg_posture: -2.8770
+                 Episode_Reward/standstill: -6.9255
+             Episode_Reward/action_rate_l2: -0.5981
+           Episode_Reward/joint_torques_l2: -0.1541
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0272
+     Episode_Reward/unnecessary_wheel_lift: -0.1283
+         Episode_Reward/rolling_leg_motion: -0.7444
+          Episode_Reward/obstacle_progress: +2.4708
+       Episode_Reward/wheel_body_intrusion: -0.3340
+        Episode_Reward/pair_body_intrusion: -0.3932
+             Curriculum/terrain_level_mean: +2.3123
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1023
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.5786
+             Episode_Termination/fell_over: 0.0252
+           Episode_Termination/course_exit: 0.3585
+Episode_Termination/illegal_nonwheel_contact: 0.0503
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1043]
+
+==============================================================================
+Learning iteration 12800/50000
+                               Total steps: 52,428,800
+                          Steps per second: 10,643
+                            Iteration time: 0.385s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0850
+                       Mean episode length: 1381.6
+                                Actor loss: -9.4209
+                               Critic loss: +0.0072
+                          World model loss: +0.8494
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9339
+     Episode_Reward/track_angular_velocity: +52.1282
+                    Episode_Reward/upright: +26.8624
+                Episode_Reward/leg_posture: -2.8803
+                 Episode_Reward/standstill: -6.7596
+             Episode_Reward/action_rate_l2: -0.5823
+           Episode_Reward/joint_torques_l2: -0.1537
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0135
+     Episode_Reward/unnecessary_wheel_lift: -0.1105
+         Episode_Reward/rolling_leg_motion: -0.7187
+          Episode_Reward/obstacle_progress: +2.4638
+       Episode_Reward/wheel_body_intrusion: -0.3614
+        Episode_Reward/pair_body_intrusion: -0.3937
+             Curriculum/terrain_level_mean: +2.3188
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1018
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.5694
+             Episode_Termination/fell_over: 0.0208
+           Episode_Termination/course_exit: 0.3958
+Episode_Termination/illegal_nonwheel_contact: 0.0139
+==============================================================================
+
+==============================================================================
+Learning iteration 12850/50000
+                               Total steps: 52,633,600
+                          Steps per second: 10,656
+                            Iteration time: 0.384s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0850
+                       Mean episode length: 1389.8
+                                Actor loss: -9.3756
+                               Critic loss: +0.0043
+                          World model loss: +0.8819
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2085
+     Episode_Reward/track_angular_velocity: +52.4835
+                    Episode_Reward/upright: +27.0155
+                Episode_Reward/leg_posture: -2.9332
+                 Episode_Reward/standstill: -6.7930
+             Episode_Reward/action_rate_l2: -0.5842
+           Episode_Reward/joint_torques_l2: -0.1551
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0217
+     Episode_Reward/unnecessary_wheel_lift: -0.1205
+         Episode_Reward/rolling_leg_motion: -0.7485
+          Episode_Reward/obstacle_progress: +2.4990
+       Episode_Reward/wheel_body_intrusion: -0.3528
+        Episode_Reward/pair_body_intrusion: -0.4067
+             Curriculum/terrain_level_mean: +2.3247
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1021
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.5211
+             Episode_Termination/fell_over: 0.0352
+           Episode_Termination/course_exit: 0.4225
+Episode_Termination/illegal_nonwheel_contact: 0.0352
+==============================================================================
+
+==============================================================================
+Learning iteration 12900/50000
+                               Total steps: 52,838,400
+                          Steps per second: 10,670
+                            Iteration time: 0.384s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0851
+                       Mean episode length: 1442.0
+                                Actor loss: -9.4251
+                               Critic loss: +0.0042
+                          World model loss: +0.8984
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0684
+     Episode_Reward/track_angular_velocity: +54.4105
+                    Episode_Reward/upright: +28.0131
+                Episode_Reward/leg_posture: -3.0709
+                 Episode_Reward/standstill: -6.7676
+             Episode_Reward/action_rate_l2: -0.5963
+           Episode_Reward/joint_torques_l2: -0.1617
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0141
+     Episode_Reward/unnecessary_wheel_lift: -0.1197
+         Episode_Reward/rolling_leg_motion: -0.7761
+          Episode_Reward/obstacle_progress: +2.5834
+       Episode_Reward/wheel_body_intrusion: -0.3820
+        Episode_Reward/pair_body_intrusion: -0.4318
+             Curriculum/terrain_level_mean: +2.3286
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1016
+       Metrics/base_velocity/error_vel_yaw: 0.1377
+              Episode_Termination/time_out: 0.6284
+             Episode_Termination/fell_over: 0.0135
+           Episode_Termination/course_exit: 0.3378
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1674]
+
+==============================================================================
+Learning iteration 12950/50000
+                               Total steps: 53,043,200
+                          Steps per second: 10,683
+                            Iteration time: 0.383s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0850
+                       Mean episode length: 1312.9
+                                Actor loss: -9.4029
+                               Critic loss: +0.0054
+                          World model loss: +0.8799
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7696
+     Episode_Reward/track_angular_velocity: +49.5532
+                    Episode_Reward/upright: +25.4848
+                Episode_Reward/leg_posture: -2.7728
+                 Episode_Reward/standstill: -6.5933
+             Episode_Reward/action_rate_l2: -0.5569
+           Episode_Reward/joint_torques_l2: -0.1462
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0256
+     Episode_Reward/unnecessary_wheel_lift: -0.1102
+         Episode_Reward/rolling_leg_motion: -0.7180
+          Episode_Reward/obstacle_progress: +2.3596
+       Episode_Reward/wheel_body_intrusion: -0.3269
+        Episode_Reward/pair_body_intrusion: -0.3659
+             Curriculum/terrain_level_mean: +2.3330
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1006
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.4150
+             Episode_Termination/fell_over: 0.0408
+           Episode_Termination/course_exit: 0.5170
+Episode_Termination/illegal_nonwheel_contact: 0.0408
+==============================================================================
+
+==============================================================================
+Learning iteration 13000/50000
+                               Total steps: 53,248,000
+                          Steps per second: 10,695
+                            Iteration time: 0.383s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0851
+                       Mean episode length: 1316.4
+                                Actor loss: -9.4073
+                               Critic loss: +0.0050
+                          World model loss: +0.9043
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0104
+     Episode_Reward/track_angular_velocity: +49.6411
+                    Episode_Reward/upright: +25.5450
+                Episode_Reward/leg_posture: -2.8106
+                 Episode_Reward/standstill: -6.4176
+             Episode_Reward/action_rate_l2: -0.5609
+           Episode_Reward/joint_torques_l2: -0.1480
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0257
+     Episode_Reward/unnecessary_wheel_lift: -0.1191
+         Episode_Reward/rolling_leg_motion: -0.7293
+          Episode_Reward/obstacle_progress: +2.3633
+       Episode_Reward/wheel_body_intrusion: -0.3410
+        Episode_Reward/pair_body_intrusion: -0.4479
+             Curriculum/terrain_level_mean: +2.3386
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0997
+       Metrics/base_velocity/error_vel_yaw: 0.1389
+              Episode_Termination/time_out: 0.4859
+             Episode_Termination/fell_over: 0.0352
+           Episode_Termination/course_exit: 0.4437
+Episode_Termination/illegal_nonwheel_contact: 0.0563
+==============================================================================
+
+==============================================================================
+Learning iteration 13050/50000
+                               Total steps: 53,452,800
+                          Steps per second: 10,708
+                            Iteration time: 0.383s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0853
+                       Mean episode length: 1338.8
+                                Actor loss: -9.4215
+                               Critic loss: +0.0054
+                          World model loss: +0.9093
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7540
+     Episode_Reward/track_angular_velocity: +50.4710
+                    Episode_Reward/upright: +25.9865
+                Episode_Reward/leg_posture: -2.8427
+                 Episode_Reward/standstill: -6.3398
+             Episode_Reward/action_rate_l2: -0.5833
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1195
+         Episode_Reward/rolling_leg_motion: -0.7372
+          Episode_Reward/obstacle_progress: +2.4878
+       Episode_Reward/wheel_body_intrusion: -0.3385
+        Episode_Reward/pair_body_intrusion: -0.4140
+             Curriculum/terrain_level_mean: +2.3430
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1004
+       Metrics/base_velocity/error_vel_yaw: 0.1392
+              Episode_Termination/time_out: 0.5159
+             Episode_Termination/fell_over: 0.0079
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0556
+==============================================================================
+
+==============================================================================
+Learning iteration 13100/50000
+                               Total steps: 53,657,600
+                          Steps per second: 10,722
+                            Iteration time: 0.382s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0849
+                       Mean episode length: 1392.7
+                                Actor loss: -9.4271
+                               Critic loss: +0.0067
+                          World model loss: +0.9341
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3301
+     Episode_Reward/track_angular_velocity: +52.4424
+                    Episode_Reward/upright: +26.9879
+                Episode_Reward/leg_posture: -2.9315
+                 Episode_Reward/standstill: -6.7650
+             Episode_Reward/action_rate_l2: -0.6188
+           Episode_Reward/joint_torques_l2: -0.1593
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0190
+     Episode_Reward/unnecessary_wheel_lift: -0.1302
+         Episode_Reward/rolling_leg_motion: -0.7809
+          Episode_Reward/obstacle_progress: +2.6224
+       Episode_Reward/wheel_body_intrusion: -0.3287
+        Episode_Reward/pair_body_intrusion: -0.4445
+             Curriculum/terrain_level_mean: +2.3467
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1033
+       Metrics/base_velocity/error_vel_yaw: 0.1409
+              Episode_Termination/time_out: 0.5349
+             Episode_Termination/fell_over: 0.0388
+           Episode_Termination/course_exit: 0.4109
+Episode_Termination/illegal_nonwheel_contact: 0.0310
+==============================================================================
+
+==============================================================================
+Learning iteration 13150/50000
+                               Total steps: 53,862,400
+                          Steps per second: 10,735
+                            Iteration time: 0.382s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0851
+                       Mean episode length: 1324.8
+                                Actor loss: -9.3938
+                               Critic loss: +0.0093
+                          World model loss: +0.9053
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1632
+     Episode_Reward/track_angular_velocity: +49.8904
+                    Episode_Reward/upright: +25.6653
+                Episode_Reward/leg_posture: -2.7830
+                 Episode_Reward/standstill: -6.4881
+             Episode_Reward/action_rate_l2: -0.5913
+           Episode_Reward/joint_torques_l2: -0.1514
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.1058
+         Episode_Reward/rolling_leg_motion: -0.7426
+          Episode_Reward/obstacle_progress: +2.5270
+       Episode_Reward/wheel_body_intrusion: -0.3178
+        Episode_Reward/pair_body_intrusion: -0.3431
+             Curriculum/terrain_level_mean: +2.3545
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1013
+       Metrics/base_velocity/error_vel_yaw: 0.1406
+              Episode_Termination/time_out: 0.4604
+             Episode_Termination/fell_over: 0.0360
+           Episode_Termination/course_exit: 0.4892
+Episode_Termination/illegal_nonwheel_contact: 0.0216
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[774]
+RECOVERY reset 1 invalid environments; first IDs=[682]
+
+==============================================================================
+Learning iteration 13200/50000
+                               Total steps: 54,067,200
+                          Steps per second: 10,747
+                            Iteration time: 0.381s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0852
+                       Mean episode length: 1388.0
+                                Actor loss: -9.4403
+                               Critic loss: +0.0041
+                          World model loss: +0.9226
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4382
+     Episode_Reward/track_angular_velocity: +52.2415
+                    Episode_Reward/upright: +26.8729
+                Episode_Reward/leg_posture: -2.9395
+                 Episode_Reward/standstill: -6.6545
+             Episode_Reward/action_rate_l2: -0.6200
+           Episode_Reward/joint_torques_l2: -0.1597
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0271
+     Episode_Reward/unnecessary_wheel_lift: -0.1276
+         Episode_Reward/rolling_leg_motion: -0.8002
+          Episode_Reward/obstacle_progress: +2.7167
+       Episode_Reward/wheel_body_intrusion: -0.3378
+        Episode_Reward/pair_body_intrusion: -0.3649
+             Curriculum/terrain_level_mean: +2.3586
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1009
+       Metrics/base_velocity/error_vel_yaw: 0.1410
+              Episode_Termination/time_out: 0.5347
+             Episode_Termination/fell_over: 0.0417
+           Episode_Termination/course_exit: 0.3958
+Episode_Termination/illegal_nonwheel_contact: 0.0486
+==============================================================================
+
+==============================================================================
+Learning iteration 13250/50000
+                               Total steps: 54,272,000
+                          Steps per second: 10,760
+                            Iteration time: 0.381s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0854
+                       Mean episode length: 1409.1
+                                Actor loss: -9.4008
+                               Critic loss: +0.0062
+                          World model loss: +0.9198
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3157
+     Episode_Reward/track_angular_velocity: +53.1146
+                    Episode_Reward/upright: +27.3131
+                Episode_Reward/leg_posture: -2.9935
+                 Episode_Reward/standstill: -6.7054
+             Episode_Reward/action_rate_l2: -0.6379
+           Episode_Reward/joint_torques_l2: -0.1609
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0165
+     Episode_Reward/unnecessary_wheel_lift: -0.1248
+         Episode_Reward/rolling_leg_motion: -0.7989
+          Episode_Reward/obstacle_progress: +2.8012
+       Episode_Reward/wheel_body_intrusion: -0.3555
+        Episode_Reward/pair_body_intrusion: -0.3803
+             Curriculum/terrain_level_mean: +2.3650
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0997
+       Metrics/base_velocity/error_vel_yaw: 0.1397
+              Episode_Termination/time_out: 0.5724
+             Episode_Termination/fell_over: 0.0345
+           Episode_Termination/course_exit: 0.3862
+Episode_Termination/illegal_nonwheel_contact: 0.0276
+==============================================================================
+
+==============================================================================
+Learning iteration 13300/50000
+                               Total steps: 54,476,800
+                          Steps per second: 10,773
+                            Iteration time: 0.380s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0854
+                       Mean episode length: 1320.7
+                                Actor loss: -9.4502
+                               Critic loss: +0.0069
+                          World model loss: +0.9435
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2364
+     Episode_Reward/track_angular_velocity: +49.8066
+                    Episode_Reward/upright: +25.5815
+                Episode_Reward/leg_posture: -2.7971
+                 Episode_Reward/standstill: -6.3839
+             Episode_Reward/action_rate_l2: -0.5863
+           Episode_Reward/joint_torques_l2: -0.1511
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.1072
+         Episode_Reward/rolling_leg_motion: -0.7495
+          Episode_Reward/obstacle_progress: +2.6648
+       Episode_Reward/wheel_body_intrusion: -0.3319
+        Episode_Reward/pair_body_intrusion: -0.3858
+             Curriculum/terrain_level_mean: +2.3735
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0995
+       Metrics/base_velocity/error_vel_yaw: 0.1391
+              Episode_Termination/time_out: 0.4527
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+
+==============================================================================
+Learning iteration 13350/50000
+                               Total steps: 54,681,600
+                          Steps per second: 10,786
+                            Iteration time: 0.380s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0848
+                       Mean episode length: 1375.0
+                                Actor loss: -9.4448
+                               Critic loss: +0.0032
+                          World model loss: +0.9433
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0793
+     Episode_Reward/track_angular_velocity: +51.7750
+                    Episode_Reward/upright: +26.6247
+                Episode_Reward/leg_posture: -2.9497
+                 Episode_Reward/standstill: -7.0276
+             Episode_Reward/action_rate_l2: -0.6154
+           Episode_Reward/joint_torques_l2: -0.1573
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0430
+     Episode_Reward/unnecessary_wheel_lift: -0.1168
+         Episode_Reward/rolling_leg_motion: -0.7768
+          Episode_Reward/obstacle_progress: +2.6439
+       Episode_Reward/wheel_body_intrusion: -0.3418
+        Episode_Reward/pair_body_intrusion: -0.4331
+             Curriculum/terrain_level_mean: +2.3799
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.1003
+       Metrics/base_velocity/error_vel_yaw: 0.1408
+              Episode_Termination/time_out: 0.4730
+             Episode_Termination/fell_over: 0.0541
+           Episode_Termination/course_exit: 0.4189
+Episode_Termination/illegal_nonwheel_contact: 0.0743
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2258]
+
+==============================================================================
+Learning iteration 13400/50000
+                               Total steps: 54,886,400
+                          Steps per second: 10,798
+                            Iteration time: 0.379s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0854
+                       Mean episode length: 1397.9
+                                Actor loss: -9.4312
+                               Critic loss: +0.0048
+                          World model loss: +0.9224
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9911
+     Episode_Reward/track_angular_velocity: +52.6757
+                    Episode_Reward/upright: +27.0801
+                Episode_Reward/leg_posture: -2.9313
+                 Episode_Reward/standstill: -6.7542
+             Episode_Reward/action_rate_l2: -0.6239
+           Episode_Reward/joint_torques_l2: -0.1598
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0246
+     Episode_Reward/unnecessary_wheel_lift: -0.1330
+         Episode_Reward/rolling_leg_motion: -0.7961
+          Episode_Reward/obstacle_progress: +2.7086
+       Episode_Reward/wheel_body_intrusion: -0.3079
+        Episode_Reward/pair_body_intrusion: -0.3464
+             Curriculum/terrain_level_mean: +2.3865
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0993
+       Metrics/base_velocity/error_vel_yaw: 0.1399
+              Episode_Termination/time_out: 0.5448
+             Episode_Termination/fell_over: 0.0483
+           Episode_Termination/course_exit: 0.3931
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+
+==============================================================================
+Learning iteration 13450/50000
+                               Total steps: 55,091,200
+                          Steps per second: 10,811
+                            Iteration time: 0.379s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0851
+                       Mean episode length: 1358.5
+                                Actor loss: -9.4611
+                               Critic loss: +0.0033
+                          World model loss: +0.9430
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5811
+     Episode_Reward/track_angular_velocity: +51.1605
+                    Episode_Reward/upright: +26.3276
+                Episode_Reward/leg_posture: -2.8514
+                 Episode_Reward/standstill: -6.8684
+             Episode_Reward/action_rate_l2: -0.6173
+           Episode_Reward/joint_torques_l2: -0.1550
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0318
+     Episode_Reward/unnecessary_wheel_lift: -0.1251
+         Episode_Reward/rolling_leg_motion: -0.7640
+          Episode_Reward/obstacle_progress: +2.6576
+       Episode_Reward/wheel_body_intrusion: -0.3178
+        Episode_Reward/pair_body_intrusion: -0.3498
+             Curriculum/terrain_level_mean: +2.3921
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0996
+       Metrics/base_velocity/error_vel_yaw: 0.1408
+              Episode_Termination/time_out: 0.5143
+             Episode_Termination/fell_over: 0.0571
+           Episode_Termination/course_exit: 0.4000
+Episode_Termination/illegal_nonwheel_contact: 0.0643
+==============================================================================
+
+==============================================================================
+Learning iteration 13500/50000
+                               Total steps: 55,296,000
+                          Steps per second: 10,824
+                            Iteration time: 0.378s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0856
+                       Mean episode length: 1355.1
+                                Actor loss: -9.4415
+                               Critic loss: +0.0043
+                          World model loss: +0.9627
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7348
+     Episode_Reward/track_angular_velocity: +51.1284
+                    Episode_Reward/upright: +26.3012
+                Episode_Reward/leg_posture: -2.8334
+                 Episode_Reward/standstill: -6.6187
+             Episode_Reward/action_rate_l2: -0.6018
+           Episode_Reward/joint_torques_l2: -0.1540
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0238
+     Episode_Reward/unnecessary_wheel_lift: -0.1122
+         Episode_Reward/rolling_leg_motion: -0.7705
+          Episode_Reward/obstacle_progress: +2.7048
+       Episode_Reward/wheel_body_intrusion: -0.3056
+        Episode_Reward/pair_body_intrusion: -0.3931
+             Curriculum/terrain_level_mean: +2.3979
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0969
+       Metrics/base_velocity/error_vel_yaw: 0.1383
+              Episode_Termination/time_out: 0.5461
+             Episode_Termination/fell_over: 0.0329
+           Episode_Termination/course_exit: 0.3947
+Episode_Termination/illegal_nonwheel_contact: 0.0263
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_013500.mp4
+
+==============================================================================
+Learning iteration 13550/50000
+                               Total steps: 55,500,800
+                          Steps per second: 10,823
+                            Iteration time: 0.378s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0855
+                       Mean episode length: 1435.9
+                                Actor loss: -9.4487
+                               Critic loss: +0.0042
+                          World model loss: +0.9218
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.5912
+     Episode_Reward/track_angular_velocity: +54.1197
+                    Episode_Reward/upright: +27.8582
+                Episode_Reward/leg_posture: -3.0575
+                 Episode_Reward/standstill: -6.9642
+             Episode_Reward/action_rate_l2: -0.6306
+           Episode_Reward/joint_torques_l2: -0.1638
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0168
+     Episode_Reward/unnecessary_wheel_lift: -0.1272
+         Episode_Reward/rolling_leg_motion: -0.8379
+          Episode_Reward/obstacle_progress: +2.7997
+       Episode_Reward/wheel_body_intrusion: -0.3574
+        Episode_Reward/pair_body_intrusion: -0.4613
+             Curriculum/terrain_level_mean: +2.4041
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0970
+       Metrics/base_velocity/error_vel_yaw: 0.1397
+              Episode_Termination/time_out: 0.5779
+             Episode_Termination/fell_over: 0.0195
+           Episode_Termination/course_exit: 0.3831
+Episode_Termination/illegal_nonwheel_contact: 0.0260
+==============================================================================
+
+==============================================================================
+Learning iteration 13600/50000
+                               Total steps: 55,705,600
+                          Steps per second: 10,836
+                            Iteration time: 0.378s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0856
+                       Mean episode length: 1364.8
+                                Actor loss: -9.4574
+                               Critic loss: +0.0066
+                          World model loss: +0.9413
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0464
+     Episode_Reward/track_angular_velocity: +51.4907
+                    Episode_Reward/upright: +26.4853
+                Episode_Reward/leg_posture: -2.8561
+                 Episode_Reward/standstill: -6.7066
+             Episode_Reward/action_rate_l2: -0.6054
+           Episode_Reward/joint_torques_l2: -0.1548
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.1304
+         Episode_Reward/rolling_leg_motion: -0.7804
+          Episode_Reward/obstacle_progress: +2.6677
+       Episode_Reward/wheel_body_intrusion: -0.3147
+        Episode_Reward/pair_body_intrusion: -0.3433
+             Curriculum/terrain_level_mean: +2.4116
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0972
+       Metrics/base_velocity/error_vel_yaw: 0.1385
+              Episode_Termination/time_out: 0.4797
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.4865
+Episode_Termination/illegal_nonwheel_contact: 0.0203
+==============================================================================
+
+==============================================================================
+Learning iteration 13650/50000
+                               Total steps: 55,910,400
+                          Steps per second: 10,848
+                            Iteration time: 0.378s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0854
+                       Mean episode length: 1370.8
+                                Actor loss: -9.4525
+                               Critic loss: +0.0044
+                          World model loss: +0.9045
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3014
+     Episode_Reward/track_angular_velocity: +51.6511
+                    Episode_Reward/upright: +26.5783
+                Episode_Reward/leg_posture: -2.8818
+                 Episode_Reward/standstill: -6.8886
+             Episode_Reward/action_rate_l2: -0.6184
+           Episode_Reward/joint_torques_l2: -0.1560
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0295
+     Episode_Reward/unnecessary_wheel_lift: -0.1354
+         Episode_Reward/rolling_leg_motion: -0.8073
+          Episode_Reward/obstacle_progress: +2.7166
+       Episode_Reward/wheel_body_intrusion: -0.2937
+        Episode_Reward/pair_body_intrusion: -0.3626
+             Curriculum/terrain_level_mean: +2.4177
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0972
+       Metrics/base_velocity/error_vel_yaw: 0.1398
+              Episode_Termination/time_out: 0.5094
+             Episode_Termination/fell_over: 0.0503
+           Episode_Termination/course_exit: 0.4214
+Episode_Termination/illegal_nonwheel_contact: 0.0377
+==============================================================================
+
+==============================================================================
+Learning iteration 13700/50000
+                               Total steps: 56,115,200
+                          Steps per second: 10,860
+                            Iteration time: 0.377s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0856
+                       Mean episode length: 1368.2
+                                Actor loss: -9.4239
+                               Critic loss: +0.0039
+                          World model loss: +0.9292
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1751
+     Episode_Reward/track_angular_velocity: +51.6314
+                    Episode_Reward/upright: +26.5154
+                Episode_Reward/leg_posture: -2.8827
+                 Episode_Reward/standstill: -6.8002
+             Episode_Reward/action_rate_l2: -0.5941
+           Episode_Reward/joint_torques_l2: -0.1576
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.1239
+         Episode_Reward/rolling_leg_motion: -0.7905
+          Episode_Reward/obstacle_progress: +2.7764
+       Episode_Reward/wheel_body_intrusion: -0.3001
+        Episode_Reward/pair_body_intrusion: -0.3665
+             Curriculum/terrain_level_mean: +2.4214
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0972
+       Metrics/base_velocity/error_vel_yaw: 0.1378
+              Episode_Termination/time_out: 0.4891
+             Episode_Termination/fell_over: 0.0365
+           Episode_Termination/course_exit: 0.4526
+Episode_Termination/illegal_nonwheel_contact: 0.0219
+==============================================================================
+
+==============================================================================
+Learning iteration 13750/50000
+                               Total steps: 56,320,000
+                          Steps per second: 10,872
+                            Iteration time: 0.377s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0855
+                       Mean episode length: 1328.1
+                                Actor loss: -9.4663
+                               Critic loss: +0.0032
+                          World model loss: +0.9019
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8106
+     Episode_Reward/track_angular_velocity: +50.1052
+                    Episode_Reward/upright: +25.7241
+                Episode_Reward/leg_posture: -2.8112
+                 Episode_Reward/standstill: -6.6777
+             Episode_Reward/action_rate_l2: -0.5809
+           Episode_Reward/joint_torques_l2: -0.1527
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.1404
+         Episode_Reward/rolling_leg_motion: -0.7754
+          Episode_Reward/obstacle_progress: +2.6604
+       Episode_Reward/wheel_body_intrusion: -0.2860
+        Episode_Reward/pair_body_intrusion: -0.3053
+             Curriculum/terrain_level_mean: +2.4290
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0970
+       Metrics/base_velocity/error_vel_yaw: 0.1380
+              Episode_Termination/time_out: 0.4803
+             Episode_Termination/fell_over: 0.0329
+           Episode_Termination/course_exit: 0.4803
+Episode_Termination/illegal_nonwheel_contact: 0.0197
+==============================================================================
+
+==============================================================================
+Learning iteration 13800/50000
+                               Total steps: 56,524,800
+                          Steps per second: 10,884
+                            Iteration time: 0.376s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0855
+                       Mean episode length: 1381.1
+                                Actor loss: -9.4793
+                               Critic loss: +0.0045
+                          World model loss: +0.8919
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7053
+     Episode_Reward/track_angular_velocity: +52.1273
+                    Episode_Reward/upright: +26.7370
+                Episode_Reward/leg_posture: -2.9498
+                 Episode_Reward/standstill: -7.0120
+             Episode_Reward/action_rate_l2: -0.6100
+           Episode_Reward/joint_torques_l2: -0.1578
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0378
+     Episode_Reward/unnecessary_wheel_lift: -0.1496
+         Episode_Reward/rolling_leg_motion: -0.7985
+          Episode_Reward/obstacle_progress: +2.7790
+       Episode_Reward/wheel_body_intrusion: -0.3058
+        Episode_Reward/pair_body_intrusion: -0.3079
+             Curriculum/terrain_level_mean: +2.4336
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0971
+       Metrics/base_velocity/error_vel_yaw: 0.1377
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0353
+           Episode_Termination/course_exit: 0.4294
+Episode_Termination/illegal_nonwheel_contact: 0.0647
+==============================================================================
+
+==============================================================================
+Learning iteration 13850/50000
+                               Total steps: 56,729,600
+                          Steps per second: 10,896
+                            Iteration time: 0.376s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0856
+                       Mean episode length: 1320.9
+                                Actor loss: -9.4916
+                               Critic loss: +0.0042
+                          World model loss: +0.9088
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6314
+     Episode_Reward/track_angular_velocity: +49.9059
+                    Episode_Reward/upright: +25.5677
+                Episode_Reward/leg_posture: -2.7526
+                 Episode_Reward/standstill: -6.5781
+             Episode_Reward/action_rate_l2: -0.5995
+           Episode_Reward/joint_torques_l2: -0.1509
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0335
+     Episode_Reward/unnecessary_wheel_lift: -0.1402
+         Episode_Reward/rolling_leg_motion: -0.7893
+          Episode_Reward/obstacle_progress: +2.6446
+       Episode_Reward/wheel_body_intrusion: -0.2837
+        Episode_Reward/pair_body_intrusion: -0.3131
+             Curriculum/terrain_level_mean: +2.4412
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0964
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.4606
+             Episode_Termination/fell_over: 0.0485
+           Episode_Termination/course_exit: 0.4667
+Episode_Termination/illegal_nonwheel_contact: 0.0545
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1948]
+
+==============================================================================
+Learning iteration 13900/50000
+                               Total steps: 56,934,400
+                          Steps per second: 10,908
+                            Iteration time: 0.375s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1405.7
+                                Actor loss: -9.4761
+                               Critic loss: +0.0044
+                          World model loss: +0.8977
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8224
+     Episode_Reward/track_angular_velocity: +53.1254
+                    Episode_Reward/upright: +27.2290
+                Episode_Reward/leg_posture: -2.9385
+                 Episode_Reward/standstill: -6.6508
+             Episode_Reward/action_rate_l2: -0.6254
+           Episode_Reward/joint_torques_l2: -0.1606
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0192
+     Episode_Reward/unnecessary_wheel_lift: -0.1252
+         Episode_Reward/rolling_leg_motion: -0.8015
+          Episode_Reward/obstacle_progress: +2.8634
+       Episode_Reward/wheel_body_intrusion: -0.3021
+        Episode_Reward/pair_body_intrusion: -0.3565
+             Curriculum/terrain_level_mean: +2.4441
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.5147
+             Episode_Termination/fell_over: 0.0368
+           Episode_Termination/course_exit: 0.4338
+Episode_Termination/illegal_nonwheel_contact: 0.0221
+==============================================================================
+
+==============================================================================
+Learning iteration 13950/50000
+                               Total steps: 57,139,200
+                          Steps per second: 10,920
+                            Iteration time: 0.375s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0856
+                       Mean episode length: 1385.5
+                                Actor loss: -9.4493
+                               Critic loss: +0.0034
+                          World model loss: +0.8534
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9625
+     Episode_Reward/track_angular_velocity: +52.2509
+                    Episode_Reward/upright: +26.8508
+                Episode_Reward/leg_posture: -2.8816
+                 Episode_Reward/standstill: -6.9913
+             Episode_Reward/action_rate_l2: -0.6003
+           Episode_Reward/joint_torques_l2: -0.1573
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0325
+     Episode_Reward/unnecessary_wheel_lift: -0.1483
+         Episode_Reward/rolling_leg_motion: -0.7995
+          Episode_Reward/obstacle_progress: +2.7767
+       Episode_Reward/wheel_body_intrusion: -0.2952
+        Episode_Reward/pair_body_intrusion: -0.3078
+             Curriculum/terrain_level_mean: +2.4482
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0955
+       Metrics/base_velocity/error_vel_yaw: 0.1388
+              Episode_Termination/time_out: 0.5093
+             Episode_Termination/fell_over: 0.0435
+           Episode_Termination/course_exit: 0.4161
+Episode_Termination/illegal_nonwheel_contact: 0.0373
+==============================================================================
+
+==============================================================================
+Learning iteration 14000/50000
+                               Total steps: 57,344,000
+                          Steps per second: 10,932
+                            Iteration time: 0.375s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0861
+                       Mean episode length: 1420.5
+                                Actor loss: -9.4792
+                               Critic loss: +0.0073
+                          World model loss: +0.9023
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.4559
+     Episode_Reward/track_angular_velocity: +53.6509
+                    Episode_Reward/upright: +27.5495
+                Episode_Reward/leg_posture: -2.9551
+                 Episode_Reward/standstill: -6.8720
+             Episode_Reward/action_rate_l2: -0.6152
+           Episode_Reward/joint_torques_l2: -0.1605
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0194
+     Episode_Reward/unnecessary_wheel_lift: -0.1308
+         Episode_Reward/rolling_leg_motion: -0.8236
+          Episode_Reward/obstacle_progress: +2.8600
+       Episode_Reward/wheel_body_intrusion: -0.3141
+        Episode_Reward/pair_body_intrusion: -0.3677
+             Curriculum/terrain_level_mean: +2.4536
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.5419
+             Episode_Termination/fell_over: 0.0258
+           Episode_Termination/course_exit: 0.4129
+Episode_Termination/illegal_nonwheel_contact: 0.0387
+==============================================================================
+
+==============================================================================
+Learning iteration 14050/50000
+                               Total steps: 57,548,800
+                          Steps per second: 10,944
+                            Iteration time: 0.374s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0861
+                       Mean episode length: 1349.5
+                                Actor loss: -9.4592
+                               Critic loss: +0.0108
+                          World model loss: +0.9051
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9480
+     Episode_Reward/track_angular_velocity: +50.9779
+                    Episode_Reward/upright: +26.2241
+                Episode_Reward/leg_posture: -2.7973
+                 Episode_Reward/standstill: -6.4555
+             Episode_Reward/action_rate_l2: -0.5831
+           Episode_Reward/joint_torques_l2: -0.1497
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.1157
+         Episode_Reward/rolling_leg_motion: -0.7755
+          Episode_Reward/obstacle_progress: +2.6629
+       Episode_Reward/wheel_body_intrusion: -0.3087
+        Episode_Reward/pair_body_intrusion: -0.3593
+             Curriculum/terrain_level_mean: +2.4602
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.4408
+             Episode_Termination/fell_over: 0.0263
+           Episode_Termination/course_exit: 0.5132
+Episode_Termination/illegal_nonwheel_contact: 0.0197
+==============================================================================
+
+==============================================================================
+Learning iteration 14100/50000
+                               Total steps: 57,753,600
+                          Steps per second: 10,956
+                            Iteration time: 0.374s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0858
+                       Mean episode length: 1330.9
+                                Actor loss: -9.4661
+                               Critic loss: +0.0057
+                          World model loss: +0.8784
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1961
+     Episode_Reward/track_angular_velocity: +50.2810
+                    Episode_Reward/upright: +25.8318
+                Episode_Reward/leg_posture: -2.7966
+                 Episode_Reward/standstill: -6.5560
+             Episode_Reward/action_rate_l2: -0.5850
+           Episode_Reward/joint_torques_l2: -0.1492
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0286
+     Episode_Reward/unnecessary_wheel_lift: -0.1342
+         Episode_Reward/rolling_leg_motion: -0.7782
+          Episode_Reward/obstacle_progress: +2.5777
+       Episode_Reward/wheel_body_intrusion: -0.3103
+        Episode_Reward/pair_body_intrusion: -0.3238
+             Curriculum/terrain_level_mean: +2.4656
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.4899
+             Episode_Termination/fell_over: 0.0470
+           Episode_Termination/course_exit: 0.4362
+Episode_Termination/illegal_nonwheel_contact: 0.0470
+==============================================================================
+
+==============================================================================
+Learning iteration 14150/50000
+                               Total steps: 57,958,400
+                          Steps per second: 10,968
+                            Iteration time: 0.373s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0860
+                       Mean episode length: 1415.9
+                                Actor loss: -9.4976
+                               Critic loss: +0.0038
+                          World model loss: +0.8249
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.2073
+     Episode_Reward/track_angular_velocity: +53.5413
+                    Episode_Reward/upright: +27.5126
+                Episode_Reward/leg_posture: -2.9438
+                 Episode_Reward/standstill: -6.8862
+             Episode_Reward/action_rate_l2: -0.6195
+           Episode_Reward/joint_torques_l2: -0.1567
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0221
+     Episode_Reward/unnecessary_wheel_lift: -0.1421
+         Episode_Reward/rolling_leg_motion: -0.8322
+          Episode_Reward/obstacle_progress: +2.7037
+       Episode_Reward/wheel_body_intrusion: -0.3106
+        Episode_Reward/pair_body_intrusion: -0.3355
+             Curriculum/terrain_level_mean: +2.4724
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5061
+             Episode_Termination/fell_over: 0.0244
+           Episode_Termination/course_exit: 0.4451
+Episode_Termination/illegal_nonwheel_contact: 0.0244
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1582]
+
+==============================================================================
+Learning iteration 14200/50000
+                               Total steps: 58,163,200
+                          Steps per second: 10,979
+                            Iteration time: 0.373s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0856
+                       Mean episode length: 1370.2
+                                Actor loss: -9.4899
+                               Critic loss: +0.0066
+                          World model loss: +0.8660
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5742
+     Episode_Reward/track_angular_velocity: +51.8021
+                    Episode_Reward/upright: +26.5785
+                Episode_Reward/leg_posture: -2.8773
+                 Episode_Reward/standstill: -7.0216
+             Episode_Reward/action_rate_l2: -0.5881
+           Episode_Reward/joint_torques_l2: -0.1533
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.1446
+         Episode_Reward/rolling_leg_motion: -0.7970
+          Episode_Reward/obstacle_progress: +2.6256
+       Episode_Reward/wheel_body_intrusion: -0.3039
+        Episode_Reward/pair_body_intrusion: -0.3283
+             Curriculum/terrain_level_mean: +2.4783
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4872
+             Episode_Termination/fell_over: 0.0342
+           Episode_Termination/course_exit: 0.4615
+Episode_Termination/illegal_nonwheel_contact: 0.0427
+==============================================================================
+
+==============================================================================
+Learning iteration 14250/50000
+                               Total steps: 58,368,000
+                          Steps per second: 10,991
+                            Iteration time: 0.373s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0856
+                       Mean episode length: 1385.0
+                                Actor loss: -9.4738
+                               Critic loss: +0.0039
+                          World model loss: +0.8444
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0806
+     Episode_Reward/track_angular_velocity: +52.3894
+                    Episode_Reward/upright: +26.8913
+                Episode_Reward/leg_posture: -2.8703
+                 Episode_Reward/standstill: -7.2912
+             Episode_Reward/action_rate_l2: -0.6137
+           Episode_Reward/joint_torques_l2: -0.1553
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0243
+     Episode_Reward/unnecessary_wheel_lift: -0.1326
+         Episode_Reward/rolling_leg_motion: -0.8140
+          Episode_Reward/obstacle_progress: +2.6302
+       Episode_Reward/wheel_body_intrusion: -0.2861
+        Episode_Reward/pair_body_intrusion: -0.3160
+             Curriculum/terrain_level_mean: +2.4856
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5159
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.4268
+Episode_Termination/illegal_nonwheel_contact: 0.0318
+==============================================================================
+
+==============================================================================
+Learning iteration 14300/50000
+                               Total steps: 58,572,800
+                          Steps per second: 11,002
+                            Iteration time: 0.372s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0858
+                       Mean episode length: 1416.6
+                                Actor loss: -9.4994
+                               Critic loss: +0.0057
+                          World model loss: +0.8593
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0685
+     Episode_Reward/track_angular_velocity: +53.5856
+                    Episode_Reward/upright: +27.5165
+                Episode_Reward/leg_posture: -2.9782
+                 Episode_Reward/standstill: -6.9743
+             Episode_Reward/action_rate_l2: -0.6222
+           Episode_Reward/joint_torques_l2: -0.1596
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0194
+     Episode_Reward/unnecessary_wheel_lift: -0.1393
+         Episode_Reward/rolling_leg_motion: -0.8373
+          Episode_Reward/obstacle_progress: +2.7261
+       Episode_Reward/wheel_body_intrusion: -0.3146
+        Episode_Reward/pair_body_intrusion: -0.3007
+             Curriculum/terrain_level_mean: +2.4932
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0955
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5376
+             Episode_Termination/fell_over: 0.0289
+           Episode_Termination/course_exit: 0.4220
+Episode_Termination/illegal_nonwheel_contact: 0.0173
+==============================================================================
+
+==============================================================================
+Learning iteration 14350/50000
+                               Total steps: 58,777,600
+                          Steps per second: 11,013
+                            Iteration time: 0.372s
+                           Collection time: 0.075s
+                             Learning time: 0.193s
+                               Mean reward: +0.0860
+                       Mean episode length: 1378.4
+                                Actor loss: -9.4914
+                               Critic loss: +0.0052
+                          World model loss: +0.7984
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8628
+     Episode_Reward/track_angular_velocity: +52.0540
+                    Episode_Reward/upright: +26.7711
+                Episode_Reward/leg_posture: -2.8396
+                 Episode_Reward/standstill: -6.7777
+             Episode_Reward/action_rate_l2: -0.6178
+           Episode_Reward/joint_torques_l2: -0.1529
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.1198
+         Episode_Reward/rolling_leg_motion: -0.7896
+          Episode_Reward/obstacle_progress: +2.7096
+       Episode_Reward/wheel_body_intrusion: -0.2988
+        Episode_Reward/pair_body_intrusion: -0.3053
+             Curriculum/terrain_level_mean: +2.4990
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1372
+              Episode_Termination/time_out: 0.5369
+             Episode_Termination/fell_over: 0.0201
+           Episode_Termination/course_exit: 0.4161
+Episode_Termination/illegal_nonwheel_contact: 0.0403
+==============================================================================
+
+==============================================================================
+Learning iteration 14400/50000
+                               Total steps: 58,982,400
+                          Steps per second: 11,025
+                            Iteration time: 0.372s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1299.8
+                                Actor loss: -9.4924
+                               Critic loss: +0.0028
+                          World model loss: +0.8269
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0219
+     Episode_Reward/track_angular_velocity: +49.0809
+                    Episode_Reward/upright: +25.2355
+                Episode_Reward/leg_posture: -2.6686
+                 Episode_Reward/standstill: -6.0518
+             Episode_Reward/action_rate_l2: -0.5988
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0228
+     Episode_Reward/unnecessary_wheel_lift: -0.1320
+         Episode_Reward/rolling_leg_motion: -0.7504
+          Episode_Reward/obstacle_progress: +2.6224
+       Episode_Reward/wheel_body_intrusion: -0.2716
+        Episode_Reward/pair_body_intrusion: -0.2827
+             Curriculum/terrain_level_mean: +2.5090
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1375
+              Episode_Termination/time_out: 0.4596
+             Episode_Termination/fell_over: 0.0202
+           Episode_Termination/course_exit: 0.4949
+Episode_Termination/illegal_nonwheel_contact: 0.0404
+==============================================================================
+
+==============================================================================
+Learning iteration 14450/50000
+                               Total steps: 59,187,200
+                          Steps per second: 11,036
+                            Iteration time: 0.371s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0863
+                       Mean episode length: 1389.9
+                                Actor loss: -9.4857
+                               Critic loss: +0.0038
+                          World model loss: +0.8417
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1998
+     Episode_Reward/track_angular_velocity: +52.4671
+                    Episode_Reward/upright: +26.9972
+                Episode_Reward/leg_posture: -2.8272
+                 Episode_Reward/standstill: -6.2739
+             Episode_Reward/action_rate_l2: -0.6268
+           Episode_Reward/joint_torques_l2: -0.1531
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0136
+     Episode_Reward/unnecessary_wheel_lift: -0.1462
+         Episode_Reward/rolling_leg_motion: -0.8135
+          Episode_Reward/obstacle_progress: +2.8310
+       Episode_Reward/wheel_body_intrusion: -0.2858
+        Episode_Reward/pair_body_intrusion: -0.3395
+             Curriculum/terrain_level_mean: +2.5183
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0947
+       Metrics/base_velocity/error_vel_yaw: 0.1377
+              Episode_Termination/time_out: 0.4916
+             Episode_Termination/fell_over: 0.0112
+           Episode_Termination/course_exit: 0.4804
+Episode_Termination/illegal_nonwheel_contact: 0.0279
+==============================================================================
+
+==============================================================================
+Learning iteration 14500/50000
+                               Total steps: 59,392,000
+                          Steps per second: 11,047
+                            Iteration time: 0.371s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0866
+                       Mean episode length: 1353.7
+                                Actor loss: -9.5064
+                               Critic loss: +0.0031
+                          World model loss: +0.8357
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0166
+     Episode_Reward/track_angular_velocity: +51.2171
+                    Episode_Reward/upright: +26.2862
+                Episode_Reward/leg_posture: -2.7804
+                 Episode_Reward/standstill: -6.1155
+             Episode_Reward/action_rate_l2: -0.5942
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0026
+     Episode_Reward/unnecessary_wheel_lift: -0.1109
+         Episode_Reward/rolling_leg_motion: -0.7506
+          Episode_Reward/obstacle_progress: +2.7810
+       Episode_Reward/wheel_body_intrusion: -0.2851
+        Episode_Reward/pair_body_intrusion: -0.3239
+             Curriculum/terrain_level_mean: +2.5276
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.5211
+             Episode_Termination/fell_over: 0.0070
+           Episode_Termination/course_exit: 0.4718
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 14550/50000
+                               Total steps: 59,596,800
+                          Steps per second: 11,058
+                            Iteration time: 0.370s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0863
+                       Mean episode length: 1306.1
+                                Actor loss: -9.4687
+                               Critic loss: +0.0047
+                          World model loss: +0.8378
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0785
+     Episode_Reward/track_angular_velocity: +49.4083
+                    Episode_Reward/upright: +25.3454
+                Episode_Reward/leg_posture: -2.6942
+                 Episode_Reward/standstill: -5.8166
+             Episode_Reward/action_rate_l2: -0.5896
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0230
+     Episode_Reward/unnecessary_wheel_lift: -0.1332
+         Episode_Reward/rolling_leg_motion: -0.7513
+          Episode_Reward/obstacle_progress: +2.6632
+       Episode_Reward/wheel_body_intrusion: -0.2831
+        Episode_Reward/pair_body_intrusion: -0.3289
+             Curriculum/terrain_level_mean: +2.5361
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0962
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4444
+             Episode_Termination/fell_over: 0.0309
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0494
+==============================================================================
+
+==============================================================================
+Learning iteration 14600/50000
+                               Total steps: 59,801,600
+                          Steps per second: 11,070
+                            Iteration time: 0.370s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0862
+                       Mean episode length: 1328.7
+                                Actor loss: -9.4642
+                               Critic loss: +0.0063
+                          World model loss: +0.8470
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8083
+     Episode_Reward/track_angular_velocity: +50.2063
+                    Episode_Reward/upright: +25.7722
+                Episode_Reward/leg_posture: -2.6609
+                 Episode_Reward/standstill: -6.1230
+             Episode_Reward/action_rate_l2: -0.6168
+           Episode_Reward/joint_torques_l2: -0.1455
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0130
+     Episode_Reward/unnecessary_wheel_lift: -0.1200
+         Episode_Reward/rolling_leg_motion: -0.7551
+          Episode_Reward/obstacle_progress: +2.6786
+       Episode_Reward/wheel_body_intrusion: -0.2661
+        Episode_Reward/pair_body_intrusion: -0.2835
+             Curriculum/terrain_level_mean: +2.5469
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0966
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.4356
+             Episode_Termination/fell_over: 0.0123
+           Episode_Termination/course_exit: 0.5337
+Episode_Termination/illegal_nonwheel_contact: 0.0184
+==============================================================================
+
+==============================================================================
+Learning iteration 14650/50000
+                               Total steps: 60,006,400
+                          Steps per second: 11,081
+                            Iteration time: 0.370s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1342.1
+                                Actor loss: -9.4762
+                               Critic loss: +0.0037
+                          World model loss: +0.8297
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3649
+     Episode_Reward/track_angular_velocity: +50.7136
+                    Episode_Reward/upright: +26.0385
+                Episode_Reward/leg_posture: -2.7282
+                 Episode_Reward/standstill: -6.1713
+             Episode_Reward/action_rate_l2: -0.6043
+           Episode_Reward/joint_torques_l2: -0.1479
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0236
+     Episode_Reward/unnecessary_wheel_lift: -0.1233
+         Episode_Reward/rolling_leg_motion: -0.7641
+          Episode_Reward/obstacle_progress: +2.7592
+       Episode_Reward/wheel_body_intrusion: -0.2804
+        Episode_Reward/pair_body_intrusion: -0.3182
+             Curriculum/terrain_level_mean: +2.5525
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0966
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4702
+             Episode_Termination/fell_over: 0.0397
+           Episode_Termination/course_exit: 0.4702
+Episode_Termination/illegal_nonwheel_contact: 0.0397
+==============================================================================
+
+==============================================================================
+Learning iteration 14700/50000
+                               Total steps: 60,211,200
+                          Steps per second: 11,092
+                            Iteration time: 0.369s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0862
+                       Mean episode length: 1319.8
+                                Actor loss: -9.4568
+                               Critic loss: +0.0077
+                          World model loss: +0.8190
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5215
+     Episode_Reward/track_angular_velocity: +49.8917
+                    Episode_Reward/upright: +25.6137
+                Episode_Reward/leg_posture: -2.7000
+                 Episode_Reward/standstill: -5.9612
+             Episode_Reward/action_rate_l2: -0.5905
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0284
+     Episode_Reward/unnecessary_wheel_lift: -0.1147
+         Episode_Reward/rolling_leg_motion: -0.7480
+          Episode_Reward/obstacle_progress: +2.6468
+       Episode_Reward/wheel_body_intrusion: -0.2652
+        Episode_Reward/pair_body_intrusion: -0.3333
+             Curriculum/terrain_level_mean: +2.5564
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0965
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4648
+             Episode_Termination/fell_over: 0.0282
+           Episode_Termination/course_exit: 0.4577
+Episode_Termination/illegal_nonwheel_contact: 0.0704
+==============================================================================
+
+==============================================================================
+Learning iteration 14750/50000
+                               Total steps: 60,416,000
+                          Steps per second: 11,103
+                            Iteration time: 0.369s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0863
+                       Mean episode length: 1440.8
+                                Actor loss: -9.5000
+                               Critic loss: +0.0029
+                          World model loss: +0.8109
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.7175
+     Episode_Reward/track_angular_velocity: +54.4682
+                    Episode_Reward/upright: +27.9528
+                Episode_Reward/leg_posture: -2.9440
+                 Episode_Reward/standstill: -6.4283
+             Episode_Reward/action_rate_l2: -0.6446
+           Episode_Reward/joint_torques_l2: -0.1577
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0197
+     Episode_Reward/unnecessary_wheel_lift: -0.1205
+         Episode_Reward/rolling_leg_motion: -0.7907
+          Episode_Reward/obstacle_progress: +2.8903
+       Episode_Reward/wheel_body_intrusion: -0.2852
+        Episode_Reward/pair_body_intrusion: -0.3476
+             Curriculum/terrain_level_mean: +2.5627
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0968
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0274
+           Episode_Termination/course_exit: 0.4521
+Episode_Termination/illegal_nonwheel_contact: 0.0411
+==============================================================================
+
+==============================================================================
+Learning iteration 14800/50000
+                               Total steps: 60,620,800
+                          Steps per second: 11,114
+                            Iteration time: 0.369s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0861
+                       Mean episode length: 1273.3
+                                Actor loss: -9.4654
+                               Critic loss: +0.0036
+                          World model loss: +0.8368
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.7451
+     Episode_Reward/track_angular_velocity: +48.1125
+                    Episode_Reward/upright: +24.6657
+                Episode_Reward/leg_posture: -2.5901
+                 Episode_Reward/standstill: -5.7663
+             Episode_Reward/action_rate_l2: -0.5766
+           Episode_Reward/joint_torques_l2: -0.1385
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0149
+     Episode_Reward/unnecessary_wheel_lift: -0.0986
+         Episode_Reward/rolling_leg_motion: -0.7014
+          Episode_Reward/obstacle_progress: +2.6088
+       Episode_Reward/wheel_body_intrusion: -0.2511
+        Episode_Reward/pair_body_intrusion: -0.2978
+             Curriculum/terrain_level_mean: +2.5706
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0977
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.3629
+             Episode_Termination/fell_over: 0.0242
+           Episode_Termination/course_exit: 0.5887
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+
+==============================================================================
+Learning iteration 14850/50000
+                               Total steps: 60,825,600
+                          Steps per second: 11,125
+                            Iteration time: 0.368s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0863
+                       Mean episode length: 1371.3
+                                Actor loss: -9.4627
+                               Critic loss: +0.0040
+                          World model loss: +0.8323
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2933
+     Episode_Reward/track_angular_velocity: +51.8362
+                    Episode_Reward/upright: +26.5728
+                Episode_Reward/leg_posture: -2.7791
+                 Episode_Reward/standstill: -6.1921
+             Episode_Reward/action_rate_l2: -0.6171
+           Episode_Reward/joint_torques_l2: -0.1494
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.1064
+         Episode_Reward/rolling_leg_motion: -0.7543
+          Episode_Reward/obstacle_progress: +2.7605
+       Episode_Reward/wheel_body_intrusion: -0.2583
+        Episode_Reward/pair_body_intrusion: -0.3097
+             Curriculum/terrain_level_mean: +2.5771
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4892
+             Episode_Termination/fell_over: 0.0360
+           Episode_Termination/course_exit: 0.4676
+Episode_Termination/illegal_nonwheel_contact: 0.0216
+==============================================================================
+
+==============================================================================
+Learning iteration 14900/50000
+                               Total steps: 61,030,400
+                          Steps per second: 11,136
+                            Iteration time: 0.368s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1272.0
+                                Actor loss: -9.4647
+                               Critic loss: +0.0050
+                          World model loss: +0.8870
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.7311
+     Episode_Reward/track_angular_velocity: +47.9932
+                    Episode_Reward/upright: +24.6377
+                Episode_Reward/leg_posture: -2.6218
+                 Episode_Reward/standstill: -5.7248
+             Episode_Reward/action_rate_l2: -0.5738
+           Episode_Reward/joint_torques_l2: -0.1382
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0174
+     Episode_Reward/unnecessary_wheel_lift: -0.1015
+         Episode_Reward/rolling_leg_motion: -0.7067
+          Episode_Reward/obstacle_progress: +2.4945
+       Episode_Reward/wheel_body_intrusion: -0.2607
+        Episode_Reward/pair_body_intrusion: -0.2818
+             Curriculum/terrain_level_mean: +2.5845
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0973
+       Metrics/base_velocity/error_vel_yaw: 0.1381
+              Episode_Termination/time_out: 0.4069
+             Episode_Termination/fell_over: 0.0138
+           Episode_Termination/course_exit: 0.5448
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+
+==============================================================================
+Learning iteration 14950/50000
+                               Total steps: 61,235,200
+                          Steps per second: 11,147
+                            Iteration time: 0.367s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1259.6
+                                Actor loss: -9.4437
+                               Critic loss: +0.0048
+                          World model loss: +0.8135
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.2921
+     Episode_Reward/track_angular_velocity: +47.5981
+                    Episode_Reward/upright: +24.4137
+                Episode_Reward/leg_posture: -2.5820
+                 Episode_Reward/standstill: -5.6916
+             Episode_Reward/action_rate_l2: -0.5555
+           Episode_Reward/joint_torques_l2: -0.1371
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0197
+     Episode_Reward/unnecessary_wheel_lift: -0.1199
+         Episode_Reward/rolling_leg_motion: -0.7090
+          Episode_Reward/obstacle_progress: +2.4380
+       Episode_Reward/wheel_body_intrusion: -0.2471
+        Episode_Reward/pair_body_intrusion: -0.2548
+             Curriculum/terrain_level_mean: +2.5933
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0974
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4126
+             Episode_Termination/fell_over: 0.0350
+           Episode_Termination/course_exit: 0.5315
+Episode_Termination/illegal_nonwheel_contact: 0.0490
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2205]
+
+==============================================================================
+Learning iteration 15000/50000
+                               Total steps: 61,440,000
+                          Steps per second: 11,157
+                            Iteration time: 0.367s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0861
+                       Mean episode length: 1279.5
+                                Actor loss: -9.4857
+                               Critic loss: +0.0027
+                          World model loss: +0.7895
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.0061
+     Episode_Reward/track_angular_velocity: +48.3497
+                    Episode_Reward/upright: +24.8104
+                Episode_Reward/leg_posture: -2.5939
+                 Episode_Reward/standstill: -5.8107
+             Episode_Reward/action_rate_l2: -0.5698
+           Episode_Reward/joint_torques_l2: -0.1378
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0225
+     Episode_Reward/unnecessary_wheel_lift: -0.1127
+         Episode_Reward/rolling_leg_motion: -0.7212
+          Episode_Reward/obstacle_progress: +2.4745
+       Episode_Reward/wheel_body_intrusion: -0.2516
+        Episode_Reward/pair_body_intrusion: -0.2561
+             Curriculum/terrain_level_mean: +2.6021
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0971
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4375
+             Episode_Termination/fell_over: 0.0250
+           Episode_Termination/course_exit: 0.5062
+Episode_Termination/illegal_nonwheel_contact: 0.0437
+==============================================================================
+
+==============================================================================
+Learning iteration 15050/50000
+                               Total steps: 61,644,800
+                          Steps per second: 11,168
+                            Iteration time: 0.367s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1344.8
+                                Actor loss: -9.4798
+                               Critic loss: +0.0030
+                          World model loss: +0.8664
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2128
+     Episode_Reward/track_angular_velocity: +50.8374
+                    Episode_Reward/upright: +26.0524
+                Episode_Reward/leg_posture: -2.7656
+                 Episode_Reward/standstill: -5.9485
+             Episode_Reward/action_rate_l2: -0.5963
+           Episode_Reward/joint_torques_l2: -0.1458
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0131
+     Episode_Reward/unnecessary_wheel_lift: -0.1167
+         Episode_Reward/rolling_leg_motion: -0.7460
+          Episode_Reward/obstacle_progress: +2.5891
+       Episode_Reward/wheel_body_intrusion: -0.2583
+        Episode_Reward/pair_body_intrusion: -0.3317
+             Curriculum/terrain_level_mean: +2.6106
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0979
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4400
+             Episode_Termination/fell_over: 0.0133
+           Episode_Termination/course_exit: 0.5267
+Episode_Termination/illegal_nonwheel_contact: 0.0333
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[909]
+
+==============================================================================
+Learning iteration 15100/50000
+                               Total steps: 61,849,600
+                          Steps per second: 11,178
+                            Iteration time: 0.366s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0861
+                       Mean episode length: 1368.4
+                                Actor loss: -9.4677
+                               Critic loss: +0.0046
+                          World model loss: +0.8013
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0419
+     Episode_Reward/track_angular_velocity: +51.7315
+                    Episode_Reward/upright: +26.5078
+                Episode_Reward/leg_posture: -2.8416
+                 Episode_Reward/standstill: -6.0225
+             Episode_Reward/action_rate_l2: -0.5885
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0267
+     Episode_Reward/unnecessary_wheel_lift: -0.1131
+         Episode_Reward/rolling_leg_motion: -0.7565
+          Episode_Reward/obstacle_progress: +2.6919
+       Episode_Reward/wheel_body_intrusion: -0.2943
+        Episode_Reward/pair_body_intrusion: -0.3783
+             Curriculum/terrain_level_mean: +2.6157
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0975
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.5106
+             Episode_Termination/fell_over: 0.0496
+           Episode_Termination/course_exit: 0.4184
+Episode_Termination/illegal_nonwheel_contact: 0.0355
+==============================================================================
+
+==============================================================================
+Learning iteration 15150/50000
+                               Total steps: 62,054,400
+                          Steps per second: 11,189
+                            Iteration time: 0.366s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0861
+                       Mean episode length: 1330.7
+                                Actor loss: -9.4523
+                               Critic loss: +0.0034
+                          World model loss: +0.8548
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7054
+     Episode_Reward/track_angular_velocity: +50.2469
+                    Episode_Reward/upright: +25.7494
+                Episode_Reward/leg_posture: -2.7758
+                 Episode_Reward/standstill: -5.8372
+             Episode_Reward/action_rate_l2: -0.5917
+           Episode_Reward/joint_torques_l2: -0.1456
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.1063
+         Episode_Reward/rolling_leg_motion: -0.7489
+          Episode_Reward/obstacle_progress: +2.6393
+       Episode_Reward/wheel_body_intrusion: -0.2779
+        Episode_Reward/pair_body_intrusion: -0.3105
+             Curriculum/terrain_level_mean: +2.6235
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0977
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.5357
+             Episode_Termination/fell_over: 0.0214
+           Episode_Termination/course_exit: 0.4214
+Episode_Termination/illegal_nonwheel_contact: 0.0214
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[631]
+
+==============================================================================
+Learning iteration 15200/50000
+                               Total steps: 62,259,200
+                          Steps per second: 11,199
+                            Iteration time: 0.366s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0858
+                       Mean episode length: 1368.8
+                                Actor loss: -9.4603
+                               Critic loss: +0.0054
+                          World model loss: +0.8149
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9610
+     Episode_Reward/track_angular_velocity: +51.6707
+                    Episode_Reward/upright: +26.4771
+                Episode_Reward/leg_posture: -2.8476
+                 Episode_Reward/standstill: -6.2446
+             Episode_Reward/action_rate_l2: -0.6101
+           Episode_Reward/joint_torques_l2: -0.1482
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.1388
+         Episode_Reward/rolling_leg_motion: -0.7842
+          Episode_Reward/obstacle_progress: +2.7088
+       Episode_Reward/wheel_body_intrusion: -0.2814
+        Episode_Reward/pair_body_intrusion: -0.3098
+             Curriculum/terrain_level_mean: +2.6318
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0987
+       Metrics/base_velocity/error_vel_yaw: 0.1375
+              Episode_Termination/time_out: 0.4969
+             Episode_Termination/fell_over: 0.0373
+           Episode_Termination/course_exit: 0.4596
+Episode_Termination/illegal_nonwheel_contact: 0.0311
+==============================================================================
+
+==============================================================================
+Learning iteration 15250/50000
+                               Total steps: 62,464,000
+                          Steps per second: 11,210
+                            Iteration time: 0.365s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1345.0
+                                Actor loss: -9.4748
+                               Critic loss: +0.0076
+                          World model loss: +0.8131
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3585
+     Episode_Reward/track_angular_velocity: +50.8438
+                    Episode_Reward/upright: +26.0451
+                Episode_Reward/leg_posture: -2.7503
+                 Episode_Reward/standstill: -6.0565
+             Episode_Reward/action_rate_l2: -0.5946
+           Episode_Reward/joint_torques_l2: -0.1451
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0210
+     Episode_Reward/unnecessary_wheel_lift: -0.1260
+         Episode_Reward/rolling_leg_motion: -0.7498
+          Episode_Reward/obstacle_progress: +2.7159
+       Episode_Reward/wheel_body_intrusion: -0.2605
+        Episode_Reward/pair_body_intrusion: -0.2921
+             Curriculum/terrain_level_mean: +2.6396
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0964
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4710
+             Episode_Termination/fell_over: 0.0387
+           Episode_Termination/course_exit: 0.4774
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+
+==============================================================================
+Learning iteration 15300/50000
+                               Total steps: 62,668,800
+                          Steps per second: 11,220
+                            Iteration time: 0.365s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0863
+                       Mean episode length: 1325.4
+                                Actor loss: -9.4958
+                               Critic loss: +0.0030
+                          World model loss: +0.8311
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7907
+     Episode_Reward/track_angular_velocity: +50.1600
+                    Episode_Reward/upright: +25.6941
+                Episode_Reward/leg_posture: -2.7356
+                 Episode_Reward/standstill: -6.0716
+             Episode_Reward/action_rate_l2: -0.5741
+           Episode_Reward/joint_torques_l2: -0.1423
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.1063
+         Episode_Reward/rolling_leg_motion: -0.7299
+          Episode_Reward/obstacle_progress: +2.6839
+       Episode_Reward/wheel_body_intrusion: -0.2533
+        Episode_Reward/pair_body_intrusion: -0.2887
+             Curriculum/terrain_level_mean: +2.6462
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0952
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4565
+             Episode_Termination/fell_over: 0.0435
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0145
+==============================================================================
+
+==============================================================================
+Learning iteration 15350/50000
+                               Total steps: 62,873,600
+                          Steps per second: 11,231
+                            Iteration time: 0.365s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0863
+                       Mean episode length: 1365.6
+                                Actor loss: -9.4446
+                               Critic loss: +0.0063
+                          World model loss: +0.8516
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1736
+     Episode_Reward/track_angular_velocity: +51.6729
+                    Episode_Reward/upright: +26.4581
+                Episode_Reward/leg_posture: -2.8322
+                 Episode_Reward/standstill: -6.2371
+             Episode_Reward/action_rate_l2: -0.5955
+           Episode_Reward/joint_torques_l2: -0.1475
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0053
+     Episode_Reward/unnecessary_wheel_lift: -0.1046
+         Episode_Reward/rolling_leg_motion: -0.7542
+          Episode_Reward/obstacle_progress: +2.7526
+       Episode_Reward/wheel_body_intrusion: -0.2751
+        Episode_Reward/pair_body_intrusion: -0.2856
+             Curriculum/terrain_level_mean: +2.6523
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0955
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4786
+             Episode_Termination/fell_over: 0.0071
+           Episode_Termination/course_exit: 0.5071
+Episode_Termination/illegal_nonwheel_contact: 0.0071
+==============================================================================
+
+==============================================================================
+Learning iteration 15400/50000
+                               Total steps: 63,078,400
+                          Steps per second: 11,241
+                            Iteration time: 0.364s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0860
+                       Mean episode length: 1449.9
+                                Actor loss: -9.4587
+                               Critic loss: +0.0027
+                          World model loss: +0.8336
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.0895
+     Episode_Reward/track_angular_velocity: +54.8123
+                    Episode_Reward/upright: +28.0543
+                Episode_Reward/leg_posture: -2.9895
+                 Episode_Reward/standstill: -6.9345
+             Episode_Reward/action_rate_l2: -0.6279
+           Episode_Reward/joint_torques_l2: -0.1561
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0057
+     Episode_Reward/unnecessary_wheel_lift: -0.1308
+         Episode_Reward/rolling_leg_motion: -0.8116
+          Episode_Reward/obstacle_progress: +2.9457
+       Episode_Reward/wheel_body_intrusion: -0.2821
+        Episode_Reward/pair_body_intrusion: -0.2935
+             Curriculum/terrain_level_mean: +2.6580
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0962
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5683
+             Episode_Termination/fell_over: 0.0144
+           Episode_Termination/course_exit: 0.4173
+Episode_Termination/illegal_nonwheel_contact: 0.0072
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1862]
+
+==============================================================================
+Learning iteration 15450/50000
+                               Total steps: 63,283,200
+                          Steps per second: 11,251
+                            Iteration time: 0.364s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0860
+                       Mean episode length: 1338.0
+                                Actor loss: -9.4691
+                               Critic loss: +0.0036
+                          World model loss: +0.8014
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0617
+     Episode_Reward/track_angular_velocity: +50.5909
+                    Episode_Reward/upright: +25.8704
+                Episode_Reward/leg_posture: -2.7813
+                 Episode_Reward/standstill: -6.2869
+             Episode_Reward/action_rate_l2: -0.5793
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1230
+         Episode_Reward/rolling_leg_motion: -0.7431
+          Episode_Reward/obstacle_progress: +2.7256
+       Episode_Reward/wheel_body_intrusion: -0.2646
+        Episode_Reward/pair_body_intrusion: -0.2716
+             Curriculum/terrain_level_mean: +2.6641
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0971
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0294
+           Episode_Termination/course_exit: 0.4485
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 15500/50000
+                               Total steps: 63,488,000
+                          Steps per second: 11,262
+                            Iteration time: 0.364s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0860
+                       Mean episode length: 1370.7
+                                Actor loss: -9.4661
+                               Critic loss: +0.0041
+                          World model loss: +0.8204
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2271
+     Episode_Reward/track_angular_velocity: +51.7726
+                    Episode_Reward/upright: +26.5111
+                Episode_Reward/leg_posture: -2.8867
+                 Episode_Reward/standstill: -6.3082
+             Episode_Reward/action_rate_l2: -0.5932
+           Episode_Reward/joint_torques_l2: -0.1466
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.1230
+         Episode_Reward/rolling_leg_motion: -0.7874
+          Episode_Reward/obstacle_progress: +2.7007
+       Episode_Reward/wheel_body_intrusion: -0.2655
+        Episode_Reward/pair_body_intrusion: -0.2632
+             Curriculum/terrain_level_mean: +2.6694
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0967
+       Metrics/base_velocity/error_vel_yaw: 0.1369
+              Episode_Termination/time_out: 0.5036
+             Episode_Termination/fell_over: 0.0288
+           Episode_Termination/course_exit: 0.4460
+Episode_Termination/illegal_nonwheel_contact: 0.0504
+==============================================================================
+
+==============================================================================
+Learning iteration 15550/50000
+                               Total steps: 63,692,800
+                          Steps per second: 11,271
+                            Iteration time: 0.363s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0862
+                       Mean episode length: 1373.6
+                                Actor loss: -9.4637
+                               Critic loss: +0.0052
+                          World model loss: +0.8403
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3856
+     Episode_Reward/track_angular_velocity: +51.9362
+                    Episode_Reward/upright: +26.5803
+                Episode_Reward/leg_posture: -2.8517
+                 Episode_Reward/standstill: -6.0888
+             Episode_Reward/action_rate_l2: -0.6115
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.1106
+         Episode_Reward/rolling_leg_motion: -0.7738
+          Episode_Reward/obstacle_progress: +2.6724
+       Episode_Reward/wheel_body_intrusion: -0.2703
+        Episode_Reward/pair_body_intrusion: -0.2798
+             Curriculum/terrain_level_mean: +2.6785
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.4785
+             Episode_Termination/fell_over: 0.0184
+           Episode_Termination/course_exit: 0.4847
+Episode_Termination/illegal_nonwheel_contact: 0.0245
+==============================================================================
+
+==============================================================================
+Learning iteration 15600/50000
+                               Total steps: 63,897,600
+                          Steps per second: 11,281
+                            Iteration time: 0.363s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0859
+                       Mean episode length: 1343.5
+                                Actor loss: -9.4840
+                               Critic loss: +0.0028
+                          World model loss: +0.7809
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3448
+     Episode_Reward/track_angular_velocity: +50.7509
+                    Episode_Reward/upright: +26.0038
+                Episode_Reward/leg_posture: -2.7851
+                 Episode_Reward/standstill: -6.4065
+             Episode_Reward/action_rate_l2: -0.6078
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0131
+     Episode_Reward/unnecessary_wheel_lift: -0.1251
+         Episode_Reward/rolling_leg_motion: -0.7600
+          Episode_Reward/obstacle_progress: +2.7200
+       Episode_Reward/wheel_body_intrusion: -0.2643
+        Episode_Reward/pair_body_intrusion: -0.2839
+             Curriculum/terrain_level_mean: +2.6882
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0961
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.4611
+             Episode_Termination/fell_over: 0.0111
+           Episode_Termination/course_exit: 0.5111
+Episode_Termination/illegal_nonwheel_contact: 0.0167
+==============================================================================
+
+==============================================================================
+Learning iteration 15650/50000
+                               Total steps: 64,102,400
+                          Steps per second: 11,291
+                            Iteration time: 0.363s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0859
+                       Mean episode length: 1314.0
+                                Actor loss: -9.4701
+                               Critic loss: +0.0102
+                          World model loss: +0.8220
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2902
+     Episode_Reward/track_angular_velocity: +49.6389
+                    Episode_Reward/upright: +25.4010
+                Episode_Reward/leg_posture: -2.7485
+                 Episode_Reward/standstill: -6.2142
+             Episode_Reward/action_rate_l2: -0.5886
+           Episode_Reward/joint_torques_l2: -0.1402
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0257
+     Episode_Reward/unnecessary_wheel_lift: -0.1438
+         Episode_Reward/rolling_leg_motion: -0.7279
+          Episode_Reward/obstacle_progress: +2.6800
+       Episode_Reward/wheel_body_intrusion: -0.2627
+        Episode_Reward/pair_body_intrusion: -0.3071
+             Curriculum/terrain_level_mean: +2.6938
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4595
+             Episode_Termination/fell_over: 0.0338
+           Episode_Termination/course_exit: 0.4730
+Episode_Termination/illegal_nonwheel_contact: 0.0608
+==============================================================================
+
+==============================================================================
+Learning iteration 15700/50000
+                               Total steps: 64,307,200
+                          Steps per second: 11,302
+                            Iteration time: 0.362s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1386.0
+                                Actor loss: -9.4785
+                               Critic loss: +0.0032
+                          World model loss: +0.8220
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8020
+     Episode_Reward/track_angular_velocity: +52.4332
+                    Episode_Reward/upright: +26.8148
+                Episode_Reward/leg_posture: -2.8708
+                 Episode_Reward/standstill: -6.1829
+             Episode_Reward/action_rate_l2: -0.6145
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.1272
+         Episode_Reward/rolling_leg_motion: -0.7816
+          Episode_Reward/obstacle_progress: +2.7912
+       Episode_Reward/wheel_body_intrusion: -0.2736
+        Episode_Reward/pair_body_intrusion: -0.3603
+             Curriculum/terrain_level_mean: +2.7014
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0962
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4899
+             Episode_Termination/fell_over: 0.0268
+           Episode_Termination/course_exit: 0.4631
+Episode_Termination/illegal_nonwheel_contact: 0.0268
+==============================================================================
+
+==============================================================================
+Learning iteration 15750/50000
+                               Total steps: 64,512,000
+                          Steps per second: 11,312
+                            Iteration time: 0.362s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0857
+                       Mean episode length: 1357.9
+                                Actor loss: -9.4688
+                               Critic loss: +0.0045
+                          World model loss: +0.7805
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5628
+     Episode_Reward/track_angular_velocity: +51.3033
+                    Episode_Reward/upright: +26.2622
+                Episode_Reward/leg_posture: -2.8582
+                 Episode_Reward/standstill: -6.3537
+             Episode_Reward/action_rate_l2: -0.5878
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0239
+     Episode_Reward/unnecessary_wheel_lift: -0.1209
+         Episode_Reward/rolling_leg_motion: -0.7518
+          Episode_Reward/obstacle_progress: +2.6712
+       Episode_Reward/wheel_body_intrusion: -0.2933
+        Episode_Reward/pair_body_intrusion: -0.3215
+             Curriculum/terrain_level_mean: +2.7073
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0984
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.5145
+             Episode_Termination/fell_over: 0.0231
+           Episode_Termination/course_exit: 0.4335
+Episode_Termination/illegal_nonwheel_contact: 0.0405
+==============================================================================
+
+==============================================================================
+Learning iteration 15800/50000
+                               Total steps: 64,716,800
+                          Steps per second: 11,322
+                            Iteration time: 0.362s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0858
+                       Mean episode length: 1351.3
+                                Actor loss: -9.4616
+                               Critic loss: +0.0035
+                          World model loss: +0.8144
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5114
+     Episode_Reward/track_angular_velocity: +51.0393
+                    Episode_Reward/upright: +26.1057
+                Episode_Reward/leg_posture: -2.8443
+                 Episode_Reward/standstill: -6.3736
+             Episode_Reward/action_rate_l2: -0.5806
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.1160
+         Episode_Reward/rolling_leg_motion: -0.7444
+          Episode_Reward/obstacle_progress: +2.6709
+       Episode_Reward/wheel_body_intrusion: -0.2841
+        Episode_Reward/pair_body_intrusion: -0.3477
+             Curriculum/terrain_level_mean: +2.7131
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0972
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.4362
+             Episode_Termination/fell_over: 0.0201
+           Episode_Termination/course_exit: 0.5235
+Episode_Termination/illegal_nonwheel_contact: 0.0403
+==============================================================================
+
+==============================================================================
+Learning iteration 15850/50000
+                               Total steps: 64,921,600
+                          Steps per second: 11,332
+                            Iteration time: 0.361s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0856
+                       Mean episode length: 1336.5
+                                Actor loss: -9.4545
+                               Critic loss: +0.0030
+                          World model loss: +0.7897
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9838
+     Episode_Reward/track_angular_velocity: +50.4864
+                    Episode_Reward/upright: +25.8126
+                Episode_Reward/leg_posture: -2.8687
+                 Episode_Reward/standstill: -6.4054
+             Episode_Reward/action_rate_l2: -0.5750
+           Episode_Reward/joint_torques_l2: -0.1455
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1356
+         Episode_Reward/rolling_leg_motion: -0.7575
+          Episode_Reward/obstacle_progress: +2.6844
+       Episode_Reward/wheel_body_intrusion: -0.2791
+        Episode_Reward/pair_body_intrusion: -0.3489
+             Curriculum/terrain_level_mean: +2.7207
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0972
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.4620
+             Episode_Termination/fell_over: 0.0253
+           Episode_Termination/course_exit: 0.4937
+Episode_Termination/illegal_nonwheel_contact: 0.0253
+==============================================================================
+
+==============================================================================
+Learning iteration 15900/50000
+                               Total steps: 65,126,400
+                          Steps per second: 11,342
+                            Iteration time: 0.361s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0860
+                       Mean episode length: 1396.8
+                                Actor loss: -9.4546
+                               Critic loss: +0.0027
+                          World model loss: +0.7713
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1766
+     Episode_Reward/track_angular_velocity: +52.8056
+                    Episode_Reward/upright: +27.0174
+                Episode_Reward/leg_posture: -2.9277
+                 Episode_Reward/standstill: -6.5312
+             Episode_Reward/action_rate_l2: -0.5997
+           Episode_Reward/joint_torques_l2: -0.1518
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0273
+     Episode_Reward/unnecessary_wheel_lift: -0.1339
+         Episode_Reward/rolling_leg_motion: -0.7644
+          Episode_Reward/obstacle_progress: +2.8623
+       Episode_Reward/wheel_body_intrusion: -0.2855
+        Episode_Reward/pair_body_intrusion: -0.3417
+             Curriculum/terrain_level_mean: +2.7256
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0965
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.5294
+             Episode_Termination/fell_over: 0.0458
+           Episode_Termination/course_exit: 0.4052
+Episode_Termination/illegal_nonwheel_contact: 0.0458
+==============================================================================
+
+==============================================================================
+Learning iteration 15950/50000
+                               Total steps: 65,331,200
+                          Steps per second: 11,352
+                            Iteration time: 0.361s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1315.4
+                                Actor loss: -9.4756
+                               Critic loss: +0.0032
+                          World model loss: +0.7728
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3549
+     Episode_Reward/track_angular_velocity: +49.7938
+                    Episode_Reward/upright: +25.4456
+                Episode_Reward/leg_posture: -2.7226
+                 Episode_Reward/standstill: -6.3443
+             Episode_Reward/action_rate_l2: -0.5621
+           Episode_Reward/joint_torques_l2: -0.1413
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0154
+     Episode_Reward/unnecessary_wheel_lift: -0.1266
+         Episode_Reward/rolling_leg_motion: -0.7108
+          Episode_Reward/obstacle_progress: +2.6951
+       Episode_Reward/wheel_body_intrusion: -0.2636
+        Episode_Reward/pair_body_intrusion: -0.3327
+             Curriculum/terrain_level_mean: +2.7322
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0957
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.3836
+             Episode_Termination/fell_over: 0.0274
+           Episode_Termination/course_exit: 0.5753
+Episode_Termination/illegal_nonwheel_contact: 0.0342
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[446]
+
+==============================================================================
+Learning iteration 16000/50000
+                               Total steps: 65,536,000
+                          Steps per second: 11,362
+                            Iteration time: 0.361s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0856
+                       Mean episode length: 1386.6
+                                Actor loss: -9.4904
+                               Critic loss: +0.0027
+                          World model loss: +0.8370
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8119
+     Episode_Reward/track_angular_velocity: +52.3810
+                    Episode_Reward/upright: +26.8159
+                Episode_Reward/leg_posture: -2.9017
+                 Episode_Reward/standstill: -7.0339
+             Episode_Reward/action_rate_l2: -0.5918
+           Episode_Reward/joint_torques_l2: -0.1504
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0271
+     Episode_Reward/unnecessary_wheel_lift: -0.1414
+         Episode_Reward/rolling_leg_motion: -0.7662
+          Episode_Reward/obstacle_progress: +2.8531
+       Episode_Reward/wheel_body_intrusion: -0.2774
+        Episode_Reward/pair_body_intrusion: -0.3457
+             Curriculum/terrain_level_mean: +2.7368
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0967
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.5203
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.4122
+Episode_Termination/illegal_nonwheel_contact: 0.0676
+==============================================================================
+
+==============================================================================
+Learning iteration 16050/50000
+                               Total steps: 65,740,800
+                          Steps per second: 11,371
+                            Iteration time: 0.360s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0857
+                       Mean episode length: 1413.8
+                                Actor loss: -9.4499
+                               Critic loss: +0.0028
+                          World model loss: +0.8072
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6533
+     Episode_Reward/track_angular_velocity: +53.4314
+                    Episode_Reward/upright: +27.3317
+                Episode_Reward/leg_posture: -2.9704
+                 Episode_Reward/standstill: -6.7647
+             Episode_Reward/action_rate_l2: -0.6157
+           Episode_Reward/joint_torques_l2: -0.1541
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0193
+     Episode_Reward/unnecessary_wheel_lift: -0.1499
+         Episode_Reward/rolling_leg_motion: -0.7806
+          Episode_Reward/obstacle_progress: +2.8742
+       Episode_Reward/wheel_body_intrusion: -0.2961
+        Episode_Reward/pair_body_intrusion: -0.3835
+             Curriculum/terrain_level_mean: +2.7434
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0974
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.5350
+             Episode_Termination/fell_over: 0.0318
+           Episode_Termination/course_exit: 0.4204
+Episode_Termination/illegal_nonwheel_contact: 0.0318
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 16100/50000
+                               Total steps: 65,945,600
+                          Steps per second: 11,381
+                            Iteration time: 0.360s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0857
+                       Mean episode length: 1324.4
+                                Actor loss: -9.4618
+                               Critic loss: +0.0053
+                          World model loss: +0.8246
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4759
+     Episode_Reward/track_angular_velocity: +50.0059
+                    Episode_Reward/upright: +25.5699
+                Episode_Reward/leg_posture: -2.7201
+                 Episode_Reward/standstill: -6.4229
+             Episode_Reward/action_rate_l2: -0.5629
+           Episode_Reward/joint_torques_l2: -0.1441
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0310
+     Episode_Reward/unnecessary_wheel_lift: -0.1364
+         Episode_Reward/rolling_leg_motion: -0.7149
+          Episode_Reward/obstacle_progress: +2.7686
+       Episode_Reward/wheel_body_intrusion: -0.2742
+        Episode_Reward/pair_body_intrusion: -0.3024
+             Curriculum/terrain_level_mean: +2.7478
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0977
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.4540
+             Episode_Termination/fell_over: 0.0552
+           Episode_Termination/course_exit: 0.4724
+Episode_Termination/illegal_nonwheel_contact: 0.0429
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[873]
+
+==============================================================================
+Learning iteration 16150/50000
+                               Total steps: 66,150,400
+                          Steps per second: 11,391
+                            Iteration time: 0.360s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1451.1
+                                Actor loss: -9.4707
+                               Critic loss: +0.0074
+                          World model loss: +0.7973
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.0072
+     Episode_Reward/track_angular_velocity: +54.8858
+                    Episode_Reward/upright: +28.0491
+                Episode_Reward/leg_posture: -3.0029
+                 Episode_Reward/standstill: -6.6945
+             Episode_Reward/action_rate_l2: -0.6161
+           Episode_Reward/joint_torques_l2: -0.1574
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0028
+     Episode_Reward/unnecessary_wheel_lift: -0.1185
+         Episode_Reward/rolling_leg_motion: -0.7570
+          Episode_Reward/obstacle_progress: +3.0724
+       Episode_Reward/wheel_body_intrusion: -0.2788
+        Episode_Reward/pair_body_intrusion: -0.3383
+             Curriculum/terrain_level_mean: +2.7537
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0967
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.6164
+             Episode_Termination/fell_over: 0.0063
+           Episode_Termination/course_exit: 0.3774
+Episode_Termination/illegal_nonwheel_contact: 0.0063
+==============================================================================
+
+==============================================================================
+Learning iteration 16200/50000
+                               Total steps: 66,355,200
+                          Steps per second: 11,401
+                            Iteration time: 0.359s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0858
+                       Mean episode length: 1375.1
+                                Actor loss: -9.4375
+                               Critic loss: +0.0042
+                          World model loss: +0.7837
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2227
+     Episode_Reward/track_angular_velocity: +51.9484
+                    Episode_Reward/upright: +26.5763
+                Episode_Reward/leg_posture: -2.8411
+                 Episode_Reward/standstill: -6.6206
+             Episode_Reward/action_rate_l2: -0.5986
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0215
+     Episode_Reward/unnecessary_wheel_lift: -0.1248
+         Episode_Reward/rolling_leg_motion: -0.7510
+          Episode_Reward/obstacle_progress: +2.8823
+       Episode_Reward/wheel_body_intrusion: -0.2746
+        Episode_Reward/pair_body_intrusion: -0.3286
+             Curriculum/terrain_level_mean: +2.7607
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0980
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4852
+             Episode_Termination/fell_over: 0.0414
+           Episode_Termination/course_exit: 0.4675
+Episode_Termination/illegal_nonwheel_contact: 0.0178
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_016200.mp4
+
+==============================================================================
+Learning iteration 16250/50000
+                               Total steps: 66,560,000
+                          Steps per second: 11,399
+                            Iteration time: 0.359s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0859
+                       Mean episode length: 1322.9
+                                Actor loss: -9.4310
+                               Critic loss: +0.0074
+                          World model loss: +0.8031
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3942
+     Episode_Reward/track_angular_velocity: +49.9928
+                    Episode_Reward/upright: +25.5815
+                Episode_Reward/leg_posture: -2.7225
+                 Episode_Reward/standstill: -6.1558
+             Episode_Reward/action_rate_l2: -0.5738
+           Episode_Reward/joint_torques_l2: -0.1425
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0207
+     Episode_Reward/unnecessary_wheel_lift: -0.1157
+         Episode_Reward/rolling_leg_motion: -0.7198
+          Episode_Reward/obstacle_progress: +2.7469
+       Episode_Reward/wheel_body_intrusion: -0.2515
+        Episode_Reward/pair_body_intrusion: -0.3171
+             Curriculum/terrain_level_mean: +2.7668
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0977
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.5066
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.4408
+Episode_Termination/illegal_nonwheel_contact: 0.0329
+==============================================================================
+
+==============================================================================
+Learning iteration 16300/50000
+                               Total steps: 66,764,800
+                          Steps per second: 11,409
+                            Iteration time: 0.359s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0857
+                       Mean episode length: 1293.0
+                                Actor loss: -9.4562
+                               Critic loss: +0.0034
+                          World model loss: +0.7833
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.3476
+     Episode_Reward/track_angular_velocity: +48.8038
+                    Episode_Reward/upright: +24.9849
+                Episode_Reward/leg_posture: -2.6813
+                 Episode_Reward/standstill: -6.1654
+             Episode_Reward/action_rate_l2: -0.5510
+           Episode_Reward/joint_torques_l2: -0.1391
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0278
+     Episode_Reward/unnecessary_wheel_lift: -0.1312
+         Episode_Reward/rolling_leg_motion: -0.7109
+          Episode_Reward/obstacle_progress: +2.6869
+       Episode_Reward/wheel_body_intrusion: -0.2486
+        Episode_Reward/pair_body_intrusion: -0.3290
+             Curriculum/terrain_level_mean: +2.7739
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0979
+       Metrics/base_velocity/error_vel_yaw: 0.1374
+              Episode_Termination/time_out: 0.4713
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.4586
+Episode_Termination/illegal_nonwheel_contact: 0.0573
+==============================================================================
+
+==============================================================================
+Learning iteration 16350/50000
+                               Total steps: 66,969,600
+                          Steps per second: 11,418
+                            Iteration time: 0.359s
+                           Collection time: 0.075s
+                             Learning time: 0.193s
+                               Mean reward: +0.0859
+                       Mean episode length: 1384.4
+                                Actor loss: -9.4547
+                               Critic loss: +0.0069
+                          World model loss: +0.7731
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5993
+     Episode_Reward/track_angular_velocity: +52.3616
+                    Episode_Reward/upright: +26.7659
+                Episode_Reward/leg_posture: -2.9034
+                 Episode_Reward/standstill: -6.4136
+             Episode_Reward/action_rate_l2: -0.5902
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0135
+     Episode_Reward/unnecessary_wheel_lift: -0.1186
+         Episode_Reward/rolling_leg_motion: -0.7673
+          Episode_Reward/obstacle_progress: +2.7908
+       Episode_Reward/wheel_body_intrusion: -0.2830
+        Episode_Reward/pair_body_intrusion: -0.3321
+             Curriculum/terrain_level_mean: +2.7808
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0972
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5524
+             Episode_Termination/fell_over: 0.0140
+           Episode_Termination/course_exit: 0.4126
+Episode_Termination/illegal_nonwheel_contact: 0.0280
+==============================================================================
+
+==============================================================================
+Learning iteration 16400/50000
+                               Total steps: 67,174,400
+                          Steps per second: 11,427
+                            Iteration time: 0.358s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1367.3
+                                Actor loss: -9.4365
+                               Critic loss: +0.0053
+                          World model loss: +0.8191
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9561
+     Episode_Reward/track_angular_velocity: +51.7387
+                    Episode_Reward/upright: +26.4051
+                Episode_Reward/leg_posture: -2.8269
+                 Episode_Reward/standstill: -6.2923
+             Episode_Reward/action_rate_l2: -0.5850
+           Episode_Reward/joint_torques_l2: -0.1481
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.1243
+         Episode_Reward/rolling_leg_motion: -0.7484
+          Episode_Reward/obstacle_progress: +2.8054
+       Episode_Reward/wheel_body_intrusion: -0.2697
+        Episode_Reward/pair_body_intrusion: -0.2828
+             Curriculum/terrain_level_mean: +2.7849
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0978
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4925
+             Episode_Termination/fell_over: 0.0373
+           Episode_Termination/course_exit: 0.4478
+Episode_Termination/illegal_nonwheel_contact: 0.0373
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2421]
+
+==============================================================================
+Learning iteration 16450/50000
+                               Total steps: 67,379,200
+                          Steps per second: 11,436
+                            Iteration time: 0.358s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0858
+                       Mean episode length: 1369.5
+                                Actor loss: -9.4301
+                               Critic loss: +0.0029
+                          World model loss: +0.7401
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1420
+     Episode_Reward/track_angular_velocity: +51.8286
+                    Episode_Reward/upright: +26.4676
+                Episode_Reward/leg_posture: -2.8518
+                 Episode_Reward/standstill: -6.6493
+             Episode_Reward/action_rate_l2: -0.5777
+           Episode_Reward/joint_torques_l2: -0.1477
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.1105
+         Episode_Reward/rolling_leg_motion: -0.7544
+          Episode_Reward/obstacle_progress: +2.7799
+       Episode_Reward/wheel_body_intrusion: -0.2789
+        Episode_Reward/pair_body_intrusion: -0.3006
+             Curriculum/terrain_level_mean: +2.7903
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0969
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4932
+             Episode_Termination/fell_over: 0.0411
+           Episode_Termination/course_exit: 0.4452
+Episode_Termination/illegal_nonwheel_contact: 0.0274
+==============================================================================
+
+==============================================================================
+Learning iteration 16500/50000
+                               Total steps: 67,584,000
+                          Steps per second: 11,446
+                            Iteration time: 0.358s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0860
+                       Mean episode length: 1363.2
+                                Actor loss: -9.4236
+                               Critic loss: +0.0037
+                          World model loss: +0.8047
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9801
+     Episode_Reward/track_angular_velocity: +51.6183
+                    Episode_Reward/upright: +26.3205
+                Episode_Reward/leg_posture: -2.9298
+                 Episode_Reward/standstill: -6.2402
+             Episode_Reward/action_rate_l2: -0.5756
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0266
+     Episode_Reward/unnecessary_wheel_lift: -0.1082
+         Episode_Reward/rolling_leg_motion: -0.7704
+          Episode_Reward/obstacle_progress: +2.7016
+       Episode_Reward/wheel_body_intrusion: -0.2779
+        Episode_Reward/pair_body_intrusion: -0.3235
+             Curriculum/terrain_level_mean: +2.7961
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0960
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.5342
+             Episode_Termination/fell_over: 0.0616
+           Episode_Termination/course_exit: 0.3973
+Episode_Termination/illegal_nonwheel_contact: 0.0411
+==============================================================================
+
+==============================================================================
+Learning iteration 16550/50000
+                               Total steps: 67,788,800
+                          Steps per second: 11,455
+                            Iteration time: 0.358s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0858
+                       Mean episode length: 1320.6
+                                Actor loss: -9.4429
+                               Critic loss: +0.0065
+                          World model loss: +0.7656
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4373
+     Episode_Reward/track_angular_velocity: +49.9490
+                    Episode_Reward/upright: +25.4978
+                Episode_Reward/leg_posture: -2.8609
+                 Episode_Reward/standstill: -6.1875
+             Episode_Reward/action_rate_l2: -0.5538
+           Episode_Reward/joint_torques_l2: -0.1400
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.1173
+         Episode_Reward/rolling_leg_motion: -0.7459
+          Episode_Reward/obstacle_progress: +2.5623
+       Episode_Reward/wheel_body_intrusion: -0.2607
+        Episode_Reward/pair_body_intrusion: -0.2824
+             Curriculum/terrain_level_mean: +2.8037
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0964
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4565
+             Episode_Termination/fell_over: 0.0290
+           Episode_Termination/course_exit: 0.4855
+Episode_Termination/illegal_nonwheel_contact: 0.0290
+==============================================================================
+
+==============================================================================
+Learning iteration 16600/50000
+                               Total steps: 67,993,600
+                          Steps per second: 11,465
+                            Iteration time: 0.357s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0855
+                       Mean episode length: 1364.6
+                                Actor loss: -9.4239
+                               Critic loss: +0.0060
+                          World model loss: +0.7922
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9580
+     Episode_Reward/track_angular_velocity: +51.5714
+                    Episode_Reward/upright: +26.3595
+                Episode_Reward/leg_posture: -2.9273
+                 Episode_Reward/standstill: -6.7133
+             Episode_Reward/action_rate_l2: -0.5741
+           Episode_Reward/joint_torques_l2: -0.1465
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.1146
+         Episode_Reward/rolling_leg_motion: -0.7513
+          Episode_Reward/obstacle_progress: +2.6850
+       Episode_Reward/wheel_body_intrusion: -0.3113
+        Episode_Reward/pair_body_intrusion: -0.3344
+             Curriculum/terrain_level_mean: +2.8105
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0966
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4904
+             Episode_Termination/fell_over: 0.0191
+           Episode_Termination/course_exit: 0.4777
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+
+==============================================================================
+Learning iteration 16650/50000
+                               Total steps: 68,198,400
+                          Steps per second: 11,474
+                            Iteration time: 0.357s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0857
+                       Mean episode length: 1314.4
+                                Actor loss: -9.4586
+                               Critic loss: +0.0031
+                          World model loss: +0.8067
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2841
+     Episode_Reward/track_angular_velocity: +49.7358
+                    Episode_Reward/upright: +25.3926
+                Episode_Reward/leg_posture: -2.8264
+                 Episode_Reward/standstill: -6.2835
+             Episode_Reward/action_rate_l2: -0.5625
+           Episode_Reward/joint_torques_l2: -0.1394
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0154
+     Episode_Reward/unnecessary_wheel_lift: -0.1084
+         Episode_Reward/rolling_leg_motion: -0.7370
+          Episode_Reward/obstacle_progress: +2.5572
+       Episode_Reward/wheel_body_intrusion: -0.2600
+        Episode_Reward/pair_body_intrusion: -0.3358
+             Curriculum/terrain_level_mean: +2.8154
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0959
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4539
+             Episode_Termination/fell_over: 0.0213
+           Episode_Termination/course_exit: 0.5035
+Episode_Termination/illegal_nonwheel_contact: 0.0284
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[549]
+
+==============================================================================
+Learning iteration 16700/50000
+                               Total steps: 68,403,200
+                          Steps per second: 11,484
+                            Iteration time: 0.357s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0855
+                       Mean episode length: 1314.6
+                                Actor loss: -9.4397
+                               Critic loss: +0.0061
+                          World model loss: +0.7974
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2383
+     Episode_Reward/track_angular_velocity: +49.6844
+                    Episode_Reward/upright: +25.3338
+                Episode_Reward/leg_posture: -2.7765
+                 Episode_Reward/standstill: -6.4557
+             Episode_Reward/action_rate_l2: -0.5760
+           Episode_Reward/joint_torques_l2: -0.1413
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0180
+     Episode_Reward/unnecessary_wheel_lift: -0.1205
+         Episode_Reward/rolling_leg_motion: -0.7325
+          Episode_Reward/obstacle_progress: +2.5789
+       Episode_Reward/wheel_body_intrusion: -0.2767
+        Episode_Reward/pair_body_intrusion: -0.3249
+             Curriculum/terrain_level_mean: +2.8196
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0969
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.4437
+             Episode_Termination/fell_over: 0.0282
+           Episode_Termination/course_exit: 0.5070
+Episode_Termination/illegal_nonwheel_contact: 0.0423
+==============================================================================
+
+==============================================================================
+Learning iteration 16750/50000
+                               Total steps: 68,608,000
+                          Steps per second: 11,493
+                            Iteration time: 0.356s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0857
+                       Mean episode length: 1340.2
+                                Actor loss: -9.4718
+                               Critic loss: +0.0035
+                          World model loss: +0.7961
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2386
+     Episode_Reward/track_angular_velocity: +50.6196
+                    Episode_Reward/upright: +25.7885
+                Episode_Reward/leg_posture: -2.8818
+                 Episode_Reward/standstill: -6.3156
+             Episode_Reward/action_rate_l2: -0.5936
+           Episode_Reward/joint_torques_l2: -0.1467
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1309
+         Episode_Reward/rolling_leg_motion: -0.7344
+          Episode_Reward/obstacle_progress: +2.6706
+       Episode_Reward/wheel_body_intrusion: -0.3149
+        Episode_Reward/pair_body_intrusion: -0.3464
+             Curriculum/terrain_level_mean: +2.8276
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0962
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4743
+             Episode_Termination/fell_over: 0.0229
+           Episode_Termination/course_exit: 0.4857
+Episode_Termination/illegal_nonwheel_contact: 0.0286
+==============================================================================
+
+==============================================================================
+Learning iteration 16800/50000
+                               Total steps: 68,812,800
+                          Steps per second: 11,502
+                            Iteration time: 0.356s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0860
+                       Mean episode length: 1361.8
+                                Actor loss: -9.4243
+                               Critic loss: +0.0040
+                          World model loss: +0.7506
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1056
+     Episode_Reward/track_angular_velocity: +51.5195
+                    Episode_Reward/upright: +26.2294
+                Episode_Reward/leg_posture: -2.8680
+                 Episode_Reward/standstill: -6.5628
+             Episode_Reward/action_rate_l2: -0.5962
+           Episode_Reward/joint_torques_l2: -0.1493
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0053
+     Episode_Reward/unnecessary_wheel_lift: -0.1017
+         Episode_Reward/rolling_leg_motion: -0.7257
+          Episode_Reward/obstacle_progress: +2.8660
+       Episode_Reward/wheel_body_intrusion: -0.3042
+        Episode_Reward/pair_body_intrusion: -0.3559
+             Curriculum/terrain_level_mean: +2.8345
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0952
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4899
+             Episode_Termination/fell_over: 0.0067
+           Episode_Termination/course_exit: 0.4966
+Episode_Termination/illegal_nonwheel_contact: 0.0067
+==============================================================================
+
+==============================================================================
+Learning iteration 16850/50000
+                               Total steps: 69,017,600
+                          Steps per second: 11,511
+                            Iteration time: 0.356s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0856
+                       Mean episode length: 1358.9
+                                Actor loss: -9.4653
+                               Critic loss: +0.0032
+                          World model loss: +0.7636
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7607
+     Episode_Reward/track_angular_velocity: +51.3554
+                    Episode_Reward/upright: +26.1470
+                Episode_Reward/leg_posture: -2.8267
+                 Episode_Reward/standstill: -6.6885
+             Episode_Reward/action_rate_l2: -0.6098
+           Episode_Reward/joint_torques_l2: -0.1495
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.1074
+         Episode_Reward/rolling_leg_motion: -0.7278
+          Episode_Reward/obstacle_progress: +2.8524
+       Episode_Reward/wheel_body_intrusion: -0.2859
+        Episode_Reward/pair_body_intrusion: -0.3564
+             Curriculum/terrain_level_mean: +2.8418
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0975
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.5069
+             Episode_Termination/fell_over: 0.0208
+           Episode_Termination/course_exit: 0.4583
+Episode_Termination/illegal_nonwheel_contact: 0.0139
+==============================================================================
+
+==============================================================================
+Learning iteration 16900/50000
+                               Total steps: 69,222,400
+                          Steps per second: 11,521
+                            Iteration time: 0.356s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0855
+                       Mean episode length: 1326.0
+                                Actor loss: -9.4868
+                               Critic loss: +0.0042
+                          World model loss: +0.8123
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5344
+     Episode_Reward/track_angular_velocity: +50.0692
+                    Episode_Reward/upright: +25.5124
+                Episode_Reward/leg_posture: -2.7679
+                 Episode_Reward/standstill: -6.5294
+             Episode_Reward/action_rate_l2: -0.6072
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0259
+     Episode_Reward/unnecessary_wheel_lift: -0.1102
+         Episode_Reward/rolling_leg_motion: -0.7173
+          Episode_Reward/obstacle_progress: +2.7738
+       Episode_Reward/wheel_body_intrusion: -0.2586
+        Episode_Reward/pair_body_intrusion: -0.3431
+             Curriculum/terrain_level_mean: +2.8484
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0987
+       Metrics/base_velocity/error_vel_yaw: 0.1373
+              Episode_Termination/time_out: 0.4516
+             Episode_Termination/fell_over: 0.0323
+           Episode_Termination/course_exit: 0.4839
+Episode_Termination/illegal_nonwheel_contact: 0.0387
+==============================================================================
+
+==============================================================================
+Learning iteration 16950/50000
+                               Total steps: 69,427,200
+                          Steps per second: 11,530
+                            Iteration time: 0.355s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0858
+                       Mean episode length: 1381.9
+                                Actor loss: -9.4552
+                               Critic loss: +0.0055
+                          World model loss: +0.7841
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5754
+     Episode_Reward/track_angular_velocity: +52.1638
+                    Episode_Reward/upright: +26.6092
+                Episode_Reward/leg_posture: -2.8722
+                 Episode_Reward/standstill: -6.5494
+             Episode_Reward/action_rate_l2: -0.6285
+           Episode_Reward/joint_torques_l2: -0.1508
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0243
+     Episode_Reward/unnecessary_wheel_lift: -0.1183
+         Episode_Reward/rolling_leg_motion: -0.7598
+          Episode_Reward/obstacle_progress: +2.8833
+       Episode_Reward/wheel_body_intrusion: -0.2693
+        Episode_Reward/pair_body_intrusion: -0.3585
+             Curriculum/terrain_level_mean: +2.8545
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0974
+       Metrics/base_velocity/error_vel_yaw: 0.1374
+              Episode_Termination/time_out: 0.5159
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.4268
+Episode_Termination/illegal_nonwheel_contact: 0.0510
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 17000/50000
+                               Total steps: 69,632,000
+                          Steps per second: 11,538
+                            Iteration time: 0.355s
+                           Collection time: 0.075s
+                             Learning time: 0.193s
+                               Mean reward: +0.0859
+                       Mean episode length: 1364.8
+                                Actor loss: -9.4805
+                               Critic loss: +0.0100
+                          World model loss: +0.8144
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1072
+     Episode_Reward/track_angular_velocity: +51.5253
+                    Episode_Reward/upright: +26.2744
+                Episode_Reward/leg_posture: -2.8146
+                 Episode_Reward/standstill: -6.5673
+             Episode_Reward/action_rate_l2: -0.6057
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.1015
+         Episode_Reward/rolling_leg_motion: -0.7296
+          Episode_Reward/obstacle_progress: +2.9694
+       Episode_Reward/wheel_body_intrusion: -0.2676
+        Episode_Reward/pair_body_intrusion: -0.3364
+             Curriculum/terrain_level_mean: +2.8594
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0967
+       Metrics/base_velocity/error_vel_yaw: 0.1374
+              Episode_Termination/time_out: 0.5191
+             Episode_Termination/fell_over: 0.0458
+           Episode_Termination/course_exit: 0.4198
+Episode_Termination/illegal_nonwheel_contact: 0.0305
+==============================================================================
+
+==============================================================================
+Learning iteration 17050/50000
+                               Total steps: 69,836,800
+                          Steps per second: 11,547
+                            Iteration time: 0.355s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0855
+                       Mean episode length: 1355.2
+                                Actor loss: -9.4597
+                               Critic loss: +0.0032
+                          World model loss: +0.7887
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5758
+     Episode_Reward/track_angular_velocity: +51.1664
+                    Episode_Reward/upright: +26.0763
+                Episode_Reward/leg_posture: -2.8731
+                 Episode_Reward/standstill: -6.8001
+             Episode_Reward/action_rate_l2: -0.6015
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.1167
+         Episode_Reward/rolling_leg_motion: -0.7039
+          Episode_Reward/obstacle_progress: +2.9819
+       Episode_Reward/wheel_body_intrusion: -0.2841
+        Episode_Reward/pair_body_intrusion: -0.3422
+             Curriculum/terrain_level_mean: +2.8665
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0986
+       Metrics/base_velocity/error_vel_yaw: 0.1373
+              Episode_Termination/time_out: 0.4406
+             Episode_Termination/fell_over: 0.0280
+           Episode_Termination/course_exit: 0.5105
+Episode_Termination/illegal_nonwheel_contact: 0.0420
+==============================================================================
+
+==============================================================================
+Learning iteration 17100/50000
+                               Total steps: 70,041,600
+                          Steps per second: 11,556
+                            Iteration time: 0.354s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0858
+                       Mean episode length: 1310.3
+                                Actor loss: -9.4208
+                               Critic loss: +0.0056
+                          World model loss: +0.8144
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1330
+     Episode_Reward/track_angular_velocity: +49.4599
+                    Episode_Reward/upright: +25.2146
+                Episode_Reward/leg_posture: -2.7717
+                 Episode_Reward/standstill: -6.3071
+             Episode_Reward/action_rate_l2: -0.5879
+           Episode_Reward/joint_torques_l2: -0.1461
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0230
+     Episode_Reward/unnecessary_wheel_lift: -0.1251
+         Episode_Reward/rolling_leg_motion: -0.7074
+          Episode_Reward/obstacle_progress: +2.8538
+       Episode_Reward/wheel_body_intrusion: -0.2700
+        Episode_Reward/pair_body_intrusion: -0.3338
+             Curriculum/terrain_level_mean: +2.8711
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0971
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.4729
+             Episode_Termination/fell_over: 0.0388
+           Episode_Termination/course_exit: 0.4574
+Episode_Termination/illegal_nonwheel_contact: 0.0465
+==============================================================================
+
+==============================================================================
+Learning iteration 17150/50000
+                               Total steps: 70,246,400
+                          Steps per second: 11,565
+                            Iteration time: 0.354s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1330.7
+                                Actor loss: -9.4698
+                               Critic loss: +0.0046
+                          World model loss: +0.7523
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8686
+     Episode_Reward/track_angular_velocity: +50.2856
+                    Episode_Reward/upright: +25.6169
+                Episode_Reward/leg_posture: -2.8077
+                 Episode_Reward/standstill: -5.9452
+             Episode_Reward/action_rate_l2: -0.5815
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0286
+     Episode_Reward/unnecessary_wheel_lift: -0.1108
+         Episode_Reward/rolling_leg_motion: -0.7059
+          Episode_Reward/obstacle_progress: +2.8582
+       Episode_Reward/wheel_body_intrusion: -0.2558
+        Episode_Reward/pair_body_intrusion: -0.3125
+             Curriculum/terrain_level_mean: +2.8774
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0962
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4786
+             Episode_Termination/fell_over: 0.0286
+           Episode_Termination/course_exit: 0.4429
+Episode_Termination/illegal_nonwheel_contact: 0.0643
+==============================================================================
+
+==============================================================================
+Learning iteration 17200/50000
+                               Total steps: 70,451,200
+                          Steps per second: 11,574
+                            Iteration time: 0.354s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1356.9
+                                Actor loss: -9.4675
+                               Critic loss: +0.0069
+                          World model loss: +0.7920
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8062
+     Episode_Reward/track_angular_velocity: +51.2614
+                    Episode_Reward/upright: +26.1048
+                Episode_Reward/leg_posture: -2.8971
+                 Episode_Reward/standstill: -6.1138
+             Episode_Reward/action_rate_l2: -0.5907
+           Episode_Reward/joint_torques_l2: -0.1507
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0106
+     Episode_Reward/unnecessary_wheel_lift: -0.1107
+         Episode_Reward/rolling_leg_motion: -0.7436
+          Episode_Reward/obstacle_progress: +2.9431
+       Episode_Reward/wheel_body_intrusion: -0.2785
+        Episode_Reward/pair_body_intrusion: -0.3017
+             Curriculum/terrain_level_mean: +2.8838
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.4815
+             Episode_Termination/fell_over: 0.0222
+           Episode_Termination/course_exit: 0.4889
+Episode_Termination/illegal_nonwheel_contact: 0.0148
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1141]
+
+==============================================================================
+Learning iteration 17250/50000
+                               Total steps: 70,656,000
+                          Steps per second: 11,583
+                            Iteration time: 0.354s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0859
+                       Mean episode length: 1398.4
+                                Actor loss: -9.4616
+                               Critic loss: +0.0051
+                          World model loss: +0.8192
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1443
+     Episode_Reward/track_angular_velocity: +52.7967
+                    Episode_Reward/upright: +26.9058
+                Episode_Reward/leg_posture: -2.9116
+                 Episode_Reward/standstill: -6.6761
+             Episode_Reward/action_rate_l2: -0.6110
+           Episode_Reward/joint_torques_l2: -0.1543
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0273
+     Episode_Reward/unnecessary_wheel_lift: -0.1299
+         Episode_Reward/rolling_leg_motion: -0.7441
+          Episode_Reward/obstacle_progress: +3.0466
+       Episode_Reward/wheel_body_intrusion: -0.2803
+        Episode_Reward/pair_body_intrusion: -0.3001
+             Curriculum/terrain_level_mean: +2.8892
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0972
+       Metrics/base_velocity/error_vel_yaw: 0.1377
+              Episode_Termination/time_out: 0.5157
+             Episode_Termination/fell_over: 0.0314
+           Episode_Termination/course_exit: 0.4214
+Episode_Termination/illegal_nonwheel_contact: 0.0377
+==============================================================================
+
+==============================================================================
+Learning iteration 17300/50000
+                               Total steps: 70,860,800
+                          Steps per second: 11,591
+                            Iteration time: 0.353s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0859
+                       Mean episode length: 1399.4
+                                Actor loss: -9.4689
+                               Critic loss: +0.0041
+                          World model loss: +0.7969
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1739
+     Episode_Reward/track_angular_velocity: +52.8111
+                    Episode_Reward/upright: +26.9351
+                Episode_Reward/leg_posture: -2.9461
+                 Episode_Reward/standstill: -6.5528
+             Episode_Reward/action_rate_l2: -0.6280
+           Episode_Reward/joint_torques_l2: -0.1555
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0246
+     Episode_Reward/unnecessary_wheel_lift: -0.1358
+         Episode_Reward/rolling_leg_motion: -0.7727
+          Episode_Reward/obstacle_progress: +3.0635
+       Episode_Reward/wheel_body_intrusion: -0.2946
+        Episode_Reward/pair_body_intrusion: -0.3110
+             Curriculum/terrain_level_mean: +2.8940
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0976
+       Metrics/base_velocity/error_vel_yaw: 0.1379
+              Episode_Termination/time_out: 0.5253
+             Episode_Termination/fell_over: 0.0506
+           Episode_Termination/course_exit: 0.4177
+Episode_Termination/illegal_nonwheel_contact: 0.0380
+==============================================================================
+
+==============================================================================
+Learning iteration 17350/50000
+                               Total steps: 71,065,600
+                          Steps per second: 11,600
+                            Iteration time: 0.353s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0863
+                       Mean episode length: 1418.3
+                                Actor loss: -9.4701
+                               Critic loss: +0.0037
+                          World model loss: +0.7693
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8687
+     Episode_Reward/track_angular_velocity: +53.5512
+                    Episode_Reward/upright: +27.3330
+                Episode_Reward/leg_posture: -2.9919
+                 Episode_Reward/standstill: -6.0809
+             Episode_Reward/action_rate_l2: -0.6322
+           Episode_Reward/joint_torques_l2: -0.1572
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0194
+     Episode_Reward/unnecessary_wheel_lift: -0.1263
+         Episode_Reward/rolling_leg_motion: -0.7618
+          Episode_Reward/obstacle_progress: +3.0274
+       Episode_Reward/wheel_body_intrusion: -0.3079
+        Episode_Reward/pair_body_intrusion: -0.3026
+             Curriculum/terrain_level_mean: +2.9009
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0968
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.5280
+             Episode_Termination/fell_over: 0.0311
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0248
+==============================================================================
+
+==============================================================================
+Learning iteration 17400/50000
+                               Total steps: 71,270,400
+                          Steps per second: 11,609
+                            Iteration time: 0.353s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0863
+                       Mean episode length: 1359.2
+                                Actor loss: -9.4782
+                               Critic loss: +0.0037
+                          World model loss: +0.7704
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9186
+     Episode_Reward/track_angular_velocity: +51.3672
+                    Episode_Reward/upright: +26.2002
+                Episode_Reward/leg_posture: -2.8398
+                 Episode_Reward/standstill: -6.1485
+             Episode_Reward/action_rate_l2: -0.6124
+           Episode_Reward/joint_torques_l2: -0.1502
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.1294
+         Episode_Reward/rolling_leg_motion: -0.7201
+          Episode_Reward/obstacle_progress: +2.9892
+       Episode_Reward/wheel_body_intrusion: -0.2627
+        Episode_Reward/pair_body_intrusion: -0.3184
+             Curriculum/terrain_level_mean: +2.9070
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0961
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.4792
+             Episode_Termination/fell_over: 0.0139
+           Episode_Termination/course_exit: 0.4792
+Episode_Termination/illegal_nonwheel_contact: 0.0347
+==============================================================================
+
+==============================================================================
+Learning iteration 17450/50000
+                               Total steps: 71,475,200
+                          Steps per second: 11,618
+                            Iteration time: 0.353s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1361.4
+                                Actor loss: -9.4844
+                               Critic loss: +0.0076
+                          World model loss: +0.7757
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8957
+     Episode_Reward/track_angular_velocity: +51.4178
+                    Episode_Reward/upright: +26.2173
+                Episode_Reward/leg_posture: -2.8688
+                 Episode_Reward/standstill: -6.2208
+             Episode_Reward/action_rate_l2: -0.6029
+           Episode_Reward/joint_torques_l2: -0.1508
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.1279
+         Episode_Reward/rolling_leg_motion: -0.7306
+          Episode_Reward/obstacle_progress: +2.8934
+       Episode_Reward/wheel_body_intrusion: -0.2683
+        Episode_Reward/pair_body_intrusion: -0.3212
+             Curriculum/terrain_level_mean: +2.9106
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0968
+       Metrics/base_velocity/error_vel_yaw: 0.1372
+              Episode_Termination/time_out: 0.5338
+             Episode_Termination/fell_over: 0.0135
+           Episode_Termination/course_exit: 0.4324
+Episode_Termination/illegal_nonwheel_contact: 0.0270
+==============================================================================
+
+==============================================================================
+Learning iteration 17500/50000
+                               Total steps: 71,680,000
+                          Steps per second: 11,627
+                            Iteration time: 0.352s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1420.3
+                                Actor loss: -9.4437
+                               Critic loss: +0.0042
+                          World model loss: +0.7972
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0843
+     Episode_Reward/track_angular_velocity: +53.6865
+                    Episode_Reward/upright: +27.3587
+                Episode_Reward/leg_posture: -2.9885
+                 Episode_Reward/standstill: -6.3785
+             Episode_Reward/action_rate_l2: -0.6356
+           Episode_Reward/joint_torques_l2: -0.1565
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0222
+     Episode_Reward/unnecessary_wheel_lift: -0.1138
+         Episode_Reward/rolling_leg_motion: -0.7934
+          Episode_Reward/obstacle_progress: +3.0157
+       Episode_Reward/wheel_body_intrusion: -0.2927
+        Episode_Reward/pair_body_intrusion: -0.3220
+             Curriculum/terrain_level_mean: +2.9189
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0958
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5399
+             Episode_Termination/fell_over: 0.0245
+           Episode_Termination/course_exit: 0.4110
+Episode_Termination/illegal_nonwheel_contact: 0.0307
+==============================================================================
+
+==============================================================================
+Learning iteration 17550/50000
+                               Total steps: 71,884,800
+                          Steps per second: 11,635
+                            Iteration time: 0.352s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0863
+                       Mean episode length: 1381.6
+                                Actor loss: -9.4562
+                               Critic loss: +0.0055
+                          World model loss: +0.7917
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8625
+     Episode_Reward/track_angular_velocity: +52.2569
+                    Episode_Reward/upright: +26.6282
+                Episode_Reward/leg_posture: -2.8788
+                 Episode_Reward/standstill: -6.1782
+             Episode_Reward/action_rate_l2: -0.6061
+           Episode_Reward/joint_torques_l2: -0.1534
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.1343
+         Episode_Reward/rolling_leg_motion: -0.7679
+          Episode_Reward/obstacle_progress: +2.8584
+       Episode_Reward/wheel_body_intrusion: -0.2892
+        Episode_Reward/pair_body_intrusion: -0.3297
+             Curriculum/terrain_level_mean: +2.9255
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4771
+             Episode_Termination/fell_over: 0.0196
+           Episode_Termination/course_exit: 0.4837
+Episode_Termination/illegal_nonwheel_contact: 0.0261
+==============================================================================
+
+==============================================================================
+Learning iteration 17600/50000
+                               Total steps: 72,089,600
+                          Steps per second: 11,643
+                            Iteration time: 0.352s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1351.3
+                                Actor loss: -9.4852
+                               Critic loss: +0.0036
+                          World model loss: +0.7882
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7799
+     Episode_Reward/track_angular_velocity: +51.1280
+                    Episode_Reward/upright: +26.0361
+                Episode_Reward/leg_posture: -2.7836
+                 Episode_Reward/standstill: -6.3521
+             Episode_Reward/action_rate_l2: -0.5902
+           Episode_Reward/joint_torques_l2: -0.1484
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.1105
+         Episode_Reward/rolling_leg_motion: -0.7301
+          Episode_Reward/obstacle_progress: +2.7844
+       Episode_Reward/wheel_body_intrusion: -0.2642
+        Episode_Reward/pair_body_intrusion: -0.3060
+             Curriculum/terrain_level_mean: +2.9324
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4733
+             Episode_Termination/fell_over: 0.0200
+           Episode_Termination/course_exit: 0.4933
+Episode_Termination/illegal_nonwheel_contact: 0.0200
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[960]
+
+==============================================================================
+Learning iteration 17650/50000
+                               Total steps: 72,294,400
+                          Steps per second: 11,652
+                            Iteration time: 0.352s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0860
+                       Mean episode length: 1322.7
+                                Actor loss: -9.4994
+                               Critic loss: +0.0043
+                          World model loss: +0.7719
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7435
+     Episode_Reward/track_angular_velocity: +50.0004
+                    Episode_Reward/upright: +25.4641
+                Episode_Reward/leg_posture: -2.7168
+                 Episode_Reward/standstill: -6.4028
+             Episode_Reward/action_rate_l2: -0.5862
+           Episode_Reward/joint_torques_l2: -0.1463
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0284
+     Episode_Reward/unnecessary_wheel_lift: -0.1115
+         Episode_Reward/rolling_leg_motion: -0.7202
+          Episode_Reward/obstacle_progress: +2.8287
+       Episode_Reward/wheel_body_intrusion: -0.2536
+        Episode_Reward/pair_body_intrusion: -0.3207
+             Curriculum/terrain_level_mean: +2.9382
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0947
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4780
+             Episode_Termination/fell_over: 0.0629
+           Episode_Termination/course_exit: 0.4528
+Episode_Termination/illegal_nonwheel_contact: 0.0377
+==============================================================================
+
+==============================================================================
+Learning iteration 17700/50000
+                               Total steps: 72,499,200
+                          Steps per second: 11,660
+                            Iteration time: 0.351s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1314.7
+                                Actor loss: -9.4606
+                               Critic loss: +0.0081
+                          World model loss: +0.7670
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3226
+     Episode_Reward/track_angular_velocity: +49.6954
+                    Episode_Reward/upright: +25.2788
+                Episode_Reward/leg_posture: -2.7472
+                 Episode_Reward/standstill: -6.1342
+             Episode_Reward/action_rate_l2: -0.5736
+           Episode_Reward/joint_torques_l2: -0.1452
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0128
+     Episode_Reward/unnecessary_wheel_lift: -0.1159
+         Episode_Reward/rolling_leg_motion: -0.7217
+          Episode_Reward/obstacle_progress: +2.7417
+       Episode_Reward/wheel_body_intrusion: -0.2683
+        Episode_Reward/pair_body_intrusion: -0.3203
+             Curriculum/terrain_level_mean: +2.9465
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0961
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4286
+             Episode_Termination/fell_over: 0.0179
+           Episode_Termination/course_exit: 0.5417
+Episode_Termination/illegal_nonwheel_contact: 0.0179
+==============================================================================
+
+==============================================================================
+Learning iteration 17750/50000
+                               Total steps: 72,704,000
+                          Steps per second: 11,669
+                            Iteration time: 0.351s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0859
+                       Mean episode length: 1371.8
+                                Actor loss: -9.4491
+                               Critic loss: +0.0068
+                          World model loss: +0.7816
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2380
+     Episode_Reward/track_angular_velocity: +51.8798
+                    Episode_Reward/upright: +26.4125
+                Episode_Reward/leg_posture: -2.8271
+                 Episode_Reward/standstill: -6.3365
+             Episode_Reward/action_rate_l2: -0.6257
+           Episode_Reward/joint_torques_l2: -0.1518
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.1336
+         Episode_Reward/rolling_leg_motion: -0.7597
+          Episode_Reward/obstacle_progress: +2.7787
+       Episode_Reward/wheel_body_intrusion: -0.2875
+        Episode_Reward/pair_body_intrusion: -0.3322
+             Curriculum/terrain_level_mean: +2.9519
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0967
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4934
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.4605
+Episode_Termination/illegal_nonwheel_contact: 0.0263
+==============================================================================
+
+==============================================================================
+Learning iteration 17800/50000
+                               Total steps: 72,908,800
+                          Steps per second: 11,677
+                            Iteration time: 0.351s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0861
+                       Mean episode length: 1354.1
+                                Actor loss: -9.4816
+                               Critic loss: +0.0068
+                          World model loss: +0.7798
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8089
+     Episode_Reward/track_angular_velocity: +51.1693
+                    Episode_Reward/upright: +26.0856
+                Episode_Reward/leg_posture: -2.7755
+                 Episode_Reward/standstill: -6.3229
+             Episode_Reward/action_rate_l2: -0.6016
+           Episode_Reward/joint_torques_l2: -0.1505
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0053
+     Episode_Reward/unnecessary_wheel_lift: -0.0936
+         Episode_Reward/rolling_leg_motion: -0.7232
+          Episode_Reward/obstacle_progress: +2.8142
+       Episode_Reward/wheel_body_intrusion: -0.2802
+        Episode_Reward/pair_body_intrusion: -0.3573
+             Curriculum/terrain_level_mean: +2.9590
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0949
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.5156
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4688
+Episode_Termination/illegal_nonwheel_contact: 0.0156
+==============================================================================
+
+==============================================================================
+Learning iteration 17850/50000
+                               Total steps: 73,113,600
+                          Steps per second: 11,686
+                            Iteration time: 0.351s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0858
+                       Mean episode length: 1359.6
+                                Actor loss: -9.4831
+                               Critic loss: +0.0039
+                          World model loss: +0.7714
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7527
+     Episode_Reward/track_angular_velocity: +51.3566
+                    Episode_Reward/upright: +26.1629
+                Episode_Reward/leg_posture: -2.8118
+                 Episode_Reward/standstill: -6.3657
+             Episode_Reward/action_rate_l2: -0.6103
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0186
+     Episode_Reward/unnecessary_wheel_lift: -0.1157
+         Episode_Reward/rolling_leg_motion: -0.7320
+          Episode_Reward/obstacle_progress: +2.8275
+       Episode_Reward/wheel_body_intrusion: -0.2779
+        Episode_Reward/pair_body_intrusion: -0.3226
+             Curriculum/terrain_level_mean: +2.9641
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0974
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.5355
+             Episode_Termination/fell_over: 0.0065
+           Episode_Termination/course_exit: 0.4194
+Episode_Termination/illegal_nonwheel_contact: 0.0452
+==============================================================================
+
+==============================================================================
+Learning iteration 17900/50000
+                               Total steps: 73,318,400
+                          Steps per second: 11,694
+                            Iteration time: 0.350s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0857
+                       Mean episode length: 1388.8
+                                Actor loss: -9.4715
+                               Critic loss: +0.0038
+                          World model loss: +0.8082
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8258
+     Episode_Reward/track_angular_velocity: +52.4859
+                    Episode_Reward/upright: +26.7071
+                Episode_Reward/leg_posture: -2.9338
+                 Episode_Reward/standstill: -6.5882
+             Episode_Reward/action_rate_l2: -0.6179
+           Episode_Reward/joint_torques_l2: -0.1543
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0271
+     Episode_Reward/unnecessary_wheel_lift: -0.1259
+         Episode_Reward/rolling_leg_motion: -0.7425
+          Episode_Reward/obstacle_progress: +2.7781
+       Episode_Reward/wheel_body_intrusion: -0.2882
+        Episode_Reward/pair_body_intrusion: -0.3356
+             Curriculum/terrain_level_mean: +2.9692
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0969
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4819
+             Episode_Termination/fell_over: 0.0422
+           Episode_Termination/course_exit: 0.4578
+Episode_Termination/illegal_nonwheel_contact: 0.0361
+==============================================================================
+
+==============================================================================
+Learning iteration 17950/50000
+                               Total steps: 73,523,200
+                          Steps per second: 11,703
+                            Iteration time: 0.350s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1399.2
+                                Actor loss: -9.4560
+                               Critic loss: +0.0029
+                          World model loss: +0.7329
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2238
+     Episode_Reward/track_angular_velocity: +52.9420
+                    Episode_Reward/upright: +26.8982
+                Episode_Reward/leg_posture: -2.9586
+                 Episode_Reward/standstill: -6.3082
+             Episode_Reward/action_rate_l2: -0.6122
+           Episode_Reward/joint_torques_l2: -0.1554
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0273
+     Episode_Reward/unnecessary_wheel_lift: -0.1177
+         Episode_Reward/rolling_leg_motion: -0.7506
+          Episode_Reward/obstacle_progress: +2.8557
+       Episode_Reward/wheel_body_intrusion: -0.2886
+        Episode_Reward/pair_body_intrusion: -0.3212
+             Curriculum/terrain_level_mean: +2.9751
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0969
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5200
+             Episode_Termination/fell_over: 0.0400
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0286
+==============================================================================
+
+==============================================================================
+Learning iteration 18000/50000
+                               Total steps: 73,728,000
+                          Steps per second: 11,711
+                            Iteration time: 0.350s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0857
+                       Mean episode length: 1410.2
+                                Actor loss: -9.4652
+                               Critic loss: +0.0032
+                          World model loss: +0.7971
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5734
+     Episode_Reward/track_angular_velocity: +53.2455
+                    Episode_Reward/upright: +27.1270
+                Episode_Reward/leg_posture: -3.0165
+                 Episode_Reward/standstill: -6.4887
+             Episode_Reward/action_rate_l2: -0.6060
+           Episode_Reward/joint_torques_l2: -0.1572
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0193
+     Episode_Reward/unnecessary_wheel_lift: -0.1218
+         Episode_Reward/rolling_leg_motion: -0.7754
+          Episode_Reward/obstacle_progress: +2.8302
+       Episode_Reward/wheel_body_intrusion: -0.2972
+        Episode_Reward/pair_body_intrusion: -0.3692
+             Curriculum/terrain_level_mean: +2.9812
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0970
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.5333
+             Episode_Termination/fell_over: 0.0444
+           Episode_Termination/course_exit: 0.4148
+Episode_Termination/illegal_nonwheel_contact: 0.0148
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1104]
+
+==============================================================================
+Learning iteration 18050/50000
+                               Total steps: 73,932,800
+                          Steps per second: 11,719
+                            Iteration time: 0.350s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0858
+                       Mean episode length: 1346.6
+                                Actor loss: -9.4590
+                               Critic loss: +0.0031
+                          World model loss: +0.7711
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4100
+     Episode_Reward/track_angular_velocity: +50.8328
+                    Episode_Reward/upright: +25.9309
+                Episode_Reward/leg_posture: -2.8524
+                 Episode_Reward/standstill: -6.3736
+             Episode_Reward/action_rate_l2: -0.5929
+           Episode_Reward/joint_torques_l2: -0.1494
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.1095
+         Episode_Reward/rolling_leg_motion: -0.7331
+          Episode_Reward/obstacle_progress: +2.7605
+       Episode_Reward/wheel_body_intrusion: -0.2787
+        Episode_Reward/pair_body_intrusion: -0.2929
+             Curriculum/terrain_level_mean: +2.9895
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4967
+             Episode_Termination/fell_over: 0.0132
+           Episode_Termination/course_exit: 0.4636
+Episode_Termination/illegal_nonwheel_contact: 0.0331
+==============================================================================
+
+==============================================================================
+Learning iteration 18100/50000
+                               Total steps: 74,137,600
+                          Steps per second: 11,727
+                            Iteration time: 0.349s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0858
+                       Mean episode length: 1351.4
+                                Actor loss: -9.4652
+                               Critic loss: +0.0061
+                          World model loss: +0.7483
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4546
+     Episode_Reward/track_angular_velocity: +50.9856
+                    Episode_Reward/upright: +25.9943
+                Episode_Reward/leg_posture: -2.8414
+                 Episode_Reward/standstill: -6.1923
+             Episode_Reward/action_rate_l2: -0.5832
+           Episode_Reward/joint_torques_l2: -0.1518
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0290
+     Episode_Reward/unnecessary_wheel_lift: -0.1226
+         Episode_Reward/rolling_leg_motion: -0.7162
+          Episode_Reward/obstacle_progress: +2.7165
+       Episode_Reward/wheel_body_intrusion: -0.2684
+        Episode_Reward/pair_body_intrusion: -0.2870
+             Curriculum/terrain_level_mean: +2.9971
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0976
+       Metrics/base_velocity/error_vel_yaw: 0.1378
+              Episode_Termination/time_out: 0.4753
+             Episode_Termination/fell_over: 0.0494
+           Episode_Termination/course_exit: 0.4568
+Episode_Termination/illegal_nonwheel_contact: 0.0556
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2126]
+RECOVERY reset 1 invalid environments; first IDs=[628]
+
+==============================================================================
+Learning iteration 18150/50000
+                               Total steps: 74,342,400
+                          Steps per second: 11,735
+                            Iteration time: 0.349s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0863
+                       Mean episode length: 1385.4
+                                Actor loss: -9.4660
+                               Critic loss: +0.0044
+                          World model loss: +0.8018
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8834
+     Episode_Reward/track_angular_velocity: +52.2907
+                    Episode_Reward/upright: +26.6827
+                Episode_Reward/leg_posture: -2.9277
+                 Episode_Reward/standstill: -6.1016
+             Episode_Reward/action_rate_l2: -0.5951
+           Episode_Reward/joint_torques_l2: -0.1528
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.1119
+         Episode_Reward/rolling_leg_motion: -0.7429
+          Episode_Reward/obstacle_progress: +2.9114
+       Episode_Reward/wheel_body_intrusion: -0.2787
+        Episode_Reward/pair_body_intrusion: -0.3273
+             Curriculum/terrain_level_mean: +3.0010
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0954
+       Metrics/base_velocity/error_vel_yaw: 0.1373
+              Episode_Termination/time_out: 0.5147
+             Episode_Termination/fell_over: 0.0441
+           Episode_Termination/course_exit: 0.4338
+Episode_Termination/illegal_nonwheel_contact: 0.0221
+==============================================================================
+
+==============================================================================
+Learning iteration 18200/50000
+                               Total steps: 74,547,200
+                          Steps per second: 11,744
+                            Iteration time: 0.349s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0860
+                       Mean episode length: 1365.7
+                                Actor loss: -9.4663
+                               Critic loss: +0.0034
+                          World model loss: +0.7682
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1116
+     Episode_Reward/track_angular_velocity: +51.5441
+                    Episode_Reward/upright: +26.3025
+                Episode_Reward/leg_posture: -2.8267
+                 Episode_Reward/standstill: -6.2806
+             Episode_Reward/action_rate_l2: -0.5837
+           Episode_Reward/joint_torques_l2: -0.1499
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.0981
+         Episode_Reward/rolling_leg_motion: -0.7283
+          Episode_Reward/obstacle_progress: +2.8431
+       Episode_Reward/wheel_body_intrusion: -0.2707
+        Episode_Reward/pair_body_intrusion: -0.3871
+             Curriculum/terrain_level_mean: +3.0090
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0959
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.4830
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4966
+Episode_Termination/illegal_nonwheel_contact: 0.0204
+==============================================================================
+
+==============================================================================
+Learning iteration 18250/50000
+                               Total steps: 74,752,000
+                          Steps per second: 11,752
+                            Iteration time: 0.349s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0860
+                       Mean episode length: 1370.2
+                                Actor loss: -9.4866
+                               Critic loss: +0.0027
+                          World model loss: +0.7602
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3400
+     Episode_Reward/track_angular_velocity: +51.7568
+                    Episode_Reward/upright: +26.3787
+                Episode_Reward/leg_posture: -2.8987
+                 Episode_Reward/standstill: -6.3931
+             Episode_Reward/action_rate_l2: -0.5900
+           Episode_Reward/joint_torques_l2: -0.1505
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.1171
+         Episode_Reward/rolling_leg_motion: -0.7426
+          Episode_Reward/obstacle_progress: +2.8737
+       Episode_Reward/wheel_body_intrusion: -0.2763
+        Episode_Reward/pair_body_intrusion: -0.3400
+             Curriculum/terrain_level_mean: +3.0132
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0953
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4792
+             Episode_Termination/fell_over: 0.0278
+           Episode_Termination/course_exit: 0.4653
+Episode_Termination/illegal_nonwheel_contact: 0.0417
+==============================================================================
+
+==============================================================================
+Learning iteration 18300/50000
+                               Total steps: 74,956,800
+                          Steps per second: 11,760
+                            Iteration time: 0.348s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0866
+                       Mean episode length: 1339.2
+                                Actor loss: -9.4613
+                               Critic loss: +0.0035
+                          World model loss: +0.7660
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3421
+     Episode_Reward/track_angular_velocity: +50.6702
+                    Episode_Reward/upright: +25.8085
+                Episode_Reward/leg_posture: -2.7938
+                 Episode_Reward/standstill: -5.8303
+             Episode_Reward/action_rate_l2: -0.5739
+           Episode_Reward/joint_torques_l2: -0.1460
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.1012
+         Episode_Reward/rolling_leg_motion: -0.6952
+          Episode_Reward/obstacle_progress: +2.8763
+       Episode_Reward/wheel_body_intrusion: -0.2639
+        Episode_Reward/pair_body_intrusion: -0.3082
+             Curriculum/terrain_level_mean: +3.0210
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4276
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.5263
+Episode_Termination/illegal_nonwheel_contact: 0.0329
+==============================================================================
+
+==============================================================================
+Learning iteration 18350/50000
+                               Total steps: 75,161,600
+                          Steps per second: 11,767
+                            Iteration time: 0.348s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0864
+                       Mean episode length: 1424.6
+                                Actor loss: -9.4591
+                               Critic loss: +0.0063
+                          World model loss: +0.7407
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.2846
+     Episode_Reward/track_angular_velocity: +53.8451
+                    Episode_Reward/upright: +27.4331
+                Episode_Reward/leg_posture: -2.9975
+                 Episode_Reward/standstill: -6.3570
+             Episode_Reward/action_rate_l2: -0.6104
+           Episode_Reward/joint_torques_l2: -0.1560
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0250
+     Episode_Reward/unnecessary_wheel_lift: -0.1182
+         Episode_Reward/rolling_leg_motion: -0.7432
+          Episode_Reward/obstacle_progress: +3.0752
+       Episode_Reward/wheel_body_intrusion: -0.2917
+        Episode_Reward/pair_body_intrusion: -0.2986
+             Curriculum/terrain_level_mean: +3.0239
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0951
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5570
+             Episode_Termination/fell_over: 0.0316
+           Episode_Termination/course_exit: 0.3861
+Episode_Termination/illegal_nonwheel_contact: 0.0316
+==============================================================================
+
+==============================================================================
+Learning iteration 18400/50000
+                               Total steps: 75,366,400
+                          Steps per second: 11,775
+                            Iteration time: 0.348s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0865
+                       Mean episode length: 1404.4
+                                Actor loss: -9.4435
+                               Critic loss: +0.0067
+                          World model loss: +0.7801
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5359
+     Episode_Reward/track_angular_velocity: +53.1004
+                    Episode_Reward/upright: +27.0553
+                Episode_Reward/leg_posture: -2.9110
+                 Episode_Reward/standstill: -6.1970
+             Episode_Reward/action_rate_l2: -0.6157
+           Episode_Reward/joint_torques_l2: -0.1531
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.1093
+         Episode_Reward/rolling_leg_motion: -0.7359
+          Episode_Reward/obstacle_progress: +3.0534
+       Episode_Reward/wheel_body_intrusion: -0.2739
+        Episode_Reward/pair_body_intrusion: -0.3204
+             Curriculum/terrain_level_mean: +3.0283
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5139
+             Episode_Termination/fell_over: 0.0278
+           Episode_Termination/course_exit: 0.4514
+Episode_Termination/illegal_nonwheel_contact: 0.0208
+==============================================================================
+
+==============================================================================
+Learning iteration 18450/50000
+                               Total steps: 75,571,200
+                          Steps per second: 11,783
+                            Iteration time: 0.348s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0856
+                       Mean episode length: 1372.8
+                                Actor loss: -9.4585
+                               Critic loss: +0.0103
+                          World model loss: +0.7875
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2482
+     Episode_Reward/track_angular_velocity: +51.8216
+                    Episode_Reward/upright: +26.4167
+                Episode_Reward/leg_posture: -2.8578
+                 Episode_Reward/standstill: -6.8847
+             Episode_Reward/action_rate_l2: -0.6196
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.1240
+         Episode_Reward/rolling_leg_motion: -0.7205
+          Episode_Reward/obstacle_progress: +2.9611
+       Episode_Reward/wheel_body_intrusion: -0.2700
+        Episode_Reward/pair_body_intrusion: -0.3177
+             Curriculum/terrain_level_mean: +3.0317
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0969
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.5076
+             Episode_Termination/fell_over: 0.0379
+           Episode_Termination/course_exit: 0.4318
+Episode_Termination/illegal_nonwheel_contact: 0.0379
+==============================================================================
+
+==============================================================================
+Learning iteration 18500/50000
+                               Total steps: 75,776,000
+                          Steps per second: 11,792
+                            Iteration time: 0.347s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0863
+                       Mean episode length: 1353.5
+                                Actor loss: -9.4551
+                               Critic loss: +0.0054
+                          World model loss: +0.7675
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7356
+     Episode_Reward/track_angular_velocity: +51.1895
+                    Episode_Reward/upright: +26.0638
+                Episode_Reward/leg_posture: -2.7914
+                 Episode_Reward/standstill: -6.1954
+             Episode_Reward/action_rate_l2: -0.5897
+           Episode_Reward/joint_torques_l2: -0.1492
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0264
+     Episode_Reward/unnecessary_wheel_lift: -0.1083
+         Episode_Reward/rolling_leg_motion: -0.7079
+          Episode_Reward/obstacle_progress: +2.9665
+       Episode_Reward/wheel_body_intrusion: -0.2575
+        Episode_Reward/pair_body_intrusion: -0.3123
+             Curriculum/terrain_level_mean: +3.0383
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0953
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4884
+             Episode_Termination/fell_over: 0.0291
+           Episode_Termination/course_exit: 0.4535
+Episode_Termination/illegal_nonwheel_contact: 0.0407
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1762]
+
+==============================================================================
+Learning iteration 18550/50000
+                               Total steps: 75,980,800
+                          Steps per second: 11,800
+                            Iteration time: 0.347s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0859
+                       Mean episode length: 1308.2
+                                Actor loss: -9.4818
+                               Critic loss: +0.0055
+                          World model loss: +0.7237
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0805
+     Episode_Reward/track_angular_velocity: +49.3733
+                    Episode_Reward/upright: +25.1776
+                Episode_Reward/leg_posture: -2.7114
+                 Episode_Reward/standstill: -6.3041
+             Episode_Reward/action_rate_l2: -0.5777
+           Episode_Reward/joint_torques_l2: -0.1438
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0256
+     Episode_Reward/unnecessary_wheel_lift: -0.1013
+         Episode_Reward/rolling_leg_motion: -0.6918
+          Episode_Reward/obstacle_progress: +2.9133
+       Episode_Reward/wheel_body_intrusion: -0.2657
+        Episode_Reward/pair_body_intrusion: -0.3142
+             Curriculum/terrain_level_mean: +3.0439
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0958
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4286
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.5034
+Episode_Termination/illegal_nonwheel_contact: 0.0544
+==============================================================================
+
+==============================================================================
+Learning iteration 18600/50000
+                               Total steps: 76,185,600
+                          Steps per second: 11,807
+                            Iteration time: 0.347s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0862
+                       Mean episode length: 1322.4
+                                Actor loss: -9.4981
+                               Critic loss: +0.0028
+                          World model loss: +0.7989
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5626
+     Episode_Reward/track_angular_velocity: +49.9120
+                    Episode_Reward/upright: +25.4665
+                Episode_Reward/leg_posture: -2.7440
+                 Episode_Reward/standstill: -6.1403
+             Episode_Reward/action_rate_l2: -0.5716
+           Episode_Reward/joint_torques_l2: -0.1456
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.0927
+         Episode_Reward/rolling_leg_motion: -0.6745
+          Episode_Reward/obstacle_progress: +3.0026
+       Episode_Reward/wheel_body_intrusion: -0.2766
+        Episode_Reward/pair_body_intrusion: -0.2984
+             Curriculum/terrain_level_mean: +3.0505
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0958
+       Metrics/base_velocity/error_vel_yaw: 0.1369
+              Episode_Termination/time_out: 0.4595
+             Episode_Termination/fell_over: 0.0203
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+
+==============================================================================
+Learning iteration 18650/50000
+                               Total steps: 76,390,400
+                          Steps per second: 11,815
+                            Iteration time: 0.347s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1350.4
+                                Actor loss: -9.4765
+                               Critic loss: +0.0033
+                          World model loss: +0.7598
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5352
+     Episode_Reward/track_angular_velocity: +50.9775
+                    Episode_Reward/upright: +25.9815
+                Episode_Reward/leg_posture: -2.7711
+                 Episode_Reward/standstill: -6.3417
+             Episode_Reward/action_rate_l2: -0.5862
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0264
+     Episode_Reward/unnecessary_wheel_lift: -0.1004
+         Episode_Reward/rolling_leg_motion: -0.7003
+          Episode_Reward/obstacle_progress: +3.1017
+       Episode_Reward/wheel_body_intrusion: -0.2635
+        Episode_Reward/pair_body_intrusion: -0.3329
+             Curriculum/terrain_level_mean: +3.0535
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0961
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.5182
+             Episode_Termination/fell_over: 0.0219
+           Episode_Termination/course_exit: 0.4088
+Episode_Termination/illegal_nonwheel_contact: 0.0584
+==============================================================================
+
+==============================================================================
+Learning iteration 18700/50000
+                               Total steps: 76,595,200
+                          Steps per second: 11,823
+                            Iteration time: 0.346s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0866
+                       Mean episode length: 1335.4
+                                Actor loss: -9.4576
+                               Critic loss: +0.0036
+                          World model loss: +0.7756
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2274
+     Episode_Reward/track_angular_velocity: +50.5107
+                    Episode_Reward/upright: +25.7206
+                Episode_Reward/leg_posture: -2.7299
+                 Episode_Reward/standstill: -6.0588
+             Episode_Reward/action_rate_l2: -0.5837
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0287
+     Episode_Reward/unnecessary_wheel_lift: -0.0871
+         Episode_Reward/rolling_leg_motion: -0.6690
+          Episode_Reward/obstacle_progress: +3.0224
+       Episode_Reward/wheel_body_intrusion: -0.2727
+        Episode_Reward/pair_body_intrusion: -0.2927
+             Curriculum/terrain_level_mean: +3.0566
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.5231
+             Episode_Termination/fell_over: 0.0231
+           Episode_Termination/course_exit: 0.3923
+Episode_Termination/illegal_nonwheel_contact: 0.0769
+==============================================================================
+
+==============================================================================
+Learning iteration 18750/50000
+                               Total steps: 76,800,000
+                          Steps per second: 11,831
+                            Iteration time: 0.346s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0862
+                       Mean episode length: 1330.7
+                                Actor loss: -9.4617
+                               Critic loss: +0.0053
+                          World model loss: +0.7218
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9508
+     Episode_Reward/track_angular_velocity: +50.3080
+                    Episode_Reward/upright: +25.6153
+                Episode_Reward/leg_posture: -2.7439
+                 Episode_Reward/standstill: -6.1328
+             Episode_Reward/action_rate_l2: -0.5718
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.1044
+         Episode_Reward/rolling_leg_motion: -0.6932
+          Episode_Reward/obstacle_progress: +2.8576
+       Episode_Reward/wheel_body_intrusion: -0.2593
+        Episode_Reward/pair_body_intrusion: -0.3325
+             Curriculum/terrain_level_mean: +3.0662
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0949
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4189
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.5405
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+
+==============================================================================
+Learning iteration 18800/50000
+                               Total steps: 77,004,800
+                          Steps per second: 11,839
+                            Iteration time: 0.346s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1296.3
+                                Actor loss: -9.4568
+                               Critic loss: +0.0054
+                          World model loss: +0.7470
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7821
+     Episode_Reward/track_angular_velocity: +48.9939
+                    Episode_Reward/upright: +24.9626
+                Episode_Reward/leg_posture: -2.6660
+                 Episode_Reward/standstill: -6.2707
+             Episode_Reward/action_rate_l2: -0.5765
+           Episode_Reward/joint_torques_l2: -0.1416
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0329
+     Episode_Reward/unnecessary_wheel_lift: -0.1182
+         Episode_Reward/rolling_leg_motion: -0.6970
+          Episode_Reward/obstacle_progress: +2.8099
+       Episode_Reward/wheel_body_intrusion: -0.2439
+        Episode_Reward/pair_body_intrusion: -0.3103
+             Curriculum/terrain_level_mean: +3.0720
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0947
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.4277
+             Episode_Termination/fell_over: 0.0361
+           Episode_Termination/course_exit: 0.4940
+Episode_Termination/illegal_nonwheel_contact: 0.0602
+==============================================================================
+
+==============================================================================
+Learning iteration 18850/50000
+                               Total steps: 77,209,600
+                          Steps per second: 11,846
+                            Iteration time: 0.346s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0859
+                       Mean episode length: 1309.4
+                                Actor loss: -9.4433
+                               Critic loss: +0.0064
+                          World model loss: +0.7632
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3266
+     Episode_Reward/track_angular_velocity: +49.4907
+                    Episode_Reward/upright: +25.2175
+                Episode_Reward/leg_posture: -2.7109
+                 Episode_Reward/standstill: -6.5816
+             Episode_Reward/action_rate_l2: -0.5613
+           Episode_Reward/joint_torques_l2: -0.1436
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0281
+     Episode_Reward/unnecessary_wheel_lift: -0.1024
+         Episode_Reward/rolling_leg_motion: -0.6793
+          Episode_Reward/obstacle_progress: +2.8262
+       Episode_Reward/wheel_body_intrusion: -0.2711
+        Episode_Reward/pair_body_intrusion: -0.3494
+             Curriculum/terrain_level_mean: +3.0747
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4365
+             Episode_Termination/fell_over: 0.0556
+           Episode_Termination/course_exit: 0.4762
+Episode_Termination/illegal_nonwheel_contact: 0.0556
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2376]
+
+==============================================================================
+Learning iteration 18900/50000
+                               Total steps: 77,414,400
+                          Steps per second: 11,854
+                            Iteration time: 0.346s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0859
+                       Mean episode length: 1337.6
+                                Actor loss: -9.5165
+                               Critic loss: +0.0027
+                          World model loss: +0.7608
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0849
+     Episode_Reward/track_angular_velocity: +50.4819
+                    Episode_Reward/upright: +25.7629
+                Episode_Reward/leg_posture: -2.7601
+                 Episode_Reward/standstill: -6.4713
+             Episode_Reward/action_rate_l2: -0.5786
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.0961
+         Episode_Reward/rolling_leg_motion: -0.6978
+          Episode_Reward/obstacle_progress: +2.9340
+       Episode_Reward/wheel_body_intrusion: -0.2762
+        Episode_Reward/pair_body_intrusion: -0.3691
+             Curriculum/terrain_level_mean: +3.0811
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.4626
+             Episode_Termination/fell_over: 0.0136
+           Episode_Termination/course_exit: 0.4898
+Episode_Termination/illegal_nonwheel_contact: 0.0340
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_018900.mp4
+
+==============================================================================
+Learning iteration 18950/50000
+                               Total steps: 77,619,200
+                          Steps per second: 11,851
+                            Iteration time: 0.346s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0854
+                       Mean episode length: 1305.1
+                                Actor loss: -9.4691
+                               Critic loss: +0.0106
+                          World model loss: +0.7348
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8292
+     Episode_Reward/track_angular_velocity: +49.2211
+                    Episode_Reward/upright: +25.0869
+                Episode_Reward/leg_posture: -2.7268
+                 Episode_Reward/standstill: -6.6584
+             Episode_Reward/action_rate_l2: -0.5738
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0331
+     Episode_Reward/unnecessary_wheel_lift: -0.1064
+         Episode_Reward/rolling_leg_motion: -0.6858
+          Episode_Reward/obstacle_progress: +2.8429
+       Episode_Reward/wheel_body_intrusion: -0.2605
+        Episode_Reward/pair_body_intrusion: -0.3454
+             Curriculum/terrain_level_mean: +3.0854
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0973
+       Metrics/base_velocity/error_vel_yaw: 0.1378
+              Episode_Termination/time_out: 0.4658
+             Episode_Termination/fell_over: 0.0616
+           Episode_Termination/course_exit: 0.4452
+Episode_Termination/illegal_nonwheel_contact: 0.0411
+==============================================================================
+
+==============================================================================
+Learning iteration 19000/50000
+                               Total steps: 77,824,000
+                          Steps per second: 11,858
+                            Iteration time: 0.345s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0859
+                       Mean episode length: 1395.5
+                                Actor loss: -9.4648
+                               Critic loss: +0.0034
+                          World model loss: +0.7317
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1725
+     Episode_Reward/track_angular_velocity: +52.6483
+                    Episode_Reward/upright: +26.8208
+                Episode_Reward/leg_posture: -2.9370
+                 Episode_Reward/standstill: -6.5247
+             Episode_Reward/action_rate_l2: -0.6111
+           Episode_Reward/joint_torques_l2: -0.1541
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0327
+     Episode_Reward/unnecessary_wheel_lift: -0.1191
+         Episode_Reward/rolling_leg_motion: -0.7320
+          Episode_Reward/obstacle_progress: +3.0163
+       Episode_Reward/wheel_body_intrusion: -0.2656
+        Episode_Reward/pair_body_intrusion: -0.3799
+             Curriculum/terrain_level_mean: +3.0874
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0959
+       Metrics/base_velocity/error_vel_yaw: 0.1374
+              Episode_Termination/time_out: 0.4720
+             Episode_Termination/fell_over: 0.0559
+           Episode_Termination/course_exit: 0.4534
+Episode_Termination/illegal_nonwheel_contact: 0.0559
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1857]
+
+==============================================================================
+Learning iteration 19050/50000
+                               Total steps: 78,028,800
+                          Steps per second: 11,866
+                            Iteration time: 0.345s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0861
+                       Mean episode length: 1366.9
+                                Actor loss: -9.4645
+                               Critic loss: +0.0031
+                          World model loss: +0.8035
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2707
+     Episode_Reward/track_angular_velocity: +51.6583
+                    Episode_Reward/upright: +26.3360
+                Episode_Reward/leg_posture: -2.8512
+                 Episode_Reward/standstill: -6.5040
+             Episode_Reward/action_rate_l2: -0.5736
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.1131
+         Episode_Reward/rolling_leg_motion: -0.7064
+          Episode_Reward/obstacle_progress: +2.9701
+       Episode_Reward/wheel_body_intrusion: -0.2766
+        Episode_Reward/pair_body_intrusion: -0.3534
+             Curriculum/terrain_level_mean: +3.0916
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.5232
+             Episode_Termination/fell_over: 0.0132
+           Episode_Termination/course_exit: 0.4238
+Episode_Termination/illegal_nonwheel_contact: 0.0530
+==============================================================================
+
+==============================================================================
+Learning iteration 19100/50000
+                               Total steps: 78,233,600
+                          Steps per second: 11,873
+                            Iteration time: 0.345s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1346.2
+                                Actor loss: -9.4705
+                               Critic loss: +0.0037
+                          World model loss: +0.7566
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5838
+     Episode_Reward/track_angular_velocity: +50.9201
+                    Episode_Reward/upright: +25.9327
+                Episode_Reward/leg_posture: -2.7912
+                 Episode_Reward/standstill: -6.2974
+             Episode_Reward/action_rate_l2: -0.5866
+           Episode_Reward/joint_torques_l2: -0.1502
+             Episode_Reward/dof_pos_limits: -0.0001
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.1335
+         Episode_Reward/rolling_leg_motion: -0.7218
+          Episode_Reward/obstacle_progress: +2.8801
+       Episode_Reward/wheel_body_intrusion: -0.2595
+        Episode_Reward/pair_body_intrusion: -0.3270
+             Curriculum/terrain_level_mean: +3.0979
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5301
+             Episode_Termination/fell_over: 0.0181
+           Episode_Termination/course_exit: 0.4337
+Episode_Termination/illegal_nonwheel_contact: 0.0241
+==============================================================================
+
+==============================================================================
+Learning iteration 19150/50000
+                               Total steps: 78,438,400
+                          Steps per second: 11,881
+                            Iteration time: 0.345s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1409.2
+                                Actor loss: -9.4352
+                               Critic loss: +0.0057
+                          World model loss: +0.7589
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8190
+     Episode_Reward/track_angular_velocity: +53.3059
+                    Episode_Reward/upright: +27.1282
+                Episode_Reward/leg_posture: -2.9086
+                 Episode_Reward/standstill: -6.7651
+             Episode_Reward/action_rate_l2: -0.6070
+           Episode_Reward/joint_torques_l2: -0.1549
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0165
+     Episode_Reward/unnecessary_wheel_lift: -0.1331
+         Episode_Reward/rolling_leg_motion: -0.7620
+          Episode_Reward/obstacle_progress: +3.0866
+       Episode_Reward/wheel_body_intrusion: -0.2798
+        Episode_Reward/pair_body_intrusion: -0.3249
+             Curriculum/terrain_level_mean: +3.1042
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.5287
+             Episode_Termination/fell_over: 0.0191
+           Episode_Termination/course_exit: 0.4331
+Episode_Termination/illegal_nonwheel_contact: 0.0255
+==============================================================================
+
+==============================================================================
+Learning iteration 19200/50000
+                               Total steps: 78,643,200
+                          Steps per second: 11,889
+                            Iteration time: 0.345s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0858
+                       Mean episode length: 1362.2
+                                Actor loss: -9.4570
+                               Critic loss: +0.0053
+                          World model loss: +0.7824
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0274
+     Episode_Reward/track_angular_velocity: +51.4950
+                    Episode_Reward/upright: +26.2014
+                Episode_Reward/leg_posture: -2.8586
+                 Episode_Reward/standstill: -6.6648
+             Episode_Reward/action_rate_l2: -0.5929
+           Episode_Reward/joint_torques_l2: -0.1520
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.1178
+         Episode_Reward/rolling_leg_motion: -0.7271
+          Episode_Reward/obstacle_progress: +2.9789
+       Episode_Reward/wheel_body_intrusion: -0.2842
+        Episode_Reward/pair_body_intrusion: -0.3928
+             Curriculum/terrain_level_mean: +3.1086
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0952
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4777
+             Episode_Termination/fell_over: 0.0382
+           Episode_Termination/course_exit: 0.4713
+Episode_Termination/illegal_nonwheel_contact: 0.0318
+==============================================================================
+
+==============================================================================
+Learning iteration 19250/50000
+                               Total steps: 78,848,000
+                          Steps per second: 11,896
+                            Iteration time: 0.344s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1337.1
+                                Actor loss: -9.4666
+                               Critic loss: +0.0072
+                          World model loss: +0.7589
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2991
+     Episode_Reward/track_angular_velocity: +50.5333
+                    Episode_Reward/upright: +25.6944
+                Episode_Reward/leg_posture: -2.7656
+                 Episode_Reward/standstill: -6.4847
+             Episode_Reward/action_rate_l2: -0.5822
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0287
+     Episode_Reward/unnecessary_wheel_lift: -0.1190
+         Episode_Reward/rolling_leg_motion: -0.7112
+          Episode_Reward/obstacle_progress: +2.9597
+       Episode_Reward/wheel_body_intrusion: -0.2456
+        Episode_Reward/pair_body_intrusion: -0.3361
+             Curriculum/terrain_level_mean: +3.1147
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.4525
+             Episode_Termination/fell_over: 0.0223
+           Episode_Termination/course_exit: 0.4860
+Episode_Termination/illegal_nonwheel_contact: 0.0503
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1372]
+
+==============================================================================
+Learning iteration 19300/50000
+                               Total steps: 79,052,800
+                          Steps per second: 11,903
+                            Iteration time: 0.344s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0858
+                       Mean episode length: 1353.9
+                                Actor loss: -9.4671
+                               Critic loss: +0.0035
+                          World model loss: +0.7699
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8340
+     Episode_Reward/track_angular_velocity: +51.1938
+                    Episode_Reward/upright: +26.0469
+                Episode_Reward/leg_posture: -2.8174
+                 Episode_Reward/standstill: -6.9196
+             Episode_Reward/action_rate_l2: -0.5809
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.1187
+         Episode_Reward/rolling_leg_motion: -0.7085
+          Episode_Reward/obstacle_progress: +3.0177
+       Episode_Reward/wheel_body_intrusion: -0.2708
+        Episode_Reward/pair_body_intrusion: -0.3511
+             Curriculum/terrain_level_mean: +3.1216
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4832
+             Episode_Termination/fell_over: 0.0403
+           Episode_Termination/course_exit: 0.4631
+Episode_Termination/illegal_nonwheel_contact: 0.0268
+==============================================================================
+
+==============================================================================
+Learning iteration 19350/50000
+                               Total steps: 79,257,600
+                          Steps per second: 11,911
+                            Iteration time: 0.344s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0861
+                       Mean episode length: 1386.2
+                                Actor loss: -9.4775
+                               Critic loss: +0.0037
+                          World model loss: +0.7033
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9855
+     Episode_Reward/track_angular_velocity: +52.4736
+                    Episode_Reward/upright: +26.6643
+                Episode_Reward/leg_posture: -2.8349
+                 Episode_Reward/standstill: -6.9268
+             Episode_Reward/action_rate_l2: -0.6100
+           Episode_Reward/joint_torques_l2: -0.1520
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0054
+     Episode_Reward/unnecessary_wheel_lift: -0.0984
+         Episode_Reward/rolling_leg_motion: -0.7222
+          Episode_Reward/obstacle_progress: +3.1081
+       Episode_Reward/wheel_body_intrusion: -0.2605
+        Episode_Reward/pair_body_intrusion: -0.3331
+             Curriculum/terrain_level_mean: +3.1272
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5474
+             Episode_Termination/fell_over: 0.0146
+           Episode_Termination/course_exit: 0.4380
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 19400/50000
+                               Total steps: 79,462,400
+                          Steps per second: 11,918
+                            Iteration time: 0.344s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1361.5
+                                Actor loss: -9.5019
+                               Critic loss: +0.0036
+                          World model loss: +0.7241
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0344
+     Episode_Reward/track_angular_velocity: +51.4718
+                    Episode_Reward/upright: +26.1586
+                Episode_Reward/leg_posture: -2.7868
+                 Episode_Reward/standstill: -6.4495
+             Episode_Reward/action_rate_l2: -0.6060
+           Episode_Reward/joint_torques_l2: -0.1491
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.1107
+         Episode_Reward/rolling_leg_motion: -0.7160
+          Episode_Reward/obstacle_progress: +3.0526
+       Episode_Reward/wheel_body_intrusion: -0.2502
+        Episode_Reward/pair_body_intrusion: -0.3105
+             Curriculum/terrain_level_mean: +3.1345
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0954
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5065
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4740
+Episode_Termination/illegal_nonwheel_contact: 0.0195
+==============================================================================
+
+==============================================================================
+Learning iteration 19450/50000
+                               Total steps: 79,667,200
+                          Steps per second: 11,926
+                            Iteration time: 0.343s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1373.1
+                                Actor loss: -9.4435
+                               Critic loss: +0.0061
+                          World model loss: +0.7375
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4446
+     Episode_Reward/track_angular_velocity: +51.8186
+                    Episode_Reward/upright: +26.3904
+                Episode_Reward/leg_posture: -2.7850
+                 Episode_Reward/standstill: -6.3498
+             Episode_Reward/action_rate_l2: -0.6131
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0322
+     Episode_Reward/unnecessary_wheel_lift: -0.1201
+         Episode_Reward/rolling_leg_motion: -0.7162
+          Episode_Reward/obstacle_progress: +3.1162
+       Episode_Reward/wheel_body_intrusion: -0.2558
+        Episode_Reward/pair_body_intrusion: -0.3313
+             Curriculum/terrain_level_mean: +3.1392
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0954
+       Metrics/base_velocity/error_vel_yaw: 0.1375
+              Episode_Termination/time_out: 0.5153
+             Episode_Termination/fell_over: 0.0368
+           Episode_Termination/course_exit: 0.4110
+Episode_Termination/illegal_nonwheel_contact: 0.0613
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2364]
+RECOVERY reset 1 invalid environments; first IDs=[2189]
+
+==============================================================================
+Learning iteration 19500/50000
+                               Total steps: 79,872,000
+                          Steps per second: 11,933
+                            Iteration time: 0.343s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0863
+                       Mean episode length: 1392.8
+                                Actor loss: -9.4733
+                               Critic loss: +0.0054
+                          World model loss: +0.7814
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0815
+     Episode_Reward/track_angular_velocity: +52.6420
+                    Episode_Reward/upright: +26.7859
+                Episode_Reward/leg_posture: -2.8318
+                 Episode_Reward/standstill: -6.4097
+             Episode_Reward/action_rate_l2: -0.6270
+           Episode_Reward/joint_torques_l2: -0.1526
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0136
+     Episode_Reward/unnecessary_wheel_lift: -0.1140
+         Episode_Reward/rolling_leg_motion: -0.7331
+          Episode_Reward/obstacle_progress: +3.1287
+       Episode_Reward/wheel_body_intrusion: -0.2579
+        Episode_Reward/pair_body_intrusion: -0.3535
+             Curriculum/terrain_level_mean: +3.1433
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0955
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.5109
+             Episode_Termination/fell_over: 0.0219
+           Episode_Termination/course_exit: 0.4526
+Episode_Termination/illegal_nonwheel_contact: 0.0219
+==============================================================================
+
+==============================================================================
+Learning iteration 19550/50000
+                               Total steps: 80,076,800
+                          Steps per second: 11,939
+                            Iteration time: 0.343s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0865
+                       Mean episode length: 1361.7
+                                Actor loss: -9.4550
+                               Critic loss: +0.0040
+                          World model loss: +0.7658
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9816
+     Episode_Reward/track_angular_velocity: +51.4943
+                    Episode_Reward/upright: +26.1898
+                Episode_Reward/leg_posture: -2.8125
+                 Episode_Reward/standstill: -6.0449
+             Episode_Reward/action_rate_l2: -0.5995
+           Episode_Reward/joint_torques_l2: -0.1511
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0239
+     Episode_Reward/unnecessary_wheel_lift: -0.1235
+         Episode_Reward/rolling_leg_motion: -0.6873
+          Episode_Reward/obstacle_progress: +3.1212
+       Episode_Reward/wheel_body_intrusion: -0.2631
+        Episode_Reward/pair_body_intrusion: -0.3303
+             Curriculum/terrain_level_mean: +3.1479
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0957
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4643
+             Episode_Termination/fell_over: 0.0357
+           Episode_Termination/course_exit: 0.4714
+Episode_Termination/illegal_nonwheel_contact: 0.0500
+==============================================================================
+
+==============================================================================
+Learning iteration 19600/50000
+                               Total steps: 80,281,600
+                          Steps per second: 11,947
+                            Iteration time: 0.343s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1378.3
+                                Actor loss: -9.4593
+                               Critic loss: +0.0042
+                          World model loss: +0.7710
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4784
+     Episode_Reward/track_angular_velocity: +52.1094
+                    Episode_Reward/upright: +26.5043
+                Episode_Reward/leg_posture: -2.8509
+                 Episode_Reward/standstill: -6.4428
+             Episode_Reward/action_rate_l2: -0.6014
+           Episode_Reward/joint_torques_l2: -0.1516
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0135
+     Episode_Reward/unnecessary_wheel_lift: -0.0941
+         Episode_Reward/rolling_leg_motion: -0.7067
+          Episode_Reward/obstacle_progress: +3.1488
+       Episode_Reward/wheel_body_intrusion: -0.2827
+        Episode_Reward/pair_body_intrusion: -0.3712
+             Curriculum/terrain_level_mean: +3.1545
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5208
+             Episode_Termination/fell_over: 0.0208
+           Episode_Termination/course_exit: 0.4514
+Episode_Termination/illegal_nonwheel_contact: 0.0278
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1370]
+RECOVERY reset 1 invalid environments; first IDs=[2400]
+
+==============================================================================
+Learning iteration 19650/50000
+                               Total steps: 80,486,400
+                          Steps per second: 11,954
+                            Iteration time: 0.343s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0864
+                       Mean episode length: 1357.8
+                                Actor loss: -9.4411
+                               Critic loss: +0.0093
+                          World model loss: +0.7410
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8491
+     Episode_Reward/track_angular_velocity: +51.2912
+                    Episode_Reward/upright: +26.0749
+                Episode_Reward/leg_posture: -2.8013
+                 Episode_Reward/standstill: -6.0588
+             Episode_Reward/action_rate_l2: -0.6034
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.1014
+         Episode_Reward/rolling_leg_motion: -0.6895
+          Episode_Reward/obstacle_progress: +3.1251
+       Episode_Reward/wheel_body_intrusion: -0.2779
+        Episode_Reward/pair_body_intrusion: -0.3561
+             Curriculum/terrain_level_mean: +3.1614
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0959
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.5031
+             Episode_Termination/fell_over: 0.0123
+           Episode_Termination/course_exit: 0.4479
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 19700/50000
+                               Total steps: 80,691,200
+                          Steps per second: 11,961
+                            Iteration time: 0.342s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0864
+                       Mean episode length: 1423.4
+                                Actor loss: -9.4739
+                               Critic loss: +0.0038
+                          World model loss: +0.7209
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1065
+     Episode_Reward/track_angular_velocity: +53.7727
+                    Episode_Reward/upright: +27.3750
+                Episode_Reward/leg_posture: -2.9087
+                 Episode_Reward/standstill: -6.4197
+             Episode_Reward/action_rate_l2: -0.6280
+           Episode_Reward/joint_torques_l2: -0.1570
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0195
+     Episode_Reward/unnecessary_wheel_lift: -0.1255
+         Episode_Reward/rolling_leg_motion: -0.7236
+          Episode_Reward/obstacle_progress: +3.2677
+       Episode_Reward/wheel_body_intrusion: -0.2701
+        Episode_Reward/pair_body_intrusion: -0.3415
+             Curriculum/terrain_level_mean: +3.1658
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0962
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.5732
+             Episode_Termination/fell_over: 0.0122
+           Episode_Termination/course_exit: 0.3841
+Episode_Termination/illegal_nonwheel_contact: 0.0305
+==============================================================================
+
+==============================================================================
+Learning iteration 19750/50000
+                               Total steps: 80,896,000
+                          Steps per second: 11,968
+                            Iteration time: 0.342s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0865
+                       Mean episode length: 1372.5
+                                Actor loss: -9.4729
+                               Critic loss: +0.0048
+                          World model loss: +0.7221
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4033
+     Episode_Reward/track_angular_velocity: +51.8726
+                    Episode_Reward/upright: +26.4085
+                Episode_Reward/leg_posture: -2.8307
+                 Episode_Reward/standstill: -6.0127
+             Episode_Reward/action_rate_l2: -0.6120
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.1106
+         Episode_Reward/rolling_leg_motion: -0.7119
+          Episode_Reward/obstacle_progress: +3.0916
+       Episode_Reward/wheel_body_intrusion: -0.2602
+        Episode_Reward/pair_body_intrusion: -0.3406
+             Curriculum/terrain_level_mean: +3.1707
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4828
+             Episode_Termination/fell_over: 0.0414
+           Episode_Termination/course_exit: 0.4552
+Episode_Termination/illegal_nonwheel_contact: 0.0552
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2145]
+RECOVERY reset 1 invalid environments; first IDs=[1370]
+
+==============================================================================
+Learning iteration 19800/50000
+                               Total steps: 81,100,800
+                          Steps per second: 11,976
+                            Iteration time: 0.342s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1355.1
+                                Actor loss: -9.4584
+                               Critic loss: +0.0039
+                          World model loss: +0.7159
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7358
+     Episode_Reward/track_angular_velocity: +51.1895
+                    Episode_Reward/upright: +26.0242
+                Episode_Reward/leg_posture: -2.7884
+                 Episode_Reward/standstill: -6.2654
+             Episode_Reward/action_rate_l2: -0.6013
+           Episode_Reward/joint_torques_l2: -0.1498
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.1045
+         Episode_Reward/rolling_leg_motion: -0.7289
+          Episode_Reward/obstacle_progress: +2.9627
+       Episode_Reward/wheel_body_intrusion: -0.2727
+        Episode_Reward/pair_body_intrusion: -0.3170
+             Curriculum/terrain_level_mean: +3.1755
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0957
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4759
+             Episode_Termination/fell_over: 0.0138
+           Episode_Termination/course_exit: 0.4897
+Episode_Termination/illegal_nonwheel_contact: 0.0276
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2285]
+
+==============================================================================
+Learning iteration 19850/50000
+                               Total steps: 81,305,600
+                          Steps per second: 11,983
+                            Iteration time: 0.342s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0861
+                       Mean episode length: 1372.1
+                                Actor loss: -9.4406
+                               Critic loss: +0.0057
+                          World model loss: +0.7461
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5071
+     Episode_Reward/track_angular_velocity: +51.8670
+                    Episode_Reward/upright: +26.3668
+                Episode_Reward/leg_posture: -2.8375
+                 Episode_Reward/standstill: -6.4472
+             Episode_Reward/action_rate_l2: -0.6090
+           Episode_Reward/joint_torques_l2: -0.1507
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0268
+     Episode_Reward/unnecessary_wheel_lift: -0.1132
+         Episode_Reward/rolling_leg_motion: -0.7390
+          Episode_Reward/obstacle_progress: +2.9806
+       Episode_Reward/wheel_body_intrusion: -0.2779
+        Episode_Reward/pair_body_intrusion: -0.3264
+             Curriculum/terrain_level_mean: +3.1790
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.5152
+             Episode_Termination/fell_over: 0.0364
+           Episode_Termination/course_exit: 0.4242
+Episode_Termination/illegal_nonwheel_contact: 0.0545
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1744]
+
+==============================================================================
+Learning iteration 19900/50000
+                               Total steps: 81,510,400
+                          Steps per second: 11,990
+                            Iteration time: 0.342s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0859
+                       Mean episode length: 1350.3
+                                Actor loss: -9.4623
+                               Critic loss: +0.0086
+                          World model loss: +0.7000
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5339
+     Episode_Reward/track_angular_velocity: +51.0048
+                    Episode_Reward/upright: +25.9358
+                Episode_Reward/leg_posture: -2.7835
+                 Episode_Reward/standstill: -6.4767
+             Episode_Reward/action_rate_l2: -0.5991
+           Episode_Reward/joint_torques_l2: -0.1483
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0105
+     Episode_Reward/unnecessary_wheel_lift: -0.0970
+         Episode_Reward/rolling_leg_motion: -0.7249
+          Episode_Reward/obstacle_progress: +2.9535
+       Episode_Reward/wheel_body_intrusion: -0.2644
+        Episode_Reward/pair_body_intrusion: -0.3595
+             Curriculum/terrain_level_mean: +3.1880
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0957
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4800
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4933
+Episode_Termination/illegal_nonwheel_contact: 0.0267
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2264]
+
+==============================================================================
+Learning iteration 19950/50000
+                               Total steps: 81,715,200
+                          Steps per second: 11,997
+                            Iteration time: 0.341s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0862
+                       Mean episode length: 1356.6
+                                Actor loss: -9.4730
+                               Critic loss: +0.0037
+                          World model loss: +0.7324
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7676
+     Episode_Reward/track_angular_velocity: +51.2648
+                    Episode_Reward/upright: +26.0786
+                Episode_Reward/leg_posture: -2.7799
+                 Episode_Reward/standstill: -6.2708
+             Episode_Reward/action_rate_l2: -0.6083
+           Episode_Reward/joint_torques_l2: -0.1482
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.0991
+         Episode_Reward/rolling_leg_motion: -0.7248
+          Episode_Reward/obstacle_progress: +2.9822
+       Episode_Reward/wheel_body_intrusion: -0.2634
+        Episode_Reward/pair_body_intrusion: -0.3056
+             Curriculum/terrain_level_mean: +3.1914
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0958
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0207
+           Episode_Termination/course_exit: 0.4414
+Episode_Termination/illegal_nonwheel_contact: 0.0483
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1060]
+
+==============================================================================
+Learning iteration 20000/50000
+                               Total steps: 81,920,000
+                          Steps per second: 12,004
+                            Iteration time: 0.341s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0861
+                       Mean episode length: 1380.1
+                                Actor loss: -9.4767
+                               Critic loss: +0.0052
+                          World model loss: +0.7248
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6078
+     Episode_Reward/track_angular_velocity: +52.1197
+                    Episode_Reward/upright: +26.4973
+                Episode_Reward/leg_posture: -2.8599
+                 Episode_Reward/standstill: -6.2791
+             Episode_Reward/action_rate_l2: -0.6178
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.1001
+         Episode_Reward/rolling_leg_motion: -0.7358
+          Episode_Reward/obstacle_progress: +3.0023
+       Episode_Reward/wheel_body_intrusion: -0.3045
+        Episode_Reward/pair_body_intrusion: -0.3511
+             Curriculum/terrain_level_mean: +3.1948
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0959
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.5234
+             Episode_Termination/fell_over: 0.0234
+           Episode_Termination/course_exit: 0.4297
+Episode_Termination/illegal_nonwheel_contact: 0.0391
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+RECOVERY reset 1 invalid environments; first IDs=[2206]
+
+==============================================================================
+Learning iteration 20050/50000
+                               Total steps: 82,124,800
+                          Steps per second: 12,011
+                            Iteration time: 0.341s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1301.6
+                                Actor loss: -9.4323
+                               Critic loss: +0.0061
+                          World model loss: +0.7460
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8034
+     Episode_Reward/track_angular_velocity: +49.1452
+                    Episode_Reward/upright: +24.9886
+                Episode_Reward/leg_posture: -2.6881
+                 Episode_Reward/standstill: -5.9642
+             Episode_Reward/action_rate_l2: -0.5696
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0016
+                 Episode_Reward/terminated: -0.0203
+     Episode_Reward/unnecessary_wheel_lift: -0.0961
+         Episode_Reward/rolling_leg_motion: -0.6788
+          Episode_Reward/obstacle_progress: +2.8813
+       Episode_Reward/wheel_body_intrusion: -0.2654
+        Episode_Reward/pair_body_intrusion: -0.2991
+             Curriculum/terrain_level_mean: +3.1982
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0962
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.4638
+             Episode_Termination/fell_over: 0.0290
+           Episode_Termination/course_exit: 0.4783
+Episode_Termination/illegal_nonwheel_contact: 0.0435
+==============================================================================
+
+==============================================================================
+Learning iteration 20100/50000
+                               Total steps: 82,329,600
+                          Steps per second: 12,018
+                            Iteration time: 0.341s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0863
+                       Mean episode length: 1357.4
+                                Actor loss: -9.4766
+                               Critic loss: +0.0040
+                          World model loss: +0.7786
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8544
+     Episode_Reward/track_angular_velocity: +51.2945
+                    Episode_Reward/upright: +26.0650
+                Episode_Reward/leg_posture: -2.7971
+                 Episode_Reward/standstill: -6.1611
+             Episode_Reward/action_rate_l2: -0.5920
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.1049
+         Episode_Reward/rolling_leg_motion: -0.7149
+          Episode_Reward/obstacle_progress: +2.9494
+       Episode_Reward/wheel_body_intrusion: -0.2521
+        Episode_Reward/pair_body_intrusion: -0.2903
+             Curriculum/terrain_level_mean: +3.2039
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0201
+           Episode_Termination/course_exit: 0.4631
+Episode_Termination/illegal_nonwheel_contact: 0.0134
+==============================================================================
+
+==============================================================================
+Learning iteration 20150/50000
+                               Total steps: 82,534,400
+                          Steps per second: 12,025
+                            Iteration time: 0.341s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0866
+                       Mean episode length: 1370.5
+                                Actor loss: -9.4942
+                               Critic loss: +0.0035
+                          World model loss: +0.7186
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3439
+     Episode_Reward/track_angular_velocity: +51.8315
+                    Episode_Reward/upright: +26.3377
+                Episode_Reward/leg_posture: -2.7292
+                 Episode_Reward/standstill: -6.0097
+             Episode_Reward/action_rate_l2: -0.6079
+           Episode_Reward/joint_torques_l2: -0.1501
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.1089
+         Episode_Reward/rolling_leg_motion: -0.7157
+          Episode_Reward/obstacle_progress: +3.0633
+       Episode_Reward/wheel_body_intrusion: -0.2500
+        Episode_Reward/pair_body_intrusion: -0.2952
+             Curriculum/terrain_level_mean: +3.2090
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4894
+             Episode_Termination/fell_over: 0.0142
+           Episode_Termination/course_exit: 0.4752
+Episode_Termination/illegal_nonwheel_contact: 0.0355
+==============================================================================
+
+==============================================================================
+Learning iteration 20200/50000
+                               Total steps: 82,739,200
+                          Steps per second: 12,032
+                            Iteration time: 0.340s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1304.3
+                                Actor loss: -9.4340
+                               Critic loss: +0.0080
+                          World model loss: +0.7725
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8938
+     Episode_Reward/track_angular_velocity: +49.2847
+                    Episode_Reward/upright: +25.0342
+                Episode_Reward/leg_posture: -2.6348
+                 Episode_Reward/standstill: -5.9855
+             Episode_Reward/action_rate_l2: -0.5762
+           Episode_Reward/joint_torques_l2: -0.1430
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0229
+     Episode_Reward/unnecessary_wheel_lift: -0.0903
+         Episode_Reward/rolling_leg_motion: -0.6584
+          Episode_Reward/obstacle_progress: +2.9477
+       Episode_Reward/wheel_body_intrusion: -0.2501
+        Episode_Reward/pair_body_intrusion: -0.3011
+             Curriculum/terrain_level_mean: +3.2146
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0965
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4130
+             Episode_Termination/fell_over: 0.0435
+           Episode_Termination/course_exit: 0.5217
+Episode_Termination/illegal_nonwheel_contact: 0.0507
+==============================================================================
+
+==============================================================================
+Learning iteration 20250/50000
+                               Total steps: 82,944,000
+                          Steps per second: 12,039
+                            Iteration time: 0.340s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0863
+                       Mean episode length: 1413.8
+                                Actor loss: -9.4710
+                               Critic loss: +0.0047
+                          World model loss: +0.7244
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6798
+     Episode_Reward/track_angular_velocity: +53.4104
+                    Episode_Reward/upright: +27.1662
+                Episode_Reward/leg_posture: -2.8667
+                 Episode_Reward/standstill: -6.3642
+             Episode_Reward/action_rate_l2: -0.6411
+           Episode_Reward/joint_torques_l2: -0.1576
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0166
+     Episode_Reward/unnecessary_wheel_lift: -0.1288
+         Episode_Reward/rolling_leg_motion: -0.7248
+          Episode_Reward/obstacle_progress: +3.2376
+       Episode_Reward/wheel_body_intrusion: -0.2755
+        Episode_Reward/pair_body_intrusion: -0.3142
+             Curriculum/terrain_level_mean: +3.2202
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0964
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.5361
+             Episode_Termination/fell_over: 0.0181
+           Episode_Termination/course_exit: 0.4277
+Episode_Termination/illegal_nonwheel_contact: 0.0301
+==============================================================================
+
+==============================================================================
+Learning iteration 20300/50000
+                               Total steps: 83,148,800
+                          Steps per second: 12,046
+                            Iteration time: 0.340s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1357.3
+                                Actor loss: -9.4876
+                               Critic loss: +0.0038
+                          World model loss: +0.7246
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8822
+     Episode_Reward/track_angular_velocity: +51.3061
+                    Episode_Reward/upright: +26.0410
+                Episode_Reward/leg_posture: -2.7334
+                 Episode_Reward/standstill: -6.5907
+             Episode_Reward/action_rate_l2: -0.6062
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0292
+     Episode_Reward/unnecessary_wheel_lift: -0.1277
+         Episode_Reward/rolling_leg_motion: -0.6807
+          Episode_Reward/obstacle_progress: +3.2019
+       Episode_Reward/wheel_body_intrusion: -0.2688
+        Episode_Reward/pair_body_intrusion: -0.2927
+             Curriculum/terrain_level_mean: +3.2241
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5195
+             Episode_Termination/fell_over: 0.0325
+           Episode_Termination/course_exit: 0.4091
+Episode_Termination/illegal_nonwheel_contact: 0.0519
+==============================================================================
+
+==============================================================================
+Learning iteration 20350/50000
+                               Total steps: 83,353,600
+                          Steps per second: 12,053
+                            Iteration time: 0.340s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0861
+                       Mean episode length: 1400.4
+                                Actor loss: -9.4819
+                               Critic loss: +0.0041
+                          World model loss: +0.7828
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3339
+     Episode_Reward/track_angular_velocity: +52.8614
+                    Episode_Reward/upright: +26.8704
+                Episode_Reward/leg_posture: -2.8515
+                 Episode_Reward/standstill: -6.7084
+             Episode_Reward/action_rate_l2: -0.6027
+           Episode_Reward/joint_torques_l2: -0.1539
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0246
+     Episode_Reward/unnecessary_wheel_lift: -0.1034
+         Episode_Reward/rolling_leg_motion: -0.6979
+          Episode_Reward/obstacle_progress: +3.2627
+       Episode_Reward/wheel_body_intrusion: -0.2829
+        Episode_Reward/pair_body_intrusion: -0.3263
+             Curriculum/terrain_level_mean: +3.2266
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0958
+       Metrics/base_velocity/error_vel_yaw: 0.1369
+              Episode_Termination/time_out: 0.4932
+             Episode_Termination/fell_over: 0.0205
+           Episode_Termination/course_exit: 0.4452
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+
+==============================================================================
+Learning iteration 20400/50000
+                               Total steps: 83,558,400
+                          Steps per second: 12,060
+                            Iteration time: 0.340s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0860
+                       Mean episode length: 1338.1
+                                Actor loss: -9.4980
+                               Critic loss: +0.0045
+                          World model loss: +0.7846
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1142
+     Episode_Reward/track_angular_velocity: +50.6016
+                    Episode_Reward/upright: +25.6829
+                Episode_Reward/leg_posture: -2.7824
+                 Episode_Reward/standstill: -6.3544
+             Episode_Reward/action_rate_l2: -0.5764
+           Episode_Reward/joint_torques_l2: -0.1483
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0366
+     Episode_Reward/unnecessary_wheel_lift: -0.1016
+         Episode_Reward/rolling_leg_motion: -0.6762
+          Episode_Reward/obstacle_progress: +3.0181
+       Episode_Reward/wheel_body_intrusion: -0.2908
+        Episode_Reward/pair_body_intrusion: -0.3278
+             Curriculum/terrain_level_mean: +3.2295
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0957
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4238
+             Episode_Termination/fell_over: 0.0662
+           Episode_Termination/course_exit: 0.4834
+Episode_Termination/illegal_nonwheel_contact: 0.0596
+==============================================================================
+
+==============================================================================
+Learning iteration 20450/50000
+                               Total steps: 83,763,200
+                          Steps per second: 12,067
+                            Iteration time: 0.339s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0860
+                       Mean episode length: 1393.3
+                                Actor loss: -9.4483
+                               Critic loss: +0.0074
+                          World model loss: +0.7243
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0649
+     Episode_Reward/track_angular_velocity: +52.6506
+                    Episode_Reward/upright: +26.7454
+                Episode_Reward/leg_posture: -2.8985
+                 Episode_Reward/standstill: -6.6500
+             Episode_Reward/action_rate_l2: -0.5957
+           Episode_Reward/joint_torques_l2: -0.1534
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.1032
+         Episode_Reward/rolling_leg_motion: -0.6901
+          Episode_Reward/obstacle_progress: +3.1161
+       Episode_Reward/wheel_body_intrusion: -0.2988
+        Episode_Reward/pair_body_intrusion: -0.3217
+             Curriculum/terrain_level_mean: +3.2322
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0958
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5076
+             Episode_Termination/fell_over: 0.0455
+           Episode_Termination/course_exit: 0.4318
+Episode_Termination/illegal_nonwheel_contact: 0.0303
+==============================================================================
+
+==============================================================================
+Learning iteration 20500/50000
+                               Total steps: 83,968,000
+                          Steps per second: 12,073
+                            Iteration time: 0.339s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1421.9
+                                Actor loss: -9.4688
+                               Critic loss: +0.0050
+                          World model loss: +0.7166
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1456
+     Episode_Reward/track_angular_velocity: +53.7459
+                    Episode_Reward/upright: +27.2602
+                Episode_Reward/leg_posture: -2.9208
+                 Episode_Reward/standstill: -6.9801
+             Episode_Reward/action_rate_l2: -0.6113
+           Episode_Reward/joint_torques_l2: -0.1563
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0250
+     Episode_Reward/unnecessary_wheel_lift: -0.1466
+         Episode_Reward/rolling_leg_motion: -0.7135
+          Episode_Reward/obstacle_progress: +3.2055
+       Episode_Reward/wheel_body_intrusion: -0.2790
+        Episode_Reward/pair_body_intrusion: -0.2949
+             Curriculum/terrain_level_mean: +3.2380
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0956
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4968
+             Episode_Termination/fell_over: 0.0382
+           Episode_Termination/course_exit: 0.4459
+Episode_Termination/illegal_nonwheel_contact: 0.0446
+==============================================================================
+
+==============================================================================
+Learning iteration 20550/50000
+                               Total steps: 84,172,800
+                          Steps per second: 12,080
+                            Iteration time: 0.339s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0862
+                       Mean episode length: 1391.3
+                                Actor loss: -9.4818
+                               Critic loss: +0.0051
+                          World model loss: +0.7316
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1373
+     Episode_Reward/track_angular_velocity: +52.6051
+                    Episode_Reward/upright: +26.7143
+                Episode_Reward/leg_posture: -2.8101
+                 Episode_Reward/standstill: -6.5968
+             Episode_Reward/action_rate_l2: -0.6115
+           Episode_Reward/joint_torques_l2: -0.1517
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0163
+     Episode_Reward/unnecessary_wheel_lift: -0.1110
+         Episode_Reward/rolling_leg_motion: -0.7196
+          Episode_Reward/obstacle_progress: +3.1274
+       Episode_Reward/wheel_body_intrusion: -0.2469
+        Episode_Reward/pair_body_intrusion: -0.3248
+             Curriculum/terrain_level_mean: +3.2419
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0062
+           Episode_Termination/course_exit: 0.4630
+Episode_Termination/illegal_nonwheel_contact: 0.0309
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 20600/50000
+                               Total steps: 84,377,600
+                          Steps per second: 12,087
+                            Iteration time: 0.339s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0866
+                       Mean episode length: 1359.6
+                                Actor loss: -9.4800
+                               Critic loss: +0.0043
+                          World model loss: +0.7249
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0644
+     Episode_Reward/track_angular_velocity: +51.3988
+                    Episode_Reward/upright: +26.1006
+                Episode_Reward/leg_posture: -2.7451
+                 Episode_Reward/standstill: -6.1146
+             Episode_Reward/action_rate_l2: -0.5901
+           Episode_Reward/joint_torques_l2: -0.1487
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0239
+     Episode_Reward/unnecessary_wheel_lift: -0.0950
+         Episode_Reward/rolling_leg_motion: -0.6846
+          Episode_Reward/obstacle_progress: +3.1264
+       Episode_Reward/wheel_body_intrusion: -0.2469
+        Episode_Reward/pair_body_intrusion: -0.3380
+             Curriculum/terrain_level_mean: +3.2446
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4264
+             Episode_Termination/fell_over: 0.0078
+           Episode_Termination/course_exit: 0.5039
+Episode_Termination/illegal_nonwheel_contact: 0.0620
+==============================================================================
+
+==============================================================================
+Learning iteration 20650/50000
+                               Total steps: 84,582,400
+                          Steps per second: 12,094
+                            Iteration time: 0.339s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0863
+                       Mean episode length: 1352.0
+                                Actor loss: -9.4516
+                               Critic loss: +0.0102
+                          World model loss: +0.7716
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5999
+     Episode_Reward/track_angular_velocity: +51.0535
+                    Episode_Reward/upright: +25.9258
+                Episode_Reward/leg_posture: -2.7262
+                 Episode_Reward/standstill: -6.1834
+             Episode_Reward/action_rate_l2: -0.5909
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.0976
+         Episode_Reward/rolling_leg_motion: -0.6699
+          Episode_Reward/obstacle_progress: +3.1046
+       Episode_Reward/wheel_body_intrusion: -0.2663
+        Episode_Reward/pair_body_intrusion: -0.3309
+             Curriculum/terrain_level_mean: +3.2500
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0960
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4895
+             Episode_Termination/fell_over: 0.0350
+           Episode_Termination/course_exit: 0.4685
+Episode_Termination/illegal_nonwheel_contact: 0.0210
+==============================================================================
+
+==============================================================================
+Learning iteration 20700/50000
+                               Total steps: 84,787,200
+                          Steps per second: 12,100
+                            Iteration time: 0.339s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0863
+                       Mean episode length: 1381.1
+                                Actor loss: -9.4436
+                               Critic loss: +0.0037
+                          World model loss: +0.7407
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8237
+     Episode_Reward/track_angular_velocity: +52.2276
+                    Episode_Reward/upright: +26.4830
+                Episode_Reward/leg_posture: -2.7904
+                 Episode_Reward/standstill: -6.6222
+             Episode_Reward/action_rate_l2: -0.5949
+           Episode_Reward/joint_torques_l2: -0.1501
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0936
+         Episode_Reward/rolling_leg_motion: -0.6768
+          Episode_Reward/obstacle_progress: +3.1603
+       Episode_Reward/wheel_body_intrusion: -0.2456
+        Episode_Reward/pair_body_intrusion: -0.3574
+             Curriculum/terrain_level_mean: +3.2556
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0286
+           Episode_Termination/course_exit: 0.4714
+Episode_Termination/illegal_nonwheel_contact: 0.0143
+==============================================================================
+
+==============================================================================
+Learning iteration 20750/50000
+                               Total steps: 84,992,000
+                          Steps per second: 12,107
+                            Iteration time: 0.338s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0861
+                       Mean episode length: 1333.9
+                                Actor loss: -9.4454
+                               Critic loss: +0.0058
+                          World model loss: +0.7108
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9930
+     Episode_Reward/track_angular_velocity: +50.4486
+                    Episode_Reward/upright: +25.5670
+                Episode_Reward/leg_posture: -2.7470
+                 Episode_Reward/standstill: -6.3538
+             Episode_Reward/action_rate_l2: -0.5800
+           Episode_Reward/joint_torques_l2: -0.1458
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.1043
+         Episode_Reward/rolling_leg_motion: -0.6707
+          Episode_Reward/obstacle_progress: +2.9786
+       Episode_Reward/wheel_body_intrusion: -0.2728
+        Episode_Reward/pair_body_intrusion: -0.3004
+             Curriculum/terrain_level_mean: +3.2620
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0956
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4699
+             Episode_Termination/fell_over: 0.0241
+           Episode_Termination/course_exit: 0.4940
+Episode_Termination/illegal_nonwheel_contact: 0.0301
+==============================================================================
+
+==============================================================================
+Learning iteration 20800/50000
+                               Total steps: 85,196,800
+                          Steps per second: 12,114
+                            Iteration time: 0.338s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0859
+                       Mean episode length: 1361.1
+                                Actor loss: -9.4361
+                               Critic loss: +0.0046
+                          World model loss: +0.7592
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0022
+     Episode_Reward/track_angular_velocity: +51.5007
+                    Episode_Reward/upright: +26.0753
+                Episode_Reward/leg_posture: -2.7939
+                 Episode_Reward/standstill: -6.7618
+             Episode_Reward/action_rate_l2: -0.6046
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.1092
+         Episode_Reward/rolling_leg_motion: -0.6962
+          Episode_Reward/obstacle_progress: +3.0006
+       Episode_Reward/wheel_body_intrusion: -0.2645
+        Episode_Reward/pair_body_intrusion: -0.3126
+             Curriculum/terrain_level_mean: +3.2668
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.5270
+             Episode_Termination/fell_over: 0.0203
+           Episode_Termination/course_exit: 0.4324
+Episode_Termination/illegal_nonwheel_contact: 0.0270
+==============================================================================
+
+==============================================================================
+Learning iteration 20850/50000
+                               Total steps: 85,401,600
+                          Steps per second: 12,120
+                            Iteration time: 0.338s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0858
+                       Mean episode length: 1342.3
+                                Actor loss: -9.4655
+                               Critic loss: +0.0040
+                          World model loss: +0.7012
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2721
+     Episode_Reward/track_angular_velocity: +50.7883
+                    Episode_Reward/upright: +25.6843
+                Episode_Reward/leg_posture: -2.7388
+                 Episode_Reward/standstill: -6.7092
+             Episode_Reward/action_rate_l2: -0.5930
+           Episode_Reward/joint_torques_l2: -0.1464
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0236
+     Episode_Reward/unnecessary_wheel_lift: -0.1083
+         Episode_Reward/rolling_leg_motion: -0.6790
+          Episode_Reward/obstacle_progress: +2.9687
+       Episode_Reward/wheel_body_intrusion: -0.2521
+        Episode_Reward/pair_body_intrusion: -0.3156
+             Curriculum/terrain_level_mean: +3.2705
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0956
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4610
+             Episode_Termination/fell_over: 0.0325
+           Episode_Termination/course_exit: 0.4805
+Episode_Termination/illegal_nonwheel_contact: 0.0455
+==============================================================================
+
+==============================================================================
+Learning iteration 20900/50000
+                               Total steps: 85,606,400
+                          Steps per second: 12,127
+                            Iteration time: 0.338s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0857
+                       Mean episode length: 1372.1
+                                Actor loss: -9.4456
+                               Critic loss: +0.0078
+                          World model loss: +0.7111
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2762
+     Episode_Reward/track_angular_velocity: +51.9346
+                    Episode_Reward/upright: +26.2252
+                Episode_Reward/leg_posture: -2.8236
+                 Episode_Reward/standstill: -6.8476
+             Episode_Reward/action_rate_l2: -0.6008
+           Episode_Reward/joint_torques_l2: -0.1494
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0295
+     Episode_Reward/unnecessary_wheel_lift: -0.1162
+         Episode_Reward/rolling_leg_motion: -0.7002
+          Episode_Reward/obstacle_progress: +3.0302
+       Episode_Reward/wheel_body_intrusion: -0.2679
+        Episode_Reward/pair_body_intrusion: -0.3073
+             Curriculum/terrain_level_mean: +3.2739
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.5181
+             Episode_Termination/fell_over: 0.0301
+           Episode_Termination/course_exit: 0.4157
+Episode_Termination/illegal_nonwheel_contact: 0.0482
+==============================================================================
+
+==============================================================================
+Learning iteration 20950/50000
+                               Total steps: 85,811,200
+                          Steps per second: 12,134
+                            Iteration time: 0.338s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0862
+                       Mean episode length: 1336.3
+                                Actor loss: -9.4475
+                               Critic loss: +0.0056
+                          World model loss: +0.7617
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1311
+     Episode_Reward/track_angular_velocity: +50.6161
+                    Episode_Reward/upright: +25.5916
+                Episode_Reward/leg_posture: -2.7270
+                 Episode_Reward/standstill: -6.3389
+             Episode_Reward/action_rate_l2: -0.5947
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0418
+     Episode_Reward/unnecessary_wheel_lift: -0.1091
+         Episode_Reward/rolling_leg_motion: -0.6779
+          Episode_Reward/obstacle_progress: +2.9992
+       Episode_Reward/wheel_body_intrusion: -0.2589
+        Episode_Reward/pair_body_intrusion: -0.2934
+             Curriculum/terrain_level_mean: +3.2771
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.5097
+             Episode_Termination/fell_over: 0.0645
+           Episode_Termination/course_exit: 0.3871
+Episode_Termination/illegal_nonwheel_contact: 0.0645
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[416]
+
+==============================================================================
+Learning iteration 21000/50000
+                               Total steps: 86,016,000
+                          Steps per second: 12,139
+                            Iteration time: 0.337s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0861
+                       Mean episode length: 1455.7
+                                Actor loss: -9.4362
+                               Critic loss: +0.0047
+                          World model loss: +0.7485
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.3357
+     Episode_Reward/track_angular_velocity: +55.1174
+                    Episode_Reward/upright: +27.9201
+                Episode_Reward/leg_posture: -2.9976
+                 Episode_Reward/standstill: -6.9788
+             Episode_Reward/action_rate_l2: -0.6431
+           Episode_Reward/joint_torques_l2: -0.1566
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0114
+     Episode_Reward/unnecessary_wheel_lift: -0.1153
+         Episode_Reward/rolling_leg_motion: -0.7473
+          Episode_Reward/obstacle_progress: +3.2817
+       Episode_Reward/wheel_body_intrusion: -0.2901
+        Episode_Reward/pair_body_intrusion: -0.3610
+             Curriculum/terrain_level_mean: +3.2815
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0951
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.5894
+             Episode_Termination/fell_over: 0.0265
+           Episode_Termination/course_exit: 0.3841
+Episode_Termination/illegal_nonwheel_contact: 0.0199
+==============================================================================
+
+==============================================================================
+Learning iteration 21050/50000
+                               Total steps: 86,220,800
+                          Steps per second: 12,146
+                            Iteration time: 0.337s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1348.2
+                                Actor loss: -9.4627
+                               Critic loss: +0.0039
+                          World model loss: +0.7142
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7490
+     Episode_Reward/track_angular_velocity: +51.0764
+                    Episode_Reward/upright: +25.8579
+                Episode_Reward/leg_posture: -2.7351
+                 Episode_Reward/standstill: -6.0904
+             Episode_Reward/action_rate_l2: -0.5973
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.0937
+         Episode_Reward/rolling_leg_motion: -0.6656
+          Episode_Reward/obstacle_progress: +3.0586
+       Episode_Reward/wheel_body_intrusion: -0.2544
+        Episode_Reward/pair_body_intrusion: -0.3035
+             Curriculum/terrain_level_mean: +3.2869
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1323
+              Episode_Termination/time_out: 0.4648
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.4930
+Episode_Termination/illegal_nonwheel_contact: 0.0352
+==============================================================================
+
+==============================================================================
+Learning iteration 21100/50000
+                               Total steps: 86,425,600
+                          Steps per second: 12,152
+                            Iteration time: 0.337s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0865
+                       Mean episode length: 1401.2
+                                Actor loss: -9.4403
+                               Critic loss: +0.0086
+                          World model loss: +0.7241
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5075
+     Episode_Reward/track_angular_velocity: +53.0895
+                    Episode_Reward/upright: +26.8996
+                Episode_Reward/leg_posture: -2.8557
+                 Episode_Reward/standstill: -6.4794
+             Episode_Reward/action_rate_l2: -0.6060
+           Episode_Reward/joint_torques_l2: -0.1520
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0998
+         Episode_Reward/rolling_leg_motion: -0.6837
+          Episode_Reward/obstacle_progress: +3.1843
+       Episode_Reward/wheel_body_intrusion: -0.2836
+        Episode_Reward/pair_body_intrusion: -0.3250
+             Curriculum/terrain_level_mean: +3.2913
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.5366
+             Episode_Termination/fell_over: 0.0244
+           Episode_Termination/course_exit: 0.4228
+Episode_Termination/illegal_nonwheel_contact: 0.0244
+==============================================================================
+
+==============================================================================
+Learning iteration 21150/50000
+                               Total steps: 86,630,400
+                          Steps per second: 12,159
+                            Iteration time: 0.337s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0862
+                       Mean episode length: 1369.4
+                                Actor loss: -9.4495
+                               Critic loss: +0.0038
+                          World model loss: +0.6962
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2243
+     Episode_Reward/track_angular_velocity: +51.7846
+                    Episode_Reward/upright: +26.2615
+                Episode_Reward/leg_posture: -2.7933
+                 Episode_Reward/standstill: -6.3209
+             Episode_Reward/action_rate_l2: -0.6022
+           Episode_Reward/joint_torques_l2: -0.1483
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.1162
+         Episode_Reward/rolling_leg_motion: -0.6778
+          Episode_Reward/obstacle_progress: +3.0715
+       Episode_Reward/wheel_body_intrusion: -0.2743
+        Episode_Reward/pair_body_intrusion: -0.3058
+             Curriculum/terrain_level_mean: +3.2996
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0953
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4969
+             Episode_Termination/fell_over: 0.0314
+           Episode_Termination/course_exit: 0.4591
+Episode_Termination/illegal_nonwheel_contact: 0.0252
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1141]
+RECOVERY reset 1 invalid environments; first IDs=[2512]
+
+==============================================================================
+Learning iteration 21200/50000
+                               Total steps: 86,835,200
+                          Steps per second: 12,165
+                            Iteration time: 0.337s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0865
+                       Mean episode length: 1383.7
+                                Actor loss: -9.4090
+                               Critic loss: +0.0180
+                          World model loss: +0.7502
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8863
+     Episode_Reward/track_angular_velocity: +52.3513
+                    Episode_Reward/upright: +26.5351
+                Episode_Reward/leg_posture: -2.8185
+                 Episode_Reward/standstill: -6.2036
+             Episode_Reward/action_rate_l2: -0.6103
+           Episode_Reward/joint_torques_l2: -0.1497
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0297
+     Episode_Reward/unnecessary_wheel_lift: -0.1242
+         Episode_Reward/rolling_leg_motion: -0.7127
+          Episode_Reward/obstacle_progress: +3.2037
+       Episode_Reward/wheel_body_intrusion: -0.2722
+        Episode_Reward/pair_body_intrusion: -0.3552
+             Curriculum/terrain_level_mean: +3.3044
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4974
+             Episode_Termination/fell_over: 0.0311
+           Episode_Termination/course_exit: 0.4456
+Episode_Termination/illegal_nonwheel_contact: 0.0518
+==============================================================================
+
+==============================================================================
+Learning iteration 21250/50000
+                               Total steps: 87,040,000
+                          Steps per second: 12,172
+                            Iteration time: 0.337s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0866
+                       Mean episode length: 1348.7
+                                Actor loss: -9.4638
+                               Critic loss: +0.0041
+                          World model loss: +0.7035
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6194
+     Episode_Reward/track_angular_velocity: +50.9746
+                    Episode_Reward/upright: +25.8788
+                Episode_Reward/leg_posture: -2.7360
+                 Episode_Reward/standstill: -5.9071
+             Episode_Reward/action_rate_l2: -0.5813
+           Episode_Reward/joint_torques_l2: -0.1451
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.1376
+         Episode_Reward/rolling_leg_motion: -0.6731
+          Episode_Reward/obstacle_progress: +3.1430
+       Episode_Reward/wheel_body_intrusion: -0.2677
+        Episode_Reward/pair_body_intrusion: -0.3771
+             Curriculum/terrain_level_mean: +3.3098
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4355
+             Episode_Termination/fell_over: 0.0161
+           Episode_Termination/course_exit: 0.5161
+Episode_Termination/illegal_nonwheel_contact: 0.0403
+==============================================================================
+
+==============================================================================
+Learning iteration 21300/50000
+                               Total steps: 87,244,800
+                          Steps per second: 12,178
+                            Iteration time: 0.336s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1421.3
+                                Actor loss: -9.4284
+                               Critic loss: +0.0086
+                          World model loss: +0.7100
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1473
+     Episode_Reward/track_angular_velocity: +53.7458
+                    Episode_Reward/upright: +27.2488
+                Episode_Reward/leg_posture: -2.8609
+                 Episode_Reward/standstill: -6.2306
+             Episode_Reward/action_rate_l2: -0.6247
+           Episode_Reward/joint_torques_l2: -0.1546
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0167
+     Episode_Reward/unnecessary_wheel_lift: -0.1071
+         Episode_Reward/rolling_leg_motion: -0.6923
+          Episode_Reward/obstacle_progress: +3.4728
+       Episode_Reward/wheel_body_intrusion: -0.2940
+        Episode_Reward/pair_body_intrusion: -0.3381
+             Curriculum/terrain_level_mean: +3.3140
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.5271
+             Episode_Termination/fell_over: 0.0078
+           Episode_Termination/course_exit: 0.4264
+Episode_Termination/illegal_nonwheel_contact: 0.0465
+==============================================================================
+
+==============================================================================
+Learning iteration 21350/50000
+                               Total steps: 87,449,600
+                          Steps per second: 12,185
+                            Iteration time: 0.336s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0864
+                       Mean episode length: 1292.3
+                                Actor loss: -9.4809
+                               Critic loss: +0.0059
+                          World model loss: +0.7198
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.6411
+     Episode_Reward/track_angular_velocity: +48.8404
+                    Episode_Reward/upright: +24.7333
+                Episode_Reward/leg_posture: -2.6070
+                 Episode_Reward/standstill: -6.0488
+             Episode_Reward/action_rate_l2: -0.5468
+           Episode_Reward/joint_torques_l2: -0.1428
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0177
+     Episode_Reward/unnecessary_wheel_lift: -0.0874
+         Episode_Reward/rolling_leg_motion: -0.6226
+          Episode_Reward/obstacle_progress: +3.1569
+       Episode_Reward/wheel_body_intrusion: -0.2565
+        Episode_Reward/pair_body_intrusion: -0.3262
+             Curriculum/terrain_level_mean: +3.3174
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4632
+             Episode_Termination/fell_over: 0.0147
+           Episode_Termination/course_exit: 0.4853
+Episode_Termination/illegal_nonwheel_contact: 0.0441
+==============================================================================
+
+==============================================================================
+Learning iteration 21400/50000
+                               Total steps: 87,654,400
+                          Steps per second: 12,191
+                            Iteration time: 0.336s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0864
+                       Mean episode length: 1374.8
+                                Actor loss: -9.4545
+                               Critic loss: +0.0040
+                          World model loss: +0.7303
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5278
+     Episode_Reward/track_angular_velocity: +51.9462
+                    Episode_Reward/upright: +26.3156
+                Episode_Reward/leg_posture: -2.7196
+                 Episode_Reward/standstill: -6.3735
+             Episode_Reward/action_rate_l2: -0.5923
+           Episode_Reward/joint_torques_l2: -0.1508
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0081
+     Episode_Reward/unnecessary_wheel_lift: -0.0995
+         Episode_Reward/rolling_leg_motion: -0.6783
+          Episode_Reward/obstacle_progress: +3.3134
+       Episode_Reward/wheel_body_intrusion: -0.2786
+        Episode_Reward/pair_body_intrusion: -0.3492
+             Curriculum/terrain_level_mean: +3.3245
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.5215
+             Episode_Termination/fell_over: 0.0184
+           Episode_Termination/course_exit: 0.4601
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 21450/50000
+                               Total steps: 87,859,200
+                          Steps per second: 12,198
+                            Iteration time: 0.336s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0866
+                       Mean episode length: 1401.6
+                                Actor loss: -9.4533
+                               Critic loss: +0.0079
+                          World model loss: +0.7106
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5716
+     Episode_Reward/track_angular_velocity: +53.0219
+                    Episode_Reward/upright: +26.8727
+                Episode_Reward/leg_posture: -2.7452
+                 Episode_Reward/standstill: -6.5119
+             Episode_Reward/action_rate_l2: -0.6053
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.1055
+         Episode_Reward/rolling_leg_motion: -0.6838
+          Episode_Reward/obstacle_progress: +3.3469
+       Episode_Reward/wheel_body_intrusion: -0.2497
+        Episode_Reward/pair_body_intrusion: -0.3134
+             Curriculum/terrain_level_mean: +3.3306
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.5556
+             Episode_Termination/fell_over: 0.0309
+           Episode_Termination/course_exit: 0.4136
+Episode_Termination/illegal_nonwheel_contact: 0.0123
+==============================================================================
+
+==============================================================================
+Learning iteration 21500/50000
+                               Total steps: 88,064,000
+                          Steps per second: 12,204
+                            Iteration time: 0.336s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1354.6
+                                Actor loss: -9.4580
+                               Critic loss: +0.0116
+                          World model loss: +0.6834
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9629
+     Episode_Reward/track_angular_velocity: +51.2303
+                    Episode_Reward/upright: +25.9728
+                Episode_Reward/leg_posture: -2.6065
+                 Episode_Reward/standstill: -5.8553
+             Episode_Reward/action_rate_l2: -0.6011
+           Episode_Reward/joint_torques_l2: -0.1466
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.0938
+         Episode_Reward/rolling_leg_motion: -0.6648
+          Episode_Reward/obstacle_progress: +3.2435
+       Episode_Reward/wheel_body_intrusion: -0.2480
+        Episode_Reward/pair_body_intrusion: -0.3248
+             Curriculum/terrain_level_mean: +3.3359
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4734
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4970
+Episode_Termination/illegal_nonwheel_contact: 0.0296
+==============================================================================
+
+==============================================================================
+Learning iteration 21550/50000
+                               Total steps: 88,268,800
+                          Steps per second: 12,210
+                            Iteration time: 0.335s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0867
+                       Mean episode length: 1393.6
+                                Actor loss: -9.4694
+                               Critic loss: +0.0047
+                          World model loss: +0.7113
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2154
+     Episode_Reward/track_angular_velocity: +52.7161
+                    Episode_Reward/upright: +26.7020
+                Episode_Reward/leg_posture: -2.7564
+                 Episode_Reward/standstill: -6.2658
+             Episode_Reward/action_rate_l2: -0.6149
+           Episode_Reward/joint_torques_l2: -0.1519
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.1018
+         Episode_Reward/rolling_leg_motion: -0.6905
+          Episode_Reward/obstacle_progress: +3.3444
+       Episode_Reward/wheel_body_intrusion: -0.2563
+        Episode_Reward/pair_body_intrusion: -0.3345
+             Curriculum/terrain_level_mean: +3.3408
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0138
+           Episode_Termination/course_exit: 0.4690
+Episode_Termination/illegal_nonwheel_contact: 0.0138
+==============================================================================
+
+==============================================================================
+Learning iteration 21600/50000
+                               Total steps: 88,473,600
+                          Steps per second: 12,216
+                            Iteration time: 0.335s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1373.0
+                                Actor loss: -9.4770
+                               Critic loss: +0.0037
+                          World model loss: +0.7091
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5074
+     Episode_Reward/track_angular_velocity: +51.8778
+                    Episode_Reward/upright: +26.2985
+                Episode_Reward/leg_posture: -2.7294
+                 Episode_Reward/standstill: -5.9552
+             Episode_Reward/action_rate_l2: -0.6093
+           Episode_Reward/joint_torques_l2: -0.1502
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.1117
+         Episode_Reward/rolling_leg_motion: -0.6892
+          Episode_Reward/obstacle_progress: +3.2423
+       Episode_Reward/wheel_body_intrusion: -0.2794
+        Episode_Reward/pair_body_intrusion: -0.3476
+             Curriculum/terrain_level_mean: +3.3457
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0301
+           Episode_Termination/course_exit: 0.4699
+Episode_Termination/illegal_nonwheel_contact: 0.0181
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_021600.mp4
+
+==============================================================================
+Learning iteration 21650/50000
+                               Total steps: 88,678,400
+                          Steps per second: 12,212
+                            Iteration time: 0.335s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0865
+                       Mean episode length: 1448.6
+                                Actor loss: -9.4543
+                               Critic loss: +0.0100
+                          World model loss: +0.7342
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.1243
+     Episode_Reward/track_angular_velocity: +54.7020
+                    Episode_Reward/upright: +27.7672
+                Episode_Reward/leg_posture: -2.9255
+                 Episode_Reward/standstill: -6.4043
+             Episode_Reward/action_rate_l2: -0.6434
+           Episode_Reward/joint_torques_l2: -0.1607
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0170
+     Episode_Reward/unnecessary_wheel_lift: -0.1025
+         Episode_Reward/rolling_leg_motion: -0.7175
+          Episode_Reward/obstacle_progress: +3.4180
+       Episode_Reward/wheel_body_intrusion: -0.3117
+        Episode_Reward/pair_body_intrusion: -0.4050
+             Curriculum/terrain_level_mean: +3.3499
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.5725
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.3841
+Episode_Termination/illegal_nonwheel_contact: 0.0435
+==============================================================================
+
+==============================================================================
+Learning iteration 21700/50000
+                               Total steps: 88,883,200
+                          Steps per second: 12,219
+                            Iteration time: 0.335s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1360.9
+                                Actor loss: -9.4621
+                               Critic loss: +0.0107
+                          World model loss: +0.7552
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0044
+     Episode_Reward/track_angular_velocity: +51.3728
+                    Episode_Reward/upright: +26.0706
+                Episode_Reward/leg_posture: -2.7297
+                 Episode_Reward/standstill: -5.7691
+             Episode_Reward/action_rate_l2: -0.5967
+           Episode_Reward/joint_torques_l2: -0.1501
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.1156
+         Episode_Reward/rolling_leg_motion: -0.6597
+          Episode_Reward/obstacle_progress: +3.2807
+       Episode_Reward/wheel_body_intrusion: -0.2611
+        Episode_Reward/pair_body_intrusion: -0.3684
+             Curriculum/terrain_level_mean: +3.3540
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0951
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.5099
+             Episode_Termination/fell_over: 0.0199
+           Episode_Termination/course_exit: 0.4503
+Episode_Termination/illegal_nonwheel_contact: 0.0331
+==============================================================================
+
+==============================================================================
+Learning iteration 21750/50000
+                               Total steps: 89,088,000
+                          Steps per second: 12,225
+                            Iteration time: 0.335s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0863
+                       Mean episode length: 1323.7
+                                Actor loss: -9.4930
+                               Critic loss: +0.0037
+                          World model loss: +0.7616
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5381
+     Episode_Reward/track_angular_velocity: +50.0465
+                    Episode_Reward/upright: +25.3275
+                Episode_Reward/leg_posture: -2.6392
+                 Episode_Reward/standstill: -6.0614
+             Episode_Reward/action_rate_l2: -0.5829
+           Episode_Reward/joint_torques_l2: -0.1454
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0259
+     Episode_Reward/unnecessary_wheel_lift: -0.1138
+         Episode_Reward/rolling_leg_motion: -0.6416
+          Episode_Reward/obstacle_progress: +3.1704
+       Episode_Reward/wheel_body_intrusion: -0.2448
+        Episode_Reward/pair_body_intrusion: -0.3378
+             Curriculum/terrain_level_mean: +3.3582
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0967
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4348
+             Episode_Termination/fell_over: 0.0497
+           Episode_Termination/course_exit: 0.5031
+Episode_Termination/illegal_nonwheel_contact: 0.0435
+==============================================================================
+
+==============================================================================
+Learning iteration 21800/50000
+                               Total steps: 89,292,800
+                          Steps per second: 12,231
+                            Iteration time: 0.335s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0860
+                       Mean episode length: 1339.5
+                                Actor loss: -9.4491
+                               Critic loss: +0.0044
+                          World model loss: +0.7006
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0708
+     Episode_Reward/track_angular_velocity: +50.5615
+                    Episode_Reward/upright: +25.6237
+                Episode_Reward/leg_posture: -2.6954
+                 Episode_Reward/standstill: -6.4850
+             Episode_Reward/action_rate_l2: -0.5829
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0288
+     Episode_Reward/unnecessary_wheel_lift: -0.1146
+         Episode_Reward/rolling_leg_motion: -0.6491
+          Episode_Reward/obstacle_progress: +3.1961
+       Episode_Reward/wheel_body_intrusion: -0.2626
+        Episode_Reward/pair_body_intrusion: -0.3245
+             Curriculum/terrain_level_mean: +3.3616
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0968
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.4167
+             Episode_Termination/fell_over: 0.0606
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0455
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 21850/50000
+                               Total steps: 89,497,600
+                          Steps per second: 12,237
+                            Iteration time: 0.335s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0863
+                       Mean episode length: 1375.2
+                                Actor loss: -9.4637
+                               Critic loss: +0.0070
+                          World model loss: +0.7398
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4995
+     Episode_Reward/track_angular_velocity: +51.9871
+                    Episode_Reward/upright: +26.2869
+                Episode_Reward/leg_posture: -2.7239
+                 Episode_Reward/standstill: -6.5751
+             Episode_Reward/action_rate_l2: -0.6032
+           Episode_Reward/joint_torques_l2: -0.1533
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.1040
+         Episode_Reward/rolling_leg_motion: -0.6704
+          Episode_Reward/obstacle_progress: +3.3578
+       Episode_Reward/wheel_body_intrusion: -0.2685
+        Episode_Reward/pair_body_intrusion: -0.2856
+             Curriculum/terrain_level_mean: +3.3679
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0951
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4904
+             Episode_Termination/fell_over: 0.0127
+           Episode_Termination/course_exit: 0.4777
+Episode_Termination/illegal_nonwheel_contact: 0.0318
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[821]
+RECOVERY reset 1 invalid environments; first IDs=[854]
+
+==============================================================================
+Learning iteration 21900/50000
+                               Total steps: 89,702,400
+                          Steps per second: 12,244
+                            Iteration time: 0.335s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1394.7
+                                Actor loss: -9.4815
+                               Critic loss: +0.0049
+                          World model loss: +0.7178
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2714
+     Episode_Reward/track_angular_velocity: +52.7551
+                    Episode_Reward/upright: +26.7257
+                Episode_Reward/leg_posture: -2.7547
+                 Episode_Reward/standstill: -6.4079
+             Episode_Reward/action_rate_l2: -0.5881
+           Episode_Reward/joint_torques_l2: -0.1535
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.0857
+         Episode_Reward/rolling_leg_motion: -0.6741
+          Episode_Reward/obstacle_progress: +3.3672
+       Episode_Reward/wheel_body_intrusion: -0.2773
+        Episode_Reward/pair_body_intrusion: -0.3172
+             Curriculum/terrain_level_mean: +3.3721
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4793
+             Episode_Termination/fell_over: 0.0165
+           Episode_Termination/course_exit: 0.4876
+Episode_Termination/illegal_nonwheel_contact: 0.0165
+==============================================================================
+
+==============================================================================
+Learning iteration 21950/50000
+                               Total steps: 89,907,200
+                          Steps per second: 12,250
+                            Iteration time: 0.334s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1353.3
+                                Actor loss: -9.4628
+                               Critic loss: +0.0051
+                          World model loss: +0.7589
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7638
+     Episode_Reward/track_angular_velocity: +51.1093
+                    Episode_Reward/upright: +25.9244
+                Episode_Reward/leg_posture: -2.6898
+                 Episode_Reward/standstill: -5.7359
+             Episode_Reward/action_rate_l2: -0.5846
+           Episode_Reward/joint_torques_l2: -0.1510
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0106
+     Episode_Reward/unnecessary_wheel_lift: -0.0972
+         Episode_Reward/rolling_leg_motion: -0.6515
+          Episode_Reward/obstacle_progress: +3.2829
+       Episode_Reward/wheel_body_intrusion: -0.2692
+        Episode_Reward/pair_body_intrusion: -0.3202
+             Curriculum/terrain_level_mean: +3.3782
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4672
+             Episode_Termination/fell_over: 0.0219
+           Episode_Termination/course_exit: 0.5036
+Episode_Termination/illegal_nonwheel_contact: 0.0219
+==============================================================================
+
+==============================================================================
+Learning iteration 22000/50000
+                               Total steps: 90,112,000
+                          Steps per second: 12,256
+                            Iteration time: 0.334s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1411.0
+                                Actor loss: -9.4906
+                               Critic loss: +0.0033
+                          World model loss: +0.7360
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9309
+     Episode_Reward/track_angular_velocity: +53.2867
+                    Episode_Reward/upright: +27.0868
+                Episode_Reward/leg_posture: -2.7504
+                 Episode_Reward/standstill: -6.2043
+             Episode_Reward/action_rate_l2: -0.6187
+           Episode_Reward/joint_torques_l2: -0.1556
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.1098
+         Episode_Reward/rolling_leg_motion: -0.6968
+          Episode_Reward/obstacle_progress: +3.4457
+       Episode_Reward/wheel_body_intrusion: -0.2644
+        Episode_Reward/pair_body_intrusion: -0.3195
+             Curriculum/terrain_level_mean: +3.3821
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.5669
+             Episode_Termination/fell_over: 0.0191
+           Episode_Termination/course_exit: 0.4013
+Episode_Termination/illegal_nonwheel_contact: 0.0127
+==============================================================================
+
+==============================================================================
+Learning iteration 22050/50000
+                               Total steps: 90,316,800
+                          Steps per second: 12,262
+                            Iteration time: 0.334s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1438.0
+                                Actor loss: -9.4961
+                               Critic loss: +0.0047
+                          World model loss: +0.7369
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.0564
+     Episode_Reward/track_angular_velocity: +54.3389
+                    Episode_Reward/upright: +27.6005
+                Episode_Reward/leg_posture: -2.8476
+                 Episode_Reward/standstill: -6.4188
+             Episode_Reward/action_rate_l2: -0.6149
+           Episode_Reward/joint_torques_l2: -0.1590
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0253
+     Episode_Reward/unnecessary_wheel_lift: -0.1040
+         Episode_Reward/rolling_leg_motion: -0.7140
+          Episode_Reward/obstacle_progress: +3.4682
+       Episode_Reward/wheel_body_intrusion: -0.2809
+        Episode_Reward/pair_body_intrusion: -0.3283
+             Curriculum/terrain_level_mean: +3.3833
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.5779
+             Episode_Termination/fell_over: 0.0455
+           Episode_Termination/course_exit: 0.3636
+Episode_Termination/illegal_nonwheel_contact: 0.0325
+==============================================================================
+
+==============================================================================
+Learning iteration 22100/50000
+                               Total steps: 90,521,600
+                          Steps per second: 12,268
+                            Iteration time: 0.334s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1396.4
+                                Actor loss: -9.4575
+                               Critic loss: +0.0065
+                          World model loss: +0.7623
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6012
+     Episode_Reward/track_angular_velocity: +52.8563
+                    Episode_Reward/upright: +26.8332
+                Episode_Reward/leg_posture: -2.8254
+                 Episode_Reward/standstill: -6.0766
+             Episode_Reward/action_rate_l2: -0.5811
+           Episode_Reward/joint_torques_l2: -0.1552
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0164
+     Episode_Reward/unnecessary_wheel_lift: -0.0938
+         Episode_Reward/rolling_leg_motion: -0.6812
+          Episode_Reward/obstacle_progress: +3.3263
+       Episode_Reward/wheel_body_intrusion: -0.2707
+        Episode_Reward/pair_body_intrusion: -0.3058
+             Curriculum/terrain_level_mean: +3.3872
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4859
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.4718
+Episode_Termination/illegal_nonwheel_contact: 0.0352
+==============================================================================
+
+==============================================================================
+Learning iteration 22150/50000
+                               Total steps: 90,726,400
+                          Steps per second: 12,274
+                            Iteration time: 0.334s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1329.1
+                                Actor loss: -9.4724
+                               Critic loss: +0.0066
+                          World model loss: +0.7268
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0397
+     Episode_Reward/track_angular_velocity: +50.2717
+                    Episode_Reward/upright: +25.5334
+                Episode_Reward/leg_posture: -2.6670
+                 Episode_Reward/standstill: -5.6861
+             Episode_Reward/action_rate_l2: -0.5567
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0182
+     Episode_Reward/unnecessary_wheel_lift: -0.0852
+         Episode_Reward/rolling_leg_motion: -0.6405
+          Episode_Reward/obstacle_progress: +3.1381
+       Episode_Reward/wheel_body_intrusion: -0.2603
+        Episode_Reward/pair_body_intrusion: -0.3700
+             Curriculum/terrain_level_mean: +3.3904
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.4586
+             Episode_Termination/fell_over: 0.0318
+           Episode_Termination/course_exit: 0.4968
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+
+==============================================================================
+Learning iteration 22200/50000
+                               Total steps: 90,931,200
+                          Steps per second: 12,280
+                            Iteration time: 0.334s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1342.8
+                                Actor loss: -9.5024
+                               Critic loss: +0.0062
+                          World model loss: +0.7310
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5859
+     Episode_Reward/track_angular_velocity: +50.8353
+                    Episode_Reward/upright: +25.7897
+                Episode_Reward/leg_posture: -2.6805
+                 Episode_Reward/standstill: -6.1353
+             Episode_Reward/action_rate_l2: -0.5651
+           Episode_Reward/joint_torques_l2: -0.1480
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0210
+     Episode_Reward/unnecessary_wheel_lift: -0.1219
+         Episode_Reward/rolling_leg_motion: -0.6434
+          Episode_Reward/obstacle_progress: +3.2488
+       Episode_Reward/wheel_body_intrusion: -0.2546
+        Episode_Reward/pair_body_intrusion: -0.3297
+             Curriculum/terrain_level_mean: +3.3950
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4315
+             Episode_Termination/fell_over: 0.0205
+           Episode_Termination/course_exit: 0.5137
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+
+==============================================================================
+Learning iteration 22250/50000
+                               Total steps: 91,136,000
+                          Steps per second: 12,286
+                            Iteration time: 0.333s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0872
+                       Mean episode length: 1414.4
+                                Actor loss: -9.5025
+                               Critic loss: +0.0032
+                          World model loss: +0.6861
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.2260
+     Episode_Reward/track_angular_velocity: +53.5814
+                    Episode_Reward/upright: +27.1648
+                Episode_Reward/leg_posture: -2.8220
+                 Episode_Reward/standstill: -5.9639
+             Episode_Reward/action_rate_l2: -0.6043
+           Episode_Reward/joint_torques_l2: -0.1551
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0193
+     Episode_Reward/unnecessary_wheel_lift: -0.1144
+         Episode_Reward/rolling_leg_motion: -0.7040
+          Episode_Reward/obstacle_progress: +3.3954
+       Episode_Reward/wheel_body_intrusion: -0.2827
+        Episode_Reward/pair_body_intrusion: -0.3634
+             Curriculum/terrain_level_mean: +3.3992
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.5429
+             Episode_Termination/fell_over: 0.0286
+           Episode_Termination/course_exit: 0.4071
+Episode_Termination/illegal_nonwheel_contact: 0.0214
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1650]
+
+==============================================================================
+Learning iteration 22300/50000
+                               Total steps: 91,340,800
+                          Steps per second: 12,292
+                            Iteration time: 0.333s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1398.6
+                                Actor loss: -9.4995
+                               Critic loss: +0.0037
+                          World model loss: +0.7358
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5154
+     Episode_Reward/track_angular_velocity: +52.9527
+                    Episode_Reward/upright: +26.8525
+                Episode_Reward/leg_posture: -2.7510
+                 Episode_Reward/standstill: -5.7701
+             Episode_Reward/action_rate_l2: -0.6079
+           Episode_Reward/joint_torques_l2: -0.1544
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0219
+     Episode_Reward/unnecessary_wheel_lift: -0.1111
+         Episode_Reward/rolling_leg_motion: -0.6905
+          Episode_Reward/obstacle_progress: +3.3810
+       Episode_Reward/wheel_body_intrusion: -0.2736
+        Episode_Reward/pair_body_intrusion: -0.3594
+             Curriculum/terrain_level_mean: +3.4048
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.4939
+             Episode_Termination/fell_over: 0.0061
+           Episode_Termination/course_exit: 0.4573
+Episode_Termination/illegal_nonwheel_contact: 0.0427
+==============================================================================
+
+==============================================================================
+Learning iteration 22350/50000
+                               Total steps: 91,545,600
+                          Steps per second: 12,298
+                            Iteration time: 0.333s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0871
+                       Mean episode length: 1256.0
+                                Actor loss: -9.4982
+                               Critic loss: +0.0037
+                          World model loss: +0.6739
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.4905
+     Episode_Reward/track_angular_velocity: +47.4742
+                    Episode_Reward/upright: +24.1014
+                Episode_Reward/leg_posture: -2.4830
+                 Episode_Reward/standstill: -5.3461
+             Episode_Reward/action_rate_l2: -0.5434
+           Episode_Reward/joint_torques_l2: -0.1405
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0172
+     Episode_Reward/unnecessary_wheel_lift: -0.0817
+         Episode_Reward/rolling_leg_motion: -0.6107
+          Episode_Reward/obstacle_progress: +3.1053
+       Episode_Reward/wheel_body_intrusion: -0.2399
+        Episode_Reward/pair_body_intrusion: -0.2939
+             Curriculum/terrain_level_mean: +3.4097
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.3958
+             Episode_Termination/fell_over: 0.0347
+           Episode_Termination/course_exit: 0.5556
+Episode_Termination/illegal_nonwheel_contact: 0.0208
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1610]
+
+==============================================================================
+Learning iteration 22400/50000
+                               Total steps: 91,750,400
+                          Steps per second: 12,303
+                            Iteration time: 0.333s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1321.3
+                                Actor loss: -9.4907
+                               Critic loss: +0.0075
+                          World model loss: +0.7200
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6520
+     Episode_Reward/track_angular_velocity: +49.9533
+                    Episode_Reward/upright: +25.3565
+                Episode_Reward/leg_posture: -2.6552
+                 Episode_Reward/standstill: -5.4491
+             Episode_Reward/action_rate_l2: -0.5641
+           Episode_Reward/joint_torques_l2: -0.1477
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0129
+     Episode_Reward/unnecessary_wheel_lift: -0.0914
+         Episode_Reward/rolling_leg_motion: -0.6328
+          Episode_Reward/obstacle_progress: +3.2455
+       Episode_Reward/wheel_body_intrusion: -0.2599
+        Episode_Reward/pair_body_intrusion: -0.3104
+             Curriculum/terrain_level_mean: +3.4172
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4444
+             Episode_Termination/fell_over: 0.0185
+           Episode_Termination/course_exit: 0.5247
+Episode_Termination/illegal_nonwheel_contact: 0.0185
+==============================================================================
+
+==============================================================================
+Learning iteration 22450/50000
+                               Total steps: 91,955,200
+                          Steps per second: 12,309
+                            Iteration time: 0.333s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0864
+                       Mean episode length: 1366.5
+                                Actor loss: -9.5070
+                               Critic loss: +0.0035
+                          World model loss: +0.7247
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1598
+     Episode_Reward/track_angular_velocity: +51.5642
+                    Episode_Reward/upright: +26.1916
+                Episode_Reward/leg_posture: -2.7559
+                 Episode_Reward/standstill: -6.2711
+             Episode_Reward/action_rate_l2: -0.5862
+           Episode_Reward/joint_torques_l2: -0.1546
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.1079
+         Episode_Reward/rolling_leg_motion: -0.6683
+          Episode_Reward/obstacle_progress: +3.3533
+       Episode_Reward/wheel_body_intrusion: -0.2707
+        Episode_Reward/pair_body_intrusion: -0.3264
+             Curriculum/terrain_level_mean: +3.4226
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0956
+       Metrics/base_velocity/error_vel_yaw: 0.1369
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0274
+           Episode_Termination/course_exit: 0.4726
+Episode_Termination/illegal_nonwheel_contact: 0.0068
+==============================================================================
+
+==============================================================================
+Learning iteration 22500/50000
+                               Total steps: 92,160,000
+                          Steps per second: 12,315
+                            Iteration time: 0.333s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0866
+                       Mean episode length: 1394.5
+                                Actor loss: -9.4938
+                               Critic loss: +0.0035
+                          World model loss: +0.7552
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2035
+     Episode_Reward/track_angular_velocity: +52.6623
+                    Episode_Reward/upright: +26.7171
+                Episode_Reward/leg_posture: -2.7655
+                 Episode_Reward/standstill: -6.4213
+             Episode_Reward/action_rate_l2: -0.6255
+           Episode_Reward/joint_torques_l2: -0.1566
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0191
+     Episode_Reward/unnecessary_wheel_lift: -0.1078
+         Episode_Reward/rolling_leg_motion: -0.6735
+          Episode_Reward/obstacle_progress: +3.5187
+       Episode_Reward/wheel_body_intrusion: -0.2442
+        Episode_Reward/pair_body_intrusion: -0.2955
+             Curriculum/terrain_level_mean: +3.4275
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0951
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.5062
+             Episode_Termination/fell_over: 0.0370
+           Episode_Termination/course_exit: 0.4506
+Episode_Termination/illegal_nonwheel_contact: 0.0247
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1580]
+
+==============================================================================
+Learning iteration 22550/50000
+                               Total steps: 92,364,800
+                          Steps per second: 12,321
+                            Iteration time: 0.332s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0870
+                       Mean episode length: 1390.4
+                                Actor loss: -9.5290
+                               Critic loss: +0.0055
+                          World model loss: +0.7310
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2091
+     Episode_Reward/track_angular_velocity: +52.5432
+                    Episode_Reward/upright: +26.6597
+                Episode_Reward/leg_posture: -2.7547
+                 Episode_Reward/standstill: -6.0420
+             Episode_Reward/action_rate_l2: -0.5999
+           Episode_Reward/joint_torques_l2: -0.1555
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0163
+     Episode_Reward/unnecessary_wheel_lift: -0.0897
+         Episode_Reward/rolling_leg_motion: -0.6715
+          Episode_Reward/obstacle_progress: +3.4668
+       Episode_Reward/wheel_body_intrusion: -0.2460
+        Episode_Reward/pair_body_intrusion: -0.2827
+             Curriculum/terrain_level_mean: +3.4319
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4658
+             Episode_Termination/fell_over: 0.0205
+           Episode_Termination/course_exit: 0.4932
+Episode_Termination/illegal_nonwheel_contact: 0.0411
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2336]
+RECOVERY reset 1 invalid environments; first IDs=[2548]
+
+==============================================================================
+Learning iteration 22600/50000
+                               Total steps: 92,569,600
+                          Steps per second: 12,327
+                            Iteration time: 0.332s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0867
+                       Mean episode length: 1362.2
+                                Actor loss: -9.5058
+                               Critic loss: +0.0073
+                          World model loss: +0.6907
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0598
+     Episode_Reward/track_angular_velocity: +51.4760
+                    Episode_Reward/upright: +26.0982
+                Episode_Reward/leg_posture: -2.7239
+                 Episode_Reward/standstill: -6.1245
+             Episode_Reward/action_rate_l2: -0.5999
+           Episode_Reward/joint_torques_l2: -0.1530
+             Episode_Reward/dof_pos_limits: -0.0016
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.0945
+         Episode_Reward/rolling_leg_motion: -0.6623
+          Episode_Reward/obstacle_progress: +3.3946
+       Episode_Reward/wheel_body_intrusion: -0.2718
+        Episode_Reward/pair_body_intrusion: -0.3196
+             Curriculum/terrain_level_mean: +3.4390
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4615
+             Episode_Termination/fell_over: 0.0192
+           Episode_Termination/course_exit: 0.5192
+Episode_Termination/illegal_nonwheel_contact: 0.0128
+==============================================================================
+
+==============================================================================
+Learning iteration 22650/50000
+                               Total steps: 92,774,400
+                          Steps per second: 12,333
+                            Iteration time: 0.332s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0867
+                       Mean episode length: 1400.7
+                                Actor loss: -9.4654
+                               Critic loss: +0.0073
+                          World model loss: +0.7115
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4673
+     Episode_Reward/track_angular_velocity: +52.9666
+                    Episode_Reward/upright: +26.8751
+                Episode_Reward/leg_posture: -2.8322
+                 Episode_Reward/standstill: -6.3004
+             Episode_Reward/action_rate_l2: -0.6158
+           Episode_Reward/joint_torques_l2: -0.1569
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0219
+     Episode_Reward/unnecessary_wheel_lift: -0.1215
+         Episode_Reward/rolling_leg_motion: -0.6829
+          Episode_Reward/obstacle_progress: +3.4889
+       Episode_Reward/wheel_body_intrusion: -0.2816
+        Episode_Reward/pair_body_intrusion: -0.3174
+             Curriculum/terrain_level_mean: +3.4429
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0947
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4867
+             Episode_Termination/fell_over: 0.0467
+           Episode_Termination/course_exit: 0.4600
+Episode_Termination/illegal_nonwheel_contact: 0.0333
+==============================================================================
+
+==============================================================================
+Learning iteration 22700/50000
+                               Total steps: 92,979,200
+                          Steps per second: 12,339
+                            Iteration time: 0.332s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1361.8
+                                Actor loss: -9.4883
+                               Critic loss: +0.0046
+                          World model loss: +0.7475
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0857
+     Episode_Reward/track_angular_velocity: +51.4556
+                    Episode_Reward/upright: +26.1187
+                Episode_Reward/leg_posture: -2.6880
+                 Episode_Reward/standstill: -5.8545
+             Episode_Reward/action_rate_l2: -0.5907
+           Episode_Reward/joint_torques_l2: -0.1510
+             Episode_Reward/dof_pos_limits: -0.0022
+                 Episode_Reward/terminated: -0.0293
+     Episode_Reward/unnecessary_wheel_lift: -0.1023
+         Episode_Reward/rolling_leg_motion: -0.6534
+          Episode_Reward/obstacle_progress: +3.4553
+       Episode_Reward/wheel_body_intrusion: -0.2612
+        Episode_Reward/pair_body_intrusion: -0.3206
+             Curriculum/terrain_level_mean: +3.4468
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4452
+             Episode_Termination/fell_over: 0.0479
+           Episode_Termination/course_exit: 0.4795
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2337]
+
+==============================================================================
+Learning iteration 22750/50000
+                               Total steps: 93,184,000
+                          Steps per second: 12,345
+                            Iteration time: 0.332s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1399.0
+                                Actor loss: -9.4851
+                               Critic loss: +0.0052
+                          World model loss: +0.7154
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3028
+     Episode_Reward/track_angular_velocity: +52.8485
+                    Episode_Reward/upright: +26.8402
+                Episode_Reward/leg_posture: -2.8031
+                 Episode_Reward/standstill: -6.1015
+             Episode_Reward/action_rate_l2: -0.6098
+           Episode_Reward/joint_torques_l2: -0.1544
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0383
+     Episode_Reward/unnecessary_wheel_lift: -0.1325
+         Episode_Reward/rolling_leg_motion: -0.6921
+          Episode_Reward/obstacle_progress: +3.5299
+       Episode_Reward/wheel_body_intrusion: -0.2700
+        Episode_Reward/pair_body_intrusion: -0.3334
+             Curriculum/terrain_level_mean: +3.4485
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0957
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.4882
+             Episode_Termination/fell_over: 0.0294
+           Episode_Termination/course_exit: 0.4294
+Episode_Termination/illegal_nonwheel_contact: 0.0706
+==============================================================================
+
+==============================================================================
+Learning iteration 22800/50000
+                               Total steps: 93,388,800
+                          Steps per second: 12,351
+                            Iteration time: 0.332s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1341.3
+                                Actor loss: -9.4952
+                               Critic loss: +0.0074
+                          World model loss: +0.7120
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4002
+     Episode_Reward/track_angular_velocity: +50.7493
+                    Episode_Reward/upright: +25.7502
+                Episode_Reward/leg_posture: -2.6650
+                 Episode_Reward/standstill: -5.6158
+             Episode_Reward/action_rate_l2: -0.5777
+           Episode_Reward/joint_torques_l2: -0.1484
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0236
+     Episode_Reward/unnecessary_wheel_lift: -0.0952
+         Episode_Reward/rolling_leg_motion: -0.6554
+          Episode_Reward/obstacle_progress: +3.2686
+       Episode_Reward/wheel_body_intrusion: -0.2358
+        Episode_Reward/pair_body_intrusion: -0.3197
+             Curriculum/terrain_level_mean: +3.4519
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4476
+             Episode_Termination/fell_over: 0.0280
+           Episode_Termination/course_exit: 0.4895
+Episode_Termination/illegal_nonwheel_contact: 0.0559
+==============================================================================
+
+==============================================================================
+Learning iteration 22850/50000
+                               Total steps: 93,593,600
+                          Steps per second: 12,357
+                            Iteration time: 0.331s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1318.5
+                                Actor loss: -9.5098
+                               Critic loss: +0.0031
+                          World model loss: +0.7052
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6348
+     Episode_Reward/track_angular_velocity: +49.9145
+                    Episode_Reward/upright: +25.3040
+                Episode_Reward/leg_posture: -2.5684
+                 Episode_Reward/standstill: -5.3443
+             Episode_Reward/action_rate_l2: -0.5721
+           Episode_Reward/joint_torques_l2: -0.1454
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.0896
+         Episode_Reward/rolling_leg_motion: -0.6267
+          Episode_Reward/obstacle_progress: +3.3117
+       Episode_Reward/wheel_body_intrusion: -0.2322
+        Episode_Reward/pair_body_intrusion: -0.2814
+             Curriculum/terrain_level_mean: +3.4561
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4565
+             Episode_Termination/fell_over: 0.0290
+           Episode_Termination/course_exit: 0.4855
+Episode_Termination/illegal_nonwheel_contact: 0.0507
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1872]
+
+==============================================================================
+Learning iteration 22900/50000
+                               Total steps: 93,798,400
+                          Steps per second: 12,362
+                            Iteration time: 0.331s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0874
+                       Mean episode length: 1367.3
+                                Actor loss: -9.4847
+                               Critic loss: +0.0063
+                          World model loss: +0.7616
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3229
+     Episode_Reward/track_angular_velocity: +51.7354
+                    Episode_Reward/upright: +26.2478
+                Episode_Reward/leg_posture: -2.6555
+                 Episode_Reward/standstill: -5.4069
+             Episode_Reward/action_rate_l2: -0.5960
+           Episode_Reward/joint_torques_l2: -0.1506
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.0970
+         Episode_Reward/rolling_leg_motion: -0.6644
+          Episode_Reward/obstacle_progress: +3.3839
+       Episode_Reward/wheel_body_intrusion: -0.2530
+        Episode_Reward/pair_body_intrusion: -0.2977
+             Curriculum/terrain_level_mean: +3.4612
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4583
+             Episode_Termination/fell_over: 0.0238
+           Episode_Termination/course_exit: 0.4940
+Episode_Termination/illegal_nonwheel_contact: 0.0298
+==============================================================================
+
+==============================================================================
+Learning iteration 22950/50000
+                               Total steps: 94,003,200
+                          Steps per second: 12,368
+                            Iteration time: 0.331s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1378.5
+                                Actor loss: -9.4962
+                               Critic loss: +0.0033
+                          World model loss: +0.7193
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5810
+     Episode_Reward/track_angular_velocity: +52.1379
+                    Episode_Reward/upright: +26.4658
+                Episode_Reward/leg_posture: -2.6945
+                 Episode_Reward/standstill: -5.5464
+             Episode_Reward/action_rate_l2: -0.6131
+           Episode_Reward/joint_torques_l2: -0.1519
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.1004
+         Episode_Reward/rolling_leg_motion: -0.6677
+          Episode_Reward/obstacle_progress: +3.3358
+       Episode_Reward/wheel_body_intrusion: -0.2371
+        Episode_Reward/pair_body_intrusion: -0.3001
+             Curriculum/terrain_level_mean: +3.4678
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0954
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4881
+             Episode_Termination/fell_over: 0.0119
+           Episode_Termination/course_exit: 0.4762
+Episode_Termination/illegal_nonwheel_contact: 0.0298
+==============================================================================
+
+==============================================================================
+Learning iteration 23000/50000
+                               Total steps: 94,208,000
+                          Steps per second: 12,373
+                            Iteration time: 0.331s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0871
+                       Mean episode length: 1222.1
+                                Actor loss: -9.5077
+                               Critic loss: +0.0029
+                          World model loss: +0.7191
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +43.1853
+     Episode_Reward/track_angular_velocity: +46.1783
+                    Episode_Reward/upright: +23.4364
+                Episode_Reward/leg_posture: -2.3792
+                 Episode_Reward/standstill: -5.1744
+             Episode_Reward/action_rate_l2: -0.5378
+           Episode_Reward/joint_torques_l2: -0.1350
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0263
+     Episode_Reward/unnecessary_wheel_lift: -0.0956
+         Episode_Reward/rolling_leg_motion: -0.5767
+          Episode_Reward/obstacle_progress: +3.0614
+       Episode_Reward/wheel_body_intrusion: -0.2268
+        Episode_Reward/pair_body_intrusion: -0.2732
+             Curriculum/terrain_level_mean: +3.4697
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.3493
+             Episode_Termination/fell_over: 0.0479
+           Episode_Termination/course_exit: 0.5753
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1447]
+
+==============================================================================
+Learning iteration 23050/50000
+                               Total steps: 94,412,800
+                          Steps per second: 12,379
+                            Iteration time: 0.331s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1339.6
+                                Actor loss: -9.4752
+                               Critic loss: +0.0038
+                          World model loss: +0.7191
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1180
+     Episode_Reward/track_angular_velocity: +50.5632
+                    Episode_Reward/upright: +25.6707
+                Episode_Reward/leg_posture: -2.5955
+                 Episode_Reward/standstill: -5.8008
+             Episode_Reward/action_rate_l2: -0.6022
+           Episode_Reward/joint_torques_l2: -0.1479
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0858
+         Episode_Reward/rolling_leg_motion: -0.6369
+          Episode_Reward/obstacle_progress: +3.3011
+       Episode_Reward/wheel_body_intrusion: -0.2503
+        Episode_Reward/pair_body_intrusion: -0.3278
+             Curriculum/terrain_level_mean: +3.4736
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0967
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4207
+             Episode_Termination/fell_over: 0.0276
+           Episode_Termination/course_exit: 0.5241
+Episode_Termination/illegal_nonwheel_contact: 0.0483
+==============================================================================
+
+==============================================================================
+Learning iteration 23100/50000
+                               Total steps: 94,617,600
+                          Steps per second: 12,385
+                            Iteration time: 0.331s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1293.4
+                                Actor loss: -9.4962
+                               Critic loss: +0.0040
+                          World model loss: +0.7094
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5381
+     Episode_Reward/track_angular_velocity: +48.7950
+                    Episode_Reward/upright: +24.7898
+                Episode_Reward/leg_posture: -2.5099
+                 Episode_Reward/standstill: -5.3483
+             Episode_Reward/action_rate_l2: -0.5795
+           Episode_Reward/joint_torques_l2: -0.1451
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0152
+     Episode_Reward/unnecessary_wheel_lift: -0.0840
+         Episode_Reward/rolling_leg_motion: -0.6086
+          Episode_Reward/obstacle_progress: +3.2497
+       Episode_Reward/wheel_body_intrusion: -0.2351
+        Episode_Reward/pair_body_intrusion: -0.3226
+             Curriculum/terrain_level_mean: +3.4768
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0963
+       Metrics/base_velocity/error_vel_yaw: 0.1373
+              Episode_Termination/time_out: 0.4275
+             Episode_Termination/fell_over: 0.0145
+           Episode_Termination/course_exit: 0.5290
+Episode_Termination/illegal_nonwheel_contact: 0.0362
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2212]
+
+==============================================================================
+Learning iteration 23150/50000
+                               Total steps: 94,822,400
+                          Steps per second: 12,390
+                            Iteration time: 0.331s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1382.3
+                                Actor loss: -9.4839
+                               Critic loss: +0.0041
+                          World model loss: +0.7002
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5850
+     Episode_Reward/track_angular_velocity: +52.1016
+                    Episode_Reward/upright: +26.4997
+                Episode_Reward/leg_posture: -2.6344
+                 Episode_Reward/standstill: -5.8932
+             Episode_Reward/action_rate_l2: -0.6220
+           Episode_Reward/joint_torques_l2: -0.1528
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0297
+     Episode_Reward/unnecessary_wheel_lift: -0.0996
+         Episode_Reward/rolling_leg_motion: -0.6469
+          Episode_Reward/obstacle_progress: +3.5274
+       Episode_Reward/wheel_body_intrusion: -0.2448
+        Episode_Reward/pair_body_intrusion: -0.3141
+             Curriculum/terrain_level_mean: +3.4795
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0971
+       Metrics/base_velocity/error_vel_yaw: 0.1384
+              Episode_Termination/time_out: 0.4901
+             Episode_Termination/fell_over: 0.0132
+           Episode_Termination/course_exit: 0.4371
+Episode_Termination/illegal_nonwheel_contact: 0.0662
+==============================================================================
+
+==============================================================================
+Learning iteration 23200/50000
+                               Total steps: 95,027,200
+                          Steps per second: 12,396
+                            Iteration time: 0.330s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1422.2
+                                Actor loss: -9.4758
+                               Critic loss: +0.0052
+                          World model loss: +0.7310
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1238
+     Episode_Reward/track_angular_velocity: +53.6665
+                    Episode_Reward/upright: +27.2865
+                Episode_Reward/leg_posture: -2.6636
+                 Episode_Reward/standstill: -5.8437
+             Episode_Reward/action_rate_l2: -0.6365
+           Episode_Reward/joint_torques_l2: -0.1553
+             Episode_Reward/dof_pos_limits: -0.0020
+                 Episode_Reward/terminated: -0.0194
+     Episode_Reward/unnecessary_wheel_lift: -0.0965
+         Episode_Reward/rolling_leg_motion: -0.6621
+          Episode_Reward/obstacle_progress: +3.6169
+       Episode_Reward/wheel_body_intrusion: -0.2523
+        Episode_Reward/pair_body_intrusion: -0.3110
+             Curriculum/terrain_level_mean: +3.4829
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0961
+       Metrics/base_velocity/error_vel_yaw: 0.1369
+              Episode_Termination/time_out: 0.5548
+             Episode_Termination/fell_over: 0.0194
+           Episode_Termination/course_exit: 0.4000
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+
+==============================================================================
+Learning iteration 23250/50000
+                               Total steps: 95,232,000
+                          Steps per second: 12,402
+                            Iteration time: 0.330s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1400.6
+                                Actor loss: -9.4587
+                               Critic loss: +0.0108
+                          World model loss: +0.7242
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4424
+     Episode_Reward/track_angular_velocity: +52.8350
+                    Episode_Reward/upright: +26.9189
+                Episode_Reward/leg_posture: -2.6602
+                 Episode_Reward/standstill: -5.8489
+             Episode_Reward/action_rate_l2: -0.6233
+           Episode_Reward/joint_torques_l2: -0.1543
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0219
+     Episode_Reward/unnecessary_wheel_lift: -0.1094
+         Episode_Reward/rolling_leg_motion: -0.6699
+          Episode_Reward/obstacle_progress: +3.6085
+       Episode_Reward/wheel_body_intrusion: -0.2653
+        Episode_Reward/pair_body_intrusion: -0.3057
+             Curriculum/terrain_level_mean: +3.4846
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1376
+              Episode_Termination/time_out: 0.5127
+             Episode_Termination/fell_over: 0.0443
+           Episode_Termination/course_exit: 0.4367
+Episode_Termination/illegal_nonwheel_contact: 0.0380
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[891]
+
+==============================================================================
+Learning iteration 23300/50000
+                               Total steps: 95,436,800
+                          Steps per second: 12,407
+                            Iteration time: 0.330s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1262.9
+                                Actor loss: -9.5064
+                               Critic loss: +0.0032
+                          World model loss: +0.7390
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.7384
+     Episode_Reward/track_angular_velocity: +47.7024
+                    Episode_Reward/upright: +24.2935
+                Episode_Reward/leg_posture: -2.4178
+                 Episode_Reward/standstill: -5.0653
+             Episode_Reward/action_rate_l2: -0.5595
+           Episode_Reward/joint_torques_l2: -0.1386
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0123
+     Episode_Reward/unnecessary_wheel_lift: -0.0916
+         Episode_Reward/rolling_leg_motion: -0.6010
+          Episode_Reward/obstacle_progress: +3.2523
+       Episode_Reward/wheel_body_intrusion: -0.2522
+        Episode_Reward/pair_body_intrusion: -0.2720
+             Curriculum/terrain_level_mean: +3.4871
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4361
+             Episode_Termination/fell_over: 0.0301
+           Episode_Termination/course_exit: 0.5263
+Episode_Termination/illegal_nonwheel_contact: 0.0226
+==============================================================================
+
+==============================================================================
+Learning iteration 23350/50000
+                               Total steps: 95,641,600
+                          Steps per second: 12,413
+                            Iteration time: 0.330s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1324.0
+                                Actor loss: -9.4700
+                               Critic loss: +0.0040
+                          World model loss: +0.7126
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9420
+     Episode_Reward/track_angular_velocity: +50.0370
+                    Episode_Reward/upright: +25.4470
+                Episode_Reward/leg_posture: -2.5156
+                 Episode_Reward/standstill: -5.4133
+             Episode_Reward/action_rate_l2: -0.5767
+           Episode_Reward/joint_torques_l2: -0.1448
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0259
+     Episode_Reward/unnecessary_wheel_lift: -0.1115
+         Episode_Reward/rolling_leg_motion: -0.6379
+          Episode_Reward/obstacle_progress: +3.3612
+       Episode_Reward/wheel_body_intrusion: -0.2493
+        Episode_Reward/pair_body_intrusion: -0.3044
+             Curriculum/terrain_level_mean: +3.4880
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4671
+             Episode_Termination/fell_over: 0.0329
+           Episode_Termination/course_exit: 0.4671
+Episode_Termination/illegal_nonwheel_contact: 0.0658
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2018]
+
+==============================================================================
+Learning iteration 23400/50000
+                               Total steps: 95,846,400
+                          Steps per second: 12,418
+                            Iteration time: 0.330s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1360.4
+                                Actor loss: -9.4856
+                               Critic loss: +0.0088
+                          World model loss: +0.6721
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2234
+     Episode_Reward/track_angular_velocity: +51.3643
+                    Episode_Reward/upright: +26.1016
+                Episode_Reward/leg_posture: -2.5950
+                 Episode_Reward/standstill: -6.1023
+             Episode_Reward/action_rate_l2: -0.5931
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.0974
+         Episode_Reward/rolling_leg_motion: -0.6377
+          Episode_Reward/obstacle_progress: +3.5027
+       Episode_Reward/wheel_body_intrusion: -0.2610
+        Episode_Reward/pair_body_intrusion: -0.2821
+             Curriculum/terrain_level_mean: +3.4910
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4702
+             Episode_Termination/fell_over: 0.0199
+           Episode_Termination/course_exit: 0.4901
+Episode_Termination/illegal_nonwheel_contact: 0.0199
+==============================================================================
+
+==============================================================================
+Learning iteration 23450/50000
+                               Total steps: 96,051,200
+                          Steps per second: 12,424
+                            Iteration time: 0.330s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0871
+                       Mean episode length: 1338.0
+                                Actor loss: -9.5122
+                               Critic loss: +0.0030
+                          World model loss: +0.7431
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3293
+     Episode_Reward/track_angular_velocity: +50.4853
+                    Episode_Reward/upright: +25.6816
+                Episode_Reward/leg_posture: -2.5728
+                 Episode_Reward/standstill: -5.9568
+             Episode_Reward/action_rate_l2: -0.5688
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0261
+     Episode_Reward/unnecessary_wheel_lift: -0.1023
+         Episode_Reward/rolling_leg_motion: -0.6204
+          Episode_Reward/obstacle_progress: +3.5169
+       Episode_Reward/wheel_body_intrusion: -0.2452
+        Episode_Reward/pair_body_intrusion: -0.2656
+             Curriculum/terrain_level_mean: +3.4949
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4459
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.4904
+Episode_Termination/illegal_nonwheel_contact: 0.0446
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1462]
+
+==============================================================================
+Learning iteration 23500/50000
+                               Total steps: 96,256,000
+                          Steps per second: 12,430
+                            Iteration time: 0.330s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0875
+                       Mean episode length: 1354.1
+                                Actor loss: -9.4899
+                               Critic loss: +0.0039
+                          World model loss: +0.7644
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9427
+     Episode_Reward/track_angular_velocity: +51.1564
+                    Episode_Reward/upright: +26.0205
+                Episode_Reward/leg_posture: -2.5671
+                 Episode_Reward/standstill: -5.5870
+             Episode_Reward/action_rate_l2: -0.5813
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0344
+     Episode_Reward/unnecessary_wheel_lift: -0.1028
+         Episode_Reward/rolling_leg_motion: -0.6313
+          Episode_Reward/obstacle_progress: +3.4964
+       Episode_Reward/wheel_body_intrusion: -0.2436
+        Episode_Reward/pair_body_intrusion: -0.2411
+             Curriculum/terrain_level_mean: +3.4961
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5163
+             Episode_Termination/fell_over: 0.0392
+           Episode_Termination/course_exit: 0.4052
+Episode_Termination/illegal_nonwheel_contact: 0.0719
+==============================================================================
+
+==============================================================================
+Learning iteration 23550/50000
+                               Total steps: 96,460,800
+                          Steps per second: 12,435
+                            Iteration time: 0.329s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0879
+                       Mean episode length: 1261.4
+                                Actor loss: -9.5098
+                               Critic loss: +0.0038
+                          World model loss: +0.7224
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.7699
+     Episode_Reward/track_angular_velocity: +47.6992
+                    Episode_Reward/upright: +24.2376
+                Episode_Reward/leg_posture: -2.3702
+                 Episode_Reward/standstill: -5.0143
+             Episode_Reward/action_rate_l2: -0.5377
+           Episode_Reward/joint_torques_l2: -0.1382
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0222
+     Episode_Reward/unnecessary_wheel_lift: -0.0960
+         Episode_Reward/rolling_leg_motion: -0.5893
+          Episode_Reward/obstacle_progress: +3.3617
+       Episode_Reward/wheel_body_intrusion: -0.2091
+        Episode_Reward/pair_body_intrusion: -0.2482
+             Curriculum/terrain_level_mean: +3.4983
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4091
+             Episode_Termination/fell_over: 0.0390
+           Episode_Termination/course_exit: 0.5325
+Episode_Termination/illegal_nonwheel_contact: 0.0325
+==============================================================================
+
+==============================================================================
+Learning iteration 23600/50000
+                               Total steps: 96,665,600
+                          Steps per second: 12,440
+                            Iteration time: 0.329s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1382.2
+                                Actor loss: -9.5264
+                               Critic loss: +0.0063
+                          World model loss: +0.7382
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0778
+     Episode_Reward/track_angular_velocity: +52.2748
+                    Episode_Reward/upright: +26.5784
+                Episode_Reward/leg_posture: -2.6220
+                 Episode_Reward/standstill: -5.5844
+             Episode_Reward/action_rate_l2: -0.6012
+           Episode_Reward/joint_torques_l2: -0.1518
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.0901
+         Episode_Reward/rolling_leg_motion: -0.6340
+          Episode_Reward/obstacle_progress: +3.6860
+       Episode_Reward/wheel_body_intrusion: -0.2581
+        Episode_Reward/pair_body_intrusion: -0.3021
+             Curriculum/terrain_level_mean: +3.5024
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5135
+             Episode_Termination/fell_over: 0.0338
+           Episode_Termination/course_exit: 0.4459
+Episode_Termination/illegal_nonwheel_contact: 0.0135
+==============================================================================
+
+==============================================================================
+Learning iteration 23650/50000
+                               Total steps: 96,870,400
+                          Steps per second: 12,446
+                            Iteration time: 0.329s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1300.6
+                                Actor loss: -9.4938
+                               Critic loss: +0.0054
+                          World model loss: +0.6697
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1816
+     Episode_Reward/track_angular_velocity: +49.2088
+                    Episode_Reward/upright: +24.9945
+                Episode_Reward/leg_posture: -2.4531
+                 Episode_Reward/standstill: -5.5545
+             Episode_Reward/action_rate_l2: -0.5590
+           Episode_Reward/joint_torques_l2: -0.1422
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0178
+     Episode_Reward/unnecessary_wheel_lift: -0.0881
+         Episode_Reward/rolling_leg_motion: -0.5800
+          Episode_Reward/obstacle_progress: +3.4753
+       Episode_Reward/wheel_body_intrusion: -0.2392
+        Episode_Reward/pair_body_intrusion: -0.2832
+             Curriculum/terrain_level_mean: +3.5061
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4029
+             Episode_Termination/fell_over: 0.0144
+           Episode_Termination/course_exit: 0.5468
+Episode_Termination/illegal_nonwheel_contact: 0.0432
+==============================================================================
+
+==============================================================================
+Learning iteration 23700/50000
+                               Total steps: 97,075,200
+                          Steps per second: 12,451
+                            Iteration time: 0.329s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1306.7
+                                Actor loss: -9.5002
+                               Critic loss: +0.0044
+                          World model loss: +0.7113
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4068
+     Episode_Reward/track_angular_velocity: +49.4388
+                    Episode_Reward/upright: +25.1139
+                Episode_Reward/leg_posture: -2.4332
+                 Episode_Reward/standstill: -6.0180
+             Episode_Reward/action_rate_l2: -0.5853
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0306
+     Episode_Reward/unnecessary_wheel_lift: -0.1095
+         Episode_Reward/rolling_leg_motion: -0.6034
+          Episode_Reward/obstacle_progress: +3.4331
+       Episode_Reward/wheel_body_intrusion: -0.2429
+        Episode_Reward/pair_body_intrusion: -0.2646
+             Curriculum/terrain_level_mean: +3.5093
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4337
+             Episode_Termination/fell_over: 0.0482
+           Episode_Termination/course_exit: 0.4940
+Episode_Termination/illegal_nonwheel_contact: 0.0361
+==============================================================================
+
+==============================================================================
+Learning iteration 23750/50000
+                               Total steps: 97,280,000
+                          Steps per second: 12,457
+                            Iteration time: 0.329s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1367.0
+                                Actor loss: -9.5295
+                               Critic loss: +0.0087
+                          World model loss: +0.7454
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5594
+     Episode_Reward/track_angular_velocity: +51.6949
+                    Episode_Reward/upright: +26.2824
+                Episode_Reward/leg_posture: -2.5623
+                 Episode_Reward/standstill: -6.2887
+             Episode_Reward/action_rate_l2: -0.5978
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.1017
+         Episode_Reward/rolling_leg_motion: -0.6310
+          Episode_Reward/obstacle_progress: +3.4959
+       Episode_Reward/wheel_body_intrusion: -0.2515
+        Episode_Reward/pair_body_intrusion: -0.3277
+             Curriculum/terrain_level_mean: +3.5132
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4606
+             Episode_Termination/fell_over: 0.0121
+           Episode_Termination/course_exit: 0.5030
+Episode_Termination/illegal_nonwheel_contact: 0.0303
+==============================================================================
+
+==============================================================================
+Learning iteration 23800/50000
+                               Total steps: 97,484,800
+                          Steps per second: 12,462
+                            Iteration time: 0.329s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1362.0
+                                Actor loss: -9.5075
+                               Critic loss: +0.0051
+                          World model loss: +0.7523
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4403
+     Episode_Reward/track_angular_velocity: +51.5690
+                    Episode_Reward/upright: +26.1946
+                Episode_Reward/leg_posture: -2.5821
+                 Episode_Reward/standstill: -5.8613
+             Episode_Reward/action_rate_l2: -0.5954
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.1047
+         Episode_Reward/rolling_leg_motion: -0.6371
+          Episode_Reward/obstacle_progress: +3.4232
+       Episode_Reward/wheel_body_intrusion: -0.2589
+        Episode_Reward/pair_body_intrusion: -0.3219
+             Curriculum/terrain_level_mean: +3.5181
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.4968
+             Episode_Termination/fell_over: 0.0318
+           Episode_Termination/course_exit: 0.4650
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+
+==============================================================================
+Learning iteration 23850/50000
+                               Total steps: 97,689,600
+                          Steps per second: 12,467
+                            Iteration time: 0.329s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1331.7
+                                Actor loss: -9.5066
+                               Critic loss: +0.0041
+                          World model loss: +0.7005
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2738
+     Episode_Reward/track_angular_velocity: +50.3839
+                    Episode_Reward/upright: +25.5912
+                Episode_Reward/leg_posture: -2.5064
+                 Episode_Reward/standstill: -5.7528
+             Episode_Reward/action_rate_l2: -0.5810
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0260
+     Episode_Reward/unnecessary_wheel_lift: -0.0971
+         Episode_Reward/rolling_leg_motion: -0.6149
+          Episode_Reward/obstacle_progress: +3.3655
+       Episode_Reward/wheel_body_intrusion: -0.2474
+        Episode_Reward/pair_body_intrusion: -0.3001
+             Curriculum/terrain_level_mean: +3.5225
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4494
+             Episode_Termination/fell_over: 0.0443
+           Episode_Termination/course_exit: 0.4873
+Episode_Termination/illegal_nonwheel_contact: 0.0443
+==============================================================================
+
+==============================================================================
+Learning iteration 23900/50000
+                               Total steps: 97,894,400
+                          Steps per second: 12,473
+                            Iteration time: 0.328s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1355.4
+                                Actor loss: -9.5133
+                               Critic loss: +0.0057
+                          World model loss: +0.7168
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1465
+     Episode_Reward/track_angular_velocity: +51.2645
+                    Episode_Reward/upright: +26.0240
+                Episode_Reward/leg_posture: -2.5850
+                 Episode_Reward/standstill: -5.7778
+             Episode_Reward/action_rate_l2: -0.5862
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.0937
+         Episode_Reward/rolling_leg_motion: -0.6278
+          Episode_Reward/obstacle_progress: +3.4079
+       Episode_Reward/wheel_body_intrusion: -0.2580
+        Episode_Reward/pair_body_intrusion: -0.3057
+             Curriculum/terrain_level_mean: +3.5251
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4938
+             Episode_Termination/fell_over: 0.0432
+           Episode_Termination/course_exit: 0.4568
+Episode_Termination/illegal_nonwheel_contact: 0.0185
+==============================================================================
+
+==============================================================================
+Learning iteration 23950/50000
+                               Total steps: 98,099,200
+                          Steps per second: 12,478
+                            Iteration time: 0.328s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1398.5
+                                Actor loss: -9.5077
+                               Critic loss: +0.0043
+                          World model loss: +0.6914
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6806
+     Episode_Reward/track_angular_velocity: +52.9069
+                    Episode_Reward/upright: +26.8320
+                Episode_Reward/leg_posture: -2.7076
+                 Episode_Reward/standstill: -5.8355
+             Episode_Reward/action_rate_l2: -0.6064
+           Episode_Reward/joint_torques_l2: -0.1529
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0913
+         Episode_Reward/rolling_leg_motion: -0.6395
+          Episode_Reward/obstacle_progress: +3.5522
+       Episode_Reward/wheel_body_intrusion: -0.2787
+        Episode_Reward/pair_body_intrusion: -0.3361
+             Curriculum/terrain_level_mean: +3.5298
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5070
+             Episode_Termination/fell_over: 0.0282
+           Episode_Termination/course_exit: 0.4577
+Episode_Termination/illegal_nonwheel_contact: 0.0211
+==============================================================================
+
+==============================================================================
+Learning iteration 24000/50000
+                               Total steps: 98,304,000
+                          Steps per second: 12,483
+                            Iteration time: 0.328s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0872
+                       Mean episode length: 1358.0
+                                Actor loss: -9.5228
+                               Critic loss: +0.0027
+                          World model loss: +0.6925
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0593
+     Episode_Reward/track_angular_velocity: +51.3349
+                    Episode_Reward/upright: +26.0650
+                Episode_Reward/leg_posture: -2.5813
+                 Episode_Reward/standstill: -5.7592
+             Episode_Reward/action_rate_l2: -0.6086
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.1045
+         Episode_Reward/rolling_leg_motion: -0.6437
+          Episode_Reward/obstacle_progress: +3.4259
+       Episode_Reward/wheel_body_intrusion: -0.2624
+        Episode_Reward/pair_body_intrusion: -0.3696
+             Curriculum/terrain_level_mean: +3.5317
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4830
+             Episode_Termination/fell_over: 0.0408
+           Episode_Termination/course_exit: 0.4626
+Episode_Termination/illegal_nonwheel_contact: 0.0272
+==============================================================================
+
+==============================================================================
+Learning iteration 24050/50000
+                               Total steps: 98,508,800
+                          Steps per second: 12,489
+                            Iteration time: 0.328s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1352.5
+                                Actor loss: -9.4885
+                               Critic loss: +0.0058
+                          World model loss: +0.6593
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8587
+     Episode_Reward/track_angular_velocity: +51.0961
+                    Episode_Reward/upright: +25.9598
+                Episode_Reward/leg_posture: -2.5894
+                 Episode_Reward/standstill: -5.5626
+             Episode_Reward/action_rate_l2: -0.6001
+           Episode_Reward/joint_torques_l2: -0.1491
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.0898
+         Episode_Reward/rolling_leg_motion: -0.6284
+          Episode_Reward/obstacle_progress: +3.4251
+       Episode_Reward/wheel_body_intrusion: -0.2645
+        Episode_Reward/pair_body_intrusion: -0.3783
+             Curriculum/terrain_level_mean: +3.5369
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.4933
+             Episode_Termination/fell_over: 0.0133
+           Episode_Termination/course_exit: 0.4733
+Episode_Termination/illegal_nonwheel_contact: 0.0200
+==============================================================================
+
+==============================================================================
+Learning iteration 24100/50000
+                               Total steps: 98,713,600
+                          Steps per second: 12,494
+                            Iteration time: 0.328s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1385.0
+                                Actor loss: -9.5159
+                               Critic loss: +0.0044
+                          World model loss: +0.7059
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0722
+     Episode_Reward/track_angular_velocity: +52.2939
+                    Episode_Reward/upright: +26.5694
+                Episode_Reward/leg_posture: -2.6386
+                 Episode_Reward/standstill: -5.5970
+             Episode_Reward/action_rate_l2: -0.6270
+           Episode_Reward/joint_torques_l2: -0.1526
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.1102
+         Episode_Reward/rolling_leg_motion: -0.6753
+          Episode_Reward/obstacle_progress: +3.4697
+       Episode_Reward/wheel_body_intrusion: -0.2589
+        Episode_Reward/pair_body_intrusion: -0.3367
+             Curriculum/terrain_level_mean: +3.5403
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4595
+             Episode_Termination/fell_over: 0.0203
+           Episode_Termination/course_exit: 0.4932
+Episode_Termination/illegal_nonwheel_contact: 0.0405
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1937]
+RECOVERY reset 1 invalid environments; first IDs=[1388]
+
+==============================================================================
+Learning iteration 24150/50000
+                               Total steps: 98,918,400
+                          Steps per second: 12,499
+                            Iteration time: 0.328s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1409.6
+                                Actor loss: -9.4740
+                               Critic loss: +0.0065
+                          World model loss: +0.7213
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0038
+     Episode_Reward/track_angular_velocity: +53.2062
+                    Episode_Reward/upright: +27.0701
+                Episode_Reward/leg_posture: -2.7048
+                 Episode_Reward/standstill: -5.6490
+             Episode_Reward/action_rate_l2: -0.6227
+           Episode_Reward/joint_torques_l2: -0.1545
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0193
+     Episode_Reward/unnecessary_wheel_lift: -0.1074
+         Episode_Reward/rolling_leg_motion: -0.6660
+          Episode_Reward/obstacle_progress: +3.5351
+       Episode_Reward/wheel_body_intrusion: -0.2557
+        Episode_Reward/pair_body_intrusion: -0.3114
+             Curriculum/terrain_level_mean: +3.5435
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.5411
+             Episode_Termination/fell_over: 0.0342
+           Episode_Termination/course_exit: 0.4110
+Episode_Termination/illegal_nonwheel_contact: 0.0342
+==============================================================================
+
+==============================================================================
+Learning iteration 24200/50000
+                               Total steps: 99,123,200
+                          Steps per second: 12,505
+                            Iteration time: 0.328s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1412.3
+                                Actor loss: -9.5013
+                               Critic loss: +0.0039
+                          World model loss: +0.7312
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1016
+     Episode_Reward/track_angular_velocity: +53.3033
+                    Episode_Reward/upright: +27.1426
+                Episode_Reward/leg_posture: -2.7309
+                 Episode_Reward/standstill: -5.7059
+             Episode_Reward/action_rate_l2: -0.6105
+           Episode_Reward/joint_torques_l2: -0.1567
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0166
+     Episode_Reward/unnecessary_wheel_lift: -0.1067
+         Episode_Reward/rolling_leg_motion: -0.6506
+          Episode_Reward/obstacle_progress: +3.5083
+       Episode_Reward/wheel_body_intrusion: -0.2619
+        Episode_Reward/pair_body_intrusion: -0.3330
+             Curriculum/terrain_level_mean: +3.5466
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4805
+             Episode_Termination/fell_over: 0.0195
+           Episode_Termination/course_exit: 0.4805
+Episode_Termination/illegal_nonwheel_contact: 0.0325
+==============================================================================
+
+==============================================================================
+Learning iteration 24250/50000
+                               Total steps: 99,328,000
+                          Steps per second: 12,510
+                            Iteration time: 0.327s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1331.9
+                                Actor loss: -9.5033
+                               Critic loss: +0.0044
+                          World model loss: +0.7014
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2953
+     Episode_Reward/track_angular_velocity: +50.2477
+                    Episode_Reward/upright: +25.5997
+                Episode_Reward/leg_posture: -2.5296
+                 Episode_Reward/standstill: -5.6333
+             Episode_Reward/action_rate_l2: -0.5733
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0286
+     Episode_Reward/unnecessary_wheel_lift: -0.0965
+         Episode_Reward/rolling_leg_motion: -0.6356
+          Episode_Reward/obstacle_progress: +3.2869
+       Episode_Reward/wheel_body_intrusion: -0.2465
+        Episode_Reward/pair_body_intrusion: -0.3484
+             Curriculum/terrain_level_mean: +3.5493
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.4731
+             Episode_Termination/fell_over: 0.0376
+           Episode_Termination/course_exit: 0.4677
+Episode_Termination/illegal_nonwheel_contact: 0.0215
+==============================================================================
+
+==============================================================================
+Learning iteration 24300/50000
+                               Total steps: 99,532,800
+                          Steps per second: 12,515
+                            Iteration time: 0.327s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1437.8
+                                Actor loss: -9.4676
+                               Critic loss: +0.0056
+                          World model loss: +0.6964
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.1858
+     Episode_Reward/track_angular_velocity: +54.2827
+                    Episode_Reward/upright: +27.6202
+                Episode_Reward/leg_posture: -2.7489
+                 Episode_Reward/standstill: -5.9878
+             Episode_Reward/action_rate_l2: -0.6053
+           Episode_Reward/joint_torques_l2: -0.1576
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0084
+     Episode_Reward/unnecessary_wheel_lift: -0.0880
+         Episode_Reward/rolling_leg_motion: -0.6570
+          Episode_Reward/obstacle_progress: +3.5763
+       Episode_Reward/wheel_body_intrusion: -0.2833
+        Episode_Reward/pair_body_intrusion: -0.3429
+             Curriculum/terrain_level_mean: +3.5530
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.5591
+             Episode_Termination/fell_over: 0.0079
+           Episode_Termination/course_exit: 0.4173
+Episode_Termination/illegal_nonwheel_contact: 0.0236
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_024300.mp4
+
+==============================================================================
+Learning iteration 24350/50000
+                               Total steps: 99,737,600
+                          Steps per second: 12,511
+                            Iteration time: 0.327s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0872
+                       Mean episode length: 1281.4
+                                Actor loss: -9.5081
+                               Critic loss: +0.0047
+                          World model loss: +0.6854
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.4884
+     Episode_Reward/track_angular_velocity: +48.3859
+                    Episode_Reward/upright: +24.6305
+                Episode_Reward/leg_posture: -2.4590
+                 Episode_Reward/standstill: -5.4872
+             Episode_Reward/action_rate_l2: -0.5520
+           Episode_Reward/joint_torques_l2: -0.1411
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0100
+     Episode_Reward/unnecessary_wheel_lift: -0.1041
+         Episode_Reward/rolling_leg_motion: -0.6132
+          Episode_Reward/obstacle_progress: +3.1845
+       Episode_Reward/wheel_body_intrusion: -0.2452
+        Episode_Reward/pair_body_intrusion: -0.3172
+             Curriculum/terrain_level_mean: +3.5591
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.3865
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5890
+Episode_Termination/illegal_nonwheel_contact: 0.0245
+==============================================================================
+
+==============================================================================
+Learning iteration 24400/50000
+                               Total steps: 99,942,400
+                          Steps per second: 12,516
+                            Iteration time: 0.327s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1350.7
+                                Actor loss: -9.5101
+                               Critic loss: +0.0030
+                          World model loss: +0.7197
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0020
+     Episode_Reward/track_angular_velocity: +51.0575
+                    Episode_Reward/upright: +25.9362
+                Episode_Reward/leg_posture: -2.6290
+                 Episode_Reward/standstill: -5.8809
+             Episode_Reward/action_rate_l2: -0.5799
+           Episode_Reward/joint_torques_l2: -0.1481
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.1096
+         Episode_Reward/rolling_leg_motion: -0.6316
+          Episode_Reward/obstacle_progress: +3.4208
+       Episode_Reward/wheel_body_intrusion: -0.2502
+        Episode_Reward/pair_body_intrusion: -0.3526
+             Curriculum/terrain_level_mean: +3.5618
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4583
+             Episode_Termination/fell_over: 0.0208
+           Episode_Termination/course_exit: 0.5069
+Episode_Termination/illegal_nonwheel_contact: 0.0208
+==============================================================================
+
+==============================================================================
+Learning iteration 24450/50000
+                               Total steps: 100,147,200
+                          Steps per second: 12,521
+                            Iteration time: 0.327s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1298.0
+                                Actor loss: -9.5052
+                               Critic loss: +0.0042
+                          World model loss: +0.7199
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0992
+     Episode_Reward/track_angular_velocity: +49.0075
+                    Episode_Reward/upright: +24.9038
+                Episode_Reward/leg_posture: -2.5017
+                 Episode_Reward/standstill: -5.6924
+             Episode_Reward/action_rate_l2: -0.5605
+           Episode_Reward/joint_torques_l2: -0.1420
+             Episode_Reward/dof_pos_limits: -0.0019
+                 Episode_Reward/terminated: -0.0330
+     Episode_Reward/unnecessary_wheel_lift: -0.0919
+         Episode_Reward/rolling_leg_motion: -0.5860
+          Episode_Reward/obstacle_progress: +3.3422
+       Episode_Reward/wheel_body_intrusion: -0.2548
+        Episode_Reward/pair_body_intrusion: -0.3716
+             Curriculum/terrain_level_mean: +3.5632
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4507
+             Episode_Termination/fell_over: 0.0563
+           Episode_Termination/course_exit: 0.4577
+Episode_Termination/illegal_nonwheel_contact: 0.0704
+==============================================================================
+
+==============================================================================
+Learning iteration 24500/50000
+                               Total steps: 100,352,000
+                          Steps per second: 12,526
+                            Iteration time: 0.327s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1325.4
+                                Actor loss: -9.5306
+                               Critic loss: +0.0052
+                          World model loss: +0.7134
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0547
+     Episode_Reward/track_angular_velocity: +50.0764
+                    Episode_Reward/upright: +25.4766
+                Episode_Reward/leg_posture: -2.5789
+                 Episode_Reward/standstill: -5.7671
+             Episode_Reward/action_rate_l2: -0.5682
+           Episode_Reward/joint_torques_l2: -0.1451
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0337
+     Episode_Reward/unnecessary_wheel_lift: -0.0992
+         Episode_Reward/rolling_leg_motion: -0.6086
+          Episode_Reward/obstacle_progress: +3.3523
+       Episode_Reward/wheel_body_intrusion: -0.2507
+        Episode_Reward/pair_body_intrusion: -0.3673
+             Curriculum/terrain_level_mean: +3.5671
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4641
+             Episode_Termination/fell_over: 0.0719
+           Episode_Termination/course_exit: 0.4510
+Episode_Termination/illegal_nonwheel_contact: 0.0327
+==============================================================================
+
+==============================================================================
+Learning iteration 24550/50000
+                               Total steps: 100,556,800
+                          Steps per second: 12,531
+                            Iteration time: 0.327s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1386.3
+                                Actor loss: -9.4920
+                               Critic loss: +0.0060
+                          World model loss: +0.7004
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1865
+     Episode_Reward/track_angular_velocity: +52.4062
+                    Episode_Reward/upright: +26.6165
+                Episode_Reward/leg_posture: -2.6673
+                 Episode_Reward/standstill: -6.0991
+             Episode_Reward/action_rate_l2: -0.6040
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.0784
+         Episode_Reward/rolling_leg_motion: -0.6289
+          Episode_Reward/obstacle_progress: +3.5616
+       Episode_Reward/wheel_body_intrusion: -0.2629
+        Episode_Reward/pair_body_intrusion: -0.3339
+             Curriculum/terrain_level_mean: +3.5688
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5118
+             Episode_Termination/fell_over: 0.0236
+           Episode_Termination/course_exit: 0.4409
+Episode_Termination/illegal_nonwheel_contact: 0.0236
+==============================================================================
+
+==============================================================================
+Learning iteration 24600/50000
+                               Total steps: 100,761,600
+                          Steps per second: 12,537
+                            Iteration time: 0.327s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1292.8
+                                Actor loss: -9.4944
+                               Critic loss: +0.0037
+                          World model loss: +0.6940
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.6671
+     Episode_Reward/track_angular_velocity: +48.8369
+                    Episode_Reward/upright: +24.8162
+                Episode_Reward/leg_posture: -2.5263
+                 Episode_Reward/standstill: -5.8653
+             Episode_Reward/action_rate_l2: -0.5663
+           Episode_Reward/joint_torques_l2: -0.1433
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0303
+     Episode_Reward/unnecessary_wheel_lift: -0.0878
+         Episode_Reward/rolling_leg_motion: -0.5920
+          Episode_Reward/obstacle_progress: +3.2900
+       Episode_Reward/wheel_body_intrusion: -0.2265
+        Episode_Reward/pair_body_intrusion: -0.2573
+             Curriculum/terrain_level_mean: +3.5708
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4241
+             Episode_Termination/fell_over: 0.0570
+           Episode_Termination/course_exit: 0.5063
+Episode_Termination/illegal_nonwheel_contact: 0.0380
+==============================================================================
+
+==============================================================================
+Learning iteration 24650/50000
+                               Total steps: 100,966,400
+                          Steps per second: 12,542
+                            Iteration time: 0.327s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1407.8
+                                Actor loss: -9.4909
+                               Critic loss: +0.0055
+                          World model loss: +0.7093
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7295
+     Episode_Reward/track_angular_velocity: +53.1767
+                    Episode_Reward/upright: +27.0279
+                Episode_Reward/leg_posture: -2.7367
+                 Episode_Reward/standstill: -6.2594
+             Episode_Reward/action_rate_l2: -0.6265
+           Episode_Reward/joint_torques_l2: -0.1550
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0275
+     Episode_Reward/unnecessary_wheel_lift: -0.1030
+         Episode_Reward/rolling_leg_motion: -0.6645
+          Episode_Reward/obstacle_progress: +3.5215
+       Episode_Reward/wheel_body_intrusion: -0.2725
+        Episode_Reward/pair_body_intrusion: -0.3137
+             Curriculum/terrain_level_mean: +3.5742
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5460
+             Episode_Termination/fell_over: 0.0245
+           Episode_Termination/course_exit: 0.3926
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 24700/50000
+                               Total steps: 101,171,200
+                          Steps per second: 12,547
+                            Iteration time: 0.326s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1332.8
+                                Actor loss: -9.5120
+                               Critic loss: +0.0046
+                          World model loss: +0.7062
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2704
+     Episode_Reward/track_angular_velocity: +50.3750
+                    Episode_Reward/upright: +25.6048
+                Episode_Reward/leg_posture: -2.6026
+                 Episode_Reward/standstill: -5.8560
+             Episode_Reward/action_rate_l2: -0.5805
+           Episode_Reward/joint_torques_l2: -0.1441
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.0883
+         Episode_Reward/rolling_leg_motion: -0.6293
+          Episode_Reward/obstacle_progress: +3.3998
+       Episode_Reward/wheel_body_intrusion: -0.2644
+        Episode_Reward/pair_body_intrusion: -0.3089
+             Curriculum/terrain_level_mean: +3.5798
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4528
+             Episode_Termination/fell_over: 0.0189
+           Episode_Termination/course_exit: 0.5094
+Episode_Termination/illegal_nonwheel_contact: 0.0314
+==============================================================================
+
+==============================================================================
+Learning iteration 24750/50000
+                               Total steps: 101,376,000
+                          Steps per second: 12,552
+                            Iteration time: 0.326s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0870
+                       Mean episode length: 1329.5
+                                Actor loss: -9.5097
+                               Critic loss: +0.0029
+                          World model loss: +0.6811
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0583
+     Episode_Reward/track_angular_velocity: +50.2429
+                    Episode_Reward/upright: +25.5441
+                Episode_Reward/leg_posture: -2.6081
+                 Episode_Reward/standstill: -5.8540
+             Episode_Reward/action_rate_l2: -0.5827
+           Episode_Reward/joint_torques_l2: -0.1448
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0234
+     Episode_Reward/unnecessary_wheel_lift: -0.1098
+         Episode_Reward/rolling_leg_motion: -0.6211
+          Episode_Reward/obstacle_progress: +3.3590
+       Episode_Reward/wheel_body_intrusion: -0.2521
+        Episode_Reward/pair_body_intrusion: -0.3118
+             Curriculum/terrain_level_mean: +3.5833
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4307
+             Episode_Termination/fell_over: 0.0365
+           Episode_Termination/course_exit: 0.5036
+Episode_Termination/illegal_nonwheel_contact: 0.0438
+==============================================================================
+
+==============================================================================
+Learning iteration 24800/50000
+                               Total steps: 101,580,800
+                          Steps per second: 12,557
+                            Iteration time: 0.326s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1349.8
+                                Actor loss: -9.5087
+                               Critic loss: +0.0040
+                          World model loss: +0.7113
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8703
+     Episode_Reward/track_angular_velocity: +51.0313
+                    Episode_Reward/upright: +25.9154
+                Episode_Reward/leg_posture: -2.6164
+                 Episode_Reward/standstill: -6.0735
+             Episode_Reward/action_rate_l2: -0.5909
+           Episode_Reward/joint_torques_l2: -0.1492
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0211
+     Episode_Reward/unnecessary_wheel_lift: -0.0909
+         Episode_Reward/rolling_leg_motion: -0.6146
+          Episode_Reward/obstacle_progress: +3.4774
+       Episode_Reward/wheel_body_intrusion: -0.2673
+        Episode_Reward/pair_body_intrusion: -0.3360
+             Curriculum/terrain_level_mean: +3.5840
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4500
+             Episode_Termination/fell_over: 0.0357
+           Episode_Termination/course_exit: 0.4929
+Episode_Termination/illegal_nonwheel_contact: 0.0357
+==============================================================================
+
+==============================================================================
+Learning iteration 24850/50000
+                               Total steps: 101,785,600
+                          Steps per second: 12,562
+                            Iteration time: 0.326s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1344.9
+                                Actor loss: -9.5216
+                               Critic loss: +0.0047
+                          World model loss: +0.7023
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7177
+     Episode_Reward/track_angular_velocity: +50.8406
+                    Episode_Reward/upright: +25.8198
+                Episode_Reward/leg_posture: -2.6318
+                 Episode_Reward/standstill: -6.2618
+             Episode_Reward/action_rate_l2: -0.5885
+           Episode_Reward/joint_torques_l2: -0.1468
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.1000
+         Episode_Reward/rolling_leg_motion: -0.6202
+          Episode_Reward/obstacle_progress: +3.4327
+       Episode_Reward/wheel_body_intrusion: -0.2584
+        Episode_Reward/pair_body_intrusion: -0.3081
+             Curriculum/terrain_level_mean: +3.5864
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4348
+             Episode_Termination/fell_over: 0.0362
+           Episode_Termination/course_exit: 0.5145
+Episode_Termination/illegal_nonwheel_contact: 0.0290
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2233]
+
+==============================================================================
+Learning iteration 24900/50000
+                               Total steps: 101,990,400
+                          Steps per second: 12,568
+                            Iteration time: 0.326s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1424.7
+                                Actor loss: -9.5214
+                               Critic loss: +0.0038
+                          World model loss: +0.6827
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.5858
+     Episode_Reward/track_angular_velocity: +53.8750
+                    Episode_Reward/upright: +27.3554
+                Episode_Reward/leg_posture: -2.7761
+                 Episode_Reward/standstill: -6.6151
+             Episode_Reward/action_rate_l2: -0.6138
+           Episode_Reward/joint_torques_l2: -0.1575
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0223
+     Episode_Reward/unnecessary_wheel_lift: -0.0992
+         Episode_Reward/rolling_leg_motion: -0.6494
+          Episode_Reward/obstacle_progress: +3.6051
+       Episode_Reward/wheel_body_intrusion: -0.2689
+        Episode_Reward/pair_body_intrusion: -0.3042
+             Curriculum/terrain_level_mean: +3.5891
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5540
+             Episode_Termination/fell_over: 0.0288
+           Episode_Termination/course_exit: 0.3885
+Episode_Termination/illegal_nonwheel_contact: 0.0504
+==============================================================================
+
+==============================================================================
+Learning iteration 24950/50000
+                               Total steps: 102,195,200
+                          Steps per second: 12,573
+                            Iteration time: 0.326s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1403.5
+                                Actor loss: -9.5059
+                               Critic loss: +0.0045
+                          World model loss: +0.6940
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6567
+     Episode_Reward/track_angular_velocity: +53.0872
+                    Episode_Reward/upright: +26.9558
+                Episode_Reward/leg_posture: -2.7551
+                 Episode_Reward/standstill: -6.6301
+             Episode_Reward/action_rate_l2: -0.6114
+           Episode_Reward/joint_torques_l2: -0.1556
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0082
+     Episode_Reward/unnecessary_wheel_lift: -0.1118
+         Episode_Reward/rolling_leg_motion: -0.6488
+          Episode_Reward/obstacle_progress: +3.5253
+       Episode_Reward/wheel_body_intrusion: -0.2571
+        Episode_Reward/pair_body_intrusion: -0.2777
+             Curriculum/terrain_level_mean: +3.5950
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.5423
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.4366
+Episode_Termination/illegal_nonwheel_contact: 0.0141
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1950]
+
+==============================================================================
+Learning iteration 25000/50000
+                               Total steps: 102,400,000
+                          Steps per second: 12,577
+                            Iteration time: 0.326s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0865
+                       Mean episode length: 1353.0
+                                Actor loss: -9.4888
+                               Critic loss: +0.0038
+                          World model loss: +0.6713
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9245
+     Episode_Reward/track_angular_velocity: +51.0942
+                    Episode_Reward/upright: +25.9474
+                Episode_Reward/leg_posture: -2.6930
+                 Episode_Reward/standstill: -6.6229
+             Episode_Reward/action_rate_l2: -0.6023
+           Episode_Reward/joint_torques_l2: -0.1497
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0317
+     Episode_Reward/unnecessary_wheel_lift: -0.0938
+         Episode_Reward/rolling_leg_motion: -0.6242
+          Episode_Reward/obstacle_progress: +3.4218
+       Episode_Reward/wheel_body_intrusion: -0.2673
+        Episode_Reward/pair_body_intrusion: -0.3249
+             Curriculum/terrain_level_mean: +3.5974
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4610
+             Episode_Termination/fell_over: 0.0455
+           Episode_Termination/course_exit: 0.4610
+Episode_Termination/illegal_nonwheel_contact: 0.0519
+==============================================================================
+
+==============================================================================
+Learning iteration 25050/50000
+                               Total steps: 102,604,800
+                          Steps per second: 12,582
+                            Iteration time: 0.326s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0868
+                       Mean episode length: 1295.2
+                                Actor loss: -9.4912
+                               Critic loss: +0.0058
+                          World model loss: +0.6641
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8036
+     Episode_Reward/track_angular_velocity: +48.9165
+                    Episode_Reward/upright: +24.8565
+                Episode_Reward/leg_posture: -2.5487
+                 Episode_Reward/standstill: -5.8360
+             Episode_Reward/action_rate_l2: -0.5681
+           Episode_Reward/joint_torques_l2: -0.1441
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0354
+     Episode_Reward/unnecessary_wheel_lift: -0.0830
+         Episode_Reward/rolling_leg_motion: -0.6042
+          Episode_Reward/obstacle_progress: +3.2252
+       Episode_Reward/wheel_body_intrusion: -0.2545
+        Episode_Reward/pair_body_intrusion: -0.3356
+             Curriculum/terrain_level_mean: +3.5986
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4315
+             Episode_Termination/fell_over: 0.0479
+           Episode_Termination/course_exit: 0.4726
+Episode_Termination/illegal_nonwheel_contact: 0.0753
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2598]
+
+==============================================================================
+Learning iteration 25100/50000
+                               Total steps: 102,809,600
+                          Steps per second: 12,587
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0869
+                       Mean episode length: 1327.3
+                                Actor loss: -9.4774
+                               Critic loss: +0.0110
+                          World model loss: +0.6755
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9167
+     Episode_Reward/track_angular_velocity: +50.1103
+                    Episode_Reward/upright: +25.4668
+                Episode_Reward/leg_posture: -2.6137
+                 Episode_Reward/standstill: -5.8954
+             Episode_Reward/action_rate_l2: -0.5719
+           Episode_Reward/joint_torques_l2: -0.1470
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0207
+     Episode_Reward/unnecessary_wheel_lift: -0.0961
+         Episode_Reward/rolling_leg_motion: -0.6077
+          Episode_Reward/obstacle_progress: +3.3225
+       Episode_Reward/wheel_body_intrusion: -0.2515
+        Episode_Reward/pair_body_intrusion: -0.3291
+             Curriculum/terrain_level_mean: +3.6023
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.4268
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.5223
+Episode_Termination/illegal_nonwheel_contact: 0.0382
+==============================================================================
+
+==============================================================================
+Learning iteration 25150/50000
+                               Total steps: 103,014,400
+                          Steps per second: 12,592
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1331.5
+                                Actor loss: -9.5128
+                               Critic loss: +0.0036
+                          World model loss: +0.7525
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0691
+     Episode_Reward/track_angular_velocity: +50.2398
+                    Episode_Reward/upright: +25.5431
+                Episode_Reward/leg_posture: -2.6497
+                 Episode_Reward/standstill: -5.8896
+             Episode_Reward/action_rate_l2: -0.5829
+           Episode_Reward/joint_torques_l2: -0.1474
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0260
+     Episode_Reward/unnecessary_wheel_lift: -0.1073
+         Episode_Reward/rolling_leg_motion: -0.6150
+          Episode_Reward/obstacle_progress: +3.3395
+       Episode_Reward/wheel_body_intrusion: -0.2644
+        Episode_Reward/pair_body_intrusion: -0.3561
+             Curriculum/terrain_level_mean: +3.6035
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.4431
+             Episode_Termination/fell_over: 0.0299
+           Episode_Termination/course_exit: 0.4970
+Episode_Termination/illegal_nonwheel_contact: 0.0359
+==============================================================================
+
+==============================================================================
+Learning iteration 25200/50000
+                               Total steps: 103,219,200
+                          Steps per second: 12,597
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1326.4
+                                Actor loss: -9.5040
+                               Critic loss: +0.0061
+                          World model loss: +0.6473
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8494
+     Episode_Reward/track_angular_velocity: +50.0874
+                    Episode_Reward/upright: +25.4630
+                Episode_Reward/leg_posture: -2.6149
+                 Episode_Reward/standstill: -6.0446
+             Episode_Reward/action_rate_l2: -0.5858
+           Episode_Reward/joint_torques_l2: -0.1471
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.1059
+         Episode_Reward/rolling_leg_motion: -0.6350
+          Episode_Reward/obstacle_progress: +3.3111
+       Episode_Reward/wheel_body_intrusion: -0.2634
+        Episode_Reward/pair_body_intrusion: -0.3126
+             Curriculum/terrain_level_mean: +3.6069
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.4902
+             Episode_Termination/fell_over: 0.0392
+           Episode_Termination/course_exit: 0.4641
+Episode_Termination/illegal_nonwheel_contact: 0.0392
+==============================================================================
+
+==============================================================================
+Learning iteration 25250/50000
+                               Total steps: 103,424,000
+                          Steps per second: 12,602
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1393.8
+                                Actor loss: -9.4570
+                               Critic loss: +0.0094
+                          World model loss: +0.6778
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3432
+     Episode_Reward/track_angular_velocity: +52.6456
+                    Episode_Reward/upright: +26.7568
+                Episode_Reward/leg_posture: -2.6875
+                 Episode_Reward/standstill: -6.3784
+             Episode_Reward/action_rate_l2: -0.6136
+           Episode_Reward/joint_torques_l2: -0.1542
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.0993
+         Episode_Reward/rolling_leg_motion: -0.6481
+          Episode_Reward/obstacle_progress: +3.5128
+       Episode_Reward/wheel_body_intrusion: -0.2613
+        Episode_Reward/pair_body_intrusion: -0.3074
+             Curriculum/terrain_level_mean: +3.6094
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4875
+             Episode_Termination/fell_over: 0.0187
+           Episode_Termination/course_exit: 0.4875
+Episode_Termination/illegal_nonwheel_contact: 0.0125
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1647]
+
+==============================================================================
+Learning iteration 25300/50000
+                               Total steps: 103,628,800
+                          Steps per second: 12,607
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1346.0
+                                Actor loss: -9.4999
+                               Critic loss: +0.0050
+                          World model loss: +0.7107
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5483
+     Episode_Reward/track_angular_velocity: +50.9271
+                    Episode_Reward/upright: +25.8429
+                Episode_Reward/leg_posture: -2.6140
+                 Episode_Reward/standstill: -5.8997
+             Episode_Reward/action_rate_l2: -0.5850
+           Episode_Reward/joint_torques_l2: -0.1487
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0105
+     Episode_Reward/unnecessary_wheel_lift: -0.0946
+         Episode_Reward/rolling_leg_motion: -0.6405
+          Episode_Reward/obstacle_progress: +3.2643
+       Episode_Reward/wheel_body_intrusion: -0.2494
+        Episode_Reward/pair_body_intrusion: -0.3216
+             Curriculum/terrain_level_mean: +3.6152
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4296
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.5423
+Episode_Termination/illegal_nonwheel_contact: 0.0141
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1163]
+
+==============================================================================
+Learning iteration 25350/50000
+                               Total steps: 103,833,600
+                          Steps per second: 12,612
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1331.0
+                                Actor loss: -9.4734
+                               Critic loss: +0.0041
+                          World model loss: +0.6361
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0988
+     Episode_Reward/track_angular_velocity: +50.3609
+                    Episode_Reward/upright: +25.5377
+                Episode_Reward/leg_posture: -2.5757
+                 Episode_Reward/standstill: -5.7681
+             Episode_Reward/action_rate_l2: -0.5752
+           Episode_Reward/joint_torques_l2: -0.1468
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0312
+     Episode_Reward/unnecessary_wheel_lift: -0.0861
+         Episode_Reward/rolling_leg_motion: -0.6222
+          Episode_Reward/obstacle_progress: +3.2735
+       Episode_Reward/wheel_body_intrusion: -0.2797
+        Episode_Reward/pair_body_intrusion: -0.2633
+             Curriculum/terrain_level_mean: +3.6179
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4452
+             Episode_Termination/fell_over: 0.0516
+           Episode_Termination/course_exit: 0.4774
+Episode_Termination/illegal_nonwheel_contact: 0.0387
+==============================================================================
+
+==============================================================================
+Learning iteration 25400/50000
+                               Total steps: 104,038,400
+                          Steps per second: 12,617
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1352.1
+                                Actor loss: -9.4729
+                               Critic loss: +0.0041
+                          World model loss: +0.6759
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8444
+     Episode_Reward/track_angular_velocity: +51.1049
+                    Episode_Reward/upright: +25.9595
+                Episode_Reward/leg_posture: -2.6218
+                 Episode_Reward/standstill: -6.1845
+             Episode_Reward/action_rate_l2: -0.5727
+           Episode_Reward/joint_torques_l2: -0.1489
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.0770
+         Episode_Reward/rolling_leg_motion: -0.6152
+          Episode_Reward/obstacle_progress: +3.3420
+       Episode_Reward/wheel_body_intrusion: -0.2736
+        Episode_Reward/pair_body_intrusion: -0.2993
+             Curriculum/terrain_level_mean: +3.6208
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4741
+             Episode_Termination/fell_over: 0.0259
+           Episode_Termination/course_exit: 0.4828
+Episode_Termination/illegal_nonwheel_contact: 0.0431
+==============================================================================
+
+==============================================================================
+Learning iteration 25450/50000
+                               Total steps: 104,243,200
+                          Steps per second: 12,622
+                            Iteration time: 0.325s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1396.8
+                                Actor loss: -9.4785
+                               Critic loss: +0.0060
+                          World model loss: +0.6699
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5384
+     Episode_Reward/track_angular_velocity: +52.7932
+                    Episode_Reward/upright: +26.7910
+                Episode_Reward/leg_posture: -2.7194
+                 Episode_Reward/standstill: -5.9911
+             Episode_Reward/action_rate_l2: -0.5899
+           Episode_Reward/joint_torques_l2: -0.1528
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0191
+     Episode_Reward/unnecessary_wheel_lift: -0.0931
+         Episode_Reward/rolling_leg_motion: -0.6473
+          Episode_Reward/obstacle_progress: +3.5470
+       Episode_Reward/wheel_body_intrusion: -0.2797
+        Episode_Reward/pair_body_intrusion: -0.3111
+             Curriculum/terrain_level_mean: +3.6240
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4929
+             Episode_Termination/fell_over: 0.0429
+           Episode_Termination/course_exit: 0.4571
+Episode_Termination/illegal_nonwheel_contact: 0.0214
+==============================================================================
+
+==============================================================================
+Learning iteration 25500/50000
+                               Total steps: 104,448,000
+                          Steps per second: 12,626
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1370.5
+                                Actor loss: -9.5010
+                               Critic loss: +0.0036
+                          World model loss: +0.7031
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4804
+     Episode_Reward/track_angular_velocity: +51.7642
+                    Episode_Reward/upright: +26.2660
+                Episode_Reward/leg_posture: -2.6654
+                 Episode_Reward/standstill: -6.1605
+             Episode_Reward/action_rate_l2: -0.6022
+           Episode_Reward/joint_torques_l2: -0.1508
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0976
+         Episode_Reward/rolling_leg_motion: -0.6416
+          Episode_Reward/obstacle_progress: +3.5173
+       Episode_Reward/wheel_body_intrusion: -0.2659
+        Episode_Reward/pair_body_intrusion: -0.3300
+             Curriculum/terrain_level_mean: +3.6299
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4793
+             Episode_Termination/fell_over: 0.0059
+           Episode_Termination/course_exit: 0.4911
+Episode_Termination/illegal_nonwheel_contact: 0.0296
+==============================================================================
+
+==============================================================================
+Learning iteration 25550/50000
+                               Total steps: 104,652,800
+                          Steps per second: 12,631
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0868
+                       Mean episode length: 1358.7
+                                Actor loss: -9.5206
+                               Critic loss: +0.0031
+                          World model loss: +0.6447
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0567
+     Episode_Reward/track_angular_velocity: +51.3937
+                    Episode_Reward/upright: +26.0454
+                Episode_Reward/leg_posture: -2.6658
+                 Episode_Reward/standstill: -6.1533
+             Episode_Reward/action_rate_l2: -0.5869
+           Episode_Reward/joint_torques_l2: -0.1489
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0239
+     Episode_Reward/unnecessary_wheel_lift: -0.0977
+         Episode_Reward/rolling_leg_motion: -0.6294
+          Episode_Reward/obstacle_progress: +3.3846
+       Episode_Reward/wheel_body_intrusion: -0.2533
+        Episode_Reward/pair_body_intrusion: -0.3219
+             Curriculum/terrain_level_mean: +3.6323
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.5169
+             Episode_Termination/fell_over: 0.0337
+           Episode_Termination/course_exit: 0.4326
+Episode_Termination/illegal_nonwheel_contact: 0.0169
+==============================================================================
+
+==============================================================================
+Learning iteration 25600/50000
+                               Total steps: 104,857,600
+                          Steps per second: 12,636
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1386.7
+                                Actor loss: -9.5015
+                               Critic loss: +0.0036
+                          World model loss: +0.7006
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1799
+     Episode_Reward/track_angular_velocity: +52.4293
+                    Episode_Reward/upright: +26.6234
+                Episode_Reward/leg_posture: -2.7114
+                 Episode_Reward/standstill: -6.1169
+             Episode_Reward/action_rate_l2: -0.5835
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0163
+     Episode_Reward/unnecessary_wheel_lift: -0.0871
+         Episode_Reward/rolling_leg_motion: -0.6325
+          Episode_Reward/obstacle_progress: +3.4703
+       Episode_Reward/wheel_body_intrusion: -0.2663
+        Episode_Reward/pair_body_intrusion: -0.3456
+             Curriculum/terrain_level_mean: +3.6360
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.5347
+             Episode_Termination/fell_over: 0.0347
+           Episode_Termination/course_exit: 0.4236
+Episode_Termination/illegal_nonwheel_contact: 0.0278
+==============================================================================
+
+==============================================================================
+Learning iteration 25650/50000
+                               Total steps: 105,062,400
+                          Steps per second: 12,640
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1459.1
+                                Actor loss: -9.4621
+                               Critic loss: +0.0069
+                          World model loss: +0.6681
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.6970
+     Episode_Reward/track_angular_velocity: +55.1812
+                    Episode_Reward/upright: +27.9900
+                Episode_Reward/leg_posture: -2.8627
+                 Episode_Reward/standstill: -6.7209
+             Episode_Reward/action_rate_l2: -0.6350
+           Episode_Reward/joint_torques_l2: -0.1598
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0171
+     Episode_Reward/unnecessary_wheel_lift: -0.0917
+         Episode_Reward/rolling_leg_motion: -0.6716
+          Episode_Reward/obstacle_progress: +3.6542
+       Episode_Reward/wheel_body_intrusion: -0.3006
+        Episode_Reward/pair_body_intrusion: -0.3862
+             Curriculum/terrain_level_mean: +3.6384
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5490
+             Episode_Termination/fell_over: 0.0261
+           Episode_Termination/course_exit: 0.4118
+Episode_Termination/illegal_nonwheel_contact: 0.0261
+==============================================================================
+
+==============================================================================
+Learning iteration 25700/50000
+                               Total steps: 105,267,200
+                          Steps per second: 12,645
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1383.5
+                                Actor loss: -9.4778
+                               Critic loss: +0.0042
+                          World model loss: +0.6582
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0038
+     Episode_Reward/track_angular_velocity: +52.2951
+                    Episode_Reward/upright: +26.5345
+                Episode_Reward/leg_posture: -2.7208
+                 Episode_Reward/standstill: -6.2264
+             Episode_Reward/action_rate_l2: -0.5788
+           Episode_Reward/joint_torques_l2: -0.1520
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.6368
+          Episode_Reward/obstacle_progress: +3.4691
+       Episode_Reward/wheel_body_intrusion: -0.2845
+        Episode_Reward/pair_body_intrusion: -0.3654
+             Curriculum/terrain_level_mean: +3.6418
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.5221
+             Episode_Termination/fell_over: 0.0074
+           Episode_Termination/course_exit: 0.4485
+Episode_Termination/illegal_nonwheel_contact: 0.0221
+==============================================================================
+
+==============================================================================
+Learning iteration 25750/50000
+                               Total steps: 105,472,000
+                          Steps per second: 12,647
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1371.7
+                                Actor loss: -9.4911
+                               Critic loss: +0.0036
+                          World model loss: +0.6484
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5665
+     Episode_Reward/track_angular_velocity: +51.8726
+                    Episode_Reward/upright: +26.2758
+                Episode_Reward/leg_posture: -2.6613
+                 Episode_Reward/standstill: -6.3193
+             Episode_Reward/action_rate_l2: -0.5735
+           Episode_Reward/joint_torques_l2: -0.1507
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.1001
+         Episode_Reward/rolling_leg_motion: -0.6188
+          Episode_Reward/obstacle_progress: +3.5497
+       Episode_Reward/wheel_body_intrusion: -0.2844
+        Episode_Reward/pair_body_intrusion: -0.3590
+             Curriculum/terrain_level_mean: +3.6455
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5063
+             Episode_Termination/fell_over: 0.0190
+           Episode_Termination/course_exit: 0.4494
+Episode_Termination/illegal_nonwheel_contact: 0.0380
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2369]
+
+==============================================================================
+Learning iteration 25800/50000
+                               Total steps: 105,676,800
+                          Steps per second: 12,652
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1390.6
+                                Actor loss: -9.4983
+                               Critic loss: +0.0073
+                          World model loss: +0.6725
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2045
+     Episode_Reward/track_angular_velocity: +52.6045
+                    Episode_Reward/upright: +26.6663
+                Episode_Reward/leg_posture: -2.6711
+                 Episode_Reward/standstill: -5.9186
+             Episode_Reward/action_rate_l2: -0.5913
+           Episode_Reward/joint_torques_l2: -0.1523
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0081
+     Episode_Reward/unnecessary_wheel_lift: -0.0835
+         Episode_Reward/rolling_leg_motion: -0.6168
+          Episode_Reward/obstacle_progress: +3.6205
+       Episode_Reward/wheel_body_intrusion: -0.2925
+        Episode_Reward/pair_body_intrusion: -0.3521
+             Curriculum/terrain_level_mean: +3.6499
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4872
+             Episode_Termination/fell_over: 0.0192
+           Episode_Termination/course_exit: 0.4936
+Episode_Termination/illegal_nonwheel_contact: 0.0064
+==============================================================================
+
+==============================================================================
+Learning iteration 25850/50000
+                               Total steps: 105,881,600
+                          Steps per second: 12,656
+                            Iteration time: 0.324s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1371.3
+                                Actor loss: -9.5306
+                               Critic loss: +0.0035
+                          World model loss: +0.6697
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5011
+     Episode_Reward/track_angular_velocity: +51.8350
+                    Episode_Reward/upright: +26.2910
+                Episode_Reward/leg_posture: -2.5912
+                 Episode_Reward/standstill: -5.8632
+             Episode_Reward/action_rate_l2: -0.5791
+           Episode_Reward/joint_torques_l2: -0.1513
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.0773
+         Episode_Reward/rolling_leg_motion: -0.6066
+          Episode_Reward/obstacle_progress: +3.6578
+       Episode_Reward/wheel_body_intrusion: -0.2790
+        Episode_Reward/pair_body_intrusion: -0.3386
+             Curriculum/terrain_level_mean: +3.6499
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4884
+             Episode_Termination/fell_over: 0.0078
+           Episode_Termination/course_exit: 0.4574
+Episode_Termination/illegal_nonwheel_contact: 0.0465
+==============================================================================
+
+==============================================================================
+Learning iteration 25900/50000
+                               Total steps: 106,086,400
+                          Steps per second: 12,661
+                            Iteration time: 0.324s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1415.1
+                                Actor loss: -9.5073
+                               Critic loss: +0.0034
+                          World model loss: +0.6723
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1128
+     Episode_Reward/track_angular_velocity: +53.4506
+                    Episode_Reward/upright: +27.1444
+                Episode_Reward/leg_posture: -2.6496
+                 Episode_Reward/standstill: -6.0852
+             Episode_Reward/action_rate_l2: -0.6122
+           Episode_Reward/joint_torques_l2: -0.1564
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0193
+     Episode_Reward/unnecessary_wheel_lift: -0.0825
+         Episode_Reward/rolling_leg_motion: -0.6299
+          Episode_Reward/obstacle_progress: +3.8534
+       Episode_Reward/wheel_body_intrusion: -0.2697
+        Episode_Reward/pair_body_intrusion: -0.3934
+             Curriculum/terrain_level_mean: +3.6519
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.5299
+             Episode_Termination/fell_over: 0.0224
+           Episode_Termination/course_exit: 0.4179
+Episode_Termination/illegal_nonwheel_contact: 0.0373
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2044]
+
+==============================================================================
+Learning iteration 25950/50000
+                               Total steps: 106,291,200
+                          Steps per second: 12,666
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1380.6
+                                Actor loss: -9.4802
+                               Critic loss: +0.0052
+                          World model loss: +0.6615
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7177
+     Episode_Reward/track_angular_velocity: +52.1051
+                    Episode_Reward/upright: +26.4809
+                Episode_Reward/leg_posture: -2.6303
+                 Episode_Reward/standstill: -5.8843
+             Episode_Reward/action_rate_l2: -0.5804
+           Episode_Reward/joint_torques_l2: -0.1552
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.0880
+         Episode_Reward/rolling_leg_motion: -0.6207
+          Episode_Reward/obstacle_progress: +3.5838
+       Episode_Reward/wheel_body_intrusion: -0.3093
+        Episode_Reward/pair_body_intrusion: -0.3847
+             Curriculum/terrain_level_mean: +3.6555
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.5217
+             Episode_Termination/fell_over: 0.0217
+           Episode_Termination/course_exit: 0.4275
+Episode_Termination/illegal_nonwheel_contact: 0.0290
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2323]
+
+==============================================================================
+Learning iteration 26000/50000
+                               Total steps: 106,496,000
+                          Steps per second: 12,671
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1379.6
+                                Actor loss: -9.5030
+                               Critic loss: +0.0047
+                          World model loss: +0.6879
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7079
+     Episode_Reward/track_angular_velocity: +52.0348
+                    Episode_Reward/upright: +26.4853
+                Episode_Reward/leg_posture: -2.6435
+                 Episode_Reward/standstill: -6.1722
+             Episode_Reward/action_rate_l2: -0.5945
+           Episode_Reward/joint_torques_l2: -0.1545
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0323
+     Episode_Reward/unnecessary_wheel_lift: -0.1041
+         Episode_Reward/rolling_leg_motion: -0.6397
+          Episode_Reward/obstacle_progress: +3.5550
+       Episode_Reward/wheel_body_intrusion: -0.2971
+        Episode_Reward/pair_body_intrusion: -0.3001
+             Curriculum/terrain_level_mean: +3.6580
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.5351
+             Episode_Termination/fell_over: 0.0486
+           Episode_Termination/course_exit: 0.4000
+Episode_Termination/illegal_nonwheel_contact: 0.0324
+==============================================================================
+
+==============================================================================
+Learning iteration 26050/50000
+                               Total steps: 106,700,800
+                          Steps per second: 12,675
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1350.6
+                                Actor loss: -9.5063
+                               Critic loss: +0.0047
+                          World model loss: +0.6492
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7889
+     Episode_Reward/track_angular_velocity: +51.0392
+                    Episode_Reward/upright: +25.9378
+                Episode_Reward/leg_posture: -2.5722
+                 Episode_Reward/standstill: -5.9605
+             Episode_Reward/action_rate_l2: -0.5831
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0317
+     Episode_Reward/unnecessary_wheel_lift: -0.0934
+         Episode_Reward/rolling_leg_motion: -0.6194
+          Episode_Reward/obstacle_progress: +3.4448
+       Episode_Reward/wheel_body_intrusion: -0.2467
+        Episode_Reward/pair_body_intrusion: -0.2799
+             Curriculum/terrain_level_mean: +3.6602
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4641
+             Episode_Termination/fell_over: 0.0523
+           Episode_Termination/course_exit: 0.4575
+Episode_Termination/illegal_nonwheel_contact: 0.0588
+==============================================================================
+
+==============================================================================
+Learning iteration 26100/50000
+                               Total steps: 106,905,600
+                          Steps per second: 12,680
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1362.9
+                                Actor loss: -9.4979
+                               Critic loss: +0.0046
+                          World model loss: +0.6704
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3885
+     Episode_Reward/track_angular_velocity: +51.5023
+                    Episode_Reward/upright: +26.1964
+                Episode_Reward/leg_posture: -2.5896
+                 Episode_Reward/standstill: -6.0782
+             Episode_Reward/action_rate_l2: -0.6024
+           Episode_Reward/joint_torques_l2: -0.1517
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.0731
+         Episode_Reward/rolling_leg_motion: -0.6136
+          Episode_Reward/obstacle_progress: +3.5332
+       Episode_Reward/wheel_body_intrusion: -0.2464
+        Episode_Reward/pair_body_intrusion: -0.2758
+             Curriculum/terrain_level_mean: +3.6633
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4810
+             Episode_Termination/fell_over: 0.0253
+           Episode_Termination/course_exit: 0.4684
+Episode_Termination/illegal_nonwheel_contact: 0.0316
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1233]
+
+==============================================================================
+Learning iteration 26150/50000
+                               Total steps: 107,110,400
+                          Steps per second: 12,685
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1360.2
+                                Actor loss: -9.4855
+                               Critic loss: +0.0057
+                          World model loss: +0.6859
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3371
+     Episode_Reward/track_angular_velocity: +51.4305
+                    Episode_Reward/upright: +26.1613
+                Episode_Reward/leg_posture: -2.5884
+                 Episode_Reward/standstill: -6.0963
+             Episode_Reward/action_rate_l2: -0.5862
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.0879
+         Episode_Reward/rolling_leg_motion: -0.6238
+          Episode_Reward/obstacle_progress: +3.4596
+       Episode_Reward/wheel_body_intrusion: -0.2671
+        Episode_Reward/pair_body_intrusion: -0.2650
+             Curriculum/terrain_level_mean: +3.6658
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4514
+             Episode_Termination/fell_over: 0.0278
+           Episode_Termination/course_exit: 0.5139
+Episode_Termination/illegal_nonwheel_contact: 0.0208
+==============================================================================
+
+==============================================================================
+Learning iteration 26200/50000
+                               Total steps: 107,315,200
+                          Steps per second: 12,689
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1372.9
+                                Actor loss: -9.4777
+                               Critic loss: +0.0098
+                          World model loss: +0.6652
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6902
+     Episode_Reward/track_angular_velocity: +51.8560
+                    Episode_Reward/upright: +26.3663
+                Episode_Reward/leg_posture: -2.6225
+                 Episode_Reward/standstill: -6.0264
+             Episode_Reward/action_rate_l2: -0.5931
+           Episode_Reward/joint_torques_l2: -0.1534
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0268
+     Episode_Reward/unnecessary_wheel_lift: -0.0922
+         Episode_Reward/rolling_leg_motion: -0.6415
+          Episode_Reward/obstacle_progress: +3.5197
+       Episode_Reward/wheel_body_intrusion: -0.2610
+        Episode_Reward/pair_body_intrusion: -0.3255
+             Curriculum/terrain_level_mean: +3.6692
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4653
+             Episode_Termination/fell_over: 0.0486
+           Episode_Termination/course_exit: 0.4653
+Episode_Termination/illegal_nonwheel_contact: 0.0417
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2218]
+
+==============================================================================
+Learning iteration 26250/50000
+                               Total steps: 107,520,000
+                          Steps per second: 12,694
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1366.3
+                                Actor loss: -9.5038
+                               Critic loss: +0.0081
+                          World model loss: +0.6667
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5464
+     Episode_Reward/track_angular_velocity: +51.6374
+                    Episode_Reward/upright: +26.2556
+                Episode_Reward/leg_posture: -2.5705
+                 Episode_Reward/standstill: -6.0426
+             Episode_Reward/action_rate_l2: -0.5841
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0792
+         Episode_Reward/rolling_leg_motion: -0.6240
+          Episode_Reward/obstacle_progress: +3.5195
+       Episode_Reward/wheel_body_intrusion: -0.2575
+        Episode_Reward/pair_body_intrusion: -0.2925
+             Curriculum/terrain_level_mean: +3.6726
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4641
+             Episode_Termination/fell_over: 0.0196
+           Episode_Termination/course_exit: 0.5098
+Episode_Termination/illegal_nonwheel_contact: 0.0196
+==============================================================================
+
+==============================================================================
+Learning iteration 26300/50000
+                               Total steps: 107,724,800
+                          Steps per second: 12,699
+                            Iteration time: 0.323s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1294.4
+                                Actor loss: -9.5163
+                               Critic loss: +0.0033
+                          World model loss: +0.6484
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0620
+     Episode_Reward/track_angular_velocity: +48.9875
+                    Episode_Reward/upright: +24.8908
+                Episode_Reward/leg_posture: -2.4867
+                 Episode_Reward/standstill: -5.7592
+             Episode_Reward/action_rate_l2: -0.5483
+           Episode_Reward/joint_torques_l2: -0.1415
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0202
+     Episode_Reward/unnecessary_wheel_lift: -0.0829
+         Episode_Reward/rolling_leg_motion: -0.6007
+          Episode_Reward/obstacle_progress: +3.3448
+       Episode_Reward/wheel_body_intrusion: -0.2589
+        Episode_Reward/pair_body_intrusion: -0.3100
+             Curriculum/terrain_level_mean: +3.6733
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.4306
+             Episode_Termination/fell_over: 0.0278
+           Episode_Termination/course_exit: 0.5139
+Episode_Termination/illegal_nonwheel_contact: 0.0486
+==============================================================================
+
+==============================================================================
+Learning iteration 26350/50000
+                               Total steps: 107,929,600
+                          Steps per second: 12,703
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0873
+                       Mean episode length: 1390.4
+                                Actor loss: -9.4869
+                               Critic loss: +0.0061
+                          World model loss: +0.6590
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5097
+     Episode_Reward/track_angular_velocity: +52.6043
+                    Episode_Reward/upright: +26.7337
+                Episode_Reward/leg_posture: -2.6836
+                 Episode_Reward/standstill: -6.2752
+             Episode_Reward/action_rate_l2: -0.5984
+           Episode_Reward/joint_torques_l2: -0.1526
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0217
+     Episode_Reward/unnecessary_wheel_lift: -0.0869
+         Episode_Reward/rolling_leg_motion: -0.6379
+          Episode_Reward/obstacle_progress: +3.6117
+       Episode_Reward/wheel_body_intrusion: -0.2914
+        Episode_Reward/pair_body_intrusion: -0.3046
+             Curriculum/terrain_level_mean: +3.6746
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5321
+             Episode_Termination/fell_over: 0.0385
+           Episode_Termination/course_exit: 0.4167
+Episode_Termination/illegal_nonwheel_contact: 0.0128
+==============================================================================
+
+==============================================================================
+Learning iteration 26400/50000
+                               Total steps: 108,134,400
+                          Steps per second: 12,707
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1411.9
+                                Actor loss: -9.5033
+                               Critic loss: +0.0056
+                          World model loss: +0.6489
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1741
+     Episode_Reward/track_angular_velocity: +53.4427
+                    Episode_Reward/upright: +27.1281
+                Episode_Reward/leg_posture: -2.7071
+                 Episode_Reward/standstill: -6.7598
+             Episode_Reward/action_rate_l2: -0.6141
+           Episode_Reward/joint_torques_l2: -0.1545
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0221
+     Episode_Reward/unnecessary_wheel_lift: -0.1064
+         Episode_Reward/rolling_leg_motion: -0.6468
+          Episode_Reward/obstacle_progress: +3.6768
+       Episode_Reward/wheel_body_intrusion: -0.2973
+        Episode_Reward/pair_body_intrusion: -0.3310
+             Curriculum/terrain_level_mean: +3.6760
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.5443
+             Episode_Termination/fell_over: 0.0316
+           Episode_Termination/course_exit: 0.4051
+Episode_Termination/illegal_nonwheel_contact: 0.0380
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1474]
+
+==============================================================================
+Learning iteration 26450/50000
+                               Total steps: 108,339,200
+                          Steps per second: 12,712
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1407.1
+                                Actor loss: -9.5045
+                               Critic loss: +0.0047
+                          World model loss: +0.6445
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9458
+     Episode_Reward/track_angular_velocity: +53.2579
+                    Episode_Reward/upright: +27.0767
+                Episode_Reward/leg_posture: -2.6455
+                 Episode_Reward/standstill: -6.1471
+             Episode_Reward/action_rate_l2: -0.5990
+           Episode_Reward/joint_torques_l2: -0.1532
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0302
+     Episode_Reward/unnecessary_wheel_lift: -0.0870
+         Episode_Reward/rolling_leg_motion: -0.6410
+          Episode_Reward/obstacle_progress: +3.5897
+       Episode_Reward/wheel_body_intrusion: -0.2807
+        Episode_Reward/pair_body_intrusion: -0.3219
+             Curriculum/terrain_level_mean: +3.6780
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.5101
+             Episode_Termination/fell_over: 0.0470
+           Episode_Termination/course_exit: 0.4161
+Episode_Termination/illegal_nonwheel_contact: 0.0537
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1778]
+
+==============================================================================
+Learning iteration 26500/50000
+                               Total steps: 108,544,000
+                          Steps per second: 12,716
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1355.6
+                                Actor loss: -9.5030
+                               Critic loss: +0.0038
+                          World model loss: +0.6600
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1961
+     Episode_Reward/track_angular_velocity: +51.3098
+                    Episode_Reward/upright: +26.1238
+                Episode_Reward/leg_posture: -2.5593
+                 Episode_Reward/standstill: -5.7390
+             Episode_Reward/action_rate_l2: -0.5706
+           Episode_Reward/joint_torques_l2: -0.1460
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.0725
+         Episode_Reward/rolling_leg_motion: -0.5889
+          Episode_Reward/obstacle_progress: +3.4783
+       Episode_Reward/wheel_body_intrusion: -0.2777
+        Episode_Reward/pair_body_intrusion: -0.3280
+             Curriculum/terrain_level_mean: +3.6807
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4748
+             Episode_Termination/fell_over: 0.0432
+           Episode_Termination/course_exit: 0.4676
+Episode_Termination/illegal_nonwheel_contact: 0.0360
+==============================================================================
+
+==============================================================================
+Learning iteration 26550/50000
+                               Total steps: 108,748,800
+                          Steps per second: 12,721
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1340.2
+                                Actor loss: -9.5492
+                               Critic loss: +0.0057
+                          World model loss: +0.6349
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5361
+     Episode_Reward/track_angular_velocity: +50.6945
+                    Episode_Reward/upright: +25.8006
+                Episode_Reward/leg_posture: -2.5834
+                 Episode_Reward/standstill: -5.9663
+             Episode_Reward/action_rate_l2: -0.5658
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0183
+     Episode_Reward/unnecessary_wheel_lift: -0.0776
+         Episode_Reward/rolling_leg_motion: -0.5973
+          Episode_Reward/obstacle_progress: +3.4320
+       Episode_Reward/wheel_body_intrusion: -0.2871
+        Episode_Reward/pair_body_intrusion: -0.3599
+             Curriculum/terrain_level_mean: +3.6843
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4067
+             Episode_Termination/fell_over: 0.0200
+           Episode_Termination/course_exit: 0.5467
+Episode_Termination/illegal_nonwheel_contact: 0.0467
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1208]
+
+==============================================================================
+Learning iteration 26600/50000
+                               Total steps: 108,953,600
+                          Steps per second: 12,726
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1325.1
+                                Actor loss: -9.4936
+                               Critic loss: +0.0064
+                          World model loss: +0.6322
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9602
+     Episode_Reward/track_angular_velocity: +50.0416
+                    Episode_Reward/upright: +25.4947
+                Episode_Reward/leg_posture: -2.5379
+                 Episode_Reward/standstill: -5.7308
+             Episode_Reward/action_rate_l2: -0.5658
+           Episode_Reward/joint_torques_l2: -0.1449
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.0855
+         Episode_Reward/rolling_leg_motion: -0.5962
+          Episode_Reward/obstacle_progress: +3.4290
+       Episode_Reward/wheel_body_intrusion: -0.2939
+        Episode_Reward/pair_body_intrusion: -0.3190
+             Curriculum/terrain_level_mean: +3.6873
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4380
+             Episode_Termination/fell_over: 0.0219
+           Episode_Termination/course_exit: 0.5182
+Episode_Termination/illegal_nonwheel_contact: 0.0292
+==============================================================================
+
+==============================================================================
+Learning iteration 26650/50000
+                               Total steps: 109,158,400
+                          Steps per second: 12,730
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1339.5
+                                Actor loss: -9.5062
+                               Critic loss: +0.0046
+                          World model loss: +0.6318
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3251
+     Episode_Reward/track_angular_velocity: +50.6020
+                    Episode_Reward/upright: +25.7507
+                Episode_Reward/leg_posture: -2.5421
+                 Episode_Reward/standstill: -5.8126
+             Episode_Reward/action_rate_l2: -0.5824
+           Episode_Reward/joint_torques_l2: -0.1466
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0105
+     Episode_Reward/unnecessary_wheel_lift: -0.0881
+         Episode_Reward/rolling_leg_motion: -0.5990
+          Episode_Reward/obstacle_progress: +3.4540
+       Episode_Reward/wheel_body_intrusion: -0.2790
+        Episode_Reward/pair_body_intrusion: -0.3251
+             Curriculum/terrain_level_mean: +3.6929
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4483
+             Episode_Termination/fell_over: 0.0138
+           Episode_Termination/course_exit: 0.5241
+Episode_Termination/illegal_nonwheel_contact: 0.0207
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1396]
+
+==============================================================================
+Learning iteration 26700/50000
+                               Total steps: 109,363,200
+                          Steps per second: 12,735
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1349.4
+                                Actor loss: -9.5126
+                               Critic loss: +0.0039
+                          World model loss: +0.6082
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6379
+     Episode_Reward/track_angular_velocity: +50.9421
+                    Episode_Reward/upright: +25.9099
+                Episode_Reward/leg_posture: -2.5500
+                 Episode_Reward/standstill: -5.8576
+             Episode_Reward/action_rate_l2: -0.5877
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.0888
+         Episode_Reward/rolling_leg_motion: -0.6139
+          Episode_Reward/obstacle_progress: +3.4564
+       Episode_Reward/wheel_body_intrusion: -0.2742
+        Episode_Reward/pair_body_intrusion: -0.3392
+             Curriculum/terrain_level_mean: +3.6958
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4740
+             Episode_Termination/fell_over: 0.0195
+           Episode_Termination/course_exit: 0.4935
+Episode_Termination/illegal_nonwheel_contact: 0.0195
+==============================================================================
+
+==============================================================================
+Learning iteration 26750/50000
+                               Total steps: 109,568,000
+                          Steps per second: 12,739
+                            Iteration time: 0.322s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1392.4
+                                Actor loss: -9.4797
+                               Critic loss: +0.0081
+                          World model loss: +0.6438
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2729
+     Episode_Reward/track_angular_velocity: +52.5701
+                    Episode_Reward/upright: +26.7119
+                Episode_Reward/leg_posture: -2.6279
+                 Episode_Reward/standstill: -6.0579
+             Episode_Reward/action_rate_l2: -0.6052
+           Episode_Reward/joint_torques_l2: -0.1520
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0245
+     Episode_Reward/unnecessary_wheel_lift: -0.0916
+         Episode_Reward/rolling_leg_motion: -0.6304
+          Episode_Reward/obstacle_progress: +3.6214
+       Episode_Reward/wheel_body_intrusion: -0.2863
+        Episode_Reward/pair_body_intrusion: -0.3602
+             Curriculum/terrain_level_mean: +3.6980
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.5094
+             Episode_Termination/fell_over: 0.0377
+           Episode_Termination/course_exit: 0.4340
+Episode_Termination/illegal_nonwheel_contact: 0.0503
+==============================================================================
+
+==============================================================================
+Learning iteration 26800/50000
+                               Total steps: 109,772,800
+                          Steps per second: 12,744
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1387.0
+                                Actor loss: -9.5053
+                               Critic loss: +0.0052
+                          World model loss: +0.6429
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1848
+     Episode_Reward/track_angular_velocity: +52.4685
+                    Episode_Reward/upright: +26.6415
+                Episode_Reward/leg_posture: -2.6523
+                 Episode_Reward/standstill: -5.9316
+             Episode_Reward/action_rate_l2: -0.5822
+           Episode_Reward/joint_torques_l2: -0.1514
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0712
+         Episode_Reward/rolling_leg_motion: -0.6083
+          Episode_Reward/obstacle_progress: +3.6842
+       Episode_Reward/wheel_body_intrusion: -0.2853
+        Episode_Reward/pair_body_intrusion: -0.3416
+             Curriculum/terrain_level_mean: +3.7012
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4922
+             Episode_Termination/fell_over: 0.0078
+           Episode_Termination/course_exit: 0.4844
+Episode_Termination/illegal_nonwheel_contact: 0.0234
+==============================================================================
+
+==============================================================================
+Learning iteration 26850/50000
+                               Total steps: 109,977,600
+                          Steps per second: 12,748
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0871
+                       Mean episode length: 1370.3
+                                Actor loss: -9.5136
+                               Critic loss: +0.0036
+                          World model loss: +0.6855
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4609
+     Episode_Reward/track_angular_velocity: +51.7958
+                    Episode_Reward/upright: +26.3116
+                Episode_Reward/leg_posture: -2.5972
+                 Episode_Reward/standstill: -6.1275
+             Episode_Reward/action_rate_l2: -0.5770
+           Episode_Reward/joint_torques_l2: -0.1482
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.6042
+          Episode_Reward/obstacle_progress: +3.5863
+       Episode_Reward/wheel_body_intrusion: -0.2784
+        Episode_Reward/pair_body_intrusion: -0.3039
+             Curriculum/terrain_level_mean: +3.7043
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4830
+             Episode_Termination/fell_over: 0.0340
+           Episode_Termination/course_exit: 0.4694
+Episode_Termination/illegal_nonwheel_contact: 0.0272
+==============================================================================
+
+==============================================================================
+Learning iteration 26900/50000
+                               Total steps: 110,182,400
+                          Steps per second: 12,753
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0869
+                       Mean episode length: 1338.1
+                                Actor loss: -9.5061
+                               Critic loss: +0.0076
+                          World model loss: +0.6657
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3280
+     Episode_Reward/track_angular_velocity: +50.5304
+                    Episode_Reward/upright: +25.6707
+                Episode_Reward/leg_posture: -2.5266
+                 Episode_Reward/standstill: -6.2325
+             Episode_Reward/action_rate_l2: -0.5866
+           Episode_Reward/joint_torques_l2: -0.1457
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0751
+         Episode_Reward/rolling_leg_motion: -0.5913
+          Episode_Reward/obstacle_progress: +3.5002
+       Episode_Reward/wheel_body_intrusion: -0.2602
+        Episode_Reward/pair_body_intrusion: -0.2893
+             Curriculum/terrain_level_mean: +3.7068
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0423
+           Episode_Termination/course_exit: 0.4437
+Episode_Termination/illegal_nonwheel_contact: 0.0211
+==============================================================================
+
+==============================================================================
+Learning iteration 26950/50000
+                               Total steps: 110,387,200
+                          Steps per second: 12,757
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1416.5
+                                Actor loss: -9.5146
+                               Critic loss: +0.0037
+                          World model loss: +0.6566
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1122
+     Episode_Reward/track_angular_velocity: +53.5230
+                    Episode_Reward/upright: +27.1960
+                Episode_Reward/leg_posture: -2.6723
+                 Episode_Reward/standstill: -5.8870
+             Episode_Reward/action_rate_l2: -0.6120
+           Episode_Reward/joint_torques_l2: -0.1525
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0055
+     Episode_Reward/unnecessary_wheel_lift: -0.0821
+         Episode_Reward/rolling_leg_motion: -0.6334
+          Episode_Reward/obstacle_progress: +3.7615
+       Episode_Reward/wheel_body_intrusion: -0.2563
+        Episode_Reward/pair_body_intrusion: -0.3481
+             Curriculum/terrain_level_mean: +3.7109
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.5373
+             Episode_Termination/fell_over: 0.0149
+           Episode_Termination/course_exit: 0.4478
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1612]
+
+==============================================================================
+Learning iteration 27000/50000
+                               Total steps: 110,592,000
+                          Steps per second: 12,761
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0876
+                       Mean episode length: 1401.2
+                                Actor loss: -9.4941
+                               Critic loss: +0.0053
+                          World model loss: +0.6974
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6659
+     Episode_Reward/track_angular_velocity: +52.9634
+                    Episode_Reward/upright: +26.9322
+                Episode_Reward/leg_posture: -2.6384
+                 Episode_Reward/standstill: -5.8486
+             Episode_Reward/action_rate_l2: -0.6023
+           Episode_Reward/joint_torques_l2: -0.1517
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0192
+     Episode_Reward/unnecessary_wheel_lift: -0.1021
+         Episode_Reward/rolling_leg_motion: -0.6232
+          Episode_Reward/obstacle_progress: +3.8054
+       Episode_Reward/wheel_body_intrusion: -0.2675
+        Episode_Reward/pair_body_intrusion: -0.3157
+             Curriculum/terrain_level_mean: +3.7139
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.5417
+             Episode_Termination/fell_over: 0.0417
+           Episode_Termination/course_exit: 0.4097
+Episode_Termination/illegal_nonwheel_contact: 0.0417
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_027000.mp4
+RECOVERY reset 1 invalid environments; first IDs=[2603]
+
+==============================================================================
+Learning iteration 27050/50000
+                               Total steps: 110,796,800
+                          Steps per second: 12,757
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1451.7
+                                Actor loss: -9.5092
+                               Critic loss: +0.0054
+                          World model loss: +0.6410
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.4013
+     Episode_Reward/track_angular_velocity: +54.8325
+                    Episode_Reward/upright: +27.8639
+                Episode_Reward/leg_posture: -2.7824
+                 Episode_Reward/standstill: -5.8016
+             Episode_Reward/action_rate_l2: -0.6125
+           Episode_Reward/joint_torques_l2: -0.1595
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0113
+     Episode_Reward/unnecessary_wheel_lift: -0.0914
+         Episode_Reward/rolling_leg_motion: -0.6518
+          Episode_Reward/obstacle_progress: +3.8226
+       Episode_Reward/wheel_body_intrusion: -0.2902
+        Episode_Reward/pair_body_intrusion: -0.3225
+             Curriculum/terrain_level_mean: +3.7166
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.5674
+             Episode_Termination/fell_over: 0.0213
+           Episode_Termination/course_exit: 0.4043
+Episode_Termination/illegal_nonwheel_contact: 0.0142
+==============================================================================
+
+==============================================================================
+Learning iteration 27100/50000
+                               Total steps: 111,001,600
+                          Steps per second: 12,761
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1438.6
+                                Actor loss: -9.4866
+                               Critic loss: +0.0048
+                          World model loss: +0.6499
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.0188
+     Episode_Reward/track_angular_velocity: +54.3522
+                    Episode_Reward/upright: +27.6273
+                Episode_Reward/leg_posture: -2.7928
+                 Episode_Reward/standstill: -5.9295
+             Episode_Reward/action_rate_l2: -0.6266
+           Episode_Reward/joint_torques_l2: -0.1568
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0140
+     Episode_Reward/unnecessary_wheel_lift: -0.0962
+         Episode_Reward/rolling_leg_motion: -0.6668
+          Episode_Reward/obstacle_progress: +3.8123
+       Episode_Reward/wheel_body_intrusion: -0.2890
+        Episode_Reward/pair_body_intrusion: -0.3184
+             Curriculum/terrain_level_mean: +3.7190
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5161
+             Episode_Termination/fell_over: 0.0194
+           Episode_Termination/course_exit: 0.4516
+Episode_Termination/illegal_nonwheel_contact: 0.0258
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1398]
+
+==============================================================================
+Learning iteration 27150/50000
+                               Total steps: 111,206,400
+                          Steps per second: 12,766
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0873
+                       Mean episode length: 1350.3
+                                Actor loss: -9.5029
+                               Critic loss: +0.0029
+                          World model loss: +0.6422
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7993
+     Episode_Reward/track_angular_velocity: +51.0015
+                    Episode_Reward/upright: +25.9361
+                Episode_Reward/leg_posture: -2.5859
+                 Episode_Reward/standstill: -5.8239
+             Episode_Reward/action_rate_l2: -0.5729
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: +0.0000
+     Episode_Reward/unnecessary_wheel_lift: -0.0871
+         Episode_Reward/rolling_leg_motion: -0.6185
+          Episode_Reward/obstacle_progress: +3.5350
+       Episode_Reward/wheel_body_intrusion: -0.2751
+        Episode_Reward/pair_body_intrusion: -0.3142
+             Curriculum/terrain_level_mean: +3.7234
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.3986
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.6014
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 27200/50000
+                               Total steps: 111,411,200
+                          Steps per second: 12,770
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0876
+                       Mean episode length: 1334.4
+                                Actor loss: -9.5037
+                               Critic loss: +0.0029
+                          World model loss: +0.6474
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3732
+     Episode_Reward/track_angular_velocity: +50.4444
+                    Episode_Reward/upright: +25.6437
+                Episode_Reward/leg_posture: -2.5871
+                 Episode_Reward/standstill: -5.4414
+             Episode_Reward/action_rate_l2: -0.5647
+           Episode_Reward/joint_torques_l2: -0.1462
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0235
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.5971
+          Episode_Reward/obstacle_progress: +3.5189
+       Episode_Reward/wheel_body_intrusion: -0.2734
+        Episode_Reward/pair_body_intrusion: -0.3009
+             Curriculum/terrain_level_mean: +3.7253
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4726
+             Episode_Termination/fell_over: 0.0342
+           Episode_Termination/course_exit: 0.4658
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2711]
+
+==============================================================================
+Learning iteration 27250/50000
+                               Total steps: 111,616,000
+                          Steps per second: 12,775
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0875
+                       Mean episode length: 1447.3
+                                Actor loss: -9.5080
+                               Critic loss: +0.0034
+                          World model loss: +0.6678
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.3842
+     Episode_Reward/track_angular_velocity: +54.6676
+                    Episode_Reward/upright: +27.8272
+                Episode_Reward/leg_posture: -2.7642
+                 Episode_Reward/standstill: -6.1378
+             Episode_Reward/action_rate_l2: -0.6231
+           Episode_Reward/joint_torques_l2: -0.1565
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0141
+     Episode_Reward/unnecessary_wheel_lift: -0.0859
+         Episode_Reward/rolling_leg_motion: -0.6639
+          Episode_Reward/obstacle_progress: +3.8448
+       Episode_Reward/wheel_body_intrusion: -0.2725
+        Episode_Reward/pair_body_intrusion: -0.3014
+             Curriculum/terrain_level_mean: +3.7295
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5759
+             Episode_Termination/fell_over: 0.0127
+           Episode_Termination/course_exit: 0.3924
+Episode_Termination/illegal_nonwheel_contact: 0.0190
+==============================================================================
+
+==============================================================================
+Learning iteration 27300/50000
+                               Total steps: 111,820,800
+                          Steps per second: 12,780
+                            Iteration time: 0.321s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0873
+                       Mean episode length: 1425.2
+                                Actor loss: -9.4637
+                               Critic loss: +0.0041
+                          World model loss: +0.6563
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.4689
+     Episode_Reward/track_angular_velocity: +53.8409
+                    Episode_Reward/upright: +27.3858
+                Episode_Reward/leg_posture: -2.7621
+                 Episode_Reward/standstill: -6.1851
+             Episode_Reward/action_rate_l2: -0.6014
+           Episode_Reward/joint_torques_l2: -0.1555
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0167
+     Episode_Reward/unnecessary_wheel_lift: -0.0862
+         Episode_Reward/rolling_leg_motion: -0.6431
+          Episode_Reward/obstacle_progress: +3.8205
+       Episode_Reward/wheel_body_intrusion: -0.2838
+        Episode_Reward/pair_body_intrusion: -0.3095
+             Curriculum/terrain_level_mean: +3.7310
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5427
+             Episode_Termination/fell_over: 0.0183
+           Episode_Termination/course_exit: 0.4207
+Episode_Termination/illegal_nonwheel_contact: 0.0366
+==============================================================================
+
+==============================================================================
+Learning iteration 27350/50000
+                               Total steps: 112,025,600
+                          Steps per second: 12,784
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1374.1
+                                Actor loss: -9.5266
+                               Critic loss: +0.0031
+                          World model loss: +0.6722
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6507
+     Episode_Reward/track_angular_velocity: +51.9427
+                    Episode_Reward/upright: +26.4121
+                Episode_Reward/leg_posture: -2.6158
+                 Episode_Reward/standstill: -5.9664
+             Episode_Reward/action_rate_l2: -0.5868
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0242
+     Episode_Reward/unnecessary_wheel_lift: -0.0912
+         Episode_Reward/rolling_leg_motion: -0.6126
+          Episode_Reward/obstacle_progress: +3.6841
+       Episode_Reward/wheel_body_intrusion: -0.2693
+        Episode_Reward/pair_body_intrusion: -0.2882
+             Curriculum/terrain_level_mean: +3.7336
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4762
+             Episode_Termination/fell_over: 0.0476
+           Episode_Termination/course_exit: 0.4626
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+
+==============================================================================
+Learning iteration 27400/50000
+                               Total steps: 112,230,400
+                          Steps per second: 12,788
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0874
+                       Mean episode length: 1378.3
+                                Actor loss: -9.5409
+                               Critic loss: +0.0033
+                          World model loss: +0.6467
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7774
+     Episode_Reward/track_angular_velocity: +52.0286
+                    Episode_Reward/upright: +26.4699
+                Episode_Reward/leg_posture: -2.6174
+                 Episode_Reward/standstill: -5.9051
+             Episode_Reward/action_rate_l2: -0.5867
+           Episode_Reward/joint_torques_l2: -0.1487
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0777
+         Episode_Reward/rolling_leg_motion: -0.5991
+          Episode_Reward/obstacle_progress: +3.6973
+       Episode_Reward/wheel_body_intrusion: -0.2650
+        Episode_Reward/pair_body_intrusion: -0.3073
+             Curriculum/terrain_level_mean: +3.7371
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.5188
+             Episode_Termination/fell_over: 0.0226
+           Episode_Termination/course_exit: 0.4511
+Episode_Termination/illegal_nonwheel_contact: 0.0150
+==============================================================================
+
+==============================================================================
+Learning iteration 27450/50000
+                               Total steps: 112,435,200
+                          Steps per second: 12,793
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1436.2
+                                Actor loss: -9.4930
+                               Critic loss: +0.0051
+                          World model loss: +0.6464
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.8643
+     Episode_Reward/track_angular_velocity: +54.3101
+                    Episode_Reward/upright: +27.5525
+                Episode_Reward/leg_posture: -2.7614
+                 Episode_Reward/standstill: -6.2450
+             Episode_Reward/action_rate_l2: -0.6179
+           Episode_Reward/joint_torques_l2: -0.1566
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0140
+     Episode_Reward/unnecessary_wheel_lift: -0.0982
+         Episode_Reward/rolling_leg_motion: -0.6445
+          Episode_Reward/obstacle_progress: +3.8448
+       Episode_Reward/wheel_body_intrusion: -0.2795
+        Episode_Reward/pair_body_intrusion: -0.3181
+             Curriculum/terrain_level_mean: +3.7383
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.5746
+             Episode_Termination/fell_over: 0.0149
+           Episode_Termination/course_exit: 0.3881
+Episode_Termination/illegal_nonwheel_contact: 0.0299
+==============================================================================
+
+==============================================================================
+Learning iteration 27500/50000
+                               Total steps: 112,640,000
+                          Steps per second: 12,797
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1368.2
+                                Actor loss: -9.5152
+                               Critic loss: +0.0032
+                          World model loss: +0.6693
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4718
+     Episode_Reward/track_angular_velocity: +51.7552
+                    Episode_Reward/upright: +26.2656
+                Episode_Reward/leg_posture: -2.6141
+                 Episode_Reward/standstill: -5.6175
+             Episode_Reward/action_rate_l2: -0.5849
+           Episode_Reward/joint_torques_l2: -0.1503
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0053
+     Episode_Reward/unnecessary_wheel_lift: -0.0786
+         Episode_Reward/rolling_leg_motion: -0.6054
+          Episode_Reward/obstacle_progress: +3.6865
+       Episode_Reward/wheel_body_intrusion: -0.2630
+        Episode_Reward/pair_body_intrusion: -0.2764
+             Curriculum/terrain_level_mean: +3.7419
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0069
+           Episode_Termination/course_exit: 0.4828
+Episode_Termination/illegal_nonwheel_contact: 0.0138
+==============================================================================
+
+==============================================================================
+Learning iteration 27550/50000
+                               Total steps: 112,844,800
+                          Steps per second: 12,801
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0877
+                       Mean episode length: 1358.6
+                                Actor loss: -9.5101
+                               Critic loss: +0.0034
+                          World model loss: +0.6233
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1982
+     Episode_Reward/track_angular_velocity: +51.3582
+                    Episode_Reward/upright: +26.1018
+                Episode_Reward/leg_posture: -2.5683
+                 Episode_Reward/standstill: -5.6339
+             Episode_Reward/action_rate_l2: -0.5839
+           Episode_Reward/joint_torques_l2: -0.1468
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0106
+     Episode_Reward/unnecessary_wheel_lift: -0.0821
+         Episode_Reward/rolling_leg_motion: -0.6117
+          Episode_Reward/obstacle_progress: +3.6666
+       Episode_Reward/wheel_body_intrusion: -0.2572
+        Episode_Reward/pair_body_intrusion: -0.2691
+             Curriculum/terrain_level_mean: +3.7458
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.4717
+             Episode_Termination/fell_over: 0.0063
+           Episode_Termination/course_exit: 0.5031
+Episode_Termination/illegal_nonwheel_contact: 0.0252
+==============================================================================
+
+==============================================================================
+Learning iteration 27600/50000
+                               Total steps: 113,049,600
+                          Steps per second: 12,805
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0876
+                       Mean episode length: 1349.2
+                                Actor loss: -9.5203
+                               Critic loss: +0.0045
+                          World model loss: +0.6841
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7457
+     Episode_Reward/track_angular_velocity: +50.9893
+                    Episode_Reward/upright: +25.9038
+                Episode_Reward/leg_posture: -2.5951
+                 Episode_Reward/standstill: -5.3924
+             Episode_Reward/action_rate_l2: -0.5893
+           Episode_Reward/joint_torques_l2: -0.1461
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0237
+     Episode_Reward/unnecessary_wheel_lift: -0.0826
+         Episode_Reward/rolling_leg_motion: -0.6038
+          Episode_Reward/obstacle_progress: +3.5950
+       Episode_Reward/wheel_body_intrusion: -0.2698
+        Episode_Reward/pair_body_intrusion: -0.2899
+             Curriculum/terrain_level_mean: +3.7488
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4324
+             Episode_Termination/fell_over: 0.0338
+           Episode_Termination/course_exit: 0.5068
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1413]
+
+==============================================================================
+Learning iteration 27650/50000
+                               Total steps: 113,254,400
+                          Steps per second: 12,809
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1322.5
+                                Actor loss: -9.5107
+                               Critic loss: +0.0046
+                          World model loss: +0.6709
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7169
+     Episode_Reward/track_angular_velocity: +49.9353
+                    Episode_Reward/upright: +25.4192
+                Episode_Reward/leg_posture: -2.5271
+                 Episode_Reward/standstill: -5.3171
+             Episode_Reward/action_rate_l2: -0.5907
+           Episode_Reward/joint_torques_l2: -0.1449
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.0984
+         Episode_Reward/rolling_leg_motion: -0.6264
+          Episode_Reward/obstacle_progress: +3.5023
+       Episode_Reward/wheel_body_intrusion: -0.2575
+        Episode_Reward/pair_body_intrusion: -0.2814
+             Curriculum/terrain_level_mean: +3.7517
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0947
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4036
+             Episode_Termination/fell_over: 0.0301
+           Episode_Termination/course_exit: 0.5542
+Episode_Termination/illegal_nonwheel_contact: 0.0120
+==============================================================================
+
+==============================================================================
+Learning iteration 27700/50000
+                               Total steps: 113,459,200
+                          Steps per second: 12,814
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1365.2
+                                Actor loss: -9.5054
+                               Critic loss: +0.0029
+                          World model loss: +0.6419
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3230
+     Episode_Reward/track_angular_velocity: +51.5562
+                    Episode_Reward/upright: +26.2334
+                Episode_Reward/leg_posture: -2.6076
+                 Episode_Reward/standstill: -5.7971
+             Episode_Reward/action_rate_l2: -0.5982
+           Episode_Reward/joint_torques_l2: -0.1498
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0267
+     Episode_Reward/unnecessary_wheel_lift: -0.0902
+         Episode_Reward/rolling_leg_motion: -0.6302
+          Episode_Reward/obstacle_progress: +3.6510
+       Episode_Reward/wheel_body_intrusion: -0.2741
+        Episode_Reward/pair_body_intrusion: -0.2946
+             Curriculum/terrain_level_mean: +3.7539
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4500
+             Episode_Termination/fell_over: 0.0312
+           Episode_Termination/course_exit: 0.4875
+Episode_Termination/illegal_nonwheel_contact: 0.0500
+==============================================================================
+
+==============================================================================
+Learning iteration 27750/50000
+                               Total steps: 113,664,000
+                          Steps per second: 12,818
+                            Iteration time: 0.320s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1398.6
+                                Actor loss: -9.5085
+                               Critic loss: +0.0048
+                          World model loss: +0.6407
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5863
+     Episode_Reward/track_angular_velocity: +52.8444
+                    Episode_Reward/upright: +26.8954
+                Episode_Reward/leg_posture: -2.6545
+                 Episode_Reward/standstill: -6.0506
+             Episode_Reward/action_rate_l2: -0.6099
+           Episode_Reward/joint_torques_l2: -0.1511
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0845
+         Episode_Reward/rolling_leg_motion: -0.6245
+          Episode_Reward/obstacle_progress: +3.7899
+       Episode_Reward/wheel_body_intrusion: -0.2820
+        Episode_Reward/pair_body_intrusion: -0.2823
+             Curriculum/terrain_level_mean: +3.7561
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.5031
+             Episode_Termination/fell_over: 0.0252
+           Episode_Termination/course_exit: 0.4654
+Episode_Termination/illegal_nonwheel_contact: 0.0252
+==============================================================================
+
+==============================================================================
+Learning iteration 27800/50000
+                               Total steps: 113,868,800
+                          Steps per second: 12,822
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1378.4
+                                Actor loss: -9.4902
+                               Critic loss: +0.0088
+                          World model loss: +0.6450
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8390
+     Episode_Reward/track_angular_velocity: +52.1336
+                    Episode_Reward/upright: +26.4905
+                Episode_Reward/leg_posture: -2.6001
+                 Episode_Reward/standstill: -6.1515
+             Episode_Reward/action_rate_l2: -0.5940
+           Episode_Reward/joint_torques_l2: -0.1487
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0861
+         Episode_Reward/rolling_leg_motion: -0.6123
+          Episode_Reward/obstacle_progress: +3.6892
+       Episode_Reward/wheel_body_intrusion: -0.2636
+        Episode_Reward/pair_body_intrusion: -0.3023
+             Curriculum/terrain_level_mean: +3.7588
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.5266
+             Episode_Termination/fell_over: 0.0237
+           Episode_Termination/course_exit: 0.4320
+Episode_Termination/illegal_nonwheel_contact: 0.0237
+==============================================================================
+
+==============================================================================
+Learning iteration 27850/50000
+                               Total steps: 114,073,600
+                          Steps per second: 12,826
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1435.7
+                                Actor loss: -9.4975
+                               Critic loss: +0.0057
+                          World model loss: +0.6653
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.8179
+     Episode_Reward/track_angular_velocity: +54.2074
+                    Episode_Reward/upright: +27.5656
+                Episode_Reward/leg_posture: -2.6758
+                 Episode_Reward/standstill: -5.6683
+             Episode_Reward/action_rate_l2: -0.6114
+           Episode_Reward/joint_torques_l2: -0.1558
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0196
+     Episode_Reward/unnecessary_wheel_lift: -0.0883
+         Episode_Reward/rolling_leg_motion: -0.6469
+          Episode_Reward/obstacle_progress: +3.8380
+       Episode_Reward/wheel_body_intrusion: -0.2694
+        Episode_Reward/pair_body_intrusion: -0.2742
+             Curriculum/terrain_level_mean: +3.7607
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.5484
+             Episode_Termination/fell_over: 0.0194
+           Episode_Termination/course_exit: 0.4065
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2711]
+
+==============================================================================
+Learning iteration 27900/50000
+                               Total steps: 114,278,400
+                          Steps per second: 12,830
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0877
+                       Mean episode length: 1424.3
+                                Actor loss: -9.5112
+                               Critic loss: +0.0048
+                          World model loss: +0.6470
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.3764
+     Episode_Reward/track_angular_velocity: +53.8268
+                    Episode_Reward/upright: +27.3384
+                Episode_Reward/leg_posture: -2.6586
+                 Episode_Reward/standstill: -5.8320
+             Episode_Reward/action_rate_l2: -0.6082
+           Episode_Reward/joint_torques_l2: -0.1563
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0167
+     Episode_Reward/unnecessary_wheel_lift: -0.0960
+         Episode_Reward/rolling_leg_motion: -0.6322
+          Episode_Reward/obstacle_progress: +3.8724
+       Episode_Reward/wheel_body_intrusion: -0.2635
+        Episode_Reward/pair_body_intrusion: -0.3001
+             Curriculum/terrain_level_mean: +3.7620
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.5362
+             Episode_Termination/fell_over: 0.0217
+           Episode_Termination/course_exit: 0.4203
+Episode_Termination/illegal_nonwheel_contact: 0.0435
+==============================================================================
+
+==============================================================================
+Learning iteration 27950/50000
+                               Total steps: 114,483,200
+                          Steps per second: 12,835
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1331.1
+                                Actor loss: -9.5093
+                               Critic loss: +0.0042
+                          World model loss: +0.6706
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0838
+     Episode_Reward/track_angular_velocity: +50.2903
+                    Episode_Reward/upright: +25.5540
+                Episode_Reward/leg_posture: -2.5026
+                 Episode_Reward/standstill: -5.7571
+             Episode_Reward/action_rate_l2: -0.5674
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0312
+     Episode_Reward/unnecessary_wheel_lift: -0.0848
+         Episode_Reward/rolling_leg_motion: -0.5876
+          Episode_Reward/obstacle_progress: +3.6314
+       Episode_Reward/wheel_body_intrusion: -0.2481
+        Episode_Reward/pair_body_intrusion: -0.2742
+             Curriculum/terrain_level_mean: +3.7649
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4667
+             Episode_Termination/fell_over: 0.0667
+           Episode_Termination/course_exit: 0.4444
+Episode_Termination/illegal_nonwheel_contact: 0.0370
+==============================================================================
+
+==============================================================================
+Learning iteration 28000/50000
+                               Total steps: 114,688,000
+                          Steps per second: 12,839
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1401.5
+                                Actor loss: -9.4875
+                               Critic loss: +0.0061
+                          World model loss: +0.6450
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5057
+     Episode_Reward/track_angular_velocity: +52.9376
+                    Episode_Reward/upright: +26.9288
+                Episode_Reward/leg_posture: -2.6473
+                 Episode_Reward/standstill: -5.8255
+             Episode_Reward/action_rate_l2: -0.6052
+           Episode_Reward/joint_torques_l2: -0.1523
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0916
+         Episode_Reward/rolling_leg_motion: -0.6218
+          Episode_Reward/obstacle_progress: +3.8381
+       Episode_Reward/wheel_body_intrusion: -0.2795
+        Episode_Reward/pair_body_intrusion: -0.2954
+             Curriculum/terrain_level_mean: +3.7666
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.5337
+             Episode_Termination/fell_over: 0.0123
+           Episode_Termination/course_exit: 0.4356
+Episode_Termination/illegal_nonwheel_contact: 0.0245
+==============================================================================
+
+==============================================================================
+Learning iteration 28050/50000
+                               Total steps: 114,892,800
+                          Steps per second: 12,843
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1306.1
+                                Actor loss: -9.5220
+                               Critic loss: +0.0075
+                          World model loss: +0.6258
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2083
+     Episode_Reward/track_angular_velocity: +49.3733
+                    Episode_Reward/upright: +25.1091
+                Episode_Reward/leg_posture: -2.4595
+                 Episode_Reward/standstill: -5.4119
+             Episode_Reward/action_rate_l2: -0.5548
+           Episode_Reward/joint_torques_l2: -0.1424
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0204
+     Episode_Reward/unnecessary_wheel_lift: -0.0842
+         Episode_Reward/rolling_leg_motion: -0.5819
+          Episode_Reward/obstacle_progress: +3.5373
+       Episode_Reward/wheel_body_intrusion: -0.2668
+        Episode_Reward/pair_body_intrusion: -0.3065
+             Curriculum/terrain_level_mean: +3.7688
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4228
+             Episode_Termination/fell_over: 0.0201
+           Episode_Termination/course_exit: 0.5235
+Episode_Termination/illegal_nonwheel_contact: 0.0336
+==============================================================================
+
+==============================================================================
+Learning iteration 28100/50000
+                               Total steps: 115,097,600
+                          Steps per second: 12,847
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1411.5
+                                Actor loss: -9.5225
+                               Critic loss: +0.0039
+                          World model loss: +0.6463
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9686
+     Episode_Reward/track_angular_velocity: +53.4313
+                    Episode_Reward/upright: +27.1364
+                Episode_Reward/leg_posture: -2.6800
+                 Episode_Reward/standstill: -5.9650
+             Episode_Reward/action_rate_l2: -0.5965
+           Episode_Reward/joint_torques_l2: -0.1523
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0221
+     Episode_Reward/unnecessary_wheel_lift: -0.0837
+         Episode_Reward/rolling_leg_motion: -0.6127
+          Episode_Reward/obstacle_progress: +3.7881
+       Episode_Reward/wheel_body_intrusion: -0.2734
+        Episode_Reward/pair_body_intrusion: -0.3000
+             Curriculum/terrain_level_mean: +3.7690
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.5347
+             Episode_Termination/fell_over: 0.0278
+           Episode_Termination/course_exit: 0.4097
+Episode_Termination/illegal_nonwheel_contact: 0.0347
+==============================================================================
+
+==============================================================================
+Learning iteration 28150/50000
+                               Total steps: 115,302,400
+                          Steps per second: 12,851
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1313.2
+                                Actor loss: -9.5277
+                               Critic loss: +0.0050
+                          World model loss: +0.6398
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5418
+     Episode_Reward/track_angular_velocity: +49.6471
+                    Episode_Reward/upright: +25.2316
+                Episode_Reward/leg_posture: -2.4253
+                 Episode_Reward/standstill: -5.5633
+             Episode_Reward/action_rate_l2: -0.5492
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0282
+     Episode_Reward/unnecessary_wheel_lift: -0.0798
+         Episode_Reward/rolling_leg_motion: -0.5668
+          Episode_Reward/obstacle_progress: +3.5381
+       Episode_Reward/wheel_body_intrusion: -0.2532
+        Episode_Reward/pair_body_intrusion: -0.2999
+             Curriculum/terrain_level_mean: +3.7710
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4568
+             Episode_Termination/fell_over: 0.0432
+           Episode_Termination/course_exit: 0.4753
+Episode_Termination/illegal_nonwheel_contact: 0.0494
+==============================================================================
+
+==============================================================================
+Learning iteration 28200/50000
+                               Total steps: 115,507,200
+                          Steps per second: 12,855
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1427.1
+                                Actor loss: -9.4918
+                               Critic loss: +0.0089
+                          World model loss: +0.6503
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.4428
+     Episode_Reward/track_angular_velocity: +53.9271
+                    Episode_Reward/upright: +27.3925
+                Episode_Reward/leg_posture: -2.7177
+                 Episode_Reward/standstill: -6.1187
+             Episode_Reward/action_rate_l2: -0.5981
+           Episode_Reward/joint_torques_l2: -0.1570
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0167
+     Episode_Reward/unnecessary_wheel_lift: -0.0928
+         Episode_Reward/rolling_leg_motion: -0.6217
+          Episode_Reward/obstacle_progress: +3.7705
+       Episode_Reward/wheel_body_intrusion: -0.2971
+        Episode_Reward/pair_body_intrusion: -0.3667
+             Curriculum/terrain_level_mean: +3.7737
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4839
+             Episode_Termination/fell_over: 0.0194
+           Episode_Termination/course_exit: 0.4774
+Episode_Termination/illegal_nonwheel_contact: 0.0258
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1868]
+
+==============================================================================
+Learning iteration 28250/50000
+                               Total steps: 115,712,000
+                          Steps per second: 12,860
+                            Iteration time: 0.319s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1370.7
+                                Actor loss: -9.5288
+                               Critic loss: +0.0037
+                          World model loss: +0.6336
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5767
+     Episode_Reward/track_angular_velocity: +51.8483
+                    Episode_Reward/upright: +26.3023
+                Episode_Reward/leg_posture: -2.5611
+                 Episode_Reward/standstill: -5.8016
+             Episode_Reward/action_rate_l2: -0.5733
+           Episode_Reward/joint_torques_l2: -0.1501
+             Episode_Reward/dof_pos_limits: -0.0016
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0791
+         Episode_Reward/rolling_leg_motion: -0.5853
+          Episode_Reward/obstacle_progress: +3.6607
+       Episode_Reward/wheel_body_intrusion: -0.2575
+        Episode_Reward/pair_body_intrusion: -0.2914
+             Curriculum/terrain_level_mean: +3.7764
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0138
+           Episode_Termination/course_exit: 0.4690
+Episode_Termination/illegal_nonwheel_contact: 0.0138
+==============================================================================
+
+==============================================================================
+Learning iteration 28300/50000
+                               Total steps: 115,916,800
+                          Steps per second: 12,864
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0876
+                       Mean episode length: 1321.7
+                                Actor loss: -9.5227
+                               Critic loss: +0.0043
+                          World model loss: +0.6556
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8024
+     Episode_Reward/track_angular_velocity: +49.9782
+                    Episode_Reward/upright: +25.3450
+                Episode_Reward/leg_posture: -2.5082
+                 Episode_Reward/standstill: -5.4809
+             Episode_Reward/action_rate_l2: -0.5504
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.0733
+         Episode_Reward/rolling_leg_motion: -0.5629
+          Episode_Reward/obstacle_progress: +3.5753
+       Episode_Reward/wheel_body_intrusion: -0.2632
+        Episode_Reward/pair_body_intrusion: -0.2947
+             Curriculum/terrain_level_mean: +3.7781
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4514
+             Episode_Termination/fell_over: 0.0347
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0139
+==============================================================================
+
+==============================================================================
+Learning iteration 28350/50000
+                               Total steps: 116,121,600
+                          Steps per second: 12,867
+                            Iteration time: 0.318s
+                           Collection time: 0.075s
+                             Learning time: 0.192s
+                               Mean reward: +0.0877
+                       Mean episode length: 1323.2
+                                Actor loss: -9.5127
+                               Critic loss: +0.0052
+                          World model loss: +0.6642
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9299
+     Episode_Reward/track_angular_velocity: +49.9545
+                    Episode_Reward/upright: +25.3973
+                Episode_Reward/leg_posture: -2.4732
+                 Episode_Reward/standstill: -5.3606
+             Episode_Reward/action_rate_l2: -0.5642
+           Episode_Reward/joint_torques_l2: -0.1449
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0207
+     Episode_Reward/unnecessary_wheel_lift: -0.0758
+         Episode_Reward/rolling_leg_motion: -0.5802
+          Episode_Reward/obstacle_progress: +3.5473
+       Episode_Reward/wheel_body_intrusion: -0.2563
+        Episode_Reward/pair_body_intrusion: -0.3040
+             Curriculum/terrain_level_mean: +3.7815
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.4167
+             Episode_Termination/fell_over: 0.0347
+           Episode_Termination/course_exit: 0.5278
+Episode_Termination/illegal_nonwheel_contact: 0.0417
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1557]
+
+==============================================================================
+Learning iteration 28400/50000
+                               Total steps: 116,326,400
+                          Steps per second: 12,871
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1329.3
+                                Actor loss: -9.5428
+                               Critic loss: +0.0044
+                          World model loss: +0.6478
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0146
+     Episode_Reward/track_angular_velocity: +50.1461
+                    Episode_Reward/upright: +25.5392
+                Episode_Reward/leg_posture: -2.4726
+                 Episode_Reward/standstill: -5.5274
+             Episode_Reward/action_rate_l2: -0.5660
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0234
+     Episode_Reward/unnecessary_wheel_lift: -0.0986
+         Episode_Reward/rolling_leg_motion: -0.5861
+          Episode_Reward/obstacle_progress: +3.5747
+       Episode_Reward/wheel_body_intrusion: -0.2628
+        Episode_Reward/pair_body_intrusion: -0.2919
+             Curriculum/terrain_level_mean: +3.7830
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.4398
+             Episode_Termination/fell_over: 0.0181
+           Episode_Termination/course_exit: 0.5060
+Episode_Termination/illegal_nonwheel_contact: 0.0422
+==============================================================================
+
+==============================================================================
+Learning iteration 28450/50000
+                               Total steps: 116,531,200
+                          Steps per second: 12,876
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1409.4
+                                Actor loss: -9.5298
+                               Critic loss: +0.0035
+                          World model loss: +0.6324
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8764
+     Episode_Reward/track_angular_velocity: +53.2225
+                    Episode_Reward/upright: +27.0638
+                Episode_Reward/leg_posture: -2.5941
+                 Episode_Reward/standstill: -5.8981
+             Episode_Reward/action_rate_l2: -0.5809
+           Episode_Reward/joint_torques_l2: -0.1537
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0165
+     Episode_Reward/unnecessary_wheel_lift: -0.0948
+         Episode_Reward/rolling_leg_motion: -0.6184
+          Episode_Reward/obstacle_progress: +3.8155
+       Episode_Reward/wheel_body_intrusion: -0.2594
+        Episode_Reward/pair_body_intrusion: -0.2667
+             Curriculum/terrain_level_mean: +3.7849
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5096
+             Episode_Termination/fell_over: 0.0191
+           Episode_Termination/course_exit: 0.4522
+Episode_Termination/illegal_nonwheel_contact: 0.0318
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[728]
+
+==============================================================================
+Learning iteration 28500/50000
+                               Total steps: 116,736,000
+                          Steps per second: 12,880
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1407.0
+                                Actor loss: -9.5493
+                               Critic loss: +0.0049
+                          World model loss: +0.6271
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7997
+     Episode_Reward/track_angular_velocity: +53.1302
+                    Episode_Reward/upright: +26.9896
+                Episode_Reward/leg_posture: -2.6273
+                 Episode_Reward/standstill: -5.7792
+             Episode_Reward/action_rate_l2: -0.5929
+           Episode_Reward/joint_torques_l2: -0.1540
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0247
+     Episode_Reward/unnecessary_wheel_lift: -0.0948
+         Episode_Reward/rolling_leg_motion: -0.6168
+          Episode_Reward/obstacle_progress: +3.8883
+       Episode_Reward/wheel_body_intrusion: -0.2710
+        Episode_Reward/pair_body_intrusion: -0.2845
+             Curriculum/terrain_level_mean: +3.7847
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5442
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.3946
+Episode_Termination/illegal_nonwheel_contact: 0.0544
+==============================================================================
+
+==============================================================================
+Learning iteration 28550/50000
+                               Total steps: 116,940,800
+                          Steps per second: 12,884
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1373.0
+                                Actor loss: -9.4991
+                               Critic loss: +0.0062
+                          World model loss: +0.6257
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5238
+     Episode_Reward/track_angular_velocity: +51.8630
+                    Episode_Reward/upright: +26.3474
+                Episode_Reward/leg_posture: -2.5662
+                 Episode_Reward/standstill: -6.0235
+             Episode_Reward/action_rate_l2: -0.5878
+           Episode_Reward/joint_torques_l2: -0.1504
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0768
+         Episode_Reward/rolling_leg_motion: -0.5884
+          Episode_Reward/obstacle_progress: +3.7727
+       Episode_Reward/wheel_body_intrusion: -0.2736
+        Episode_Reward/pair_body_intrusion: -0.3137
+             Curriculum/terrain_level_mean: +3.7866
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4714
+             Episode_Termination/fell_over: 0.0357
+           Episode_Termination/course_exit: 0.4786
+Episode_Termination/illegal_nonwheel_contact: 0.0357
+==============================================================================
+
+==============================================================================
+Learning iteration 28600/50000
+                               Total steps: 117,145,600
+                          Steps per second: 12,888
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1293.1
+                                Actor loss: -9.5166
+                               Critic loss: +0.0056
+                          World model loss: +0.6550
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7508
+     Episode_Reward/track_angular_velocity: +48.8055
+                    Episode_Reward/upright: +24.7904
+                Episode_Reward/leg_posture: -2.3764
+                 Episode_Reward/standstill: -5.3084
+             Episode_Reward/action_rate_l2: -0.5562
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0328
+     Episode_Reward/unnecessary_wheel_lift: -0.0931
+         Episode_Reward/rolling_leg_motion: -0.5707
+          Episode_Reward/obstacle_progress: +3.5728
+       Episode_Reward/wheel_body_intrusion: -0.2372
+        Episode_Reward/pair_body_intrusion: -0.2302
+             Curriculum/terrain_level_mean: +3.7905
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.3987
+             Episode_Termination/fell_over: 0.0506
+           Episode_Termination/course_exit: 0.5190
+Episode_Termination/illegal_nonwheel_contact: 0.0570
+==============================================================================
+
+==============================================================================
+Learning iteration 28650/50000
+                               Total steps: 117,350,400
+                          Steps per second: 12,892
+                            Iteration time: 0.318s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1314.2
+                                Actor loss: -9.5218
+                               Critic loss: +0.0038
+                          World model loss: +0.6547
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4690
+     Episode_Reward/track_angular_velocity: +49.6570
+                    Episode_Reward/upright: +25.2309
+                Episode_Reward/leg_posture: -2.4265
+                 Episode_Reward/standstill: -5.4154
+             Episode_Reward/action_rate_l2: -0.5629
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0257
+     Episode_Reward/unnecessary_wheel_lift: -0.0895
+         Episode_Reward/rolling_leg_motion: -0.5795
+          Episode_Reward/obstacle_progress: +3.5502
+       Episode_Reward/wheel_body_intrusion: -0.2661
+        Episode_Reward/pair_body_intrusion: -0.2724
+             Curriculum/terrain_level_mean: +3.7927
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4406
+             Episode_Termination/fell_over: 0.0210
+           Episode_Termination/course_exit: 0.4895
+Episode_Termination/illegal_nonwheel_contact: 0.0559
+==============================================================================
+
+==============================================================================
+Learning iteration 28700/50000
+                               Total steps: 117,555,200
+                          Steps per second: 12,896
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1305.6
+                                Actor loss: -9.4998
+                               Critic loss: +0.0048
+                          World model loss: +0.6793
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2366
+     Episode_Reward/track_angular_velocity: +49.3407
+                    Episode_Reward/upright: +25.0639
+                Episode_Reward/leg_posture: -2.4516
+                 Episode_Reward/standstill: -5.2002
+             Episode_Reward/action_rate_l2: -0.5392
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0153
+     Episode_Reward/unnecessary_wheel_lift: -0.0880
+         Episode_Reward/rolling_leg_motion: -0.5707
+          Episode_Reward/obstacle_progress: +3.5135
+       Episode_Reward/wheel_body_intrusion: -0.2789
+        Episode_Reward/pair_body_intrusion: -0.2902
+             Curriculum/terrain_level_mean: +3.7949
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4583
+             Episode_Termination/fell_over: 0.0208
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0278
+==============================================================================
+
+==============================================================================
+Learning iteration 28750/50000
+                               Total steps: 117,760,000
+                          Steps per second: 12,900
+                            Iteration time: 0.318s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1393.8
+                                Actor loss: -9.5355
+                               Critic loss: +0.0050
+                          World model loss: +0.6196
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2633
+     Episode_Reward/track_angular_velocity: +52.6261
+                    Episode_Reward/upright: +26.7394
+                Episode_Reward/leg_posture: -2.6137
+                 Episode_Reward/standstill: -5.9649
+             Episode_Reward/action_rate_l2: -0.5889
+           Episode_Reward/joint_torques_l2: -0.1529
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.0913
+         Episode_Reward/rolling_leg_motion: -0.6109
+          Episode_Reward/obstacle_progress: +3.8072
+       Episode_Reward/wheel_body_intrusion: -0.2714
+        Episode_Reward/pair_body_intrusion: -0.2704
+             Curriculum/terrain_level_mean: +3.7976
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.4718
+Episode_Termination/illegal_nonwheel_contact: 0.0141
+==============================================================================
+
+==============================================================================
+Learning iteration 28800/50000
+                               Total steps: 117,964,800
+                          Steps per second: 12,904
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1361.8
+                                Actor loss: -9.5451
+                               Critic loss: +0.0039
+                          World model loss: +0.6524
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1812
+     Episode_Reward/track_angular_velocity: +51.4131
+                    Episode_Reward/upright: +26.0966
+                Episode_Reward/leg_posture: -2.5471
+                 Episode_Reward/standstill: -5.8609
+             Episode_Reward/action_rate_l2: -0.5749
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.0933
+         Episode_Reward/rolling_leg_motion: -0.6054
+          Episode_Reward/obstacle_progress: +3.6595
+       Episode_Reward/wheel_body_intrusion: -0.2497
+        Episode_Reward/pair_body_intrusion: -0.2439
+             Curriculum/terrain_level_mean: +3.8005
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.4815
+             Episode_Termination/fell_over: 0.0309
+           Episode_Termination/course_exit: 0.4877
+Episode_Termination/illegal_nonwheel_contact: 0.0185
+==============================================================================
+
+==============================================================================
+Learning iteration 28850/50000
+                               Total steps: 118,169,600
+                          Steps per second: 12,908
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1402.5
+                                Actor loss: -9.5295
+                               Critic loss: +0.0051
+                          World model loss: +0.6265
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8181
+     Episode_Reward/track_angular_velocity: +53.0251
+                    Episode_Reward/upright: +26.9184
+                Episode_Reward/leg_posture: -2.6046
+                 Episode_Reward/standstill: -6.0705
+             Episode_Reward/action_rate_l2: -0.5939
+           Episode_Reward/joint_torques_l2: -0.1531
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: +0.0000
+     Episode_Reward/unnecessary_wheel_lift: -0.0798
+         Episode_Reward/rolling_leg_motion: -0.6134
+          Episode_Reward/obstacle_progress: +3.7869
+       Episode_Reward/wheel_body_intrusion: -0.2676
+        Episode_Reward/pair_body_intrusion: -0.2711
+             Curriculum/terrain_level_mean: +3.8042
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.5203
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4797
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+
+==============================================================================
+Learning iteration 28900/50000
+                               Total steps: 118,374,400
+                          Steps per second: 12,912
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1302.3
+                                Actor loss: -9.5377
+                               Critic loss: +0.0039
+                          World model loss: +0.6439
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1969
+     Episode_Reward/track_angular_velocity: +49.1842
+                    Episode_Reward/upright: +24.9610
+                Episode_Reward/leg_posture: -2.4201
+                 Episode_Reward/standstill: -5.5272
+             Episode_Reward/action_rate_l2: -0.5569
+           Episode_Reward/joint_torques_l2: -0.1423
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0153
+     Episode_Reward/unnecessary_wheel_lift: -0.0820
+         Episode_Reward/rolling_leg_motion: -0.5692
+          Episode_Reward/obstacle_progress: +3.5039
+       Episode_Reward/wheel_body_intrusion: -0.2454
+        Episode_Reward/pair_body_intrusion: -0.2461
+             Curriculum/terrain_level_mean: +3.8069
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4286
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.5306
+Episode_Termination/illegal_nonwheel_contact: 0.0204
+==============================================================================
+
+==============================================================================
+Learning iteration 28950/50000
+                               Total steps: 118,579,200
+                          Steps per second: 12,916
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1305.3
+                                Actor loss: -9.5117
+                               Critic loss: +0.0038
+                          World model loss: +0.6847
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3211
+     Episode_Reward/track_angular_velocity: +49.3018
+                    Episode_Reward/upright: +24.9895
+                Episode_Reward/leg_posture: -2.4856
+                 Episode_Reward/standstill: -5.9100
+             Episode_Reward/action_rate_l2: -0.5577
+           Episode_Reward/joint_torques_l2: -0.1426
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0306
+     Episode_Reward/unnecessary_wheel_lift: -0.0818
+         Episode_Reward/rolling_leg_motion: -0.5784
+          Episode_Reward/obstacle_progress: +3.4787
+       Episode_Reward/wheel_body_intrusion: -0.2647
+        Episode_Reward/pair_body_intrusion: -0.2634
+             Curriculum/terrain_level_mean: +3.8071
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.3906
+             Episode_Termination/fell_over: 0.0625
+           Episode_Termination/course_exit: 0.5156
+Episode_Termination/illegal_nonwheel_contact: 0.0625
+==============================================================================
+
+==============================================================================
+Learning iteration 29000/50000
+                               Total steps: 118,784,000
+                          Steps per second: 12,919
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0874
+                       Mean episode length: 1336.2
+                                Actor loss: -9.5643
+                               Critic loss: +0.0041
+                          World model loss: +0.6651
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4199
+     Episode_Reward/track_angular_velocity: +50.4793
+                    Episode_Reward/upright: +25.6574
+                Episode_Reward/leg_posture: -2.5537
+                 Episode_Reward/standstill: -5.7427
+             Episode_Reward/action_rate_l2: -0.5636
+           Episode_Reward/joint_torques_l2: -0.1449
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0862
+         Episode_Reward/rolling_leg_motion: -0.5922
+          Episode_Reward/obstacle_progress: +3.5336
+       Episode_Reward/wheel_body_intrusion: -0.2679
+        Episode_Reward/pair_body_intrusion: -0.2983
+             Curriculum/terrain_level_mean: +3.8108
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4889
+             Episode_Termination/fell_over: 0.0222
+           Episode_Termination/course_exit: 0.4667
+Episode_Termination/illegal_nonwheel_contact: 0.0278
+==============================================================================
+
+==============================================================================
+Learning iteration 29050/50000
+                               Total steps: 118,988,800
+                          Steps per second: 12,923
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0876
+                       Mean episode length: 1374.3
+                                Actor loss: -9.5558
+                               Critic loss: +0.0042
+                          World model loss: +0.6314
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8039
+     Episode_Reward/track_angular_velocity: +51.9361
+                    Episode_Reward/upright: +26.3961
+                Episode_Reward/leg_posture: -2.6142
+                 Episode_Reward/standstill: -5.7201
+             Episode_Reward/action_rate_l2: -0.5847
+           Episode_Reward/joint_torques_l2: -0.1491
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0081
+     Episode_Reward/unnecessary_wheel_lift: -0.0902
+         Episode_Reward/rolling_leg_motion: -0.6193
+          Episode_Reward/obstacle_progress: +3.6070
+       Episode_Reward/wheel_body_intrusion: -0.2713
+        Episode_Reward/pair_body_intrusion: -0.2779
+             Curriculum/terrain_level_mean: +3.8147
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4753
+             Episode_Termination/fell_over: 0.0062
+           Episode_Termination/course_exit: 0.5062
+Episode_Termination/illegal_nonwheel_contact: 0.0123
+==============================================================================
+
+==============================================================================
+Learning iteration 29100/50000
+                               Total steps: 119,193,600
+                          Steps per second: 12,927
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1336.0
+                                Actor loss: -9.5228
+                               Critic loss: +0.0056
+                          World model loss: +0.6933
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5723
+     Episode_Reward/track_angular_velocity: +50.4593
+                    Episode_Reward/upright: +25.6600
+                Episode_Reward/leg_posture: -2.4896
+                 Episode_Reward/standstill: -5.4504
+             Episode_Reward/action_rate_l2: -0.5746
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0758
+         Episode_Reward/rolling_leg_motion: -0.5859
+          Episode_Reward/obstacle_progress: +3.6058
+       Episode_Reward/wheel_body_intrusion: -0.2512
+        Episode_Reward/pair_body_intrusion: -0.2740
+             Curriculum/terrain_level_mean: +3.8176
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0910
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4318
+             Episode_Termination/fell_over: 0.0114
+           Episode_Termination/course_exit: 0.5227
+Episode_Termination/illegal_nonwheel_contact: 0.0341
+==============================================================================
+
+==============================================================================
+Learning iteration 29150/50000
+                               Total steps: 119,398,400
+                          Steps per second: 12,931
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1319.6
+                                Actor loss: -9.5184
+                               Critic loss: +0.0054
+                          World model loss: +0.6153
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8994
+     Episode_Reward/track_angular_velocity: +49.8521
+                    Episode_Reward/upright: +25.3363
+                Episode_Reward/leg_posture: -2.5182
+                 Episode_Reward/standstill: -5.7186
+             Episode_Reward/action_rate_l2: -0.5647
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0180
+     Episode_Reward/unnecessary_wheel_lift: -0.0787
+         Episode_Reward/rolling_leg_motion: -0.5783
+          Episode_Reward/obstacle_progress: +3.6197
+       Episode_Reward/wheel_body_intrusion: -0.2693
+        Episode_Reward/pair_body_intrusion: -0.2689
+             Curriculum/terrain_level_mean: +3.8213
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4331
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.5223
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1707]
+
+==============================================================================
+Learning iteration 29200/50000
+                               Total steps: 119,603,200
+                          Steps per second: 12,935
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1387.5
+                                Actor loss: -9.5292
+                               Critic loss: +0.0031
+                          World model loss: +0.6835
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2050
+     Episode_Reward/track_angular_velocity: +52.4351
+                    Episode_Reward/upright: +26.6708
+                Episode_Reward/leg_posture: -2.6188
+                 Episode_Reward/standstill: -5.9370
+             Episode_Reward/action_rate_l2: -0.6036
+           Episode_Reward/joint_torques_l2: -0.1504
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0217
+     Episode_Reward/unnecessary_wheel_lift: -0.0751
+         Episode_Reward/rolling_leg_motion: -0.5949
+          Episode_Reward/obstacle_progress: +3.8066
+       Episode_Reward/wheel_body_intrusion: -0.2603
+        Episode_Reward/pair_body_intrusion: -0.3144
+             Curriculum/terrain_level_mean: +3.8220
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0462
+           Episode_Termination/course_exit: 0.4385
+Episode_Termination/illegal_nonwheel_contact: 0.0231
+==============================================================================
+
+==============================================================================
+Learning iteration 29250/50000
+                               Total steps: 119,808,000
+                          Steps per second: 12,939
+                            Iteration time: 0.317s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1409.8
+                                Actor loss: -9.5086
+                               Critic loss: +0.0061
+                          World model loss: +0.6019
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0119
+     Episode_Reward/track_angular_velocity: +53.3292
+                    Episode_Reward/upright: +27.0354
+                Episode_Reward/leg_posture: -2.6476
+                 Episode_Reward/standstill: -6.3504
+             Episode_Reward/action_rate_l2: -0.6112
+           Episode_Reward/joint_torques_l2: -0.1530
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0330
+     Episode_Reward/unnecessary_wheel_lift: -0.0854
+         Episode_Reward/rolling_leg_motion: -0.6225
+          Episode_Reward/obstacle_progress: +3.9063
+       Episode_Reward/wheel_body_intrusion: -0.2854
+        Episode_Reward/pair_body_intrusion: -0.3195
+             Curriculum/terrain_level_mean: +3.8225
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4967
+             Episode_Termination/fell_over: 0.0265
+           Episode_Termination/course_exit: 0.4238
+Episode_Termination/illegal_nonwheel_contact: 0.0728
+==============================================================================
+
+==============================================================================
+Learning iteration 29300/50000
+                               Total steps: 120,012,800
+                          Steps per second: 12,943
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1427.0
+                                Actor loss: -9.5160
+                               Critic loss: +0.0035
+                          World model loss: +0.6464
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.6152
+     Episode_Reward/track_angular_velocity: +53.9835
+                    Episode_Reward/upright: +27.3584
+                Episode_Reward/leg_posture: -2.6647
+                 Episode_Reward/standstill: -6.3050
+             Episode_Reward/action_rate_l2: -0.6149
+           Episode_Reward/joint_torques_l2: -0.1552
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0139
+     Episode_Reward/unnecessary_wheel_lift: -0.0875
+         Episode_Reward/rolling_leg_motion: -0.6363
+          Episode_Reward/obstacle_progress: +3.9615
+       Episode_Reward/wheel_body_intrusion: -0.2797
+        Episode_Reward/pair_body_intrusion: -0.3148
+             Curriculum/terrain_level_mean: +3.8240
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5390
+             Episode_Termination/fell_over: 0.0071
+           Episode_Termination/course_exit: 0.4255
+Episode_Termination/illegal_nonwheel_contact: 0.0284
+==============================================================================
+
+==============================================================================
+Learning iteration 29350/50000
+                               Total steps: 120,217,600
+                          Steps per second: 12,946
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1317.0
+                                Actor loss: -9.5057
+                               Critic loss: +0.0071
+                          World model loss: +0.6558
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5907
+     Episode_Reward/track_angular_velocity: +49.7579
+                    Episode_Reward/upright: +25.2402
+                Episode_Reward/leg_posture: -2.5172
+                 Episode_Reward/standstill: -5.6966
+             Episode_Reward/action_rate_l2: -0.5665
+           Episode_Reward/joint_torques_l2: -0.1436
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0257
+     Episode_Reward/unnecessary_wheel_lift: -0.0832
+         Episode_Reward/rolling_leg_motion: -0.5815
+          Episode_Reward/obstacle_progress: +3.6070
+       Episode_Reward/wheel_body_intrusion: -0.2732
+        Episode_Reward/pair_body_intrusion: -0.3010
+             Curriculum/terrain_level_mean: +3.8247
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.3831
+             Episode_Termination/fell_over: 0.0519
+           Episode_Termination/course_exit: 0.5519
+Episode_Termination/illegal_nonwheel_contact: 0.0519
+==============================================================================
+
+==============================================================================
+Learning iteration 29400/50000
+                               Total steps: 120,422,400
+                          Steps per second: 12,950
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1369.8
+                                Actor loss: -9.5154
+                               Critic loss: +0.0039
+                          World model loss: +0.6609
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6480
+     Episode_Reward/track_angular_velocity: +51.6993
+                    Episode_Reward/upright: +26.2908
+                Episode_Reward/leg_posture: -2.6173
+                 Episode_Reward/standstill: -5.9881
+             Episode_Reward/action_rate_l2: -0.5646
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0844
+         Episode_Reward/rolling_leg_motion: -0.6282
+          Episode_Reward/obstacle_progress: +3.6521
+       Episode_Reward/wheel_body_intrusion: -0.2844
+        Episode_Reward/pair_body_intrusion: -0.2852
+             Curriculum/terrain_level_mean: +3.8286
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4690
+             Episode_Termination/fell_over: 0.0069
+           Episode_Termination/course_exit: 0.5034
+Episode_Termination/illegal_nonwheel_contact: 0.0276
+==============================================================================
+
+==============================================================================
+Learning iteration 29450/50000
+                               Total steps: 120,627,200
+                          Steps per second: 12,954
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1404.1
+                                Actor loss: -9.5241
+                               Critic loss: +0.0095
+                          World model loss: +0.6148
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8753
+     Episode_Reward/track_angular_velocity: +53.1238
+                    Episode_Reward/upright: +26.9589
+                Episode_Reward/leg_posture: -2.7216
+                 Episode_Reward/standstill: -5.9516
+             Episode_Reward/action_rate_l2: -0.5763
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0219
+     Episode_Reward/unnecessary_wheel_lift: -0.0828
+         Episode_Reward/rolling_leg_motion: -0.6142
+          Episode_Reward/obstacle_progress: +3.6450
+       Episode_Reward/wheel_body_intrusion: -0.2916
+        Episode_Reward/pair_body_intrusion: -0.2543
+             Curriculum/terrain_level_mean: +3.8311
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5135
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.4324
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 29500/50000
+                               Total steps: 120,832,000
+                          Steps per second: 12,958
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0874
+                       Mean episode length: 1380.9
+                                Actor loss: -9.5106
+                               Critic loss: +0.0111
+                          World model loss: +0.6030
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0215
+     Episode_Reward/track_angular_velocity: +52.2497
+                    Episode_Reward/upright: +26.4990
+                Episode_Reward/leg_posture: -2.6532
+                 Episode_Reward/standstill: -6.0579
+             Episode_Reward/action_rate_l2: -0.5688
+           Episode_Reward/joint_torques_l2: -0.1486
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.0805
+         Episode_Reward/rolling_leg_motion: -0.6040
+          Episode_Reward/obstacle_progress: +3.6115
+       Episode_Reward/wheel_body_intrusion: -0.2809
+        Episode_Reward/pair_body_intrusion: -0.2836
+             Curriculum/terrain_level_mean: +3.8352
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.5163
+             Episode_Termination/fell_over: 0.0327
+           Episode_Termination/course_exit: 0.4444
+Episode_Termination/illegal_nonwheel_contact: 0.0131
+==============================================================================
+
+==============================================================================
+Learning iteration 29550/50000
+                               Total steps: 121,036,800
+                          Steps per second: 12,962
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0874
+                       Mean episode length: 1344.1
+                                Actor loss: -9.5523
+                               Critic loss: +0.0058
+                          World model loss: +0.6345
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7401
+     Episode_Reward/track_angular_velocity: +50.8233
+                    Episode_Reward/upright: +25.7901
+                Episode_Reward/leg_posture: -2.5705
+                 Episode_Reward/standstill: -5.9693
+             Episode_Reward/action_rate_l2: -0.5623
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0210
+     Episode_Reward/unnecessary_wheel_lift: -0.0837
+         Episode_Reward/rolling_leg_motion: -0.5840
+          Episode_Reward/obstacle_progress: +3.5884
+       Episode_Reward/wheel_body_intrusion: -0.2801
+        Episode_Reward/pair_body_intrusion: -0.2811
+             Curriculum/terrain_level_mean: +3.8379
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4813
+             Episode_Termination/fell_over: 0.0312
+           Episode_Termination/course_exit: 0.4688
+Episode_Termination/illegal_nonwheel_contact: 0.0312
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1014]
+
+==============================================================================
+Learning iteration 29600/50000
+                               Total steps: 121,241,600
+                          Steps per second: 12,966
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1372.7
+                                Actor loss: -9.5388
+                               Critic loss: +0.0062
+                          World model loss: +0.6018
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7063
+     Episode_Reward/track_angular_velocity: +51.8622
+                    Episode_Reward/upright: +26.3784
+                Episode_Reward/leg_posture: -2.5650
+                 Episode_Reward/standstill: -6.1328
+             Episode_Reward/action_rate_l2: -0.5791
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.0793
+         Episode_Reward/rolling_leg_motion: -0.5993
+          Episode_Reward/obstacle_progress: +3.7507
+       Episode_Reward/wheel_body_intrusion: -0.2564
+        Episode_Reward/pair_body_intrusion: -0.2648
+             Curriculum/terrain_level_mean: +3.8411
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4895
+             Episode_Termination/fell_over: 0.0210
+           Episode_Termination/course_exit: 0.4895
+Episode_Termination/illegal_nonwheel_contact: 0.0140
+==============================================================================
+
+==============================================================================
+Learning iteration 29650/50000
+                               Total steps: 121,446,400
+                          Steps per second: 12,969
+                            Iteration time: 0.316s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1324.3
+                                Actor loss: -9.5388
+                               Critic loss: +0.0042
+                          World model loss: +0.6581
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8609
+     Episode_Reward/track_angular_velocity: +50.0294
+                    Episode_Reward/upright: +25.4096
+                Episode_Reward/leg_posture: -2.5364
+                 Episode_Reward/standstill: -6.2526
+             Episode_Reward/action_rate_l2: -0.5430
+           Episode_Reward/joint_torques_l2: -0.1452
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0259
+     Episode_Reward/unnecessary_wheel_lift: -0.0784
+         Episode_Reward/rolling_leg_motion: -0.5609
+          Episode_Reward/obstacle_progress: +3.6651
+       Episode_Reward/wheel_body_intrusion: -0.2684
+        Episode_Reward/pair_body_intrusion: -0.2894
+             Curriculum/terrain_level_mean: +3.8418
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4388
+             Episode_Termination/fell_over: 0.0432
+           Episode_Termination/course_exit: 0.4964
+Episode_Termination/illegal_nonwheel_contact: 0.0576
+==============================================================================
+
+==============================================================================
+Learning iteration 29700/50000
+                               Total steps: 121,651,200
+                          Steps per second: 12,973
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1294.1
+                                Actor loss: -9.5155
+                               Critic loss: +0.0039
+                          World model loss: +0.6112
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9593
+     Episode_Reward/track_angular_velocity: +48.8788
+                    Episode_Reward/upright: +24.8333
+                Episode_Reward/leg_posture: -2.4492
+                 Episode_Reward/standstill: -5.8737
+             Episode_Reward/action_rate_l2: -0.5308
+           Episode_Reward/joint_torques_l2: -0.1419
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0177
+     Episode_Reward/unnecessary_wheel_lift: -0.0817
+         Episode_Reward/rolling_leg_motion: -0.5649
+          Episode_Reward/obstacle_progress: +3.6135
+       Episode_Reward/wheel_body_intrusion: -0.2736
+        Episode_Reward/pair_body_intrusion: -0.2711
+             Curriculum/terrain_level_mean: +3.8447
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.3958
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5556
+Episode_Termination/illegal_nonwheel_contact: 0.0486
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_029700.mp4
+RECOVERY reset 1 invalid environments; first IDs=[469]
+
+==============================================================================
+Learning iteration 29750/50000
+                               Total steps: 121,856,000
+                          Steps per second: 12,969
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1425.0
+                                Actor loss: -9.5024
+                               Critic loss: +0.0038
+                          World model loss: +0.6298
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.6367
+     Episode_Reward/track_angular_velocity: +53.8239
+                    Episode_Reward/upright: +27.3589
+                Episode_Reward/leg_posture: -2.7535
+                 Episode_Reward/standstill: -6.4607
+             Episode_Reward/action_rate_l2: -0.5855
+           Episode_Reward/joint_torques_l2: -0.1547
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0306
+     Episode_Reward/unnecessary_wheel_lift: -0.0778
+         Episode_Reward/rolling_leg_motion: -0.6026
+          Episode_Reward/obstacle_progress: +3.9827
+       Episode_Reward/wheel_body_intrusion: -0.3118
+        Episode_Reward/pair_body_intrusion: -0.2760
+             Curriculum/terrain_level_mean: +3.8442
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5342
+             Episode_Termination/fell_over: 0.0479
+           Episode_Termination/course_exit: 0.3904
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+
+==============================================================================
+Learning iteration 29800/50000
+                               Total steps: 122,060,800
+                          Steps per second: 12,973
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1290.2
+                                Actor loss: -9.5318
+                               Critic loss: +0.0056
+                          World model loss: +0.6848
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7684
+     Episode_Reward/track_angular_velocity: +48.6833
+                    Episode_Reward/upright: +24.7913
+                Episode_Reward/leg_posture: -2.4976
+                 Episode_Reward/standstill: -6.2512
+             Episode_Reward/action_rate_l2: -0.5451
+           Episode_Reward/joint_torques_l2: -0.1404
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0302
+     Episode_Reward/unnecessary_wheel_lift: -0.0838
+         Episode_Reward/rolling_leg_motion: -0.5680
+          Episode_Reward/obstacle_progress: +3.6251
+       Episode_Reward/wheel_body_intrusion: -0.2849
+        Episode_Reward/pair_body_intrusion: -0.2964
+             Curriculum/terrain_level_mean: +3.8447
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.3892
+             Episode_Termination/fell_over: 0.0479
+           Episode_Termination/course_exit: 0.5389
+Episode_Termination/illegal_nonwheel_contact: 0.0299
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2646]
+
+==============================================================================
+Learning iteration 29850/50000
+                               Total steps: 122,265,600
+                          Steps per second: 12,976
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1401.7
+                                Actor loss: -9.4984
+                               Critic loss: +0.0049
+                          World model loss: +0.6072
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8463
+     Episode_Reward/track_angular_velocity: +52.9953
+                    Episode_Reward/upright: +26.9513
+                Episode_Reward/leg_posture: -2.6722
+                 Episode_Reward/standstill: -6.4836
+             Episode_Reward/action_rate_l2: -0.5735
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0164
+     Episode_Reward/unnecessary_wheel_lift: -0.0816
+         Episode_Reward/rolling_leg_motion: -0.6047
+          Episode_Reward/obstacle_progress: +3.8874
+       Episode_Reward/wheel_body_intrusion: -0.2922
+        Episode_Reward/pair_body_intrusion: -0.3227
+             Curriculum/terrain_level_mean: +3.8455
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4833
+             Episode_Termination/fell_over: 0.0333
+           Episode_Termination/course_exit: 0.4667
+Episode_Termination/illegal_nonwheel_contact: 0.0417
+==============================================================================
+
+==============================================================================
+Learning iteration 29900/50000
+                               Total steps: 122,470,400
+                          Steps per second: 12,980
+                            Iteration time: 0.316s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1395.7
+                                Actor loss: -9.5441
+                               Critic loss: +0.0053
+                          World model loss: +0.6506
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5439
+     Episode_Reward/track_angular_velocity: +52.7450
+                    Episode_Reward/upright: +26.8203
+                Episode_Reward/leg_posture: -2.6213
+                 Episode_Reward/standstill: -6.2761
+             Episode_Reward/action_rate_l2: -0.5805
+           Episode_Reward/joint_torques_l2: -0.1505
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.0889
+         Episode_Reward/rolling_leg_motion: -0.6065
+          Episode_Reward/obstacle_progress: +3.8379
+       Episode_Reward/wheel_body_intrusion: -0.2743
+        Episode_Reward/pair_body_intrusion: -0.3206
+             Curriculum/terrain_level_mean: +3.8477
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.5094
+             Episode_Termination/fell_over: 0.0252
+           Episode_Termination/course_exit: 0.4403
+Episode_Termination/illegal_nonwheel_contact: 0.0314
+==============================================================================
+
+==============================================================================
+Learning iteration 29950/50000
+                               Total steps: 122,675,200
+                          Steps per second: 12,984
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1340.1
+                                Actor loss: -9.5294
+                               Critic loss: +0.0071
+                          World model loss: +0.6536
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6853
+     Episode_Reward/track_angular_velocity: +50.6951
+                    Episode_Reward/upright: +25.7516
+                Episode_Reward/leg_posture: -2.5778
+                 Episode_Reward/standstill: -5.8038
+             Episode_Reward/action_rate_l2: -0.5602
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0262
+     Episode_Reward/unnecessary_wheel_lift: -0.0934
+         Episode_Reward/rolling_leg_motion: -0.5889
+          Episode_Reward/obstacle_progress: +3.6862
+       Episode_Reward/wheel_body_intrusion: -0.2762
+        Episode_Reward/pair_body_intrusion: -0.2812
+             Curriculum/terrain_level_mean: +3.8499
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4083
+             Episode_Termination/fell_over: 0.0296
+           Episode_Termination/course_exit: 0.5325
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2435]
+
+==============================================================================
+Learning iteration 30000/50000
+                               Total steps: 122,880,000
+                          Steps per second: 12,988
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1368.8
+                                Actor loss: -9.5215
+                               Critic loss: +0.0062
+                          World model loss: +0.6238
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6589
+     Episode_Reward/track_angular_velocity: +51.7620
+                    Episode_Reward/upright: +26.3066
+                Episode_Reward/leg_posture: -2.6437
+                 Episode_Reward/standstill: -6.3180
+             Episode_Reward/action_rate_l2: -0.5806
+           Episode_Reward/joint_torques_l2: -0.1487
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.0990
+         Episode_Reward/rolling_leg_motion: -0.6238
+          Episode_Reward/obstacle_progress: +3.6953
+       Episode_Reward/wheel_body_intrusion: -0.2706
+        Episode_Reward/pair_body_intrusion: -0.2874
+             Curriculum/terrain_level_mean: +3.8516
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4832
+             Episode_Termination/fell_over: 0.0268
+           Episode_Termination/course_exit: 0.4564
+Episode_Termination/illegal_nonwheel_contact: 0.0470
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[976]
+RECOVERY reset 1 invalid environments; first IDs=[2363]
+
+==============================================================================
+Learning iteration 30050/50000
+                               Total steps: 123,084,800
+                          Steps per second: 12,991
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1344.2
+                                Actor loss: -9.5343
+                               Critic loss: +0.0047
+                          World model loss: +0.6710
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8723
+     Episode_Reward/track_angular_velocity: +50.7631
+                    Episode_Reward/upright: +25.8192
+                Episode_Reward/leg_posture: -2.5557
+                 Episode_Reward/standstill: -6.3274
+             Episode_Reward/action_rate_l2: -0.5784
+           Episode_Reward/joint_torques_l2: -0.1435
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0341
+     Episode_Reward/unnecessary_wheel_lift: -0.0943
+         Episode_Reward/rolling_leg_motion: -0.5996
+          Episode_Reward/obstacle_progress: +3.6853
+       Episode_Reward/wheel_body_intrusion: -0.2535
+        Episode_Reward/pair_body_intrusion: -0.2821
+             Curriculum/terrain_level_mean: +3.8518
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4324
+             Episode_Termination/fell_over: 0.0541
+           Episode_Termination/course_exit: 0.4797
+Episode_Termination/illegal_nonwheel_contact: 0.0676
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1376]
+
+==============================================================================
+Learning iteration 30100/50000
+                               Total steps: 123,289,600
+                          Steps per second: 12,995
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1333.0
+                                Actor loss: -9.5352
+                               Critic loss: +0.0031
+                          World model loss: +0.6579
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2814
+     Episode_Reward/track_angular_velocity: +50.3562
+                    Episode_Reward/upright: +25.5642
+                Episode_Reward/leg_posture: -2.5336
+                 Episode_Reward/standstill: -6.3757
+             Episode_Reward/action_rate_l2: -0.5651
+           Episode_Reward/joint_torques_l2: -0.1430
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0208
+     Episode_Reward/unnecessary_wheel_lift: -0.1014
+         Episode_Reward/rolling_leg_motion: -0.6081
+          Episode_Reward/obstacle_progress: +3.5385
+       Episode_Reward/wheel_body_intrusion: -0.2647
+        Episode_Reward/pair_body_intrusion: -0.3394
+             Curriculum/terrain_level_mean: +3.8525
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4371
+             Episode_Termination/fell_over: 0.0265
+           Episode_Termination/course_exit: 0.5099
+Episode_Termination/illegal_nonwheel_contact: 0.0464
+==============================================================================
+
+==============================================================================
+Learning iteration 30150/50000
+                               Total steps: 123,494,400
+                          Steps per second: 12,999
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1377.9
+                                Actor loss: -9.5253
+                               Critic loss: +0.0066
+                          World model loss: +0.6262
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9879
+     Episode_Reward/track_angular_velocity: +52.1034
+                    Episode_Reward/upright: +26.4508
+                Episode_Reward/leg_posture: -2.6145
+                 Episode_Reward/standstill: -6.4612
+             Episode_Reward/action_rate_l2: -0.5927
+           Episode_Reward/joint_torques_l2: -0.1484
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0269
+     Episode_Reward/unnecessary_wheel_lift: -0.1137
+         Episode_Reward/rolling_leg_motion: -0.6283
+          Episode_Reward/obstacle_progress: +3.6842
+       Episode_Reward/wheel_body_intrusion: -0.2654
+        Episode_Reward/pair_body_intrusion: -0.3106
+             Curriculum/terrain_level_mean: +3.8542
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4615
+             Episode_Termination/fell_over: 0.0256
+           Episode_Termination/course_exit: 0.4744
+Episode_Termination/illegal_nonwheel_contact: 0.0449
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1522]
+RECOVERY reset 1 invalid environments; first IDs=[1790]
+
+==============================================================================
+Learning iteration 30200/50000
+                               Total steps: 123,699,200
+                          Steps per second: 13,002
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1319.9
+                                Actor loss: -9.5193
+                               Critic loss: +0.0042
+                          World model loss: +0.6318
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8188
+     Episode_Reward/track_angular_velocity: +49.8708
+                    Episode_Reward/upright: +25.3343
+                Episode_Reward/leg_posture: -2.4788
+                 Episode_Reward/standstill: -5.9336
+             Episode_Reward/action_rate_l2: -0.5631
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0309
+     Episode_Reward/unnecessary_wheel_lift: -0.0960
+         Episode_Reward/rolling_leg_motion: -0.5791
+          Episode_Reward/obstacle_progress: +3.5524
+       Episode_Reward/wheel_body_intrusion: -0.2484
+        Episode_Reward/pair_body_intrusion: -0.2785
+             Curriculum/terrain_level_mean: +3.8562
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4431
+             Episode_Termination/fell_over: 0.0299
+           Episode_Termination/course_exit: 0.4850
+Episode_Termination/illegal_nonwheel_contact: 0.0539
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2002]
+
+==============================================================================
+Learning iteration 30250/50000
+                               Total steps: 123,904,000
+                          Steps per second: 13,006
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1338.8
+                                Actor loss: -9.5066
+                               Critic loss: +0.0063
+                          World model loss: +0.6004
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5064
+     Episode_Reward/track_angular_velocity: +50.6009
+                    Episode_Reward/upright: +25.6792
+                Episode_Reward/leg_posture: -2.5063
+                 Episode_Reward/standstill: -6.2087
+             Episode_Reward/action_rate_l2: -0.5757
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0314
+     Episode_Reward/unnecessary_wheel_lift: -0.0947
+         Episode_Reward/rolling_leg_motion: -0.6062
+          Episode_Reward/obstacle_progress: +3.5876
+       Episode_Reward/wheel_body_intrusion: -0.2602
+        Episode_Reward/pair_body_intrusion: -0.3050
+             Curriculum/terrain_level_mean: +3.8574
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4733
+             Episode_Termination/fell_over: 0.0467
+           Episode_Termination/course_exit: 0.4467
+Episode_Termination/illegal_nonwheel_contact: 0.0533
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2056]
+RECOVERY reset 1 invalid environments; first IDs=[1700]
+
+==============================================================================
+Learning iteration 30300/50000
+                               Total steps: 124,108,800
+                          Steps per second: 13,010
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1318.4
+                                Actor loss: -9.5403
+                               Critic loss: +0.0077
+                          World model loss: +0.6081
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8942
+     Episode_Reward/track_angular_velocity: +49.8431
+                    Episode_Reward/upright: +25.2623
+                Episode_Reward/leg_posture: -2.4989
+                 Episode_Reward/standstill: -6.0911
+             Episode_Reward/action_rate_l2: -0.5530
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.0808
+         Episode_Reward/rolling_leg_motion: -0.5738
+          Episode_Reward/obstacle_progress: +3.5382
+       Episode_Reward/wheel_body_intrusion: -0.2413
+        Episode_Reward/pair_body_intrusion: -0.2861
+             Curriculum/terrain_level_mean: +3.8584
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.4748
+             Episode_Termination/fell_over: 0.0288
+           Episode_Termination/course_exit: 0.4676
+Episode_Termination/illegal_nonwheel_contact: 0.0432
+==============================================================================
+
+==============================================================================
+Learning iteration 30350/50000
+                               Total steps: 124,313,600
+                          Steps per second: 13,013
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0872
+                       Mean episode length: 1380.0
+                                Actor loss: -9.5013
+                               Critic loss: +0.0126
+                          World model loss: +0.6255
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0082
+     Episode_Reward/track_angular_velocity: +52.1324
+                    Episode_Reward/upright: +26.4611
+                Episode_Reward/leg_posture: -2.6172
+                 Episode_Reward/standstill: -6.3086
+             Episode_Reward/action_rate_l2: -0.5831
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0189
+     Episode_Reward/unnecessary_wheel_lift: -0.0880
+         Episode_Reward/rolling_leg_motion: -0.5891
+          Episode_Reward/obstacle_progress: +3.7197
+       Episode_Reward/wheel_body_intrusion: -0.2663
+        Episode_Reward/pair_body_intrusion: -0.3043
+             Curriculum/terrain_level_mean: +3.8611
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4774
+             Episode_Termination/fell_over: 0.0323
+           Episode_Termination/course_exit: 0.4774
+Episode_Termination/illegal_nonwheel_contact: 0.0258
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2165]
+
+==============================================================================
+Learning iteration 30400/50000
+                               Total steps: 124,518,400
+                          Steps per second: 13,016
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1314.6
+                                Actor loss: -9.5180
+                               Critic loss: +0.0044
+                          World model loss: +0.6156
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7117
+     Episode_Reward/track_angular_velocity: +49.6773
+                    Episode_Reward/upright: +25.2072
+                Episode_Reward/leg_posture: -2.4483
+                 Episode_Reward/standstill: -6.0905
+             Episode_Reward/action_rate_l2: -0.5636
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0180
+     Episode_Reward/unnecessary_wheel_lift: -0.0861
+         Episode_Reward/rolling_leg_motion: -0.5957
+          Episode_Reward/obstacle_progress: +3.5512
+       Episode_Reward/wheel_body_intrusion: -0.2320
+        Episode_Reward/pair_body_intrusion: -0.2362
+             Curriculum/terrain_level_mean: +3.8630
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4207
+             Episode_Termination/fell_over: 0.0305
+           Episode_Termination/course_exit: 0.5366
+Episode_Termination/illegal_nonwheel_contact: 0.0244
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[829]
+
+==============================================================================
+Learning iteration 30450/50000
+                               Total steps: 124,723,200
+                          Steps per second: 13,020
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1370.3
+                                Actor loss: -9.5353
+                               Critic loss: +0.0050
+                          World model loss: +0.6206
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7183
+     Episode_Reward/track_angular_velocity: +51.7446
+                    Episode_Reward/upright: +26.2962
+                Episode_Reward/leg_posture: -2.5773
+                 Episode_Reward/standstill: -6.2448
+             Episode_Reward/action_rate_l2: -0.5677
+           Episode_Reward/joint_torques_l2: -0.1479
+             Episode_Reward/dof_pos_limits: -0.0019
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.0924
+         Episode_Reward/rolling_leg_motion: -0.6078
+          Episode_Reward/obstacle_progress: +3.6601
+       Episode_Reward/wheel_body_intrusion: -0.2587
+        Episode_Reward/pair_body_intrusion: -0.2696
+             Curriculum/terrain_level_mean: +3.8650
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4595
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0203
+==============================================================================
+
+==============================================================================
+Learning iteration 30500/50000
+                               Total steps: 124,928,000
+                          Steps per second: 13,024
+                            Iteration time: 0.315s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1327.1
+                                Actor loss: -9.5178
+                               Critic loss: +0.0062
+                          World model loss: +0.6357
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1265
+     Episode_Reward/track_angular_velocity: +50.1728
+                    Episode_Reward/upright: +25.4418
+                Episode_Reward/leg_posture: -2.5568
+                 Episode_Reward/standstill: -6.1537
+             Episode_Reward/action_rate_l2: -0.5614
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0078
+     Episode_Reward/unnecessary_wheel_lift: -0.1021
+         Episode_Reward/rolling_leg_motion: -0.5947
+          Episode_Reward/obstacle_progress: +3.5477
+       Episode_Reward/wheel_body_intrusion: -0.2713
+        Episode_Reward/pair_body_intrusion: -0.3068
+             Curriculum/terrain_level_mean: +3.8713
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4242
+             Episode_Termination/fell_over: 0.0121
+           Episode_Termination/course_exit: 0.5576
+Episode_Termination/illegal_nonwheel_contact: 0.0182
+==============================================================================
+
+==============================================================================
+Learning iteration 30550/50000
+                               Total steps: 125,132,800
+                          Steps per second: 13,027
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1372.2
+                                Actor loss: -9.5308
+                               Critic loss: +0.0055
+                          World model loss: +0.6149
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7968
+     Episode_Reward/track_angular_velocity: +51.8866
+                    Episode_Reward/upright: +26.3481
+                Episode_Reward/leg_posture: -2.6133
+                 Episode_Reward/standstill: -6.0777
+             Episode_Reward/action_rate_l2: -0.5710
+           Episode_Reward/joint_torques_l2: -0.1486
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0792
+         Episode_Reward/rolling_leg_motion: -0.5859
+          Episode_Reward/obstacle_progress: +3.7127
+       Episode_Reward/wheel_body_intrusion: -0.2677
+        Episode_Reward/pair_body_intrusion: -0.2969
+             Curriculum/terrain_level_mean: +3.8723
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4846
+             Episode_Termination/fell_over: 0.0154
+           Episode_Termination/course_exit: 0.4615
+Episode_Termination/illegal_nonwheel_contact: 0.0462
+==============================================================================
+
+==============================================================================
+Learning iteration 30600/50000
+                               Total steps: 125,337,600
+                          Steps per second: 13,031
+                            Iteration time: 0.314s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0875
+                       Mean episode length: 1369.9
+                                Actor loss: -9.5123
+                               Critic loss: +0.0040
+                          World model loss: +0.5797
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7620
+     Episode_Reward/track_angular_velocity: +51.8300
+                    Episode_Reward/upright: +26.3137
+                Episode_Reward/leg_posture: -2.5884
+                 Episode_Reward/standstill: -6.2957
+             Episode_Reward/action_rate_l2: -0.5737
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0921
+         Episode_Reward/rolling_leg_motion: -0.5905
+          Episode_Reward/obstacle_progress: +3.7903
+       Episode_Reward/wheel_body_intrusion: -0.2603
+        Episode_Reward/pair_body_intrusion: -0.2750
+             Curriculum/terrain_level_mean: +3.8733
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5278
+             Episode_Termination/fell_over: 0.0069
+           Episode_Termination/course_exit: 0.4444
+Episode_Termination/illegal_nonwheel_contact: 0.0208
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2407]
+
+==============================================================================
+Learning iteration 30650/50000
+                               Total steps: 125,542,400
+                          Steps per second: 13,035
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1433.6
+                                Actor loss: -9.5103
+                               Critic loss: +0.0039
+                          World model loss: +0.6319
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.9368
+     Episode_Reward/track_angular_velocity: +54.2074
+                    Episode_Reward/upright: +27.4894
+                Episode_Reward/leg_posture: -2.7515
+                 Episode_Reward/standstill: -6.5560
+             Episode_Reward/action_rate_l2: -0.5974
+           Episode_Reward/joint_torques_l2: -0.1555
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0084
+     Episode_Reward/unnecessary_wheel_lift: -0.0810
+         Episode_Reward/rolling_leg_motion: -0.6074
+          Episode_Reward/obstacle_progress: +4.0336
+       Episode_Reward/wheel_body_intrusion: -0.2979
+        Episode_Reward/pair_body_intrusion: -0.3359
+             Curriculum/terrain_level_mean: +3.8777
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5496
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4275
+Episode_Termination/illegal_nonwheel_contact: 0.0229
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1638]
+
+==============================================================================
+Learning iteration 30700/50000
+                               Total steps: 125,747,200
+                          Steps per second: 13,038
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1331.0
+                                Actor loss: -9.5267
+                               Critic loss: +0.0044
+                          World model loss: +0.6104
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1715
+     Episode_Reward/track_angular_velocity: +50.3373
+                    Episode_Reward/upright: +25.5262
+                Episode_Reward/leg_posture: -2.4880
+                 Episode_Reward/standstill: -6.2925
+             Episode_Reward/action_rate_l2: -0.5548
+           Episode_Reward/joint_torques_l2: -0.1431
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0130
+     Episode_Reward/unnecessary_wheel_lift: -0.0783
+         Episode_Reward/rolling_leg_motion: -0.5595
+          Episode_Reward/obstacle_progress: +3.7100
+       Episode_Reward/wheel_body_intrusion: -0.2750
+        Episode_Reward/pair_body_intrusion: -0.2811
+             Curriculum/terrain_level_mean: +3.8801
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4113
+             Episode_Termination/fell_over: 0.0284
+           Episode_Termination/course_exit: 0.5532
+Episode_Termination/illegal_nonwheel_contact: 0.0142
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2682]
+RECOVERY reset 1 invalid environments; first IDs=[1247]
+
+==============================================================================
+Learning iteration 30750/50000
+                               Total steps: 125,952,000
+                          Steps per second: 13,042
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1443.6
+                                Actor loss: -9.5376
+                               Critic loss: +0.0036
+                          World model loss: +0.6131
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.2973
+     Episode_Reward/track_angular_velocity: +54.6298
+                    Episode_Reward/upright: +27.7180
+                Episode_Reward/leg_posture: -2.6943
+                 Episode_Reward/standstill: -6.4608
+             Episode_Reward/action_rate_l2: -0.5995
+           Episode_Reward/joint_torques_l2: -0.1543
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0113
+     Episode_Reward/unnecessary_wheel_lift: -0.0939
+         Episode_Reward/rolling_leg_motion: -0.6190
+          Episode_Reward/obstacle_progress: +3.9526
+       Episode_Reward/wheel_body_intrusion: -0.2852
+        Episode_Reward/pair_body_intrusion: -0.3352
+             Curriculum/terrain_level_mean: +3.8835
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.5663
+             Episode_Termination/fell_over: 0.0120
+           Episode_Termination/course_exit: 0.4096
+Episode_Termination/illegal_nonwheel_contact: 0.0120
+==============================================================================
+
+==============================================================================
+Learning iteration 30800/50000
+                               Total steps: 126,156,800
+                          Steps per second: 13,046
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0872
+                       Mean episode length: 1370.3
+                                Actor loss: -9.4968
+                               Critic loss: +0.0058
+                          World model loss: +0.6191
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7255
+     Episode_Reward/track_angular_velocity: +51.9181
+                    Episode_Reward/upright: +26.3080
+                Episode_Reward/leg_posture: -2.5920
+                 Episode_Reward/standstill: -6.5882
+             Episode_Reward/action_rate_l2: -0.5567
+           Episode_Reward/joint_torques_l2: -0.1471
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0268
+     Episode_Reward/unnecessary_wheel_lift: -0.0871
+         Episode_Reward/rolling_leg_motion: -0.5827
+          Episode_Reward/obstacle_progress: +3.6772
+       Episode_Reward/wheel_body_intrusion: -0.2781
+        Episode_Reward/pair_body_intrusion: -0.3027
+             Curriculum/terrain_level_mean: +3.8860
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1313
+              Episode_Termination/time_out: 0.4731
+             Episode_Termination/fell_over: 0.0180
+           Episode_Termination/course_exit: 0.4671
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+
+==============================================================================
+Learning iteration 30850/50000
+                               Total steps: 126,361,600
+                          Steps per second: 13,049
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1357.5
+                                Actor loss: -9.5337
+                               Critic loss: +0.0037
+                          World model loss: +0.6266
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1880
+     Episode_Reward/track_angular_velocity: +51.4037
+                    Episode_Reward/upright: +26.0481
+                Episode_Reward/leg_posture: -2.5512
+                 Episode_Reward/standstill: -6.5186
+             Episode_Reward/action_rate_l2: -0.5780
+           Episode_Reward/joint_torques_l2: -0.1454
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0398
+     Episode_Reward/unnecessary_wheel_lift: -0.1044
+         Episode_Reward/rolling_leg_motion: -0.6044
+          Episode_Reward/obstacle_progress: +3.6432
+       Episode_Reward/wheel_body_intrusion: -0.2521
+        Episode_Reward/pair_body_intrusion: -0.2895
+             Curriculum/terrain_level_mean: +3.8875
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1316
+              Episode_Termination/time_out: 0.4737
+             Episode_Termination/fell_over: 0.0468
+           Episode_Termination/course_exit: 0.4386
+Episode_Termination/illegal_nonwheel_contact: 0.0643
+==============================================================================
+
+==============================================================================
+Learning iteration 30900/50000
+                               Total steps: 126,566,400
+                          Steps per second: 13,053
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1333.2
+                                Actor loss: -9.5142
+                               Critic loss: +0.0045
+                          World model loss: +0.6297
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5450
+     Episode_Reward/track_angular_velocity: +50.5009
+                    Episode_Reward/upright: +25.6153
+                Episode_Reward/leg_posture: -2.5275
+                 Episode_Reward/standstill: -6.1522
+             Episode_Reward/action_rate_l2: -0.5566
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0365
+     Episode_Reward/unnecessary_wheel_lift: -0.0982
+         Episode_Reward/rolling_leg_motion: -0.5978
+          Episode_Reward/obstacle_progress: +3.5696
+       Episode_Reward/wheel_body_intrusion: -0.2632
+        Episode_Reward/pair_body_intrusion: -0.3159
+             Curriculum/terrain_level_mean: +3.8879
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0904
+       Metrics/base_velocity/error_vel_yaw: 0.1315
+              Episode_Termination/time_out: 0.4695
+             Episode_Termination/fell_over: 0.0366
+           Episode_Termination/course_exit: 0.4451
+Episode_Termination/illegal_nonwheel_contact: 0.0610
+==============================================================================
+
+==============================================================================
+Learning iteration 30950/50000
+                               Total steps: 126,771,200
+                          Steps per second: 13,057
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0877
+                       Mean episode length: 1336.4
+                                Actor loss: -9.5084
+                               Critic loss: +0.0050
+                          World model loss: +0.6052
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7326
+     Episode_Reward/track_angular_velocity: +50.6776
+                    Episode_Reward/upright: +25.6554
+                Episode_Reward/leg_posture: -2.5442
+                 Episode_Reward/standstill: -6.0514
+             Episode_Reward/action_rate_l2: -0.5565
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0157
+     Episode_Reward/unnecessary_wheel_lift: -0.0820
+         Episode_Reward/rolling_leg_motion: -0.5853
+          Episode_Reward/obstacle_progress: +3.6552
+       Episode_Reward/wheel_body_intrusion: -0.2684
+        Episode_Reward/pair_body_intrusion: -0.2871
+             Curriculum/terrain_level_mean: +3.8916
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0898
+       Metrics/base_velocity/error_vel_yaw: 0.1305
+              Episode_Termination/time_out: 0.4297
+             Episode_Termination/fell_over: 0.0234
+           Episode_Termination/course_exit: 0.5234
+Episode_Termination/illegal_nonwheel_contact: 0.0312
+==============================================================================
+
+==============================================================================
+Learning iteration 31000/50000
+                               Total steps: 126,976,000
+                          Steps per second: 13,060
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0874
+                       Mean episode length: 1335.8
+                                Actor loss: -9.5177
+                               Critic loss: +0.0050
+                          World model loss: +0.6175
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4524
+     Episode_Reward/track_angular_velocity: +50.6276
+                    Episode_Reward/upright: +25.6071
+                Episode_Reward/leg_posture: -2.5277
+                 Episode_Reward/standstill: -6.1689
+             Episode_Reward/action_rate_l2: -0.5635
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0235
+     Episode_Reward/unnecessary_wheel_lift: -0.0824
+         Episode_Reward/rolling_leg_motion: -0.5710
+          Episode_Reward/obstacle_progress: +3.6894
+       Episode_Reward/wheel_body_intrusion: -0.2550
+        Episode_Reward/pair_body_intrusion: -0.2876
+             Curriculum/terrain_level_mean: +3.8926
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1315
+              Episode_Termination/time_out: 0.4610
+             Episode_Termination/fell_over: 0.0355
+           Episode_Termination/course_exit: 0.4752
+Episode_Termination/illegal_nonwheel_contact: 0.0284
+==============================================================================
+
+==============================================================================
+Learning iteration 31050/50000
+                               Total steps: 127,180,800
+                          Steps per second: 13,063
+                            Iteration time: 0.314s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1338.4
+                                Actor loss: -9.5126
+                               Critic loss: +0.0059
+                          World model loss: +0.6085
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4506
+     Episode_Reward/track_angular_velocity: +50.6800
+                    Episode_Reward/upright: +25.6058
+                Episode_Reward/leg_posture: -2.5314
+                 Episode_Reward/standstill: -6.0520
+             Episode_Reward/action_rate_l2: -0.5689
+           Episode_Reward/joint_torques_l2: -0.1438
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0105
+     Episode_Reward/unnecessary_wheel_lift: -0.0831
+         Episode_Reward/rolling_leg_motion: -0.5730
+          Episode_Reward/obstacle_progress: +3.6156
+       Episode_Reward/wheel_body_intrusion: -0.2396
+        Episode_Reward/pair_body_intrusion: -0.2872
+             Curriculum/terrain_level_mean: +3.8950
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.4161
+             Episode_Termination/fell_over: 0.0134
+           Episode_Termination/course_exit: 0.5570
+Episode_Termination/illegal_nonwheel_contact: 0.0134
+==============================================================================
+
+==============================================================================
+Learning iteration 31100/50000
+                               Total steps: 127,385,600
+                          Steps per second: 13,067
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1370.4
+                                Actor loss: -9.4958
+                               Critic loss: +0.0037
+                          World model loss: +0.6000
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5066
+     Episode_Reward/track_angular_velocity: +51.8630
+                    Episode_Reward/upright: +26.2134
+                Episode_Reward/leg_posture: -2.5679
+                 Episode_Reward/standstill: -6.1003
+             Episode_Reward/action_rate_l2: -0.5740
+           Episode_Reward/joint_torques_l2: -0.1472
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.0819
+         Episode_Reward/rolling_leg_motion: -0.5778
+          Episode_Reward/obstacle_progress: +3.6344
+       Episode_Reward/wheel_body_intrusion: -0.2370
+        Episode_Reward/pair_body_intrusion: -0.2878
+             Curriculum/terrain_level_mean: +3.8975
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0408
+           Episode_Termination/course_exit: 0.4422
+Episode_Termination/illegal_nonwheel_contact: 0.0136
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[967]
+
+==============================================================================
+Learning iteration 31150/50000
+                               Total steps: 127,590,400
+                          Steps per second: 13,070
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1332.7
+                                Actor loss: -9.5245
+                               Critic loss: +0.0041
+                          World model loss: +0.6226
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2469
+     Episode_Reward/track_angular_velocity: +50.4982
+                    Episode_Reward/upright: +25.5064
+                Episode_Reward/leg_posture: -2.5568
+                 Episode_Reward/standstill: -6.1010
+             Episode_Reward/action_rate_l2: -0.5546
+           Episode_Reward/joint_torques_l2: -0.1441
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0052
+     Episode_Reward/unnecessary_wheel_lift: -0.0951
+         Episode_Reward/rolling_leg_motion: -0.5829
+          Episode_Reward/obstacle_progress: +3.5599
+       Episode_Reward/wheel_body_intrusion: -0.2495
+        Episode_Reward/pair_body_intrusion: -0.2978
+             Curriculum/terrain_level_mean: +3.9019
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1315
+              Episode_Termination/time_out: 0.4730
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.5135
+Episode_Termination/illegal_nonwheel_contact: 0.0135
+==============================================================================
+
+==============================================================================
+Learning iteration 31200/50000
+                               Total steps: 127,795,200
+                          Steps per second: 13,074
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1324.1
+                                Actor loss: -9.5122
+                               Critic loss: +0.0049
+                          World model loss: +0.6074
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0611
+     Episode_Reward/track_angular_velocity: +50.0919
+                    Episode_Reward/upright: +25.3866
+                Episode_Reward/leg_posture: -2.5294
+                 Episode_Reward/standstill: -6.1392
+             Episode_Reward/action_rate_l2: -0.5549
+           Episode_Reward/joint_torques_l2: -0.1425
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.0938
+         Episode_Reward/rolling_leg_motion: -0.5876
+          Episode_Reward/obstacle_progress: +3.5113
+       Episode_Reward/wheel_body_intrusion: -0.2456
+        Episode_Reward/pair_body_intrusion: -0.2518
+             Curriculum/terrain_level_mean: +3.9036
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4595
+             Episode_Termination/fell_over: 0.0338
+           Episode_Termination/course_exit: 0.4932
+Episode_Termination/illegal_nonwheel_contact: 0.0270
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2331]
+
+==============================================================================
+Learning iteration 31250/50000
+                               Total steps: 128,000,000
+                          Steps per second: 13,077
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1304.9
+                                Actor loss: -9.5225
+                               Critic loss: +0.0040
+                          World model loss: +0.6129
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4743
+     Episode_Reward/track_angular_velocity: +49.4209
+                    Episode_Reward/upright: +25.0237
+                Episode_Reward/leg_posture: -2.4818
+                 Episode_Reward/standstill: -5.9386
+             Episode_Reward/action_rate_l2: -0.5397
+           Episode_Reward/joint_torques_l2: -0.1402
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0127
+     Episode_Reward/unnecessary_wheel_lift: -0.0959
+         Episode_Reward/rolling_leg_motion: -0.5727
+          Episode_Reward/obstacle_progress: +3.4989
+       Episode_Reward/wheel_body_intrusion: -0.2438
+        Episode_Reward/pair_body_intrusion: -0.3044
+             Curriculum/terrain_level_mean: +3.9062
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1320
+              Episode_Termination/time_out: 0.4451
+             Episode_Termination/fell_over: 0.0183
+           Episode_Termination/course_exit: 0.5244
+Episode_Termination/illegal_nonwheel_contact: 0.0244
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[3279]
+
+==============================================================================
+Learning iteration 31300/50000
+                               Total steps: 128,204,800
+                          Steps per second: 13,081
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1392.2
+                                Actor loss: -9.4939
+                               Critic loss: +0.0045
+                          World model loss: +0.6026
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5104
+     Episode_Reward/track_angular_velocity: +52.7272
+                    Episode_Reward/upright: +26.7166
+                Episode_Reward/leg_posture: -2.6786
+                 Episode_Reward/standstill: -6.5641
+             Episode_Reward/action_rate_l2: -0.5742
+           Episode_Reward/joint_torques_l2: -0.1499
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.0883
+         Episode_Reward/rolling_leg_motion: -0.6106
+          Episode_Reward/obstacle_progress: +3.6671
+       Episode_Reward/wheel_body_intrusion: -0.2608
+        Episode_Reward/pair_body_intrusion: -0.3237
+             Curriculum/terrain_level_mean: +3.9084
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1322
+              Episode_Termination/time_out: 0.5067
+             Episode_Termination/fell_over: 0.0267
+           Episode_Termination/course_exit: 0.4400
+Episode_Termination/illegal_nonwheel_contact: 0.0333
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[823]
+RECOVERY reset 1 invalid environments; first IDs=[2734]
+
+==============================================================================
+Learning iteration 31350/50000
+                               Total steps: 128,409,600
+                          Steps per second: 13,084
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1411.0
+                                Actor loss: -9.5431
+                               Critic loss: +0.0051
+                          World model loss: +0.6423
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1628
+     Episode_Reward/track_angular_velocity: +53.4117
+                    Episode_Reward/upright: +27.0782
+                Episode_Reward/leg_posture: -2.7334
+                 Episode_Reward/standstill: -6.8337
+             Episode_Reward/action_rate_l2: -0.5814
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0083
+     Episode_Reward/unnecessary_wheel_lift: -0.0872
+         Episode_Reward/rolling_leg_motion: -0.6314
+          Episode_Reward/obstacle_progress: +3.7232
+       Episode_Reward/wheel_body_intrusion: -0.3068
+        Episode_Reward/pair_body_intrusion: -0.3578
+             Curriculum/terrain_level_mean: +3.9128
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.4676
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5108
+Episode_Termination/illegal_nonwheel_contact: 0.0216
+==============================================================================
+
+==============================================================================
+Learning iteration 31400/50000
+                               Total steps: 128,614,400
+                          Steps per second: 13,088
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1317.8
+                                Actor loss: -9.5500
+                               Critic loss: +0.0034
+                          World model loss: +0.6141
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8151
+     Episode_Reward/track_angular_velocity: +49.8697
+                    Episode_Reward/upright: +25.2624
+                Episode_Reward/leg_posture: -2.5374
+                 Episode_Reward/standstill: -6.1450
+             Episode_Reward/action_rate_l2: -0.5439
+           Episode_Reward/joint_torques_l2: -0.1409
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0154
+     Episode_Reward/unnecessary_wheel_lift: -0.0822
+         Episode_Reward/rolling_leg_motion: -0.5716
+          Episode_Reward/obstacle_progress: +3.5043
+       Episode_Reward/wheel_body_intrusion: -0.2699
+        Episode_Reward/pair_body_intrusion: -0.3243
+             Curriculum/terrain_level_mean: +3.9150
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4097
+             Episode_Termination/fell_over: 0.0208
+           Episode_Termination/course_exit: 0.5486
+Episode_Termination/illegal_nonwheel_contact: 0.0347
+==============================================================================
+
+==============================================================================
+Learning iteration 31450/50000
+                               Total steps: 128,819,200
+                          Steps per second: 13,091
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1400.7
+                                Actor loss: -9.5081
+                               Critic loss: +0.0050
+                          World model loss: +0.5804
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7118
+     Episode_Reward/track_angular_velocity: +53.0105
+                    Episode_Reward/upright: +26.8575
+                Episode_Reward/leg_posture: -2.6854
+                 Episode_Reward/standstill: -6.5150
+             Episode_Reward/action_rate_l2: -0.5849
+           Episode_Reward/joint_torques_l2: -0.1505
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.0975
+         Episode_Reward/rolling_leg_motion: -0.6263
+          Episode_Reward/obstacle_progress: +3.7550
+       Episode_Reward/wheel_body_intrusion: -0.2652
+        Episode_Reward/pair_body_intrusion: -0.2916
+             Curriculum/terrain_level_mean: +3.9172
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.4859
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.4859
+Episode_Termination/illegal_nonwheel_contact: 0.0141
+==============================================================================
+
+==============================================================================
+Learning iteration 31500/50000
+                               Total steps: 129,024,000
+                          Steps per second: 13,095
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1326.4
+                                Actor loss: -9.5178
+                               Critic loss: +0.0042
+                          World model loss: +0.6032
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9041
+     Episode_Reward/track_angular_velocity: +50.0851
+                    Episode_Reward/upright: +25.4308
+                Episode_Reward/leg_posture: -2.5430
+                 Episode_Reward/standstill: -6.3363
+             Episode_Reward/action_rate_l2: -0.5639
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0389
+     Episode_Reward/unnecessary_wheel_lift: -0.0880
+         Episode_Reward/rolling_leg_motion: -0.5927
+          Episode_Reward/obstacle_progress: +3.6107
+       Episode_Reward/wheel_body_intrusion: -0.2678
+        Episode_Reward/pair_body_intrusion: -0.2770
+             Curriculum/terrain_level_mean: +3.9172
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4503
+             Episode_Termination/fell_over: 0.0596
+           Episode_Termination/course_exit: 0.4503
+Episode_Termination/illegal_nonwheel_contact: 0.0530
+==============================================================================
+
+==============================================================================
+Learning iteration 31550/50000
+                               Total steps: 129,228,800
+                          Steps per second: 13,098
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0871
+                       Mean episode length: 1349.7
+                                Actor loss: -9.5321
+                               Critic loss: +0.0029
+                          World model loss: +0.6452
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7327
+     Episode_Reward/track_angular_velocity: +51.0108
+                    Episode_Reward/upright: +25.9063
+                Episode_Reward/leg_posture: -2.5588
+                 Episode_Reward/standstill: -6.1956
+             Episode_Reward/action_rate_l2: -0.5566
+           Episode_Reward/joint_torques_l2: -0.1446
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.0922
+         Episode_Reward/rolling_leg_motion: -0.5874
+          Episode_Reward/obstacle_progress: +3.6411
+       Episode_Reward/wheel_body_intrusion: -0.2690
+        Episode_Reward/pair_body_intrusion: -0.2929
+             Curriculum/terrain_level_mean: +3.9189
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5098
+             Episode_Termination/fell_over: 0.0131
+           Episode_Termination/course_exit: 0.4444
+Episode_Termination/illegal_nonwheel_contact: 0.0392
+==============================================================================
+
+==============================================================================
+Learning iteration 31600/50000
+                               Total steps: 129,433,600
+                          Steps per second: 13,101
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1318.0
+                                Actor loss: -9.5168
+                               Critic loss: +0.0042
+                          World model loss: +0.6006
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9410
+     Episode_Reward/track_angular_velocity: +49.8826
+                    Episode_Reward/upright: +25.2955
+                Episode_Reward/leg_posture: -2.4843
+                 Episode_Reward/standstill: -5.9301
+             Episode_Reward/action_rate_l2: -0.5474
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.0727
+         Episode_Reward/rolling_leg_motion: -0.5623
+          Episode_Reward/obstacle_progress: +3.6329
+       Episode_Reward/wheel_body_intrusion: -0.2279
+        Episode_Reward/pair_body_intrusion: -0.2742
+             Curriculum/terrain_level_mean: +3.9197
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.4453
+             Episode_Termination/fell_over: 0.0234
+           Episode_Termination/course_exit: 0.4922
+Episode_Termination/illegal_nonwheel_contact: 0.0547
+==============================================================================
+
+==============================================================================
+Learning iteration 31650/50000
+                               Total steps: 129,638,400
+                          Steps per second: 13,104
+                            Iteration time: 0.313s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1389.1
+                                Actor loss: -9.4850
+                               Critic loss: +0.0085
+                          World model loss: +0.6102
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4465
+     Episode_Reward/track_angular_velocity: +52.5935
+                    Episode_Reward/upright: +26.6716
+                Episode_Reward/leg_posture: -2.6342
+                 Episode_Reward/standstill: -6.3351
+             Episode_Reward/action_rate_l2: -0.5884
+           Episode_Reward/joint_torques_l2: -0.1491
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0271
+     Episode_Reward/unnecessary_wheel_lift: -0.0987
+         Episode_Reward/rolling_leg_motion: -0.6012
+          Episode_Reward/obstacle_progress: +3.7981
+       Episode_Reward/wheel_body_intrusion: -0.2441
+        Episode_Reward/pair_body_intrusion: -0.2776
+             Curriculum/terrain_level_mean: +3.9207
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.4771
+             Episode_Termination/fell_over: 0.0327
+           Episode_Termination/course_exit: 0.4575
+Episode_Termination/illegal_nonwheel_contact: 0.0588
+==============================================================================
+
+==============================================================================
+Learning iteration 31700/50000
+                               Total steps: 129,843,200
+                          Steps per second: 13,108
+                            Iteration time: 0.312s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0874
+                       Mean episode length: 1429.3
+                                Actor loss: -9.5126
+                               Critic loss: +0.0051
+                          World model loss: +0.5926
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.0199
+     Episode_Reward/track_angular_velocity: +54.0982
+                    Episode_Reward/upright: +27.4694
+                Episode_Reward/leg_posture: -2.7263
+                 Episode_Reward/standstill: -6.8350
+             Episode_Reward/action_rate_l2: -0.6027
+           Episode_Reward/joint_torques_l2: -0.1526
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0112
+     Episode_Reward/unnecessary_wheel_lift: -0.0893
+         Episode_Reward/rolling_leg_motion: -0.6365
+          Episode_Reward/obstacle_progress: +3.9291
+       Episode_Reward/wheel_body_intrusion: -0.2549
+        Episode_Reward/pair_body_intrusion: -0.2755
+             Curriculum/terrain_level_mean: +3.9231
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0903
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.5714
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.4014
+Episode_Termination/illegal_nonwheel_contact: 0.0204
+==============================================================================
+
+==============================================================================
+Learning iteration 31750/50000
+                               Total steps: 130,048,000
+                          Steps per second: 13,111
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1372.4
+                                Actor loss: -9.4981
+                               Critic loss: +0.0047
+                          World model loss: +0.6084
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8915
+     Episode_Reward/track_angular_velocity: +51.9633
+                    Episode_Reward/upright: +26.3634
+                Episode_Reward/leg_posture: -2.5626
+                 Episode_Reward/standstill: -6.3328
+             Episode_Reward/action_rate_l2: -0.5781
+           Episode_Reward/joint_torques_l2: -0.1474
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.0887
+         Episode_Reward/rolling_leg_motion: -0.6235
+          Episode_Reward/obstacle_progress: +3.7451
+       Episode_Reward/wheel_body_intrusion: -0.2601
+        Episode_Reward/pair_body_intrusion: -0.3038
+             Curriculum/terrain_level_mean: +3.9253
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0910
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.4516
+             Episode_Termination/fell_over: 0.0258
+           Episode_Termination/course_exit: 0.4968
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1007]
+
+==============================================================================
+Learning iteration 31800/50000
+                               Total steps: 130,252,800
+                          Steps per second: 13,115
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1357.9
+                                Actor loss: -9.4914
+                               Critic loss: +0.0076
+                          World model loss: +0.6154
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4392
+     Episode_Reward/track_angular_velocity: +51.4478
+                    Episode_Reward/upright: +26.1146
+                Episode_Reward/leg_posture: -2.5221
+                 Episode_Reward/standstill: -6.2586
+             Episode_Reward/action_rate_l2: -0.5736
+           Episode_Reward/joint_torques_l2: -0.1465
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0053
+     Episode_Reward/unnecessary_wheel_lift: -0.0878
+         Episode_Reward/rolling_leg_motion: -0.6061
+          Episode_Reward/obstacle_progress: +3.7271
+       Episode_Reward/wheel_body_intrusion: -0.2429
+        Episode_Reward/pair_body_intrusion: -0.2341
+             Curriculum/terrain_level_mean: +3.9297
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0904
+       Metrics/base_velocity/error_vel_yaw: 0.1314
+              Episode_Termination/time_out: 0.4933
+             Episode_Termination/fell_over: 0.0067
+           Episode_Termination/course_exit: 0.4933
+Episode_Termination/illegal_nonwheel_contact: 0.0133
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1388]
+
+==============================================================================
+Learning iteration 31850/50000
+                               Total steps: 130,457,600
+                          Steps per second: 13,118
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1373.9
+                                Actor loss: -9.4912
+                               Critic loss: +0.0059
+                          World model loss: +0.6147
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1775
+     Episode_Reward/track_angular_velocity: +52.0553
+                    Episode_Reward/upright: +26.3983
+                Episode_Reward/leg_posture: -2.6085
+                 Episode_Reward/standstill: -6.2684
+             Episode_Reward/action_rate_l2: -0.5751
+           Episode_Reward/joint_torques_l2: -0.1471
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0878
+         Episode_Reward/rolling_leg_motion: -0.6044
+          Episode_Reward/obstacle_progress: +3.8171
+       Episode_Reward/wheel_body_intrusion: -0.2444
+        Episode_Reward/pair_body_intrusion: -0.2523
+             Curriculum/terrain_level_mean: +3.9326
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0889
+       Metrics/base_velocity/error_vel_yaw: 0.1316
+              Episode_Termination/time_out: 0.4774
+             Episode_Termination/fell_over: 0.0194
+           Episode_Termination/course_exit: 0.4903
+Episode_Termination/illegal_nonwheel_contact: 0.0129
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1873]
+RECOVERY reset 1 invalid environments; first IDs=[2412]
+
+==============================================================================
+Learning iteration 31900/50000
+                               Total steps: 130,662,400
+                          Steps per second: 13,121
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1385.8
+                                Actor loss: -9.5403
+                               Critic loss: +0.0034
+                          World model loss: +0.6089
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3824
+     Episode_Reward/track_angular_velocity: +52.5238
+                    Episode_Reward/upright: +26.6291
+                Episode_Reward/leg_posture: -2.6755
+                 Episode_Reward/standstill: -6.6325
+             Episode_Reward/action_rate_l2: -0.5817
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0849
+         Episode_Reward/rolling_leg_motion: -0.6127
+          Episode_Reward/obstacle_progress: +3.6864
+       Episode_Reward/wheel_body_intrusion: -0.2590
+        Episode_Reward/pair_body_intrusion: -0.3062
+             Curriculum/terrain_level_mean: +3.9355
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0906
+       Metrics/base_velocity/error_vel_yaw: 0.1311
+              Episode_Termination/time_out: 0.4702
+             Episode_Termination/fell_over: 0.0132
+           Episode_Termination/course_exit: 0.5033
+Episode_Termination/illegal_nonwheel_contact: 0.0199
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1394]
+
+==============================================================================
+Learning iteration 31950/50000
+                               Total steps: 130,867,200
+                          Steps per second: 13,125
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0873
+                       Mean episode length: 1416.9
+                                Actor loss: -9.5363
+                               Critic loss: +0.0035
+                          World model loss: +0.6246
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.3464
+     Episode_Reward/track_angular_velocity: +53.6767
+                    Episode_Reward/upright: +27.2188
+                Episode_Reward/leg_posture: -2.7283
+                 Episode_Reward/standstill: -6.5079
+             Episode_Reward/action_rate_l2: -0.6033
+           Episode_Reward/joint_torques_l2: -0.1549
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0221
+     Episode_Reward/unnecessary_wheel_lift: -0.1023
+         Episode_Reward/rolling_leg_motion: -0.6278
+          Episode_Reward/obstacle_progress: +3.7613
+       Episode_Reward/wheel_body_intrusion: -0.2921
+        Episode_Reward/pair_body_intrusion: -0.3344
+             Curriculum/terrain_level_mean: +3.9385
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1318
+              Episode_Termination/time_out: 0.5325
+             Episode_Termination/fell_over: 0.0296
+           Episode_Termination/course_exit: 0.4201
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1416]
+RECOVERY reset 1 invalid environments; first IDs=[1043]
+
+==============================================================================
+Learning iteration 32000/50000
+                               Total steps: 131,072,000
+                          Steps per second: 13,128
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1344.9
+                                Actor loss: -9.5181
+                               Critic loss: +0.0044
+                          World model loss: +0.5721
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8053
+     Episode_Reward/track_angular_velocity: +50.9471
+                    Episode_Reward/upright: +25.8553
+                Episode_Reward/leg_posture: -2.5621
+                 Episode_Reward/standstill: -6.3232
+             Episode_Reward/action_rate_l2: -0.5595
+           Episode_Reward/joint_torques_l2: -0.1465
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0105
+     Episode_Reward/unnecessary_wheel_lift: -0.0840
+         Episode_Reward/rolling_leg_motion: -0.5872
+          Episode_Reward/obstacle_progress: +3.5938
+       Episode_Reward/wheel_body_intrusion: -0.2507
+        Episode_Reward/pair_body_intrusion: -0.2622
+             Curriculum/terrain_level_mean: +3.9404
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1315
+              Episode_Termination/time_out: 0.4638
+             Episode_Termination/fell_over: 0.0145
+           Episode_Termination/course_exit: 0.5072
+Episode_Termination/illegal_nonwheel_contact: 0.0217
+==============================================================================
+
+==============================================================================
+Learning iteration 32050/50000
+                               Total steps: 131,276,800
+                          Steps per second: 13,131
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1311.9
+                                Actor loss: -9.5569
+                               Critic loss: +0.0029
+                          World model loss: +0.5927
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6333
+     Episode_Reward/track_angular_velocity: +49.6655
+                    Episode_Reward/upright: +25.1983
+                Episode_Reward/leg_posture: -2.5339
+                 Episode_Reward/standstill: -6.1329
+             Episode_Reward/action_rate_l2: -0.5560
+           Episode_Reward/joint_torques_l2: -0.1423
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0179
+     Episode_Reward/unnecessary_wheel_lift: -0.0804
+         Episode_Reward/rolling_leg_motion: -0.5969
+          Episode_Reward/obstacle_progress: +3.5058
+       Episode_Reward/wheel_body_intrusion: -0.2606
+        Episode_Reward/pair_body_intrusion: -0.2475
+             Curriculum/terrain_level_mean: +3.9424
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1323
+              Episode_Termination/time_out: 0.4296
+             Episode_Termination/fell_over: 0.0282
+           Episode_Termination/course_exit: 0.5211
+Episode_Termination/illegal_nonwheel_contact: 0.0423
+==============================================================================
+
+==============================================================================
+Learning iteration 32100/50000
+                               Total steps: 131,481,600
+                          Steps per second: 13,135
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1410.1
+                                Actor loss: -9.5353
+                               Critic loss: +0.0062
+                          World model loss: +0.6189
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9854
+     Episode_Reward/track_angular_velocity: +53.3118
+                    Episode_Reward/upright: +27.0720
+                Episode_Reward/leg_posture: -2.6826
+                 Episode_Reward/standstill: -6.5585
+             Episode_Reward/action_rate_l2: -0.5939
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0248
+     Episode_Reward/unnecessary_wheel_lift: -0.0917
+         Episode_Reward/rolling_leg_motion: -0.6239
+          Episode_Reward/obstacle_progress: +3.9216
+       Episode_Reward/wheel_body_intrusion: -0.2738
+        Episode_Reward/pair_body_intrusion: -0.3042
+             Curriculum/terrain_level_mean: +3.9429
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5395
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.4013
+Episode_Termination/illegal_nonwheel_contact: 0.0461
+==============================================================================
+
+==============================================================================
+Learning iteration 32150/50000
+                               Total steps: 131,686,400
+                          Steps per second: 13,138
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1324.7
+                                Actor loss: -9.5703
+                               Critic loss: +0.0058
+                          World model loss: +0.5987
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9671
+     Episode_Reward/track_angular_velocity: +50.0899
+                    Episode_Reward/upright: +25.4580
+                Episode_Reward/leg_posture: -2.5591
+                 Episode_Reward/standstill: -5.8135
+             Episode_Reward/action_rate_l2: -0.5559
+           Episode_Reward/joint_torques_l2: -0.1443
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0233
+     Episode_Reward/unnecessary_wheel_lift: -0.0976
+         Episode_Reward/rolling_leg_motion: -0.5935
+          Episode_Reward/obstacle_progress: +3.6156
+       Episode_Reward/wheel_body_intrusion: -0.2621
+        Episode_Reward/pair_body_intrusion: -0.2820
+             Curriculum/terrain_level_mean: +3.9438
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4788
+             Episode_Termination/fell_over: 0.0303
+           Episode_Termination/course_exit: 0.4667
+Episode_Termination/illegal_nonwheel_contact: 0.0424
+==============================================================================
+
+==============================================================================
+Learning iteration 32200/50000
+                               Total steps: 131,891,200
+                          Steps per second: 13,141
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1374.6
+                                Actor loss: -9.5399
+                               Critic loss: +0.0037
+                          World model loss: +0.5606
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9287
+     Episode_Reward/track_angular_velocity: +51.9580
+                    Episode_Reward/upright: +26.4028
+                Episode_Reward/leg_posture: -2.6583
+                 Episode_Reward/standstill: -5.9951
+             Episode_Reward/action_rate_l2: -0.5832
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0898
+         Episode_Reward/rolling_leg_motion: -0.6139
+          Episode_Reward/obstacle_progress: +3.8263
+       Episode_Reward/wheel_body_intrusion: -0.2685
+        Episode_Reward/pair_body_intrusion: -0.2843
+             Curriculum/terrain_level_mean: +3.9470
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0207
+           Episode_Termination/course_exit: 0.4483
+Episode_Termination/illegal_nonwheel_contact: 0.0276
+==============================================================================
+
+==============================================================================
+Learning iteration 32250/50000
+                               Total steps: 132,096,000
+                          Steps per second: 13,145
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1379.9
+                                Actor loss: -9.5148
+                               Critic loss: +0.0078
+                          World model loss: +0.6053
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1594
+     Episode_Reward/track_angular_velocity: +52.2013
+                    Episode_Reward/upright: +26.5383
+                Episode_Reward/leg_posture: -2.6481
+                 Episode_Reward/standstill: -6.0561
+             Episode_Reward/action_rate_l2: -0.5920
+           Episode_Reward/joint_torques_l2: -0.1498
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0270
+     Episode_Reward/unnecessary_wheel_lift: -0.0979
+         Episode_Reward/rolling_leg_motion: -0.6252
+          Episode_Reward/obstacle_progress: +3.9256
+       Episode_Reward/wheel_body_intrusion: -0.2502
+        Episode_Reward/pair_body_intrusion: -0.3135
+             Curriculum/terrain_level_mean: +3.9475
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.4969
+             Episode_Termination/fell_over: 0.0429
+           Episode_Termination/course_exit: 0.4417
+Episode_Termination/illegal_nonwheel_contact: 0.0307
+==============================================================================
+
+==============================================================================
+Learning iteration 32300/50000
+                               Total steps: 132,300,800
+                          Steps per second: 13,148
+                            Iteration time: 0.312s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0881
+                       Mean episode length: 1361.3
+                                Actor loss: -9.5482
+                               Critic loss: +0.0033
+                          World model loss: +0.6380
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5807
+     Episode_Reward/track_angular_velocity: +51.5658
+                    Episode_Reward/upright: +26.1904
+                Episode_Reward/leg_posture: -2.5805
+                 Episode_Reward/standstill: -5.6842
+             Episode_Reward/action_rate_l2: -0.5693
+           Episode_Reward/joint_torques_l2: -0.1470
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.0773
+         Episode_Reward/rolling_leg_motion: -0.5975
+          Episode_Reward/obstacle_progress: +3.8557
+       Episode_Reward/wheel_body_intrusion: -0.2565
+        Episode_Reward/pair_body_intrusion: -0.3278
+             Curriculum/terrain_level_mean: +3.9490
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0901
+       Metrics/base_velocity/error_vel_yaw: 0.1319
+              Episode_Termination/time_out: 0.4196
+             Episode_Termination/fell_over: 0.0280
+           Episode_Termination/course_exit: 0.5385
+Episode_Termination/illegal_nonwheel_contact: 0.0280
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[548]
+RECOVERY reset 1 invalid environments; first IDs=[1303]
+
+==============================================================================
+Learning iteration 32350/50000
+                               Total steps: 132,505,600
+                          Steps per second: 13,151
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0878
+                       Mean episode length: 1305.4
+                                Actor loss: -9.5417
+                               Critic loss: +0.0039
+                          World model loss: +0.6423
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5370
+     Episode_Reward/track_angular_velocity: +49.4068
+                    Episode_Reward/upright: +25.0868
+                Episode_Reward/leg_posture: -2.5036
+                 Episode_Reward/standstill: -5.6489
+             Episode_Reward/action_rate_l2: -0.5459
+           Episode_Reward/joint_torques_l2: -0.1412
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0229
+     Episode_Reward/unnecessary_wheel_lift: -0.0882
+         Episode_Reward/rolling_leg_motion: -0.5856
+          Episode_Reward/obstacle_progress: +3.6034
+       Episode_Reward/wheel_body_intrusion: -0.2417
+        Episode_Reward/pair_body_intrusion: -0.2706
+             Curriculum/terrain_level_mean: +3.9507
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0906
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.4048
+             Episode_Termination/fell_over: 0.0238
+           Episode_Termination/course_exit: 0.5417
+Episode_Termination/illegal_nonwheel_contact: 0.0357
+==============================================================================
+
+==============================================================================
+Learning iteration 32400/50000
+                               Total steps: 132,710,400
+                          Steps per second: 13,154
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1325.1
+                                Actor loss: -9.5039
+                               Critic loss: +0.0032
+                          World model loss: +0.6053
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0486
+     Episode_Reward/track_angular_velocity: +50.1578
+                    Episode_Reward/upright: +25.4353
+                Episode_Reward/leg_posture: -2.5036
+                 Episode_Reward/standstill: -5.7175
+             Episode_Reward/action_rate_l2: -0.5574
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0285
+     Episode_Reward/unnecessary_wheel_lift: -0.0872
+         Episode_Reward/rolling_leg_motion: -0.5941
+          Episode_Reward/obstacle_progress: +3.6203
+       Episode_Reward/wheel_body_intrusion: -0.2421
+        Episode_Reward/pair_body_intrusion: -0.2773
+             Curriculum/terrain_level_mean: +3.9529
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1323
+              Episode_Termination/time_out: 0.4333
+             Episode_Termination/fell_over: 0.0333
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0467
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_032400.mp4
+
+==============================================================================
+Learning iteration 32450/50000
+                               Total steps: 132,915,200
+                          Steps per second: 13,150
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1370.5
+                                Actor loss: -9.5036
+                               Critic loss: +0.0046
+                          World model loss: +0.6402
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7102
+     Episode_Reward/track_angular_velocity: +51.8438
+                    Episode_Reward/upright: +26.3159
+                Episode_Reward/leg_posture: -2.5812
+                 Episode_Reward/standstill: -5.9890
+             Episode_Reward/action_rate_l2: -0.5763
+           Episode_Reward/joint_torques_l2: -0.1481
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.0842
+         Episode_Reward/rolling_leg_motion: -0.5948
+          Episode_Reward/obstacle_progress: +3.8108
+       Episode_Reward/wheel_body_intrusion: -0.2592
+        Episode_Reward/pair_body_intrusion: -0.3041
+             Curriculum/terrain_level_mean: +3.9556
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4551
+             Episode_Termination/fell_over: 0.0192
+           Episode_Termination/course_exit: 0.5064
+Episode_Termination/illegal_nonwheel_contact: 0.0256
+==============================================================================
+
+==============================================================================
+Learning iteration 32500/50000
+                               Total steps: 133,120,000
+                          Steps per second: 13,153
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0877
+                       Mean episode length: 1389.8
+                                Actor loss: -9.5328
+                               Critic loss: +0.0067
+                          World model loss: +0.5902
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4768
+     Episode_Reward/track_angular_velocity: +52.6078
+                    Episode_Reward/upright: +26.6684
+                Episode_Reward/leg_posture: -2.6358
+                 Episode_Reward/standstill: -6.0811
+             Episode_Reward/action_rate_l2: -0.5889
+           Episode_Reward/joint_torques_l2: -0.1509
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0271
+     Episode_Reward/unnecessary_wheel_lift: -0.0798
+         Episode_Reward/rolling_leg_motion: -0.5841
+          Episode_Reward/obstacle_progress: +3.8409
+       Episode_Reward/wheel_body_intrusion: -0.2722
+        Episode_Reward/pair_body_intrusion: -0.3025
+             Curriculum/terrain_level_mean: +3.9573
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1323
+              Episode_Termination/time_out: 0.5130
+             Episode_Termination/fell_over: 0.0649
+           Episode_Termination/course_exit: 0.4221
+Episode_Termination/illegal_nonwheel_contact: 0.0195
+==============================================================================
+
+==============================================================================
+Learning iteration 32550/50000
+                               Total steps: 133,324,800
+                          Steps per second: 13,157
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0879
+                       Mean episode length: 1443.5
+                                Actor loss: -9.5375
+                               Critic loss: +0.0040
+                          World model loss: +0.6353
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.4224
+     Episode_Reward/track_angular_velocity: +54.6803
+                    Episode_Reward/upright: +27.7273
+                Episode_Reward/leg_posture: -2.7471
+                 Episode_Reward/standstill: -6.0800
+             Episode_Reward/action_rate_l2: -0.6123
+           Episode_Reward/joint_torques_l2: -0.1547
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0113
+     Episode_Reward/unnecessary_wheel_lift: -0.0834
+         Episode_Reward/rolling_leg_motion: -0.6180
+          Episode_Reward/obstacle_progress: +3.9548
+       Episode_Reward/wheel_body_intrusion: -0.2700
+        Episode_Reward/pair_body_intrusion: -0.2801
+             Curriculum/terrain_level_mean: +3.9590
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0907
+       Metrics/base_velocity/error_vel_yaw: 0.1321
+              Episode_Termination/time_out: 0.5548
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4178
+Episode_Termination/illegal_nonwheel_contact: 0.0274
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[493]
+
+==============================================================================
+Learning iteration 32600/50000
+                               Total steps: 133,529,600
+                          Steps per second: 13,160
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0878
+                       Mean episode length: 1417.0
+                                Actor loss: -9.5483
+                               Critic loss: +0.0066
+                          World model loss: +0.6264
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.3512
+     Episode_Reward/track_angular_velocity: +53.6052
+                    Episode_Reward/upright: +27.2361
+                Episode_Reward/leg_posture: -2.6689
+                 Episode_Reward/standstill: -5.9053
+             Episode_Reward/action_rate_l2: -0.6188
+           Episode_Reward/joint_torques_l2: -0.1536
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.0824
+         Episode_Reward/rolling_leg_motion: -0.6198
+          Episode_Reward/obstacle_progress: +3.9252
+       Episode_Reward/wheel_body_intrusion: -0.2606
+        Episode_Reward/pair_body_intrusion: -0.3076
+             Curriculum/terrain_level_mean: +3.9612
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5578
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4150
+Episode_Termination/illegal_nonwheel_contact: 0.0136
+==============================================================================
+
+==============================================================================
+Learning iteration 32650/50000
+                               Total steps: 133,734,400
+                          Steps per second: 13,163
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0877
+                       Mean episode length: 1341.5
+                                Actor loss: -9.5083
+                               Critic loss: +0.0049
+                          World model loss: +0.6398
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7430
+     Episode_Reward/track_angular_velocity: +50.7964
+                    Episode_Reward/upright: +25.7742
+                Episode_Reward/leg_posture: -2.5227
+                 Episode_Reward/standstill: -5.8727
+             Episode_Reward/action_rate_l2: -0.5661
+           Episode_Reward/joint_torques_l2: -0.1442
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0157
+     Episode_Reward/unnecessary_wheel_lift: -0.0881
+         Episode_Reward/rolling_leg_motion: -0.5852
+          Episode_Reward/obstacle_progress: +3.7004
+       Episode_Reward/wheel_body_intrusion: -0.2367
+        Episode_Reward/pair_body_intrusion: -0.2823
+             Curriculum/terrain_level_mean: +3.9641
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1321
+              Episode_Termination/time_out: 0.4052
+             Episode_Termination/fell_over: 0.0196
+           Episode_Termination/course_exit: 0.5556
+Episode_Termination/illegal_nonwheel_contact: 0.0261
+==============================================================================
+
+==============================================================================
+Learning iteration 32700/50000
+                               Total steps: 133,939,200
+                          Steps per second: 13,167
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1432.4
+                                Actor loss: -9.5299
+                               Critic loss: +0.0064
+                          World model loss: +0.6235
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.9544
+     Episode_Reward/track_angular_velocity: +54.2175
+                    Episode_Reward/upright: +27.4852
+                Episode_Reward/leg_posture: -2.7490
+                 Episode_Reward/standstill: -6.4281
+             Episode_Reward/action_rate_l2: -0.6019
+           Episode_Reward/joint_torques_l2: -0.1544
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0112
+     Episode_Reward/unnecessary_wheel_lift: -0.0855
+         Episode_Reward/rolling_leg_motion: -0.6176
+          Episode_Reward/obstacle_progress: +3.8764
+       Episode_Reward/wheel_body_intrusion: -0.2672
+        Episode_Reward/pair_body_intrusion: -0.3098
+             Curriculum/terrain_level_mean: +3.9666
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.5512
+             Episode_Termination/fell_over: 0.0315
+           Episode_Termination/course_exit: 0.4173
+Episode_Termination/illegal_nonwheel_contact: 0.0079
+==============================================================================
+
+==============================================================================
+Learning iteration 32750/50000
+                               Total steps: 134,144,000
+                          Steps per second: 13,170
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1360.8
+                                Actor loss: -9.5317
+                               Critic loss: +0.0055
+                          World model loss: +0.5482
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3373
+     Episode_Reward/track_angular_velocity: +51.5385
+                    Episode_Reward/upright: +26.1243
+                Episode_Reward/leg_posture: -2.5993
+                 Episode_Reward/standstill: -5.7727
+             Episode_Reward/action_rate_l2: -0.5687
+           Episode_Reward/joint_torques_l2: -0.1475
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0266
+     Episode_Reward/unnecessary_wheel_lift: -0.0869
+         Episode_Reward/rolling_leg_motion: -0.6003
+          Episode_Reward/obstacle_progress: +3.6208
+       Episode_Reward/wheel_body_intrusion: -0.2648
+        Episode_Reward/pair_body_intrusion: -0.3133
+             Curriculum/terrain_level_mean: +3.9675
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1319
+              Episode_Termination/time_out: 0.4345
+             Episode_Termination/fell_over: 0.0357
+           Episode_Termination/course_exit: 0.5060
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+
+==============================================================================
+Learning iteration 32800/50000
+                               Total steps: 134,348,800
+                          Steps per second: 13,173
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0878
+                       Mean episode length: 1406.7
+                                Actor loss: -9.5520
+                               Critic loss: +0.0032
+                          World model loss: +0.5829
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1170
+     Episode_Reward/track_angular_velocity: +53.2711
+                    Episode_Reward/upright: +27.0141
+                Episode_Reward/leg_posture: -2.6479
+                 Episode_Reward/standstill: -5.9922
+             Episode_Reward/action_rate_l2: -0.6058
+           Episode_Reward/joint_torques_l2: -0.1518
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0165
+     Episode_Reward/unnecessary_wheel_lift: -0.0715
+         Episode_Reward/rolling_leg_motion: -0.6189
+          Episode_Reward/obstacle_progress: +3.7836
+       Episode_Reward/wheel_body_intrusion: -0.2635
+        Episode_Reward/pair_body_intrusion: -0.2911
+             Curriculum/terrain_level_mean: +3.9685
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1319
+              Episode_Termination/time_out: 0.5177
+             Episode_Termination/fell_over: 0.0213
+           Episode_Termination/course_exit: 0.4397
+Episode_Termination/illegal_nonwheel_contact: 0.0213
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[551]
+
+==============================================================================
+Learning iteration 32850/50000
+                               Total steps: 134,553,600
+                          Steps per second: 13,177
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1335.0
+                                Actor loss: -9.5199
+                               Critic loss: +0.0047
+                          World model loss: +0.5909
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5751
+     Episode_Reward/track_angular_velocity: +50.4886
+                    Episode_Reward/upright: +25.6323
+                Episode_Reward/leg_posture: -2.5205
+                 Episode_Reward/standstill: -5.8118
+             Episode_Reward/action_rate_l2: -0.5635
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.0864
+         Episode_Reward/rolling_leg_motion: -0.5851
+          Episode_Reward/obstacle_progress: +3.6150
+       Episode_Reward/wheel_body_intrusion: -0.2400
+        Episode_Reward/pair_body_intrusion: -0.2760
+             Curriculum/terrain_level_mean: +3.9697
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0908
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4178
+             Episode_Termination/fell_over: 0.0274
+           Episode_Termination/course_exit: 0.5479
+Episode_Termination/illegal_nonwheel_contact: 0.0274
+==============================================================================
+
+==============================================================================
+Learning iteration 32900/50000
+                               Total steps: 134,758,400
+                          Steps per second: 13,180
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1275.6
+                                Actor loss: -9.5340
+                               Critic loss: +0.0035
+                          World model loss: +0.5791
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.2334
+     Episode_Reward/track_angular_velocity: +48.2964
+                    Episode_Reward/upright: +24.4889
+                Episode_Reward/leg_posture: -2.4163
+                 Episode_Reward/standstill: -5.7952
+             Episode_Reward/action_rate_l2: -0.5458
+           Episode_Reward/joint_torques_l2: -0.1372
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0224
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.5658
+          Episode_Reward/obstacle_progress: +3.4797
+       Episode_Reward/wheel_body_intrusion: -0.2363
+        Episode_Reward/pair_body_intrusion: -0.2641
+             Curriculum/terrain_level_mean: +3.9712
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1322
+              Episode_Termination/time_out: 0.4296
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.5070
+Episode_Termination/illegal_nonwheel_contact: 0.0634
+==============================================================================
+
+==============================================================================
+Learning iteration 32950/50000
+                               Total steps: 134,963,200
+                          Steps per second: 13,183
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0876
+                       Mean episode length: 1334.8
+                                Actor loss: -9.5296
+                               Critic loss: +0.0051
+                          World model loss: +0.6168
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2938
+     Episode_Reward/track_angular_velocity: +50.5293
+                    Episode_Reward/upright: +25.6265
+                Episode_Reward/leg_posture: -2.5421
+                 Episode_Reward/standstill: -5.7560
+             Episode_Reward/action_rate_l2: -0.5657
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0104
+     Episode_Reward/unnecessary_wheel_lift: -0.0929
+         Episode_Reward/rolling_leg_motion: -0.5886
+          Episode_Reward/obstacle_progress: +3.7292
+       Episode_Reward/wheel_body_intrusion: -0.2645
+        Episode_Reward/pair_body_intrusion: -0.2861
+             Curriculum/terrain_level_mean: +3.9731
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.4241
+             Episode_Termination/fell_over: 0.0127
+           Episode_Termination/course_exit: 0.5506
+Episode_Termination/illegal_nonwheel_contact: 0.0127
+==============================================================================
+
+==============================================================================
+Learning iteration 33000/50000
+                               Total steps: 135,168,000
+                          Steps per second: 13,186
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0879
+                       Mean episode length: 1296.4
+                                Actor loss: -9.5531
+                               Critic loss: +0.0034
+                          World model loss: +0.6042
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1136
+     Episode_Reward/track_angular_velocity: +49.0879
+                    Episode_Reward/upright: +24.8885
+                Episode_Reward/leg_posture: -2.4564
+                 Episode_Reward/standstill: -5.4057
+             Episode_Reward/action_rate_l2: -0.5489
+           Episode_Reward/joint_torques_l2: -0.1395
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0253
+     Episode_Reward/unnecessary_wheel_lift: -0.0829
+         Episode_Reward/rolling_leg_motion: -0.5735
+          Episode_Reward/obstacle_progress: +3.6133
+       Episode_Reward/wheel_body_intrusion: -0.2460
+        Episode_Reward/pair_body_intrusion: -0.2425
+             Curriculum/terrain_level_mean: +3.9746
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1322
+              Episode_Termination/time_out: 0.4167
+             Episode_Termination/fell_over: 0.0385
+           Episode_Termination/course_exit: 0.5192
+Episode_Termination/illegal_nonwheel_contact: 0.0385
+==============================================================================
+
+==============================================================================
+Learning iteration 33050/50000
+                               Total steps: 135,372,800
+                          Steps per second: 13,189
+                            Iteration time: 0.311s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0880
+                       Mean episode length: 1332.9
+                                Actor loss: -9.5142
+                               Critic loss: +0.0138
+                          World model loss: +0.5786
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3775
+     Episode_Reward/track_angular_velocity: +50.4538
+                    Episode_Reward/upright: +25.5720
+                Episode_Reward/leg_posture: -2.4787
+                 Episode_Reward/standstill: -5.3522
+             Episode_Reward/action_rate_l2: -0.5717
+           Episode_Reward/joint_torques_l2: -0.1431
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0078
+     Episode_Reward/unnecessary_wheel_lift: -0.0831
+         Episode_Reward/rolling_leg_motion: -0.5946
+          Episode_Reward/obstacle_progress: +3.6590
+       Episode_Reward/wheel_body_intrusion: -0.2307
+        Episode_Reward/pair_body_intrusion: -0.2622
+             Curriculum/terrain_level_mean: +3.9785
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.4118
+             Episode_Termination/fell_over: 0.0059
+           Episode_Termination/course_exit: 0.5706
+Episode_Termination/illegal_nonwheel_contact: 0.0118
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2176]
+RECOVERY reset 1 invalid environments; first IDs=[953]
+
+==============================================================================
+Learning iteration 33100/50000
+                               Total steps: 135,577,600
+                          Steps per second: 13,192
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0880
+                       Mean episode length: 1307.3
+                                Actor loss: -9.4814
+                               Critic loss: +0.0065
+                          World model loss: +0.5742
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4040
+     Episode_Reward/track_angular_velocity: +49.4779
+                    Episode_Reward/upright: +25.0572
+                Episode_Reward/leg_posture: -2.4183
+                 Episode_Reward/standstill: -5.2375
+             Episode_Reward/action_rate_l2: -0.5626
+           Episode_Reward/joint_torques_l2: -0.1416
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0281
+     Episode_Reward/unnecessary_wheel_lift: -0.0764
+         Episode_Reward/rolling_leg_motion: -0.5758
+          Episode_Reward/obstacle_progress: +3.6740
+       Episode_Reward/wheel_body_intrusion: -0.2368
+        Episode_Reward/pair_body_intrusion: -0.2554
+             Curriculum/terrain_level_mean: +3.9785
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4228
+             Episode_Termination/fell_over: 0.0268
+           Episode_Termination/course_exit: 0.5034
+Episode_Termination/illegal_nonwheel_contact: 0.0537
+==============================================================================
+
+==============================================================================
+Learning iteration 33150/50000
+                               Total steps: 135,782,400
+                          Steps per second: 13,195
+                            Iteration time: 0.310s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0878
+                       Mean episode length: 1334.8
+                                Actor loss: -9.5208
+                               Critic loss: +0.0037
+                          World model loss: +0.6583
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3571
+     Episode_Reward/track_angular_velocity: +50.5507
+                    Episode_Reward/upright: +25.5734
+                Episode_Reward/leg_posture: -2.5122
+                 Episode_Reward/standstill: -5.4805
+             Episode_Reward/action_rate_l2: -0.5740
+           Episode_Reward/joint_torques_l2: -0.1454
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.0789
+         Episode_Reward/rolling_leg_motion: -0.5797
+          Episode_Reward/obstacle_progress: +3.7050
+       Episode_Reward/wheel_body_intrusion: -0.2533
+        Episode_Reward/pair_body_intrusion: -0.2905
+             Curriculum/terrain_level_mean: +3.9807
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1319
+              Episode_Termination/time_out: 0.4403
+             Episode_Termination/fell_over: 0.0224
+           Episode_Termination/course_exit: 0.5149
+Episode_Termination/illegal_nonwheel_contact: 0.0299
+==============================================================================
+
+==============================================================================
+Learning iteration 33200/50000
+                               Total steps: 135,987,200
+                          Steps per second: 13,199
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0877
+                       Mean episode length: 1383.3
+                                Actor loss: -9.5375
+                               Critic loss: +0.0054
+                          World model loss: +0.6141
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0146
+     Episode_Reward/track_angular_velocity: +52.3387
+                    Episode_Reward/upright: +26.4621
+                Episode_Reward/leg_posture: -2.5561
+                 Episode_Reward/standstill: -5.9024
+             Episode_Reward/action_rate_l2: -0.5906
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0270
+     Episode_Reward/unnecessary_wheel_lift: -0.0719
+         Episode_Reward/rolling_leg_motion: -0.5768
+          Episode_Reward/obstacle_progress: +3.9032
+       Episode_Reward/wheel_body_intrusion: -0.2638
+        Episode_Reward/pair_body_intrusion: -0.2798
+             Curriculum/terrain_level_mean: +3.9819
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.4621
+             Episode_Termination/fell_over: 0.0227
+           Episode_Termination/course_exit: 0.4621
+Episode_Termination/illegal_nonwheel_contact: 0.0530
+==============================================================================
+
+==============================================================================
+Learning iteration 33250/50000
+                               Total steps: 136,192,000
+                          Steps per second: 13,202
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0877
+                       Mean episode length: 1431.6
+                                Actor loss: -9.5135
+                               Critic loss: +0.0060
+                          World model loss: +0.6203
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.7560
+     Episode_Reward/track_angular_velocity: +54.1604
+                    Episode_Reward/upright: +27.4102
+                Episode_Reward/leg_posture: -2.6918
+                 Episode_Reward/standstill: -6.0386
+             Episode_Reward/action_rate_l2: -0.6086
+           Episode_Reward/joint_torques_l2: -0.1552
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0112
+     Episode_Reward/unnecessary_wheel_lift: -0.0766
+         Episode_Reward/rolling_leg_motion: -0.6214
+          Episode_Reward/obstacle_progress: +4.0203
+       Episode_Reward/wheel_body_intrusion: -0.2680
+        Episode_Reward/pair_body_intrusion: -0.3194
+             Curriculum/terrain_level_mean: +3.9844
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5655
+             Episode_Termination/fell_over: 0.0207
+           Episode_Termination/course_exit: 0.4069
+Episode_Termination/illegal_nonwheel_contact: 0.0138
+==============================================================================
+
+==============================================================================
+Learning iteration 33300/50000
+                               Total steps: 136,396,800
+                          Steps per second: 13,205
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0873
+                       Mean episode length: 1369.9
+                                Actor loss: -9.5185
+                               Critic loss: +0.0062
+                          World model loss: +0.5949
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5406
+     Episode_Reward/track_angular_velocity: +51.8717
+                    Episode_Reward/upright: +26.2477
+                Episode_Reward/leg_posture: -2.5668
+                 Episode_Reward/standstill: -6.1850
+             Episode_Reward/action_rate_l2: -0.5689
+           Episode_Reward/joint_torques_l2: -0.1466
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0268
+     Episode_Reward/unnecessary_wheel_lift: -0.1062
+         Episode_Reward/rolling_leg_motion: -0.6001
+          Episode_Reward/obstacle_progress: +3.7317
+       Episode_Reward/wheel_body_intrusion: -0.2673
+        Episode_Reward/pair_body_intrusion: -0.3044
+             Curriculum/terrain_level_mean: +3.9858
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.4662
+             Episode_Termination/fell_over: 0.0541
+           Episode_Termination/course_exit: 0.4662
+Episode_Termination/illegal_nonwheel_contact: 0.0405
+==============================================================================
+
+==============================================================================
+Learning iteration 33350/50000
+                               Total steps: 136,601,600
+                          Steps per second: 13,209
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0876
+                       Mean episode length: 1304.4
+                                Actor loss: -9.5062
+                               Critic loss: +0.0054
+                          World model loss: +0.6138
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2593
+     Episode_Reward/track_angular_velocity: +49.3874
+                    Episode_Reward/upright: +25.0353
+                Episode_Reward/leg_posture: -2.4553
+                 Episode_Reward/standstill: -5.6920
+             Episode_Reward/action_rate_l2: -0.5289
+           Episode_Reward/joint_torques_l2: -0.1402
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0102
+     Episode_Reward/unnecessary_wheel_lift: -0.0795
+         Episode_Reward/rolling_leg_motion: -0.5564
+          Episode_Reward/obstacle_progress: +3.5417
+       Episode_Reward/wheel_body_intrusion: -0.2433
+        Episode_Reward/pair_body_intrusion: -0.2854
+             Curriculum/terrain_level_mean: +3.9888
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.4000
+             Episode_Termination/fell_over: 0.0069
+           Episode_Termination/course_exit: 0.5724
+Episode_Termination/illegal_nonwheel_contact: 0.0276
+==============================================================================
+
+==============================================================================
+Learning iteration 33400/50000
+                               Total steps: 136,806,400
+                          Steps per second: 13,212
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1314.6
+                                Actor loss: -9.5425
+                               Critic loss: +0.0045
+                          World model loss: +0.5977
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5928
+     Episode_Reward/track_angular_velocity: +49.7090
+                    Episode_Reward/upright: +25.2081
+                Episode_Reward/leg_posture: -2.4892
+                 Episode_Reward/standstill: -6.1642
+             Episode_Reward/action_rate_l2: -0.5432
+           Episode_Reward/joint_torques_l2: -0.1412
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0077
+     Episode_Reward/unnecessary_wheel_lift: -0.0684
+         Episode_Reward/rolling_leg_motion: -0.5615
+          Episode_Reward/obstacle_progress: +3.5353
+       Episode_Reward/wheel_body_intrusion: -0.2568
+        Episode_Reward/pair_body_intrusion: -0.3030
+             Curriculum/terrain_level_mean: +3.9919
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4247
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.5548
+Episode_Termination/illegal_nonwheel_contact: 0.0137
+==============================================================================
+
+==============================================================================
+Learning iteration 33450/50000
+                               Total steps: 137,011,200
+                          Steps per second: 13,215
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1375.3
+                                Actor loss: -9.5104
+                               Critic loss: +0.0051
+                          World model loss: +0.6508
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7485
+     Episode_Reward/track_angular_velocity: +52.0001
+                    Episode_Reward/upright: +26.3722
+                Episode_Reward/leg_posture: -2.6327
+                 Episode_Reward/standstill: -6.4425
+             Episode_Reward/action_rate_l2: -0.5712
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0269
+     Episode_Reward/unnecessary_wheel_lift: -0.0857
+         Episode_Reward/rolling_leg_motion: -0.5996
+          Episode_Reward/obstacle_progress: +3.7023
+       Episode_Reward/wheel_body_intrusion: -0.2820
+        Episode_Reward/pair_body_intrusion: -0.3008
+             Curriculum/terrain_level_mean: +3.9932
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.4966
+             Episode_Termination/fell_over: 0.0483
+           Episode_Termination/course_exit: 0.4345
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+
+==============================================================================
+Learning iteration 33500/50000
+                               Total steps: 137,216,000
+                          Steps per second: 13,218
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1435.8
+                                Actor loss: -9.4863
+                               Critic loss: +0.0091
+                          World model loss: +0.6500
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.6519
+     Episode_Reward/track_angular_velocity: +54.3329
+                    Episode_Reward/upright: +27.5243
+                Episode_Reward/leg_posture: -2.7486
+                 Episode_Reward/standstill: -6.5881
+             Episode_Reward/action_rate_l2: -0.5995
+           Episode_Reward/joint_torques_l2: -0.1565
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0196
+     Episode_Reward/unnecessary_wheel_lift: -0.0921
+         Episode_Reward/rolling_leg_motion: -0.6300
+          Episode_Reward/obstacle_progress: +3.7865
+       Episode_Reward/wheel_body_intrusion: -0.2897
+        Episode_Reward/pair_body_intrusion: -0.3387
+             Curriculum/terrain_level_mean: +3.9937
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0947
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.5325
+             Episode_Termination/fell_over: 0.0296
+           Episode_Termination/course_exit: 0.4260
+Episode_Termination/illegal_nonwheel_contact: 0.0118
+==============================================================================
+
+==============================================================================
+Learning iteration 33550/50000
+                               Total steps: 137,420,800
+                          Steps per second: 13,221
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0877
+                       Mean episode length: 1368.3
+                                Actor loss: -9.4914
+                               Critic loss: +0.0056
+                          World model loss: +0.6079
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4222
+     Episode_Reward/track_angular_velocity: +51.7776
+                    Episode_Reward/upright: +26.2418
+                Episode_Reward/leg_posture: -2.5833
+                 Episode_Reward/standstill: -5.5608
+             Episode_Reward/action_rate_l2: -0.5792
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0267
+     Episode_Reward/unnecessary_wheel_lift: -0.0885
+         Episode_Reward/rolling_leg_motion: -0.5929
+          Episode_Reward/obstacle_progress: +3.7281
+       Episode_Reward/wheel_body_intrusion: -0.2622
+        Episode_Reward/pair_body_intrusion: -0.2941
+             Curriculum/terrain_level_mean: +3.9941
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.4765
+             Episode_Termination/fell_over: 0.0470
+           Episode_Termination/course_exit: 0.4564
+Episode_Termination/illegal_nonwheel_contact: 0.0470
+==============================================================================
+
+==============================================================================
+Learning iteration 33600/50000
+                               Total steps: 137,625,600
+                          Steps per second: 13,224
+                            Iteration time: 0.310s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1376.9
+                                Actor loss: -9.5129
+                               Critic loss: +0.0112
+                          World model loss: +0.5821
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6627
+     Episode_Reward/track_angular_velocity: +52.0496
+                    Episode_Reward/upright: +26.3874
+                Episode_Reward/leg_posture: -2.5655
+                 Episode_Reward/standstill: -5.5901
+             Episode_Reward/action_rate_l2: -0.5888
+           Episode_Reward/joint_torques_l2: -0.1486
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0739
+         Episode_Reward/rolling_leg_motion: -0.5735
+          Episode_Reward/obstacle_progress: +3.8455
+       Episode_Reward/wheel_body_intrusion: -0.2735
+        Episode_Reward/pair_body_intrusion: -0.3029
+             Curriculum/terrain_level_mean: +3.9944
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5120
+             Episode_Termination/fell_over: 0.0240
+           Episode_Termination/course_exit: 0.4320
+Episode_Termination/illegal_nonwheel_contact: 0.0320
+==============================================================================
+
+==============================================================================
+Learning iteration 33650/50000
+                               Total steps: 137,830,400
+                          Steps per second: 13,227
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1316.0
+                                Actor loss: -9.5013
+                               Critic loss: +0.0051
+                          World model loss: +0.6300
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4302
+     Episode_Reward/track_angular_velocity: +49.7475
+                    Episode_Reward/upright: +25.1775
+                Episode_Reward/leg_posture: -2.4778
+                 Episode_Reward/standstill: -5.5937
+             Episode_Reward/action_rate_l2: -0.5596
+           Episode_Reward/joint_torques_l2: -0.1419
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0283
+     Episode_Reward/unnecessary_wheel_lift: -0.0904
+         Episode_Reward/rolling_leg_motion: -0.5628
+          Episode_Reward/obstacle_progress: +3.6364
+       Episode_Reward/wheel_body_intrusion: -0.2642
+        Episode_Reward/pair_body_intrusion: -0.3172
+             Curriculum/terrain_level_mean: +3.9951
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0950
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.4645
+             Episode_Termination/fell_over: 0.0581
+           Episode_Termination/course_exit: 0.4645
+Episode_Termination/illegal_nonwheel_contact: 0.0387
+==============================================================================
+
+==============================================================================
+Learning iteration 33700/50000
+                               Total steps: 138,035,200
+                          Steps per second: 13,230
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1375.0
+                                Actor loss: -9.4901
+                               Critic loss: +0.0074
+                          World model loss: +0.5961
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6929
+     Episode_Reward/track_angular_velocity: +51.9716
+                    Episode_Reward/upright: +26.3366
+                Episode_Reward/leg_posture: -2.5953
+                 Episode_Reward/standstill: -5.6379
+             Episode_Reward/action_rate_l2: -0.5887
+           Episode_Reward/joint_torques_l2: -0.1499
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0874
+         Episode_Reward/rolling_leg_motion: -0.5982
+          Episode_Reward/obstacle_progress: +3.7897
+       Episode_Reward/wheel_body_intrusion: -0.2683
+        Episode_Reward/pair_body_intrusion: -0.3110
+             Curriculum/terrain_level_mean: +3.9958
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.5223
+             Episode_Termination/fell_over: 0.0318
+           Episode_Termination/course_exit: 0.4331
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+
+==============================================================================
+Learning iteration 33750/50000
+                               Total steps: 138,240,000
+                          Steps per second: 13,233
+                            Iteration time: 0.310s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0879
+                       Mean episode length: 1354.1
+                                Actor loss: -9.5295
+                               Critic loss: +0.0043
+                          World model loss: +0.5928
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0681
+     Episode_Reward/track_angular_velocity: +51.2796
+                    Episode_Reward/upright: +25.9560
+                Episode_Reward/leg_posture: -2.5454
+                 Episode_Reward/standstill: -5.3682
+             Episode_Reward/action_rate_l2: -0.5719
+           Episode_Reward/joint_torques_l2: -0.1462
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0264
+     Episode_Reward/unnecessary_wheel_lift: -0.0906
+         Episode_Reward/rolling_leg_motion: -0.5922
+          Episode_Reward/obstacle_progress: +3.6495
+       Episode_Reward/wheel_body_intrusion: -0.2573
+        Episode_Reward/pair_body_intrusion: -0.2974
+             Curriculum/terrain_level_mean: +3.9961
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1320
+              Episode_Termination/time_out: 0.4694
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4626
+Episode_Termination/illegal_nonwheel_contact: 0.0612
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[468]
+
+==============================================================================
+Learning iteration 33800/50000
+                               Total steps: 138,444,800
+                          Steps per second: 13,236
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0879
+                       Mean episode length: 1339.5
+                                Actor loss: -9.4788
+                               Critic loss: +0.0068
+                          World model loss: +0.6192
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7031
+     Episode_Reward/track_angular_velocity: +50.6779
+                    Episode_Reward/upright: +25.6991
+                Episode_Reward/leg_posture: -2.4907
+                 Episode_Reward/standstill: -5.6036
+             Episode_Reward/action_rate_l2: -0.5724
+           Episode_Reward/joint_torques_l2: -0.1428
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0052
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.5844
+          Episode_Reward/obstacle_progress: +3.6181
+       Episode_Reward/wheel_body_intrusion: -0.2486
+        Episode_Reward/pair_body_intrusion: -0.2852
+             Curriculum/terrain_level_mean: +3.9993
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.4521
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.5342
+Episode_Termination/illegal_nonwheel_contact: 0.0068
+==============================================================================
+
+==============================================================================
+Learning iteration 33850/50000
+                               Total steps: 138,649,600
+                          Steps per second: 13,239
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1391.9
+                                Actor loss: -9.4738
+                               Critic loss: +0.0066
+                          World model loss: +0.5936
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4298
+     Episode_Reward/track_angular_velocity: +52.5707
+                    Episode_Reward/upright: +26.7128
+                Episode_Reward/leg_posture: -2.5938
+                 Episode_Reward/standstill: -5.9735
+             Episode_Reward/action_rate_l2: -0.5944
+           Episode_Reward/joint_torques_l2: -0.1489
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0217
+     Episode_Reward/unnecessary_wheel_lift: -0.0781
+         Episode_Reward/rolling_leg_motion: -0.6097
+          Episode_Reward/obstacle_progress: +3.6788
+       Episode_Reward/wheel_body_intrusion: -0.2708
+        Episode_Reward/pair_body_intrusion: -0.3101
+             Curriculum/terrain_level_mean: +4.0000
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5355
+             Episode_Termination/fell_over: 0.0387
+           Episode_Termination/course_exit: 0.4129
+Episode_Termination/illegal_nonwheel_contact: 0.0194
+==============================================================================
+
+==============================================================================
+Learning iteration 33900/50000
+                               Total steps: 138,854,400
+                          Steps per second: 13,242
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1387.3
+                                Actor loss: -9.5246
+                               Critic loss: +0.0046
+                          World model loss: +0.6267
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4414
+     Episode_Reward/track_angular_velocity: +52.4849
+                    Episode_Reward/upright: +26.5824
+                Episode_Reward/leg_posture: -2.5803
+                 Episode_Reward/standstill: -5.9285
+             Episode_Reward/action_rate_l2: -0.5685
+           Episode_Reward/joint_torques_l2: -0.1486
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0217
+     Episode_Reward/unnecessary_wheel_lift: -0.0896
+         Episode_Reward/rolling_leg_motion: -0.5994
+          Episode_Reward/obstacle_progress: +3.7162
+       Episode_Reward/wheel_body_intrusion: -0.2553
+        Episode_Reward/pair_body_intrusion: -0.2992
+             Curriculum/terrain_level_mean: +4.0017
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0910
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.5306
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4218
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1671]
+
+==============================================================================
+Learning iteration 33950/50000
+                               Total steps: 139,059,200
+                          Steps per second: 13,245
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1400.1
+                                Actor loss: -9.5191
+                               Critic loss: +0.0046
+                          World model loss: +0.5795
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8431
+     Episode_Reward/track_angular_velocity: +52.9455
+                    Episode_Reward/upright: +26.8387
+                Episode_Reward/leg_posture: -2.6451
+                 Episode_Reward/standstill: -6.1741
+             Episode_Reward/action_rate_l2: -0.5873
+           Episode_Reward/joint_torques_l2: -0.1511
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.0848
+         Episode_Reward/rolling_leg_motion: -0.6034
+          Episode_Reward/obstacle_progress: +3.7657
+       Episode_Reward/wheel_body_intrusion: -0.2697
+        Episode_Reward/pair_body_intrusion: -0.3010
+             Curriculum/terrain_level_mean: +4.0039
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5220
+             Episode_Termination/fell_over: 0.0126
+           Episode_Termination/course_exit: 0.4528
+Episode_Termination/illegal_nonwheel_contact: 0.0126
+==============================================================================
+
+==============================================================================
+Learning iteration 34000/50000
+                               Total steps: 139,264,000
+                          Steps per second: 13,248
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1353.0
+                                Actor loss: -9.4818
+                               Critic loss: +0.0099
+                          World model loss: +0.6079
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2214
+     Episode_Reward/track_angular_velocity: +51.1721
+                    Episode_Reward/upright: +25.9492
+                Episode_Reward/leg_posture: -2.5717
+                 Episode_Reward/standstill: -5.9645
+             Episode_Reward/action_rate_l2: -0.5671
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.0820
+         Episode_Reward/rolling_leg_motion: -0.5890
+          Episode_Reward/obstacle_progress: +3.6617
+       Episode_Reward/wheel_body_intrusion: -0.2628
+        Episode_Reward/pair_body_intrusion: -0.2828
+             Curriculum/terrain_level_mean: +4.0049
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4353
+             Episode_Termination/fell_over: 0.0176
+           Episode_Termination/course_exit: 0.5235
+Episode_Termination/illegal_nonwheel_contact: 0.0294
+==============================================================================
+
+==============================================================================
+Learning iteration 34050/50000
+                               Total steps: 139,468,800
+                          Steps per second: 13,251
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1330.1
+                                Actor loss: -9.5157
+                               Critic loss: +0.0047
+                          World model loss: +0.5669
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3945
+     Episode_Reward/track_angular_velocity: +50.3264
+                    Episode_Reward/upright: +25.4988
+                Episode_Reward/leg_posture: -2.5173
+                 Episode_Reward/standstill: -5.8730
+             Episode_Reward/action_rate_l2: -0.5585
+           Episode_Reward/joint_torques_l2: -0.1428
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0260
+     Episode_Reward/unnecessary_wheel_lift: -0.0757
+         Episode_Reward/rolling_leg_motion: -0.5795
+          Episode_Reward/obstacle_progress: +3.5233
+       Episode_Reward/wheel_body_intrusion: -0.2535
+        Episode_Reward/pair_body_intrusion: -0.2699
+             Curriculum/terrain_level_mean: +4.0054
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0907
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.4392
+             Episode_Termination/fell_over: 0.0473
+           Episode_Termination/course_exit: 0.4932
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+
+==============================================================================
+Learning iteration 34100/50000
+                               Total steps: 139,673,600
+                          Steps per second: 13,254
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1375.4
+                                Actor loss: -9.5303
+                               Critic loss: +0.0030
+                          World model loss: +0.6208
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9433
+     Episode_Reward/track_angular_velocity: +52.0465
+                    Episode_Reward/upright: +26.3625
+                Episode_Reward/leg_posture: -2.5465
+                 Episode_Reward/standstill: -5.9915
+             Episode_Reward/action_rate_l2: -0.5744
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0215
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.5976
+          Episode_Reward/obstacle_progress: +3.7161
+       Episode_Reward/wheel_body_intrusion: -0.2599
+        Episode_Reward/pair_body_intrusion: -0.2860
+             Curriculum/terrain_level_mean: +4.0068
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.5091
+             Episode_Termination/fell_over: 0.0242
+           Episode_Termination/course_exit: 0.4424
+Episode_Termination/illegal_nonwheel_contact: 0.0364
+==============================================================================
+
+==============================================================================
+Learning iteration 34150/50000
+                               Total steps: 139,878,400
+                          Steps per second: 13,257
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1352.7
+                                Actor loss: -9.5081
+                               Critic loss: +0.0042
+                          World model loss: +0.5854
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1592
+     Episode_Reward/track_angular_velocity: +51.2067
+                    Episode_Reward/upright: +25.9441
+                Episode_Reward/leg_posture: -2.5065
+                 Episode_Reward/standstill: -5.9092
+             Episode_Reward/action_rate_l2: -0.5571
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0106
+     Episode_Reward/unnecessary_wheel_lift: -0.0730
+         Episode_Reward/rolling_leg_motion: -0.5780
+          Episode_Reward/obstacle_progress: +3.7246
+       Episode_Reward/wheel_body_intrusion: -0.2655
+        Episode_Reward/pair_body_intrusion: -0.2700
+             Curriculum/terrain_level_mean: +4.0093
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4865
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.4865
+Episode_Termination/illegal_nonwheel_contact: 0.0203
+==============================================================================
+
+==============================================================================
+Learning iteration 34200/50000
+                               Total steps: 140,083,200
+                          Steps per second: 13,260
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1360.2
+                                Actor loss: -9.5070
+                               Critic loss: +0.0052
+                          World model loss: +0.6155
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3500
+     Episode_Reward/track_angular_velocity: +51.4660
+                    Episode_Reward/upright: +26.0371
+                Episode_Reward/leg_posture: -2.5992
+                 Episode_Reward/standstill: -5.9595
+             Episode_Reward/action_rate_l2: -0.5640
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0133
+     Episode_Reward/unnecessary_wheel_lift: -0.0888
+         Episode_Reward/rolling_leg_motion: -0.6013
+          Episode_Reward/obstacle_progress: +3.6926
+       Episode_Reward/wheel_body_intrusion: -0.2768
+        Episode_Reward/pair_body_intrusion: -0.2886
+             Curriculum/terrain_level_mean: +4.0110
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4819
+             Episode_Termination/fell_over: 0.0241
+           Episode_Termination/course_exit: 0.4880
+Episode_Termination/illegal_nonwheel_contact: 0.0241
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[675]
+
+==============================================================================
+Learning iteration 34250/50000
+                               Total steps: 140,288,000
+                          Steps per second: 13,263
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1347.8
+                                Actor loss: -9.5026
+                               Critic loss: +0.0049
+                          World model loss: +0.5827
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0553
+     Episode_Reward/track_angular_velocity: +51.0135
+                    Episode_Reward/upright: +25.8020
+                Episode_Reward/leg_posture: -2.5519
+                 Episode_Reward/standstill: -5.8135
+             Episode_Reward/action_rate_l2: -0.5650
+           Episode_Reward/joint_torques_l2: -0.1431
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0105
+     Episode_Reward/unnecessary_wheel_lift: -0.0806
+         Episode_Reward/rolling_leg_motion: -0.5957
+          Episode_Reward/obstacle_progress: +3.6389
+       Episode_Reward/wheel_body_intrusion: -0.2610
+        Episode_Reward/pair_body_intrusion: -0.2663
+             Curriculum/terrain_level_mean: +4.0159
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0904
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.4737
+             Episode_Termination/fell_over: 0.0066
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0263
+==============================================================================
+
+==============================================================================
+Learning iteration 34300/50000
+                               Total steps: 140,492,800
+                          Steps per second: 13,266
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1312.2
+                                Actor loss: -9.5155
+                               Critic loss: +0.0047
+                          World model loss: +0.5656
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6732
+     Episode_Reward/track_angular_velocity: +49.7002
+                    Episode_Reward/upright: +25.1274
+                Episode_Reward/leg_posture: -2.4420
+                 Episode_Reward/standstill: -5.7447
+             Episode_Reward/action_rate_l2: -0.5439
+           Episode_Reward/joint_torques_l2: -0.1401
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0205
+     Episode_Reward/unnecessary_wheel_lift: -0.0809
+         Episode_Reward/rolling_leg_motion: -0.5716
+          Episode_Reward/obstacle_progress: +3.5191
+       Episode_Reward/wheel_body_intrusion: -0.2437
+        Episode_Reward/pair_body_intrusion: -0.2712
+             Curriculum/terrain_level_mean: +4.0195
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1321
+              Episode_Termination/time_out: 0.4658
+             Episode_Termination/fell_over: 0.0248
+           Episode_Termination/course_exit: 0.4845
+Episode_Termination/illegal_nonwheel_contact: 0.0373
+==============================================================================
+
+==============================================================================
+Learning iteration 34350/50000
+                               Total steps: 140,697,600
+                          Steps per second: 13,269
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0874
+                       Mean episode length: 1372.3
+                                Actor loss: -9.5060
+                               Critic loss: +0.0047
+                          World model loss: +0.5913
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6934
+     Episode_Reward/track_angular_velocity: +51.8948
+                    Episode_Reward/upright: +26.2554
+                Episode_Reward/leg_posture: -2.5499
+                 Episode_Reward/standstill: -6.0282
+             Episode_Reward/action_rate_l2: -0.5715
+           Episode_Reward/joint_torques_l2: -0.1474
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0797
+         Episode_Reward/rolling_leg_motion: -0.5890
+          Episode_Reward/obstacle_progress: +3.6645
+       Episode_Reward/wheel_body_intrusion: -0.2578
+        Episode_Reward/pair_body_intrusion: -0.2776
+             Curriculum/terrain_level_mean: +4.0208
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5827
+             Episode_Termination/fell_over: 0.0144
+           Episode_Termination/course_exit: 0.3885
+Episode_Termination/illegal_nonwheel_contact: 0.0288
+==============================================================================
+
+==============================================================================
+Learning iteration 34400/50000
+                               Total steps: 140,902,400
+                          Steps per second: 13,272
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1363.2
+                                Actor loss: -9.5238
+                               Critic loss: +0.0054
+                          World model loss: +0.5857
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3554
+     Episode_Reward/track_angular_velocity: +51.5671
+                    Episode_Reward/upright: +26.0999
+                Episode_Reward/leg_posture: -2.5708
+                 Episode_Reward/standstill: -5.6773
+             Episode_Reward/action_rate_l2: -0.5676
+           Episode_Reward/joint_torques_l2: -0.1458
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0240
+     Episode_Reward/unnecessary_wheel_lift: -0.0735
+         Episode_Reward/rolling_leg_motion: -0.5847
+          Episode_Reward/obstacle_progress: +3.7139
+       Episode_Reward/wheel_body_intrusion: -0.2541
+        Episode_Reward/pair_body_intrusion: -0.2848
+             Curriculum/terrain_level_mean: +4.0242
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4485
+             Episode_Termination/fell_over: 0.0061
+           Episode_Termination/course_exit: 0.4970
+Episode_Termination/illegal_nonwheel_contact: 0.0485
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1164]
+
+==============================================================================
+Learning iteration 34450/50000
+                               Total steps: 141,107,200
+                          Steps per second: 13,275
+                            Iteration time: 0.309s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1366.7
+                                Actor loss: -9.5202
+                               Critic loss: +0.0053
+                          World model loss: +0.5601
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5433
+     Episode_Reward/track_angular_velocity: +51.7009
+                    Episode_Reward/upright: +26.1701
+                Episode_Reward/leg_posture: -2.5605
+                 Episode_Reward/standstill: -5.6558
+             Episode_Reward/action_rate_l2: -0.5748
+           Episode_Reward/joint_torques_l2: -0.1456
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0772
+         Episode_Reward/rolling_leg_motion: -0.5864
+          Episode_Reward/obstacle_progress: +3.7732
+       Episode_Reward/wheel_body_intrusion: -0.2804
+        Episode_Reward/pair_body_intrusion: -0.3065
+             Curriculum/terrain_level_mean: +4.0271
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.4717
+             Episode_Termination/fell_over: 0.0189
+           Episode_Termination/course_exit: 0.5031
+Episode_Termination/illegal_nonwheel_contact: 0.0126
+==============================================================================
+
+==============================================================================
+Learning iteration 34500/50000
+                               Total steps: 141,312,000
+                          Steps per second: 13,278
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1380.9
+                                Actor loss: -9.5222
+                               Critic loss: +0.0031
+                          World model loss: +0.5995
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9121
+     Episode_Reward/track_angular_velocity: +52.1986
+                    Episode_Reward/upright: +26.4599
+                Episode_Reward/leg_posture: -2.6004
+                 Episode_Reward/standstill: -5.9149
+             Episode_Reward/action_rate_l2: -0.5722
+           Episode_Reward/joint_torques_l2: -0.1486
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0135
+     Episode_Reward/unnecessary_wheel_lift: -0.0917
+         Episode_Reward/rolling_leg_motion: -0.6184
+          Episode_Reward/obstacle_progress: +3.8658
+       Episode_Reward/wheel_body_intrusion: -0.2738
+        Episode_Reward/pair_body_intrusion: -0.2879
+             Curriculum/terrain_level_mean: +4.0283
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4825
+             Episode_Termination/fell_over: 0.0280
+           Episode_Termination/course_exit: 0.4825
+Episode_Termination/illegal_nonwheel_contact: 0.0210
+==============================================================================
+
+==============================================================================
+Learning iteration 34550/50000
+                               Total steps: 141,516,800
+                          Steps per second: 13,281
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0880
+                       Mean episode length: 1389.9
+                                Actor loss: -9.5296
+                               Critic loss: +0.0041
+                          World model loss: +0.5875
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3226
+     Episode_Reward/track_angular_velocity: +52.5693
+                    Episode_Reward/upright: +26.6376
+                Episode_Reward/leg_posture: -2.5953
+                 Episode_Reward/standstill: -5.5843
+             Episode_Reward/action_rate_l2: -0.5760
+           Episode_Reward/joint_torques_l2: -0.1480
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0190
+     Episode_Reward/unnecessary_wheel_lift: -0.0870
+         Episode_Reward/rolling_leg_motion: -0.6011
+          Episode_Reward/obstacle_progress: +3.9657
+       Episode_Reward/wheel_body_intrusion: -0.2597
+        Episode_Reward/pair_body_intrusion: -0.2839
+             Curriculum/terrain_level_mean: +4.0305
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5097
+             Episode_Termination/fell_over: 0.0323
+           Episode_Termination/course_exit: 0.4452
+Episode_Termination/illegal_nonwheel_contact: 0.0258
+==============================================================================
+
+==============================================================================
+Learning iteration 34600/50000
+                               Total steps: 141,721,600
+                          Steps per second: 13,284
+                            Iteration time: 0.308s
+                           Collection time: 0.075s
+                             Learning time: 0.186s
+                               Mean reward: +0.0880
+                       Mean episode length: 1417.1
+                                Actor loss: -9.5365
+                               Critic loss: +0.0035
+                          World model loss: +0.5819
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.2229
+     Episode_Reward/track_angular_velocity: +53.5767
+                    Episode_Reward/upright: +27.1504
+                Episode_Reward/leg_posture: -2.6176
+                 Episode_Reward/standstill: -5.7443
+             Episode_Reward/action_rate_l2: -0.5887
+           Episode_Reward/joint_torques_l2: -0.1521
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0111
+     Episode_Reward/unnecessary_wheel_lift: -0.0781
+         Episode_Reward/rolling_leg_motion: -0.6066
+          Episode_Reward/obstacle_progress: +4.0668
+       Episode_Reward/wheel_body_intrusion: -0.2714
+        Episode_Reward/pair_body_intrusion: -0.2966
+             Curriculum/terrain_level_mean: +4.0327
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.5255
+             Episode_Termination/fell_over: 0.0073
+           Episode_Termination/course_exit: 0.4453
+Episode_Termination/illegal_nonwheel_contact: 0.0292
+==============================================================================
+
+==============================================================================
+Learning iteration 34650/50000
+                               Total steps: 141,926,400
+                          Steps per second: 13,287
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1312.9
+                                Actor loss: -9.5107
+                               Critic loss: +0.0050
+                          World model loss: +0.5562
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4921
+     Episode_Reward/track_angular_velocity: +49.6014
+                    Episode_Reward/upright: +25.1531
+                Episode_Reward/leg_posture: -2.4559
+                 Episode_Reward/standstill: -5.6934
+             Episode_Reward/action_rate_l2: -0.5409
+           Episode_Reward/joint_torques_l2: -0.1415
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0103
+     Episode_Reward/unnecessary_wheel_lift: -0.0769
+         Episode_Reward/rolling_leg_motion: -0.5611
+          Episode_Reward/obstacle_progress: +3.7468
+       Episode_Reward/wheel_body_intrusion: -0.2464
+        Episode_Reward/pair_body_intrusion: -0.2575
+             Curriculum/terrain_level_mean: +4.0352
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4662
+             Episode_Termination/fell_over: 0.0301
+           Episode_Termination/course_exit: 0.5038
+Episode_Termination/illegal_nonwheel_contact: 0.0150
+==============================================================================
+
+==============================================================================
+Learning iteration 34700/50000
+                               Total steps: 142,131,200
+                          Steps per second: 13,290
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0880
+                       Mean episode length: 1355.0
+                                Actor loss: -9.5591
+                               Critic loss: +0.0037
+                          World model loss: +0.6102
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1049
+     Episode_Reward/track_angular_velocity: +51.2229
+                    Episode_Reward/upright: +25.9955
+                Episode_Reward/leg_posture: -2.5251
+                 Episode_Reward/standstill: -5.5622
+             Episode_Reward/action_rate_l2: -0.5511
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0106
+     Episode_Reward/unnecessary_wheel_lift: -0.0864
+         Episode_Reward/rolling_leg_motion: -0.5813
+          Episode_Reward/obstacle_progress: +3.8861
+       Episode_Reward/wheel_body_intrusion: -0.2438
+        Episode_Reward/pair_body_intrusion: -0.2796
+             Curriculum/terrain_level_mean: +4.0388
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4812
+             Episode_Termination/fell_over: 0.0301
+           Episode_Termination/course_exit: 0.4887
+Episode_Termination/illegal_nonwheel_contact: 0.0150
+==============================================================================
+
+==============================================================================
+Learning iteration 34750/50000
+                               Total steps: 142,336,000
+                          Steps per second: 13,293
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0881
+                       Mean episode length: 1400.8
+                                Actor loss: -9.5228
+                               Critic loss: +0.0042
+                          World model loss: +0.6045
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7953
+     Episode_Reward/track_angular_velocity: +52.9604
+                    Episode_Reward/upright: +26.9088
+                Episode_Reward/leg_posture: -2.6043
+                 Episode_Reward/standstill: -5.5532
+             Episode_Reward/action_rate_l2: -0.5719
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0055
+     Episode_Reward/unnecessary_wheel_lift: -0.0817
+         Episode_Reward/rolling_leg_motion: -0.6022
+          Episode_Reward/obstacle_progress: +3.9439
+       Episode_Reward/wheel_body_intrusion: -0.2548
+        Episode_Reward/pair_body_intrusion: -0.3072
+             Curriculum/terrain_level_mean: +4.0417
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0067
+           Episode_Termination/course_exit: 0.4832
+Episode_Termination/illegal_nonwheel_contact: 0.0067
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[553]
+
+==============================================================================
+Learning iteration 34800/50000
+                               Total steps: 142,540,800
+                          Steps per second: 13,296
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0881
+                       Mean episode length: 1370.5
+                                Actor loss: -9.5167
+                               Critic loss: +0.0072
+                          World model loss: +0.6119
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7187
+     Episode_Reward/track_angular_velocity: +51.8622
+                    Episode_Reward/upright: +26.3290
+                Episode_Reward/leg_posture: -2.5283
+                 Episode_Reward/standstill: -5.5799
+             Episode_Reward/action_rate_l2: -0.5661
+           Episode_Reward/joint_torques_l2: -0.1456
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0852
+         Episode_Reward/rolling_leg_motion: -0.6029
+          Episode_Reward/obstacle_progress: +3.7997
+       Episode_Reward/wheel_body_intrusion: -0.2458
+        Episode_Reward/pair_body_intrusion: -0.2687
+             Curriculum/terrain_level_mean: +4.0444
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.5062
+             Episode_Termination/fell_over: 0.0250
+           Episode_Termination/course_exit: 0.4625
+Episode_Termination/illegal_nonwheel_contact: 0.0187
+==============================================================================
+
+==============================================================================
+Learning iteration 34850/50000
+                               Total steps: 142,745,600
+                          Steps per second: 13,298
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0883
+                       Mean episode length: 1301.1
+                                Actor loss: -9.5376
+                               Critic loss: +0.0040
+                          World model loss: +0.6154
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4207
+     Episode_Reward/track_angular_velocity: +49.2626
+                    Episode_Reward/upright: +25.0253
+                Episode_Reward/leg_posture: -2.3859
+                 Episode_Reward/standstill: -5.2105
+             Episode_Reward/action_rate_l2: -0.5348
+           Episode_Reward/joint_torques_l2: -0.1380
+             Episode_Reward/dof_pos_limits: -0.0001
+                 Episode_Reward/terminated: -0.0127
+     Episode_Reward/unnecessary_wheel_lift: -0.0693
+         Episode_Reward/rolling_leg_motion: -0.5608
+          Episode_Reward/obstacle_progress: +3.6185
+       Episode_Reward/wheel_body_intrusion: -0.2316
+        Episode_Reward/pair_body_intrusion: -0.2700
+             Curriculum/terrain_level_mean: +4.0454
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1323
+              Episode_Termination/time_out: 0.4567
+             Episode_Termination/fell_over: 0.0079
+           Episode_Termination/course_exit: 0.5039
+Episode_Termination/illegal_nonwheel_contact: 0.0315
+==============================================================================
+
+==============================================================================
+Learning iteration 34900/50000
+                               Total steps: 142,950,400
+                          Steps per second: 13,301
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1308.6
+                                Actor loss: -9.5084
+                               Critic loss: +0.0035
+                          World model loss: +0.5561
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4954
+     Episode_Reward/track_angular_velocity: +49.4959
+                    Episode_Reward/upright: +25.1308
+                Episode_Reward/leg_posture: -2.3840
+                 Episode_Reward/standstill: -5.4757
+             Episode_Reward/action_rate_l2: -0.5523
+           Episode_Reward/joint_torques_l2: -0.1396
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0307
+     Episode_Reward/unnecessary_wheel_lift: -0.0860
+         Episode_Reward/rolling_leg_motion: -0.5690
+          Episode_Reward/obstacle_progress: +3.6836
+       Episode_Reward/wheel_body_intrusion: -0.2325
+        Episode_Reward/pair_body_intrusion: -0.2641
+             Curriculum/terrain_level_mean: +4.0461
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.4506
+             Episode_Termination/fell_over: 0.0432
+           Episode_Termination/course_exit: 0.4753
+Episode_Termination/illegal_nonwheel_contact: 0.0556
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2559]
+
+==============================================================================
+Learning iteration 34950/50000
+                               Total steps: 143,155,200
+                          Steps per second: 13,304
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1314.6
+                                Actor loss: -9.5328
+                               Critic loss: +0.0034
+                          World model loss: +0.6309
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7021
+     Episode_Reward/track_angular_velocity: +49.7155
+                    Episode_Reward/upright: +25.2477
+                Episode_Reward/leg_posture: -2.4192
+                 Episode_Reward/standstill: -5.6061
+             Episode_Reward/action_rate_l2: -0.5500
+           Episode_Reward/joint_torques_l2: -0.1397
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0282
+     Episode_Reward/unnecessary_wheel_lift: -0.0944
+         Episode_Reward/rolling_leg_motion: -0.5659
+          Episode_Reward/obstacle_progress: +3.7532
+       Episode_Reward/wheel_body_intrusion: -0.2355
+        Episode_Reward/pair_body_intrusion: -0.2831
+             Curriculum/terrain_level_mean: +4.0466
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4172
+             Episode_Termination/fell_over: 0.0307
+           Episode_Termination/course_exit: 0.5153
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 35000/50000
+                               Total steps: 143,360,000
+                          Steps per second: 13,307
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0882
+                       Mean episode length: 1364.4
+                                Actor loss: -9.5425
+                               Critic loss: +0.0048
+                          World model loss: +0.6068
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5488
+     Episode_Reward/track_angular_velocity: +51.5951
+                    Episode_Reward/upright: +26.2323
+                Episode_Reward/leg_posture: -2.5270
+                 Episode_Reward/standstill: -5.4660
+             Episode_Reward/action_rate_l2: -0.5677
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: +0.0000
+     Episode_Reward/unnecessary_wheel_lift: -0.0860
+         Episode_Reward/rolling_leg_motion: -0.5913
+          Episode_Reward/obstacle_progress: +3.8668
+       Episode_Reward/wheel_body_intrusion: -0.2559
+        Episode_Reward/pair_body_intrusion: -0.2967
+             Curriculum/terrain_level_mean: +4.0498
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4641
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5359
+Episode_Termination/illegal_nonwheel_contact: 0.0000
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[480]
+
+==============================================================================
+Learning iteration 35050/50000
+                               Total steps: 143,564,800
+                          Steps per second: 13,310
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0876
+                       Mean episode length: 1278.8
+                                Actor loss: -9.5481
+                               Critic loss: +0.0051
+                          World model loss: +0.5548
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.3828
+     Episode_Reward/track_angular_velocity: +48.3301
+                    Episode_Reward/upright: +24.5550
+                Episode_Reward/leg_posture: -2.3921
+                 Episode_Reward/standstill: -5.5661
+             Episode_Reward/action_rate_l2: -0.5257
+           Episode_Reward/joint_torques_l2: -0.1380
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0225
+     Episode_Reward/unnecessary_wheel_lift: -0.0934
+         Episode_Reward/rolling_leg_motion: -0.5520
+          Episode_Reward/obstacle_progress: +3.5933
+       Episode_Reward/wheel_body_intrusion: -0.2577
+        Episode_Reward/pair_body_intrusion: -0.2979
+             Curriculum/terrain_level_mean: +4.0503
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.3988
+             Episode_Termination/fell_over: 0.0231
+           Episode_Termination/course_exit: 0.5491
+Episode_Termination/illegal_nonwheel_contact: 0.0405
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1143]
+
+==============================================================================
+Learning iteration 35100/50000
+                               Total steps: 143,769,600
+                          Steps per second: 13,312
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1325.9
+                                Actor loss: -9.5479
+                               Critic loss: +0.0061
+                          World model loss: +0.5950
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0509
+     Episode_Reward/track_angular_velocity: +50.1066
+                    Episode_Reward/upright: +25.4155
+                Episode_Reward/leg_posture: -2.4958
+                 Episode_Reward/standstill: -5.9700
+             Episode_Reward/action_rate_l2: -0.5493
+           Episode_Reward/joint_torques_l2: -0.1435
+             Episode_Reward/dof_pos_limits: -0.0016
+                 Episode_Reward/terminated: -0.0285
+     Episode_Reward/unnecessary_wheel_lift: -0.0915
+         Episode_Reward/rolling_leg_motion: -0.5776
+          Episode_Reward/obstacle_progress: +3.7519
+       Episode_Reward/wheel_body_intrusion: -0.2581
+        Episode_Reward/pair_body_intrusion: -0.3181
+             Curriculum/terrain_level_mean: +4.0503
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4333
+             Episode_Termination/fell_over: 0.0400
+           Episode_Termination/course_exit: 0.4933
+Episode_Termination/illegal_nonwheel_contact: 0.0400
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_035100.mp4
+RECOVERY reset 1 invalid environments; first IDs=[584]
+
+==============================================================================
+Learning iteration 35150/50000
+                               Total steps: 143,974,400
+                          Steps per second: 13,308
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1410.0
+                                Actor loss: -9.5621
+                               Critic loss: +0.0049
+                          World model loss: +0.6119
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0089
+     Episode_Reward/track_angular_velocity: +53.2935
+                    Episode_Reward/upright: +27.0541
+                Episode_Reward/leg_posture: -2.6297
+                 Episode_Reward/standstill: -6.0779
+             Episode_Reward/action_rate_l2: -0.5787
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0110
+     Episode_Reward/unnecessary_wheel_lift: -0.0891
+         Episode_Reward/rolling_leg_motion: -0.5866
+          Episode_Reward/obstacle_progress: +4.0194
+       Episode_Reward/wheel_body_intrusion: -0.2665
+        Episode_Reward/pair_body_intrusion: -0.2911
+             Curriculum/terrain_level_mean: +4.0515
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0227
+           Episode_Termination/course_exit: 0.4697
+Episode_Termination/illegal_nonwheel_contact: 0.0227
+==============================================================================
+
+==============================================================================
+Learning iteration 35200/50000
+                               Total steps: 144,179,200
+                          Steps per second: 13,311
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1354.4
+                                Actor loss: -9.4804
+                               Critic loss: +0.0054
+                          World model loss: +0.6003
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9897
+     Episode_Reward/track_angular_velocity: +51.1906
+                    Episode_Reward/upright: +25.9735
+                Episode_Reward/leg_posture: -2.5497
+                 Episode_Reward/standstill: -5.9074
+             Episode_Reward/action_rate_l2: -0.5578
+           Episode_Reward/joint_torques_l2: -0.1451
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.1062
+         Episode_Reward/rolling_leg_motion: -0.5922
+          Episode_Reward/obstacle_progress: +3.8107
+       Episode_Reward/wheel_body_intrusion: -0.2501
+        Episode_Reward/pair_body_intrusion: -0.2600
+             Curriculum/terrain_level_mean: +4.0537
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4438
+             Episode_Termination/fell_over: 0.0296
+           Episode_Termination/course_exit: 0.5207
+Episode_Termination/illegal_nonwheel_contact: 0.0296
+==============================================================================
+
+==============================================================================
+Learning iteration 35250/50000
+                               Total steps: 144,384,000
+                          Steps per second: 13,314
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1353.2
+                                Actor loss: -9.5315
+                               Critic loss: +0.0035
+                          World model loss: +0.5887
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9889
+     Episode_Reward/track_angular_velocity: +51.1690
+                    Episode_Reward/upright: +25.9559
+                Episode_Reward/leg_posture: -2.5465
+                 Episode_Reward/standstill: -6.0101
+             Episode_Reward/action_rate_l2: -0.5582
+           Episode_Reward/joint_torques_l2: -0.1448
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.1019
+         Episode_Reward/rolling_leg_motion: -0.5982
+          Episode_Reward/obstacle_progress: +3.8272
+       Episode_Reward/wheel_body_intrusion: -0.2504
+        Episode_Reward/pair_body_intrusion: -0.3077
+             Curriculum/terrain_level_mean: +4.0537
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.4912
+             Episode_Termination/fell_over: 0.0175
+           Episode_Termination/course_exit: 0.4678
+Episode_Termination/illegal_nonwheel_contact: 0.0292
+==============================================================================
+
+==============================================================================
+Learning iteration 35300/50000
+                               Total steps: 144,588,800
+                          Steps per second: 13,317
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0880
+                       Mean episode length: 1365.9
+                                Actor loss: -9.5439
+                               Critic loss: +0.0051
+                          World model loss: +0.6017
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5649
+     Episode_Reward/track_angular_velocity: +51.6946
+                    Episode_Reward/upright: +26.2097
+                Episode_Reward/leg_posture: -2.5549
+                 Episode_Reward/standstill: -5.6176
+             Episode_Reward/action_rate_l2: -0.5693
+           Episode_Reward/joint_torques_l2: -0.1476
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.0921
+         Episode_Reward/rolling_leg_motion: -0.5908
+          Episode_Reward/obstacle_progress: +3.9215
+       Episode_Reward/wheel_body_intrusion: -0.2461
+        Episode_Reward/pair_body_intrusion: -0.3079
+             Curriculum/terrain_level_mean: +4.0552
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.4832
+             Episode_Termination/fell_over: 0.0268
+           Episode_Termination/course_exit: 0.4631
+Episode_Termination/illegal_nonwheel_contact: 0.0403
+==============================================================================
+
+==============================================================================
+Learning iteration 35350/50000
+                               Total steps: 144,793,600
+                          Steps per second: 13,320
+                            Iteration time: 0.308s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0882
+                       Mean episode length: 1294.2
+                                Actor loss: -9.5263
+                               Critic loss: +0.0059
+                          World model loss: +0.5861
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1163
+     Episode_Reward/track_angular_velocity: +48.9519
+                    Episode_Reward/upright: +24.8519
+                Episode_Reward/leg_posture: -2.4083
+                 Episode_Reward/standstill: -5.3543
+             Episode_Reward/action_rate_l2: -0.5315
+           Episode_Reward/joint_torques_l2: -0.1388
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0051
+     Episode_Reward/unnecessary_wheel_lift: -0.0903
+         Episode_Reward/rolling_leg_motion: -0.5626
+          Episode_Reward/obstacle_progress: +3.7487
+       Episode_Reward/wheel_body_intrusion: -0.2339
+        Episode_Reward/pair_body_intrusion: -0.2335
+             Curriculum/terrain_level_mean: +4.0591
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0910
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.3919
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.5946
+Episode_Termination/illegal_nonwheel_contact: 0.0068
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2846]
+
+==============================================================================
+Learning iteration 35400/50000
+                               Total steps: 144,998,400
+                          Steps per second: 13,322
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0883
+                       Mean episode length: 1366.0
+                                Actor loss: -9.5245
+                               Critic loss: +0.0054
+                          World model loss: +0.5840
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6583
+     Episode_Reward/track_angular_velocity: +51.6646
+                    Episode_Reward/upright: +26.1856
+                Episode_Reward/leg_posture: -2.5654
+                 Episode_Reward/standstill: -5.5080
+             Episode_Reward/action_rate_l2: -0.5645
+           Episode_Reward/joint_torques_l2: -0.1464
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0762
+         Episode_Reward/rolling_leg_motion: -0.5855
+          Episode_Reward/obstacle_progress: +4.0241
+       Episode_Reward/wheel_body_intrusion: -0.2544
+        Episode_Reward/pair_body_intrusion: -0.2510
+             Curriculum/terrain_level_mean: +4.0615
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0910
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5139
+             Episode_Termination/fell_over: 0.0069
+           Episode_Termination/course_exit: 0.4583
+Episode_Termination/illegal_nonwheel_contact: 0.0278
+==============================================================================
+
+==============================================================================
+Learning iteration 35450/50000
+                               Total steps: 145,203,200
+                          Steps per second: 13,325
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1377.4
+                                Actor loss: -9.5144
+                               Critic loss: +0.0044
+                          World model loss: +0.5902
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9417
+     Episode_Reward/track_angular_velocity: +52.0670
+                    Episode_Reward/upright: +26.3906
+                Episode_Reward/leg_posture: -2.5776
+                 Episode_Reward/standstill: -5.7672
+             Episode_Reward/action_rate_l2: -0.5643
+           Episode_Reward/joint_torques_l2: -0.1492
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0269
+     Episode_Reward/unnecessary_wheel_lift: -0.0925
+         Episode_Reward/rolling_leg_motion: -0.6039
+          Episode_Reward/obstacle_progress: +4.0148
+       Episode_Reward/wheel_body_intrusion: -0.2756
+        Episode_Reward/pair_body_intrusion: -0.3114
+             Curriculum/terrain_level_mean: +4.0625
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4906
+             Episode_Termination/fell_over: 0.0126
+           Episode_Termination/course_exit: 0.4465
+Episode_Termination/illegal_nonwheel_contact: 0.0629
+==============================================================================
+
+==============================================================================
+Learning iteration 35500/50000
+                               Total steps: 145,408,000
+                          Steps per second: 13,328
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0880
+                       Mean episode length: 1299.9
+                                Actor loss: -9.5205
+                               Critic loss: +0.0058
+                          World model loss: +0.6090
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2951
+     Episode_Reward/track_angular_velocity: +49.1894
+                    Episode_Reward/upright: +24.9268
+                Episode_Reward/leg_posture: -2.4565
+                 Episode_Reward/standstill: -5.4378
+             Episode_Reward/action_rate_l2: -0.5299
+           Episode_Reward/joint_torques_l2: -0.1400
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0228
+     Episode_Reward/unnecessary_wheel_lift: -0.0807
+         Episode_Reward/rolling_leg_motion: -0.5602
+          Episode_Reward/obstacle_progress: +3.6751
+       Episode_Reward/wheel_body_intrusion: -0.2477
+        Episode_Reward/pair_body_intrusion: -0.2750
+             Curriculum/terrain_level_mean: +4.0637
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.4145
+             Episode_Termination/fell_over: 0.0132
+           Episode_Termination/course_exit: 0.5263
+Episode_Termination/illegal_nonwheel_contact: 0.0461
+==============================================================================
+
+==============================================================================
+Learning iteration 35550/50000
+                               Total steps: 145,612,800
+                          Steps per second: 13,330
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0879
+                       Mean episode length: 1350.6
+                                Actor loss: -9.5293
+                               Critic loss: +0.0071
+                          World model loss: +0.6240
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2393
+     Episode_Reward/track_angular_velocity: +51.1250
+                    Episode_Reward/upright: +25.8901
+                Episode_Reward/leg_posture: -2.5661
+                 Episode_Reward/standstill: -5.9189
+             Episode_Reward/action_rate_l2: -0.5455
+           Episode_Reward/joint_torques_l2: -0.1460
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.0887
+         Episode_Reward/rolling_leg_motion: -0.5861
+          Episode_Reward/obstacle_progress: +3.8439
+       Episode_Reward/wheel_body_intrusion: -0.2612
+        Episode_Reward/pair_body_intrusion: -0.2908
+             Curriculum/terrain_level_mean: +4.0664
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0899
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.4286
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.5238
+Episode_Termination/illegal_nonwheel_contact: 0.0272
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2495]
+RECOVERY reset 1 invalid environments; first IDs=[2087]
+
+==============================================================================
+Learning iteration 35600/50000
+                               Total steps: 145,817,600
+                          Steps per second: 13,333
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1345.0
+                                Actor loss: -9.5218
+                               Critic loss: +0.0067
+                          World model loss: +0.5927
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0447
+     Episode_Reward/track_angular_velocity: +50.9061
+                    Episode_Reward/upright: +25.7979
+                Episode_Reward/leg_posture: -2.5833
+                 Episode_Reward/standstill: -5.9602
+             Episode_Reward/action_rate_l2: -0.5507
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.0792
+         Episode_Reward/rolling_leg_motion: -0.5801
+          Episode_Reward/obstacle_progress: +3.8197
+       Episode_Reward/wheel_body_intrusion: -0.2499
+        Episode_Reward/pair_body_intrusion: -0.3122
+             Curriculum/terrain_level_mean: +4.0684
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0898
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.4467
+             Episode_Termination/fell_over: 0.0267
+           Episode_Termination/course_exit: 0.5133
+Episode_Termination/illegal_nonwheel_contact: 0.0133
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[495]
+
+==============================================================================
+Learning iteration 35650/50000
+                               Total steps: 146,022,400
+                          Steps per second: 13,336
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1349.0
+                                Actor loss: -9.5546
+                               Critic loss: +0.0043
+                          World model loss: +0.5709
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0623
+     Episode_Reward/track_angular_velocity: +51.0516
+                    Episode_Reward/upright: +25.8722
+                Episode_Reward/leg_posture: -2.5780
+                 Episode_Reward/standstill: -6.1706
+             Episode_Reward/action_rate_l2: -0.5571
+           Episode_Reward/joint_torques_l2: -0.1462
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0343
+     Episode_Reward/unnecessary_wheel_lift: -0.0819
+         Episode_Reward/rolling_leg_motion: -0.5883
+          Episode_Reward/obstacle_progress: +3.7598
+       Episode_Reward/wheel_body_intrusion: -0.2523
+        Episode_Reward/pair_body_intrusion: -0.3026
+             Curriculum/terrain_level_mean: +4.0669
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4354
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4762
+Episode_Termination/illegal_nonwheel_contact: 0.0748
+==============================================================================
+
+==============================================================================
+Learning iteration 35700/50000
+                               Total steps: 146,227,200
+                          Steps per second: 13,339
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1373.7
+                                Actor loss: -9.5388
+                               Critic loss: +0.0043
+                          World model loss: +0.5951
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8782
+     Episode_Reward/track_angular_velocity: +51.9878
+                    Episode_Reward/upright: +26.3539
+                Episode_Reward/leg_posture: -2.6072
+                 Episode_Reward/standstill: -6.4606
+             Episode_Reward/action_rate_l2: -0.5743
+           Episode_Reward/joint_torques_l2: -0.1492
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0888
+         Episode_Reward/rolling_leg_motion: -0.5969
+          Episode_Reward/obstacle_progress: +3.8322
+       Episode_Reward/wheel_body_intrusion: -0.2481
+        Episode_Reward/pair_body_intrusion: -0.2860
+             Curriculum/terrain_level_mean: +4.0696
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.5089
+             Episode_Termination/fell_over: 0.0178
+           Episode_Termination/course_exit: 0.4497
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+
+==============================================================================
+Learning iteration 35750/50000
+                               Total steps: 146,432,000
+                          Steps per second: 13,342
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1335.7
+                                Actor loss: -9.5356
+                               Critic loss: +0.0043
+                          World model loss: +0.5556
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6584
+     Episode_Reward/track_angular_velocity: +50.5533
+                    Episode_Reward/upright: +25.6378
+                Episode_Reward/leg_posture: -2.5481
+                 Episode_Reward/standstill: -5.7775
+             Episode_Reward/action_rate_l2: -0.5548
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0261
+     Episode_Reward/unnecessary_wheel_lift: -0.0888
+         Episode_Reward/rolling_leg_motion: -0.5763
+          Episode_Reward/obstacle_progress: +3.7283
+       Episode_Reward/wheel_body_intrusion: -0.2428
+        Episode_Reward/pair_body_intrusion: -0.2604
+             Curriculum/terrain_level_mean: +4.0698
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0904
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4177
+             Episode_Termination/fell_over: 0.0380
+           Episode_Termination/course_exit: 0.5190
+Episode_Termination/illegal_nonwheel_contact: 0.0316
+==============================================================================
+
+==============================================================================
+Learning iteration 35800/50000
+                               Total steps: 146,636,800
+                          Steps per second: 13,344
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1334.1
+                                Actor loss: -9.5233
+                               Critic loss: +0.0050
+                          World model loss: +0.5773
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4831
+     Episode_Reward/track_angular_velocity: +50.4812
+                    Episode_Reward/upright: +25.6550
+                Episode_Reward/leg_posture: -2.5054
+                 Episode_Reward/standstill: -5.8309
+             Episode_Reward/action_rate_l2: -0.5608
+           Episode_Reward/joint_torques_l2: -0.1416
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0130
+     Episode_Reward/unnecessary_wheel_lift: -0.0779
+         Episode_Reward/rolling_leg_motion: -0.5759
+          Episode_Reward/obstacle_progress: +3.7568
+       Episode_Reward/wheel_body_intrusion: -0.2269
+        Episode_Reward/pair_body_intrusion: -0.2836
+             Curriculum/terrain_level_mean: +4.0732
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4538
+             Episode_Termination/fell_over: 0.0154
+           Episode_Termination/course_exit: 0.5154
+Episode_Termination/illegal_nonwheel_contact: 0.0308
+==============================================================================
+
+==============================================================================
+Learning iteration 35850/50000
+                               Total steps: 146,841,600
+                          Steps per second: 13,347
+                            Iteration time: 0.307s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1381.9
+                                Actor loss: -9.5324
+                               Critic loss: +0.0049
+                          World model loss: +0.6145
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1494
+     Episode_Reward/track_angular_velocity: +52.2726
+                    Episode_Reward/upright: +26.5360
+                Episode_Reward/leg_posture: -2.5877
+                 Episode_Reward/standstill: -6.2813
+             Episode_Reward/action_rate_l2: -0.5850
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0054
+     Episode_Reward/unnecessary_wheel_lift: -0.0771
+         Episode_Reward/rolling_leg_motion: -0.5882
+          Episode_Reward/obstacle_progress: +3.8785
+       Episode_Reward/wheel_body_intrusion: -0.2567
+        Episode_Reward/pair_body_intrusion: -0.2845
+             Curriculum/terrain_level_mean: +4.0754
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4865
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0135
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1296]
+
+==============================================================================
+Learning iteration 35900/50000
+                               Total steps: 147,046,400
+                          Steps per second: 13,350
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1384.6
+                                Actor loss: -9.5080
+                               Critic loss: +0.0075
+                          World model loss: +0.5948
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2864
+     Episode_Reward/track_angular_velocity: +52.4142
+                    Episode_Reward/upright: +26.5769
+                Episode_Reward/leg_posture: -2.5937
+                 Episode_Reward/standstill: -6.1867
+             Episode_Reward/action_rate_l2: -0.5906
+           Episode_Reward/joint_torques_l2: -0.1491
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0270
+     Episode_Reward/unnecessary_wheel_lift: -0.0887
+         Episode_Reward/rolling_leg_motion: -0.6008
+          Episode_Reward/obstacle_progress: +3.8404
+       Episode_Reward/wheel_body_intrusion: -0.2465
+        Episode_Reward/pair_body_intrusion: -0.2780
+             Curriculum/terrain_level_mean: +4.0754
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1322
+              Episode_Termination/time_out: 0.4702
+             Episode_Termination/fell_over: 0.0265
+           Episode_Termination/course_exit: 0.4636
+Episode_Termination/illegal_nonwheel_contact: 0.0662
+==============================================================================
+
+==============================================================================
+Learning iteration 35950/50000
+                               Total steps: 147,251,200
+                          Steps per second: 13,353
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1349.3
+                                Actor loss: -9.5379
+                               Critic loss: +0.0045
+                          World model loss: +0.5618
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0283
+     Episode_Reward/track_angular_velocity: +51.0648
+                    Episode_Reward/upright: +25.9191
+                Episode_Reward/leg_posture: -2.5506
+                 Episode_Reward/standstill: -5.8148
+             Episode_Reward/action_rate_l2: -0.5596
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0158
+     Episode_Reward/unnecessary_wheel_lift: -0.0842
+         Episode_Reward/rolling_leg_motion: -0.5770
+          Episode_Reward/obstacle_progress: +3.7483
+       Episode_Reward/wheel_body_intrusion: -0.2577
+        Episode_Reward/pair_body_intrusion: -0.2768
+             Curriculum/terrain_level_mean: +4.0781
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1328
+              Episode_Termination/time_out: 0.4643
+             Episode_Termination/fell_over: 0.0238
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0298
+==============================================================================
+
+==============================================================================
+Learning iteration 36000/50000
+                               Total steps: 147,456,000
+                          Steps per second: 13,356
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0879
+                       Mean episode length: 1403.3
+                                Actor loss: -9.5166
+                               Critic loss: +0.0126
+                          World model loss: +0.5730
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1035
+     Episode_Reward/track_angular_velocity: +53.1383
+                    Episode_Reward/upright: +26.9791
+                Episode_Reward/leg_posture: -2.6380
+                 Episode_Reward/standstill: -6.0969
+             Episode_Reward/action_rate_l2: -0.5758
+           Episode_Reward/joint_torques_l2: -0.1508
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0801
+         Episode_Reward/rolling_leg_motion: -0.6101
+          Episode_Reward/obstacle_progress: +3.8679
+       Episode_Reward/wheel_body_intrusion: -0.2680
+        Episode_Reward/pair_body_intrusion: -0.2816
+             Curriculum/terrain_level_mean: +4.0801
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0901
+       Metrics/base_velocity/error_vel_yaw: 0.1319
+              Episode_Termination/time_out: 0.5333
+             Episode_Termination/fell_over: 0.0200
+           Episode_Termination/course_exit: 0.4333
+Episode_Termination/illegal_nonwheel_contact: 0.0267
+==============================================================================
+
+==============================================================================
+Learning iteration 36050/50000
+                               Total steps: 147,660,800
+                          Steps per second: 13,358
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0876
+                       Mean episode length: 1377.0
+                                Actor loss: -9.5487
+                               Critic loss: +0.0067
+                          World model loss: +0.5877
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0553
+     Episode_Reward/track_angular_velocity: +52.1288
+                    Episode_Reward/upright: +26.4875
+                Episode_Reward/leg_posture: -2.5502
+                 Episode_Reward/standstill: -6.4973
+             Episode_Reward/action_rate_l2: -0.5596
+           Episode_Reward/joint_torques_l2: -0.1481
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.0819
+         Episode_Reward/rolling_leg_motion: -0.5869
+          Episode_Reward/obstacle_progress: +3.8609
+       Episode_Reward/wheel_body_intrusion: -0.2630
+        Episode_Reward/pair_body_intrusion: -0.2546
+             Curriculum/terrain_level_mean: +4.0825
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.4870
+             Episode_Termination/fell_over: 0.0195
+           Episode_Termination/course_exit: 0.4740
+Episode_Termination/illegal_nonwheel_contact: 0.0260
+==============================================================================
+
+==============================================================================
+Learning iteration 36100/50000
+                               Total steps: 147,865,600
+                          Steps per second: 13,361
+                            Iteration time: 0.307s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1314.5
+                                Actor loss: -9.4899
+                               Critic loss: +0.0047
+                          World model loss: +0.5932
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6802
+     Episode_Reward/track_angular_velocity: +49.6462
+                    Episode_Reward/upright: +25.2078
+                Episode_Reward/leg_posture: -2.5019
+                 Episode_Reward/standstill: -6.3410
+             Episode_Reward/action_rate_l2: -0.5414
+           Episode_Reward/joint_torques_l2: -0.1428
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0180
+     Episode_Reward/unnecessary_wheel_lift: -0.0722
+         Episode_Reward/rolling_leg_motion: -0.5591
+          Episode_Reward/obstacle_progress: +3.7167
+       Episode_Reward/wheel_body_intrusion: -0.2591
+        Episode_Reward/pair_body_intrusion: -0.2779
+             Curriculum/terrain_level_mean: +4.0842
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4276
+             Episode_Termination/fell_over: 0.0263
+           Episode_Termination/course_exit: 0.5263
+Episode_Termination/illegal_nonwheel_contact: 0.0263
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[589]
+
+==============================================================================
+Learning iteration 36150/50000
+                               Total steps: 148,070,400
+                          Steps per second: 13,364
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1303.5
+                                Actor loss: -9.5202
+                               Critic loss: +0.0044
+                          World model loss: +0.5705
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2099
+     Episode_Reward/track_angular_velocity: +49.2011
+                    Episode_Reward/upright: +24.9899
+                Episode_Reward/leg_posture: -2.5192
+                 Episode_Reward/standstill: -6.6538
+             Episode_Reward/action_rate_l2: -0.5306
+           Episode_Reward/joint_torques_l2: -0.1426
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0255
+     Episode_Reward/unnecessary_wheel_lift: -0.0833
+         Episode_Reward/rolling_leg_motion: -0.5514
+          Episode_Reward/obstacle_progress: +3.6719
+       Episode_Reward/wheel_body_intrusion: -0.2680
+        Episode_Reward/pair_body_intrusion: -0.2681
+             Curriculum/terrain_level_mean: +4.0869
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4286
+             Episode_Termination/fell_over: 0.0248
+           Episode_Termination/course_exit: 0.5093
+Episode_Termination/illegal_nonwheel_contact: 0.0373
+==============================================================================
+
+==============================================================================
+Learning iteration 36200/50000
+                               Total steps: 148,275,200
+                          Steps per second: 13,367
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1340.1
+                                Actor loss: -9.4880
+                               Critic loss: +0.0060
+                          World model loss: +0.5877
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7217
+     Episode_Reward/track_angular_velocity: +50.6391
+                    Episode_Reward/upright: +25.6936
+                Episode_Reward/leg_posture: -2.5480
+                 Episode_Reward/standstill: -6.5632
+             Episode_Reward/action_rate_l2: -0.5403
+           Episode_Reward/joint_torques_l2: -0.1441
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0340
+     Episode_Reward/unnecessary_wheel_lift: -0.0898
+         Episode_Reward/rolling_leg_motion: -0.5688
+          Episode_Reward/obstacle_progress: +3.7266
+       Episode_Reward/wheel_body_intrusion: -0.2820
+        Episode_Reward/pair_body_intrusion: -0.3270
+             Curriculum/terrain_level_mean: +4.0867
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4744
+             Episode_Termination/fell_over: 0.0641
+           Episode_Termination/course_exit: 0.4423
+Episode_Termination/illegal_nonwheel_contact: 0.0256
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 36250/50000
+                               Total steps: 148,480,000
+                          Steps per second: 13,370
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1292.4
+                                Actor loss: -9.5572
+                               Critic loss: +0.0035
+                          World model loss: +0.5697
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9847
+     Episode_Reward/track_angular_velocity: +48.8521
+                    Episode_Reward/upright: +24.7951
+                Episode_Reward/leg_posture: -2.4658
+                 Episode_Reward/standstill: -6.3330
+             Episode_Reward/action_rate_l2: -0.5350
+           Episode_Reward/joint_torques_l2: -0.1400
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0177
+     Episode_Reward/unnecessary_wheel_lift: -0.0682
+         Episode_Reward/rolling_leg_motion: -0.5518
+          Episode_Reward/obstacle_progress: +3.6083
+       Episode_Reward/wheel_body_intrusion: -0.2519
+        Episode_Reward/pair_body_intrusion: -0.2940
+             Curriculum/terrain_level_mean: +4.0884
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.3916
+             Episode_Termination/fell_over: 0.0210
+           Episode_Termination/course_exit: 0.5594
+Episode_Termination/illegal_nonwheel_contact: 0.0280
+==============================================================================
+
+==============================================================================
+Learning iteration 36300/50000
+                               Total steps: 148,684,800
+                          Steps per second: 13,372
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1380.2
+                                Actor loss: -9.5247
+                               Critic loss: +0.0041
+                          World model loss: +0.5857
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2812
+     Episode_Reward/track_angular_velocity: +52.1969
+                    Episode_Reward/upright: +26.4907
+                Episode_Reward/leg_posture: -2.6365
+                 Episode_Reward/standstill: -6.2872
+             Episode_Reward/action_rate_l2: -0.5721
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.0851
+         Episode_Reward/rolling_leg_motion: -0.5688
+          Episode_Reward/obstacle_progress: +3.8977
+       Episode_Reward/wheel_body_intrusion: -0.2813
+        Episode_Reward/pair_body_intrusion: -0.3312
+             Curriculum/terrain_level_mean: +4.0889
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0904
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4880
+             Episode_Termination/fell_over: 0.0480
+           Episode_Termination/course_exit: 0.4640
+Episode_Termination/illegal_nonwheel_contact: 0.0080
+==============================================================================
+
+==============================================================================
+Learning iteration 36350/50000
+                               Total steps: 148,889,600
+                          Steps per second: 13,375
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0875
+                       Mean episode length: 1302.0
+                                Actor loss: -9.5388
+                               Critic loss: +0.0055
+                          World model loss: +0.5726
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4299
+     Episode_Reward/track_angular_velocity: +49.2878
+                    Episode_Reward/upright: +24.9648
+                Episode_Reward/leg_posture: -2.4424
+                 Episode_Reward/standstill: -6.1504
+             Episode_Reward/action_rate_l2: -0.5307
+           Episode_Reward/joint_torques_l2: -0.1393
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0203
+     Episode_Reward/unnecessary_wheel_lift: -0.0828
+         Episode_Reward/rolling_leg_motion: -0.5456
+          Episode_Reward/obstacle_progress: +3.6547
+       Episode_Reward/wheel_body_intrusion: -0.2523
+        Episode_Reward/pair_body_intrusion: -0.2897
+             Curriculum/terrain_level_mean: +4.0906
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.4451
+             Episode_Termination/fell_over: 0.0366
+           Episode_Termination/course_exit: 0.5061
+Episode_Termination/illegal_nonwheel_contact: 0.0305
+==============================================================================
+
+==============================================================================
+Learning iteration 36400/50000
+                               Total steps: 149,094,400
+                          Steps per second: 13,377
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0877
+                       Mean episode length: 1337.1
+                                Actor loss: -9.5318
+                               Critic loss: +0.0044
+                          World model loss: +0.5922
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6876
+     Episode_Reward/track_angular_velocity: +50.5772
+                    Episode_Reward/upright: +25.6484
+                Episode_Reward/leg_posture: -2.5541
+                 Episode_Reward/standstill: -5.9911
+             Episode_Reward/action_rate_l2: -0.5436
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0261
+     Episode_Reward/unnecessary_wheel_lift: -0.0787
+         Episode_Reward/rolling_leg_motion: -0.5650
+          Episode_Reward/obstacle_progress: +3.7322
+       Episode_Reward/wheel_body_intrusion: -0.2553
+        Episode_Reward/pair_body_intrusion: -0.2666
+             Curriculum/terrain_level_mean: +4.0913
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0907
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.4143
+             Episode_Termination/fell_over: 0.0429
+           Episode_Termination/course_exit: 0.5143
+Episode_Termination/illegal_nonwheel_contact: 0.0286
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1809]
+
+==============================================================================
+Learning iteration 36450/50000
+                               Total steps: 149,299,200
+                          Steps per second: 13,380
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1333.3
+                                Actor loss: -9.5288
+                               Critic loss: +0.0041
+                          World model loss: +0.5782
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4989
+     Episode_Reward/track_angular_velocity: +50.3841
+                    Episode_Reward/upright: +25.5876
+                Episode_Reward/leg_posture: -2.5172
+                 Episode_Reward/standstill: -6.4632
+             Episode_Reward/action_rate_l2: -0.5512
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0156
+     Episode_Reward/unnecessary_wheel_lift: -0.0915
+         Episode_Reward/rolling_leg_motion: -0.5755
+          Episode_Reward/obstacle_progress: +3.8021
+       Episode_Reward/wheel_body_intrusion: -0.2537
+        Episode_Reward/pair_body_intrusion: -0.2608
+             Curriculum/terrain_level_mean: +4.0935
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4277
+             Episode_Termination/fell_over: 0.0063
+           Episode_Termination/course_exit: 0.5346
+Episode_Termination/illegal_nonwheel_contact: 0.0314
+==============================================================================
+
+==============================================================================
+Learning iteration 36500/50000
+                               Total steps: 149,504,000
+                          Steps per second: 13,383
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1327.4
+                                Actor loss: -9.5448
+                               Critic loss: +0.0056
+                          World model loss: +0.5845
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1298
+     Episode_Reward/track_angular_velocity: +50.2005
+                    Episode_Reward/upright: +25.4514
+                Episode_Reward/leg_posture: -2.5666
+                 Episode_Reward/standstill: -6.5691
+             Episode_Reward/action_rate_l2: -0.5348
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0259
+     Episode_Reward/unnecessary_wheel_lift: -0.0923
+         Episode_Reward/rolling_leg_motion: -0.5751
+          Episode_Reward/obstacle_progress: +3.7170
+       Episode_Reward/wheel_body_intrusion: -0.3016
+        Episode_Reward/pair_body_intrusion: -0.3001
+             Curriculum/terrain_level_mean: +4.0933
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4315
+             Episode_Termination/fell_over: 0.0411
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2153]
+
+==============================================================================
+Learning iteration 36550/50000
+                               Total steps: 149,708,800
+                          Steps per second: 13,386
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1399.0
+                                Actor loss: -9.5178
+                               Critic loss: +0.0067
+                          World model loss: +0.5885
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7934
+     Episode_Reward/track_angular_velocity: +52.9557
+                    Episode_Reward/upright: +26.8417
+                Episode_Reward/leg_posture: -2.6765
+                 Episode_Reward/standstill: -6.4392
+             Episode_Reward/action_rate_l2: -0.5730
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0936
+         Episode_Reward/rolling_leg_motion: -0.5932
+          Episode_Reward/obstacle_progress: +3.9486
+       Episode_Reward/wheel_body_intrusion: -0.3006
+        Episode_Reward/pair_body_intrusion: -0.3260
+             Curriculum/terrain_level_mean: +4.0955
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1324
+              Episode_Termination/time_out: 0.4966
+             Episode_Termination/fell_over: 0.0201
+           Episode_Termination/course_exit: 0.4698
+Episode_Termination/illegal_nonwheel_contact: 0.0201
+==============================================================================
+
+==============================================================================
+Learning iteration 36600/50000
+                               Total steps: 149,913,600
+                          Steps per second: 13,388
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1331.9
+                                Actor loss: -9.5356
+                               Critic loss: +0.0048
+                          World model loss: +0.6056
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2746
+     Episode_Reward/track_angular_velocity: +50.4116
+                    Episode_Reward/upright: +25.5235
+                Episode_Reward/leg_posture: -2.5293
+                 Episode_Reward/standstill: -6.3869
+             Episode_Reward/action_rate_l2: -0.5393
+           Episode_Reward/joint_torques_l2: -0.1454
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0104
+     Episode_Reward/unnecessary_wheel_lift: -0.0911
+         Episode_Reward/rolling_leg_motion: -0.5446
+          Episode_Reward/obstacle_progress: +3.7678
+       Episode_Reward/wheel_body_intrusion: -0.2793
+        Episode_Reward/pair_body_intrusion: -0.3337
+             Curriculum/terrain_level_mean: +4.0969
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.4219
+             Episode_Termination/fell_over: 0.0156
+           Episode_Termination/course_exit: 0.5469
+Episode_Termination/illegal_nonwheel_contact: 0.0156
+==============================================================================
+
+==============================================================================
+Learning iteration 36650/50000
+                               Total steps: 150,118,400
+                          Steps per second: 13,391
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1332.6
+                                Actor loss: -9.5548
+                               Critic loss: +0.0050
+                          World model loss: +0.5755
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1063
+     Episode_Reward/track_angular_velocity: +50.3778
+                    Episode_Reward/upright: +25.5410
+                Episode_Reward/leg_posture: -2.5390
+                 Episode_Reward/standstill: -6.3998
+             Episode_Reward/action_rate_l2: -0.5437
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0260
+     Episode_Reward/unnecessary_wheel_lift: -0.0876
+         Episode_Reward/rolling_leg_motion: -0.5563
+          Episode_Reward/obstacle_progress: +3.6683
+       Episode_Reward/wheel_body_intrusion: -0.2667
+        Episode_Reward/pair_body_intrusion: -0.2901
+             Curriculum/terrain_level_mean: +4.0989
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.4270
+             Episode_Termination/fell_over: 0.0337
+           Episode_Termination/course_exit: 0.5169
+Episode_Termination/illegal_nonwheel_contact: 0.0393
+==============================================================================
+
+==============================================================================
+Learning iteration 36700/50000
+                               Total steps: 150,323,200
+                          Steps per second: 13,394
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1345.5
+                                Actor loss: -9.5162
+                               Critic loss: +0.0135
+                          World model loss: +0.5950
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6999
+     Episode_Reward/track_angular_velocity: +50.8880
+                    Episode_Reward/upright: +25.7902
+                Episode_Reward/leg_posture: -2.5420
+                 Episode_Reward/standstill: -6.3562
+             Episode_Reward/action_rate_l2: -0.5662
+           Episode_Reward/joint_torques_l2: -0.1455
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0864
+         Episode_Reward/rolling_leg_motion: -0.5762
+          Episode_Reward/obstacle_progress: +3.7469
+       Episode_Reward/wheel_body_intrusion: -0.2724
+        Episode_Reward/pair_body_intrusion: -0.2610
+             Curriculum/terrain_level_mean: +4.1003
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4503
+             Episode_Termination/fell_over: 0.0265
+           Episode_Termination/course_exit: 0.5033
+Episode_Termination/illegal_nonwheel_contact: 0.0397
+==============================================================================
+
+==============================================================================
+Learning iteration 36750/50000
+                               Total steps: 150,528,000
+                          Steps per second: 13,396
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1411.1
+                                Actor loss: -9.5343
+                               Critic loss: +0.0051
+                          World model loss: +0.5649
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0178
+     Episode_Reward/track_angular_velocity: +53.3743
+                    Episode_Reward/upright: +27.0369
+                Episode_Reward/leg_posture: -2.6583
+                 Episode_Reward/standstill: -6.5215
+             Episode_Reward/action_rate_l2: -0.5862
+           Episode_Reward/joint_torques_l2: -0.1524
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0083
+     Episode_Reward/unnecessary_wheel_lift: -0.0799
+         Episode_Reward/rolling_leg_motion: -0.5921
+          Episode_Reward/obstacle_progress: +3.9454
+       Episode_Reward/wheel_body_intrusion: -0.2866
+        Episode_Reward/pair_body_intrusion: -0.2760
+             Curriculum/terrain_level_mean: +4.1023
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5208
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4583
+Episode_Termination/illegal_nonwheel_contact: 0.0208
+==============================================================================
+
+==============================================================================
+Learning iteration 36800/50000
+                               Total steps: 150,732,800
+                          Steps per second: 13,399
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0872
+                       Mean episode length: 1384.3
+                                Actor loss: -9.5498
+                               Critic loss: +0.0128
+                          World model loss: +0.6132
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1270
+     Episode_Reward/track_angular_velocity: +52.3256
+                    Episode_Reward/upright: +26.4982
+                Episode_Reward/leg_posture: -2.6551
+                 Episode_Reward/standstill: -6.4292
+             Episode_Reward/action_rate_l2: -0.5758
+           Episode_Reward/joint_torques_l2: -0.1506
+             Episode_Reward/dof_pos_limits: -0.0017
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0693
+         Episode_Reward/rolling_leg_motion: -0.5811
+          Episode_Reward/obstacle_progress: +3.8267
+       Episode_Reward/wheel_body_intrusion: -0.2910
+        Episode_Reward/pair_body_intrusion: -0.3035
+             Curriculum/terrain_level_mean: +4.1045
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.4741
+             Episode_Termination/fell_over: 0.0148
+           Episode_Termination/course_exit: 0.4963
+Episode_Termination/illegal_nonwheel_contact: 0.0148
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2852]
+
+==============================================================================
+Learning iteration 36850/50000
+                               Total steps: 150,937,600
+                          Steps per second: 13,402
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0868
+                       Mean episode length: 1324.0
+                                Actor loss: -9.5336
+                               Critic loss: +0.0045
+                          World model loss: +0.5702
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9973
+     Episode_Reward/track_angular_velocity: +50.0300
+                    Episode_Reward/upright: +25.3360
+                Episode_Reward/leg_posture: -2.5455
+                 Episode_Reward/standstill: -6.6099
+             Episode_Reward/action_rate_l2: -0.5439
+           Episode_Reward/joint_torques_l2: -0.1446
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0310
+     Episode_Reward/unnecessary_wheel_lift: -0.0990
+         Episode_Reward/rolling_leg_motion: -0.5637
+          Episode_Reward/obstacle_progress: +3.6455
+       Episode_Reward/wheel_body_intrusion: -0.2855
+        Episode_Reward/pair_body_intrusion: -0.2606
+             Curriculum/terrain_level_mean: +4.1045
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.3935
+             Episode_Termination/fell_over: 0.0387
+           Episode_Termination/course_exit: 0.5290
+Episode_Termination/illegal_nonwheel_contact: 0.0581
+==============================================================================
+
+==============================================================================
+Learning iteration 36900/50000
+                               Total steps: 151,142,400
+                          Steps per second: 13,404
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1321.9
+                                Actor loss: -9.5271
+                               Critic loss: +0.0049
+                          World model loss: +0.5888
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0339
+     Episode_Reward/track_angular_velocity: +49.9191
+                    Episode_Reward/upright: +25.3121
+                Episode_Reward/leg_posture: -2.5196
+                 Episode_Reward/standstill: -6.3600
+             Episode_Reward/action_rate_l2: -0.5584
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0232
+     Episode_Reward/unnecessary_wheel_lift: -0.0904
+         Episode_Reward/rolling_leg_motion: -0.5628
+          Episode_Reward/obstacle_progress: +3.6481
+       Episode_Reward/wheel_body_intrusion: -0.2640
+        Episode_Reward/pair_body_intrusion: -0.2447
+             Curriculum/terrain_level_mean: +4.1060
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4233
+             Episode_Termination/fell_over: 0.0123
+           Episode_Termination/course_exit: 0.5215
+Episode_Termination/illegal_nonwheel_contact: 0.0491
+==============================================================================
+
+==============================================================================
+Learning iteration 36950/50000
+                               Total steps: 151,347,200
+                          Steps per second: 13,407
+                            Iteration time: 0.306s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1435.3
+                                Actor loss: -9.5474
+                               Critic loss: +0.0064
+                          World model loss: +0.6162
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +51.2485
+     Episode_Reward/track_angular_velocity: +54.3216
+                    Episode_Reward/upright: +27.5021
+                Episode_Reward/leg_posture: -2.7717
+                 Episode_Reward/standstill: -6.9425
+             Episode_Reward/action_rate_l2: -0.5933
+           Episode_Reward/joint_torques_l2: -0.1545
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0168
+     Episode_Reward/unnecessary_wheel_lift: -0.0879
+         Episode_Reward/rolling_leg_motion: -0.6249
+          Episode_Reward/obstacle_progress: +3.9391
+       Episode_Reward/wheel_body_intrusion: -0.2888
+        Episode_Reward/pair_body_intrusion: -0.2968
+             Curriculum/terrain_level_mean: +4.1079
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0900
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.5163
+             Episode_Termination/fell_over: 0.0261
+           Episode_Termination/course_exit: 0.4444
+Episode_Termination/illegal_nonwheel_contact: 0.0196
+==============================================================================
+
+==============================================================================
+Learning iteration 37000/50000
+                               Total steps: 151,552,000
+                          Steps per second: 13,409
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0874
+                       Mean episode length: 1324.8
+                                Actor loss: -9.5351
+                               Critic loss: +0.0040
+                          World model loss: +0.5947
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3377
+     Episode_Reward/track_angular_velocity: +50.1359
+                    Episode_Reward/upright: +25.3866
+                Episode_Reward/leg_posture: -2.5269
+                 Episode_Reward/standstill: -6.2430
+             Episode_Reward/action_rate_l2: -0.5453
+           Episode_Reward/joint_torques_l2: -0.1432
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.0829
+         Episode_Reward/rolling_leg_motion: -0.5779
+          Episode_Reward/obstacle_progress: +3.6288
+       Episode_Reward/wheel_body_intrusion: -0.2715
+        Episode_Reward/pair_body_intrusion: -0.3084
+             Curriculum/terrain_level_mean: +4.1096
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0897
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4595
+             Episode_Termination/fell_over: 0.0135
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0338
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2380]
+
+==============================================================================
+Learning iteration 37050/50000
+                               Total steps: 151,756,800
+                          Steps per second: 13,412
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1402.3
+                                Actor loss: -9.5067
+                               Critic loss: +0.0056
+                          World model loss: +0.6025
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0455
+     Episode_Reward/track_angular_velocity: +53.0687
+                    Episode_Reward/upright: +26.8403
+                Episode_Reward/leg_posture: -2.6885
+                 Episode_Reward/standstill: -6.6570
+             Episode_Reward/action_rate_l2: -0.5806
+           Episode_Reward/joint_torques_l2: -0.1522
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0192
+     Episode_Reward/unnecessary_wheel_lift: -0.0809
+         Episode_Reward/rolling_leg_motion: -0.5969
+          Episode_Reward/obstacle_progress: +3.9076
+       Episode_Reward/wheel_body_intrusion: -0.2903
+        Episode_Reward/pair_body_intrusion: -0.3373
+             Curriculum/terrain_level_mean: +4.1104
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0903
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.4895
+             Episode_Termination/fell_over: 0.0140
+           Episode_Termination/course_exit: 0.4615
+Episode_Termination/illegal_nonwheel_contact: 0.0420
+==============================================================================
+
+==============================================================================
+Learning iteration 37100/50000
+                               Total steps: 151,961,600
+                          Steps per second: 13,415
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0867
+                       Mean episode length: 1368.8
+                                Actor loss: -9.5380
+                               Critic loss: +0.0038
+                          World model loss: +0.5752
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6767
+     Episode_Reward/track_angular_velocity: +51.7820
+                    Episode_Reward/upright: +26.1929
+                Episode_Reward/leg_posture: -2.6337
+                 Episode_Reward/standstill: -7.2854
+             Episode_Reward/action_rate_l2: -0.5789
+           Episode_Reward/joint_torques_l2: -0.1483
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.0838
+         Episode_Reward/rolling_leg_motion: -0.5758
+          Episode_Reward/obstacle_progress: +3.8480
+       Episode_Reward/wheel_body_intrusion: -0.2711
+        Episode_Reward/pair_body_intrusion: -0.2929
+             Curriculum/terrain_level_mean: +4.1111
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4779
+             Episode_Termination/fell_over: 0.0074
+           Episode_Termination/course_exit: 0.4779
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 37150/50000
+                               Total steps: 152,166,400
+                          Steps per second: 13,417
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1368.7
+                                Actor loss: -9.5096
+                               Critic loss: +0.0045
+                          World model loss: +0.5910
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5233
+     Episode_Reward/track_angular_velocity: +51.7205
+                    Episode_Reward/upright: +26.1680
+                Episode_Reward/leg_posture: -2.6480
+                 Episode_Reward/standstill: -6.8385
+             Episode_Reward/action_rate_l2: -0.5835
+           Episode_Reward/joint_torques_l2: -0.1504
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0267
+     Episode_Reward/unnecessary_wheel_lift: -0.0827
+         Episode_Reward/rolling_leg_motion: -0.5776
+          Episode_Reward/obstacle_progress: +3.7718
+       Episode_Reward/wheel_body_intrusion: -0.2878
+        Episode_Reward/pair_body_intrusion: -0.2861
+             Curriculum/terrain_level_mean: +4.1108
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4795
+             Episode_Termination/fell_over: 0.0479
+           Episode_Termination/course_exit: 0.4521
+Episode_Termination/illegal_nonwheel_contact: 0.0411
+==============================================================================
+
+==============================================================================
+Learning iteration 37200/50000
+                               Total steps: 152,371,200
+                          Steps per second: 13,420
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1406.1
+                                Actor loss: -9.5014
+                               Critic loss: +0.0100
+                          World model loss: +0.5973
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8344
+     Episode_Reward/track_angular_velocity: +53.0987
+                    Episode_Reward/upright: +26.8741
+                Episode_Reward/leg_posture: -2.7520
+                 Episode_Reward/standstill: -6.7152
+             Episode_Reward/action_rate_l2: -0.5954
+           Episode_Reward/joint_torques_l2: -0.1528
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0165
+     Episode_Reward/unnecessary_wheel_lift: -0.0878
+         Episode_Reward/rolling_leg_motion: -0.5911
+          Episode_Reward/obstacle_progress: +3.7879
+       Episode_Reward/wheel_body_intrusion: -0.3030
+        Episode_Reward/pair_body_intrusion: -0.3277
+             Curriculum/terrain_level_mean: +4.1116
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.5649
+             Episode_Termination/fell_over: 0.0153
+           Episode_Termination/course_exit: 0.3893
+Episode_Termination/illegal_nonwheel_contact: 0.0382
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1438]
+
+==============================================================================
+Learning iteration 37250/50000
+                               Total steps: 152,576,000
+                          Steps per second: 13,422
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1365.5
+                                Actor loss: -9.5161
+                               Critic loss: +0.0037
+                          World model loss: +0.5808
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2686
+     Episode_Reward/track_angular_velocity: +51.6016
+                    Episode_Reward/upright: +26.1033
+                Episode_Reward/leg_posture: -2.6564
+                 Episode_Reward/standstill: -6.4043
+             Episode_Reward/action_rate_l2: -0.5808
+           Episode_Reward/joint_torques_l2: -0.1484
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.0937
+         Episode_Reward/rolling_leg_motion: -0.5783
+          Episode_Reward/obstacle_progress: +3.6582
+       Episode_Reward/wheel_body_intrusion: -0.2827
+        Episode_Reward/pair_body_intrusion: -0.3147
+             Curriculum/terrain_level_mean: +4.1128
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5031
+             Episode_Termination/fell_over: 0.0189
+           Episode_Termination/course_exit: 0.4591
+Episode_Termination/illegal_nonwheel_contact: 0.0314
+==============================================================================
+
+==============================================================================
+Learning iteration 37300/50000
+                               Total steps: 152,780,800
+                          Steps per second: 13,425
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1337.6
+                                Actor loss: -9.4911
+                               Critic loss: +0.0075
+                          World model loss: +0.5460
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4244
+     Episode_Reward/track_angular_velocity: +50.6040
+                    Episode_Reward/upright: +25.6094
+                Episode_Reward/leg_posture: -2.5467
+                 Episode_Reward/standstill: -6.1043
+             Episode_Reward/action_rate_l2: -0.5672
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0763
+         Episode_Reward/rolling_leg_motion: -0.5691
+          Episode_Reward/obstacle_progress: +3.6425
+       Episode_Reward/wheel_body_intrusion: -0.2680
+        Episode_Reward/pair_body_intrusion: -0.2949
+             Curriculum/terrain_level_mean: +4.1145
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.4510
+             Episode_Termination/fell_over: 0.0065
+           Episode_Termination/course_exit: 0.4967
+Episode_Termination/illegal_nonwheel_contact: 0.0458
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2305]
+
+==============================================================================
+Learning iteration 37350/50000
+                               Total steps: 152,985,600
+                          Steps per second: 13,428
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1360.6
+                                Actor loss: -9.5448
+                               Critic loss: +0.0039
+                          World model loss: +0.5621
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4087
+     Episode_Reward/track_angular_velocity: +51.4621
+                    Episode_Reward/upright: +26.0944
+                Episode_Reward/leg_posture: -2.5509
+                 Episode_Reward/standstill: -6.1541
+             Episode_Reward/action_rate_l2: -0.5717
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0345
+     Episode_Reward/unnecessary_wheel_lift: -0.1146
+         Episode_Reward/rolling_leg_motion: -0.5974
+          Episode_Reward/obstacle_progress: +3.7452
+       Episode_Reward/wheel_body_intrusion: -0.2513
+        Episode_Reward/pair_body_intrusion: -0.3131
+             Curriculum/terrain_level_mean: +4.1152
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4535
+             Episode_Termination/fell_over: 0.0523
+           Episode_Termination/course_exit: 0.4709
+Episode_Termination/illegal_nonwheel_contact: 0.0407
+==============================================================================
+
+==============================================================================
+Learning iteration 37400/50000
+                               Total steps: 153,190,400
+                          Steps per second: 13,430
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0877
+                       Mean episode length: 1350.4
+                                Actor loss: -9.5346
+                               Critic loss: +0.0054
+                          World model loss: +0.5779
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1587
+     Episode_Reward/track_angular_velocity: +51.1013
+                    Episode_Reward/upright: +25.9299
+                Episode_Reward/leg_posture: -2.5617
+                 Episode_Reward/standstill: -6.0410
+             Episode_Reward/action_rate_l2: -0.5579
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0211
+     Episode_Reward/unnecessary_wheel_lift: -0.0951
+         Episode_Reward/rolling_leg_motion: -0.5818
+          Episode_Reward/obstacle_progress: +3.7679
+       Episode_Reward/wheel_body_intrusion: -0.2550
+        Episode_Reward/pair_body_intrusion: -0.3124
+             Curriculum/terrain_level_mean: +4.1167
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0906
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.4777
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.4713
+Episode_Termination/illegal_nonwheel_contact: 0.0318
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2587]
+
+==============================================================================
+Learning iteration 37450/50000
+                               Total steps: 153,395,200
+                          Steps per second: 13,433
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1464.4
+                                Actor loss: -9.5541
+                               Critic loss: +0.0037
+                          World model loss: +0.5520
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +52.0115
+     Episode_Reward/track_angular_velocity: +55.4012
+                    Episode_Reward/upright: +28.0354
+                Episode_Reward/leg_posture: -2.8417
+                 Episode_Reward/standstill: -6.5636
+             Episode_Reward/action_rate_l2: -0.6062
+           Episode_Reward/joint_torques_l2: -0.1587
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0086
+     Episode_Reward/unnecessary_wheel_lift: -0.0793
+         Episode_Reward/rolling_leg_motion: -0.6340
+          Episode_Reward/obstacle_progress: +3.9873
+       Episode_Reward/wheel_body_intrusion: -0.3133
+        Episode_Reward/pair_body_intrusion: -0.3218
+             Curriculum/terrain_level_mean: +4.1179
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.6000
+             Episode_Termination/fell_over: 0.0143
+           Episode_Termination/course_exit: 0.3786
+Episode_Termination/illegal_nonwheel_contact: 0.0143
+==============================================================================
+
+==============================================================================
+Learning iteration 37500/50000
+                               Total steps: 153,600,000
+                          Steps per second: 13,435
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1337.5
+                                Actor loss: -9.5148
+                               Critic loss: +0.0047
+                          World model loss: +0.5564
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5162
+     Episode_Reward/track_angular_velocity: +50.5776
+                    Episode_Reward/upright: +25.5787
+                Episode_Reward/leg_posture: -2.5994
+                 Episode_Reward/standstill: -6.2101
+             Episode_Reward/action_rate_l2: -0.5581
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0313
+     Episode_Reward/unnecessary_wheel_lift: -0.1039
+         Episode_Reward/rolling_leg_motion: -0.5812
+          Episode_Reward/obstacle_progress: +3.6536
+       Episode_Reward/wheel_body_intrusion: -0.2671
+        Episode_Reward/pair_body_intrusion: -0.2887
+             Curriculum/terrain_level_mean: +4.1177
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4605
+             Episode_Termination/fell_over: 0.0395
+           Episode_Termination/course_exit: 0.4605
+Episode_Termination/illegal_nonwheel_contact: 0.0526
+==============================================================================
+
+==============================================================================
+Learning iteration 37550/50000
+                               Total steps: 153,804,800
+                          Steps per second: 13,437
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0872
+                       Mean episode length: 1308.3
+                                Actor loss: -9.5183
+                               Critic loss: +0.0065
+                          World model loss: +0.5646
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5708
+     Episode_Reward/track_angular_velocity: +49.4427
+                    Episode_Reward/upright: +25.0346
+                Episode_Reward/leg_posture: -2.5378
+                 Episode_Reward/standstill: -6.0681
+             Episode_Reward/action_rate_l2: -0.5275
+           Episode_Reward/joint_torques_l2: -0.1412
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0204
+     Episode_Reward/unnecessary_wheel_lift: -0.0806
+         Episode_Reward/rolling_leg_motion: -0.5751
+          Episode_Reward/obstacle_progress: +3.5662
+       Episode_Reward/wheel_body_intrusion: -0.2585
+        Episode_Reward/pair_body_intrusion: -0.2660
+             Curriculum/terrain_level_mean: +4.1182
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4275
+             Episode_Termination/fell_over: 0.0153
+           Episode_Termination/course_exit: 0.5115
+Episode_Termination/illegal_nonwheel_contact: 0.0534
+==============================================================================
+
+==============================================================================
+Learning iteration 37600/50000
+                               Total steps: 154,009,600
+                          Steps per second: 13,440
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1334.3
+                                Actor loss: -9.5503
+                               Critic loss: +0.0040
+                          World model loss: +0.5905
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5757
+     Episode_Reward/track_angular_velocity: +50.4737
+                    Episode_Reward/upright: +25.5714
+                Episode_Reward/leg_posture: -2.5916
+                 Episode_Reward/standstill: -6.0128
+             Episode_Reward/action_rate_l2: -0.5349
+           Episode_Reward/joint_torques_l2: -0.1426
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0287
+     Episode_Reward/unnecessary_wheel_lift: -0.0878
+         Episode_Reward/rolling_leg_motion: -0.5875
+          Episode_Reward/obstacle_progress: +3.6170
+       Episode_Reward/wheel_body_intrusion: -0.2690
+        Episode_Reward/pair_body_intrusion: -0.2791
+             Curriculum/terrain_level_mean: +4.1189
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.4096
+             Episode_Termination/fell_over: 0.0542
+           Episode_Termination/course_exit: 0.5241
+Episode_Termination/illegal_nonwheel_contact: 0.0482
+==============================================================================
+
+==============================================================================
+Learning iteration 37650/50000
+                               Total steps: 154,214,400
+                          Steps per second: 13,443
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1410.1
+                                Actor loss: -9.5027
+                               Critic loss: +0.0038
+                          World model loss: +0.5777
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.3336
+     Episode_Reward/track_angular_velocity: +53.3996
+                    Episode_Reward/upright: +27.0665
+                Episode_Reward/leg_posture: -2.7318
+                 Episode_Reward/standstill: -6.3670
+             Episode_Reward/action_rate_l2: -0.5678
+           Episode_Reward/joint_torques_l2: -0.1498
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0220
+     Episode_Reward/unnecessary_wheel_lift: -0.0859
+         Episode_Reward/rolling_leg_motion: -0.6221
+          Episode_Reward/obstacle_progress: +3.7844
+       Episode_Reward/wheel_body_intrusion: -0.2683
+        Episode_Reward/pair_body_intrusion: -0.3217
+             Curriculum/terrain_level_mean: +4.1196
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0899
+       Metrics/base_velocity/error_vel_yaw: 0.1319
+              Episode_Termination/time_out: 0.5677
+             Episode_Termination/fell_over: 0.0194
+           Episode_Termination/course_exit: 0.3806
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+
+==============================================================================
+Learning iteration 37700/50000
+                               Total steps: 154,419,200
+                          Steps per second: 13,445
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1345.8
+                                Actor loss: -9.5171
+                               Critic loss: +0.0036
+                          World model loss: +0.5657
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9988
+     Episode_Reward/track_angular_velocity: +50.9508
+                    Episode_Reward/upright: +25.8387
+                Episode_Reward/leg_posture: -2.6014
+                 Episode_Reward/standstill: -6.0405
+             Episode_Reward/action_rate_l2: -0.5404
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0131
+     Episode_Reward/unnecessary_wheel_lift: -0.0784
+         Episode_Reward/rolling_leg_motion: -0.5850
+          Episode_Reward/obstacle_progress: +3.6138
+       Episode_Reward/wheel_body_intrusion: -0.2551
+        Episode_Reward/pair_body_intrusion: -0.3096
+             Curriculum/terrain_level_mean: +4.1221
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1325
+              Episode_Termination/time_out: 0.4777
+             Episode_Termination/fell_over: 0.0191
+           Episode_Termination/course_exit: 0.4904
+Episode_Termination/illegal_nonwheel_contact: 0.0127
+==============================================================================
+
+==============================================================================
+Learning iteration 37750/50000
+                               Total steps: 154,624,000
+                          Steps per second: 13,448
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1352.0
+                                Actor loss: -9.5487
+                               Critic loss: +0.0060
+                          World model loss: +0.5767
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2113
+     Episode_Reward/track_angular_velocity: +51.1581
+                    Episode_Reward/upright: +25.9206
+                Episode_Reward/leg_posture: -2.6214
+                 Episode_Reward/standstill: -6.0831
+             Episode_Reward/action_rate_l2: -0.5426
+           Episode_Reward/joint_torques_l2: -0.1446
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.0844
+         Episode_Reward/rolling_leg_motion: -0.5881
+          Episode_Reward/obstacle_progress: +3.6913
+       Episode_Reward/wheel_body_intrusion: -0.2619
+        Episode_Reward/pair_body_intrusion: -0.2939
+             Curriculum/terrain_level_mean: +4.1240
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0906
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.4522
+             Episode_Termination/fell_over: 0.0191
+           Episode_Termination/course_exit: 0.5159
+Episode_Termination/illegal_nonwheel_contact: 0.0191
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2281]
+
+==============================================================================
+Learning iteration 37800/50000
+                               Total steps: 154,828,800
+                          Steps per second: 13,450
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1371.7
+                                Actor loss: -9.5249
+                               Critic loss: +0.0054
+                          World model loss: +0.5517
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9377
+     Episode_Reward/track_angular_velocity: +51.9756
+                    Episode_Reward/upright: +26.2654
+                Episode_Reward/leg_posture: -2.6370
+                 Episode_Reward/standstill: -6.2137
+             Episode_Reward/action_rate_l2: -0.5544
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.0892
+         Episode_Reward/rolling_leg_motion: -0.5981
+          Episode_Reward/obstacle_progress: +3.7516
+       Episode_Reward/wheel_body_intrusion: -0.2653
+        Episode_Reward/pair_body_intrusion: -0.3393
+             Curriculum/terrain_level_mean: +4.1265
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1315
+              Episode_Termination/time_out: 0.4720
+             Episode_Termination/fell_over: 0.0124
+           Episode_Termination/course_exit: 0.4907
+Episode_Termination/illegal_nonwheel_contact: 0.0311
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_037800.mp4
+
+==============================================================================
+Learning iteration 37850/50000
+                               Total steps: 155,033,600
+                          Steps per second: 13,446
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1367.4
+                                Actor loss: -9.5120
+                               Critic loss: +0.0039
+                          World model loss: +0.5686
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7949
+     Episode_Reward/track_angular_velocity: +51.7856
+                    Episode_Reward/upright: +26.1836
+                Episode_Reward/leg_posture: -2.5914
+                 Episode_Reward/standstill: -6.1007
+             Episode_Reward/action_rate_l2: -0.5572
+           Episode_Reward/joint_torques_l2: -0.1470
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.0715
+         Episode_Reward/rolling_leg_motion: -0.5793
+          Episode_Reward/obstacle_progress: +3.8211
+       Episode_Reward/wheel_body_intrusion: -0.2496
+        Episode_Reward/pair_body_intrusion: -0.3087
+             Curriculum/terrain_level_mean: +4.1294
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0904
+       Metrics/base_velocity/error_vel_yaw: 0.1320
+              Episode_Termination/time_out: 0.4825
+             Episode_Termination/fell_over: 0.0140
+           Episode_Termination/course_exit: 0.4965
+Episode_Termination/illegal_nonwheel_contact: 0.0140
+==============================================================================
+
+==============================================================================
+Learning iteration 37900/50000
+                               Total steps: 155,238,400
+                          Steps per second: 13,449
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1399.9
+                                Actor loss: -9.5426
+                               Critic loss: +0.0068
+                          World model loss: +0.5803
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9304
+     Episode_Reward/track_angular_velocity: +52.9496
+                    Episode_Reward/upright: +26.8131
+                Episode_Reward/leg_posture: -2.6952
+                 Episode_Reward/standstill: -6.7299
+             Episode_Reward/action_rate_l2: -0.5785
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0191
+     Episode_Reward/unnecessary_wheel_lift: -0.1017
+         Episode_Reward/rolling_leg_motion: -0.6071
+          Episode_Reward/obstacle_progress: +3.8790
+       Episode_Reward/wheel_body_intrusion: -0.2825
+        Episode_Reward/pair_body_intrusion: -0.2904
+             Curriculum/terrain_level_mean: +4.1316
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0907
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4839
+             Episode_Termination/fell_over: 0.0387
+           Episode_Termination/course_exit: 0.4710
+Episode_Termination/illegal_nonwheel_contact: 0.0129
+==============================================================================
+
+==============================================================================
+Learning iteration 37950/50000
+                               Total steps: 155,443,200
+                          Steps per second: 13,451
+                            Iteration time: 0.305s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1412.6
+                                Actor loss: -9.5148
+                               Critic loss: +0.0030
+                          World model loss: +0.5582
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.3914
+     Episode_Reward/track_angular_velocity: +53.4162
+                    Episode_Reward/upright: +27.1006
+                Episode_Reward/leg_posture: -2.7135
+                 Episode_Reward/standstill: -6.6710
+             Episode_Reward/action_rate_l2: -0.5836
+           Episode_Reward/joint_torques_l2: -0.1509
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.6148
+          Episode_Reward/obstacle_progress: +3.8972
+       Episode_Reward/wheel_body_intrusion: -0.2925
+        Episode_Reward/pair_body_intrusion: -0.2932
+             Curriculum/terrain_level_mean: +4.1333
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5302
+             Episode_Termination/fell_over: 0.0134
+           Episode_Termination/course_exit: 0.4362
+Episode_Termination/illegal_nonwheel_contact: 0.0268
+==============================================================================
+
+==============================================================================
+Learning iteration 38000/50000
+                               Total steps: 155,648,000
+                          Steps per second: 13,454
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1341.1
+                                Actor loss: -9.5422
+                               Critic loss: +0.0045
+                          World model loss: +0.5905
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8270
+     Episode_Reward/track_angular_velocity: +50.7480
+                    Episode_Reward/upright: +25.7149
+                Episode_Reward/leg_posture: -2.6000
+                 Episode_Reward/standstill: -6.3609
+             Episode_Reward/action_rate_l2: -0.5544
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0210
+     Episode_Reward/unnecessary_wheel_lift: -0.0728
+         Episode_Reward/rolling_leg_motion: -0.5635
+          Episode_Reward/obstacle_progress: +3.7613
+       Episode_Reward/wheel_body_intrusion: -0.2687
+        Episode_Reward/pair_body_intrusion: -0.2797
+             Curriculum/terrain_level_mean: +4.1355
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0907
+       Metrics/base_velocity/error_vel_yaw: 0.1329
+              Episode_Termination/time_out: 0.4348
+             Episode_Termination/fell_over: 0.0362
+           Episode_Termination/course_exit: 0.5072
+Episode_Termination/illegal_nonwheel_contact: 0.0435
+==============================================================================
+
+==============================================================================
+Learning iteration 38050/50000
+                               Total steps: 155,852,800
+                          Steps per second: 13,456
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0874
+                       Mean episode length: 1301.1
+                                Actor loss: -9.5409
+                               Critic loss: +0.0057
+                          World model loss: +0.5791
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4460
+     Episode_Reward/track_angular_velocity: +49.2179
+                    Episode_Reward/upright: +24.9484
+                Episode_Reward/leg_posture: -2.5456
+                 Episode_Reward/standstill: -6.0230
+             Episode_Reward/action_rate_l2: -0.5503
+           Episode_Reward/joint_torques_l2: -0.1405
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0203
+     Episode_Reward/unnecessary_wheel_lift: -0.0731
+         Episode_Reward/rolling_leg_motion: -0.5701
+          Episode_Reward/obstacle_progress: +3.5747
+       Episode_Reward/wheel_body_intrusion: -0.2732
+        Episode_Reward/pair_body_intrusion: -0.2775
+             Curriculum/terrain_level_mean: +4.1362
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0902
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4126
+             Episode_Termination/fell_over: 0.0210
+           Episode_Termination/course_exit: 0.5315
+Episode_Termination/illegal_nonwheel_contact: 0.0420
+==============================================================================
+
+==============================================================================
+Learning iteration 38100/50000
+                               Total steps: 156,057,600
+                          Steps per second: 13,459
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0874
+                       Mean episode length: 1407.2
+                                Actor loss: -9.5180
+                               Critic loss: +0.0037
+                          World model loss: +0.5529
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.2311
+     Episode_Reward/track_angular_velocity: +53.2496
+                    Episode_Reward/upright: +27.0172
+                Episode_Reward/leg_posture: -2.6998
+                 Episode_Reward/standstill: -6.6032
+             Episode_Reward/action_rate_l2: -0.5887
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0027
+     Episode_Reward/unnecessary_wheel_lift: -0.0808
+         Episode_Reward/rolling_leg_motion: -0.6188
+          Episode_Reward/obstacle_progress: +3.8689
+       Episode_Reward/wheel_body_intrusion: -0.2874
+        Episode_Reward/pair_body_intrusion: -0.3250
+             Curriculum/terrain_level_mean: +4.1392
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0906
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.5074
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4853
+Episode_Termination/illegal_nonwheel_contact: 0.0074
+==============================================================================
+
+==============================================================================
+Learning iteration 38150/50000
+                               Total steps: 156,262,400
+                          Steps per second: 13,461
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0874
+                       Mean episode length: 1371.5
+                                Actor loss: -9.5210
+                               Critic loss: +0.0033
+                          World model loss: +0.5579
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8713
+     Episode_Reward/track_angular_velocity: +51.8592
+                    Episode_Reward/upright: +26.3144
+                Episode_Reward/leg_posture: -2.6202
+                 Episode_Reward/standstill: -6.3726
+             Episode_Reward/action_rate_l2: -0.5711
+           Episode_Reward/joint_torques_l2: -0.1476
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0747
+         Episode_Reward/rolling_leg_motion: -0.5890
+          Episode_Reward/obstacle_progress: +3.8342
+       Episode_Reward/wheel_body_intrusion: -0.2651
+        Episode_Reward/pair_body_intrusion: -0.3056
+             Curriculum/terrain_level_mean: +4.1389
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4844
+             Episode_Termination/fell_over: 0.0312
+           Episode_Termination/course_exit: 0.4609
+Episode_Termination/illegal_nonwheel_contact: 0.0312
+==============================================================================
+
+==============================================================================
+Learning iteration 38200/50000
+                               Total steps: 156,467,200
+                          Steps per second: 13,464
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1395.9
+                                Actor loss: -9.5252
+                               Critic loss: +0.0059
+                          World model loss: +0.5635
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7345
+     Episode_Reward/track_angular_velocity: +52.7411
+                    Episode_Reward/upright: +26.7701
+                Episode_Reward/leg_posture: -2.6734
+                 Episode_Reward/standstill: -6.0539
+             Episode_Reward/action_rate_l2: -0.5822
+           Episode_Reward/joint_torques_l2: -0.1489
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.0710
+         Episode_Reward/rolling_leg_motion: -0.5858
+          Episode_Reward/obstacle_progress: +3.9030
+       Episode_Reward/wheel_body_intrusion: -0.2507
+        Episode_Reward/pair_body_intrusion: -0.2870
+             Curriculum/terrain_level_mean: +4.1396
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0910
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4932
+             Episode_Termination/fell_over: 0.0205
+           Episode_Termination/course_exit: 0.4521
+Episode_Termination/illegal_nonwheel_contact: 0.0548
+==============================================================================
+
+==============================================================================
+Learning iteration 38250/50000
+                               Total steps: 156,672,000
+                          Steps per second: 13,466
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1310.0
+                                Actor loss: -9.5293
+                               Critic loss: +0.0037
+                          World model loss: +0.5554
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7867
+     Episode_Reward/track_angular_velocity: +49.5353
+                    Episode_Reward/upright: +25.1380
+                Episode_Reward/leg_posture: -2.5072
+                 Episode_Reward/standstill: -5.5352
+             Episode_Reward/action_rate_l2: -0.5394
+           Episode_Reward/joint_torques_l2: -0.1394
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0179
+     Episode_Reward/unnecessary_wheel_lift: -0.0903
+         Episode_Reward/rolling_leg_motion: -0.5698
+          Episode_Reward/obstacle_progress: +3.6363
+       Episode_Reward/wheel_body_intrusion: -0.2478
+        Episode_Reward/pair_body_intrusion: -0.2462
+             Curriculum/terrain_level_mean: +4.1421
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0900
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4465
+             Episode_Termination/fell_over: 0.0189
+           Episode_Termination/course_exit: 0.5094
+Episode_Termination/illegal_nonwheel_contact: 0.0440
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1413]
+
+==============================================================================
+Learning iteration 38300/50000
+                               Total steps: 156,876,800
+                          Steps per second: 13,469
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1364.1
+                                Actor loss: -9.5380
+                               Critic loss: +0.0039
+                          World model loss: +0.5856
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6526
+     Episode_Reward/track_angular_velocity: +51.5783
+                    Episode_Reward/upright: +26.1728
+                Episode_Reward/leg_posture: -2.6464
+                 Episode_Reward/standstill: -5.9708
+             Episode_Reward/action_rate_l2: -0.5584
+           Episode_Reward/joint_torques_l2: -0.1467
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0186
+     Episode_Reward/unnecessary_wheel_lift: -0.0893
+         Episode_Reward/rolling_leg_motion: -0.5856
+          Episode_Reward/obstacle_progress: +3.8107
+       Episode_Reward/wheel_body_intrusion: -0.2681
+        Episode_Reward/pair_body_intrusion: -0.3325
+             Curriculum/terrain_level_mean: +4.1443
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4678
+             Episode_Termination/fell_over: 0.0234
+           Episode_Termination/course_exit: 0.4912
+Episode_Termination/illegal_nonwheel_contact: 0.0234
+==============================================================================
+
+==============================================================================
+Learning iteration 38350/50000
+                               Total steps: 157,081,600
+                          Steps per second: 13,471
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0876
+                       Mean episode length: 1309.0
+                                Actor loss: -9.5181
+                               Critic loss: +0.0055
+                          World model loss: +0.6332
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5703
+     Episode_Reward/track_angular_velocity: +49.4791
+                    Episode_Reward/upright: +25.1257
+                Episode_Reward/leg_posture: -2.5286
+                 Episode_Reward/standstill: -5.6469
+             Episode_Reward/action_rate_l2: -0.5481
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0153
+     Episode_Reward/unnecessary_wheel_lift: -0.0688
+         Episode_Reward/rolling_leg_motion: -0.5623
+          Episode_Reward/obstacle_progress: +3.6500
+       Episode_Reward/wheel_body_intrusion: -0.2623
+        Episode_Reward/pair_body_intrusion: -0.3208
+             Curriculum/terrain_level_mean: +4.1458
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4485
+             Episode_Termination/fell_over: 0.0368
+           Episode_Termination/course_exit: 0.5074
+Episode_Termination/illegal_nonwheel_contact: 0.0147
+==============================================================================
+
+==============================================================================
+Learning iteration 38400/50000
+                               Total steps: 157,286,400
+                          Steps per second: 13,473
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1428.4
+                                Actor loss: -9.5159
+                               Critic loss: +0.0045
+                          World model loss: +0.5716
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.6348
+     Episode_Reward/track_angular_velocity: +53.8420
+                    Episode_Reward/upright: +27.4090
+                Episode_Reward/leg_posture: -2.7083
+                 Episode_Reward/standstill: -6.7127
+             Episode_Reward/action_rate_l2: -0.6076
+           Episode_Reward/joint_torques_l2: -0.1537
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0251
+     Episode_Reward/unnecessary_wheel_lift: -0.0955
+         Episode_Reward/rolling_leg_motion: -0.6193
+          Episode_Reward/obstacle_progress: +4.0052
+       Episode_Reward/wheel_body_intrusion: -0.3017
+        Episode_Reward/pair_body_intrusion: -0.3522
+             Curriculum/terrain_level_mean: +4.1462
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1373
+              Episode_Termination/time_out: 0.5503
+             Episode_Termination/fell_over: 0.0355
+           Episode_Termination/course_exit: 0.3964
+Episode_Termination/illegal_nonwheel_contact: 0.0296
+==============================================================================
+
+==============================================================================
+Learning iteration 38450/50000
+                               Total steps: 157,491,200
+                          Steps per second: 13,476
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1361.2
+                                Actor loss: -9.5343
+                               Critic loss: +0.0059
+                          World model loss: +0.6015
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4793
+     Episode_Reward/track_angular_velocity: +51.4447
+                    Episode_Reward/upright: +26.1824
+                Episode_Reward/leg_posture: -2.5306
+                 Episode_Reward/standstill: -5.8178
+             Episode_Reward/action_rate_l2: -0.5659
+           Episode_Reward/joint_torques_l2: -0.1442
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0292
+     Episode_Reward/unnecessary_wheel_lift: -0.0916
+         Episode_Reward/rolling_leg_motion: -0.5869
+          Episode_Reward/obstacle_progress: +3.8413
+       Episode_Reward/wheel_body_intrusion: -0.2632
+        Episode_Reward/pair_body_intrusion: -0.2841
+             Curriculum/terrain_level_mean: +4.1484
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4841
+             Episode_Termination/fell_over: 0.0382
+           Episode_Termination/course_exit: 0.4459
+Episode_Termination/illegal_nonwheel_contact: 0.0446
+==============================================================================
+
+==============================================================================
+Learning iteration 38500/50000
+                               Total steps: 157,696,000
+                          Steps per second: 13,478
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0879
+                       Mean episode length: 1404.2
+                                Actor loss: -9.5509
+                               Critic loss: +0.0033
+                          World model loss: +0.5531
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1338
+     Episode_Reward/track_angular_velocity: +53.0728
+                    Episode_Reward/upright: +26.9999
+                Episode_Reward/leg_posture: -2.6610
+                 Episode_Reward/standstill: -6.1788
+             Episode_Reward/action_rate_l2: -0.5884
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0871
+         Episode_Reward/rolling_leg_motion: -0.5992
+          Episode_Reward/obstacle_progress: +4.0694
+       Episode_Reward/wheel_body_intrusion: -0.2943
+        Episode_Reward/pair_body_intrusion: -0.3000
+             Curriculum/terrain_level_mean: +4.1504
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0904
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4843
+             Episode_Termination/fell_over: 0.0126
+           Episode_Termination/course_exit: 0.4843
+Episode_Termination/illegal_nonwheel_contact: 0.0252
+==============================================================================
+
+==============================================================================
+Learning iteration 38550/50000
+                               Total steps: 157,900,800
+                          Steps per second: 13,481
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1322.9
+                                Actor loss: -9.5193
+                               Critic loss: +0.0063
+                          World model loss: +0.5845
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0741
+     Episode_Reward/track_angular_velocity: +50.0501
+                    Episode_Reward/upright: +25.4260
+                Episode_Reward/leg_posture: -2.5149
+                 Episode_Reward/standstill: -6.2336
+             Episode_Reward/action_rate_l2: -0.5602
+           Episode_Reward/joint_torques_l2: -0.1404
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0284
+     Episode_Reward/unnecessary_wheel_lift: -0.0761
+         Episode_Reward/rolling_leg_motion: -0.5573
+          Episode_Reward/obstacle_progress: +3.7226
+       Episode_Reward/wheel_body_intrusion: -0.2840
+        Episode_Reward/pair_body_intrusion: -0.3039
+             Curriculum/terrain_level_mean: +4.1509
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.4113
+             Episode_Termination/fell_over: 0.0284
+           Episode_Termination/course_exit: 0.5106
+Episode_Termination/illegal_nonwheel_contact: 0.0567
+==============================================================================
+
+==============================================================================
+Learning iteration 38600/50000
+                               Total steps: 158,105,600
+                          Steps per second: 13,483
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1356.7
+                                Actor loss: -9.5095
+                               Critic loss: +0.0073
+                          World model loss: +0.5369
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3608
+     Episode_Reward/track_angular_velocity: +51.3515
+                    Episode_Reward/upright: +26.1011
+                Episode_Reward/leg_posture: -2.5636
+                 Episode_Reward/standstill: -6.1662
+             Episode_Reward/action_rate_l2: -0.5738
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.0737
+         Episode_Reward/rolling_leg_motion: -0.5807
+          Episode_Reward/obstacle_progress: +3.8327
+       Episode_Reward/wheel_body_intrusion: -0.2883
+        Episode_Reward/pair_body_intrusion: -0.3061
+             Curriculum/terrain_level_mean: +4.1514
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0906
+       Metrics/base_velocity/error_vel_yaw: 0.1327
+              Episode_Termination/time_out: 0.4813
+             Episode_Termination/fell_over: 0.0250
+           Episode_Termination/course_exit: 0.4750
+Episode_Termination/illegal_nonwheel_contact: 0.0312
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2352]
+RECOVERY reset 1 invalid environments; first IDs=[625]
+
+==============================================================================
+Learning iteration 38650/50000
+                               Total steps: 158,310,400
+                          Steps per second: 13,486
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1327.8
+                                Actor loss: -9.5336
+                               Critic loss: +0.0047
+                          World model loss: +0.5606
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3114
+     Episode_Reward/track_angular_velocity: +50.2529
+                    Episode_Reward/upright: +25.5122
+                Episode_Reward/leg_posture: -2.5381
+                 Episode_Reward/standstill: -5.9511
+             Episode_Reward/action_rate_l2: -0.5665
+           Episode_Reward/joint_torques_l2: -0.1400
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0259
+     Episode_Reward/unnecessary_wheel_lift: -0.0912
+         Episode_Reward/rolling_leg_motion: -0.5856
+          Episode_Reward/obstacle_progress: +3.7618
+       Episode_Reward/wheel_body_intrusion: -0.2809
+        Episode_Reward/pair_body_intrusion: -0.3217
+             Curriculum/terrain_level_mean: +4.1516
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4233
+             Episode_Termination/fell_over: 0.0368
+           Episode_Termination/course_exit: 0.5215
+Episode_Termination/illegal_nonwheel_contact: 0.0245
+==============================================================================
+
+==============================================================================
+Learning iteration 38700/50000
+                               Total steps: 158,515,200
+                          Steps per second: 13,488
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1394.5
+                                Actor loss: -9.5461
+                               Critic loss: +0.0057
+                          World model loss: +0.5710
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6370
+     Episode_Reward/track_angular_velocity: +52.7633
+                    Episode_Reward/upright: +26.7828
+                Episode_Reward/leg_posture: -2.6323
+                 Episode_Reward/standstill: -6.2874
+             Episode_Reward/action_rate_l2: -0.5870
+           Episode_Reward/joint_torques_l2: -0.1481
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0191
+     Episode_Reward/unnecessary_wheel_lift: -0.0928
+         Episode_Reward/rolling_leg_motion: -0.6107
+          Episode_Reward/obstacle_progress: +3.9182
+       Episode_Reward/wheel_body_intrusion: -0.2762
+        Episode_Reward/pair_body_intrusion: -0.3216
+             Curriculum/terrain_level_mean: +4.1526
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1331
+              Episode_Termination/time_out: 0.5109
+             Episode_Termination/fell_over: 0.0292
+           Episode_Termination/course_exit: 0.4380
+Episode_Termination/illegal_nonwheel_contact: 0.0365
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[455]
+
+==============================================================================
+Learning iteration 38750/50000
+                               Total steps: 158,720,000
+                          Steps per second: 13,491
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1373.0
+                                Actor loss: -9.4837
+                               Critic loss: +0.0047
+                          World model loss: +0.5867
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8395
+     Episode_Reward/track_angular_velocity: +51.9395
+                    Episode_Reward/upright: +26.4030
+                Episode_Reward/leg_posture: -2.5999
+                 Episode_Reward/standstill: -6.2099
+             Episode_Reward/action_rate_l2: -0.5755
+           Episode_Reward/joint_torques_l2: -0.1457
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.0869
+         Episode_Reward/rolling_leg_motion: -0.5886
+          Episode_Reward/obstacle_progress: +3.8510
+       Episode_Reward/wheel_body_intrusion: -0.2881
+        Episode_Reward/pair_body_intrusion: -0.3182
+             Curriculum/terrain_level_mean: +4.1550
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4658
+             Episode_Termination/fell_over: 0.0137
+           Episode_Termination/course_exit: 0.5137
+Episode_Termination/illegal_nonwheel_contact: 0.0205
+==============================================================================
+
+==============================================================================
+Learning iteration 38800/50000
+                               Total steps: 158,924,800
+                          Steps per second: 13,493
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1332.1
+                                Actor loss: -9.5400
+                               Critic loss: +0.0043
+                          World model loss: +0.5993
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2258
+     Episode_Reward/track_angular_velocity: +50.3632
+                    Episode_Reward/upright: +25.5387
+                Episode_Reward/leg_posture: -2.5299
+                 Episode_Reward/standstill: -6.4826
+             Episode_Reward/action_rate_l2: -0.5675
+           Episode_Reward/joint_torques_l2: -0.1422
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0130
+     Episode_Reward/unnecessary_wheel_lift: -0.0844
+         Episode_Reward/rolling_leg_motion: -0.5684
+          Episode_Reward/obstacle_progress: +3.7484
+       Episode_Reward/wheel_body_intrusion: -0.2873
+        Episode_Reward/pair_body_intrusion: -0.2948
+             Curriculum/terrain_level_mean: +4.1567
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.4459
+             Episode_Termination/fell_over: 0.0338
+           Episode_Termination/course_exit: 0.5203
+Episode_Termination/illegal_nonwheel_contact: 0.0203
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1379]
+
+==============================================================================
+Learning iteration 38850/50000
+                               Total steps: 159,129,600
+                          Steps per second: 13,496
+                            Iteration time: 0.304s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1344.4
+                                Actor loss: -9.5560
+                               Critic loss: +0.0036
+                          World model loss: +0.5498
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5788
+     Episode_Reward/track_angular_velocity: +50.8573
+                    Episode_Reward/upright: +25.7690
+                Episode_Reward/leg_posture: -2.5519
+                 Episode_Reward/standstill: -6.2349
+             Episode_Reward/action_rate_l2: -0.5673
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0236
+     Episode_Reward/unnecessary_wheel_lift: -0.0966
+         Episode_Reward/rolling_leg_motion: -0.5735
+          Episode_Reward/obstacle_progress: +3.8307
+       Episode_Reward/wheel_body_intrusion: -0.2767
+        Episode_Reward/pair_body_intrusion: -0.2906
+             Curriculum/terrain_level_mean: +4.1580
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4634
+             Episode_Termination/fell_over: 0.0366
+           Episode_Termination/course_exit: 0.4817
+Episode_Termination/illegal_nonwheel_contact: 0.0366
+==============================================================================
+
+==============================================================================
+Learning iteration 38900/50000
+                               Total steps: 159,334,400
+                          Steps per second: 13,498
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1347.7
+                                Actor loss: -9.5236
+                               Critic loss: +0.0065
+                          World model loss: +0.5754
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6291
+     Episode_Reward/track_angular_velocity: +50.9295
+                    Episode_Reward/upright: +25.8492
+                Episode_Reward/leg_posture: -2.5459
+                 Episode_Reward/standstill: -5.9746
+             Episode_Reward/action_rate_l2: -0.5755
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0800
+         Episode_Reward/rolling_leg_motion: -0.5694
+          Episode_Reward/obstacle_progress: +3.7924
+       Episode_Reward/wheel_body_intrusion: -0.2796
+        Episode_Reward/pair_body_intrusion: -0.2906
+             Curriculum/terrain_level_mean: +4.1589
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4467
+             Episode_Termination/fell_over: 0.0200
+           Episode_Termination/course_exit: 0.5067
+Episode_Termination/illegal_nonwheel_contact: 0.0333
+==============================================================================
+
+==============================================================================
+Learning iteration 38950/50000
+                               Total steps: 159,539,200
+                          Steps per second: 13,501
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1358.2
+                                Actor loss: -9.5195
+                               Critic loss: +0.0051
+                          World model loss: +0.5734
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0194
+     Episode_Reward/track_angular_velocity: +51.2879
+                    Episode_Reward/upright: +26.0444
+                Episode_Reward/leg_posture: -2.5494
+                 Episode_Reward/standstill: -5.9343
+             Episode_Reward/action_rate_l2: -0.5727
+           Episode_Reward/joint_torques_l2: -0.1460
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0186
+     Episode_Reward/unnecessary_wheel_lift: -0.0729
+         Episode_Reward/rolling_leg_motion: -0.5452
+          Episode_Reward/obstacle_progress: +3.8739
+       Episode_Reward/wheel_body_intrusion: -0.2883
+        Episode_Reward/pair_body_intrusion: -0.3457
+             Curriculum/terrain_level_mean: +4.1602
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4962
+             Episode_Termination/fell_over: 0.0153
+           Episode_Termination/course_exit: 0.4504
+Episode_Termination/illegal_nonwheel_contact: 0.0458
+==============================================================================
+
+==============================================================================
+Learning iteration 39000/50000
+                               Total steps: 159,744,000
+                          Steps per second: 13,503
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0873
+                       Mean episode length: 1366.5
+                                Actor loss: -9.5069
+                               Critic loss: +0.0084
+                          World model loss: +0.5582
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2435
+     Episode_Reward/track_angular_velocity: +51.5706
+                    Episode_Reward/upright: +26.1675
+                Episode_Reward/leg_posture: -2.5752
+                 Episode_Reward/standstill: -5.9906
+             Episode_Reward/action_rate_l2: -0.5876
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0267
+     Episode_Reward/unnecessary_wheel_lift: -0.0741
+         Episode_Reward/rolling_leg_motion: -0.5601
+          Episode_Reward/obstacle_progress: +3.8207
+       Episode_Reward/wheel_body_intrusion: -0.2693
+        Episode_Reward/pair_body_intrusion: -0.3184
+             Curriculum/terrain_level_mean: +4.1604
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0949
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4551
+             Episode_Termination/fell_over: 0.0449
+           Episode_Termination/course_exit: 0.4808
+Episode_Termination/illegal_nonwheel_contact: 0.0385
+==============================================================================
+
+==============================================================================
+Learning iteration 39050/50000
+                               Total steps: 159,948,800
+                          Steps per second: 13,505
+                            Iteration time: 0.303s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0877
+                       Mean episode length: 1314.9
+                                Actor loss: -9.4876
+                               Critic loss: +0.0091
+                          World model loss: +0.5828
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5306
+     Episode_Reward/track_angular_velocity: +49.6659
+                    Episode_Reward/upright: +25.2063
+                Episode_Reward/leg_posture: -2.4264
+                 Episode_Reward/standstill: -5.5719
+             Episode_Reward/action_rate_l2: -0.5588
+           Episode_Reward/joint_torques_l2: -0.1409
+             Episode_Reward/dof_pos_limits: -0.0001
+                 Episode_Reward/terminated: -0.0205
+     Episode_Reward/unnecessary_wheel_lift: -0.0618
+         Episode_Reward/rolling_leg_motion: -0.5255
+          Episode_Reward/obstacle_progress: +3.7070
+       Episode_Reward/wheel_body_intrusion: -0.2525
+        Episode_Reward/pair_body_intrusion: -0.2945
+             Curriculum/terrain_level_mean: +4.1614
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4365
+             Episode_Termination/fell_over: 0.0397
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0238
+==============================================================================
+
+==============================================================================
+Learning iteration 39100/50000
+                               Total steps: 160,153,600
+                          Steps per second: 13,507
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1352.7
+                                Actor loss: -9.5210
+                               Critic loss: +0.0044
+                          World model loss: +0.5563
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9308
+     Episode_Reward/track_angular_velocity: +51.0974
+                    Episode_Reward/upright: +25.9184
+                Episode_Reward/leg_posture: -2.4971
+                 Episode_Reward/standstill: -5.7778
+             Episode_Reward/action_rate_l2: -0.5895
+           Episode_Reward/joint_torques_l2: -0.1442
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0106
+     Episode_Reward/unnecessary_wheel_lift: -0.0878
+         Episode_Reward/rolling_leg_motion: -0.5772
+          Episode_Reward/obstacle_progress: +3.7850
+       Episode_Reward/wheel_body_intrusion: -0.2573
+        Episode_Reward/pair_body_intrusion: -0.2723
+             Curriculum/terrain_level_mean: +4.1626
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4906
+             Episode_Termination/fell_over: 0.0189
+           Episode_Termination/course_exit: 0.4843
+Episode_Termination/illegal_nonwheel_contact: 0.0126
+==============================================================================
+
+==============================================================================
+Learning iteration 39150/50000
+                               Total steps: 160,358,400
+                          Steps per second: 13,510
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1424.6
+                                Actor loss: -9.5457
+                               Critic loss: +0.0040
+                          World model loss: +0.5828
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.5707
+     Episode_Reward/track_angular_velocity: +53.8202
+                    Episode_Reward/upright: +27.2939
+                Episode_Reward/leg_posture: -2.6752
+                 Episode_Reward/standstill: -6.2883
+             Episode_Reward/action_rate_l2: -0.6070
+           Episode_Reward/joint_torques_l2: -0.1515
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0111
+     Episode_Reward/unnecessary_wheel_lift: -0.0823
+         Episode_Reward/rolling_leg_motion: -0.6086
+          Episode_Reward/obstacle_progress: +3.9073
+       Episode_Reward/wheel_body_intrusion: -0.2632
+        Episode_Reward/pair_body_intrusion: -0.2931
+             Curriculum/terrain_level_mean: +4.1636
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.5306
+             Episode_Termination/fell_over: 0.0204
+           Episode_Termination/course_exit: 0.4422
+Episode_Termination/illegal_nonwheel_contact: 0.0136
+==============================================================================
+
+==============================================================================
+Learning iteration 39200/50000
+                               Total steps: 160,563,200
+                          Steps per second: 13,512
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0877
+                       Mean episode length: 1400.0
+                                Actor loss: -9.5005
+                               Critic loss: +0.0052
+                          World model loss: +0.5752
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8218
+     Episode_Reward/track_angular_velocity: +52.8598
+                    Episode_Reward/upright: +26.8223
+                Episode_Reward/leg_posture: -2.6575
+                 Episode_Reward/standstill: -5.9594
+             Episode_Reward/action_rate_l2: -0.5828
+           Episode_Reward/joint_torques_l2: -0.1491
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0246
+     Episode_Reward/unnecessary_wheel_lift: -0.0950
+         Episode_Reward/rolling_leg_motion: -0.6029
+          Episode_Reward/obstacle_progress: +3.8590
+       Episode_Reward/wheel_body_intrusion: -0.2731
+        Episode_Reward/pair_body_intrusion: -0.2834
+             Curriculum/terrain_level_mean: +4.1646
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4713
+             Episode_Termination/fell_over: 0.0255
+           Episode_Termination/course_exit: 0.4713
+Episode_Termination/illegal_nonwheel_contact: 0.0510
+==============================================================================
+
+==============================================================================
+Learning iteration 39250/50000
+                               Total steps: 160,768,000
+                          Steps per second: 13,515
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1357.8
+                                Actor loss: -9.4980
+                               Critic loss: +0.0059
+                          World model loss: +0.5838
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2806
+     Episode_Reward/track_angular_velocity: +51.3091
+                    Episode_Reward/upright: +26.0208
+                Episode_Reward/leg_posture: -2.5429
+                 Episode_Reward/standstill: -6.0713
+             Episode_Reward/action_rate_l2: -0.5686
+           Episode_Reward/joint_torques_l2: -0.1448
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.0851
+         Episode_Reward/rolling_leg_motion: -0.5728
+          Episode_Reward/obstacle_progress: +3.7656
+       Episode_Reward/wheel_body_intrusion: -0.2687
+        Episode_Reward/pair_body_intrusion: -0.2836
+             Curriculum/terrain_level_mean: +4.1660
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4667
+             Episode_Termination/fell_over: 0.0133
+           Episode_Termination/course_exit: 0.4800
+Episode_Termination/illegal_nonwheel_contact: 0.0533
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[959]
+
+==============================================================================
+Learning iteration 39300/50000
+                               Total steps: 160,972,800
+                          Steps per second: 13,517
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1367.7
+                                Actor loss: -9.5032
+                               Critic loss: +0.0061
+                          World model loss: +0.5781
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4751
+     Episode_Reward/track_angular_velocity: +51.6036
+                    Episode_Reward/upright: +26.2377
+                Episode_Reward/leg_posture: -2.5711
+                 Episode_Reward/standstill: -6.1916
+             Episode_Reward/action_rate_l2: -0.5862
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0864
+         Episode_Reward/rolling_leg_motion: -0.5849
+          Episode_Reward/obstacle_progress: +3.7891
+       Episode_Reward/wheel_body_intrusion: -0.2722
+        Episode_Reward/pair_body_intrusion: -0.2590
+             Curriculum/terrain_level_mean: +4.1670
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.4507
+             Episode_Termination/fell_over: 0.0352
+           Episode_Termination/course_exit: 0.5141
+Episode_Termination/illegal_nonwheel_contact: 0.0211
+==============================================================================
+
+==============================================================================
+Learning iteration 39350/50000
+                               Total steps: 161,177,600
+                          Steps per second: 13,519
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1329.7
+                                Actor loss: -9.5148
+                               Critic loss: +0.0049
+                          World model loss: +0.5648
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1264
+     Episode_Reward/track_angular_velocity: +50.1419
+                    Episode_Reward/upright: +25.5034
+                Episode_Reward/leg_posture: -2.5466
+                 Episode_Reward/standstill: -6.2943
+             Episode_Reward/action_rate_l2: -0.5650
+           Episode_Reward/joint_torques_l2: -0.1425
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0390
+     Episode_Reward/unnecessary_wheel_lift: -0.0929
+         Episode_Reward/rolling_leg_motion: -0.5686
+          Episode_Reward/obstacle_progress: +3.7388
+       Episode_Reward/wheel_body_intrusion: -0.2614
+        Episode_Reward/pair_body_intrusion: -0.2293
+             Curriculum/terrain_level_mean: +4.1665
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.4539
+             Episode_Termination/fell_over: 0.0395
+           Episode_Termination/course_exit: 0.4474
+Episode_Termination/illegal_nonwheel_contact: 0.0789
+==============================================================================
+
+==============================================================================
+Learning iteration 39400/50000
+                               Total steps: 161,382,400
+                          Steps per second: 13,522
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1368.2
+                                Actor loss: -9.5453
+                               Critic loss: +0.0038
+                          World model loss: +0.5597
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6348
+     Episode_Reward/track_angular_velocity: +51.7345
+                    Episode_Reward/upright: +26.3059
+                Episode_Reward/leg_posture: -2.6127
+                 Episode_Reward/standstill: -6.2613
+             Episode_Reward/action_rate_l2: -0.5783
+           Episode_Reward/joint_torques_l2: -0.1448
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.0899
+         Episode_Reward/rolling_leg_motion: -0.5851
+          Episode_Reward/obstacle_progress: +3.8533
+       Episode_Reward/wheel_body_intrusion: -0.2680
+        Episode_Reward/pair_body_intrusion: -0.2621
+             Curriculum/terrain_level_mean: +4.1694
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4904
+             Episode_Termination/fell_over: 0.0127
+           Episode_Termination/course_exit: 0.4777
+Episode_Termination/illegal_nonwheel_contact: 0.0382
+==============================================================================
+
+==============================================================================
+Learning iteration 39450/50000
+                               Total steps: 161,587,200
+                          Steps per second: 13,524
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1370.2
+                                Actor loss: -9.4407
+                               Critic loss: +0.0092
+                          World model loss: +0.5620
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7080
+     Episode_Reward/track_angular_velocity: +51.7733
+                    Episode_Reward/upright: +26.3472
+                Episode_Reward/leg_posture: -2.5737
+                 Episode_Reward/standstill: -6.1117
+             Episode_Reward/action_rate_l2: -0.5763
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.0820
+         Episode_Reward/rolling_leg_motion: -0.5823
+          Episode_Reward/obstacle_progress: +3.8699
+       Episode_Reward/wheel_body_intrusion: -0.2708
+        Episode_Reward/pair_body_intrusion: -0.2882
+             Curriculum/terrain_level_mean: +4.1719
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4303
+             Episode_Termination/fell_over: 0.0061
+           Episode_Termination/course_exit: 0.5515
+Episode_Termination/illegal_nonwheel_contact: 0.0121
+==============================================================================
+
+==============================================================================
+Learning iteration 39500/50000
+                               Total steps: 161,792,000
+                          Steps per second: 13,526
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1358.7
+                                Actor loss: -9.5311
+                               Critic loss: +0.0033
+                          World model loss: +0.5662
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1852
+     Episode_Reward/track_angular_velocity: +51.2889
+                    Episode_Reward/upright: +26.1010
+                Episode_Reward/leg_posture: -2.5568
+                 Episode_Reward/standstill: -6.0981
+             Episode_Reward/action_rate_l2: -0.5800
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0018
+                 Episode_Reward/terminated: -0.0106
+     Episode_Reward/unnecessary_wheel_lift: -0.0855
+         Episode_Reward/rolling_leg_motion: -0.5916
+          Episode_Reward/obstacle_progress: +3.8723
+       Episode_Reward/wheel_body_intrusion: -0.2589
+        Episode_Reward/pair_body_intrusion: -0.2738
+             Curriculum/terrain_level_mean: +4.1733
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4768
+             Episode_Termination/fell_over: 0.0132
+           Episode_Termination/course_exit: 0.4967
+Episode_Termination/illegal_nonwheel_contact: 0.0132
+==============================================================================
+
+==============================================================================
+Learning iteration 39550/50000
+                               Total steps: 161,996,800
+                          Steps per second: 13,528
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0874
+                       Mean episode length: 1376.6
+                                Actor loss: -9.5039
+                               Critic loss: +0.0065
+                          World model loss: +0.5992
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8287
+     Episode_Reward/track_angular_velocity: +51.9707
+                    Episode_Reward/upright: +26.4397
+                Episode_Reward/leg_posture: -2.5893
+                 Episode_Reward/standstill: -6.3255
+             Episode_Reward/action_rate_l2: -0.5801
+           Episode_Reward/joint_torques_l2: -0.1457
+             Episode_Reward/dof_pos_limits: -0.0021
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0809
+         Episode_Reward/rolling_leg_motion: -0.5867
+          Episode_Reward/obstacle_progress: +3.9313
+       Episode_Reward/wheel_body_intrusion: -0.2553
+        Episode_Reward/pair_body_intrusion: -0.2825
+             Curriculum/terrain_level_mean: +4.1743
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4817
+             Episode_Termination/fell_over: 0.0183
+           Episode_Termination/course_exit: 0.4756
+Episode_Termination/illegal_nonwheel_contact: 0.0305
+==============================================================================
+
+==============================================================================
+Learning iteration 39600/50000
+                               Total steps: 162,201,600
+                          Steps per second: 13,531
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0875
+                       Mean episode length: 1356.6
+                                Actor loss: -9.5367
+                               Critic loss: +0.0069
+                          World model loss: +0.5968
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1593
+     Episode_Reward/track_angular_velocity: +51.2341
+                    Episode_Reward/upright: +26.0420
+                Episode_Reward/leg_posture: -2.5850
+                 Episode_Reward/standstill: -6.1478
+             Episode_Reward/action_rate_l2: -0.5686
+           Episode_Reward/joint_torques_l2: -0.1442
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0291
+     Episode_Reward/unnecessary_wheel_lift: -0.0641
+         Episode_Reward/rolling_leg_motion: -0.5603
+          Episode_Reward/obstacle_progress: +3.8720
+       Episode_Reward/wheel_body_intrusion: -0.2598
+        Episode_Reward/pair_body_intrusion: -0.3039
+             Curriculum/terrain_level_mean: +4.1743
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4370
+             Episode_Termination/fell_over: 0.0370
+           Episode_Termination/course_exit: 0.4815
+Episode_Termination/illegal_nonwheel_contact: 0.0444
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[604]
+
+==============================================================================
+Learning iteration 39650/50000
+                               Total steps: 162,406,400
+                          Steps per second: 13,533
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1338.0
+                                Actor loss: -9.5506
+                               Critic loss: +0.0061
+                          World model loss: +0.5907
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4469
+     Episode_Reward/track_angular_velocity: +50.5246
+                    Episode_Reward/upright: +25.6774
+                Episode_Reward/leg_posture: -2.5777
+                 Episode_Reward/standstill: -6.3185
+             Episode_Reward/action_rate_l2: -0.5686
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0235
+     Episode_Reward/unnecessary_wheel_lift: -0.0913
+         Episode_Reward/rolling_leg_motion: -0.5767
+          Episode_Reward/obstacle_progress: +3.8472
+       Episode_Reward/wheel_body_intrusion: -0.2762
+        Episode_Reward/pair_body_intrusion: -0.3028
+             Curriculum/terrain_level_mean: +4.1763
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4854
+             Episode_Termination/fell_over: 0.0234
+           Episode_Termination/course_exit: 0.4620
+Episode_Termination/illegal_nonwheel_contact: 0.0409
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1639]
+
+==============================================================================
+Learning iteration 39700/50000
+                               Total steps: 162,611,200
+                          Steps per second: 13,536
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1411.1
+                                Actor loss: -9.5182
+                               Critic loss: +0.0040
+                          World model loss: +0.5982
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0171
+     Episode_Reward/track_angular_velocity: +53.2912
+                    Episode_Reward/upright: +27.1069
+                Episode_Reward/leg_posture: -2.6765
+                 Episode_Reward/standstill: -6.4004
+             Episode_Reward/action_rate_l2: -0.6066
+           Episode_Reward/joint_torques_l2: -0.1488
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.0940
+         Episode_Reward/rolling_leg_motion: -0.6253
+          Episode_Reward/obstacle_progress: +3.9388
+       Episode_Reward/wheel_body_intrusion: -0.2863
+        Episode_Reward/pair_body_intrusion: -0.2854
+             Curriculum/terrain_level_mean: +4.1785
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.5064
+             Episode_Termination/fell_over: 0.0192
+           Episode_Termination/course_exit: 0.4615
+Episode_Termination/illegal_nonwheel_contact: 0.0192
+==============================================================================
+
+==============================================================================
+Learning iteration 39750/50000
+                               Total steps: 162,816,000
+                          Steps per second: 13,538
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1263.3
+                                Actor loss: -9.5016
+                               Critic loss: +0.0052
+                          World model loss: +0.5958
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.8777
+     Episode_Reward/track_angular_velocity: +47.7164
+                    Episode_Reward/upright: +24.2909
+                Episode_Reward/leg_posture: -2.3862
+                 Episode_Reward/standstill: -5.8198
+             Episode_Reward/action_rate_l2: -0.5440
+           Episode_Reward/joint_torques_l2: -0.1330
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0173
+     Episode_Reward/unnecessary_wheel_lift: -0.0621
+         Episode_Reward/rolling_leg_motion: -0.5353
+          Episode_Reward/obstacle_progress: +3.5709
+       Episode_Reward/wheel_body_intrusion: -0.2565
+        Episode_Reward/pair_body_intrusion: -0.2385
+             Curriculum/terrain_level_mean: +4.1799
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.3803
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.5704
+Episode_Termination/illegal_nonwheel_contact: 0.0352
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2325]
+RECOVERY reset 1 invalid environments; first IDs=[1149]
+
+==============================================================================
+Learning iteration 39800/50000
+                               Total steps: 163,020,800
+                          Steps per second: 13,540
+                            Iteration time: 0.303s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0871
+                       Mean episode length: 1331.3
+                                Actor loss: -9.4858
+                               Critic loss: +0.0047
+                          World model loss: +0.5902
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1734
+     Episode_Reward/track_angular_velocity: +50.2593
+                    Episode_Reward/upright: +25.5572
+                Episode_Reward/leg_posture: -2.5432
+                 Episode_Reward/standstill: -6.1711
+             Episode_Reward/action_rate_l2: -0.5780
+           Episode_Reward/joint_torques_l2: -0.1416
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0208
+     Episode_Reward/unnecessary_wheel_lift: -0.0853
+         Episode_Reward/rolling_leg_motion: -0.5828
+          Episode_Reward/obstacle_progress: +3.6882
+       Episode_Reward/wheel_body_intrusion: -0.2892
+        Episode_Reward/pair_body_intrusion: -0.2927
+             Curriculum/terrain_level_mean: +4.1804
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4014
+             Episode_Termination/fell_over: 0.0282
+           Episode_Termination/course_exit: 0.5423
+Episode_Termination/illegal_nonwheel_contact: 0.0423
+==============================================================================
+
+==============================================================================
+Learning iteration 39850/50000
+                               Total steps: 163,225,600
+                          Steps per second: 13,543
+                            Iteration time: 0.302s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1327.9
+                                Actor loss: -9.5175
+                               Critic loss: +0.0060
+                          World model loss: +0.6099
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0849
+     Episode_Reward/track_angular_velocity: +50.0630
+                    Episode_Reward/upright: +25.4911
+                Episode_Reward/leg_posture: -2.5505
+                 Episode_Reward/standstill: -6.1153
+             Episode_Reward/action_rate_l2: -0.5818
+           Episode_Reward/joint_torques_l2: -0.1423
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0233
+     Episode_Reward/unnecessary_wheel_lift: -0.0709
+         Episode_Reward/rolling_leg_motion: -0.5817
+          Episode_Reward/obstacle_progress: +3.6831
+       Episode_Reward/wheel_body_intrusion: -0.2743
+        Episode_Reward/pair_body_intrusion: -0.2833
+             Curriculum/terrain_level_mean: +4.1802
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1372
+              Episode_Termination/time_out: 0.4818
+             Episode_Termination/fell_over: 0.0146
+           Episode_Termination/course_exit: 0.4526
+Episode_Termination/illegal_nonwheel_contact: 0.0511
+==============================================================================
+
+==============================================================================
+Learning iteration 39900/50000
+                               Total steps: 163,430,400
+                          Steps per second: 13,545
+                            Iteration time: 0.302s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1310.4
+                                Actor loss: -9.5377
+                               Critic loss: +0.0052
+                          World model loss: +0.5701
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4007
+     Episode_Reward/track_angular_velocity: +49.4922
+                    Episode_Reward/upright: +25.1490
+                Episode_Reward/leg_posture: -2.4953
+                 Episode_Reward/standstill: -5.6753
+             Episode_Reward/action_rate_l2: -0.5714
+           Episode_Reward/joint_torques_l2: -0.1400
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0154
+     Episode_Reward/unnecessary_wheel_lift: -0.0726
+         Episode_Reward/rolling_leg_motion: -0.5556
+          Episode_Reward/obstacle_progress: +3.6855
+       Episode_Reward/wheel_body_intrusion: -0.2587
+        Episode_Reward/pair_body_intrusion: -0.2889
+             Curriculum/terrain_level_mean: +4.1809
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4419
+             Episode_Termination/fell_over: 0.0078
+           Episode_Termination/course_exit: 0.5116
+Episode_Termination/illegal_nonwheel_contact: 0.0465
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[945]
+
+==============================================================================
+Learning iteration 39950/50000
+                               Total steps: 163,635,200
+                          Steps per second: 13,547
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1409.7
+                                Actor loss: -9.4939
+                               Critic loss: +0.0081
+                          World model loss: +0.5776
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9639
+     Episode_Reward/track_angular_velocity: +53.2454
+                    Episode_Reward/upright: +27.0561
+                Episode_Reward/leg_posture: -2.6394
+                 Episode_Reward/standstill: -6.0792
+             Episode_Reward/action_rate_l2: -0.6045
+           Episode_Reward/joint_torques_l2: -0.1506
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0220
+     Episode_Reward/unnecessary_wheel_lift: -0.0765
+         Episode_Reward/rolling_leg_motion: -0.5910
+          Episode_Reward/obstacle_progress: +4.0660
+       Episode_Reward/wheel_body_intrusion: -0.2725
+        Episode_Reward/pair_body_intrusion: -0.2842
+             Curriculum/terrain_level_mean: +4.1814
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5113
+             Episode_Termination/fell_over: 0.0376
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0226
+==============================================================================
+
+==============================================================================
+Learning iteration 40000/50000
+                               Total steps: 163,840,000
+                          Steps per second: 13,550
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1386.3
+                                Actor loss: -9.4951
+                               Critic loss: +0.0084
+                          World model loss: +0.5769
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0404
+     Episode_Reward/track_angular_velocity: +52.3856
+                    Episode_Reward/upright: +26.6176
+                Episode_Reward/leg_posture: -2.5635
+                 Episode_Reward/standstill: -6.2172
+             Episode_Reward/action_rate_l2: -0.5976
+           Episode_Reward/joint_torques_l2: -0.1485
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0244
+     Episode_Reward/unnecessary_wheel_lift: -0.0980
+         Episode_Reward/rolling_leg_motion: -0.5855
+          Episode_Reward/obstacle_progress: +4.0189
+       Episode_Reward/wheel_body_intrusion: -0.2522
+        Episode_Reward/pair_body_intrusion: -0.2766
+             Curriculum/terrain_level_mean: +4.1831
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4885
+             Episode_Termination/fell_over: 0.0172
+           Episode_Termination/course_exit: 0.4598
+Episode_Termination/illegal_nonwheel_contact: 0.0460
+==============================================================================
+
+==============================================================================
+Learning iteration 40050/50000
+                               Total steps: 164,044,800
+                          Steps per second: 13,552
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1369.8
+                                Actor loss: -9.5112
+                               Critic loss: +0.0046
+                          World model loss: +0.5735
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4591
+     Episode_Reward/track_angular_velocity: +51.7530
+                    Episode_Reward/upright: +26.3161
+                Episode_Reward/leg_posture: -2.5402
+                 Episode_Reward/standstill: -6.1224
+             Episode_Reward/action_rate_l2: -0.5887
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.0880
+         Episode_Reward/rolling_leg_motion: -0.5937
+          Episode_Reward/obstacle_progress: +3.8494
+       Episode_Reward/wheel_body_intrusion: -0.2591
+        Episode_Reward/pair_body_intrusion: -0.2708
+             Curriculum/terrain_level_mean: +4.1838
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4914
+             Episode_Termination/fell_over: 0.0286
+           Episode_Termination/course_exit: 0.4571
+Episode_Termination/illegal_nonwheel_contact: 0.0400
+==============================================================================
+
+==============================================================================
+Learning iteration 40100/50000
+                               Total steps: 164,249,600
+                          Steps per second: 13,554
+                            Iteration time: 0.302s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0878
+                       Mean episode length: 1375.8
+                                Actor loss: -9.4904
+                               Critic loss: +0.0051
+                          World model loss: +0.5764
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9136
+     Episode_Reward/track_angular_velocity: +52.0212
+                    Episode_Reward/upright: +26.4367
+                Episode_Reward/leg_posture: -2.5581
+                 Episode_Reward/standstill: -6.0466
+             Episode_Reward/action_rate_l2: -0.5912
+           Episode_Reward/joint_torques_l2: -0.1471
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0269
+     Episode_Reward/unnecessary_wheel_lift: -0.0746
+         Episode_Reward/rolling_leg_motion: -0.5885
+          Episode_Reward/obstacle_progress: +3.9404
+       Episode_Reward/wheel_body_intrusion: -0.2480
+        Episode_Reward/pair_body_intrusion: -0.2624
+             Curriculum/terrain_level_mean: +4.1841
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.4895
+             Episode_Termination/fell_over: 0.0350
+           Episode_Termination/course_exit: 0.4406
+Episode_Termination/illegal_nonwheel_contact: 0.0350
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1274]
+
+==============================================================================
+Learning iteration 40150/50000
+                               Total steps: 164,454,400
+                          Steps per second: 13,557
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0877
+                       Mean episode length: 1376.8
+                                Actor loss: -9.5384
+                               Critic loss: +0.0069
+                          World model loss: +0.6298
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9542
+     Episode_Reward/track_angular_velocity: +52.0873
+                    Episode_Reward/upright: +26.4100
+                Episode_Reward/leg_posture: -2.5959
+                 Episode_Reward/standstill: -6.0556
+             Episode_Reward/action_rate_l2: -0.5857
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0054
+     Episode_Reward/unnecessary_wheel_lift: -0.0966
+         Episode_Reward/rolling_leg_motion: -0.6004
+          Episode_Reward/obstacle_progress: +3.9400
+       Episode_Reward/wheel_body_intrusion: -0.2708
+        Episode_Reward/pair_body_intrusion: -0.2885
+             Curriculum/terrain_level_mean: +4.1875
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4862
+             Episode_Termination/fell_over: 0.0055
+           Episode_Termination/course_exit: 0.5028
+Episode_Termination/illegal_nonwheel_contact: 0.0055
+==============================================================================
+
+==============================================================================
+Learning iteration 40200/50000
+                               Total steps: 164,659,200
+                          Steps per second: 13,559
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1334.4
+                                Actor loss: -9.5170
+                               Critic loss: +0.0053
+                          World model loss: +0.5696
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3501
+     Episode_Reward/track_angular_velocity: +50.4151
+                    Episode_Reward/upright: +25.5872
+                Episode_Reward/leg_posture: -2.5265
+                 Episode_Reward/standstill: -6.0763
+             Episode_Reward/action_rate_l2: -0.5683
+           Episode_Reward/joint_torques_l2: -0.1430
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0235
+     Episode_Reward/unnecessary_wheel_lift: -0.0940
+         Episode_Reward/rolling_leg_motion: -0.5763
+          Episode_Reward/obstacle_progress: +3.7783
+       Episode_Reward/wheel_body_intrusion: -0.2797
+        Episode_Reward/pair_body_intrusion: -0.3276
+             Curriculum/terrain_level_mean: +4.1882
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4379
+             Episode_Termination/fell_over: 0.0261
+           Episode_Termination/course_exit: 0.5033
+Episode_Termination/illegal_nonwheel_contact: 0.0392
+==============================================================================
+
+==============================================================================
+Learning iteration 40250/50000
+                               Total steps: 164,864,000
+                          Steps per second: 13,561
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1356.1
+                                Actor loss: -9.5173
+                               Critic loss: +0.0048
+                          World model loss: +0.5849
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1323
+     Episode_Reward/track_angular_velocity: +51.3190
+                    Episode_Reward/upright: +26.0123
+                Episode_Reward/leg_posture: -2.5076
+                 Episode_Reward/standstill: -6.1375
+             Episode_Reward/action_rate_l2: -0.5826
+           Episode_Reward/joint_torques_l2: -0.1441
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0291
+     Episode_Reward/unnecessary_wheel_lift: -0.0904
+         Episode_Reward/rolling_leg_motion: -0.5918
+          Episode_Reward/obstacle_progress: +3.8433
+       Episode_Reward/wheel_body_intrusion: -0.2793
+        Episode_Reward/pair_body_intrusion: -0.3360
+             Curriculum/terrain_level_mean: +4.1892
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4970
+             Episode_Termination/fell_over: 0.0355
+           Episode_Termination/course_exit: 0.4379
+Episode_Termination/illegal_nonwheel_contact: 0.0473
+==============================================================================
+
+==============================================================================
+Learning iteration 40300/50000
+                               Total steps: 165,068,800
+                          Steps per second: 13,564
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1321.4
+                                Actor loss: -9.5109
+                               Critic loss: +0.0035
+                          World model loss: +0.5638
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9050
+     Episode_Reward/track_angular_velocity: +49.9488
+                    Episode_Reward/upright: +25.3191
+                Episode_Reward/leg_posture: -2.4770
+                 Episode_Reward/standstill: -5.9305
+             Episode_Reward/action_rate_l2: -0.5574
+           Episode_Reward/joint_torques_l2: -0.1400
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.0867
+         Episode_Reward/rolling_leg_motion: -0.5554
+          Episode_Reward/obstacle_progress: +3.7028
+       Episode_Reward/wheel_body_intrusion: -0.2710
+        Episode_Reward/pair_body_intrusion: -0.2474
+             Curriculum/terrain_level_mean: +4.1897
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4317
+             Episode_Termination/fell_over: 0.0360
+           Episode_Termination/course_exit: 0.5108
+Episode_Termination/illegal_nonwheel_contact: 0.0360
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2034]
+
+==============================================================================
+Learning iteration 40350/50000
+                               Total steps: 165,273,600
+                          Steps per second: 13,566
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0873
+                       Mean episode length: 1373.5
+                                Actor loss: -9.5408
+                               Critic loss: +0.0041
+                          World model loss: +0.5522
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7280
+     Episode_Reward/track_angular_velocity: +51.9026
+                    Episode_Reward/upright: +26.3082
+                Episode_Reward/leg_posture: -2.5885
+                 Episode_Reward/standstill: -6.2332
+             Episode_Reward/action_rate_l2: -0.5868
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.0918
+         Episode_Reward/rolling_leg_motion: -0.5927
+          Episode_Reward/obstacle_progress: +3.7446
+       Episode_Reward/wheel_body_intrusion: -0.2685
+        Episode_Reward/pair_body_intrusion: -0.2641
+             Curriculum/terrain_level_mean: +4.1909
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4323
+             Episode_Termination/fell_over: 0.0323
+           Episode_Termination/course_exit: 0.5097
+Episode_Termination/illegal_nonwheel_contact: 0.0387
+==============================================================================
+
+==============================================================================
+Learning iteration 40400/50000
+                               Total steps: 165,478,400
+                          Steps per second: 13,568
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1358.0
+                                Actor loss: -9.5107
+                               Critic loss: +0.0053
+                          World model loss: +0.5693
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2827
+     Episode_Reward/track_angular_velocity: +51.3329
+                    Episode_Reward/upright: +25.9727
+                Episode_Reward/leg_posture: -2.5512
+                 Episode_Reward/standstill: -5.9682
+             Episode_Reward/action_rate_l2: -0.5746
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.0690
+         Episode_Reward/rolling_leg_motion: -0.5784
+          Episode_Reward/obstacle_progress: +3.7569
+       Episode_Reward/wheel_body_intrusion: -0.2643
+        Episode_Reward/pair_body_intrusion: -0.2802
+             Curriculum/terrain_level_mean: +4.1909
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4414
+             Episode_Termination/fell_over: 0.0276
+           Episode_Termination/course_exit: 0.5034
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 40450/50000
+                               Total steps: 165,683,200
+                          Steps per second: 13,570
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1323.8
+                                Actor loss: -9.5245
+                               Critic loss: +0.0044
+                          World model loss: +0.5716
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8602
+     Episode_Reward/track_angular_velocity: +50.0028
+                    Episode_Reward/upright: +25.3130
+                Episode_Reward/leg_posture: -2.4822
+                 Episode_Reward/standstill: -6.2612
+             Episode_Reward/action_rate_l2: -0.5675
+           Episode_Reward/joint_torques_l2: -0.1418
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.0852
+         Episode_Reward/rolling_leg_motion: -0.5744
+          Episode_Reward/obstacle_progress: +3.6051
+       Episode_Reward/wheel_body_intrusion: -0.2593
+        Episode_Reward/pair_body_intrusion: -0.2572
+             Curriculum/terrain_level_mean: +4.1931
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4218
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.5374
+Episode_Termination/illegal_nonwheel_contact: 0.0340
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1598]
+RECOVERY reset 1 invalid environments; first IDs=[2193]
+
+==============================================================================
+Learning iteration 40500/50000
+                               Total steps: 165,888,000
+                          Steps per second: 13,572
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1358.1
+                                Actor loss: -9.5082
+                               Critic loss: +0.0046
+                          World model loss: +0.5705
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0348
+     Episode_Reward/track_angular_velocity: +51.2939
+                    Episode_Reward/upright: +25.9517
+                Episode_Reward/leg_posture: -2.5894
+                 Episode_Reward/standstill: -6.3810
+             Episode_Reward/action_rate_l2: -0.5779
+           Episode_Reward/joint_torques_l2: -0.1467
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0292
+     Episode_Reward/unnecessary_wheel_lift: -0.0973
+         Episode_Reward/rolling_leg_motion: -0.5812
+          Episode_Reward/obstacle_progress: +3.7598
+       Episode_Reward/wheel_body_intrusion: -0.2701
+        Episode_Reward/pair_body_intrusion: -0.2966
+             Curriculum/terrain_level_mean: +4.1934
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4221
+             Episode_Termination/fell_over: 0.0455
+           Episode_Termination/course_exit: 0.5065
+Episode_Termination/illegal_nonwheel_contact: 0.0390
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_040500.mp4
+
+==============================================================================
+Learning iteration 40550/50000
+                               Total steps: 166,092,800
+                          Steps per second: 13,568
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0873
+                       Mean episode length: 1364.3
+                                Actor loss: -9.5033
+                               Critic loss: +0.0054
+                          World model loss: +0.5980
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3475
+     Episode_Reward/track_angular_velocity: +51.5452
+                    Episode_Reward/upright: +26.1035
+                Episode_Reward/leg_posture: -2.5639
+                 Episode_Reward/standstill: -6.2445
+             Episode_Reward/action_rate_l2: -0.5827
+           Episode_Reward/joint_torques_l2: -0.1465
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.0767
+         Episode_Reward/rolling_leg_motion: -0.5607
+          Episode_Reward/obstacle_progress: +3.8043
+       Episode_Reward/wheel_body_intrusion: -0.2600
+        Episode_Reward/pair_body_intrusion: -0.3089
+             Curriculum/terrain_level_mean: +4.1941
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4853
+             Episode_Termination/fell_over: 0.0294
+           Episode_Termination/course_exit: 0.4706
+Episode_Termination/illegal_nonwheel_contact: 0.0147
+==============================================================================
+
+==============================================================================
+Learning iteration 40600/50000
+                               Total steps: 166,297,600
+                          Steps per second: 13,570
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1319.9
+                                Actor loss: -9.4965
+                               Critic loss: +0.0040
+                          World model loss: +0.5910
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6926
+     Episode_Reward/track_angular_velocity: +49.8798
+                    Episode_Reward/upright: +25.2533
+                Episode_Reward/leg_posture: -2.4697
+                 Episode_Reward/standstill: -5.8938
+             Episode_Reward/action_rate_l2: -0.5627
+           Episode_Reward/joint_torques_l2: -0.1433
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0284
+     Episode_Reward/unnecessary_wheel_lift: -0.0775
+         Episode_Reward/rolling_leg_motion: -0.5503
+          Episode_Reward/obstacle_progress: +3.6810
+       Episode_Reward/wheel_body_intrusion: -0.2678
+        Episode_Reward/pair_body_intrusion: -0.2863
+             Curriculum/terrain_level_mean: +4.1946
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4452
+             Episode_Termination/fell_over: 0.0194
+           Episode_Termination/course_exit: 0.4839
+Episode_Termination/illegal_nonwheel_contact: 0.0516
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1902]
+
+==============================================================================
+Learning iteration 40650/50000
+                               Total steps: 166,502,400
+                          Steps per second: 13,573
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1376.6
+                                Actor loss: -9.5207
+                               Critic loss: +0.0045
+                          World model loss: +0.5841
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7818
+     Episode_Reward/track_angular_velocity: +51.9337
+                    Episode_Reward/upright: +26.3524
+                Episode_Reward/leg_posture: -2.6281
+                 Episode_Reward/standstill: -6.3200
+             Episode_Reward/action_rate_l2: -0.5858
+           Episode_Reward/joint_torques_l2: -0.1500
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.1025
+         Episode_Reward/rolling_leg_motion: -0.5822
+          Episode_Reward/obstacle_progress: +3.8465
+       Episode_Reward/wheel_body_intrusion: -0.2714
+        Episode_Reward/pair_body_intrusion: -0.3073
+             Curriculum/terrain_level_mean: +4.1970
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.5147
+             Episode_Termination/fell_over: 0.0074
+           Episode_Termination/course_exit: 0.4412
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 40700/50000
+                               Total steps: 166,707,200
+                          Steps per second: 13,575
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1263.1
+                                Actor loss: -9.5101
+                               Critic loss: +0.0059
+                          World model loss: +0.5769
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.7567
+     Episode_Reward/track_angular_velocity: +47.6787
+                    Episode_Reward/upright: +24.1637
+                Episode_Reward/leg_posture: -2.3814
+                 Episode_Reward/standstill: -5.7310
+             Episode_Reward/action_rate_l2: -0.5460
+           Episode_Reward/joint_torques_l2: -0.1373
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0247
+     Episode_Reward/unnecessary_wheel_lift: -0.0868
+         Episode_Reward/rolling_leg_motion: -0.5289
+          Episode_Reward/obstacle_progress: +3.5295
+       Episode_Reward/wheel_body_intrusion: -0.2445
+        Episode_Reward/pair_body_intrusion: -0.2856
+             Curriculum/terrain_level_mean: +4.1978
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.3724
+             Episode_Termination/fell_over: 0.0552
+           Episode_Termination/course_exit: 0.5586
+Episode_Termination/illegal_nonwheel_contact: 0.0207
+==============================================================================
+
+==============================================================================
+Learning iteration 40750/50000
+                               Total steps: 166,912,000
+                          Steps per second: 13,577
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0868
+                       Mean episode length: 1353.5
+                                Actor loss: -9.4917
+                               Critic loss: +0.0056
+                          World model loss: +0.5854
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8815
+     Episode_Reward/track_angular_velocity: +51.1224
+                    Episode_Reward/upright: +25.9305
+                Episode_Reward/leg_posture: -2.5655
+                 Episode_Reward/standstill: -6.5737
+             Episode_Reward/action_rate_l2: -0.5831
+           Episode_Reward/joint_torques_l2: -0.1457
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0317
+     Episode_Reward/unnecessary_wheel_lift: -0.1032
+         Episode_Reward/rolling_leg_motion: -0.5710
+          Episode_Reward/obstacle_progress: +3.7029
+       Episode_Reward/wheel_body_intrusion: -0.2671
+        Episode_Reward/pair_body_intrusion: -0.2861
+             Curriculum/terrain_level_mean: +4.1987
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4671
+             Episode_Termination/fell_over: 0.0359
+           Episode_Termination/course_exit: 0.4611
+Episode_Termination/illegal_nonwheel_contact: 0.0599
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1653]
+
+==============================================================================
+Learning iteration 40800/50000
+                               Total steps: 167,116,800
+                          Steps per second: 13,579
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1321.8
+                                Actor loss: -9.4924
+                               Critic loss: +0.0059
+                          World model loss: +0.5598
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8680
+     Episode_Reward/track_angular_velocity: +49.9450
+                    Episode_Reward/upright: +25.3599
+                Episode_Reward/leg_posture: -2.5074
+                 Episode_Reward/standstill: -5.7819
+             Episode_Reward/action_rate_l2: -0.5514
+           Episode_Reward/joint_torques_l2: -0.1414
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0129
+     Episode_Reward/unnecessary_wheel_lift: -0.0646
+         Episode_Reward/rolling_leg_motion: -0.5504
+          Episode_Reward/obstacle_progress: +3.6378
+       Episode_Reward/wheel_body_intrusion: -0.2761
+        Episode_Reward/pair_body_intrusion: -0.2469
+             Curriculum/terrain_level_mean: +4.1982
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4775
+             Episode_Termination/fell_over: 0.0090
+           Episode_Termination/course_exit: 0.4775
+Episode_Termination/illegal_nonwheel_contact: 0.0450
+==============================================================================
+
+==============================================================================
+Learning iteration 40850/50000
+                               Total steps: 167,321,600
+                          Steps per second: 13,582
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0871
+                       Mean episode length: 1344.8
+                                Actor loss: -9.5320
+                               Critic loss: +0.0036
+                          World model loss: +0.5700
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5282
+     Episode_Reward/track_angular_velocity: +50.7710
+                    Episode_Reward/upright: +25.7732
+                Episode_Reward/leg_posture: -2.5577
+                 Episode_Reward/standstill: -6.1757
+             Episode_Reward/action_rate_l2: -0.5739
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0263
+     Episode_Reward/unnecessary_wheel_lift: -0.0881
+         Episode_Reward/rolling_leg_motion: -0.5759
+          Episode_Reward/obstacle_progress: +3.7432
+       Episode_Reward/wheel_body_intrusion: -0.2841
+        Episode_Reward/pair_body_intrusion: -0.2776
+             Curriculum/terrain_level_mean: +4.1997
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4601
+             Episode_Termination/fell_over: 0.0184
+           Episode_Termination/course_exit: 0.4785
+Episode_Termination/illegal_nonwheel_contact: 0.0491
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[3562]
+
+==============================================================================
+Learning iteration 40900/50000
+                               Total steps: 167,526,400
+                          Steps per second: 13,584
+                            Iteration time: 0.302s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0873
+                       Mean episode length: 1384.6
+                                Actor loss: -9.5143
+                               Critic loss: +0.0069
+                          World model loss: +0.5512
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0059
+     Episode_Reward/track_angular_velocity: +52.2522
+                    Episode_Reward/upright: +26.5421
+                Episode_Reward/leg_posture: -2.6669
+                 Episode_Reward/standstill: -6.0371
+             Episode_Reward/action_rate_l2: -0.5905
+           Episode_Reward/joint_torques_l2: -0.1498
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0216
+     Episode_Reward/unnecessary_wheel_lift: -0.0887
+         Episode_Reward/rolling_leg_motion: -0.5750
+          Episode_Reward/obstacle_progress: +3.8621
+       Episode_Reward/wheel_body_intrusion: -0.3039
+        Episode_Reward/pair_body_intrusion: -0.3310
+             Curriculum/terrain_level_mean: +4.2002
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4823
+             Episode_Termination/fell_over: 0.0426
+           Episode_Termination/course_exit: 0.4610
+Episode_Termination/illegal_nonwheel_contact: 0.0284
+==============================================================================
+
+==============================================================================
+Learning iteration 40950/50000
+                               Total steps: 167,731,200
+                          Steps per second: 13,586
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1429.0
+                                Actor loss: -9.5040
+                               Critic loss: +0.0048
+                          World model loss: +0.5751
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.7174
+     Episode_Reward/track_angular_velocity: +53.9905
+                    Episode_Reward/upright: +27.3772
+                Episode_Reward/leg_posture: -2.7239
+                 Episode_Reward/standstill: -6.2677
+             Episode_Reward/action_rate_l2: -0.6105
+           Episode_Reward/joint_torques_l2: -0.1530
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0223
+     Episode_Reward/unnecessary_wheel_lift: -0.0859
+         Episode_Reward/rolling_leg_motion: -0.6177
+          Episode_Reward/obstacle_progress: +4.0260
+       Episode_Reward/wheel_body_intrusion: -0.2863
+        Episode_Reward/pair_body_intrusion: -0.3068
+             Curriculum/terrain_level_mean: +4.2012
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.5309
+             Episode_Termination/fell_over: 0.0370
+           Episode_Termination/course_exit: 0.4198
+Episode_Termination/illegal_nonwheel_contact: 0.0247
+==============================================================================
+
+==============================================================================
+Learning iteration 41000/50000
+                               Total steps: 167,936,000
+                          Steps per second: 13,588
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0874
+                       Mean episode length: 1423.3
+                                Actor loss: -9.5314
+                               Critic loss: +0.0046
+                          World model loss: +0.5804
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.5307
+     Episode_Reward/track_angular_velocity: +53.7867
+                    Episode_Reward/upright: +27.3012
+                Episode_Reward/leg_posture: -2.7062
+                 Episode_Reward/standstill: -6.4071
+             Episode_Reward/action_rate_l2: -0.6055
+           Episode_Reward/joint_torques_l2: -0.1507
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0334
+     Episode_Reward/unnecessary_wheel_lift: -0.0962
+         Episode_Reward/rolling_leg_motion: -0.6272
+          Episode_Reward/obstacle_progress: +3.9742
+       Episode_Reward/wheel_body_intrusion: -0.2695
+        Episode_Reward/pair_body_intrusion: -0.3081
+             Curriculum/terrain_level_mean: +4.1995
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.5101
+             Episode_Termination/fell_over: 0.0604
+           Episode_Termination/course_exit: 0.4094
+Episode_Termination/illegal_nonwheel_contact: 0.0403
+==============================================================================
+
+==============================================================================
+Learning iteration 41050/50000
+                               Total steps: 168,140,800
+                          Steps per second: 13,590
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1291.1
+                                Actor loss: -9.5351
+                               Critic loss: +0.0029
+                          World model loss: +0.5462
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8293
+     Episode_Reward/track_angular_velocity: +48.8176
+                    Episode_Reward/upright: +24.7563
+                Episode_Reward/leg_posture: -2.4670
+                 Episode_Reward/standstill: -5.6363
+             Episode_Reward/action_rate_l2: -0.5453
+           Episode_Reward/joint_torques_l2: -0.1381
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0177
+     Episode_Reward/unnecessary_wheel_lift: -0.0853
+         Episode_Reward/rolling_leg_motion: -0.5662
+          Episode_Reward/obstacle_progress: +3.6109
+       Episode_Reward/wheel_body_intrusion: -0.2585
+        Episode_Reward/pair_body_intrusion: -0.2541
+             Curriculum/terrain_level_mean: +4.2012
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4156
+             Episode_Termination/fell_over: 0.0260
+           Episode_Termination/course_exit: 0.5390
+Episode_Termination/illegal_nonwheel_contact: 0.0325
+==============================================================================
+
+==============================================================================
+Learning iteration 41100/50000
+                               Total steps: 168,345,600
+                          Steps per second: 13,592
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0877
+                       Mean episode length: 1376.7
+                                Actor loss: -9.5108
+                               Critic loss: +0.0073
+                          World model loss: +0.5591
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9279
+     Episode_Reward/track_angular_velocity: +52.0831
+                    Episode_Reward/upright: +26.3885
+                Episode_Reward/leg_posture: -2.5942
+                 Episode_Reward/standstill: -6.0365
+             Episode_Reward/action_rate_l2: -0.5861
+           Episode_Reward/joint_torques_l2: -0.1458
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0323
+     Episode_Reward/unnecessary_wheel_lift: -0.0907
+         Episode_Reward/rolling_leg_motion: -0.5819
+          Episode_Reward/obstacle_progress: +3.9760
+       Episode_Reward/wheel_body_intrusion: -0.2572
+        Episode_Reward/pair_body_intrusion: -0.2467
+             Curriculum/terrain_level_mean: +4.1995
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1333
+              Episode_Termination/time_out: 0.5098
+             Episode_Termination/fell_over: 0.0458
+           Episode_Termination/course_exit: 0.4118
+Episode_Termination/illegal_nonwheel_contact: 0.0588
+==============================================================================
+
+==============================================================================
+Learning iteration 41150/50000
+                               Total steps: 168,550,400
+                          Steps per second: 13,595
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1323.4
+                                Actor loss: -9.5135
+                               Critic loss: +0.0048
+                          World model loss: +0.5685
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8799
+     Episode_Reward/track_angular_velocity: +49.9982
+                    Episode_Reward/upright: +25.3614
+                Episode_Reward/leg_posture: -2.5025
+                 Episode_Reward/standstill: -5.7957
+             Episode_Reward/action_rate_l2: -0.5723
+           Episode_Reward/joint_torques_l2: -0.1403
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0129
+     Episode_Reward/unnecessary_wheel_lift: -0.0828
+         Episode_Reward/rolling_leg_motion: -0.5726
+          Episode_Reward/obstacle_progress: +3.7892
+       Episode_Reward/wheel_body_intrusion: -0.2626
+        Episode_Reward/pair_body_intrusion: -0.2835
+             Curriculum/terrain_level_mean: +4.2017
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4662
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0068
+==============================================================================
+
+==============================================================================
+Learning iteration 41200/50000
+                               Total steps: 168,755,200
+                          Steps per second: 13,597
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0877
+                       Mean episode length: 1333.3
+                                Actor loss: -9.5373
+                               Critic loss: +0.0035
+                          World model loss: +0.5934
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2212
+     Episode_Reward/track_angular_velocity: +50.3797
+                    Episode_Reward/upright: +25.5404
+                Episode_Reward/leg_posture: -2.4851
+                 Episode_Reward/standstill: -5.6795
+             Episode_Reward/action_rate_l2: -0.5771
+           Episode_Reward/joint_torques_l2: -0.1409
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0417
+     Episode_Reward/unnecessary_wheel_lift: -0.1024
+         Episode_Reward/rolling_leg_motion: -0.5742
+          Episode_Reward/obstacle_progress: +3.8688
+       Episode_Reward/wheel_body_intrusion: -0.2551
+        Episode_Reward/pair_body_intrusion: -0.2458
+             Curriculum/terrain_level_mean: +4.1992
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4293
+             Episode_Termination/fell_over: 0.0598
+           Episode_Termination/course_exit: 0.4837
+Episode_Termination/illegal_nonwheel_contact: 0.0598
+==============================================================================
+
+==============================================================================
+Learning iteration 41250/50000
+                               Total steps: 168,960,000
+                          Steps per second: 13,599
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0882
+                       Mean episode length: 1374.7
+                                Actor loss: -9.5292
+                               Critic loss: +0.0043
+                          World model loss: +0.5595
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9935
+     Episode_Reward/track_angular_velocity: +52.0652
+                    Episode_Reward/upright: +26.4142
+                Episode_Reward/leg_posture: -2.5543
+                 Episode_Reward/standstill: -5.7792
+             Episode_Reward/action_rate_l2: -0.5802
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0746
+         Episode_Reward/rolling_leg_motion: -0.5810
+          Episode_Reward/obstacle_progress: +3.9449
+       Episode_Reward/wheel_body_intrusion: -0.2660
+        Episode_Reward/pair_body_intrusion: -0.2466
+             Curriculum/terrain_level_mean: +4.2000
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1320
+              Episode_Termination/time_out: 0.5164
+             Episode_Termination/fell_over: 0.0082
+           Episode_Termination/course_exit: 0.4426
+Episode_Termination/illegal_nonwheel_contact: 0.0410
+==============================================================================
+
+==============================================================================
+Learning iteration 41300/50000
+                               Total steps: 169,164,800
+                          Steps per second: 13,601
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1384.0
+                                Actor loss: -9.5205
+                               Critic loss: +0.0052
+                          World model loss: +0.6114
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1060
+     Episode_Reward/track_angular_velocity: +52.3245
+                    Episode_Reward/upright: +26.5469
+                Episode_Reward/leg_posture: -2.5692
+                 Episode_Reward/standstill: -5.9087
+             Episode_Reward/action_rate_l2: -0.5850
+           Episode_Reward/joint_torques_l2: -0.1468
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0216
+     Episode_Reward/unnecessary_wheel_lift: -0.0794
+         Episode_Reward/rolling_leg_motion: -0.5885
+          Episode_Reward/obstacle_progress: +3.9593
+       Episode_Reward/wheel_body_intrusion: -0.2756
+        Episode_Reward/pair_body_intrusion: -0.2524
+             Curriculum/terrain_level_mean: +4.2000
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.4870
+             Episode_Termination/fell_over: 0.0195
+           Episode_Termination/course_exit: 0.4610
+Episode_Termination/illegal_nonwheel_contact: 0.0455
+==============================================================================
+
+==============================================================================
+Learning iteration 41350/50000
+                               Total steps: 169,369,600
+                          Steps per second: 13,603
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0875
+                       Mean episode length: 1360.1
+                                Actor loss: -9.5188
+                               Critic loss: +0.0077
+                          World model loss: +0.5621
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2442
+     Episode_Reward/track_angular_velocity: +51.3780
+                    Episode_Reward/upright: +26.0623
+                Episode_Reward/leg_posture: -2.5869
+                 Episode_Reward/standstill: -5.9159
+             Episode_Reward/action_rate_l2: -0.5720
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0186
+     Episode_Reward/unnecessary_wheel_lift: -0.0730
+         Episode_Reward/rolling_leg_motion: -0.5802
+          Episode_Reward/obstacle_progress: +3.8489
+       Episode_Reward/wheel_body_intrusion: -0.2964
+        Episode_Reward/pair_body_intrusion: -0.2932
+             Curriculum/terrain_level_mean: +4.2012
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4857
+             Episode_Termination/fell_over: 0.0214
+           Episode_Termination/course_exit: 0.4643
+Episode_Termination/illegal_nonwheel_contact: 0.0286
+==============================================================================
+
+==============================================================================
+Learning iteration 41400/50000
+                               Total steps: 169,574,400
+                          Steps per second: 13,606
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1370.6
+                                Actor loss: -9.5208
+                               Critic loss: +0.0073
+                          World model loss: +0.5474
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7461
+     Episode_Reward/track_angular_velocity: +51.8089
+                    Episode_Reward/upright: +26.2513
+                Episode_Reward/leg_posture: -2.5913
+                 Episode_Reward/standstill: -6.2809
+             Episode_Reward/action_rate_l2: -0.5694
+           Episode_Reward/joint_torques_l2: -0.1454
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.0849
+         Episode_Reward/rolling_leg_motion: -0.5770
+          Episode_Reward/obstacle_progress: +3.7587
+       Episode_Reward/wheel_body_intrusion: -0.2693
+        Episode_Reward/pair_body_intrusion: -0.2731
+             Curriculum/terrain_level_mean: +4.2036
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4524
+             Episode_Termination/fell_over: 0.0298
+           Episode_Termination/course_exit: 0.5060
+Episode_Termination/illegal_nonwheel_contact: 0.0179
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1964]
+RECOVERY reset 1 invalid environments; first IDs=[1085]
+
+==============================================================================
+Learning iteration 41450/50000
+                               Total steps: 169,779,200
+                          Steps per second: 13,608
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1362.7
+                                Actor loss: -9.5261
+                               Critic loss: +0.0052
+                          World model loss: +0.5651
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4364
+     Episode_Reward/track_angular_velocity: +51.4822
+                    Episode_Reward/upright: +26.1149
+                Episode_Reward/leg_posture: -2.5675
+                 Episode_Reward/standstill: -6.0369
+             Episode_Reward/action_rate_l2: -0.5617
+           Episode_Reward/joint_torques_l2: -0.1442
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0160
+     Episode_Reward/unnecessary_wheel_lift: -0.0751
+         Episode_Reward/rolling_leg_motion: -0.5793
+          Episode_Reward/obstacle_progress: +3.7196
+       Episode_Reward/wheel_body_intrusion: -0.2656
+        Episode_Reward/pair_body_intrusion: -0.3045
+             Curriculum/terrain_level_mean: +4.2043
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4621
+             Episode_Termination/fell_over: 0.0138
+           Episode_Termination/course_exit: 0.4966
+Episode_Termination/illegal_nonwheel_contact: 0.0345
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2459]
+
+==============================================================================
+Learning iteration 41500/50000
+                               Total steps: 169,984,000
+                          Steps per second: 13,610
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0870
+                       Mean episode length: 1393.9
+                                Actor loss: -9.5274
+                               Critic loss: +0.0042
+                          World model loss: +0.5600
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.4519
+     Episode_Reward/track_angular_velocity: +52.5961
+                    Episode_Reward/upright: +26.6846
+                Episode_Reward/leg_posture: -2.6385
+                 Episode_Reward/standstill: -6.6633
+             Episode_Reward/action_rate_l2: -0.5824
+           Episode_Reward/joint_torques_l2: -0.1472
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0245
+     Episode_Reward/unnecessary_wheel_lift: -0.0695
+         Episode_Reward/rolling_leg_motion: -0.5734
+          Episode_Reward/obstacle_progress: +3.7933
+       Episode_Reward/wheel_body_intrusion: -0.2764
+        Episode_Reward/pair_body_intrusion: -0.3184
+             Curriculum/terrain_level_mean: +4.2031
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4820
+             Episode_Termination/fell_over: 0.0432
+           Episode_Termination/course_exit: 0.4532
+Episode_Termination/illegal_nonwheel_contact: 0.0504
+==============================================================================
+
+==============================================================================
+Learning iteration 41550/50000
+                               Total steps: 170,188,800
+                          Steps per second: 13,612
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0869
+                       Mean episode length: 1408.7
+                                Actor loss: -9.5126
+                               Critic loss: +0.0040
+                          World model loss: +0.6071
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8279
+     Episode_Reward/track_angular_velocity: +53.0880
+                    Episode_Reward/upright: +26.9799
+                Episode_Reward/leg_posture: -2.7058
+                 Episode_Reward/standstill: -6.6671
+             Episode_Reward/action_rate_l2: -0.5920
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0055
+     Episode_Reward/unnecessary_wheel_lift: -0.0696
+         Episode_Reward/rolling_leg_motion: -0.5822
+          Episode_Reward/obstacle_progress: +3.8134
+       Episode_Reward/wheel_body_intrusion: -0.2687
+        Episode_Reward/pair_body_intrusion: -0.3180
+             Curriculum/terrain_level_mean: +4.2056
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1377
+              Episode_Termination/time_out: 0.4964
+             Episode_Termination/fell_over: 0.0072
+           Episode_Termination/course_exit: 0.4892
+Episode_Termination/illegal_nonwheel_contact: 0.0072
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2299]
+
+==============================================================================
+Learning iteration 41600/50000
+                               Total steps: 170,393,600
+                          Steps per second: 13,614
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0870
+                       Mean episode length: 1296.7
+                                Actor loss: -9.5015
+                               Critic loss: +0.0038
+                          World model loss: +0.5589
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.8729
+     Episode_Reward/track_angular_velocity: +48.8975
+                    Episode_Reward/upright: +24.8206
+                Episode_Reward/leg_posture: -2.5246
+                 Episode_Reward/standstill: -5.9304
+             Episode_Reward/action_rate_l2: -0.5530
+           Episode_Reward/joint_torques_l2: -0.1383
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0177
+     Episode_Reward/unnecessary_wheel_lift: -0.0856
+         Episode_Reward/rolling_leg_motion: -0.5573
+          Episode_Reward/obstacle_progress: +3.5380
+       Episode_Reward/wheel_body_intrusion: -0.2651
+        Episode_Reward/pair_body_intrusion: -0.2717
+             Curriculum/terrain_level_mean: +4.2073
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.4178
+             Episode_Termination/fell_over: 0.0205
+           Episode_Termination/course_exit: 0.5342
+Episode_Termination/illegal_nonwheel_contact: 0.0411
+==============================================================================
+
+==============================================================================
+Learning iteration 41650/50000
+                               Total steps: 170,598,400
+                          Steps per second: 13,616
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1323.7
+                                Actor loss: -9.5108
+                               Critic loss: +0.0041
+                          World model loss: +0.5628
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7907
+     Episode_Reward/track_angular_velocity: +49.9332
+                    Episode_Reward/upright: +25.3318
+                Episode_Reward/leg_posture: -2.5543
+                 Episode_Reward/standstill: -6.4918
+             Episode_Reward/action_rate_l2: -0.5501
+           Episode_Reward/joint_torques_l2: -0.1416
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.0711
+         Episode_Reward/rolling_leg_motion: -0.5613
+          Episode_Reward/obstacle_progress: +3.6368
+       Episode_Reward/wheel_body_intrusion: -0.2662
+        Episode_Reward/pair_body_intrusion: -0.2845
+             Curriculum/terrain_level_mean: +4.2092
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0948
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.4286
+             Episode_Termination/fell_over: 0.0357
+           Episode_Termination/course_exit: 0.5214
+Episode_Termination/illegal_nonwheel_contact: 0.0286
+==============================================================================
+
+==============================================================================
+Learning iteration 41700/50000
+                               Total steps: 170,803,200
+                          Steps per second: 13,618
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1420.0
+                                Actor loss: -9.5100
+                               Critic loss: +0.0045
+                          World model loss: +0.5750
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1753
+     Episode_Reward/track_angular_velocity: +53.5925
+                    Episode_Reward/upright: +27.1967
+                Episode_Reward/leg_posture: -2.7386
+                 Episode_Reward/standstill: -6.9225
+             Episode_Reward/action_rate_l2: -0.6007
+           Episode_Reward/joint_torques_l2: -0.1506
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0277
+     Episode_Reward/unnecessary_wheel_lift: -0.0930
+         Episode_Reward/rolling_leg_motion: -0.6150
+          Episode_Reward/obstacle_progress: +3.8831
+       Episode_Reward/wheel_body_intrusion: -0.2735
+        Episode_Reward/pair_body_intrusion: -0.2859
+             Curriculum/terrain_level_mean: +4.2092
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0947
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4810
+             Episode_Termination/fell_over: 0.0316
+           Episode_Termination/course_exit: 0.4557
+Episode_Termination/illegal_nonwheel_contact: 0.0506
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2388]
+
+==============================================================================
+Learning iteration 41750/50000
+                               Total steps: 171,008,000
+                          Steps per second: 13,620
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0870
+                       Mean episode length: 1351.8
+                                Actor loss: -9.4882
+                               Critic loss: +0.0058
+                          World model loss: +0.5995
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7983
+     Episode_Reward/track_angular_velocity: +51.0182
+                    Episode_Reward/upright: +25.9016
+                Episode_Reward/leg_posture: -2.5930
+                 Episode_Reward/standstill: -6.2286
+             Episode_Reward/action_rate_l2: -0.5721
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0238
+     Episode_Reward/unnecessary_wheel_lift: -0.0933
+         Episode_Reward/rolling_leg_motion: -0.5958
+          Episode_Reward/obstacle_progress: +3.7564
+       Episode_Reward/wheel_body_intrusion: -0.2688
+        Episode_Reward/pair_body_intrusion: -0.3036
+             Curriculum/terrain_level_mean: +4.2122
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0946
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4667
+             Episode_Termination/fell_over: 0.0364
+           Episode_Termination/course_exit: 0.4788
+Episode_Termination/illegal_nonwheel_contact: 0.0303
+==============================================================================
+
+==============================================================================
+Learning iteration 41800/50000
+                               Total steps: 171,212,800
+                          Steps per second: 13,622
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1407.4
+                                Actor loss: -9.5263
+                               Critic loss: +0.0045
+                          World model loss: +0.5873
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8040
+     Episode_Reward/track_angular_velocity: +53.1420
+                    Episode_Reward/upright: +26.9926
+                Episode_Reward/leg_posture: -2.6999
+                 Episode_Reward/standstill: -6.5039
+             Episode_Reward/action_rate_l2: -0.5886
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0137
+     Episode_Reward/unnecessary_wheel_lift: -0.0892
+         Episode_Reward/rolling_leg_motion: -0.6176
+          Episode_Reward/obstacle_progress: +3.9285
+       Episode_Reward/wheel_body_intrusion: -0.2817
+        Episode_Reward/pair_body_intrusion: -0.3122
+             Curriculum/terrain_level_mean: +4.2144
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5316
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4367
+Episode_Termination/illegal_nonwheel_contact: 0.0316
+==============================================================================
+
+==============================================================================
+Learning iteration 41850/50000
+                               Total steps: 171,417,600
+                          Steps per second: 13,625
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1345.8
+                                Actor loss: -9.5118
+                               Critic loss: +0.0034
+                          World model loss: +0.5360
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8578
+     Episode_Reward/track_angular_velocity: +50.8411
+                    Episode_Reward/upright: +25.8267
+                Episode_Reward/leg_posture: -2.5790
+                 Episode_Reward/standstill: -6.1167
+             Episode_Reward/action_rate_l2: -0.5597
+           Episode_Reward/joint_torques_l2: -0.1423
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0131
+     Episode_Reward/unnecessary_wheel_lift: -0.0894
+         Episode_Reward/rolling_leg_motion: -0.5668
+          Episode_Reward/obstacle_progress: +3.8241
+       Episode_Reward/wheel_body_intrusion: -0.2686
+        Episode_Reward/pair_body_intrusion: -0.3051
+             Curriculum/terrain_level_mean: +4.2156
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4759
+             Episode_Termination/fell_over: 0.0207
+           Episode_Termination/course_exit: 0.4897
+Episode_Termination/illegal_nonwheel_contact: 0.0138
+==============================================================================
+
+==============================================================================
+Learning iteration 41900/50000
+                               Total steps: 171,622,400
+                          Steps per second: 13,627
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1473.1
+                                Actor loss: -9.5014
+                               Critic loss: +0.0047
+                          World model loss: +0.5514
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +52.3044
+     Episode_Reward/track_angular_velocity: +55.6743
+                    Episode_Reward/upright: +28.2521
+                Episode_Reward/leg_posture: -2.8187
+                 Episode_Reward/standstill: -6.3227
+             Episode_Reward/action_rate_l2: -0.6093
+           Episode_Reward/joint_torques_l2: -0.1544
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0115
+     Episode_Reward/unnecessary_wheel_lift: -0.0866
+         Episode_Reward/rolling_leg_motion: -0.6345
+          Episode_Reward/obstacle_progress: +4.1235
+       Episode_Reward/wheel_body_intrusion: -0.2888
+        Episode_Reward/pair_body_intrusion: -0.3056
+             Curriculum/terrain_level_mean: +4.2170
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.5563
+             Episode_Termination/fell_over: 0.0125
+           Episode_Termination/course_exit: 0.4188
+Episode_Termination/illegal_nonwheel_contact: 0.0125
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[864]
+
+==============================================================================
+Learning iteration 41950/50000
+                               Total steps: 171,827,200
+                          Steps per second: 13,629
+                            Iteration time: 0.301s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1370.2
+                                Actor loss: -9.4956
+                               Critic loss: +0.0042
+                          World model loss: +0.5817
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6836
+     Episode_Reward/track_angular_velocity: +51.7775
+                    Episode_Reward/upright: +26.2567
+                Episode_Reward/leg_posture: -2.5886
+                 Episode_Reward/standstill: -5.8891
+             Episode_Reward/action_rate_l2: -0.5779
+           Episode_Reward/joint_torques_l2: -0.1435
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0714
+         Episode_Reward/rolling_leg_motion: -0.5861
+          Episode_Reward/obstacle_progress: +3.8276
+       Episode_Reward/wheel_body_intrusion: -0.2602
+        Episode_Reward/pair_body_intrusion: -0.2848
+             Curriculum/terrain_level_mean: +4.2192
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4779
+             Episode_Termination/fell_over: 0.0074
+           Episode_Termination/course_exit: 0.4853
+Episode_Termination/illegal_nonwheel_contact: 0.0294
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1114]
+
+==============================================================================
+Learning iteration 42000/50000
+                               Total steps: 172,032,000
+                          Steps per second: 13,631
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1375.6
+                                Actor loss: -9.5003
+                               Critic loss: +0.0051
+                          World model loss: +0.6024
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6976
+     Episode_Reward/track_angular_velocity: +51.9948
+                    Episode_Reward/upright: +26.3727
+                Episode_Reward/leg_posture: -2.5922
+                 Episode_Reward/standstill: -5.9703
+             Episode_Reward/action_rate_l2: -0.5886
+           Episode_Reward/joint_torques_l2: -0.1439
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0834
+         Episode_Reward/rolling_leg_motion: -0.5898
+          Episode_Reward/obstacle_progress: +3.7939
+       Episode_Reward/wheel_body_intrusion: -0.2627
+        Episode_Reward/pair_body_intrusion: -0.2955
+             Curriculum/terrain_level_mean: +4.2219
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4852
+             Episode_Termination/fell_over: 0.0178
+           Episode_Termination/course_exit: 0.4911
+Episode_Termination/illegal_nonwheel_contact: 0.0178
+==============================================================================
+
+==============================================================================
+Learning iteration 42050/50000
+                               Total steps: 172,236,800
+                          Steps per second: 13,633
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1315.4
+                                Actor loss: -9.5001
+                               Critic loss: +0.0057
+                          World model loss: +0.5700
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5954
+     Episode_Reward/track_angular_velocity: +49.6777
+                    Episode_Reward/upright: +25.1846
+                Episode_Reward/leg_posture: -2.5192
+                 Episode_Reward/standstill: -5.7920
+             Episode_Reward/action_rate_l2: -0.5609
+           Episode_Reward/joint_torques_l2: -0.1383
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0231
+     Episode_Reward/unnecessary_wheel_lift: -0.0832
+         Episode_Reward/rolling_leg_motion: -0.5553
+          Episode_Reward/obstacle_progress: +3.6340
+       Episode_Reward/wheel_body_intrusion: -0.2519
+        Episode_Reward/pair_body_intrusion: -0.2824
+             Curriculum/terrain_level_mean: +4.2224
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4444
+             Episode_Termination/fell_over: 0.0370
+           Episode_Termination/course_exit: 0.4889
+Episode_Termination/illegal_nonwheel_contact: 0.0370
+==============================================================================
+
+==============================================================================
+Learning iteration 42100/50000
+                               Total steps: 172,441,600
+                          Steps per second: 13,635
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1339.0
+                                Actor loss: -9.5253
+                               Critic loss: +0.0039
+                          World model loss: +0.5587
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3851
+     Episode_Reward/track_angular_velocity: +50.5471
+                    Episode_Reward/upright: +25.6344
+                Episode_Reward/leg_posture: -2.5249
+                 Episode_Reward/standstill: -5.9683
+             Episode_Reward/action_rate_l2: -0.5820
+           Episode_Reward/joint_torques_l2: -0.1405
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0235
+     Episode_Reward/unnecessary_wheel_lift: -0.0897
+         Episode_Reward/rolling_leg_motion: -0.5609
+          Episode_Reward/obstacle_progress: +3.7742
+       Episode_Reward/wheel_body_intrusion: -0.2464
+        Episode_Reward/pair_body_intrusion: -0.2857
+             Curriculum/terrain_level_mean: +4.2246
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4417
+             Episode_Termination/fell_over: 0.0307
+           Episode_Termination/course_exit: 0.5031
+Episode_Termination/illegal_nonwheel_contact: 0.0307
+==============================================================================
+
+==============================================================================
+Learning iteration 42150/50000
+                               Total steps: 172,646,400
+                          Steps per second: 13,637
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1333.3
+                                Actor loss: -9.5222
+                               Critic loss: +0.0038
+                          World model loss: +0.5798
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1637
+     Episode_Reward/track_angular_velocity: +50.2949
+                    Episode_Reward/upright: +25.5068
+                Episode_Reward/leg_posture: -2.4985
+                 Episode_Reward/standstill: -5.6352
+             Episode_Reward/action_rate_l2: -0.5743
+           Episode_Reward/joint_torques_l2: -0.1396
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0182
+     Episode_Reward/unnecessary_wheel_lift: -0.0700
+         Episode_Reward/rolling_leg_motion: -0.5506
+          Episode_Reward/obstacle_progress: +3.7707
+       Episode_Reward/wheel_body_intrusion: -0.2476
+        Episode_Reward/pair_body_intrusion: -0.2683
+             Curriculum/terrain_level_mean: +4.2258
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4853
+             Episode_Termination/fell_over: 0.0221
+           Episode_Termination/course_exit: 0.4632
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 42200/50000
+                               Total steps: 172,851,200
+                          Steps per second: 13,640
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1300.8
+                                Actor loss: -9.4958
+                               Critic loss: +0.0055
+                          World model loss: +0.5655
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.9724
+     Episode_Reward/track_angular_velocity: +49.0495
+                    Episode_Reward/upright: +24.8959
+                Episode_Reward/leg_posture: -2.4678
+                 Episode_Reward/standstill: -5.7479
+             Episode_Reward/action_rate_l2: -0.5602
+           Episode_Reward/joint_torques_l2: -0.1372
+             Episode_Reward/dof_pos_limits: -0.0015
+                 Episode_Reward/terminated: -0.0254
+     Episode_Reward/unnecessary_wheel_lift: -0.0861
+         Episode_Reward/rolling_leg_motion: -0.5538
+          Episode_Reward/obstacle_progress: +3.6659
+       Episode_Reward/wheel_body_intrusion: -0.2589
+        Episode_Reward/pair_body_intrusion: -0.2568
+             Curriculum/terrain_level_mean: +4.2271
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1370
+              Episode_Termination/time_out: 0.4277
+             Episode_Termination/fell_over: 0.0440
+           Episode_Termination/course_exit: 0.5094
+Episode_Termination/illegal_nonwheel_contact: 0.0314
+==============================================================================
+
+==============================================================================
+Learning iteration 42250/50000
+                               Total steps: 173,056,000
+                          Steps per second: 13,642
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1305.6
+                                Actor loss: -9.5216
+                               Critic loss: +0.0046
+                          World model loss: +0.5553
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0783
+     Episode_Reward/track_angular_velocity: +49.3290
+                    Episode_Reward/upright: +24.9736
+                Episode_Reward/leg_posture: -2.4542
+                 Episode_Reward/standstill: -6.1558
+             Episode_Reward/action_rate_l2: -0.5672
+           Episode_Reward/joint_torques_l2: -0.1369
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0357
+     Episode_Reward/unnecessary_wheel_lift: -0.0804
+         Episode_Reward/rolling_leg_motion: -0.5392
+          Episode_Reward/obstacle_progress: +3.6858
+       Episode_Reward/wheel_body_intrusion: -0.2439
+        Episode_Reward/pair_body_intrusion: -0.2529
+             Curriculum/terrain_level_mean: +4.2258
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0953
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4444
+             Episode_Termination/fell_over: 0.0523
+           Episode_Termination/course_exit: 0.4641
+Episode_Termination/illegal_nonwheel_contact: 0.0588
+==============================================================================
+
+==============================================================================
+Learning iteration 42300/50000
+                               Total steps: 173,260,800
+                          Steps per second: 13,644
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0870
+                       Mean episode length: 1307.3
+                                Actor loss: -9.5223
+                               Critic loss: +0.0041
+                          World model loss: +0.5697
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2427
+     Episode_Reward/track_angular_velocity: +49.3580
+                    Episode_Reward/upright: +25.0064
+                Episode_Reward/leg_posture: -2.4622
+                 Episode_Reward/standstill: -6.2734
+             Episode_Reward/action_rate_l2: -0.5669
+           Episode_Reward/joint_torques_l2: -0.1373
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0332
+     Episode_Reward/unnecessary_wheel_lift: -0.0949
+         Episode_Reward/rolling_leg_motion: -0.5511
+          Episode_Reward/obstacle_progress: +3.7123
+       Episode_Reward/wheel_body_intrusion: -0.2407
+        Episode_Reward/pair_body_intrusion: -0.2585
+             Curriculum/terrain_level_mean: +4.2241
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4387
+             Episode_Termination/fell_over: 0.0581
+           Episode_Termination/course_exit: 0.4839
+Episode_Termination/illegal_nonwheel_contact: 0.0581
+==============================================================================
+
+==============================================================================
+Learning iteration 42350/50000
+                               Total steps: 173,465,600
+                          Steps per second: 13,646
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0870
+                       Mean episode length: 1370.3
+                                Actor loss: -9.4991
+                               Critic loss: +0.0039
+                          World model loss: +0.5710
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5495
+     Episode_Reward/track_angular_velocity: +51.7270
+                    Episode_Reward/upright: +26.2402
+                Episode_Reward/leg_posture: -2.5647
+                 Episode_Reward/standstill: -6.6730
+             Episode_Reward/action_rate_l2: -0.5936
+           Episode_Reward/joint_torques_l2: -0.1441
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.0916
+         Episode_Reward/rolling_leg_motion: -0.5794
+          Episode_Reward/obstacle_progress: +3.8961
+       Episode_Reward/wheel_body_intrusion: -0.2483
+        Episode_Reward/pair_body_intrusion: -0.2946
+             Curriculum/terrain_level_mean: +4.2253
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5094
+             Episode_Termination/fell_over: 0.0377
+           Episode_Termination/course_exit: 0.4465
+Episode_Termination/illegal_nonwheel_contact: 0.0189
+==============================================================================
+
+==============================================================================
+Learning iteration 42400/50000
+                               Total steps: 173,670,400
+                          Steps per second: 13,648
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1360.0
+                                Actor loss: -9.5251
+                               Critic loss: +0.0049
+                          World model loss: +0.5874
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2230
+     Episode_Reward/track_angular_velocity: +51.4069
+                    Episode_Reward/upright: +26.0752
+                Episode_Reward/leg_posture: -2.5544
+                 Episode_Reward/standstill: -5.9104
+             Episode_Reward/action_rate_l2: -0.5851
+           Episode_Reward/joint_torques_l2: -0.1426
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.0956
+         Episode_Reward/rolling_leg_motion: -0.5808
+          Episode_Reward/obstacle_progress: +3.8457
+       Episode_Reward/wheel_body_intrusion: -0.2533
+        Episode_Reward/pair_body_intrusion: -0.2856
+             Curriculum/terrain_level_mean: +4.2263
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4634
+             Episode_Termination/fell_over: 0.0122
+           Episode_Termination/course_exit: 0.4878
+Episode_Termination/illegal_nonwheel_contact: 0.0427
+==============================================================================
+
+==============================================================================
+Learning iteration 42450/50000
+                               Total steps: 173,875,200
+                          Steps per second: 13,650
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1316.7
+                                Actor loss: -9.5393
+                               Critic loss: +0.0081
+                          World model loss: +0.5883
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6891
+     Episode_Reward/track_angular_velocity: +49.7616
+                    Episode_Reward/upright: +25.2314
+                Episode_Reward/leg_posture: -2.4927
+                 Episode_Reward/standstill: -5.9936
+             Episode_Reward/action_rate_l2: -0.5603
+           Episode_Reward/joint_torques_l2: -0.1380
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0309
+     Episode_Reward/unnecessary_wheel_lift: -0.0882
+         Episode_Reward/rolling_leg_motion: -0.5522
+          Episode_Reward/obstacle_progress: +3.7122
+       Episode_Reward/wheel_body_intrusion: -0.2551
+        Episode_Reward/pair_body_intrusion: -0.2875
+             Curriculum/terrain_level_mean: +4.2261
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4533
+             Episode_Termination/fell_over: 0.0200
+           Episode_Termination/course_exit: 0.4733
+Episode_Termination/illegal_nonwheel_contact: 0.0733
+==============================================================================
+
+==============================================================================
+Learning iteration 42500/50000
+                               Total steps: 174,080,000
+                          Steps per second: 13,652
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1359.5
+                                Actor loss: -9.5180
+                               Critic loss: +0.0071
+                          World model loss: +0.5613
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.2640
+     Episode_Reward/track_angular_velocity: +51.3877
+                    Episode_Reward/upright: +26.0497
+                Episode_Reward/leg_posture: -2.6147
+                 Episode_Reward/standstill: -6.0752
+             Episode_Reward/action_rate_l2: -0.5751
+           Episode_Reward/joint_torques_l2: -0.1422
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.0845
+         Episode_Reward/rolling_leg_motion: -0.5769
+          Episode_Reward/obstacle_progress: +3.7899
+       Episode_Reward/wheel_body_intrusion: -0.2767
+        Episode_Reward/pair_body_intrusion: -0.2892
+             Curriculum/terrain_level_mean: +4.2280
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4516
+             Episode_Termination/fell_over: 0.0065
+           Episode_Termination/course_exit: 0.5097
+Episode_Termination/illegal_nonwheel_contact: 0.0323
+==============================================================================
+
+==============================================================================
+Learning iteration 42550/50000
+                               Total steps: 174,284,800
+                          Steps per second: 13,654
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1318.5
+                                Actor loss: -9.4829
+                               Critic loss: +0.0062
+                          World model loss: +0.5810
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8873
+     Episode_Reward/track_angular_velocity: +49.7940
+                    Episode_Reward/upright: +25.2393
+                Episode_Reward/leg_posture: -2.5515
+                 Episode_Reward/standstill: -6.0929
+             Episode_Reward/action_rate_l2: -0.5674
+           Episode_Reward/joint_torques_l2: -0.1405
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.0754
+         Episode_Reward/rolling_leg_motion: -0.5722
+          Episode_Reward/obstacle_progress: +3.6629
+       Episode_Reward/wheel_body_intrusion: -0.2862
+        Episode_Reward/pair_body_intrusion: -0.2905
+             Curriculum/terrain_level_mean: +4.2285
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4091
+             Episode_Termination/fell_over: 0.0303
+           Episode_Termination/course_exit: 0.5303
+Episode_Termination/illegal_nonwheel_contact: 0.0530
+==============================================================================
+
+==============================================================================
+Learning iteration 42600/50000
+                               Total steps: 174,489,600
+                          Steps per second: 13,656
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0875
+                       Mean episode length: 1372.0
+                                Actor loss: -9.4970
+                               Critic loss: +0.0086
+                          World model loss: +0.5966
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6938
+     Episode_Reward/track_angular_velocity: +51.8237
+                    Episode_Reward/upright: +26.3111
+                Episode_Reward/leg_posture: -2.5452
+                 Episode_Reward/standstill: -6.0627
+             Episode_Reward/action_rate_l2: -0.5820
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0814
+         Episode_Reward/rolling_leg_motion: -0.5987
+          Episode_Reward/obstacle_progress: +3.8551
+       Episode_Reward/wheel_body_intrusion: -0.2844
+        Episode_Reward/pair_body_intrusion: -0.2662
+             Curriculum/terrain_level_mean: +4.2302
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.5210
+             Episode_Termination/fell_over: 0.0359
+           Episode_Termination/course_exit: 0.4371
+Episode_Termination/illegal_nonwheel_contact: 0.0240
+==============================================================================
+
+==============================================================================
+Learning iteration 42650/50000
+                               Total steps: 174,694,400
+                          Steps per second: 13,658
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1382.0
+                                Actor loss: -9.4925
+                               Critic loss: +0.0052
+                          World model loss: +0.5723
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9931
+     Episode_Reward/track_angular_velocity: +52.1416
+                    Episode_Reward/upright: +26.5210
+                Episode_Reward/leg_posture: -2.5997
+                 Episode_Reward/standstill: -6.4374
+             Episode_Reward/action_rate_l2: -0.5941
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0297
+     Episode_Reward/unnecessary_wheel_lift: -0.0877
+         Episode_Reward/rolling_leg_motion: -0.5883
+          Episode_Reward/obstacle_progress: +3.9591
+       Episode_Reward/wheel_body_intrusion: -0.2767
+        Episode_Reward/pair_body_intrusion: -0.2711
+             Curriculum/terrain_level_mean: +4.2307
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4765
+             Episode_Termination/fell_over: 0.0537
+           Episode_Termination/course_exit: 0.4497
+Episode_Termination/illegal_nonwheel_contact: 0.0403
+==============================================================================
+
+==============================================================================
+Learning iteration 42700/50000
+                               Total steps: 174,899,200
+                          Steps per second: 13,660
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0876
+                       Mean episode length: 1353.5
+                                Actor loss: -9.5136
+                               Critic loss: +0.0052
+                          World model loss: +0.5757
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0000
+     Episode_Reward/track_angular_velocity: +51.0752
+                    Episode_Reward/upright: +25.9549
+                Episode_Reward/leg_posture: -2.5402
+                 Episode_Reward/standstill: -5.9150
+             Episode_Reward/action_rate_l2: -0.5785
+           Episode_Reward/joint_torques_l2: -0.1432
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.0747
+         Episode_Reward/rolling_leg_motion: -0.5644
+          Episode_Reward/obstacle_progress: +3.9016
+       Episode_Reward/wheel_body_intrusion: -0.2755
+        Episode_Reward/pair_body_intrusion: -0.2546
+             Curriculum/terrain_level_mean: +4.2310
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.4785
+             Episode_Termination/fell_over: 0.0123
+           Episode_Termination/course_exit: 0.4785
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 42750/50000
+                               Total steps: 175,104,000
+                          Steps per second: 13,663
+                            Iteration time: 0.300s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0874
+                       Mean episode length: 1366.3
+                                Actor loss: -9.5420
+                               Critic loss: +0.0039
+                          World model loss: +0.5472
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4793
+     Episode_Reward/track_angular_velocity: +51.5689
+                    Episode_Reward/upright: +26.1779
+                Episode_Reward/leg_posture: -2.5541
+                 Episode_Reward/standstill: -6.1740
+             Episode_Reward/action_rate_l2: -0.5780
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.0766
+         Episode_Reward/rolling_leg_motion: -0.5673
+          Episode_Reward/obstacle_progress: +3.8874
+       Episode_Reward/wheel_body_intrusion: -0.2875
+        Episode_Reward/pair_body_intrusion: -0.3144
+             Curriculum/terrain_level_mean: +4.2314
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4820
+             Episode_Termination/fell_over: 0.0072
+           Episode_Termination/course_exit: 0.4676
+Episode_Termination/illegal_nonwheel_contact: 0.0504
+==============================================================================
+
+==============================================================================
+Learning iteration 42800/50000
+                               Total steps: 175,308,800
+                          Steps per second: 13,665
+                            Iteration time: 0.300s
+                           Collection time: 0.075s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1278.4
+                                Actor loss: -9.5151
+                               Critic loss: +0.0090
+                          World model loss: +0.5912
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.3328
+     Episode_Reward/track_angular_velocity: +48.2986
+                    Episode_Reward/upright: +24.4669
+                Episode_Reward/leg_posture: -2.3991
+                 Episode_Reward/standstill: -6.0178
+             Episode_Reward/action_rate_l2: -0.5390
+           Episode_Reward/joint_torques_l2: -0.1354
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0200
+     Episode_Reward/unnecessary_wheel_lift: -0.0891
+         Episode_Reward/rolling_leg_motion: -0.5469
+          Episode_Reward/obstacle_progress: +3.6805
+       Episode_Reward/wheel_body_intrusion: -0.2546
+        Episode_Reward/pair_body_intrusion: -0.2697
+             Curriculum/terrain_level_mean: +4.2322
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4359
+             Episode_Termination/fell_over: 0.0192
+           Episode_Termination/course_exit: 0.5128
+Episode_Termination/illegal_nonwheel_contact: 0.0449
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1711]
+RECOVERY reset 1 invalid environments; first IDs=[588]
+
+==============================================================================
+Learning iteration 42850/50000
+                               Total steps: 175,513,600
+                          Steps per second: 13,667
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1330.1
+                                Actor loss: -9.4952
+                               Critic loss: +0.0059
+                          World model loss: +0.5908
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1802
+     Episode_Reward/track_angular_velocity: +50.1933
+                    Episode_Reward/upright: +25.4626
+                Episode_Reward/leg_posture: -2.5286
+                 Episode_Reward/standstill: -6.3852
+             Episode_Reward/action_rate_l2: -0.5690
+           Episode_Reward/joint_torques_l2: -0.1412
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0312
+     Episode_Reward/unnecessary_wheel_lift: -0.0962
+         Episode_Reward/rolling_leg_motion: -0.5759
+          Episode_Reward/obstacle_progress: +3.8250
+       Episode_Reward/wheel_body_intrusion: -0.2597
+        Episode_Reward/pair_body_intrusion: -0.2476
+             Curriculum/terrain_level_mean: +4.2317
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4479
+             Episode_Termination/fell_over: 0.0368
+           Episode_Termination/course_exit: 0.4785
+Episode_Termination/illegal_nonwheel_contact: 0.0613
+==============================================================================
+
+==============================================================================
+Learning iteration 42900/50000
+                               Total steps: 175,718,400
+                          Steps per second: 13,669
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0871
+                       Mean episode length: 1399.5
+                                Actor loss: -9.5362
+                               Critic loss: +0.0072
+                          World model loss: +0.5913
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.6698
+     Episode_Reward/track_angular_velocity: +52.8812
+                    Episode_Reward/upright: +26.8105
+                Episode_Reward/leg_posture: -2.6404
+                 Episode_Reward/standstill: -6.7738
+             Episode_Reward/action_rate_l2: -0.5895
+           Episode_Reward/joint_torques_l2: -0.1480
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0273
+     Episode_Reward/unnecessary_wheel_lift: -0.1021
+         Episode_Reward/rolling_leg_motion: -0.5977
+          Episode_Reward/obstacle_progress: +4.0167
+       Episode_Reward/wheel_body_intrusion: -0.2634
+        Episode_Reward/pair_body_intrusion: -0.2833
+             Curriculum/terrain_level_mean: +4.2322
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4932
+             Episode_Termination/fell_over: 0.0473
+           Episode_Termination/course_exit: 0.4392
+Episode_Termination/illegal_nonwheel_contact: 0.0541
+==============================================================================
+
+==============================================================================
+Learning iteration 42950/50000
+                               Total steps: 175,923,200
+                          Steps per second: 13,671
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1370.7
+                                Actor loss: -9.5343
+                               Critic loss: +0.0037
+                          World model loss: +0.5845
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6199
+     Episode_Reward/track_angular_velocity: +51.7085
+                    Episode_Reward/upright: +26.2417
+                Episode_Reward/leg_posture: -2.5988
+                 Episode_Reward/standstill: -6.1591
+             Episode_Reward/action_rate_l2: -0.5781
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0294
+     Episode_Reward/unnecessary_wheel_lift: -0.0861
+         Episode_Reward/rolling_leg_motion: -0.5738
+          Episode_Reward/obstacle_progress: +3.8985
+       Episode_Reward/wheel_body_intrusion: -0.2634
+        Episode_Reward/pair_body_intrusion: -0.2720
+             Curriculum/terrain_level_mean: +4.2319
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.5192
+             Episode_Termination/fell_over: 0.0256
+           Episode_Termination/course_exit: 0.4103
+Episode_Termination/illegal_nonwheel_contact: 0.0641
+==============================================================================
+
+==============================================================================
+Learning iteration 43000/50000
+                               Total steps: 176,128,000
+                          Steps per second: 13,673
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0869
+                       Mean episode length: 1317.6
+                                Actor loss: -9.5161
+                               Critic loss: +0.0055
+                          World model loss: +0.5443
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7318
+     Episode_Reward/track_angular_velocity: +49.6951
+                    Episode_Reward/upright: +25.2117
+                Episode_Reward/leg_posture: -2.5221
+                 Episode_Reward/standstill: -6.4274
+             Episode_Reward/action_rate_l2: -0.5480
+           Episode_Reward/joint_torques_l2: -0.1395
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0335
+     Episode_Reward/unnecessary_wheel_lift: -0.0952
+         Episode_Reward/rolling_leg_motion: -0.5491
+          Episode_Reward/obstacle_progress: +3.6844
+       Episode_Reward/wheel_body_intrusion: -0.2602
+        Episode_Reward/pair_body_intrusion: -0.2899
+             Curriculum/terrain_level_mean: +4.2317
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.3931
+             Episode_Termination/fell_over: 0.0690
+           Episode_Termination/course_exit: 0.5172
+Episode_Termination/illegal_nonwheel_contact: 0.0552
+==============================================================================
+
+==============================================================================
+Learning iteration 43050/50000
+                               Total steps: 176,332,800
+                          Steps per second: 13,675
+                            Iteration time: 0.300s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1344.2
+                                Actor loss: -9.5347
+                               Critic loss: +0.0063
+                          World model loss: +0.5965
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7929
+     Episode_Reward/track_angular_velocity: +50.7244
+                    Episode_Reward/upright: +25.7647
+                Episode_Reward/leg_posture: -2.5357
+                 Episode_Reward/standstill: -6.1141
+             Episode_Reward/action_rate_l2: -0.5592
+           Episode_Reward/joint_torques_l2: -0.1419
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0289
+     Episode_Reward/unnecessary_wheel_lift: -0.1001
+         Episode_Reward/rolling_leg_motion: -0.5645
+          Episode_Reward/obstacle_progress: +3.7562
+       Episode_Reward/wheel_body_intrusion: -0.2642
+        Episode_Reward/pair_body_intrusion: -0.3105
+             Curriculum/terrain_level_mean: +4.2322
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.4667
+             Episode_Termination/fell_over: 0.0485
+           Episode_Termination/course_exit: 0.4667
+Episode_Termination/illegal_nonwheel_contact: 0.0303
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[3356]
+RECOVERY reset 1 invalid environments; first IDs=[2338]
+
+==============================================================================
+Learning iteration 43100/50000
+                               Total steps: 176,537,600
+                          Steps per second: 13,677
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1324.9
+                                Actor loss: -9.5172
+                               Critic loss: +0.0063
+                          World model loss: +0.5616
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1451
+     Episode_Reward/track_angular_velocity: +50.0530
+                    Episode_Reward/upright: +25.3959
+                Episode_Reward/leg_posture: -2.4809
+                 Episode_Reward/standstill: -6.1673
+             Episode_Reward/action_rate_l2: -0.5506
+           Episode_Reward/joint_torques_l2: -0.1400
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0207
+     Episode_Reward/unnecessary_wheel_lift: -0.0894
+         Episode_Reward/rolling_leg_motion: -0.5594
+          Episode_Reward/obstacle_progress: +3.6825
+       Episode_Reward/wheel_body_intrusion: -0.2729
+        Episode_Reward/pair_body_intrusion: -0.2914
+             Curriculum/terrain_level_mean: +4.2344
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.4295
+             Episode_Termination/fell_over: 0.0064
+           Episode_Termination/course_exit: 0.5192
+Episode_Termination/illegal_nonwheel_contact: 0.0449
+==============================================================================
+
+==============================================================================
+Learning iteration 43150/50000
+                               Total steps: 176,742,400
+                          Steps per second: 13,679
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1396.5
+                                Actor loss: -9.5265
+                               Critic loss: +0.0049
+                          World model loss: +0.5611
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7922
+     Episode_Reward/track_angular_velocity: +52.7108
+                    Episode_Reward/upright: +26.7589
+                Episode_Reward/leg_posture: -2.6050
+                 Episode_Reward/standstill: -6.3628
+             Episode_Reward/action_rate_l2: -0.5825
+           Episode_Reward/joint_torques_l2: -0.1477
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0136
+     Episode_Reward/unnecessary_wheel_lift: -0.0769
+         Episode_Reward/rolling_leg_motion: -0.5825
+          Episode_Reward/obstacle_progress: +3.9908
+       Episode_Reward/wheel_body_intrusion: -0.2889
+        Episode_Reward/pair_body_intrusion: -0.3203
+             Curriculum/terrain_level_mean: +4.2354
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.5390
+             Episode_Termination/fell_over: 0.0130
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0260
+==============================================================================
+
+==============================================================================
+Learning iteration 43200/50000
+                               Total steps: 176,947,200
+                          Steps per second: 13,681
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1399.3
+                                Actor loss: -9.5206
+                               Critic loss: +0.0061
+                          World model loss: +0.5617
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8252
+     Episode_Reward/track_angular_velocity: +52.8455
+                    Episode_Reward/upright: +26.8108
+                Episode_Reward/leg_posture: -2.6430
+                 Episode_Reward/standstill: -6.6750
+             Episode_Reward/action_rate_l2: -0.5782
+           Episode_Reward/joint_torques_l2: -0.1487
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0219
+     Episode_Reward/unnecessary_wheel_lift: -0.0868
+         Episode_Reward/rolling_leg_motion: -0.5751
+          Episode_Reward/obstacle_progress: +3.9770
+       Episode_Reward/wheel_body_intrusion: -0.3070
+        Episode_Reward/pair_body_intrusion: -0.3265
+             Curriculum/terrain_level_mean: +4.2356
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4961
+             Episode_Termination/fell_over: 0.0388
+           Episode_Termination/course_exit: 0.4496
+Episode_Termination/illegal_nonwheel_contact: 0.0310
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_043200.mp4
+
+==============================================================================
+Learning iteration 43250/50000
+                               Total steps: 177,152,000
+                          Steps per second: 13,676
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1349.6
+                                Actor loss: -9.5287
+                               Critic loss: +0.0057
+                          World model loss: +0.5392
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9900
+     Episode_Reward/track_angular_velocity: +50.9503
+                    Episode_Reward/upright: +25.8439
+                Episode_Reward/leg_posture: -2.5939
+                 Episode_Reward/standstill: -6.7425
+             Episode_Reward/action_rate_l2: -0.5578
+           Episode_Reward/joint_torques_l2: -0.1431
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0290
+     Episode_Reward/unnecessary_wheel_lift: -0.0826
+         Episode_Reward/rolling_leg_motion: -0.5621
+          Episode_Reward/obstacle_progress: +3.8675
+       Episode_Reward/wheel_body_intrusion: -0.2748
+        Episode_Reward/pair_body_intrusion: -0.3379
+             Curriculum/terrain_level_mean: +4.2356
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4776
+             Episode_Termination/fell_over: 0.0522
+           Episode_Termination/course_exit: 0.4403
+Episode_Termination/illegal_nonwheel_contact: 0.0299
+==============================================================================
+
+==============================================================================
+Learning iteration 43300/50000
+                               Total steps: 177,356,800
+                          Steps per second: 13,678
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1348.8
+                                Actor loss: -9.5546
+                               Critic loss: +0.0048
+                          World model loss: +0.6049
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8998
+     Episode_Reward/track_angular_velocity: +50.9741
+                    Episode_Reward/upright: +25.8575
+                Episode_Reward/leg_posture: -2.5801
+                 Episode_Reward/standstill: -6.3354
+             Episode_Reward/action_rate_l2: -0.5530
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0847
+         Episode_Reward/rolling_leg_motion: -0.5667
+          Episode_Reward/obstacle_progress: +3.8404
+       Episode_Reward/wheel_body_intrusion: -0.2683
+        Episode_Reward/pair_body_intrusion: -0.2738
+             Curriculum/terrain_level_mean: +4.2363
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4211
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.5329
+Episode_Termination/illegal_nonwheel_contact: 0.0263
+==============================================================================
+
+==============================================================================
+Learning iteration 43350/50000
+                               Total steps: 177,561,600
+                          Steps per second: 13,680
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1335.5
+                                Actor loss: -9.5337
+                               Critic loss: +0.0046
+                          World model loss: +0.5890
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5645
+     Episode_Reward/track_angular_velocity: +50.5122
+                    Episode_Reward/upright: +25.5972
+                Episode_Reward/leg_posture: -2.5606
+                 Episode_Reward/standstill: -6.0213
+             Episode_Reward/action_rate_l2: -0.5567
+           Episode_Reward/joint_torques_l2: -0.1436
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0130
+     Episode_Reward/unnecessary_wheel_lift: -0.0852
+         Episode_Reward/rolling_leg_motion: -0.5638
+          Episode_Reward/obstacle_progress: +3.8614
+       Episode_Reward/wheel_body_intrusion: -0.2687
+        Episode_Reward/pair_body_intrusion: -0.2848
+             Curriculum/terrain_level_mean: +4.2371
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4460
+             Episode_Termination/fell_over: 0.0216
+           Episode_Termination/course_exit: 0.5252
+Episode_Termination/illegal_nonwheel_contact: 0.0216
+==============================================================================
+
+==============================================================================
+Learning iteration 43400/50000
+                               Total steps: 177,766,400
+                          Steps per second: 13,682
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1360.3
+                                Actor loss: -9.5303
+                               Critic loss: +0.0044
+                          World model loss: +0.5419
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.3402
+     Episode_Reward/track_angular_velocity: +51.3649
+                    Episode_Reward/upright: +26.0772
+                Episode_Reward/leg_posture: -2.5871
+                 Episode_Reward/standstill: -6.1949
+             Episode_Reward/action_rate_l2: -0.5633
+           Episode_Reward/joint_torques_l2: -0.1455
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0159
+     Episode_Reward/unnecessary_wheel_lift: -0.0789
+         Episode_Reward/rolling_leg_motion: -0.5768
+          Episode_Reward/obstacle_progress: +3.9792
+       Episode_Reward/wheel_body_intrusion: -0.2587
+        Episode_Reward/pair_body_intrusion: -0.2841
+             Curriculum/terrain_level_mean: +4.2380
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4672
+             Episode_Termination/fell_over: 0.0146
+           Episode_Termination/course_exit: 0.4891
+Episode_Termination/illegal_nonwheel_contact: 0.0365
+==============================================================================
+
+==============================================================================
+Learning iteration 43450/50000
+                               Total steps: 177,971,200
+                          Steps per second: 13,684
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1378.4
+                                Actor loss: -9.5131
+                               Critic loss: +0.0092
+                          World model loss: +0.5889
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9042
+     Episode_Reward/track_angular_velocity: +52.0153
+                    Episode_Reward/upright: +26.4383
+                Episode_Reward/leg_posture: -2.6346
+                 Episode_Reward/standstill: -6.3666
+             Episode_Reward/action_rate_l2: -0.5631
+           Episode_Reward/joint_torques_l2: -0.1467
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0215
+     Episode_Reward/unnecessary_wheel_lift: -0.0894
+         Episode_Reward/rolling_leg_motion: -0.5764
+          Episode_Reward/obstacle_progress: +3.9292
+       Episode_Reward/wheel_body_intrusion: -0.2831
+        Episode_Reward/pair_body_intrusion: -0.2829
+             Curriculum/terrain_level_mean: +4.2393
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.5033
+             Episode_Termination/fell_over: 0.0261
+           Episode_Termination/course_exit: 0.4444
+Episode_Termination/illegal_nonwheel_contact: 0.0392
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2135]
+
+==============================================================================
+Learning iteration 43500/50000
+                               Total steps: 178,176,000
+                          Steps per second: 13,686
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0874
+                       Mean episode length: 1323.4
+                                Actor loss: -9.5469
+                               Critic loss: +0.0040
+                          World model loss: +0.5719
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1068
+     Episode_Reward/track_angular_velocity: +50.0289
+                    Episode_Reward/upright: +25.3980
+                Episode_Reward/leg_posture: -2.4921
+                 Episode_Reward/standstill: -6.2979
+             Episode_Reward/action_rate_l2: -0.5375
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0258
+     Episode_Reward/unnecessary_wheel_lift: -0.0930
+         Episode_Reward/rolling_leg_motion: -0.5634
+          Episode_Reward/obstacle_progress: +3.8477
+       Episode_Reward/wheel_body_intrusion: -0.2634
+        Episode_Reward/pair_body_intrusion: -0.2722
+             Curriculum/terrain_level_mean: +4.2397
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1338
+              Episode_Termination/time_out: 0.4540
+             Episode_Termination/fell_over: 0.0429
+           Episode_Termination/course_exit: 0.4847
+Episode_Termination/illegal_nonwheel_contact: 0.0307
+==============================================================================
+
+==============================================================================
+Learning iteration 43550/50000
+                               Total steps: 178,380,800
+                          Steps per second: 13,688
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0876
+                       Mean episode length: 1390.8
+                                Actor loss: -9.5155
+                               Critic loss: +0.0074
+                          World model loss: +0.5345
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3953
+     Episode_Reward/track_angular_velocity: +52.6116
+                    Episode_Reward/upright: +26.7150
+                Episode_Reward/leg_posture: -2.6194
+                 Episode_Reward/standstill: -6.3217
+             Episode_Reward/action_rate_l2: -0.5649
+           Episode_Reward/joint_torques_l2: -0.1464
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0054
+     Episode_Reward/unnecessary_wheel_lift: -0.0875
+         Episode_Reward/rolling_leg_motion: -0.5996
+          Episode_Reward/obstacle_progress: +3.9816
+       Episode_Reward/wheel_body_intrusion: -0.2594
+        Episode_Reward/pair_body_intrusion: -0.3008
+             Curriculum/terrain_level_mean: +4.2439
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.4815
+             Episode_Termination/fell_over: 0.0062
+           Episode_Termination/course_exit: 0.5062
+Episode_Termination/illegal_nonwheel_contact: 0.0062
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1931]
+
+==============================================================================
+Learning iteration 43600/50000
+                               Total steps: 178,585,600
+                          Steps per second: 13,690
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0877
+                       Mean episode length: 1305.4
+                                Actor loss: -9.5249
+                               Critic loss: +0.0053
+                          World model loss: +0.5865
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4999
+     Episode_Reward/track_angular_velocity: +49.4496
+                    Episode_Reward/upright: +25.0540
+                Episode_Reward/leg_posture: -2.4339
+                 Episode_Reward/standstill: -6.0047
+             Episode_Reward/action_rate_l2: -0.5438
+           Episode_Reward/joint_torques_l2: -0.1385
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0076
+     Episode_Reward/unnecessary_wheel_lift: -0.0699
+         Episode_Reward/rolling_leg_motion: -0.5561
+          Episode_Reward/obstacle_progress: +3.7793
+       Episode_Reward/wheel_body_intrusion: -0.2370
+        Episode_Reward/pair_body_intrusion: -0.2603
+             Curriculum/terrain_level_mean: +4.2458
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1316
+              Episode_Termination/time_out: 0.4143
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5643
+Episode_Termination/illegal_nonwheel_contact: 0.0214
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1714]
+
+==============================================================================
+Learning iteration 43650/50000
+                               Total steps: 178,790,400
+                          Steps per second: 13,692
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1423.8
+                                Actor loss: -9.5326
+                               Critic loss: +0.0034
+                          World model loss: +0.5638
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.7512
+     Episode_Reward/track_angular_velocity: +53.8371
+                    Episode_Reward/upright: +27.3374
+                Episode_Reward/leg_posture: -2.6531
+                 Episode_Reward/standstill: -6.4411
+             Episode_Reward/action_rate_l2: -0.5976
+           Episode_Reward/joint_torques_l2: -0.1527
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0139
+     Episode_Reward/unnecessary_wheel_lift: -0.0786
+         Episode_Reward/rolling_leg_motion: -0.6059
+          Episode_Reward/obstacle_progress: +4.0902
+       Episode_Reward/wheel_body_intrusion: -0.2875
+        Episode_Reward/pair_body_intrusion: -0.3073
+             Curriculum/terrain_level_mean: +4.2466
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5782
+             Episode_Termination/fell_over: 0.0204
+           Episode_Termination/course_exit: 0.3878
+Episode_Termination/illegal_nonwheel_contact: 0.0136
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2004]
+
+==============================================================================
+Learning iteration 43700/50000
+                               Total steps: 178,995,200
+                          Steps per second: 13,694
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0876
+                       Mean episode length: 1365.0
+                                Actor loss: -9.5433
+                               Critic loss: +0.0087
+                          World model loss: +0.5909
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5472
+     Episode_Reward/track_angular_velocity: +51.5861
+                    Episode_Reward/upright: +26.1948
+                Episode_Reward/leg_posture: -2.5476
+                 Episode_Reward/standstill: -6.1248
+             Episode_Reward/action_rate_l2: -0.5748
+           Episode_Reward/joint_torques_l2: -0.1454
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0107
+     Episode_Reward/unnecessary_wheel_lift: -0.0770
+         Episode_Reward/rolling_leg_motion: -0.5805
+          Episode_Reward/obstacle_progress: +3.8801
+       Episode_Reward/wheel_body_intrusion: -0.2805
+        Episode_Reward/pair_body_intrusion: -0.3010
+             Curriculum/terrain_level_mean: +4.2488
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4962
+             Episode_Termination/fell_over: 0.0226
+           Episode_Termination/course_exit: 0.4737
+Episode_Termination/illegal_nonwheel_contact: 0.0150
+==============================================================================
+
+==============================================================================
+Learning iteration 43750/50000
+                               Total steps: 179,200,000
+                          Steps per second: 13,696
+                            Iteration time: 0.299s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1411.4
+                                Actor loss: -9.5203
+                               Critic loss: +0.0073
+                          World model loss: +0.5948
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.2442
+     Episode_Reward/track_angular_velocity: +53.3423
+                    Episode_Reward/upright: +27.0440
+                Episode_Reward/leg_posture: -2.6407
+                 Episode_Reward/standstill: -6.1385
+             Episode_Reward/action_rate_l2: -0.6058
+           Episode_Reward/joint_torques_l2: -0.1504
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.1001
+         Episode_Reward/rolling_leg_motion: -0.6142
+          Episode_Reward/obstacle_progress: +4.0650
+       Episode_Reward/wheel_body_intrusion: -0.2585
+        Episode_Reward/pair_body_intrusion: -0.3098
+             Curriculum/terrain_level_mean: +4.2522
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4969
+             Episode_Termination/fell_over: 0.0189
+           Episode_Termination/course_exit: 0.4717
+Episode_Termination/illegal_nonwheel_contact: 0.0189
+==============================================================================
+
+==============================================================================
+Learning iteration 43800/50000
+                               Total steps: 179,404,800
+                          Steps per second: 13,698
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1278.5
+                                Actor loss: -9.5302
+                               Critic loss: +0.0060
+                          World model loss: +0.5508
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.5512
+     Episode_Reward/track_angular_velocity: +48.3491
+                    Episode_Reward/upright: +24.5245
+                Episode_Reward/leg_posture: -2.3997
+                 Episode_Reward/standstill: -5.7232
+             Episode_Reward/action_rate_l2: -0.5408
+           Episode_Reward/joint_torques_l2: -0.1355
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0325
+     Episode_Reward/unnecessary_wheel_lift: -0.0703
+         Episode_Reward/rolling_leg_motion: -0.5470
+          Episode_Reward/obstacle_progress: +3.6007
+       Episode_Reward/wheel_body_intrusion: -0.2457
+        Episode_Reward/pair_body_intrusion: -0.2572
+             Curriculum/terrain_level_mean: +4.2512
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0911
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.3830
+             Episode_Termination/fell_over: 0.0567
+           Episode_Termination/course_exit: 0.5319
+Episode_Termination/illegal_nonwheel_contact: 0.0567
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2445]
+
+==============================================================================
+Learning iteration 43850/50000
+                               Total steps: 179,609,600
+                          Steps per second: 13,700
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1373.0
+                                Actor loss: -9.5481
+                               Critic loss: +0.0035
+                          World model loss: +0.5644
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8485
+     Episode_Reward/track_angular_velocity: +51.9013
+                    Episode_Reward/upright: +26.3273
+                Episode_Reward/leg_posture: -2.6408
+                 Episode_Reward/standstill: -6.1967
+             Episode_Reward/action_rate_l2: -0.5790
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0764
+         Episode_Reward/rolling_leg_motion: -0.5860
+          Episode_Reward/obstacle_progress: +3.7924
+       Episode_Reward/wheel_body_intrusion: -0.2786
+        Episode_Reward/pair_body_intrusion: -0.3153
+             Curriculum/terrain_level_mean: +4.2522
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4867
+             Episode_Termination/fell_over: 0.0267
+           Episode_Termination/course_exit: 0.4800
+Episode_Termination/illegal_nonwheel_contact: 0.0200
+==============================================================================
+
+==============================================================================
+Learning iteration 43900/50000
+                               Total steps: 179,814,400
+                          Steps per second: 13,702
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1295.9
+                                Actor loss: -9.5260
+                               Critic loss: +0.0039
+                          World model loss: +0.5442
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1144
+     Episode_Reward/track_angular_velocity: +48.9485
+                    Episode_Reward/upright: +24.8570
+                Episode_Reward/leg_posture: -2.5190
+                 Episode_Reward/standstill: -5.7157
+             Episode_Reward/action_rate_l2: -0.5454
+           Episode_Reward/joint_torques_l2: -0.1381
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0152
+     Episode_Reward/unnecessary_wheel_lift: -0.0831
+         Episode_Reward/rolling_leg_motion: -0.5600
+          Episode_Reward/obstacle_progress: +3.6462
+       Episode_Reward/wheel_body_intrusion: -0.2730
+        Episode_Reward/pair_body_intrusion: -0.2731
+             Curriculum/terrain_level_mean: +4.2542
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4110
+             Episode_Termination/fell_over: 0.0274
+           Episode_Termination/course_exit: 0.5479
+Episode_Termination/illegal_nonwheel_contact: 0.0205
+==============================================================================
+
+==============================================================================
+Learning iteration 43950/50000
+                               Total steps: 180,019,200
+                          Steps per second: 13,704
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1350.6
+                                Actor loss: -9.5123
+                               Critic loss: +0.0090
+                          World model loss: +0.5489
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0740
+     Episode_Reward/track_angular_velocity: +51.0257
+                    Episode_Reward/upright: +25.8972
+                Episode_Reward/leg_posture: -2.6047
+                 Episode_Reward/standstill: -6.1521
+             Episode_Reward/action_rate_l2: -0.5784
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0317
+     Episode_Reward/unnecessary_wheel_lift: -0.0869
+         Episode_Reward/rolling_leg_motion: -0.5852
+          Episode_Reward/obstacle_progress: +3.8258
+       Episode_Reward/wheel_body_intrusion: -0.2632
+        Episode_Reward/pair_body_intrusion: -0.2832
+             Curriculum/terrain_level_mean: +4.2542
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4832
+             Episode_Termination/fell_over: 0.0537
+           Episode_Termination/course_exit: 0.4362
+Episode_Termination/illegal_nonwheel_contact: 0.0604
+==============================================================================
+
+==============================================================================
+Learning iteration 44000/50000
+                               Total steps: 180,224,000
+                          Steps per second: 13,706
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1391.5
+                                Actor loss: -9.5158
+                               Critic loss: +0.0063
+                          World model loss: +0.5775
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5143
+     Episode_Reward/track_angular_velocity: +52.6240
+                    Episode_Reward/upright: +26.6780
+                Episode_Reward/leg_posture: -2.7015
+                 Episode_Reward/standstill: -6.4016
+             Episode_Reward/action_rate_l2: -0.5872
+           Episode_Reward/joint_torques_l2: -0.1484
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0136
+     Episode_Reward/unnecessary_wheel_lift: -0.0712
+         Episode_Reward/rolling_leg_motion: -0.5813
+          Episode_Reward/obstacle_progress: +3.8756
+       Episode_Reward/wheel_body_intrusion: -0.3020
+        Episode_Reward/pair_body_intrusion: -0.2976
+             Curriculum/terrain_level_mean: +4.2561
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.4648
+Episode_Termination/illegal_nonwheel_contact: 0.0211
+==============================================================================
+
+==============================================================================
+Learning iteration 44050/50000
+                               Total steps: 180,428,800
+                          Steps per second: 13,708
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1397.5
+                                Actor loss: -9.5177
+                               Critic loss: +0.0057
+                          World model loss: +0.5376
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5919
+     Episode_Reward/track_angular_velocity: +52.8259
+                    Episode_Reward/upright: +26.7928
+                Episode_Reward/leg_posture: -2.6691
+                 Episode_Reward/standstill: -6.1548
+             Episode_Reward/action_rate_l2: -0.5992
+           Episode_Reward/joint_torques_l2: -0.1484
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0218
+     Episode_Reward/unnecessary_wheel_lift: -0.0817
+         Episode_Reward/rolling_leg_motion: -0.6051
+          Episode_Reward/obstacle_progress: +3.8482
+       Episode_Reward/wheel_body_intrusion: -0.2911
+        Episode_Reward/pair_body_intrusion: -0.2684
+             Curriculum/terrain_level_mean: +4.2563
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.5170
+             Episode_Termination/fell_over: 0.0068
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[968]
+
+==============================================================================
+Learning iteration 44100/50000
+                               Total steps: 180,633,600
+                          Steps per second: 13,710
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1383.6
+                                Actor loss: -9.5217
+                               Critic loss: +0.0051
+                          World model loss: +0.5477
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0514
+     Episode_Reward/track_angular_velocity: +52.2811
+                    Episode_Reward/upright: +26.5133
+                Episode_Reward/leg_posture: -2.6877
+                 Episode_Reward/standstill: -6.3695
+             Episode_Reward/action_rate_l2: -0.5939
+           Episode_Reward/joint_torques_l2: -0.1483
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0867
+         Episode_Reward/rolling_leg_motion: -0.6132
+          Episode_Reward/obstacle_progress: +3.7620
+       Episode_Reward/wheel_body_intrusion: -0.2834
+        Episode_Reward/pair_body_intrusion: -0.2651
+             Curriculum/terrain_level_mean: +4.2581
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4969
+             Episode_Termination/fell_over: 0.0123
+           Episode_Termination/course_exit: 0.4785
+Episode_Termination/illegal_nonwheel_contact: 0.0245
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[914]
+RECOVERY reset 1 invalid environments; first IDs=[2413]
+
+==============================================================================
+Learning iteration 44150/50000
+                               Total steps: 180,838,400
+                          Steps per second: 13,712
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1370.1
+                                Actor loss: -9.5036
+                               Critic loss: +0.0103
+                          World model loss: +0.5815
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8004
+     Episode_Reward/track_angular_velocity: +51.8122
+                    Episode_Reward/upright: +26.2713
+                Episode_Reward/leg_posture: -2.7017
+                 Episode_Reward/standstill: -6.4398
+             Episode_Reward/action_rate_l2: -0.5777
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.1057
+         Episode_Reward/rolling_leg_motion: -0.6028
+          Episode_Reward/obstacle_progress: +3.7298
+       Episode_Reward/wheel_body_intrusion: -0.2656
+        Episode_Reward/pair_body_intrusion: -0.2974
+             Curriculum/terrain_level_mean: +4.2585
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4689
+             Episode_Termination/fell_over: 0.0282
+           Episode_Termination/course_exit: 0.4859
+Episode_Termination/illegal_nonwheel_contact: 0.0282
+==============================================================================
+
+==============================================================================
+Learning iteration 44200/50000
+                               Total steps: 181,043,200
+                          Steps per second: 13,714
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1371.3
+                                Actor loss: -9.5385
+                               Critic loss: +0.0043
+                          World model loss: +0.5742
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8747
+     Episode_Reward/track_angular_velocity: +51.8224
+                    Episode_Reward/upright: +26.3064
+                Episode_Reward/leg_posture: -2.6626
+                 Episode_Reward/standstill: -6.4350
+             Episode_Reward/action_rate_l2: -0.5804
+           Episode_Reward/joint_torques_l2: -0.1466
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0321
+     Episode_Reward/unnecessary_wheel_lift: -0.0877
+         Episode_Reward/rolling_leg_motion: -0.6111
+          Episode_Reward/obstacle_progress: +3.7729
+       Episode_Reward/wheel_body_intrusion: -0.2813
+        Episode_Reward/pair_body_intrusion: -0.2484
+             Curriculum/terrain_level_mean: +4.2581
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0909
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4969
+             Episode_Termination/fell_over: 0.0497
+           Episode_Termination/course_exit: 0.4286
+Episode_Termination/illegal_nonwheel_contact: 0.0497
+==============================================================================
+
+==============================================================================
+Learning iteration 44250/50000
+                               Total steps: 181,248,000
+                          Steps per second: 13,716
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0871
+                       Mean episode length: 1410.5
+                                Actor loss: -9.5524
+                               Critic loss: +0.0048
+                          World model loss: +0.5326
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1968
+     Episode_Reward/track_angular_velocity: +53.3274
+                    Episode_Reward/upright: +27.0345
+                Episode_Reward/leg_posture: -2.7322
+                 Episode_Reward/standstill: -6.7753
+             Episode_Reward/action_rate_l2: -0.5892
+           Episode_Reward/joint_torques_l2: -0.1517
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.1015
+         Episode_Reward/rolling_leg_motion: -0.5958
+          Episode_Reward/obstacle_progress: +3.8993
+       Episode_Reward/wheel_body_intrusion: -0.3005
+        Episode_Reward/pair_body_intrusion: -0.2975
+             Curriculum/terrain_level_mean: +4.2593
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0917
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.5442
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4218
+Episode_Termination/illegal_nonwheel_contact: 0.0136
+==============================================================================
+
+==============================================================================
+Learning iteration 44300/50000
+                               Total steps: 181,452,800
+                          Steps per second: 13,718
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1322.9
+                                Actor loss: -9.5085
+                               Critic loss: +0.0068
+                          World model loss: +0.5632
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0394
+     Episode_Reward/track_angular_velocity: +49.9706
+                    Episode_Reward/upright: +25.3035
+                Episode_Reward/leg_posture: -2.5648
+                 Episode_Reward/standstill: -5.8567
+             Episode_Reward/action_rate_l2: -0.5554
+           Episode_Reward/joint_torques_l2: -0.1393
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0310
+     Episode_Reward/unnecessary_wheel_lift: -0.0738
+         Episode_Reward/rolling_leg_motion: -0.5657
+          Episode_Reward/obstacle_progress: +3.6466
+       Episode_Reward/wheel_body_intrusion: -0.2750
+        Episode_Reward/pair_body_intrusion: -0.2750
+             Curriculum/terrain_level_mean: +4.2590
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.3873
+             Episode_Termination/fell_over: 0.0493
+           Episode_Termination/course_exit: 0.5282
+Episode_Termination/illegal_nonwheel_contact: 0.0563
+==============================================================================
+
+==============================================================================
+Learning iteration 44350/50000
+                               Total steps: 181,657,600
+                          Steps per second: 13,720
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.190s
+                               Mean reward: +0.0874
+                       Mean episode length: 1370.8
+                                Actor loss: -9.5364
+                               Critic loss: +0.0041
+                          World model loss: +0.5817
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7607
+     Episode_Reward/track_angular_velocity: +51.7710
+                    Episode_Reward/upright: +26.2000
+                Episode_Reward/leg_posture: -2.6150
+                 Episode_Reward/standstill: -6.2789
+             Episode_Reward/action_rate_l2: -0.5819
+           Episode_Reward/joint_torques_l2: -0.1448
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0187
+     Episode_Reward/unnecessary_wheel_lift: -0.0734
+         Episode_Reward/rolling_leg_motion: -0.5719
+          Episode_Reward/obstacle_progress: +3.8858
+       Episode_Reward/wheel_body_intrusion: -0.2704
+        Episode_Reward/pair_body_intrusion: -0.2697
+             Curriculum/terrain_level_mean: +4.2588
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.5109
+             Episode_Termination/fell_over: 0.0292
+           Episode_Termination/course_exit: 0.4380
+Episode_Termination/illegal_nonwheel_contact: 0.0438
+==============================================================================
+
+==============================================================================
+Learning iteration 44400/50000
+                               Total steps: 181,862,400
+                          Steps per second: 13,722
+                            Iteration time: 0.299s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1354.0
+                                Actor loss: -9.5115
+                               Critic loss: +0.0053
+                          World model loss: +0.5556
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0577
+     Episode_Reward/track_angular_velocity: +51.0971
+                    Episode_Reward/upright: +25.9043
+                Episode_Reward/leg_posture: -2.5381
+                 Episode_Reward/standstill: -6.4904
+             Episode_Reward/action_rate_l2: -0.5919
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.0840
+         Episode_Reward/rolling_leg_motion: -0.5690
+          Episode_Reward/obstacle_progress: +3.8309
+       Episode_Reward/wheel_body_intrusion: -0.2574
+        Episode_Reward/pair_body_intrusion: -0.3013
+             Curriculum/terrain_level_mean: +4.2595
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4172
+             Episode_Termination/fell_over: 0.0123
+           Episode_Termination/course_exit: 0.5337
+Episode_Termination/illegal_nonwheel_contact: 0.0368
+==============================================================================
+
+==============================================================================
+Learning iteration 44450/50000
+                               Total steps: 182,067,200
+                          Steps per second: 13,724
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1366.3
+                                Actor loss: -9.5096
+                               Critic loss: +0.0038
+                          World model loss: +0.5646
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4860
+     Episode_Reward/track_angular_velocity: +51.5488
+                    Episode_Reward/upright: +26.1504
+                Episode_Reward/leg_posture: -2.5633
+                 Episode_Reward/standstill: -6.3615
+             Episode_Reward/action_rate_l2: -0.5878
+           Episode_Reward/joint_torques_l2: -0.1455
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.0807
+         Episode_Reward/rolling_leg_motion: -0.5697
+          Episode_Reward/obstacle_progress: +3.8710
+       Episode_Reward/wheel_body_intrusion: -0.2723
+        Episode_Reward/pair_body_intrusion: -0.3137
+             Curriculum/terrain_level_mean: +4.2600
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4545
+             Episode_Termination/fell_over: 0.0364
+           Episode_Termination/course_exit: 0.4970
+Episode_Termination/illegal_nonwheel_contact: 0.0303
+==============================================================================
+
+==============================================================================
+Learning iteration 44500/50000
+                               Total steps: 182,272,000
+                          Steps per second: 13,726
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1344.0
+                                Actor loss: -9.5417
+                               Critic loss: +0.0057
+                          World model loss: +0.5150
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7037
+     Episode_Reward/track_angular_velocity: +50.7171
+                    Episode_Reward/upright: +25.7267
+                Episode_Reward/leg_posture: -2.5448
+                 Episode_Reward/standstill: -6.2658
+             Episode_Reward/action_rate_l2: -0.5725
+           Episode_Reward/joint_torques_l2: -0.1424
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0131
+     Episode_Reward/unnecessary_wheel_lift: -0.0692
+         Episode_Reward/rolling_leg_motion: -0.5506
+          Episode_Reward/obstacle_progress: +3.8256
+       Episode_Reward/wheel_body_intrusion: -0.2729
+        Episode_Reward/pair_body_intrusion: -0.2622
+             Curriculum/terrain_level_mean: +4.2610
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4745
+             Episode_Termination/fell_over: 0.0219
+           Episode_Termination/course_exit: 0.4891
+Episode_Termination/illegal_nonwheel_contact: 0.0146
+==============================================================================
+
+==============================================================================
+Learning iteration 44550/50000
+                               Total steps: 182,476,800
+                          Steps per second: 13,728
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1318.7
+                                Actor loss: -9.4954
+                               Critic loss: +0.0094
+                          World model loss: +0.5664
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6696
+     Episode_Reward/track_angular_velocity: +49.7636
+                    Episode_Reward/upright: +25.2453
+                Episode_Reward/leg_posture: -2.5041
+                 Episode_Reward/standstill: -6.6118
+             Episode_Reward/action_rate_l2: -0.5579
+           Episode_Reward/joint_torques_l2: -0.1416
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.0834
+         Episode_Reward/rolling_leg_motion: -0.5506
+          Episode_Reward/obstacle_progress: +3.7156
+       Episode_Reward/wheel_body_intrusion: -0.2719
+        Episode_Reward/pair_body_intrusion: -0.2739
+             Curriculum/terrain_level_mean: +4.2625
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4184
+             Episode_Termination/fell_over: 0.0213
+           Episode_Termination/course_exit: 0.5390
+Episode_Termination/illegal_nonwheel_contact: 0.0355
+==============================================================================
+
+==============================================================================
+Learning iteration 44600/50000
+                               Total steps: 182,681,600
+                          Steps per second: 13,730
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0865
+                       Mean episode length: 1372.5
+                                Actor loss: -9.5411
+                               Critic loss: +0.0041
+                          World model loss: +0.5384
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6951
+     Episode_Reward/track_angular_velocity: +51.7677
+                    Episode_Reward/upright: +26.3056
+                Episode_Reward/leg_posture: -2.6945
+                 Episode_Reward/standstill: -7.0255
+             Episode_Reward/action_rate_l2: -0.5623
+           Episode_Reward/joint_torques_l2: -0.1478
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0295
+     Episode_Reward/unnecessary_wheel_lift: -0.1000
+         Episode_Reward/rolling_leg_motion: -0.5805
+          Episode_Reward/obstacle_progress: +3.7511
+       Episode_Reward/wheel_body_intrusion: -0.2972
+        Episode_Reward/pair_body_intrusion: -0.3018
+             Curriculum/terrain_level_mean: +4.2612
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.4824
+             Episode_Termination/fell_over: 0.0412
+           Episode_Termination/course_exit: 0.4529
+Episode_Termination/illegal_nonwheel_contact: 0.0412
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[743]
+
+==============================================================================
+Learning iteration 44650/50000
+                               Total steps: 182,886,400
+                          Steps per second: 13,732
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0864
+                       Mean episode length: 1347.2
+                                Actor loss: -9.5362
+                               Critic loss: +0.0042
+                          World model loss: +0.5617
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7933
+     Episode_Reward/track_angular_velocity: +50.9354
+                    Episode_Reward/upright: +25.8192
+                Episode_Reward/leg_posture: -2.6171
+                 Episode_Reward/standstill: -7.1568
+             Episode_Reward/action_rate_l2: -0.5602
+           Episode_Reward/joint_torques_l2: -0.1425
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0395
+     Episode_Reward/unnecessary_wheel_lift: -0.1036
+         Episode_Reward/rolling_leg_motion: -0.5779
+          Episode_Reward/obstacle_progress: +3.6629
+       Episode_Reward/wheel_body_intrusion: -0.2819
+        Episode_Reward/pair_body_intrusion: -0.2963
+             Curriculum/terrain_level_mean: +4.2615
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4659
+             Episode_Termination/fell_over: 0.0511
+           Episode_Termination/course_exit: 0.4489
+Episode_Termination/illegal_nonwheel_contact: 0.0625
+==============================================================================
+
+==============================================================================
+Learning iteration 44700/50000
+                               Total steps: 183,091,200
+                          Steps per second: 13,734
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0868
+                       Mean episode length: 1408.9
+                                Actor loss: -9.5076
+                               Critic loss: +0.0099
+                          World model loss: +0.5677
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0269
+     Episode_Reward/track_angular_velocity: +53.2515
+                    Episode_Reward/upright: +27.0151
+                Episode_Reward/leg_posture: -2.7675
+                 Episode_Reward/standstill: -7.1327
+             Episode_Reward/action_rate_l2: -0.5800
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0220
+     Episode_Reward/unnecessary_wheel_lift: -0.0785
+         Episode_Reward/rolling_leg_motion: -0.5953
+          Episode_Reward/obstacle_progress: +3.8656
+       Episode_Reward/wheel_body_intrusion: -0.2947
+        Episode_Reward/pair_body_intrusion: -0.2803
+             Curriculum/terrain_level_mean: +4.2610
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0278
+           Episode_Termination/course_exit: 0.4444
+Episode_Termination/illegal_nonwheel_contact: 0.0556
+==============================================================================
+
+==============================================================================
+Learning iteration 44750/50000
+                               Total steps: 183,296,000
+                          Steps per second: 13,736
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1408.7
+                                Actor loss: -9.5107
+                               Critic loss: +0.0061
+                          World model loss: +0.5668
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8968
+     Episode_Reward/track_angular_velocity: +53.2226
+                    Episode_Reward/upright: +26.9965
+                Episode_Reward/leg_posture: -2.7969
+                 Episode_Reward/standstill: -6.6435
+             Episode_Reward/action_rate_l2: -0.5789
+           Episode_Reward/joint_torques_l2: -0.1519
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0220
+     Episode_Reward/unnecessary_wheel_lift: -0.0848
+         Episode_Reward/rolling_leg_motion: -0.5791
+          Episode_Reward/obstacle_progress: +3.8612
+       Episode_Reward/wheel_body_intrusion: -0.3130
+        Episode_Reward/pair_body_intrusion: -0.3322
+             Curriculum/terrain_level_mean: +4.2600
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.5573
+             Episode_Termination/fell_over: 0.0458
+           Episode_Termination/course_exit: 0.3817
+Episode_Termination/illegal_nonwheel_contact: 0.0305
+==============================================================================
+
+==============================================================================
+Learning iteration 44800/50000
+                               Total steps: 183,500,800
+                          Steps per second: 13,737
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1412.2
+                                Actor loss: -9.5101
+                               Critic loss: +0.0079
+                          World model loss: +0.5417
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1040
+     Episode_Reward/track_angular_velocity: +53.3446
+                    Episode_Reward/upright: +27.0901
+                Episode_Reward/leg_posture: -2.7717
+                 Episode_Reward/standstill: -6.6038
+             Episode_Reward/action_rate_l2: -0.5791
+           Episode_Reward/joint_torques_l2: -0.1511
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0276
+     Episode_Reward/unnecessary_wheel_lift: -0.0795
+         Episode_Reward/rolling_leg_motion: -0.5881
+          Episode_Reward/obstacle_progress: +3.9442
+       Episode_Reward/wheel_body_intrusion: -0.3046
+        Episode_Reward/pair_body_intrusion: -0.3167
+             Curriculum/terrain_level_mean: +4.2603
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5197
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.4145
+Episode_Termination/illegal_nonwheel_contact: 0.0658
+==============================================================================
+
+==============================================================================
+Learning iteration 44850/50000
+                               Total steps: 183,705,600
+                          Steps per second: 13,739
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0874
+                       Mean episode length: 1343.9
+                                Actor loss: -9.4946
+                               Critic loss: +0.0061
+                          World model loss: +0.5391
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7801
+     Episode_Reward/track_angular_velocity: +50.8234
+                    Episode_Reward/upright: +25.7715
+                Episode_Reward/leg_posture: -2.6114
+                 Episode_Reward/standstill: -6.1258
+             Episode_Reward/action_rate_l2: -0.5540
+           Episode_Reward/joint_torques_l2: -0.1447
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0765
+         Episode_Reward/rolling_leg_motion: -0.5702
+          Episode_Reward/obstacle_progress: +3.7520
+       Episode_Reward/wheel_body_intrusion: -0.2866
+        Episode_Reward/pair_body_intrusion: -0.2961
+             Curriculum/terrain_level_mean: +4.2610
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1330
+              Episode_Termination/time_out: 0.4500
+             Episode_Termination/fell_over: 0.0143
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0429
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2230]
+
+==============================================================================
+Learning iteration 44900/50000
+                               Total steps: 183,910,400
+                          Steps per second: 13,741
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0873
+                       Mean episode length: 1398.8
+                                Actor loss: -9.5016
+                               Critic loss: +0.0045
+                          World model loss: +0.5616
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5622
+     Episode_Reward/track_angular_velocity: +52.8849
+                    Episode_Reward/upright: +26.8225
+                Episode_Reward/leg_posture: -2.7178
+                 Episode_Reward/standstill: -6.2921
+             Episode_Reward/action_rate_l2: -0.5777
+           Episode_Reward/joint_torques_l2: -0.1509
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.0908
+         Episode_Reward/rolling_leg_motion: -0.5852
+          Episode_Reward/obstacle_progress: +3.8489
+       Episode_Reward/wheel_body_intrusion: -0.2863
+        Episode_Reward/pair_body_intrusion: -0.2809
+             Curriculum/terrain_level_mean: +4.2620
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.5168
+             Episode_Termination/fell_over: 0.0201
+           Episode_Termination/course_exit: 0.4564
+Episode_Termination/illegal_nonwheel_contact: 0.0134
+==============================================================================
+
+==============================================================================
+Learning iteration 44950/50000
+                               Total steps: 184,115,200
+                          Steps per second: 13,743
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0870
+                       Mean episode length: 1326.1
+                                Actor loss: -9.4694
+                               Critic loss: +0.0040
+                          World model loss: +0.6058
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1111
+     Episode_Reward/track_angular_velocity: +50.1101
+                    Episode_Reward/upright: +25.4218
+                Episode_Reward/leg_posture: -2.5798
+                 Episode_Reward/standstill: -6.4348
+             Episode_Reward/action_rate_l2: -0.5469
+           Episode_Reward/joint_torques_l2: -0.1418
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0337
+     Episode_Reward/unnecessary_wheel_lift: -0.0772
+         Episode_Reward/rolling_leg_motion: -0.5714
+          Episode_Reward/obstacle_progress: +3.6766
+       Episode_Reward/wheel_body_intrusion: -0.2753
+        Episode_Reward/pair_body_intrusion: -0.2554
+             Curriculum/terrain_level_mean: +4.2615
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1341
+              Episode_Termination/time_out: 0.4552
+             Episode_Termination/fell_over: 0.0621
+           Episode_Termination/course_exit: 0.4552
+Episode_Termination/illegal_nonwheel_contact: 0.0621
+==============================================================================
+
+==============================================================================
+Learning iteration 45000/50000
+                               Total steps: 184,320,000
+                          Steps per second: 13,745
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0870
+                       Mean episode length: 1299.1
+                                Actor loss: -9.4960
+                               Critic loss: +0.0064
+                          World model loss: +0.5567
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.0712
+     Episode_Reward/track_angular_velocity: +49.1251
+                    Episode_Reward/upright: +24.9214
+                Episode_Reward/leg_posture: -2.4701
+                 Episode_Reward/standstill: -6.2932
+             Episode_Reward/action_rate_l2: -0.5445
+           Episode_Reward/joint_torques_l2: -0.1391
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0304
+     Episode_Reward/unnecessary_wheel_lift: -0.0813
+         Episode_Reward/rolling_leg_motion: -0.5595
+          Episode_Reward/obstacle_progress: +3.5421
+       Episode_Reward/wheel_body_intrusion: -0.2928
+        Episode_Reward/pair_body_intrusion: -0.2826
+             Curriculum/terrain_level_mean: +4.2620
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4132
+             Episode_Termination/fell_over: 0.0299
+           Episode_Termination/course_exit: 0.5150
+Episode_Termination/illegal_nonwheel_contact: 0.0479
+==============================================================================
+
+==============================================================================
+Learning iteration 45050/50000
+                               Total steps: 184,524,800
+                          Steps per second: 13,746
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1304.3
+                                Actor loss: -9.5193
+                               Critic loss: +0.0049
+                          World model loss: +0.5473
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2716
+     Episode_Reward/track_angular_velocity: +49.3218
+                    Episode_Reward/upright: +25.0367
+                Episode_Reward/leg_posture: -2.4581
+                 Episode_Reward/standstill: -6.2482
+             Episode_Reward/action_rate_l2: -0.5407
+           Episode_Reward/joint_torques_l2: -0.1385
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0127
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.5410
+          Episode_Reward/obstacle_progress: +3.5964
+       Episode_Reward/wheel_body_intrusion: -0.2759
+        Episode_Reward/pair_body_intrusion: -0.2843
+             Curriculum/terrain_level_mean: +4.2639
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1334
+              Episode_Termination/time_out: 0.4384
+             Episode_Termination/fell_over: 0.0205
+           Episode_Termination/course_exit: 0.5274
+Episode_Termination/illegal_nonwheel_contact: 0.0205
+==============================================================================
+
+==============================================================================
+Learning iteration 45100/50000
+                               Total steps: 184,729,600
+                          Steps per second: 13,748
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1320.6
+                                Actor loss: -9.5120
+                               Critic loss: +0.0038
+                          World model loss: +0.5485
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7929
+     Episode_Reward/track_angular_velocity: +49.8755
+                    Episode_Reward/upright: +25.3589
+                Episode_Reward/leg_posture: -2.5192
+                 Episode_Reward/standstill: -6.2204
+             Episode_Reward/action_rate_l2: -0.5535
+           Episode_Reward/joint_torques_l2: -0.1406
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.0803
+         Episode_Reward/rolling_leg_motion: -0.5439
+          Episode_Reward/obstacle_progress: +3.7380
+       Episode_Reward/wheel_body_intrusion: -0.2801
+        Episode_Reward/pair_body_intrusion: -0.3014
+             Curriculum/terrain_level_mean: +4.2632
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4460
+             Episode_Termination/fell_over: 0.0360
+           Episode_Termination/course_exit: 0.4964
+Episode_Termination/illegal_nonwheel_contact: 0.0360
+==============================================================================
+
+==============================================================================
+Learning iteration 45150/50000
+                               Total steps: 184,934,400
+                          Steps per second: 13,750
+                            Iteration time: 0.298s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0867
+                       Mean episode length: 1340.5
+                                Actor loss: -9.4770
+                               Critic loss: +0.0093
+                          World model loss: +0.5554
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4927
+     Episode_Reward/track_angular_velocity: +50.5802
+                    Episode_Reward/upright: +25.6832
+                Episode_Reward/leg_posture: -2.5296
+                 Episode_Reward/standstill: -6.9720
+             Episode_Reward/action_rate_l2: -0.5692
+           Episode_Reward/joint_torques_l2: -0.1426
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0711
+         Episode_Reward/rolling_leg_motion: -0.5528
+          Episode_Reward/obstacle_progress: +3.8410
+       Episode_Reward/wheel_body_intrusion: -0.2736
+        Episode_Reward/pair_body_intrusion: -0.2598
+             Curriculum/terrain_level_mean: +4.2642
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4394
+             Episode_Termination/fell_over: 0.0379
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0303
+==============================================================================
+
+==============================================================================
+Learning iteration 45200/50000
+                               Total steps: 185,139,200
+                          Steps per second: 13,752
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1317.2
+                                Actor loss: -9.5082
+                               Critic loss: +0.0067
+                          World model loss: +0.5982
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7029
+     Episode_Reward/track_angular_velocity: +49.7255
+                    Episode_Reward/upright: +25.2180
+                Episode_Reward/leg_posture: -2.5399
+                 Episode_Reward/standstill: -6.2739
+             Episode_Reward/action_rate_l2: -0.5520
+           Episode_Reward/joint_torques_l2: -0.1410
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0386
+     Episode_Reward/unnecessary_wheel_lift: -0.0910
+         Episode_Reward/rolling_leg_motion: -0.5706
+          Episode_Reward/obstacle_progress: +3.6550
+       Episode_Reward/wheel_body_intrusion: -0.2651
+        Episode_Reward/pair_body_intrusion: -0.2566
+             Curriculum/terrain_level_mean: +4.2644
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.4372
+             Episode_Termination/fell_over: 0.0383
+           Episode_Termination/course_exit: 0.4809
+Episode_Termination/illegal_nonwheel_contact: 0.0546
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1039]
+
+==============================================================================
+Learning iteration 45250/50000
+                               Total steps: 185,344,000
+                          Steps per second: 13,754
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1373.4
+                                Actor loss: -9.4982
+                               Critic loss: +0.0061
+                          World model loss: +0.5880
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8300
+     Episode_Reward/track_angular_velocity: +51.8590
+                    Episode_Reward/upright: +26.3051
+                Episode_Reward/leg_posture: -2.6418
+                 Episode_Reward/standstill: -6.5418
+             Episode_Reward/action_rate_l2: -0.5933
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0054
+     Episode_Reward/unnecessary_wheel_lift: -0.1114
+         Episode_Reward/rolling_leg_motion: -0.6019
+          Episode_Reward/obstacle_progress: +3.9289
+       Episode_Reward/wheel_body_intrusion: -0.2807
+        Episode_Reward/pair_body_intrusion: -0.2851
+             Curriculum/terrain_level_mean: +4.2664
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4750
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.5125
+Episode_Termination/illegal_nonwheel_contact: 0.0125
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[994]
+RECOVERY reset 1 invalid environments; first IDs=[1390]
+RECOVERY reset 1 invalid environments; first IDs=[1019]
+
+==============================================================================
+Learning iteration 45300/50000
+                               Total steps: 185,548,800
+                          Steps per second: 13,756
+                            Iteration time: 0.298s
+                           Collection time: 0.077s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1336.5
+                                Actor loss: -9.5346
+                               Critic loss: +0.0077
+                          World model loss: +0.5712
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3288
+     Episode_Reward/track_angular_velocity: +50.4465
+                    Episode_Reward/upright: +25.5872
+                Episode_Reward/leg_posture: -2.5305
+                 Episode_Reward/standstill: -6.0909
+             Episode_Reward/action_rate_l2: -0.5719
+           Episode_Reward/joint_torques_l2: -0.1420
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0313
+     Episode_Reward/unnecessary_wheel_lift: -0.1008
+         Episode_Reward/rolling_leg_motion: -0.5746
+          Episode_Reward/obstacle_progress: +3.7865
+       Episode_Reward/wheel_body_intrusion: -0.2679
+        Episode_Reward/pair_body_intrusion: -0.2981
+             Curriculum/terrain_level_mean: +4.2659
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4726
+             Episode_Termination/fell_over: 0.0274
+           Episode_Termination/course_exit: 0.4452
+Episode_Termination/illegal_nonwheel_contact: 0.0616
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[978]
+
+==============================================================================
+Learning iteration 45350/50000
+                               Total steps: 185,753,600
+                          Steps per second: 13,758
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1381.3
+                                Actor loss: -9.5234
+                               Critic loss: +0.0036
+                          World model loss: +0.5658
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9930
+     Episode_Reward/track_angular_velocity: +52.2034
+                    Episode_Reward/upright: +26.4399
+                Episode_Reward/leg_posture: -2.6358
+                 Episode_Reward/standstill: -6.3171
+             Episode_Reward/action_rate_l2: -0.5855
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0270
+     Episode_Reward/unnecessary_wheel_lift: -0.0781
+         Episode_Reward/rolling_leg_motion: -0.5893
+          Episode_Reward/obstacle_progress: +3.9144
+       Episode_Reward/wheel_body_intrusion: -0.2561
+        Episode_Reward/pair_body_intrusion: -0.2926
+             Curriculum/terrain_level_mean: +4.2659
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.4898
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4422
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2338]
+
+==============================================================================
+Learning iteration 45400/50000
+                               Total steps: 185,958,400
+                          Steps per second: 13,760
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1351.2
+                                Actor loss: -9.5134
+                               Critic loss: +0.0060
+                          World model loss: +0.5526
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9536
+     Episode_Reward/track_angular_velocity: +51.0347
+                    Episode_Reward/upright: +25.8257
+                Episode_Reward/leg_posture: -2.5816
+                 Episode_Reward/standstill: -6.5251
+             Episode_Reward/action_rate_l2: -0.5742
+           Episode_Reward/joint_torques_l2: -0.1449
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0238
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.5705
+          Episode_Reward/obstacle_progress: +3.8442
+       Episode_Reward/wheel_body_intrusion: -0.2522
+        Episode_Reward/pair_body_intrusion: -0.2497
+             Curriculum/terrain_level_mean: +4.2661
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4679
+             Episode_Termination/fell_over: 0.0449
+           Episode_Termination/course_exit: 0.4744
+Episode_Termination/illegal_nonwheel_contact: 0.0321
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2177]
+
+==============================================================================
+Learning iteration 45450/50000
+                               Total steps: 186,163,200
+                          Steps per second: 13,761
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1338.6
+                                Actor loss: -9.4907
+                               Critic loss: +0.0058
+                          World model loss: +0.5676
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3062
+     Episode_Reward/track_angular_velocity: +50.5331
+                    Episode_Reward/upright: +25.6218
+                Episode_Reward/leg_posture: -2.5307
+                 Episode_Reward/standstill: -6.3549
+             Episode_Reward/action_rate_l2: -0.5711
+           Episode_Reward/joint_torques_l2: -0.1433
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0314
+     Episode_Reward/unnecessary_wheel_lift: -0.0831
+         Episode_Reward/rolling_leg_motion: -0.5735
+          Episode_Reward/obstacle_progress: +3.7209
+       Episode_Reward/wheel_body_intrusion: -0.2487
+        Episode_Reward/pair_body_intrusion: -0.2668
+             Curriculum/terrain_level_mean: +4.2666
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4621
+             Episode_Termination/fell_over: 0.0303
+           Episode_Termination/course_exit: 0.4470
+Episode_Termination/illegal_nonwheel_contact: 0.0758
+==============================================================================
+
+==============================================================================
+Learning iteration 45500/50000
+                               Total steps: 186,368,000
+                          Steps per second: 13,763
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0871
+                       Mean episode length: 1413.7
+                                Actor loss: -9.4811
+                               Critic loss: +0.0050
+                          World model loss: +0.5727
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0054
+     Episode_Reward/track_angular_velocity: +53.3908
+                    Episode_Reward/upright: +27.1011
+                Episode_Reward/leg_posture: -2.6253
+                 Episode_Reward/standstill: -6.6267
+             Episode_Reward/action_rate_l2: -0.6104
+           Episode_Reward/joint_torques_l2: -0.1496
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0249
+     Episode_Reward/unnecessary_wheel_lift: -0.0951
+         Episode_Reward/rolling_leg_motion: -0.6150
+          Episode_Reward/obstacle_progress: +3.9319
+       Episode_Reward/wheel_body_intrusion: -0.2611
+        Episode_Reward/pair_body_intrusion: -0.2717
+             Curriculum/terrain_level_mean: +4.2673
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.5349
+             Episode_Termination/fell_over: 0.0349
+           Episode_Termination/course_exit: 0.4128
+Episode_Termination/illegal_nonwheel_contact: 0.0233
+==============================================================================
+
+==============================================================================
+Learning iteration 45550/50000
+                               Total steps: 186,572,800
+                          Steps per second: 13,765
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0874
+                       Mean episode length: 1367.2
+                                Actor loss: -9.5269
+                               Critic loss: +0.0050
+                          World model loss: +0.5713
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4246
+     Episode_Reward/track_angular_velocity: +51.6193
+                    Episode_Reward/upright: +26.2116
+                Episode_Reward/leg_posture: -2.5726
+                 Episode_Reward/standstill: -6.0293
+             Episode_Reward/action_rate_l2: -0.5822
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0080
+     Episode_Reward/unnecessary_wheel_lift: -0.0850
+         Episode_Reward/rolling_leg_motion: -0.5882
+          Episode_Reward/obstacle_progress: +3.7372
+       Episode_Reward/wheel_body_intrusion: -0.2518
+        Episode_Reward/pair_body_intrusion: -0.2537
+             Curriculum/terrain_level_mean: +4.2708
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4632
+             Episode_Termination/fell_over: 0.0147
+           Episode_Termination/course_exit: 0.5147
+Episode_Termination/illegal_nonwheel_contact: 0.0074
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[965]
+
+==============================================================================
+Learning iteration 45600/50000
+                               Total steps: 186,777,600
+                          Steps per second: 13,767
+                            Iteration time: 0.298s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1322.7
+                                Actor loss: -9.5088
+                               Critic loss: +0.0057
+                          World model loss: +0.5979
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.7654
+     Episode_Reward/track_angular_velocity: +49.9511
+                    Episode_Reward/upright: +25.3386
+                Episode_Reward/leg_posture: -2.4989
+                 Episode_Reward/standstill: -5.8967
+             Episode_Reward/action_rate_l2: -0.5573
+           Episode_Reward/joint_torques_l2: -0.1411
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0207
+     Episode_Reward/unnecessary_wheel_lift: -0.0813
+         Episode_Reward/rolling_leg_motion: -0.5628
+          Episode_Reward/obstacle_progress: +3.6566
+       Episode_Reward/wheel_body_intrusion: -0.2311
+        Episode_Reward/pair_body_intrusion: -0.2507
+             Curriculum/terrain_level_mean: +4.2705
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4370
+             Episode_Termination/fell_over: 0.0336
+           Episode_Termination/course_exit: 0.4958
+Episode_Termination/illegal_nonwheel_contact: 0.0336
+==============================================================================
+
+==============================================================================
+Learning iteration 45650/50000
+                               Total steps: 186,982,400
+                          Steps per second: 13,769
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1373.0
+                                Actor loss: -9.4853
+                               Critic loss: +0.0051
+                          World model loss: +0.6115
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5703
+     Episode_Reward/track_angular_velocity: +51.8824
+                    Episode_Reward/upright: +26.3049
+                Episode_Reward/leg_posture: -2.5483
+                 Episode_Reward/standstill: -6.3196
+             Episode_Reward/action_rate_l2: -0.5876
+           Episode_Reward/joint_torques_l2: -0.1472
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0295
+     Episode_Reward/unnecessary_wheel_lift: -0.0710
+         Episode_Reward/rolling_leg_motion: -0.5686
+          Episode_Reward/obstacle_progress: +3.9003
+       Episode_Reward/wheel_body_intrusion: -0.2501
+        Episode_Reward/pair_body_intrusion: -0.2815
+             Curriculum/terrain_level_mean: +4.2710
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4892
+             Episode_Termination/fell_over: 0.0360
+           Episode_Termination/course_exit: 0.4317
+Episode_Termination/illegal_nonwheel_contact: 0.0504
+==============================================================================
+
+==============================================================================
+Learning iteration 45700/50000
+                               Total steps: 187,187,200
+                          Steps per second: 13,770
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1371.4
+                                Actor loss: -9.5062
+                               Critic loss: +0.0085
+                          World model loss: +0.5321
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5902
+     Episode_Reward/track_angular_velocity: +51.8155
+                    Episode_Reward/upright: +26.2829
+                Episode_Reward/leg_posture: -2.5628
+                 Episode_Reward/standstill: -6.1540
+             Episode_Reward/action_rate_l2: -0.5903
+           Episode_Reward/joint_torques_l2: -0.1460
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0832
+         Episode_Reward/rolling_leg_motion: -0.5744
+          Episode_Reward/obstacle_progress: +3.8312
+       Episode_Reward/wheel_body_intrusion: -0.2680
+        Episode_Reward/pair_body_intrusion: -0.3117
+             Curriculum/terrain_level_mean: +4.2732
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1348
+              Episode_Termination/time_out: 0.4654
+             Episode_Termination/fell_over: 0.0126
+           Episode_Termination/course_exit: 0.5031
+Episode_Termination/illegal_nonwheel_contact: 0.0189
+==============================================================================
+
+==============================================================================
+Learning iteration 45750/50000
+                               Total steps: 187,392,000
+                          Steps per second: 13,772
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1323.9
+                                Actor loss: -9.5299
+                               Critic loss: +0.0051
+                          World model loss: +0.5453
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9703
+     Episode_Reward/track_angular_velocity: +50.0017
+                    Episode_Reward/upright: +25.3534
+                Episode_Reward/leg_posture: -2.5244
+                 Episode_Reward/standstill: -6.1505
+             Episode_Reward/action_rate_l2: -0.5567
+           Episode_Reward/joint_torques_l2: -0.1395
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.0841
+         Episode_Reward/rolling_leg_motion: -0.5686
+          Episode_Reward/obstacle_progress: +3.6175
+       Episode_Reward/wheel_body_intrusion: -0.2661
+        Episode_Reward/pair_body_intrusion: -0.2806
+             Curriculum/terrain_level_mean: +4.2766
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4528
+             Episode_Termination/fell_over: 0.0252
+           Episode_Termination/course_exit: 0.5094
+Episode_Termination/illegal_nonwheel_contact: 0.0189
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[667]
+
+==============================================================================
+Learning iteration 45800/50000
+                               Total steps: 187,596,800
+                          Steps per second: 13,774
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0867
+                       Mean episode length: 1303.7
+                                Actor loss: -9.5284
+                               Critic loss: +0.0048
+                          World model loss: +0.5507
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.1746
+     Episode_Reward/track_angular_velocity: +49.1866
+                    Episode_Reward/upright: +24.9613
+                Episode_Reward/leg_posture: -2.4948
+                 Episode_Reward/standstill: -6.4484
+             Episode_Reward/action_rate_l2: -0.5542
+           Episode_Reward/joint_torques_l2: -0.1382
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0280
+     Episode_Reward/unnecessary_wheel_lift: -0.0885
+         Episode_Reward/rolling_leg_motion: -0.5630
+          Episode_Reward/obstacle_progress: +3.6015
+       Episode_Reward/wheel_body_intrusion: -0.2599
+        Episode_Reward/pair_body_intrusion: -0.2805
+             Curriculum/terrain_level_mean: +4.2776
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4423
+             Episode_Termination/fell_over: 0.0577
+           Episode_Termination/course_exit: 0.4872
+Episode_Termination/illegal_nonwheel_contact: 0.0449
+==============================================================================
+
+==============================================================================
+Learning iteration 45850/50000
+                               Total steps: 187,801,600
+                          Steps per second: 13,776
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1374.7
+                                Actor loss: -9.4718
+                               Critic loss: +0.0051
+                          World model loss: +0.5849
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7506
+     Episode_Reward/track_angular_velocity: +51.9037
+                    Episode_Reward/upright: +26.3613
+                Episode_Reward/leg_posture: -2.6343
+                 Episode_Reward/standstill: -6.7069
+             Episode_Reward/action_rate_l2: -0.5805
+           Episode_Reward/joint_torques_l2: -0.1460
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0871
+         Episode_Reward/rolling_leg_motion: -0.5910
+          Episode_Reward/obstacle_progress: +3.7977
+       Episode_Reward/wheel_body_intrusion: -0.2809
+        Episode_Reward/pair_body_intrusion: -0.2698
+             Curriculum/terrain_level_mean: +4.2793
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.5153
+             Episode_Termination/fell_over: 0.0000
+           Episode_Termination/course_exit: 0.4540
+Episode_Termination/illegal_nonwheel_contact: 0.0307
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1826]
+
+==============================================================================
+Learning iteration 45900/50000
+                               Total steps: 188,006,400
+                          Steps per second: 13,778
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1385.8
+                                Actor loss: -9.5118
+                               Critic loss: +0.0061
+                          World model loss: +0.5656
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2052
+     Episode_Reward/track_angular_velocity: +52.3744
+                    Episode_Reward/upright: +26.5558
+                Episode_Reward/leg_posture: -2.6412
+                 Episode_Reward/standstill: -6.2813
+             Episode_Reward/action_rate_l2: -0.5843
+           Episode_Reward/joint_torques_l2: -0.1471
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.0804
+         Episode_Reward/rolling_leg_motion: -0.5834
+          Episode_Reward/obstacle_progress: +3.9135
+       Episode_Reward/wheel_body_intrusion: -0.2618
+        Episode_Reward/pair_body_intrusion: -0.2825
+             Curriculum/terrain_level_mean: +4.2805
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.5364
+             Episode_Termination/fell_over: 0.0331
+           Episode_Termination/course_exit: 0.4238
+Episode_Termination/illegal_nonwheel_contact: 0.0132
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_045900.mp4
+RECOVERY reset 1 invalid environments; first IDs=[1325]
+
+==============================================================================
+Learning iteration 45950/50000
+                               Total steps: 188,211,200
+                          Steps per second: 13,774
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1402.3
+                                Actor loss: -9.5131
+                               Critic loss: +0.0052
+                          World model loss: +0.5674
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7801
+     Episode_Reward/track_angular_velocity: +53.0240
+                    Episode_Reward/upright: +26.8672
+                Episode_Reward/leg_posture: -2.6968
+                 Episode_Reward/standstill: -6.8541
+             Episode_Reward/action_rate_l2: -0.5927
+           Episode_Reward/joint_torques_l2: -0.1484
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0219
+     Episode_Reward/unnecessary_wheel_lift: -0.0920
+         Episode_Reward/rolling_leg_motion: -0.6096
+          Episode_Reward/obstacle_progress: +3.8988
+       Episode_Reward/wheel_body_intrusion: -0.2871
+        Episode_Reward/pair_body_intrusion: -0.2831
+             Curriculum/terrain_level_mean: +4.2815
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1336
+              Episode_Termination/time_out: 0.4880
+             Episode_Termination/fell_over: 0.0422
+           Episode_Termination/course_exit: 0.4639
+Episode_Termination/illegal_nonwheel_contact: 0.0181
+==============================================================================
+
+==============================================================================
+Learning iteration 46000/50000
+                               Total steps: 188,416,000
+                          Steps per second: 13,776
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0872
+                       Mean episode length: 1340.0
+                                Actor loss: -9.4993
+                               Critic loss: +0.0050
+                          World model loss: +0.5761
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5823
+     Episode_Reward/track_angular_velocity: +50.7119
+                    Episode_Reward/upright: +25.6533
+                Episode_Reward/leg_posture: -2.6371
+                 Episode_Reward/standstill: -6.2893
+             Episode_Reward/action_rate_l2: -0.5624
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0826
+         Episode_Reward/rolling_leg_motion: -0.5770
+          Episode_Reward/obstacle_progress: +3.7070
+       Episode_Reward/wheel_body_intrusion: -0.2760
+        Episode_Reward/pair_body_intrusion: -0.2368
+             Curriculum/terrain_level_mean: +4.2830
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1326
+              Episode_Termination/time_out: 0.4730
+             Episode_Termination/fell_over: 0.0203
+           Episode_Termination/course_exit: 0.4730
+Episode_Termination/illegal_nonwheel_contact: 0.0405
+==============================================================================
+
+==============================================================================
+Learning iteration 46050/50000
+                               Total steps: 188,620,800
+                          Steps per second: 13,778
+                            Iteration time: 0.297s
+                           Collection time: 0.075s
+                             Learning time: 0.183s
+                               Mean reward: +0.0872
+                       Mean episode length: 1349.8
+                                Actor loss: -9.5376
+                               Critic loss: +0.0039
+                          World model loss: +0.5431
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9351
+     Episode_Reward/track_angular_velocity: +51.0255
+                    Episode_Reward/upright: +25.8331
+                Episode_Reward/leg_posture: -2.6246
+                 Episode_Reward/standstill: -6.3120
+             Episode_Reward/action_rate_l2: -0.5635
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0079
+     Episode_Reward/unnecessary_wheel_lift: -0.0804
+         Episode_Reward/rolling_leg_motion: -0.5808
+          Episode_Reward/obstacle_progress: +3.7881
+       Episode_Reward/wheel_body_intrusion: -0.2596
+        Episode_Reward/pair_body_intrusion: -0.2750
+             Curriculum/terrain_level_mean: +4.2842
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4651
+             Episode_Termination/fell_over: 0.0233
+           Episode_Termination/course_exit: 0.5116
+Episode_Termination/illegal_nonwheel_contact: 0.0155
+==============================================================================
+
+==============================================================================
+Learning iteration 46100/50000
+                               Total steps: 188,825,600
+                          Steps per second: 13,779
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0868
+                       Mean episode length: 1335.5
+                                Actor loss: -9.5157
+                               Critic loss: +0.0032
+                          World model loss: +0.5538
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3835
+     Episode_Reward/track_angular_velocity: +50.3493
+                    Episode_Reward/upright: +25.5107
+                Episode_Reward/leg_posture: -2.5881
+                 Episode_Reward/standstill: -6.5257
+             Episode_Reward/action_rate_l2: -0.5603
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0313
+     Episode_Reward/unnecessary_wheel_lift: -0.1043
+         Episode_Reward/rolling_leg_motion: -0.5708
+          Episode_Reward/obstacle_progress: +3.7196
+       Episode_Reward/wheel_body_intrusion: -0.2722
+        Episode_Reward/pair_body_intrusion: -0.2725
+             Curriculum/terrain_level_mean: +4.2847
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.4586
+             Episode_Termination/fell_over: 0.0573
+           Episode_Termination/course_exit: 0.4650
+Episode_Termination/illegal_nonwheel_contact: 0.0573
+==============================================================================
+
+==============================================================================
+Learning iteration 46150/50000
+                               Total steps: 189,030,400
+                          Steps per second: 13,781
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0869
+                       Mean episode length: 1337.8
+                                Actor loss: -9.5182
+                               Critic loss: +0.0036
+                          World model loss: +0.5598
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4396
+     Episode_Reward/track_angular_velocity: +50.4710
+                    Episode_Reward/upright: +25.5824
+                Episode_Reward/leg_posture: -2.6534
+                 Episode_Reward/standstill: -6.3042
+             Episode_Reward/action_rate_l2: -0.5561
+           Episode_Reward/joint_torques_l2: -0.1431
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0235
+     Episode_Reward/unnecessary_wheel_lift: -0.0865
+         Episode_Reward/rolling_leg_motion: -0.5717
+          Episode_Reward/obstacle_progress: +3.6279
+       Episode_Reward/wheel_body_intrusion: -0.2680
+        Episode_Reward/pair_body_intrusion: -0.2592
+             Curriculum/terrain_level_mean: +4.2866
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0930
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.5152
+             Episode_Termination/fell_over: 0.0182
+           Episode_Termination/course_exit: 0.4303
+Episode_Termination/illegal_nonwheel_contact: 0.0485
+==============================================================================
+
+==============================================================================
+Learning iteration 46200/50000
+                               Total steps: 189,235,200
+                          Steps per second: 13,783
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1392.8
+                                Actor loss: -9.5088
+                               Critic loss: +0.0034
+                          World model loss: +0.5637
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2613
+     Episode_Reward/track_angular_velocity: +52.4508
+                    Episode_Reward/upright: +26.6021
+                Episode_Reward/leg_posture: -2.7232
+                 Episode_Reward/standstill: -6.1580
+             Episode_Reward/action_rate_l2: -0.5849
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0299
+     Episode_Reward/unnecessary_wheel_lift: -0.0775
+         Episode_Reward/rolling_leg_motion: -0.5865
+          Episode_Reward/obstacle_progress: +3.8081
+       Episode_Reward/wheel_body_intrusion: -0.2848
+        Episode_Reward/pair_body_intrusion: -0.2803
+             Curriculum/terrain_level_mean: +4.2871
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0943
+       Metrics/base_velocity/error_vel_yaw: 0.1382
+              Episode_Termination/time_out: 0.5033
+             Episode_Termination/fell_over: 0.0523
+           Episode_Termination/course_exit: 0.4248
+Episode_Termination/illegal_nonwheel_contact: 0.0392
+==============================================================================
+
+==============================================================================
+Learning iteration 46250/50000
+                               Total steps: 189,440,000
+                          Steps per second: 13,785
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0870
+                       Mean episode length: 1353.1
+                                Actor loss: -9.4802
+                               Critic loss: +0.0072
+                          World model loss: +0.5768
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7389
+     Episode_Reward/track_angular_velocity: +51.0051
+                    Episode_Reward/upright: +25.8587
+                Episode_Reward/leg_posture: -2.6352
+                 Episode_Reward/standstill: -5.9891
+             Episode_Reward/action_rate_l2: -0.5748
+           Episode_Reward/joint_torques_l2: -0.1443
+             Episode_Reward/dof_pos_limits: -0.0012
+                 Episode_Reward/terminated: -0.0344
+     Episode_Reward/unnecessary_wheel_lift: -0.0940
+         Episode_Reward/rolling_leg_motion: -0.5792
+          Episode_Reward/obstacle_progress: +3.7173
+       Episode_Reward/wheel_body_intrusion: -0.2569
+        Episode_Reward/pair_body_intrusion: -0.2662
+             Curriculum/terrain_level_mean: +4.2866
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0954
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4620
+             Episode_Termination/fell_over: 0.0506
+           Episode_Termination/course_exit: 0.4557
+Episode_Termination/illegal_nonwheel_contact: 0.0443
+==============================================================================
+
+==============================================================================
+Learning iteration 46300/50000
+                               Total steps: 189,644,800
+                          Steps per second: 13,787
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1344.2
+                                Actor loss: -9.4872
+                               Critic loss: +0.0060
+                          World model loss: +0.5407
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5095
+     Episode_Reward/track_angular_velocity: +50.7049
+                    Episode_Reward/upright: +25.7254
+                Episode_Reward/leg_posture: -2.5731
+                 Episode_Reward/standstill: -5.7003
+             Episode_Reward/action_rate_l2: -0.5678
+           Episode_Reward/joint_torques_l2: -0.1423
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0814
+         Episode_Reward/rolling_leg_motion: -0.5692
+          Episode_Reward/obstacle_progress: +3.7431
+       Episode_Reward/wheel_body_intrusion: -0.2442
+        Episode_Reward/pair_body_intrusion: -0.2683
+             Curriculum/terrain_level_mean: +4.2874
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.4085
+             Episode_Termination/fell_over: 0.0211
+           Episode_Termination/course_exit: 0.5423
+Episode_Termination/illegal_nonwheel_contact: 0.0352
+==============================================================================
+
+==============================================================================
+Learning iteration 46350/50000
+                               Total steps: 189,849,600
+                          Steps per second: 13,788
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.193s
+                               Mean reward: +0.0877
+                       Mean episode length: 1391.3
+                                Actor loss: -9.5158
+                               Critic loss: +0.0036
+                          World model loss: +0.5814
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.2986
+     Episode_Reward/track_angular_velocity: +52.5095
+                    Episode_Reward/upright: +26.6727
+                Episode_Reward/leg_posture: -2.6301
+                 Episode_Reward/standstill: -5.7143
+             Episode_Reward/action_rate_l2: -0.5896
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0109
+     Episode_Reward/unnecessary_wheel_lift: -0.0747
+         Episode_Reward/rolling_leg_motion: -0.5863
+          Episode_Reward/obstacle_progress: +3.8821
+       Episode_Reward/wheel_body_intrusion: -0.2643
+        Episode_Reward/pair_body_intrusion: -0.2793
+             Curriculum/terrain_level_mean: +4.2891
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.4759
+             Episode_Termination/fell_over: 0.0120
+           Episode_Termination/course_exit: 0.5000
+Episode_Termination/illegal_nonwheel_contact: 0.0181
+==============================================================================
+
+==============================================================================
+Learning iteration 46400/50000
+                               Total steps: 190,054,400
+                          Steps per second: 13,790
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1405.5
+                                Actor loss: -9.5117
+                               Critic loss: +0.0072
+                          World model loss: +0.5913
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8029
+     Episode_Reward/track_angular_velocity: +53.0379
+                    Episode_Reward/upright: +26.9328
+                Episode_Reward/leg_posture: -2.6508
+                 Episode_Reward/standstill: -5.8822
+             Episode_Reward/action_rate_l2: -0.5976
+           Episode_Reward/joint_torques_l2: -0.1493
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0055
+     Episode_Reward/unnecessary_wheel_lift: -0.0750
+         Episode_Reward/rolling_leg_motion: -0.6024
+          Episode_Reward/obstacle_progress: +3.9302
+       Episode_Reward/wheel_body_intrusion: -0.2825
+        Episode_Reward/pair_body_intrusion: -0.3144
+             Curriculum/terrain_level_mean: +4.2915
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1360
+              Episode_Termination/time_out: 0.5195
+             Episode_Termination/fell_over: 0.0065
+           Episode_Termination/course_exit: 0.4675
+Episode_Termination/illegal_nonwheel_contact: 0.0065
+==============================================================================
+
+==============================================================================
+Learning iteration 46450/50000
+                               Total steps: 190,259,200
+                          Steps per second: 13,792
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1336.4
+                                Actor loss: -9.5166
+                               Critic loss: +0.0048
+                          World model loss: +0.5701
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3735
+     Episode_Reward/track_angular_velocity: +50.4889
+                    Episode_Reward/upright: +25.5899
+                Episode_Reward/leg_posture: -2.5549
+                 Episode_Reward/standstill: -5.8528
+             Episode_Reward/action_rate_l2: -0.5598
+           Episode_Reward/joint_torques_l2: -0.1417
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0157
+     Episode_Reward/unnecessary_wheel_lift: -0.0762
+         Episode_Reward/rolling_leg_motion: -0.5656
+          Episode_Reward/obstacle_progress: +3.7616
+       Episode_Reward/wheel_body_intrusion: -0.2609
+        Episode_Reward/pair_body_intrusion: -0.2663
+             Curriculum/terrain_level_mean: +4.2932
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4340
+             Episode_Termination/fell_over: 0.0126
+           Episode_Termination/course_exit: 0.5283
+Episode_Termination/illegal_nonwheel_contact: 0.0252
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1890]
+
+==============================================================================
+Learning iteration 46500/50000
+                               Total steps: 190,464,000
+                          Steps per second: 13,794
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1354.0
+                                Actor loss: -9.5006
+                               Critic loss: +0.0043
+                          World model loss: +0.5286
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9767
+     Episode_Reward/track_angular_velocity: +51.1345
+                    Episode_Reward/upright: +25.9130
+                Episode_Reward/leg_posture: -2.6108
+                 Episode_Reward/standstill: -6.0188
+             Episode_Reward/action_rate_l2: -0.5677
+           Episode_Reward/joint_torques_l2: -0.1438
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0344
+     Episode_Reward/unnecessary_wheel_lift: -0.0751
+         Episode_Reward/rolling_leg_motion: -0.5676
+          Episode_Reward/obstacle_progress: +3.8321
+       Episode_Reward/wheel_body_intrusion: -0.2671
+        Episode_Reward/pair_body_intrusion: -0.2708
+             Curriculum/terrain_level_mean: +4.2922
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4571
+             Episode_Termination/fell_over: 0.0571
+           Episode_Termination/course_exit: 0.4500
+Episode_Termination/illegal_nonwheel_contact: 0.0429
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 46550/50000
+                               Total steps: 190,668,800
+                          Steps per second: 13,795
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0873
+                       Mean episode length: 1374.3
+                                Actor loss: -9.4731
+                               Critic loss: +0.0122
+                          World model loss: +0.5593
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7335
+     Episode_Reward/track_angular_velocity: +51.9366
+                    Episode_Reward/upright: +26.2967
+                Episode_Reward/leg_posture: -2.6576
+                 Episode_Reward/standstill: -6.2704
+             Episode_Reward/action_rate_l2: -0.5798
+           Episode_Reward/joint_torques_l2: -0.1463
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0322
+     Episode_Reward/unnecessary_wheel_lift: -0.0726
+         Episode_Reward/rolling_leg_motion: -0.5823
+          Episode_Reward/obstacle_progress: +3.8869
+       Episode_Reward/wheel_body_intrusion: -0.2791
+        Episode_Reward/pair_body_intrusion: -0.2873
+             Curriculum/terrain_level_mean: +4.2922
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.5132
+             Episode_Termination/fell_over: 0.0395
+           Episode_Termination/course_exit: 0.4079
+Episode_Termination/illegal_nonwheel_contact: 0.0461
+==============================================================================
+
+==============================================================================
+Learning iteration 46600/50000
+                               Total steps: 190,873,600
+                          Steps per second: 13,797
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1356.0
+                                Actor loss: -9.4778
+                               Critic loss: +0.0048
+                          World model loss: +0.5174
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0545
+     Episode_Reward/track_angular_velocity: +51.2142
+                    Episode_Reward/upright: +25.9629
+                Episode_Reward/leg_posture: -2.5911
+                 Episode_Reward/standstill: -6.0202
+             Episode_Reward/action_rate_l2: -0.5717
+           Episode_Reward/joint_torques_l2: -0.1430
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.0685
+         Episode_Reward/rolling_leg_motion: -0.5727
+          Episode_Reward/obstacle_progress: +3.7760
+       Episode_Reward/wheel_body_intrusion: -0.2569
+        Episode_Reward/pair_body_intrusion: -0.2745
+             Curriculum/terrain_level_mean: +4.2944
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0268
+           Episode_Termination/course_exit: 0.4631
+Episode_Termination/illegal_nonwheel_contact: 0.0134
+==============================================================================
+
+==============================================================================
+Learning iteration 46650/50000
+                               Total steps: 191,078,400
+                          Steps per second: 13,799
+                            Iteration time: 0.297s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1347.3
+                                Actor loss: -9.5044
+                               Critic loss: +0.0039
+                          World model loss: +0.5591
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7709
+     Episode_Reward/track_angular_velocity: +50.8520
+                    Episode_Reward/upright: +25.8204
+                Episode_Reward/leg_posture: -2.5923
+                 Episode_Reward/standstill: -6.0715
+             Episode_Reward/action_rate_l2: -0.5608
+           Episode_Reward/joint_torques_l2: -0.1425
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0079
+     Episode_Reward/unnecessary_wheel_lift: -0.0818
+         Episode_Reward/rolling_leg_motion: -0.5774
+          Episode_Reward/obstacle_progress: +3.7742
+       Episode_Reward/wheel_body_intrusion: -0.2723
+        Episode_Reward/pair_body_intrusion: -0.2862
+             Curriculum/terrain_level_mean: +4.2969
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4366
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.5423
+Episode_Termination/illegal_nonwheel_contact: 0.0211
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[678]
+RECOVERY reset 1 invalid environments; first IDs=[916]
+
+==============================================================================
+Learning iteration 46700/50000
+                               Total steps: 191,283,200
+                          Steps per second: 13,801
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1322.7
+                                Actor loss: -9.4978
+                               Critic loss: +0.0066
+                          World model loss: +0.5445
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.8378
+     Episode_Reward/track_angular_velocity: +49.9731
+                    Episode_Reward/upright: +25.3517
+                Episode_Reward/leg_posture: -2.5675
+                 Episode_Reward/standstill: -6.0992
+             Episode_Reward/action_rate_l2: -0.5620
+           Episode_Reward/joint_torques_l2: -0.1415
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0155
+     Episode_Reward/unnecessary_wheel_lift: -0.0758
+         Episode_Reward/rolling_leg_motion: -0.5689
+          Episode_Reward/obstacle_progress: +3.5747
+       Episode_Reward/wheel_body_intrusion: -0.2753
+        Episode_Reward/pair_body_intrusion: -0.2892
+             Curriculum/terrain_level_mean: +4.2974
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4539
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.5066
+Episode_Termination/illegal_nonwheel_contact: 0.0263
+==============================================================================
+
+==============================================================================
+Learning iteration 46750/50000
+                               Total steps: 191,488,000
+                          Steps per second: 13,803
+                            Iteration time: 0.297s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1413.0
+                                Actor loss: -9.5053
+                               Critic loss: +0.0036
+                          World model loss: +0.5686
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.8822
+     Episode_Reward/track_angular_velocity: +53.4324
+                    Episode_Reward/upright: +27.1152
+                Episode_Reward/leg_posture: -2.6885
+                 Episode_Reward/standstill: -6.7353
+             Episode_Reward/action_rate_l2: -0.5890
+           Episode_Reward/joint_torques_l2: -0.1493
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0138
+     Episode_Reward/unnecessary_wheel_lift: -0.0924
+         Episode_Reward/rolling_leg_motion: -0.6016
+          Episode_Reward/obstacle_progress: +3.7746
+       Episode_Reward/wheel_body_intrusion: -0.2504
+        Episode_Reward/pair_body_intrusion: -0.2724
+             Curriculum/terrain_level_mean: +4.2986
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0952
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.5177
+             Episode_Termination/fell_over: 0.0071
+           Episode_Termination/course_exit: 0.4468
+Episode_Termination/illegal_nonwheel_contact: 0.0355
+==============================================================================
+
+==============================================================================
+Learning iteration 46800/50000
+                               Total steps: 191,692,800
+                          Steps per second: 13,804
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1356.5
+                                Actor loss: -9.5136
+                               Critic loss: +0.0055
+                          World model loss: +0.5486
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1564
+     Episode_Reward/track_angular_velocity: +51.2870
+                    Episode_Reward/upright: +26.0550
+                Episode_Reward/leg_posture: -2.5573
+                 Episode_Reward/standstill: -6.1751
+             Episode_Reward/action_rate_l2: -0.5577
+           Episode_Reward/joint_torques_l2: -0.1413
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0238
+     Episode_Reward/unnecessary_wheel_lift: -0.0900
+         Episode_Reward/rolling_leg_motion: -0.5835
+          Episode_Reward/obstacle_progress: +3.6886
+       Episode_Reward/wheel_body_intrusion: -0.2443
+        Episode_Reward/pair_body_intrusion: -0.3049
+             Curriculum/terrain_level_mean: +4.2983
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1337
+              Episode_Termination/time_out: 0.4422
+             Episode_Termination/fell_over: 0.0476
+           Episode_Termination/course_exit: 0.4966
+Episode_Termination/illegal_nonwheel_contact: 0.0340
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2777]
+
+==============================================================================
+Learning iteration 46850/50000
+                               Total steps: 191,897,600
+                          Steps per second: 13,806
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1274.8
+                                Actor loss: -9.4291
+                               Critic loss: +0.0100
+                          World model loss: +0.5554
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.1930
+     Episode_Reward/track_angular_velocity: +48.1577
+                    Episode_Reward/upright: +24.4585
+                Episode_Reward/leg_posture: -2.4230
+                 Episode_Reward/standstill: -6.0319
+             Episode_Reward/action_rate_l2: -0.5196
+           Episode_Reward/joint_torques_l2: -0.1335
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0124
+     Episode_Reward/unnecessary_wheel_lift: -0.0632
+         Episode_Reward/rolling_leg_motion: -0.5270
+          Episode_Reward/obstacle_progress: +3.4965
+       Episode_Reward/wheel_body_intrusion: -0.2440
+        Episode_Reward/pair_body_intrusion: -0.2915
+             Curriculum/terrain_level_mean: +4.3003
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0929
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.3901
+             Episode_Termination/fell_over: 0.0142
+           Episode_Termination/course_exit: 0.5745
+Episode_Termination/illegal_nonwheel_contact: 0.0213
+==============================================================================
+
+==============================================================================
+Learning iteration 46900/50000
+                               Total steps: 192,102,400
+                          Steps per second: 13,808
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1323.5
+                                Actor loss: -9.4951
+                               Critic loss: +0.0039
+                          World model loss: +0.5760
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.9656
+     Episode_Reward/track_angular_velocity: +49.9897
+                    Episode_Reward/upright: +25.3304
+                Episode_Reward/leg_posture: -2.5292
+                 Episode_Reward/standstill: -6.3017
+             Episode_Reward/action_rate_l2: -0.5445
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0181
+     Episode_Reward/unnecessary_wheel_lift: -0.0766
+         Episode_Reward/rolling_leg_motion: -0.5569
+          Episode_Reward/obstacle_progress: +3.6979
+       Episode_Reward/wheel_body_intrusion: -0.2584
+        Episode_Reward/pair_body_intrusion: -0.2624
+             Curriculum/terrain_level_mean: +4.3013
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4599
+             Episode_Termination/fell_over: 0.0073
+           Episode_Termination/course_exit: 0.4891
+Episode_Termination/illegal_nonwheel_contact: 0.0511
+==============================================================================
+
+==============================================================================
+Learning iteration 46950/50000
+                               Total steps: 192,307,200
+                          Steps per second: 13,810
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1370.6
+                                Actor loss: -9.5211
+                               Critic loss: +0.0041
+                          World model loss: +0.5323
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7477
+     Episode_Reward/track_angular_velocity: +51.7720
+                    Episode_Reward/upright: +26.2534
+                Episode_Reward/leg_posture: -2.6507
+                 Episode_Reward/standstill: -6.2340
+             Episode_Reward/action_rate_l2: -0.5595
+           Episode_Reward/joint_torques_l2: -0.1459
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.0816
+         Episode_Reward/rolling_leg_motion: -0.5877
+          Episode_Reward/obstacle_progress: +3.8603
+       Episode_Reward/wheel_body_intrusion: -0.2847
+        Episode_Reward/pair_body_intrusion: -0.2808
+             Curriculum/terrain_level_mean: +4.3020
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5305
+             Episode_Termination/fell_over: 0.0183
+           Episode_Termination/course_exit: 0.4329
+Episode_Termination/illegal_nonwheel_contact: 0.0244
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[887]
+
+==============================================================================
+Learning iteration 47000/50000
+                               Total steps: 192,512,000
+                          Steps per second: 13,811
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0874
+                       Mean episode length: 1380.9
+                                Actor loss: -9.5145
+                               Critic loss: +0.0059
+                          World model loss: +0.5433
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1300
+     Episode_Reward/track_angular_velocity: +52.1824
+                    Episode_Reward/upright: +26.4660
+                Episode_Reward/leg_posture: -2.6243
+                 Episode_Reward/standstill: -6.4267
+             Episode_Reward/action_rate_l2: -0.5604
+           Episode_Reward/joint_torques_l2: -0.1456
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0783
+         Episode_Reward/rolling_leg_motion: -0.5882
+          Episode_Reward/obstacle_progress: +3.9204
+       Episode_Reward/wheel_body_intrusion: -0.2661
+        Episode_Reward/pair_body_intrusion: -0.3102
+             Curriculum/terrain_level_mean: +4.3032
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0149
+           Episode_Termination/course_exit: 0.4701
+Episode_Termination/illegal_nonwheel_contact: 0.0149
+==============================================================================
+
+==============================================================================
+Learning iteration 47050/50000
+                               Total steps: 192,716,800
+                          Steps per second: 13,813
+                            Iteration time: 0.297s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1371.0
+                                Actor loss: -9.5346
+                               Critic loss: +0.0037
+                          World model loss: +0.5462
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6929
+     Episode_Reward/track_angular_velocity: +51.8011
+                    Episode_Reward/upright: +26.2863
+                Episode_Reward/leg_posture: -2.5595
+                 Episode_Reward/standstill: -6.0673
+             Episode_Reward/action_rate_l2: -0.5684
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0241
+     Episode_Reward/unnecessary_wheel_lift: -0.0793
+         Episode_Reward/rolling_leg_motion: -0.5809
+          Episode_Reward/obstacle_progress: +3.9292
+       Episode_Reward/wheel_body_intrusion: -0.2374
+        Episode_Reward/pair_body_intrusion: -0.3177
+             Curriculum/terrain_level_mean: +4.3037
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4695
+             Episode_Termination/fell_over: 0.0366
+           Episode_Termination/course_exit: 0.4756
+Episode_Termination/illegal_nonwheel_contact: 0.0305
+==============================================================================
+
+==============================================================================
+Learning iteration 47100/50000
+                               Total steps: 192,921,600
+                          Steps per second: 13,815
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1373.3
+                                Actor loss: -9.5043
+                               Critic loss: +0.0045
+                          World model loss: +0.5803
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.7797
+     Episode_Reward/track_angular_velocity: +51.9204
+                    Episode_Reward/upright: +26.3303
+                Episode_Reward/leg_posture: -2.5833
+                 Episode_Reward/standstill: -6.1792
+             Episode_Reward/action_rate_l2: -0.5810
+           Episode_Reward/joint_torques_l2: -0.1460
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0161
+     Episode_Reward/unnecessary_wheel_lift: -0.0886
+         Episode_Reward/rolling_leg_motion: -0.5815
+          Episode_Reward/obstacle_progress: +3.8962
+       Episode_Reward/wheel_body_intrusion: -0.2509
+        Episode_Reward/pair_body_intrusion: -0.2852
+             Curriculum/terrain_level_mean: +4.3069
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1340
+              Episode_Termination/time_out: 0.4937
+             Episode_Termination/fell_over: 0.0253
+           Episode_Termination/course_exit: 0.4684
+Episode_Termination/illegal_nonwheel_contact: 0.0127
+==============================================================================
+
+==============================================================================
+Learning iteration 47150/50000
+                               Total steps: 193,126,400
+                          Steps per second: 13,816
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1416.7
+                                Actor loss: -9.5081
+                               Critic loss: +0.0051
+                          World model loss: +0.5628
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.1556
+     Episode_Reward/track_angular_velocity: +53.4681
+                    Episode_Reward/upright: +27.1300
+                Episode_Reward/leg_posture: -2.6870
+                 Episode_Reward/standstill: -6.6662
+             Episode_Reward/action_rate_l2: -0.5952
+           Episode_Reward/joint_torques_l2: -0.1512
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0166
+     Episode_Reward/unnecessary_wheel_lift: -0.0790
+         Episode_Reward/rolling_leg_motion: -0.5857
+          Episode_Reward/obstacle_progress: +4.0630
+       Episode_Reward/wheel_body_intrusion: -0.2696
+        Episode_Reward/pair_body_intrusion: -0.3060
+             Curriculum/terrain_level_mean: +4.3074
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1356
+              Episode_Termination/time_out: 0.5390
+             Episode_Termination/fell_over: 0.0213
+           Episode_Termination/course_exit: 0.4184
+Episode_Termination/illegal_nonwheel_contact: 0.0426
+==============================================================================
+
+==============================================================================
+Learning iteration 47200/50000
+                               Total steps: 193,331,200
+                          Steps per second: 13,818
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1306.8
+                                Actor loss: -9.5106
+                               Critic loss: +0.0043
+                          World model loss: +0.5546
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2353
+     Episode_Reward/track_angular_velocity: +49.2766
+                    Episode_Reward/upright: +25.0356
+                Episode_Reward/leg_posture: -2.5124
+                 Episode_Reward/standstill: -6.1513
+             Episode_Reward/action_rate_l2: -0.5477
+           Episode_Reward/joint_torques_l2: -0.1396
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0562
+     Episode_Reward/unnecessary_wheel_lift: -0.0955
+         Episode_Reward/rolling_leg_motion: -0.5489
+          Episode_Reward/obstacle_progress: +3.7595
+       Episode_Reward/wheel_body_intrusion: -0.2662
+        Episode_Reward/pair_body_intrusion: -0.2594
+             Curriculum/terrain_level_mean: +4.3047
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1369
+              Episode_Termination/time_out: 0.4387
+             Episode_Termination/fell_over: 0.0645
+           Episode_Termination/course_exit: 0.4194
+Episode_Termination/illegal_nonwheel_contact: 0.0839
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1008]
+RECOVERY reset 1 invalid environments; first IDs=[2622]
+
+==============================================================================
+Learning iteration 47250/50000
+                               Total steps: 193,536,000
+                          Steps per second: 13,820
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1385.4
+                                Actor loss: -9.5328
+                               Critic loss: +0.0050
+                          World model loss: +0.5161
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.1819
+     Episode_Reward/track_angular_velocity: +52.3059
+                    Episode_Reward/upright: +26.5726
+                Episode_Reward/leg_posture: -2.6394
+                 Episode_Reward/standstill: -6.6116
+             Episode_Reward/action_rate_l2: -0.5834
+           Episode_Reward/joint_torques_l2: -0.1468
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0216
+     Episode_Reward/unnecessary_wheel_lift: -0.1000
+         Episode_Reward/rolling_leg_motion: -0.5971
+          Episode_Reward/obstacle_progress: +3.9134
+       Episode_Reward/wheel_body_intrusion: -0.2654
+        Episode_Reward/pair_body_intrusion: -0.2873
+             Curriculum/terrain_level_mean: +4.3057
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4693
+             Episode_Termination/fell_over: 0.0223
+           Episode_Termination/course_exit: 0.4860
+Episode_Termination/illegal_nonwheel_contact: 0.0391
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2017]
+
+==============================================================================
+Learning iteration 47300/50000
+                               Total steps: 193,740,800
+                          Steps per second: 13,822
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1351.8
+                                Actor loss: -9.4898
+                               Critic loss: +0.0104
+                          World model loss: +0.5693
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1392
+     Episode_Reward/track_angular_velocity: +51.1311
+                    Episode_Reward/upright: +25.9260
+                Episode_Reward/leg_posture: -2.6274
+                 Episode_Reward/standstill: -6.6489
+             Episode_Reward/action_rate_l2: -0.5598
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0238
+     Episode_Reward/unnecessary_wheel_lift: -0.0856
+         Episode_Reward/rolling_leg_motion: -0.5750
+          Episode_Reward/obstacle_progress: +3.7265
+       Episode_Reward/wheel_body_intrusion: -0.2650
+        Episode_Reward/pair_body_intrusion: -0.2667
+             Curriculum/terrain_level_mean: +4.3049
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0913
+       Metrics/base_velocity/error_vel_yaw: 0.1332
+              Episode_Termination/time_out: 0.4564
+             Episode_Termination/fell_over: 0.0403
+           Episode_Termination/course_exit: 0.4832
+Episode_Termination/illegal_nonwheel_contact: 0.0470
+==============================================================================
+
+==============================================================================
+Learning iteration 47350/50000
+                               Total steps: 193,945,600
+                          Steps per second: 13,823
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1286.8
+                                Actor loss: -9.5268
+                               Critic loss: +0.0036
+                          World model loss: +0.5638
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.7456
+     Episode_Reward/track_angular_velocity: +48.6416
+                    Episode_Reward/upright: +24.6939
+                Episode_Reward/leg_posture: -2.4976
+                 Episode_Reward/standstill: -5.7126
+             Episode_Reward/action_rate_l2: -0.5275
+           Episode_Reward/joint_torques_l2: -0.1363
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0126
+     Episode_Reward/unnecessary_wheel_lift: -0.0631
+         Episode_Reward/rolling_leg_motion: -0.5434
+          Episode_Reward/obstacle_progress: +3.5162
+       Episode_Reward/wheel_body_intrusion: -0.2675
+        Episode_Reward/pair_body_intrusion: -0.2722
+             Curriculum/terrain_level_mean: +4.3059
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0920
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.3810
+             Episode_Termination/fell_over: 0.0317
+           Episode_Termination/course_exit: 0.5794
+Episode_Termination/illegal_nonwheel_contact: 0.0159
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2616]
+
+==============================================================================
+Learning iteration 47400/50000
+                               Total steps: 194,150,400
+                          Steps per second: 13,825
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1340.6
+                                Actor loss: -9.5306
+                               Critic loss: +0.0049
+                          World model loss: +0.5425
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5260
+     Episode_Reward/track_angular_velocity: +50.6438
+                    Episode_Reward/upright: +25.6931
+                Episode_Reward/leg_posture: -2.5901
+                 Episode_Reward/standstill: -5.9995
+             Episode_Reward/action_rate_l2: -0.5536
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0767
+         Episode_Reward/rolling_leg_motion: -0.5692
+          Episode_Reward/obstacle_progress: +3.7061
+       Episode_Reward/wheel_body_intrusion: -0.2551
+        Episode_Reward/pair_body_intrusion: -0.3112
+             Curriculum/terrain_level_mean: +4.3083
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0928
+       Metrics/base_velocity/error_vel_yaw: 0.1347
+              Episode_Termination/time_out: 0.4238
+             Episode_Termination/fell_over: 0.0199
+           Episode_Termination/course_exit: 0.5232
+Episode_Termination/illegal_nonwheel_contact: 0.0331
+==============================================================================
+
+==============================================================================
+Learning iteration 47450/50000
+                               Total steps: 194,355,200
+                          Steps per second: 13,827
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1336.4
+                                Actor loss: -9.5015
+                               Critic loss: +0.0040
+                          World model loss: +0.5294
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2907
+     Episode_Reward/track_angular_velocity: +50.4587
+                    Episode_Reward/upright: +25.6284
+                Episode_Reward/leg_posture: -2.5521
+                 Episode_Reward/standstill: -6.0638
+             Episode_Reward/action_rate_l2: -0.5661
+           Episode_Reward/joint_torques_l2: -0.1418
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0157
+     Episode_Reward/unnecessary_wheel_lift: -0.0804
+         Episode_Reward/rolling_leg_motion: -0.5666
+          Episode_Reward/obstacle_progress: +3.7882
+       Episode_Reward/wheel_body_intrusion: -0.2597
+        Episode_Reward/pair_body_intrusion: -0.2910
+             Curriculum/terrain_level_mean: +4.3096
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4733
+             Episode_Termination/fell_over: 0.0200
+           Episode_Termination/course_exit: 0.4867
+Episode_Termination/illegal_nonwheel_contact: 0.0200
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1162]
+
+==============================================================================
+Learning iteration 47500/50000
+                               Total steps: 194,560,000
+                          Steps per second: 13,829
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1402.6
+                                Actor loss: -9.5066
+                               Critic loss: +0.0057
+                          World model loss: +0.5516
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7546
+     Episode_Reward/track_angular_velocity: +52.9100
+                    Episode_Reward/upright: +26.8564
+                Episode_Reward/leg_posture: -2.6626
+                 Episode_Reward/standstill: -6.3509
+             Episode_Reward/action_rate_l2: -0.5891
+           Episode_Reward/joint_torques_l2: -0.1483
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0247
+     Episode_Reward/unnecessary_wheel_lift: -0.0931
+         Episode_Reward/rolling_leg_motion: -0.5834
+          Episode_Reward/obstacle_progress: +3.9887
+       Episode_Reward/wheel_body_intrusion: -0.2797
+        Episode_Reward/pair_body_intrusion: -0.2882
+             Curriculum/terrain_level_mean: +4.3096
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0443
+           Episode_Termination/course_exit: 0.4430
+Episode_Termination/illegal_nonwheel_contact: 0.0190
+==============================================================================
+
+==============================================================================
+Learning iteration 47550/50000
+                               Total steps: 194,764,800
+                          Steps per second: 13,830
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0872
+                       Mean episode length: 1346.2
+                                Actor loss: -9.5140
+                               Critic loss: +0.0044
+                          World model loss: +0.5484
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.6675
+     Episode_Reward/track_angular_velocity: +50.7923
+                    Episode_Reward/upright: +25.7989
+                Episode_Reward/leg_posture: -2.5441
+                 Episode_Reward/standstill: -6.1451
+             Episode_Reward/action_rate_l2: -0.5632
+           Episode_Reward/joint_torques_l2: -0.1445
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0237
+     Episode_Reward/unnecessary_wheel_lift: -0.0932
+         Episode_Reward/rolling_leg_motion: -0.5474
+          Episode_Reward/obstacle_progress: +3.7605
+       Episode_Reward/wheel_body_intrusion: -0.2634
+        Episode_Reward/pair_body_intrusion: -0.2992
+             Curriculum/terrain_level_mean: +4.3110
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4615
+             Episode_Termination/fell_over: 0.0420
+           Episode_Termination/course_exit: 0.4755
+Episode_Termination/illegal_nonwheel_contact: 0.0420
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1473]
+
+==============================================================================
+Learning iteration 47600/50000
+                               Total steps: 194,969,600
+                          Steps per second: 13,832
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1362.1
+                                Actor loss: -9.5164
+                               Critic loss: +0.0038
+                          World model loss: +0.5483
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0317
+     Episode_Reward/track_angular_velocity: +51.3868
+                    Episode_Reward/upright: +26.1025
+                Episode_Reward/leg_posture: -2.6117
+                 Episode_Reward/standstill: -6.3624
+             Episode_Reward/action_rate_l2: -0.5717
+           Episode_Reward/joint_torques_l2: -0.1463
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0266
+     Episode_Reward/unnecessary_wheel_lift: -0.0950
+         Episode_Reward/rolling_leg_motion: -0.5789
+          Episode_Reward/obstacle_progress: +3.8251
+       Episode_Reward/wheel_body_intrusion: -0.2778
+        Episode_Reward/pair_body_intrusion: -0.3099
+             Curriculum/terrain_level_mean: +4.3103
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0955
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4936
+             Episode_Termination/fell_over: 0.0385
+           Episode_Termination/course_exit: 0.4423
+Episode_Termination/illegal_nonwheel_contact: 0.0449
+==============================================================================
+
+==============================================================================
+Learning iteration 47650/50000
+                               Total steps: 195,174,400
+                          Steps per second: 13,833
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1357.0
+                                Actor loss: -9.5082
+                               Critic loss: +0.0042
+                          World model loss: +0.5322
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0369
+     Episode_Reward/track_angular_velocity: +51.2035
+                    Episode_Reward/upright: +26.0019
+                Episode_Reward/leg_posture: -2.6254
+                 Episode_Reward/standstill: -6.1255
+             Episode_Reward/action_rate_l2: -0.5704
+           Episode_Reward/joint_torques_l2: -0.1453
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0212
+     Episode_Reward/unnecessary_wheel_lift: -0.0773
+         Episode_Reward/rolling_leg_motion: -0.5663
+          Episode_Reward/obstacle_progress: +3.8653
+       Episode_Reward/wheel_body_intrusion: -0.2959
+        Episode_Reward/pair_body_intrusion: -0.3236
+             Curriculum/terrain_level_mean: +4.3108
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4865
+             Episode_Termination/fell_over: 0.0270
+           Episode_Termination/course_exit: 0.4595
+Episode_Termination/illegal_nonwheel_contact: 0.0270
+==============================================================================
+
+==============================================================================
+Learning iteration 47700/50000
+                               Total steps: 195,379,200
+                          Steps per second: 13,835
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1328.6
+                                Actor loss: -9.5163
+                               Critic loss: +0.0057
+                          World model loss: +0.5495
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0666
+     Episode_Reward/track_angular_velocity: +50.1718
+                    Episode_Reward/upright: +25.4354
+                Episode_Reward/leg_posture: -2.5402
+                 Episode_Reward/standstill: -6.0423
+             Episode_Reward/action_rate_l2: -0.5677
+           Episode_Reward/joint_torques_l2: -0.1402
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0234
+     Episode_Reward/unnecessary_wheel_lift: -0.0944
+         Episode_Reward/rolling_leg_motion: -0.5760
+          Episode_Reward/obstacle_progress: +3.7348
+       Episode_Reward/wheel_body_intrusion: -0.2568
+        Episode_Reward/pair_body_intrusion: -0.2528
+             Curriculum/terrain_level_mean: +4.3113
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1354
+              Episode_Termination/time_out: 0.4457
+             Episode_Termination/fell_over: 0.0171
+           Episode_Termination/course_exit: 0.5029
+Episode_Termination/illegal_nonwheel_contact: 0.0400
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1701]
+
+==============================================================================
+Learning iteration 47750/50000
+                               Total steps: 195,584,000
+                          Steps per second: 13,837
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0874
+                       Mean episode length: 1349.5
+                                Actor loss: -9.5351
+                               Critic loss: +0.0036
+                          World model loss: +0.5401
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8664
+     Episode_Reward/track_angular_velocity: +50.9193
+                    Episode_Reward/upright: +25.8641
+                Episode_Reward/leg_posture: -2.5800
+                 Episode_Reward/standstill: -6.1028
+             Episode_Reward/action_rate_l2: -0.5702
+           Episode_Reward/joint_torques_l2: -0.1442
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0973
+         Episode_Reward/rolling_leg_motion: -0.5705
+          Episode_Reward/obstacle_progress: +3.9313
+       Episode_Reward/wheel_body_intrusion: -0.2772
+        Episode_Reward/pair_body_intrusion: -0.2613
+             Curriculum/terrain_level_mean: +4.3115
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4643
+             Episode_Termination/fell_over: 0.0429
+           Episode_Termination/course_exit: 0.4857
+Episode_Termination/illegal_nonwheel_contact: 0.0357
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2745]
+RECOVERY reset 1 invalid environments; first IDs=[1452]
+
+==============================================================================
+Learning iteration 47800/50000
+                               Total steps: 195,788,800
+                          Steps per second: 13,838
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1314.8
+                                Actor loss: -9.5279
+                               Critic loss: +0.0035
+                          World model loss: +0.5718
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5690
+     Episode_Reward/track_angular_velocity: +49.5810
+                    Episode_Reward/upright: +25.1962
+                Episode_Reward/leg_posture: -2.5166
+                 Episode_Reward/standstill: -6.0821
+             Episode_Reward/action_rate_l2: -0.5601
+           Episode_Reward/joint_torques_l2: -0.1416
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0231
+     Episode_Reward/unnecessary_wheel_lift: -0.0830
+         Episode_Reward/rolling_leg_motion: -0.5709
+          Episode_Reward/obstacle_progress: +3.8296
+       Episode_Reward/wheel_body_intrusion: -0.2693
+        Episode_Reward/pair_body_intrusion: -0.2524
+             Curriculum/terrain_level_mean: +4.3125
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4354
+             Episode_Termination/fell_over: 0.0340
+           Episode_Termination/course_exit: 0.5034
+Episode_Termination/illegal_nonwheel_contact: 0.0408
+==============================================================================
+
+==============================================================================
+Learning iteration 47850/50000
+                               Total steps: 195,993,600
+                          Steps per second: 13,840
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1365.2
+                                Actor loss: -9.5618
+                               Critic loss: +0.0037
+                          World model loss: +0.5626
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.4434
+     Episode_Reward/track_angular_velocity: +51.5668
+                    Episode_Reward/upright: +26.1772
+                Episode_Reward/leg_posture: -2.6104
+                 Episode_Reward/standstill: -6.5073
+             Episode_Reward/action_rate_l2: -0.5695
+           Episode_Reward/joint_torques_l2: -0.1456
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0347
+     Episode_Reward/unnecessary_wheel_lift: -0.0753
+         Episode_Reward/rolling_leg_motion: -0.5638
+          Episode_Reward/obstacle_progress: +3.9224
+       Episode_Reward/wheel_body_intrusion: -0.2816
+        Episode_Reward/pair_body_intrusion: -0.2728
+             Curriculum/terrain_level_mean: +4.3108
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1349
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0476
+           Episode_Termination/course_exit: 0.4082
+Episode_Termination/illegal_nonwheel_contact: 0.0476
+==============================================================================
+
+==============================================================================
+Learning iteration 47900/50000
+                               Total steps: 196,198,400
+                          Steps per second: 13,842
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0871
+                       Mean episode length: 1378.8
+                                Actor loss: -9.5131
+                               Critic loss: +0.0063
+                          World model loss: +0.5855
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0342
+     Episode_Reward/track_angular_velocity: +52.1022
+                    Episode_Reward/upright: +26.4441
+                Episode_Reward/leg_posture: -2.6709
+                 Episode_Reward/standstill: -6.7417
+             Episode_Reward/action_rate_l2: -0.5813
+           Episode_Reward/joint_torques_l2: -0.1469
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0135
+     Episode_Reward/unnecessary_wheel_lift: -0.0776
+         Episode_Reward/rolling_leg_motion: -0.5798
+          Episode_Reward/obstacle_progress: +3.9642
+       Episode_Reward/wheel_body_intrusion: -0.2800
+        Episode_Reward/pair_body_intrusion: -0.2912
+             Curriculum/terrain_level_mean: +4.3123
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4899
+             Episode_Termination/fell_over: 0.0067
+           Episode_Termination/course_exit: 0.4765
+Episode_Termination/illegal_nonwheel_contact: 0.0336
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[760]
+
+==============================================================================
+Learning iteration 47950/50000
+                               Total steps: 196,403,200
+                          Steps per second: 13,844
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1356.1
+                                Actor loss: -9.5163
+                               Critic loss: +0.0086
+                          World model loss: +0.5581
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1769
+     Episode_Reward/track_angular_velocity: +51.2085
+                    Episode_Reward/upright: +26.0408
+                Episode_Reward/leg_posture: -2.5716
+                 Episode_Reward/standstill: -6.6703
+             Episode_Reward/action_rate_l2: -0.5846
+           Episode_Reward/joint_torques_l2: -0.1434
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.1124
+         Episode_Reward/rolling_leg_motion: -0.5940
+          Episode_Reward/obstacle_progress: +3.8709
+       Episode_Reward/wheel_body_intrusion: -0.2678
+        Episode_Reward/pair_body_intrusion: -0.3034
+             Curriculum/terrain_level_mean: +4.3132
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0925
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.5111
+             Episode_Termination/fell_over: 0.0167
+           Episode_Termination/course_exit: 0.4500
+Episode_Termination/illegal_nonwheel_contact: 0.0278
+==============================================================================
+
+==============================================================================
+Learning iteration 48000/50000
+                               Total steps: 196,608,000
+                          Steps per second: 13,845
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1361.4
+                                Actor loss: -9.5301
+                               Critic loss: +0.0035
+                          World model loss: +0.5916
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5578
+     Episode_Reward/track_angular_velocity: +51.4571
+                    Episode_Reward/upright: +26.1866
+                Episode_Reward/leg_posture: -2.5756
+                 Episode_Reward/standstill: -6.4097
+             Episode_Reward/action_rate_l2: -0.5723
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0213
+     Episode_Reward/unnecessary_wheel_lift: -0.1046
+         Episode_Reward/rolling_leg_motion: -0.5862
+          Episode_Reward/obstacle_progress: +3.8754
+       Episode_Reward/wheel_body_intrusion: -0.2731
+        Episode_Reward/pair_body_intrusion: -0.2797
+             Curriculum/terrain_level_mean: +4.3130
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0906
+       Metrics/base_velocity/error_vel_yaw: 0.1342
+              Episode_Termination/time_out: 0.5137
+             Episode_Termination/fell_over: 0.0342
+           Episode_Termination/course_exit: 0.4315
+Episode_Termination/illegal_nonwheel_contact: 0.0411
+==============================================================================
+
+==============================================================================
+Learning iteration 48050/50000
+                               Total steps: 196,812,800
+                          Steps per second: 13,847
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0874
+                       Mean episode length: 1351.8
+                                Actor loss: -9.5511
+                               Critic loss: +0.0031
+                          World model loss: +0.5748
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0865
+     Episode_Reward/track_angular_velocity: +51.1079
+                    Episode_Reward/upright: +26.0009
+                Episode_Reward/leg_posture: -2.5713
+                 Episode_Reward/standstill: -6.4272
+             Episode_Reward/action_rate_l2: -0.5618
+           Episode_Reward/joint_torques_l2: -0.1427
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0132
+     Episode_Reward/unnecessary_wheel_lift: -0.0790
+         Episode_Reward/rolling_leg_motion: -0.5563
+          Episode_Reward/obstacle_progress: +3.8223
+       Episode_Reward/wheel_body_intrusion: -0.2739
+        Episode_Reward/pair_body_intrusion: -0.2766
+             Curriculum/terrain_level_mean: +4.3152
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0916
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4604
+             Episode_Termination/fell_over: 0.0288
+           Episode_Termination/course_exit: 0.5036
+Episode_Termination/illegal_nonwheel_contact: 0.0144
+==============================================================================
+
+==============================================================================
+Learning iteration 48100/50000
+                               Total steps: 197,017,600
+                          Steps per second: 13,849
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0869
+                       Mean episode length: 1373.1
+                                Actor loss: -9.5093
+                               Critic loss: +0.0048
+                          World model loss: +0.5273
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8377
+     Episode_Reward/track_angular_velocity: +51.8714
+                    Episode_Reward/upright: +26.3593
+                Episode_Reward/leg_posture: -2.6738
+                 Episode_Reward/standstill: -6.8659
+             Episode_Reward/action_rate_l2: -0.5647
+           Episode_Reward/joint_torques_l2: -0.1461
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0896
+         Episode_Reward/rolling_leg_motion: -0.5759
+          Episode_Reward/obstacle_progress: +3.8686
+       Episode_Reward/wheel_body_intrusion: -0.2924
+        Episode_Reward/pair_body_intrusion: -0.3255
+             Curriculum/terrain_level_mean: +4.3145
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4937
+             Episode_Termination/fell_over: 0.0380
+           Episode_Termination/course_exit: 0.4620
+Episode_Termination/illegal_nonwheel_contact: 0.0190
+==============================================================================
+
+==============================================================================
+Learning iteration 48150/50000
+                               Total steps: 197,222,400
+                          Steps per second: 13,851
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0869
+                       Mean episode length: 1346.7
+                                Actor loss: -9.5065
+                               Critic loss: +0.0050
+                          World model loss: +0.5570
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.9058
+     Episode_Reward/track_angular_velocity: +50.9136
+                    Episode_Reward/upright: +25.8672
+                Episode_Reward/leg_posture: -2.6386
+                 Episode_Reward/standstill: -6.7728
+             Episode_Reward/action_rate_l2: -0.5515
+           Episode_Reward/joint_torques_l2: -0.1423
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0210
+     Episode_Reward/unnecessary_wheel_lift: -0.0910
+         Episode_Reward/rolling_leg_motion: -0.5770
+          Episode_Reward/obstacle_progress: +3.7406
+       Episode_Reward/wheel_body_intrusion: -0.2726
+        Episode_Reward/pair_body_intrusion: -0.3133
+             Curriculum/terrain_level_mean: +4.3152
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0919
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.4762
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4694
+Episode_Termination/illegal_nonwheel_contact: 0.0408
+==============================================================================
+
+==============================================================================
+Learning iteration 48200/50000
+                               Total steps: 197,427,200
+                          Steps per second: 13,852
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.183s
+                               Mean reward: +0.0874
+                       Mean episode length: 1319.2
+                                Actor loss: -9.5143
+                               Critic loss: +0.0044
+                          World model loss: +0.5207
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.1282
+     Episode_Reward/track_angular_velocity: +49.8837
+                    Episode_Reward/upright: +25.3655
+                Episode_Reward/leg_posture: -2.5524
+                 Episode_Reward/standstill: -6.2833
+             Episode_Reward/action_rate_l2: -0.5421
+           Episode_Reward/joint_torques_l2: -0.1386
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0283
+     Episode_Reward/unnecessary_wheel_lift: -0.0821
+         Episode_Reward/rolling_leg_motion: -0.5719
+          Episode_Reward/obstacle_progress: +3.7218
+       Episode_Reward/wheel_body_intrusion: -0.2695
+        Episode_Reward/pair_body_intrusion: -0.3004
+             Curriculum/terrain_level_mean: +4.3164
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0899
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4277
+             Episode_Termination/fell_over: 0.0440
+           Episode_Termination/course_exit: 0.5031
+Episode_Termination/illegal_nonwheel_contact: 0.0377
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2097]
+
+==============================================================================
+Learning iteration 48250/50000
+                               Total steps: 197,632,000
+                          Steps per second: 13,854
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0876
+                       Mean episode length: 1393.5
+                                Actor loss: -9.5666
+                               Critic loss: +0.0058
+                          World model loss: +0.5157
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.7315
+     Episode_Reward/track_angular_velocity: +52.6849
+                    Episode_Reward/upright: +26.7853
+                Episode_Reward/leg_posture: -2.6836
+                 Episode_Reward/standstill: -6.4157
+             Episode_Reward/action_rate_l2: -0.5747
+           Episode_Reward/joint_torques_l2: -0.1474
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0163
+     Episode_Reward/unnecessary_wheel_lift: -0.0828
+         Episode_Reward/rolling_leg_motion: -0.5910
+          Episode_Reward/obstacle_progress: +3.9447
+       Episode_Reward/wheel_body_intrusion: -0.2953
+        Episode_Reward/pair_body_intrusion: -0.3185
+             Curriculum/terrain_level_mean: +4.3179
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0905
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.4710
+             Episode_Termination/fell_over: 0.0129
+           Episode_Termination/course_exit: 0.4903
+Episode_Termination/illegal_nonwheel_contact: 0.0258
+==============================================================================
+
+==============================================================================
+Learning iteration 48300/50000
+                               Total steps: 197,836,800
+                          Steps per second: 13,856
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1349.2
+                                Actor loss: -9.5140
+                               Critic loss: +0.0040
+                          World model loss: +0.5557
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0061
+     Episode_Reward/track_angular_velocity: +50.9293
+                    Episode_Reward/upright: +25.9143
+                Episode_Reward/leg_posture: -2.5735
+                 Episode_Reward/standstill: -5.9757
+             Episode_Reward/action_rate_l2: -0.5771
+           Episode_Reward/joint_torques_l2: -0.1432
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0865
+         Episode_Reward/rolling_leg_motion: -0.5879
+          Episode_Reward/obstacle_progress: +3.7722
+       Episode_Reward/wheel_body_intrusion: -0.2704
+        Episode_Reward/pair_body_intrusion: -0.2807
+             Curriculum/terrain_level_mean: +4.3198
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0915
+       Metrics/base_velocity/error_vel_yaw: 0.1357
+              Episode_Termination/time_out: 0.4670
+             Episode_Termination/fell_over: 0.0165
+           Episode_Termination/course_exit: 0.4945
+Episode_Termination/illegal_nonwheel_contact: 0.0275
+==============================================================================
+
+==============================================================================
+Learning iteration 48350/50000
+                               Total steps: 198,041,600
+                          Steps per second: 13,857
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0876
+                       Mean episode length: 1270.9
+                                Actor loss: -9.5192
+                               Critic loss: +0.0040
+                          World model loss: +0.5315
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +45.2727
+     Episode_Reward/track_angular_velocity: +47.9953
+                    Episode_Reward/upright: +24.4124
+                Episode_Reward/leg_posture: -2.4302
+                 Episode_Reward/standstill: -5.7118
+             Episode_Reward/action_rate_l2: -0.5259
+           Episode_Reward/joint_torques_l2: -0.1342
+             Episode_Reward/dof_pos_limits: -0.0014
+                 Episode_Reward/terminated: -0.0248
+     Episode_Reward/unnecessary_wheel_lift: -0.0780
+         Episode_Reward/rolling_leg_motion: -0.5491
+          Episode_Reward/obstacle_progress: +3.5452
+       Episode_Reward/wheel_body_intrusion: -0.2640
+        Episode_Reward/pair_body_intrusion: -0.2425
+             Curriculum/terrain_level_mean: +4.3193
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0912
+       Metrics/base_velocity/error_vel_yaw: 0.1351
+              Episode_Termination/time_out: 0.3987
+             Episode_Termination/fell_over: 0.0316
+           Episode_Termination/course_exit: 0.5380
+Episode_Termination/illegal_nonwheel_contact: 0.0443
+==============================================================================
+
+==============================================================================
+Learning iteration 48400/50000
+                               Total steps: 198,246,400
+                          Steps per second: 13,859
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1330.2
+                                Actor loss: -9.5401
+                               Critic loss: +0.0038
+                          World model loss: +0.5538
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2472
+     Episode_Reward/track_angular_velocity: +50.2063
+                    Episode_Reward/upright: +25.5439
+                Episode_Reward/leg_posture: -2.5434
+                 Episode_Reward/standstill: -5.9589
+             Episode_Reward/action_rate_l2: -0.5592
+           Episode_Reward/joint_torques_l2: -0.1402
+             Episode_Reward/dof_pos_limits: -0.0016
+                 Episode_Reward/terminated: -0.0078
+     Episode_Reward/unnecessary_wheel_lift: -0.0797
+         Episode_Reward/rolling_leg_motion: -0.5690
+          Episode_Reward/obstacle_progress: +3.8053
+       Episode_Reward/wheel_body_intrusion: -0.2607
+        Episode_Reward/pair_body_intrusion: -0.2643
+             Curriculum/terrain_level_mean: +4.3223
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0926
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.4155
+             Episode_Termination/fell_over: 0.0141
+           Episode_Termination/course_exit: 0.5634
+Episode_Termination/illegal_nonwheel_contact: 0.0070
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2204]
+
+==============================================================================
+Learning iteration 48450/50000
+                               Total steps: 198,451,200
+                          Steps per second: 13,861
+                            Iteration time: 0.296s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0871
+                       Mean episode length: 1345.1
+                                Actor loss: -9.5488
+                               Critic loss: +0.0036
+                          World model loss: +0.5357
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.8634
+     Episode_Reward/track_angular_velocity: +50.7560
+                    Episode_Reward/upright: +25.8212
+                Episode_Reward/leg_posture: -2.5184
+                 Episode_Reward/standstill: -6.6832
+             Episode_Reward/action_rate_l2: -0.5658
+           Episode_Reward/joint_torques_l2: -0.1415
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0368
+     Episode_Reward/unnecessary_wheel_lift: -0.1219
+         Episode_Reward/rolling_leg_motion: -0.5716
+          Episode_Reward/obstacle_progress: +3.8897
+       Episode_Reward/wheel_body_intrusion: -0.2526
+        Episode_Reward/pair_body_intrusion: -0.2937
+             Curriculum/terrain_level_mean: +4.3196
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0918
+       Metrics/base_velocity/error_vel_yaw: 0.1363
+              Episode_Termination/time_out: 0.4737
+             Episode_Termination/fell_over: 0.0602
+           Episode_Termination/course_exit: 0.4211
+Episode_Termination/illegal_nonwheel_contact: 0.0677
+==============================================================================
+
+==============================================================================
+Learning iteration 48500/50000
+                               Total steps: 198,656,000
+                          Steps per second: 13,862
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1406.2
+                                Actor loss: -9.5250
+                               Critic loss: +0.0044
+                          World model loss: +0.5416
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.9642
+     Episode_Reward/track_angular_velocity: +53.0737
+                    Episode_Reward/upright: +26.9631
+                Episode_Reward/leg_posture: -2.6749
+                 Episode_Reward/standstill: -6.6358
+             Episode_Reward/action_rate_l2: -0.5739
+           Episode_Reward/joint_torques_l2: -0.1489
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0165
+     Episode_Reward/unnecessary_wheel_lift: -0.1091
+         Episode_Reward/rolling_leg_motion: -0.5823
+          Episode_Reward/obstacle_progress: +4.0720
+       Episode_Reward/wheel_body_intrusion: -0.2853
+        Episode_Reward/pair_body_intrusion: -0.2927
+             Curriculum/terrain_level_mean: +4.3198
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1358
+              Episode_Termination/time_out: 0.5033
+             Episode_Termination/fell_over: 0.0199
+           Episode_Termination/course_exit: 0.4570
+Episode_Termination/illegal_nonwheel_contact: 0.0331
+==============================================================================
+
+==============================================================================
+Learning iteration 48550/50000
+                               Total steps: 198,860,800
+                          Steps per second: 13,864
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1300.0
+                                Actor loss: -9.5453
+                               Critic loss: +0.0031
+                          World model loss: +0.5477
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.2313
+     Episode_Reward/track_angular_velocity: +49.1258
+                    Episode_Reward/upright: +24.9471
+                Episode_Reward/leg_posture: -2.4713
+                 Episode_Reward/standstill: -5.7410
+             Episode_Reward/action_rate_l2: -0.5433
+           Episode_Reward/joint_torques_l2: -0.1375
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0305
+     Episode_Reward/unnecessary_wheel_lift: -0.0885
+         Episode_Reward/rolling_leg_motion: -0.5559
+          Episode_Reward/obstacle_progress: +3.7746
+       Episode_Reward/wheel_body_intrusion: -0.2583
+        Episode_Reward/pair_body_intrusion: -0.2793
+             Curriculum/terrain_level_mean: +4.3208
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0921
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.4412
+             Episode_Termination/fell_over: 0.0294
+           Episode_Termination/course_exit: 0.4882
+Episode_Termination/illegal_nonwheel_contact: 0.0471
+==============================================================================
+
+==============================================================================
+Learning iteration 48600/50000
+                               Total steps: 199,065,600
+                          Steps per second: 13,866
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0877
+                       Mean episode length: 1347.7
+                                Actor loss: -9.5336
+                               Critic loss: +0.0032
+                          World model loss: +0.5348
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0040
+     Episode_Reward/track_angular_velocity: +50.9309
+                    Episode_Reward/upright: +25.8526
+                Episode_Reward/leg_posture: -2.5473
+                 Episode_Reward/standstill: -5.9906
+             Episode_Reward/action_rate_l2: -0.5651
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0184
+     Episode_Reward/unnecessary_wheel_lift: -0.0895
+         Episode_Reward/rolling_leg_motion: -0.5688
+          Episode_Reward/obstacle_progress: +3.9121
+       Episode_Reward/wheel_body_intrusion: -0.2564
+        Episode_Reward/pair_body_intrusion: -0.2776
+             Curriculum/terrain_level_mean: +4.3223
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0914
+       Metrics/base_velocity/error_vel_yaw: 0.1346
+              Episode_Termination/time_out: 0.4564
+             Episode_Termination/fell_over: 0.0201
+           Episode_Termination/course_exit: 0.5034
+Episode_Termination/illegal_nonwheel_contact: 0.0336
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_048600.mp4
+RECOVERY reset 1 invalid environments; first IDs=[936]
+
+==============================================================================
+Learning iteration 48650/50000
+                               Total steps: 199,270,400
+                          Steps per second: 13,862
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0874
+                       Mean episode length: 1333.1
+                                Actor loss: -9.5099
+                               Critic loss: +0.0038
+                          World model loss: +0.5452
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2447
+     Episode_Reward/track_angular_velocity: +50.3630
+                    Episode_Reward/upright: +25.5577
+                Episode_Reward/leg_posture: -2.4958
+                 Episode_Reward/standstill: -6.1407
+             Episode_Reward/action_rate_l2: -0.5663
+           Episode_Reward/joint_torques_l2: -0.1406
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0260
+     Episode_Reward/unnecessary_wheel_lift: -0.0852
+         Episode_Reward/rolling_leg_motion: -0.5709
+          Episode_Reward/obstacle_progress: +3.8588
+       Episode_Reward/wheel_body_intrusion: -0.2628
+        Episode_Reward/pair_body_intrusion: -0.2732
+             Curriculum/terrain_level_mean: +4.3237
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4014
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.5306
+Episode_Termination/illegal_nonwheel_contact: 0.0544
+==============================================================================
+
+==============================================================================
+Learning iteration 48700/50000
+                               Total steps: 199,475,200
+                          Steps per second: 13,863
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0872
+                       Mean episode length: 1372.1
+                                Actor loss: -9.5293
+                               Critic loss: +0.0124
+                          World model loss: +0.5491
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.6796
+     Episode_Reward/track_angular_velocity: +51.8179
+                    Episode_Reward/upright: +26.2895
+                Episode_Reward/leg_posture: -2.5686
+                 Episode_Reward/standstill: -6.6186
+             Episode_Reward/action_rate_l2: -0.5823
+           Episode_Reward/joint_torques_l2: -0.1450
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0214
+     Episode_Reward/unnecessary_wheel_lift: -0.0813
+         Episode_Reward/rolling_leg_motion: -0.5982
+          Episode_Reward/obstacle_progress: +4.0388
+       Episode_Reward/wheel_body_intrusion: -0.2622
+        Episode_Reward/pair_body_intrusion: -0.2858
+             Curriculum/terrain_level_mean: +4.3245
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4599
+             Episode_Termination/fell_over: 0.0292
+           Episode_Termination/course_exit: 0.4818
+Episode_Termination/illegal_nonwheel_contact: 0.0438
+==============================================================================
+
+==============================================================================
+Learning iteration 48750/50000
+                               Total steps: 199,680,000
+                          Steps per second: 13,865
+                            Iteration time: 0.295s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1358.8
+                                Actor loss: -9.5445
+                               Critic loss: +0.0036
+                          World model loss: +0.5544
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.1063
+     Episode_Reward/track_angular_velocity: +51.2686
+                    Episode_Reward/upright: +26.0420
+                Episode_Reward/leg_posture: -2.5208
+                 Episode_Reward/standstill: -6.2660
+             Episode_Reward/action_rate_l2: -0.5722
+           Episode_Reward/joint_torques_l2: -0.1444
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0265
+     Episode_Reward/unnecessary_wheel_lift: -0.0723
+         Episode_Reward/rolling_leg_motion: -0.5559
+          Episode_Reward/obstacle_progress: +3.9636
+       Episode_Reward/wheel_body_intrusion: -0.2602
+        Episode_Reward/pair_body_intrusion: -0.2948
+             Curriculum/terrain_level_mean: +4.3235
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.5000
+             Episode_Termination/fell_over: 0.0164
+           Episode_Termination/course_exit: 0.4180
+Episode_Termination/illegal_nonwheel_contact: 0.0656
+==============================================================================
+
+==============================================================================
+Learning iteration 48800/50000
+                               Total steps: 199,884,800
+                          Steps per second: 13,867
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0870
+                       Mean episode length: 1348.1
+                                Actor loss: -9.5034
+                               Critic loss: +0.0077
+                          World model loss: +0.5298
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.7753
+     Episode_Reward/track_angular_velocity: +50.8805
+                    Episode_Reward/upright: +25.8086
+                Episode_Reward/leg_posture: -2.5442
+                 Episode_Reward/standstill: -6.5966
+             Episode_Reward/action_rate_l2: -0.5681
+           Episode_Reward/joint_torques_l2: -0.1437
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0290
+     Episode_Reward/unnecessary_wheel_lift: -0.1144
+         Episode_Reward/rolling_leg_motion: -0.5617
+          Episode_Reward/obstacle_progress: +3.9282
+       Episode_Reward/wheel_body_intrusion: -0.2684
+        Episode_Reward/pair_body_intrusion: -0.2684
+             Curriculum/terrain_level_mean: +4.3247
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0936
+       Metrics/base_velocity/error_vel_yaw: 0.1362
+              Episode_Termination/time_out: 0.4817
+             Episode_Termination/fell_over: 0.0427
+           Episode_Termination/course_exit: 0.4512
+Episode_Termination/illegal_nonwheel_contact: 0.0427
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1750]
+
+==============================================================================
+Learning iteration 48850/50000
+                               Total steps: 200,089,600
+                          Steps per second: 13,868
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0869
+                       Mean episode length: 1340.8
+                                Actor loss: -9.5229
+                               Critic loss: +0.0077
+                          World model loss: +0.5502
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.4639
+     Episode_Reward/track_angular_velocity: +50.6311
+                    Episode_Reward/upright: +25.6906
+                Episode_Reward/leg_posture: -2.5351
+                 Episode_Reward/standstill: -6.5441
+             Episode_Reward/action_rate_l2: -0.5529
+           Episode_Reward/joint_torques_l2: -0.1430
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0157
+     Episode_Reward/unnecessary_wheel_lift: -0.0860
+         Episode_Reward/rolling_leg_motion: -0.5747
+          Episode_Reward/obstacle_progress: +3.8030
+       Episode_Reward/wheel_body_intrusion: -0.2793
+        Episode_Reward/pair_body_intrusion: -0.2957
+             Curriculum/terrain_level_mean: +4.3267
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4803
+             Episode_Termination/fell_over: 0.0197
+           Episode_Termination/course_exit: 0.4803
+Episode_Termination/illegal_nonwheel_contact: 0.0329
+==============================================================================
+
+==============================================================================
+Learning iteration 48900/50000
+                               Total steps: 200,294,400
+                          Steps per second: 13,870
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1329.6
+                                Actor loss: -9.5464
+                               Critic loss: +0.0040
+                          World model loss: +0.5160
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2345
+     Episode_Reward/track_angular_velocity: +50.2661
+                    Episode_Reward/upright: +25.4965
+                Episode_Reward/leg_posture: -2.5168
+                 Episode_Reward/standstill: -6.0054
+             Episode_Reward/action_rate_l2: -0.5523
+           Episode_Reward/joint_torques_l2: -0.1429
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0312
+     Episode_Reward/unnecessary_wheel_lift: -0.0741
+         Episode_Reward/rolling_leg_motion: -0.5613
+          Episode_Reward/obstacle_progress: +3.8612
+       Episode_Reward/wheel_body_intrusion: -0.2836
+        Episode_Reward/pair_body_intrusion: -0.2725
+             Curriculum/terrain_level_mean: +4.3254
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1335
+              Episode_Termination/time_out: 0.4476
+             Episode_Termination/fell_over: 0.0559
+           Episode_Termination/course_exit: 0.4685
+Episode_Termination/illegal_nonwheel_contact: 0.0559
+==============================================================================
+
+==============================================================================
+Learning iteration 48950/50000
+                               Total steps: 200,499,200
+                          Steps per second: 13,872
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1421.5
+                                Actor loss: -9.5699
+                               Critic loss: +0.0043
+                          World model loss: +0.5342
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.4493
+     Episode_Reward/track_angular_velocity: +53.7212
+                    Episode_Reward/upright: +27.2718
+                Episode_Reward/leg_posture: -2.6457
+                 Episode_Reward/standstill: -6.4853
+             Episode_Reward/action_rate_l2: -0.5910
+           Episode_Reward/joint_torques_l2: -0.1509
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0250
+     Episode_Reward/unnecessary_wheel_lift: -0.0886
+         Episode_Reward/rolling_leg_motion: -0.6065
+          Episode_Reward/obstacle_progress: +4.0446
+       Episode_Reward/wheel_body_intrusion: -0.2890
+        Episode_Reward/pair_body_intrusion: -0.2807
+             Curriculum/terrain_level_mean: +4.3254
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0932
+       Metrics/base_velocity/error_vel_yaw: 0.1343
+              Episode_Termination/time_out: 0.5190
+             Episode_Termination/fell_over: 0.0253
+           Episode_Termination/course_exit: 0.4241
+Episode_Termination/illegal_nonwheel_contact: 0.0380
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2389]
+
+==============================================================================
+Learning iteration 49000/50000
+                               Total steps: 200,704,000
+                          Steps per second: 13,873
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.192s
+                               Mean reward: +0.0877
+                       Mean episode length: 1351.5
+                                Actor loss: -9.5338
+                               Critic loss: +0.0040
+                          World model loss: +0.5691
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.0078
+     Episode_Reward/track_angular_velocity: +51.1073
+                    Episode_Reward/upright: +25.9315
+                Episode_Reward/leg_posture: -2.4811
+                 Episode_Reward/standstill: -5.8944
+             Episode_Reward/action_rate_l2: -0.5546
+           Episode_Reward/joint_torques_l2: -0.1428
+             Episode_Reward/dof_pos_limits: -0.0010
+                 Episode_Reward/terminated: -0.0185
+     Episode_Reward/unnecessary_wheel_lift: -0.0853
+         Episode_Reward/rolling_leg_motion: -0.5978
+          Episode_Reward/obstacle_progress: +3.7789
+       Episode_Reward/wheel_body_intrusion: -0.2605
+        Episode_Reward/pair_body_intrusion: -0.2891
+             Curriculum/terrain_level_mean: +4.3267
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1339
+              Episode_Termination/time_out: 0.5060
+             Episode_Termination/fell_over: 0.0417
+           Episode_Termination/course_exit: 0.4524
+Episode_Termination/illegal_nonwheel_contact: 0.0060
+==============================================================================
+
+==============================================================================
+Learning iteration 49050/50000
+                               Total steps: 200,908,800
+                          Steps per second: 13,875
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1329.9
+                                Actor loss: -9.5229
+                               Critic loss: +0.0054
+                          World model loss: +0.5478
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.2644
+     Episode_Reward/track_angular_velocity: +50.2447
+                    Episode_Reward/upright: +25.4793
+                Episode_Reward/leg_posture: -2.4812
+                 Episode_Reward/standstill: -5.6937
+             Episode_Reward/action_rate_l2: -0.5476
+           Episode_Reward/joint_torques_l2: -0.1410
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0234
+     Episode_Reward/unnecessary_wheel_lift: -0.0964
+         Episode_Reward/rolling_leg_motion: -0.5769
+          Episode_Reward/obstacle_progress: +3.7343
+       Episode_Reward/wheel_body_intrusion: -0.2750
+        Episode_Reward/pair_body_intrusion: -0.2896
+             Curriculum/terrain_level_mean: +4.3281
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0922
+       Metrics/base_velocity/error_vel_yaw: 0.1344
+              Episode_Termination/time_out: 0.4336
+             Episode_Termination/fell_over: 0.0210
+           Episode_Termination/course_exit: 0.5035
+Episode_Termination/illegal_nonwheel_contact: 0.0420
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1326]
+
+==============================================================================
+Learning iteration 49100/50000
+                               Total steps: 201,113,600
+                          Steps per second: 13,876
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1259.0
+                                Actor loss: -9.5204
+                               Critic loss: +0.0058
+                          World model loss: +0.5785
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +44.6196
+     Episode_Reward/track_angular_velocity: +47.5697
+                    Episode_Reward/upright: +24.1461
+                Episode_Reward/leg_posture: -2.3457
+                 Episode_Reward/standstill: -5.4179
+             Episode_Reward/action_rate_l2: -0.5228
+           Episode_Reward/joint_torques_l2: -0.1335
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0246
+     Episode_Reward/unnecessary_wheel_lift: -0.0703
+         Episode_Reward/rolling_leg_motion: -0.5292
+          Episode_Reward/obstacle_progress: +3.5579
+       Episode_Reward/wheel_body_intrusion: -0.2333
+        Episode_Reward/pair_body_intrusion: -0.2618
+             Curriculum/terrain_level_mean: +4.3284
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1345
+              Episode_Termination/time_out: 0.3497
+             Episode_Termination/fell_over: 0.0350
+           Episode_Termination/course_exit: 0.5804
+Episode_Termination/illegal_nonwheel_contact: 0.0490
+==============================================================================
+
+==============================================================================
+Learning iteration 49150/50000
+                               Total steps: 201,318,400
+                          Steps per second: 13,878
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0876
+                       Mean episode length: 1310.1
+                                Actor loss: -9.5244
+                               Critic loss: +0.0064
+                          World model loss: +0.5099
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.3792
+     Episode_Reward/track_angular_velocity: +49.4754
+                    Episode_Reward/upright: +25.1065
+                Episode_Reward/leg_posture: -2.4249
+                 Episode_Reward/standstill: -5.7092
+             Episode_Reward/action_rate_l2: -0.5520
+           Episode_Reward/joint_torques_l2: -0.1390
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0230
+     Episode_Reward/unnecessary_wheel_lift: -0.0809
+         Episode_Reward/rolling_leg_motion: -0.5518
+          Episode_Reward/obstacle_progress: +3.7313
+       Episode_Reward/wheel_body_intrusion: -0.2382
+        Episode_Reward/pair_body_intrusion: -0.2643
+             Curriculum/terrain_level_mean: +4.3286
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1352
+              Episode_Termination/time_out: 0.4326
+             Episode_Termination/fell_over: 0.0142
+           Episode_Termination/course_exit: 0.5035
+Episode_Termination/illegal_nonwheel_contact: 0.0567
+==============================================================================
+
+==============================================================================
+Learning iteration 49200/50000
+                               Total steps: 201,523,200
+                          Steps per second: 13,880
+                            Iteration time: 0.295s
+                           Collection time: 0.075s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1382.2
+                                Actor loss: -9.5145
+                               Critic loss: +0.0111
+                          World model loss: +0.5686
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9344
+     Episode_Reward/track_angular_velocity: +52.1596
+                    Episode_Reward/upright: +26.4660
+                Episode_Reward/leg_posture: -2.5641
+                 Episode_Reward/standstill: -6.3275
+             Episode_Reward/action_rate_l2: -0.5843
+           Episode_Reward/joint_torques_l2: -0.1481
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0135
+     Episode_Reward/unnecessary_wheel_lift: -0.1006
+         Episode_Reward/rolling_leg_motion: -0.5787
+          Episode_Reward/obstacle_progress: +3.9507
+       Episode_Reward/wheel_body_intrusion: -0.2820
+        Episode_Reward/pair_body_intrusion: -0.3226
+             Curriculum/terrain_level_mean: +4.3301
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0942
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4295
+             Episode_Termination/fell_over: 0.0067
+           Episode_Termination/course_exit: 0.5369
+Episode_Termination/illegal_nonwheel_contact: 0.0268
+==============================================================================
+
+==============================================================================
+Learning iteration 49250/50000
+                               Total steps: 201,728,000
+                          Steps per second: 13,881
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1316.3
+                                Actor loss: -9.4948
+                               Critic loss: +0.0046
+                          World model loss: +0.5345
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5452
+     Episode_Reward/track_angular_velocity: +49.6297
+                    Episode_Reward/upright: +25.1910
+                Episode_Reward/leg_posture: -2.4896
+                 Episode_Reward/standstill: -5.8877
+             Episode_Reward/action_rate_l2: -0.5514
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0013
+                 Episode_Reward/terminated: -0.0386
+     Episode_Reward/unnecessary_wheel_lift: -0.0965
+         Episode_Reward/rolling_leg_motion: -0.5620
+          Episode_Reward/obstacle_progress: +3.7446
+       Episode_Reward/wheel_body_intrusion: -0.2623
+        Episode_Reward/pair_body_intrusion: -0.2568
+             Curriculum/terrain_level_mean: +4.3296
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0945
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4444
+             Episode_Termination/fell_over: 0.0117
+           Episode_Termination/course_exit: 0.4678
+Episode_Termination/illegal_nonwheel_contact: 0.0819
+==============================================================================
+
+==============================================================================
+Learning iteration 49300/50000
+                               Total steps: 201,932,800
+                          Steps per second: 13,883
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1337.6
+                                Actor loss: -9.5161
+                               Critic loss: +0.0053
+                          World model loss: +0.5746
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3823
+     Episode_Reward/track_angular_velocity: +50.4490
+                    Episode_Reward/upright: +25.6411
+                Episode_Reward/leg_posture: -2.5146
+                 Episode_Reward/standstill: -6.0161
+             Episode_Reward/action_rate_l2: -0.5596
+           Episode_Reward/joint_torques_l2: -0.1420
+             Episode_Reward/dof_pos_limits: -0.0004
+                 Episode_Reward/terminated: -0.0209
+     Episode_Reward/unnecessary_wheel_lift: -0.0969
+         Episode_Reward/rolling_leg_motion: -0.5741
+          Episode_Reward/obstacle_progress: +3.7802
+       Episode_Reward/wheel_body_intrusion: -0.2538
+        Episode_Reward/pair_body_intrusion: -0.2927
+             Curriculum/terrain_level_mean: +4.3308
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0939
+       Metrics/base_velocity/error_vel_yaw: 0.1367
+              Episode_Termination/time_out: 0.4625
+             Episode_Termination/fell_over: 0.0312
+           Episode_Termination/course_exit: 0.4875
+Episode_Termination/illegal_nonwheel_contact: 0.0250
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1098]
+
+==============================================================================
+Learning iteration 49350/50000
+                               Total steps: 202,137,600
+                          Steps per second: 13,885
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0873
+                       Mean episode length: 1342.3
+                                Actor loss: -9.5245
+                               Critic loss: +0.0087
+                          World model loss: +0.5296
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.5814
+     Episode_Reward/track_angular_velocity: +50.5739
+                    Episode_Reward/upright: +25.7450
+                Episode_Reward/leg_posture: -2.5264
+                 Episode_Reward/standstill: -6.0654
+             Episode_Reward/action_rate_l2: -0.5660
+           Episode_Reward/joint_torques_l2: -0.1435
+             Episode_Reward/dof_pos_limits: -0.0002
+                 Episode_Reward/terminated: -0.0157
+     Episode_Reward/unnecessary_wheel_lift: -0.0772
+         Episode_Reward/rolling_leg_motion: -0.5757
+          Episode_Reward/obstacle_progress: +3.8152
+       Episode_Reward/wheel_body_intrusion: -0.2631
+        Episode_Reward/pair_body_intrusion: -0.2711
+             Curriculum/terrain_level_mean: +4.3308
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1381
+              Episode_Termination/time_out: 0.4823
+             Episode_Termination/fell_over: 0.0142
+           Episode_Termination/course_exit: 0.4752
+Episode_Termination/illegal_nonwheel_contact: 0.0284
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[778]
+
+==============================================================================
+Learning iteration 49400/50000
+                               Total steps: 202,342,400
+                          Steps per second: 13,886
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0872
+                       Mean episode length: 1382.1
+                                Actor loss: -9.5452
+                               Critic loss: +0.0057
+                          World model loss: +0.5156
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.9784
+     Episode_Reward/track_angular_velocity: +52.0518
+                    Episode_Reward/upright: +26.4826
+                Episode_Reward/leg_posture: -2.6122
+                 Episode_Reward/standstill: -6.3842
+             Episode_Reward/action_rate_l2: -0.5893
+           Episode_Reward/joint_torques_l2: -0.1475
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0162
+     Episode_Reward/unnecessary_wheel_lift: -0.0941
+         Episode_Reward/rolling_leg_motion: -0.5844
+          Episode_Reward/obstacle_progress: +3.9430
+       Episode_Reward/wheel_body_intrusion: -0.2663
+        Episode_Reward/pair_body_intrusion: -0.2996
+             Curriculum/terrain_level_mean: +4.3323
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1387
+              Episode_Termination/time_out: 0.4843
+             Episode_Termination/fell_over: 0.0189
+           Episode_Termination/course_exit: 0.4780
+Episode_Termination/illegal_nonwheel_contact: 0.0314
+==============================================================================
+
+==============================================================================
+Learning iteration 49450/50000
+                               Total steps: 202,547,200
+                          Steps per second: 13,888
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0873
+                       Mean episode length: 1395.2
+                                Actor loss: -9.5119
+                               Critic loss: +0.0052
+                          World model loss: +0.5660
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.5187
+     Episode_Reward/track_angular_velocity: +52.6016
+                    Episode_Reward/upright: +26.7404
+                Episode_Reward/leg_posture: -2.6243
+                 Episode_Reward/standstill: -6.4191
+             Episode_Reward/action_rate_l2: -0.5877
+           Episode_Reward/joint_torques_l2: -0.1490
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0436
+     Episode_Reward/unnecessary_wheel_lift: -0.1126
+         Episode_Reward/rolling_leg_motion: -0.5980
+          Episode_Reward/obstacle_progress: +3.9916
+       Episode_Reward/wheel_body_intrusion: -0.2582
+        Episode_Reward/pair_body_intrusion: -0.2864
+             Curriculum/terrain_level_mean: +4.3306
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0931
+       Metrics/base_velocity/error_vel_yaw: 0.1374
+              Episode_Termination/time_out: 0.4915
+             Episode_Termination/fell_over: 0.0395
+           Episode_Termination/course_exit: 0.4181
+Episode_Termination/illegal_nonwheel_contact: 0.0791
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2374]
+
+==============================================================================
+Learning iteration 49500/50000
+                               Total steps: 202,752,000
+                          Steps per second: 13,889
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.184s
+                               Mean reward: +0.0875
+                       Mean episode length: 1313.4
+                                Actor loss: -9.5232
+                               Critic loss: +0.0064
+                          World model loss: +0.5403
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.6585
+     Episode_Reward/track_angular_velocity: +49.5539
+                    Episode_Reward/upright: +25.1485
+                Episode_Reward/leg_posture: -2.5033
+                 Episode_Reward/standstill: -5.9629
+             Episode_Reward/action_rate_l2: -0.5381
+           Episode_Reward/joint_torques_l2: -0.1405
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0231
+     Episode_Reward/unnecessary_wheel_lift: -0.0761
+         Episode_Reward/rolling_leg_motion: -0.5468
+          Episode_Reward/obstacle_progress: +3.8202
+       Episode_Reward/wheel_body_intrusion: -0.2622
+        Episode_Reward/pair_body_intrusion: -0.2495
+             Curriculum/terrain_level_mean: +4.3308
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0927
+       Metrics/base_velocity/error_vel_yaw: 0.1361
+              Episode_Termination/time_out: 0.4254
+             Episode_Termination/fell_over: 0.0299
+           Episode_Termination/course_exit: 0.5075
+Episode_Termination/illegal_nonwheel_contact: 0.0373
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[728]
+
+==============================================================================
+Learning iteration 49550/50000
+                               Total steps: 202,956,800
+                          Steps per second: 13,891
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.191s
+                               Mean reward: +0.0876
+                       Mean episode length: 1378.4
+                                Actor loss: -9.5423
+                               Critic loss: +0.0034
+                          World model loss: +0.5562
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0020
+     Episode_Reward/track_angular_velocity: +51.9914
+                    Episode_Reward/upright: +26.3911
+                Episode_Reward/leg_posture: -2.6157
+                 Episode_Reward/standstill: -6.0549
+             Episode_Reward/action_rate_l2: -0.5707
+           Episode_Reward/joint_torques_l2: -0.1473
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0108
+     Episode_Reward/unnecessary_wheel_lift: -0.0806
+         Episode_Reward/rolling_leg_motion: -0.5767
+          Episode_Reward/obstacle_progress: +4.0373
+       Episode_Reward/wheel_body_intrusion: -0.2759
+        Episode_Reward/pair_body_intrusion: -0.2926
+             Curriculum/terrain_level_mean: +4.3328
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0923
+       Metrics/base_velocity/error_vel_yaw: 0.1366
+              Episode_Termination/time_out: 0.4965
+             Episode_Termination/fell_over: 0.0142
+           Episode_Termination/course_exit: 0.4752
+Episode_Termination/illegal_nonwheel_contact: 0.0142
+==============================================================================
+
+==============================================================================
+Learning iteration 49600/50000
+                               Total steps: 203,161,600
+                          Steps per second: 13,892
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0872
+                       Mean episode length: 1412.9
+                                Actor loss: -9.5217
+                               Critic loss: +0.0051
+                          World model loss: +0.5353
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +50.0561
+     Episode_Reward/track_angular_velocity: +53.2818
+                    Episode_Reward/upright: +27.0450
+                Episode_Reward/leg_posture: -2.6855
+                 Episode_Reward/standstill: -6.5461
+             Episode_Reward/action_rate_l2: -0.5911
+           Episode_Reward/joint_torques_l2: -0.1504
+             Episode_Reward/dof_pos_limits: -0.0008
+                 Episode_Reward/terminated: -0.0221
+     Episode_Reward/unnecessary_wheel_lift: -0.1011
+         Episode_Reward/rolling_leg_motion: -0.6021
+          Episode_Reward/obstacle_progress: +4.0691
+       Episode_Reward/wheel_body_intrusion: -0.2761
+        Episode_Reward/pair_body_intrusion: -0.2761
+             Curriculum/terrain_level_mean: +4.3318
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0940
+       Metrics/base_velocity/error_vel_yaw: 0.1368
+              Episode_Termination/time_out: 0.5306
+             Episode_Termination/fell_over: 0.0272
+           Episode_Termination/course_exit: 0.4150
+Episode_Termination/illegal_nonwheel_contact: 0.0408
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[2481]
+
+==============================================================================
+Learning iteration 49650/50000
+                               Total steps: 203,366,400
+                          Steps per second: 13,894
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0876
+                       Mean episode length: 1390.0
+                                Actor loss: -9.5259
+                               Critic loss: +0.0041
+                          World model loss: +0.5294
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.3738
+     Episode_Reward/track_angular_velocity: +52.4707
+                    Episode_Reward/upright: +26.5971
+                Episode_Reward/leg_posture: -2.6349
+                 Episode_Reward/standstill: -6.0148
+             Episode_Reward/action_rate_l2: -0.5794
+           Episode_Reward/joint_torques_l2: -0.1466
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0163
+     Episode_Reward/unnecessary_wheel_lift: -0.0884
+         Episode_Reward/rolling_leg_motion: -0.6004
+          Episode_Reward/obstacle_progress: +3.9130
+       Episode_Reward/wheel_body_intrusion: -0.2547
+        Episode_Reward/pair_body_intrusion: -0.2774
+             Curriculum/terrain_level_mean: +4.3340
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0924
+       Metrics/base_velocity/error_vel_yaw: 0.1353
+              Episode_Termination/time_out: 0.4932
+             Episode_Termination/fell_over: 0.0137
+           Episode_Termination/course_exit: 0.4658
+Episode_Termination/illegal_nonwheel_contact: 0.0274
+==============================================================================
+
+==============================================================================
+Learning iteration 49700/50000
+                               Total steps: 203,571,200
+                          Steps per second: 13,896
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1369.7
+                                Actor loss: -9.5104
+                               Critic loss: +0.0049
+                          World model loss: +0.5192
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.5052
+     Episode_Reward/track_angular_velocity: +51.6662
+                    Episode_Reward/upright: +26.2149
+                Episode_Reward/leg_posture: -2.5563
+                 Episode_Reward/standstill: -5.8055
+             Episode_Reward/action_rate_l2: -0.5833
+           Episode_Reward/joint_torques_l2: -0.1440
+             Episode_Reward/dof_pos_limits: -0.0006
+                 Episode_Reward/terminated: -0.0134
+     Episode_Reward/unnecessary_wheel_lift: -0.0805
+         Episode_Reward/rolling_leg_motion: -0.5914
+          Episode_Reward/obstacle_progress: +3.7786
+       Episode_Reward/wheel_body_intrusion: -0.2524
+        Episode_Reward/pair_body_intrusion: -0.2961
+             Curriculum/terrain_level_mean: +4.3342
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0934
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4909
+             Episode_Termination/fell_over: 0.0061
+           Episode_Termination/course_exit: 0.4788
+Episode_Termination/illegal_nonwheel_contact: 0.0303
+==============================================================================
+RECOVERY reset 1 invalid environments; first IDs=[1124]
+
+==============================================================================
+Learning iteration 49750/50000
+                               Total steps: 203,776,000
+                          Steps per second: 13,897
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1336.2
+                                Actor loss: -9.5371
+                               Critic loss: +0.0034
+                          World model loss: +0.5289
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.3793
+     Episode_Reward/track_angular_velocity: +50.3746
+                    Episode_Reward/upright: +25.5695
+                Episode_Reward/leg_posture: -2.4333
+                 Episode_Reward/standstill: -5.8427
+             Episode_Reward/action_rate_l2: -0.5730
+           Episode_Reward/joint_torques_l2: -0.1408
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0130
+     Episode_Reward/unnecessary_wheel_lift: -0.0742
+         Episode_Reward/rolling_leg_motion: -0.5686
+          Episode_Reward/obstacle_progress: +3.7213
+       Episode_Reward/wheel_body_intrusion: -0.2427
+        Episode_Reward/pair_body_intrusion: -0.2919
+             Curriculum/terrain_level_mean: +4.3350
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0933
+       Metrics/base_velocity/error_vel_yaw: 0.1371
+              Episode_Termination/time_out: 0.4336
+             Episode_Termination/fell_over: 0.0140
+           Episode_Termination/course_exit: 0.5315
+Episode_Termination/illegal_nonwheel_contact: 0.0280
+==============================================================================
+Warning: EPA horizon = 24 isn't large enough.
+
+==============================================================================
+Learning iteration 49800/50000
+                               Total steps: 203,980,800
+                          Steps per second: 13,899
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.186s
+                               Mean reward: +0.0875
+                       Mean episode length: 1327.6
+                                Actor loss: -9.5153
+                               Critic loss: +0.0048
+                          World model loss: +0.5556
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +47.0527
+     Episode_Reward/track_angular_velocity: +50.0746
+                    Episode_Reward/upright: +25.4238
+                Episode_Reward/leg_posture: -2.4554
+                 Episode_Reward/standstill: -5.7895
+             Episode_Reward/action_rate_l2: -0.5638
+           Episode_Reward/joint_torques_l2: -0.1405
+             Episode_Reward/dof_pos_limits: -0.0003
+                 Episode_Reward/terminated: -0.0182
+     Episode_Reward/unnecessary_wheel_lift: -0.0905
+         Episode_Reward/rolling_leg_motion: -0.5694
+          Episode_Reward/obstacle_progress: +3.7918
+       Episode_Reward/wheel_body_intrusion: -0.2539
+        Episode_Reward/pair_body_intrusion: -0.2626
+             Curriculum/terrain_level_mean: +4.3354
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0935
+       Metrics/base_velocity/error_vel_yaw: 0.1365
+              Episode_Termination/time_out: 0.4072
+             Episode_Termination/fell_over: 0.0120
+           Episode_Termination/course_exit: 0.5509
+Episode_Termination/illegal_nonwheel_contact: 0.0299
+==============================================================================
+
+==============================================================================
+Learning iteration 49850/50000
+                               Total steps: 204,185,600
+                          Steps per second: 13,900
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1387.1
+                                Actor loss: -9.5308
+                               Critic loss: +0.0054
+                          World model loss: +0.5315
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +49.0901
+     Episode_Reward/track_angular_velocity: +52.3634
+                    Episode_Reward/upright: +26.5631
+                Episode_Reward/leg_posture: -2.5742
+                 Episode_Reward/standstill: -5.7516
+             Episode_Reward/action_rate_l2: -0.5887
+           Episode_Reward/joint_torques_l2: -0.1474
+             Episode_Reward/dof_pos_limits: -0.0005
+                 Episode_Reward/terminated: -0.0217
+     Episode_Reward/unnecessary_wheel_lift: -0.0799
+         Episode_Reward/rolling_leg_motion: -0.5826
+          Episode_Reward/obstacle_progress: +3.9813
+       Episode_Reward/wheel_body_intrusion: -0.2555
+        Episode_Reward/pair_body_intrusion: -0.3064
+             Curriculum/terrain_level_mean: +4.3352
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0941
+       Metrics/base_velocity/error_vel_yaw: 0.1355
+              Episode_Termination/time_out: 0.5034
+             Episode_Termination/fell_over: 0.0207
+           Episode_Termination/course_exit: 0.4414
+Episode_Termination/illegal_nonwheel_contact: 0.0414
+==============================================================================
+
+==============================================================================
+Learning iteration 49900/50000
+                               Total steps: 204,390,400
+                          Steps per second: 13,902
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0875
+                       Mean episode length: 1315.7
+                                Actor loss: -9.5048
+                               Critic loss: +0.0076
+                          World model loss: +0.5671
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.5110
+     Episode_Reward/track_angular_velocity: +49.6558
+                    Episode_Reward/upright: +25.1652
+                Episode_Reward/leg_posture: -2.4655
+                 Episode_Reward/standstill: -5.6186
+             Episode_Reward/action_rate_l2: -0.5551
+           Episode_Reward/joint_torques_l2: -0.1406
+             Episode_Reward/dof_pos_limits: -0.0011
+                 Episode_Reward/terminated: -0.0206
+     Episode_Reward/unnecessary_wheel_lift: -0.0782
+         Episode_Reward/rolling_leg_motion: -0.5597
+          Episode_Reward/obstacle_progress: +3.8066
+       Episode_Reward/wheel_body_intrusion: -0.2579
+        Episode_Reward/pair_body_intrusion: -0.2917
+             Curriculum/terrain_level_mean: +4.3352
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0944
+       Metrics/base_velocity/error_vel_yaw: 0.1359
+              Episode_Termination/time_out: 0.4015
+             Episode_Termination/fell_over: 0.0365
+           Episode_Termination/course_exit: 0.5401
+Episode_Termination/illegal_nonwheel_contact: 0.0365
+==============================================================================
+
+==============================================================================
+Learning iteration 49950/50000
+                               Total steps: 204,595,200
+                          Steps per second: 13,904
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0878
+                       Mean episode length: 1378.0
+                                Actor loss: -9.5147
+                               Critic loss: +0.0050
+                          World model loss: +0.5321
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +48.8101
+     Episode_Reward/track_angular_velocity: +52.0469
+                    Episode_Reward/upright: +26.3670
+                Episode_Reward/leg_posture: -2.5521
+                 Episode_Reward/standstill: -5.7972
+             Episode_Reward/action_rate_l2: -0.5890
+           Episode_Reward/joint_torques_l2: -0.1461
+             Episode_Reward/dof_pos_limits: -0.0009
+                 Episode_Reward/terminated: -0.0188
+     Episode_Reward/unnecessary_wheel_lift: -0.0759
+         Episode_Reward/rolling_leg_motion: -0.5804
+          Episode_Reward/obstacle_progress: +4.0427
+       Episode_Reward/wheel_body_intrusion: -0.2530
+        Episode_Reward/pair_body_intrusion: -0.2815
+             Curriculum/terrain_level_mean: +4.3364
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0938
+       Metrics/base_velocity/error_vel_yaw: 0.1350
+              Episode_Termination/time_out: 0.4937
+             Episode_Termination/fell_over: 0.0190
+           Episode_Termination/course_exit: 0.4620
+Episode_Termination/illegal_nonwheel_contact: 0.0253
+==============================================================================
+
+==============================================================================
+Learning iteration 50000/50000
+                               Total steps: 204,800,000
+                          Steps per second: 13,905
+                            Iteration time: 0.295s
+                           Collection time: 0.076s
+                             Learning time: 0.185s
+                               Mean reward: +0.0877
+                       Mean episode length: 1311.9
+                                Actor loss: -9.5213
+                               Critic loss: +0.0061
+                          World model loss: +0.5613
+                         Mean action noise: 0.150
+                           Skipped updates: 0
+------------------------------------------------------------------------------
+      Episode_Reward/track_linear_velocity: +46.4991
+     Episode_Reward/track_angular_velocity: +49.4780
+                    Episode_Reward/upright: +25.0778
+                Episode_Reward/leg_posture: -2.4390
+                 Episode_Reward/standstill: -5.5298
+             Episode_Reward/action_rate_l2: -0.5605
+           Episode_Reward/joint_torques_l2: -0.1406
+             Episode_Reward/dof_pos_limits: -0.0007
+                 Episode_Reward/terminated: -0.0307
+     Episode_Reward/unnecessary_wheel_lift: -0.0838
+         Episode_Reward/rolling_leg_motion: -0.5458
+          Episode_Reward/obstacle_progress: +3.8305
+       Episode_Reward/wheel_body_intrusion: -0.2444
+        Episode_Reward/pair_body_intrusion: -0.2655
+             Curriculum/terrain_level_mean: +4.3359
+                     Command/command_stage: 1
+                    Command/command_ranges: [[-0.5000, +1.0000], [-0.4000, +0.4000], [-0.7000, +0.7000]]
+        Metrics/base_velocity/error_vel_xy: 0.0937
+       Metrics/base_velocity/error_vel_yaw: 0.1364
+              Episode_Termination/time_out: 0.4557
+             Episode_Termination/fell_over: 0.0380
+           Episode_Termination/course_exit: 0.4684
+Episode_Termination/illegal_nonwheel_contact: 0.0633
+==============================================================================
+
++---------------------------------+
+|         Base Environment        |
++------------------------+--------+
+| Property               | Value  |
++------------------------+--------+
+| Number of environments | 1      |
+| Environment device     | cuda:0 |
+| Environment seed       | None   |
+| Physics step-size      | 0.005  |
+| Environment step-size  | 0.02   |
++------------------------+--------+
+
+[INFO] <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_base                 |
+|   1    | reset_robot_joints         |
++--------+----------------------------+
+
+[INFO] <CommandManager> contains 1 active terms.
++--------------------------------------+
+|         Active Command Terms         |
++-------+-------+----------------------+
+| Index | Name  |         Type         |
++-------+-------+----------------------+
+|   0   | twist | MixedVelocityCommand |
++-------+-------+----------------------+
+
+[INFO] <ActionManager> contains 2 active terms.
++---------------------------------+
+| Active Action Terms (shape: 16) |
++-------+-----------+-------------+
+| Index | Name      |   Dimension |
++-------+-----------+-------------+
+|   0   | joint_pos |          12 |
+|   1   | wheel_vel |           4 |
++-------+-----------+-------------+
+
+[INFO] <ObservationManager> contains 1 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'actor' (shape: (265,)) |
++--------+-------------------------+-------------------------+
+| Index  | Name                    |          Shape          |
++--------+-------------------------+-------------------------+
+|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
+|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
+|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
+|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
+|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
+|   5    | actions                 |     (80,)  ← 5×(16,)    |
+|   6    | command                 |     (15,)  ← 5×(3,)     |
++--------+-------------------------+-------------------------+
+
+[INFO] <TerminationManager> contains 4 active terms.
++---------------------------------------------+
+|           Active Termination Terms          |
++-------+--------------------------+----------+
+| Index | Name                     | Time Out |
++-------+--------------------------+----------+
+|   0   | time_out                 |   True   |
+|   1   | fell_over                |  False   |
+|   2   | course_exit              |   True   |
+|   3   | illegal_nonwheel_contact |  False   |
++-------+--------------------------+----------+
+
+[INFO] <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] <NullCurriculumManager> (inactive)
+[INFO] <NullMetricsManager> (inactive)
+[INFO] <NullRecorderManager> (inactive)
+S10 video saved: logs/s10_terrain_v7_50k_20261101_225518/videos/iteration_050000.mp4
+S10 training complete: logs/s10_terrain_v7_50k_20261101_225518
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..cf70776
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,34 @@
+[build-system]
+requires = ["setuptools>=68", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "s10-supermimic"
+version = "0.1.0"
+description = "Blind wheel-legged locomotion for Deep Robotics S10 with a learned world model"
+readme = "README.md"
+requires-python = ">=3.10,<3.14"
+dependencies = [
+  "mjlab==1.6.0",
+  "torch>=2.7.0",
+  "numpy",
+]
+
+[tool.setuptools]
+include-package-data = true
+packages = [
+  "s10_supermimic",
+  "s10_supermimic.core",
+  "s10_supermimic.env",
+  "s10_supermimic.tasks",
+  "s10_supermimic.robot",
+]
+
+[tool.setuptools.package-data]
+s10_supermimic = [
+  "core/gui.html",
+  "robot/LICENSE_s10",
+  "robot/model/*.xml",
+  "robot/model/*.md",
+  "robot/model/meshes/*.STL",
+]
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..7bedd35
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,12 @@
+# Core runtime
+torch>=2.7.0
+mjlab==1.6.0
+mujoco~=3.11.0
+mujoco-warp~=3.11.0
+warp-lang>=1.14.0
+numpy
+
+# Video recording and ONNX export
+mediapy>=1.2.7
+onnx
+onnxruntime
diff --git a/s10_supermimic/__init__.py b/s10_supermimic/__init__.py
new file mode 100644
index 0000000..044b127
--- /dev/null
+++ b/s10_supermimic/__init__.py
@@ -0,0 +1 @@
+"""S10 wheel-legged locomotion with model-based RL in mjlab."""
diff --git a/s10_supermimic/core/__init__.py b/s10_supermimic/core/__init__.py
new file mode 100644
index 0000000..eec67e5
--- /dev/null
+++ b/s10_supermimic/core/__init__.py
@@ -0,0 +1 @@
+"""S10 policies, world models, replay, imagined rollouts and control UI."""
diff --git a/s10_supermimic/core/bridge.py b/s10_supermimic/core/bridge.py
new file mode 100644
index 0000000..25f44d1
--- /dev/null
+++ b/s10_supermimic/core/bridge.py
@@ -0,0 +1,88 @@
+"""Explicit name-based mapping between mjlab and canonical S10 model tensors."""
+
+import torch
+
+from s10_supermimic.robot.config import (
+  LEG_JOINT_NAMES, WHEEL_BODY_NAMES, WHEEL_GEOM_NAMES, WHEEL_JOINT_NAMES,
+)
+from .world_model import STATE_DIM, ACTION_DIM
+
+
+class S10Bridge:
+  def __init__(self, env):
+    self.env = env
+    self.robot = env.scene["robot"]
+    self.legs, _ = self.robot.find_joints(LEG_JOINT_NAMES, preserve_order=True)
+    self.wheels, _ = self.robot.find_joints(WHEEL_JOINT_NAMES, preserve_order=True)
+    if len(self.legs) != 12 or len(self.wheels) != 4:
+      raise ValueError("S10 requires 12 leg joints and 4 wheel joints")
+    pos = env.action_manager.get_term("joint_pos")
+    vel = env.action_manager.get_term("wheel_vel")
+    if list(env.cfg.actions) != ["joint_pos", "wheel_vel"]:
+      raise ValueError("Expected joint_pos then wheel_vel action terms")
+    names = list(pos.target_names) + list(vel.target_names)
+    canonical = LEG_JOINT_NAMES + WHEEL_JOINT_NAMES
+    if len(names) != ACTION_DIM or set(names) != set(canonical):
+      raise ValueError("Unexpected S10 action targets")
+    self.to_canonical = [names.index(n) for n in canonical]
+    self.to_env = [canonical.index(n) for n in names]
+    geoms, _ = self.robot.find_geoms(WHEEL_GEOM_NAMES, preserve_order=True)
+    self.geoms = self.robot.indexing.geom_ids[geoms]
+    body, _ = self.robot.find_bodies("base_link")
+    self.base = self.robot.indexing.body_ids[body[0]]
+    # XML reference, not an already-randomized simulator value after reset.
+    from s10_supermimic.robot.config import get_spec
+    self.nominal_com = torch.as_tensor(get_spec().body("base_link").ipos.copy(),
+                                       device=env.device, dtype=torch.float32)
+
+  def canonical_action(self, action):
+    return action[:, self.to_canonical]
+
+  def env_action(self, action):
+    return action[:, self.to_env]
+
+  def state(self):
+    d = self.robot.data
+    s = torch.cat((d.root_link_pos_w[:, 2:3], d.projected_gravity_b,
+                   d.root_link_lin_vel_b, d.root_link_ang_vel_b,
+                   (d.joint_pos - d.default_joint_pos)[:, self.legs],
+                   d.joint_vel[:, self.legs], d.joint_vel[:, self.wheels]), -1)
+    assert s.shape[-1] == STATE_DIM
+    return s
+
+  def pose(self):
+    d = self.robot.data
+    return torch.cat((d.root_link_pos_w[:, :2], d.heading_w[:, None]), -1)
+
+  def context(self):
+    model = self.env.sim.model
+    friction = model.geom_friction
+    com = model.body_ipos
+    mu = friction[:, self.geoms, 0] if friction.ndim == 3 else friction[self.geoms, 0].expand(self.env.num_envs, -1)
+    offset = com[:, self.base] if com.ndim == 3 else com[self.base].expand(self.env.num_envs, -1)
+    return torch.cat((mu, offset - self.nominal_com), -1)
+
+  def contacts(self):
+    """Endpoint targets: contact flags4, net wheel forces12 in base frame (N).
+
+    Explicit names prevent silent FL/FR swaps in sensor expansion order.
+    Terminal/reset endpoints are excluded by replay validity in the learner.
+    """
+    from mjlab.utils.lab_api.math import quat_apply_inverse
+    sensor = self.env.scene["wheel_ground_contact"]
+    names = [name.split('/')[-1] for name in sensor.primary_names]
+    order = [names.index(name) for name in WHEEL_BODY_NAMES]
+    found = (sensor.data.found[:,order] > 0).float().reshape(-1,4)
+    force = sensor.data.force[:,order].reshape(-1,4,3)
+    quat = self.robot.data.root_link_quat_w[:,None,:].expand(-1,4,-1)
+    force = quat_apply_inverse(quat.reshape(-1,4),force.reshape(-1,3)).reshape(-1,12)
+    return torch.cat((found,force),-1)
+
+
+def pose_delta(before, after):
+  dxy = after[:, :2] - before[:, :2]
+  c, s = before[:, 2].cos(), before[:, 2].sin()
+  yaw = after[:, 2] - before[:, 2]
+  return torch.stack((c * dxy[:, 0] + s * dxy[:, 1],
+                      -s * dxy[:, 0] + c * dxy[:, 1],
+                      torch.atan2(yaw.sin(), yaw.cos())), -1)
diff --git a/s10_supermimic/core/collision.py b/s10_supermimic/core/collision.py
new file mode 100644
index 0000000..861d230
--- /dev/null
+++ b/s10_supermimic/core/collision.py
@@ -0,0 +1,24 @@
+"""Non-wheel collision termination and pre-reset labels for imagined survival."""
+import torch
+
+
+def illegal_nonwheel_contact(env, force_threshold=10.):
+  data = env.scene['nonwheel_ground_contact'].data
+  force = data.force_history if data.force_history is not None else data.force
+  finite = torch.isfinite(force).flatten(1).all(-1)
+  magnitude = torch.nan_to_num(force, nan=0., posinf=0., neginf=0.).norm(dim=-1)
+  peak = magnitude.flatten(1).amax(-1)
+  hit = (peak > force_threshold) & finite
+  # Scene/termination buffers are cleared by automatic reset. These copies
+  # survive it, so the learner retains the transition that caused termination.
+  env._nonwheel_hit = hit.detach().clone()
+  env._nonwheel_label_valid = finite.detach().clone()
+  env._nonwheel_peak = peak.detach().clone()
+  return hit
+
+
+def collision_events(batch):
+  valid = batch['valid'].squeeze(-1).bool()
+  prefix = torch.cat((torch.ones_like(valid[:,:1]), valid.cumprod(1).bool()[:,:-1]),1)
+  return ((batch['collision'].squeeze(-1) > .5)
+          & batch['collision_valid'].squeeze(-1).bool() & prefix).any(-1)
diff --git a/s10_supermimic/core/command_curriculum.py b/s10_supermimic/core/command_curriculum.py
new file mode 100644
index 0000000..e836073
--- /dev/null
+++ b/s10_supermimic/core/command_curriculum.py
@@ -0,0 +1,32 @@
+"""Velocity range presets. V4 is time-based; v5/v6/v7 are stair-gated.
+
+S10 v7 uses ``V7_STAGES`` as the 1.5/0.8/1.2 cap, but stage advancement comes
+from ``stair_curriculum.next_stage`` (actual up-stair pass rate). Only v4
+advances by iteration count alone.
+"""
+STAGES = (
+  (0, (-.3,.8), (-.2,.2), (-.8,.8)),
+  (1000, (-.5,1.), (-.4,.4), (-1.,1.)),
+  (2500, (-.8,1.5), (-.6,.6), (-1.5,1.5)),
+  (5000, (-1.5,1.8), (-.8,.8), (-2.,2.)),
+  (7500, (-2.,2.), (-1.,1.), (-3.,3.)),
+)
+V7_STAGES = (
+  (0, (-.3,.8), (-.2,.2), (-.5,.5)),
+  (1000, (-.5,1.), (-.4,.4), (-.7,.7)),
+  (2500, (-.8,1.2), (-.6,.6), (-.9,.9)),
+  (5000, (-1.2,1.4), (-.7,.7), (-1.1,1.1)),
+  (7500, (-1.5,1.5), (-.8,.8), (-1.2,1.2)),
+)
+
+
+def stages_for(revision):
+  return V7_STAGES if revision >= 7 else STAGES
+
+
+def set_command_stage(cfg, iteration, stage=None, stages=STAGES):
+  index = stage if stage is not None else max(
+    i for i, item in enumerate(stages) if max(0, iteration) >= item[0])
+  _, x, y, yaw = stages[index]
+  cfg.ranges.lin_vel_x, cfg.ranges.lin_vel_y, cfg.ranges.ang_vel_z = x, y, yaw
+  return index
diff --git a/s10_supermimic/core/gui.html b/s10_supermimic/core/gui.html
new file mode 100644
index 0000000..31076f0
--- /dev/null
+++ b/s10_supermimic/core/gui.html
@@ -0,0 +1,114 @@
+<!doctype html>
+<html lang="zh-CN">
+<head>
+<meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1">
+<title>S10 · 运行控制</title>
+<style>
+:root{color-scheme:dark;font-family:system-ui,-apple-system,sans-serif;background:#10141b;color:#e4eaf3}*{box-sizing:border-box}body{margin:0;padding:28px}header{display:flex;justify-content:space-between;align-items:center;margin-bottom:24px}h1{font-size:25px;margin:0}header small{color:#93a1b5;font-size:13px}.status{background:#202a36;padding:8px 14px;border-radius:20px;color:#a2b7cb;font-size:13px}main{display:grid;grid-template-columns:minmax(400px,1fr) 350px;gap:22px;max-width:1600px;margin:auto}.card{background:#19212d;border:1px solid #2c3748;border-radius:16px;overflow:hidden}.viewer{background:#080b10;display:flex;align-items:center;justify-content:center;min-height:400px}.viewer img{display:block;width:100%;aspect-ratio:4/3;object-fit:contain}.caption{padding:16px;color:#9cabc0;font-size:13px}.panel{padding:24px}h2{font-size:18px;margin:0 0 8px}.muted{color:#9cabc0;font-size:13px;line-height:1.7}.slider{margin:26px 0}.slider label{display:flex;justify-content:space-between;align-items:center;font-size:14px}output{font:600 21px ui-monospace,monospace;color:#64debf}input[type=range]{width:100%;accent-color:#58cfb1;margin:17px 0 5px;cursor:pointer}.bounds{display:flex;justify-content:space-between;color:#8292a7;font-size:12px}.actions{display:flex;gap:10px;margin:12px 0}button{cursor:pointer;border:1px solid #415067;border-radius:9px;background:#273448;color:#edf3fa;padding:11px 14px;font:inherit;font-size:14px;flex:1}button:hover{filter:brightness(1.2)}button.stop{background:#94404c;border-color:#c05b69;width:100%;font-weight:600}.telemetry{border-top:1px solid #344054;padding-top:20px;margin-top:24px}.metric{display:flex;justify-content:space-between;padding:8px 0;font-size:14px}.metric b{font-family:ui-monospace,monospace}#wm{font-size:11px;max-width:210px;text-align:right;white-space:normal;line-height:1.35}.dot{color:#64debf}.note{margin-top:20px;font-size:12px;color:#8a9ab0;line-height:1.7}@media(max-width:900px){body{padding:16px}main{grid-template-columns:1fr}.viewer{min-height:200px}}
+select{background:#273448;color:#edf3fa;padding:8px;border:1px solid #415067;border-radius:6px;margin:5px}.viewer img{cursor:grab;touch-action:none;user-select:none}.viewer img:active{cursor:grabbing}
+</style>
+</head>
+<body>
+<header><div><h1>S10 <span style="font-weight:400;color:#9cabc0">/ 运行控制</span></h1><small id="model">正在加载策略…</small></div><div class="status" id="connection">连接中</div></header>
+<main>
+<section class="card"><div class="viewer"><img id="frame" src="/frame.jpg" alt="S10 实时仿真画面"></div><div class="caption" id="caption">单环境 · CPU · 实时画面</div></section>
+<section class="card panel">
+<h2>地形与视角</h2>
+<div><select id="terrainKind" aria-label="地形"><option value="flat">平地</option><option value="up">上楼梯</option><option value="down">下楼梯</option><option value="platform">障碍平台</option><option value="slope">斜坡</option><option value="rubble">碎石地</option></select>
+<select id="terrainLevel" aria-label="难度"><option value="0">等级 0 · 2 cm / 3°</option><option value="1">等级 1 · 4 cm / 5.4°</option><option value="2">等级 2 · 8 cm / 7.8°</option><option value="3">等级 3 · 12 cm / 10.2°</option><option value="4">等级 4 · 16 cm / 12.6°</option><option value="5">等级 5 · 20 cm / 15°</option></select></div>
+<div class="actions"><button id="changeScene">切换地形</button><button id="resetCamera">恢复视角</button></div>
+<div class="muted">在画面上按住左键拖动旋转，滚轮缩放，双击恢复视角。镜头始终跟随机器人。切换地形会重置机器人。</div>
+
+<h2>键盘控制 · 速度大小</h2><div class="muted">↑↓ 前进/后退 · ←→ 横移 · Q/E 转向<br>按住移动，松开停止；滑条只调速度大小。</div><div class="muted" id="requested">当前指令：0 / 0 / 0</div>
+<div class="slider"><label for="vx">前进 / 后退 · vx <output id="vxout">0.00</output></label><input id="vx" type="range" min="0" max="2" step="0.01" value="0.3"><div class="bounds"><span>0 m/s</span><span>+2.00 m/s</span></div></div>
+<div class="slider"><label for="vy">左移 / 右移 · vy <output id="vyout">0.00</output></label><input id="vy" type="range" min="0" max="1" step="0.01" value="0.2"><div class="bounds"><span>0 m/s</span><span>+1.00 m/s</span></div></div>
+<div class="slider"><label for="yaw">左转 / 右转 · yaw rate <output id="yawout">0.00</output></label><input id="yaw" type="range" min="0" max="3" step="0.01" value="0.4"><div class="bounds"><span>0 rad/s</span><span>+3.00 rad/s</span></div></div>
+<button class="stop" id="stop">停止 · 空格</button><div class="actions"><button id="pause">暂停仿真</button><button id="reset">重置机器人</button></div>
+<div class="telemetry"><h2>实际速度</h2><div class="metric"><span>vx</span><b id="actual0">—</b></div><div class="metric"><span>vy</span><b id="actual1">—</b></div><div class="metric"><span>yaw rate</span><b id="actual2">—</b></div><div class="metric"><span>WM 预测误差</span><b id="wm">—</b></div></div>
+<div class="note" id="note">黄→橙→红渐变残影是世界模型从当前状态想象的未来 32 步（默认每 4 步画一个）；WM 预测误差会随仿真推进与真实状态对齐后更新。切换标签页或关闭页面会归零。连接中断超过 2 秒也会归零。暂停会清空指令。</div>
+</section>
+</main>
+<script>
+const sliders=['vx','vy','yaw'].map(id=>document.getElementById(id));
+const connection=document.getElementById('connection');
+let dirty=false,busy=false,actionQueue=[],dragging=false;
+let cameraDelta=[0,0,0],pointer=null,sceneInitialized=false;
+const keys=new Set(),motionKeys=new Set(["ArrowUp","ArrowDown","ArrowLeft","ArrowRight","KeyQ","KeyE"]);
+function command(){
+ const x=Number(keys.has("ArrowUp"))-Number(keys.has("ArrowDown"));
+ const y=Number(keys.has("ArrowLeft"))-Number(keys.has("ArrowRight"));
+ const z=Number(keys.has("KeyQ"))-Number(keys.has("KeyE"));
+ const scale=Math.max(1,Math.hypot(x,y));
+ return [Number(sliders[0].value)*x/scale,Number(sliders[1].value)*y/scale,Number(sliders[2].value)*z];
+}
+function labels(){sliders.forEach(s=>document.getElementById(s.id+'out').textContent=Number(s.value).toFixed(2))}
+function zero(){keys.clear();dirty=true}
+function action(name){if(name!=='heartbeat'){zero();actionQueue.push(name)}}
+sliders.forEach(s=>{s.addEventListener('input',()=>{labels();dirty=true});s.addEventListener('pointerdown',()=>dragging=true)});
+window.addEventListener('pointerup',()=>dragging=false);
+document.getElementById('stop').onclick=()=>action('stop');
+document.getElementById('pause').onclick=()=>action('pause');
+document.getElementById('reset').onclick=()=>action('reset');
+window.addEventListener('keydown',e=>{
+ if(e.code==='Space'){e.preventDefault();action('stop');return}
+ if(motionKeys.has(e.code)){e.preventDefault();if(!e.repeat){keys.add(e.code);dirty=true}}
+});
+window.addEventListener('keyup',e=>{
+ if(motionKeys.has(e.code)){e.preventDefault();keys.delete(e.code);dirty=true}
+});
+window.addEventListener('blur',()=>{endDrag();action('stop');leave()});
+labels();
+function leave(){zero();navigator.sendBeacon('/api/control',JSON.stringify({action:'stop'}))}
+document.addEventListener('visibilitychange',()=>{if(document.hidden)leave()});
+window.addEventListener('pagehide',leave);
+function show(s){
+ connection.textContent=s.loading?'正在切换地形…':s.ready?(s.paused?'已暂停':'● 已连接'):'仿真初始化中';
+ if(!sceneInitialized && s.terrain_kind){
+  document.getElementById('terrainKind').value=s.terrain_kind;
+  document.getElementById('terrainLevel').value=String(s.terrain_level);sceneInitialized=true;
+ }
+ document.getElementById('changeScene').disabled=!!s.loading||!s.terrain;
+ document.getElementById('pause').textContent=s.paused?'继续仿真':'暂停仿真';
+ document.getElementById('requested').textContent='当前指令：vx '+s.command[0].toFixed(2)+' / vy '+s.command[1].toFixed(2)+' / yaw '+s.command[2].toFixed(2);
+ (s.actual||[]).forEach((v,i)=>document.getElementById('actual'+i).textContent=Number(v).toFixed(3)+(i===2?' rad/s':' m/s'));
+ document.getElementById('wm').textContent=s.wm_error||'—';
+ if(s.checkpoint)document.getElementById('model').textContent=s.checkpoint+' · 训练步数 '+s.iteration;
+ if(s.scene)document.getElementById('caption').textContent=s.scene+' · 单环境 · '+s.device+' · 渲染 '+Number(s.render_fps||0).toFixed(1)+' FPS · 实时倍率 '+Number(s.realtime_factor||0).toFixed(2)+'×';
+ if(s.terrain)document.getElementById('note').textContent=(s.terrain_revision>=3?'新版训练指令范围：vx ±2 m/s，vy ±1 m/s，yaw ±3 rad/s。实际能力以评估为准。':'当前为前向地形策略。训练范围：vx 0.2–0.45 m/s，vy 0，yaw ±0.05 rad/s；反向和大幅转向尚未验证。')+' 黄→橙→红渐变残影是世界模型预测的未来 32 步；WM 误差在与真实状态对齐后更新。切换标签页或断开连接后指令归零。';
+}
+async function tick(){
+ if(busy||document.hidden)return;busy=true;
+ try{
+  let body={action:'heartbeat'};
+  if(actionQueue.length){const item=actionQueue.shift();body=typeof item==='string'?{action:item}:item;}
+  else if(dirty){body={action:'command',values:command()};dirty=false}
+  if(cameraDelta.some(v=>v!==0)){body.camera_delta=cameraDelta;cameraDelta=[0,0,0]}
+  const response=await fetch('/api/control',{method:'POST',headers:{'Content-Type':'application/json'},body:JSON.stringify(body),signal:AbortSignal.timeout(1500)});
+  if(!response.ok)throw Error(response.status);show(await response.json());
+ }catch(e){connection.textContent='连接已断开';zero()}finally{busy=false}
+}
+setInterval(tick,33);tick();
+const image=document.getElementById('frame');
+image.draggable=false;
+image.addEventListener('pointerdown',e=>{
+ if(e.button!==0)return;e.preventDefault();pointer={id:e.pointerId,x:e.clientX,y:e.clientY};image.setPointerCapture(e.pointerId);
+});
+image.addEventListener('pointermove',e=>{
+ if(!pointer||pointer.id!==e.pointerId)return;
+ cameraDelta[0]-=(e.clientX-pointer.x)*.4;cameraDelta[1]-=(e.clientY-pointer.y)*.3;
+ pointer.x=e.clientX;pointer.y=e.clientY;
+});
+function endDrag(){pointer=null}
+image.addEventListener('pointerup',endDrag);image.addEventListener('pointercancel',endDrag);image.addEventListener('lostpointercapture',endDrag);
+
+image.addEventListener('wheel',e=>{e.preventDefault();cameraDelta[2]+=Math.max(-1,Math.min(1,e.deltaY*(e.deltaMode===1?.03:e.deltaMode===2?.5:.001)));},{passive:false});
+function resetCamera(){cameraDelta=[0,0,0];actionQueue.push('camera_reset')}
+image.addEventListener('dblclick',resetCamera);
+document.getElementById('resetCamera').onclick=resetCamera;
+document.getElementById('changeScene').onclick=()=>{
+ zero();actionQueue.push({action:'scene',kind:document.getElementById('terrainKind').value,level:Number(document.getElementById('terrainLevel').value)});
+};
+function nextFrame(){setTimeout(()=>{if(!document.hidden)image.src='/frame.jpg?t='+Date.now();else nextFrame()},16)}
+image.onload=nextFrame;image.onerror=nextFrame;if(image.complete)nextFrame();
+</script>
+</body></html>
diff --git a/s10_supermimic/core/gui.py b/s10_supermimic/core/gui.py
new file mode 100644
index 0000000..135f103
--- /dev/null
+++ b/s10_supermimic/core/gui.py
@@ -0,0 +1,171 @@
+"""Local browser controls. Latest-frame storage only; simulation owns MuJoCo."""
+import errno
+import json
+import math
+from pathlib import Path
+import threading
+import time
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+
+
+class ControlState:
+  def __init__(self, timeout=2.):
+    self.speed, self.lateral_speed, self.turn_speed = 2., 1., 3.
+    self.lock = threading.RLock()
+    self.values = (0., 0., 0.)
+    self.last_seen = time.monotonic()
+    self.timeout = timeout
+    self.paused = False
+    self.reset_requested = False
+    self.camera = [140., -20., 2.5]
+    self.scene_requested = None
+    self.loading = False
+    self.jpeg = b""
+    self.status = {"ready": False, "actual": [0., 0., 0.]}
+
+  def clear(self):
+    with self.lock:
+      self.values = (0., 0., 0.)
+
+  def command(self):
+    with self.lock:
+      if time.monotonic() - self.last_seen > self.timeout:
+        self.clear()
+      return (0., 0., 0.) if self.paused or self.loading else self.values
+
+  def update(self, request):
+    if not isinstance(request, dict):
+      raise ValueError("Expected an object")
+    action = request.get("action", "command")
+    if action not in ("command", "heartbeat", "stop", "pause", "reset", "camera_reset", "scene"):
+      raise ValueError("Unknown action")
+    values = None
+    if action == "command":
+      values = request.get("values")
+      if not isinstance(values, list) or len(values) != 3:
+        raise ValueError("Expected vx, vy, yaw_rate")
+      if any(isinstance(v, bool) or not isinstance(v, (int, float)) or not math.isfinite(v) for v in values):
+        raise ValueError("Commands must be finite numbers")
+      values = tuple(max(-limit, min(limit, value)) for value, limit in
+                     zip(values, (self.speed, self.lateral_speed, self.turn_speed)))
+    camera_delta = request.get("camera_delta", [0., 0., 0.])
+    if (not isinstance(camera_delta, list) or len(camera_delta) != 3
+        or any(isinstance(v, bool) or not isinstance(v, (int, float)) or not math.isfinite(v) for v in camera_delta)):
+      raise ValueError("Invalid camera delta")
+    scene = None
+    if action == "scene":
+      kind, level = request.get("kind"), request.get("level")
+      if kind not in ("flat", "up", "down", "platform", "slope", "rubble") or type(level) is not int or level not in range(6):
+        raise ValueError("Invalid terrain selection")
+      if not self.status.get("terrain", False):
+        raise ValueError("Terrain selection requires a terrain policy")
+      scene = (kind, level)
+    with self.lock:
+      self.camera[0] = (self.camera[0] + camera_delta[0]) % 360
+      self.camera[1] = max(-89., min(0., self.camera[1] + camera_delta[1]))
+      self.camera[2] = max(.5, min(12., self.camera[2] * math.exp(max(-2., min(2., camera_delta[2])))))
+      if action == "camera_reset":
+        self.camera = [140., -20., 2.5]
+      if scene is not None:
+        self.scene_requested = scene
+        self.loading = True
+        self.clear()
+      # Expire stale commands before a late heartbeat can revive them.
+      self.command()
+      self.last_seen = time.monotonic()
+      if values is not None and not self.loading:
+        self.values = values
+      elif action in ("stop", "reset", "pause"):
+        self.clear()
+        if action == "pause":
+          self.paused = not self.paused
+        elif action == "reset":
+          self.reset_requested = True
+      return self.snapshot()
+
+  def snapshot(self):
+    with self.lock:
+      return dict(self.status, command=list(self.command()), paused=self.paused, loading=self.loading, camera=list(self.camera))
+
+  def take_scene(self):
+    with self.lock:
+      scene, self.scene_requested = self.scene_requested, None
+      return scene
+
+  def finish_scene(self):
+    with self.lock:
+      self.loading = self.scene_requested is not None
+      self.clear()
+
+  def take_reset(self):
+    with self.lock:
+      reset, self.reset_requested = self.reset_requested, False
+      return reset
+
+  def publish(self, actual, step, **metadata):
+    with self.lock:
+      self.status.update(ready=True, actual=actual, step=step, **metadata)
+
+
+def make_server(state, port=8765):
+  html = Path(__file__).with_name("gui.html").read_bytes()
+
+  class Handler(BaseHTTPRequestHandler):
+    def log_message(self, *args):
+      pass
+
+    def send(self, status, data, kind):
+      self.send_response(status)
+      self.send_header("Content-Type", kind)
+      self.send_header("Content-Length", str(len(data)))
+      self.send_header("Cache-Control", "no-store")
+      self.end_headers()
+      try:
+        self.wfile.write(data)
+      except (BrokenPipeError, ConnectionResetError):
+        pass
+
+    def do_GET(self):
+      route = self.path.split("?", 1)[0]
+      if route == "/":
+        self.send(200, html, "text/html; charset=utf-8")
+      elif route == "/api/state":
+        self.send(200, json.dumps(state.snapshot()).encode(), "application/json")
+      elif route == "/frame.jpg":
+        with state.lock:
+          jpeg = state.jpeg
+        self.send(200 if jpeg else 503, jpeg, "image/jpeg")
+      else:
+        self.send(404, b"Not found", "text/plain")
+
+    def do_POST(self):
+      if self.path != "/api/control":
+        self.send(404, b"Not found", "text/plain")
+        return
+      # Local-only API: browser requests must come from this page's origin.
+      origin = self.headers.get("Origin")
+      if origin and origin != "http://" + self.headers.get("Host", ""):
+        self.send(403, b"Wrong origin", "text/plain")
+        return
+      try:
+        length = int(self.headers.get("Content-Length", "0"))
+        if not 0 < length <= 2048:
+          raise ValueError("Invalid body length")
+        result = state.update(json.loads(self.rfile.read(length)))
+        self.send(200, json.dumps(result).encode(), "application/json")
+      except (ValueError, TypeError) as error:
+        self.send(400, json.dumps({"error": str(error)}).encode(), "application/json")
+
+  requested_port = port
+  while True:
+    try:
+      server = ThreadingHTTPServer(("127.0.0.1", port), Handler)
+      break
+    except OSError as error:
+      if error.errno != errno.EADDRINUSE or port >= 65535:
+        raise
+      port += 1
+  if port != requested_port:
+    print(f"Port {requested_port} is occupied; using http://127.0.0.1:{server.server_port}/", flush=True)
+  server.daemon_threads = True
+  return server
diff --git a/s10_supermimic/core/imagine.py b/s10_supermimic/core/imagine.py
new file mode 100644
index 0000000..a9a8c80
--- /dev/null
+++ b/s10_supermimic/core/imagine.py
@@ -0,0 +1,198 @@
+"""Differentiable rewards, full-return actor objective and TD(lambda) critic targets."""
+
+import math
+from contextlib import contextmanager
+import torch
+from .world_model import GRAVITY, LIN_VEL, ANG_VEL, LEG_POS, LEG_VEL, WHEEL_VEL
+from .policy import frame, push_history, critic_input
+
+
+@contextmanager
+def frozen(*modules):
+  """Freeze weights without disabling gradients through inputs/actions."""
+  parameters = [(p, p.requires_grad) for m in modules for p in m.parameters()]
+  try:
+    for p, _ in parameters:
+      p.requires_grad_(False)
+    yield
+  finally:
+    for p, enabled in parameters:
+      p.requires_grad_(enabled)
+
+
+def survival(state):
+  gravity = torch.nn.functional.normalize(state[:, GRAVITY], dim=-1, eps=1e-6)
+  # Smooth proxy for the environment's 70-degree fall cutoff, width ~5 deg.
+  return torch.sigmoid((-gravity[:, 2] - math.cos(math.radians(70))) / 0.08)
+
+
+def continuation_value(state, constants):
+  """Imagined continuation probability for the current task.
+
+  The v4 proxy treats a 70-degree tilt as an immediate fall. The upward task
+  instead terminates only after 4 s of bad orientation, which is 200 control
+  steps, far beyond the 32/64-step imagination horizon, and the counter is not
+  part of the state. Applying the v4 proxy there truncates the return after
+  the first step whenever the robot is inverted, so the actor cannot learn to
+  flip back.
+  """
+  if constants.get("upright_mode") == "upward":
+    return torch.ones(state.shape[0], dtype=state.dtype, device=state.device)
+  return survival(state)
+
+
+def reward_terms(state, action, previous, command, constants, survival_prob, scan=None):
+  v, w = state[:, LIN_VEL], state[:, ANG_VEL]
+  q, qd, wd = state[:, LEG_POS], state[:, LEG_VEL], state[:, WHEEL_VEL]
+  standing = (command.square().sum(-1) < 1e-6).float()
+  # Endpoint PD torque surrogate: actual MuJoCo forces also reflect implicit
+  # integration over substeps. The low-weight effort term is approximate.
+  leg_torque = (constants["kp"] * (constants.get("leg_action_scale", 0.25) * action[:, :12] - q)
+                - constants["kd"] * qd).clamp(-constants["effort"], constants["effort"])
+  wheel_limit = constants.get("wheel_velocity_limit", 35.)
+  wheel_effort = constants.get("wheel_effort", 45.)
+  wheel_torque = (constants.get("wheel_kd", 2.) * ((constants.get("wheel_action_scale", 15.) * action[:, 12:]).clamp(-wheel_limit, wheel_limit) - wd)).clamp(-wheel_effort, wheel_effort)
+  absolute_q = q + constants["default_q"]
+  limits = ((constants["limits"][..., 0] - absolute_q).clamp_min(0)
+            + (absolute_q - constants["limits"][..., 1]).clamp_min(0)).sum(-1)
+  posture = q.square().sum(-1)
+  if constants.get("terrain_posture_v2", False) and not constants.get("wheel_local_rewards", False):
+    if scan is None:
+      raise ValueError("Terrain v2 posture reward requires the privileged scan")
+    from .terrain_posture import posture_cost
+    posture = posture_cost(q, scan, constants.get("posture_relief_floor", 0.125))
+  terrain = constants.get("terrain_rewards", False)
+  gravity = state[:, GRAVITY]
+  if constants.get("upright_mode") == "upward":
+    # Sign-aware recovery reward: 1 upright, 0.5 sideways, 0 upside down.
+    upright = (0.5 * (1. - gravity[:, 2])).clamp(0., 1.)
+  else:
+    upright = torch.exp(
+      -gravity[:, :2].square().sum(-1) / constants.get("upright_std", 0.45)**2)
+  terms = {
+    "track_linear_velocity": torch.exp(-((v[:, :2] - command[:, :2]).square().sum(-1)
+                                          + (0. if terrain else v[:, 2].square())) / 0.25),
+    "track_angular_velocity": torch.exp(-((w[:, 2] - command[:, 2]).square()
+                                           + (0. if terrain else w[:, :2].square().sum(-1))) / 0.5),
+    "upright": upright,
+    "leg_posture": posture,
+    "standstill": standing * (v.square().sum(-1) + w.square().sum(-1)
+                              + 0.01 * wd.square().sum(-1)),
+    "action_rate_l2": (action - previous).square().sum(-1),
+    "joint_torques_l2": leg_torque.square().sum(-1) + wheel_torque.square().sum(-1),
+    "dof_pos_limits": limits,
+    "terminated": 1. - survival_prob,
+  }
+
+  if constants.get("rolling_rewards", False) and not constants.get("wheel_local_rewards", False):
+    if scan is None:
+      raise ValueError("Rolling rewards require a terrain scan")
+    from .rolling_rewards import rolling_costs
+    terms.update(rolling_costs(state, command, scan, constants["default_q"]))
+  if constants.get("obstacle_progress", False):
+    from .obstacle_rewards import obstacle_progress
+    terms["obstacle_progress"] = obstacle_progress(state, command, scan)
+  if constants.get("wheel_body_intrusion", False):
+    from .wheel_intrusion import wheel_body_intrusion
+    terms["wheel_body_intrusion"] = wheel_body_intrusion(
+      state, constants["default_q"])
+  if constants.get("wheel_local_rewards", False):
+    from .wheel_terrain_rewards import wheel_terms
+    terms.update(wheel_terms(state, command, scan, constants["default_q"]))
+  if constants.get("bad_orientation_penalty", False):
+    from .upward import bad_orientation_value
+    terms["bad_orientation_penalty"] = bad_orientation_value(gravity)
+  from .upward import apply_reward_clamps
+  apply_reward_clamps(terms, constants)
+  return terms
+
+
+def lambda_returns(rewards, continuation, next_values, gamma=0.99, lam=0.95):
+  carry = next_values[-1]
+  result = []
+  for t in reversed(range(len(rewards))):
+    carry = rewards[t] + gamma * continuation[t] * ((1 - lam) * next_values[t] + lam * carry)
+    result.append(carry)
+  return torch.stack(result[::-1])
+
+
+def discounted_objective(rewards, continuation, terminal_value, gamma=.99):
+  alive = torch.ones_like(terminal_value)
+  total = torch.zeros_like(terminal_value)
+  discount = 1.
+  for reward, cont in zip(rewards, continuation):
+    total = total + discount * alive * reward
+    alive = alive * cont
+    discount *= gamma
+  return total + discount * alive * terminal_value
+
+
+def make_imagined_step(model, actor, constants, weights, env_action_order,
+                       dt=.02, noise=True, field=None):
+  """Pure single-step graph, shared by eager and compiled execution."""
+  def step(state, previous, history, pose, scan, command, context, bias, timers):
+    action = actor(history)
+    model_context = context if field is None else torch.cat((context, scan), -1)
+    collision_prob = None
+    if constants.get('nonwheel_collision', False):
+      nxt, delta, _, collision_logit = model.forward_all(state, action, previous, model_context)
+      collision_prob = collision_logit.squeeze(-1).sigmoid()
+    else:
+      nxt, delta = model(state, action, previous, model_context)
+    if field is not None:
+      from .terrain import advance_pose
+      pose = advance_pose(pose, delta)
+    next_scan = None if field is None else field.scan(nxt, pose)
+    cont = continuation_value(nxt, constants)
+    if collision_prob is not None:
+      cont = cont * (1. - collision_prob)
+    terms = reward_terms(nxt, action, previous, command, constants, cont,
+                         scan=next_scan)
+    if constants.get('pair_body_intrusion', False):
+      from .wheel_intrusion import pair_body_intrusion
+      terms['pair_body_intrusion'], timers = pair_body_intrusion(
+        nxt, constants['default_q'], timers, dt)
+    reward = dt * sum(weights[name] * value for name, value in terms.items())
+    latest = frame(nxt, action[:, env_action_order], command, bias, noise=noise,
+                   wheel_vel=actor.actor_wheel_vel)
+    history = push_history(history, latest, actor.history, actor.terms)
+    return nxt, action, history, pose, next_scan, reward, cont, timers
+  return step
+
+
+def rollout(model, actor, target_critic, seed, constants, weights, env_action_order,
+            horizon=16, dt=0.02, gamma=0.99, lam=0.95, noise=True, field=None,
+            step_fn=None):
+  """Actor: full discounted return + terminal value. Critic: detached TD(lambda).
+
+  Caller freezes dynamics and target critic weights, preserving state gradients.
+  Reuse one terrain scan at each state, including the rollout's initial state.
+  """
+  state, previous, history = seed["state"], seed["previous"], seed["history"]
+  command, context, bias = seed["command"], seed["context"], seed["bias"]
+  pose = seed.get("world_pose")
+  timers = seed.get("pair_timer")
+  if timers is None:
+    timers = torch.zeros(state.shape[0], 4, device=state.device)
+  def value_input(s, prev, scan):
+    base = critic_input(s, command, context, prev)
+    return base if field is None else torch.cat((base, scan), -1)
+  if step_fn is None:
+    step_fn = make_imagined_step(model, actor, constants, weights, env_action_order,
+                                 dt, noise, field)
+  rewards, continuations, inputs, next_inputs = [], [], [], []
+  scan = None if field is None else field.scan(state, pose)
+  for _ in range(horizon):
+    inputs.append(value_input(state, previous, scan).detach())
+    state, previous, history, pose, scan, reward, cont, timers = step_fn(
+      state, previous, history, pose, scan, command, context, bias, timers)
+    rewards.append(reward)
+    continuations.append(cont)
+    next_inputs.append(value_input(state, previous, scan).detach())
+  final_value = target_critic(value_input(state, previous, scan)).squeeze(-1)
+  r, c = torch.stack(rewards), torch.stack(continuations)
+  objective = discounted_objective(r, c, final_value, gamma)
+  with torch.no_grad():
+    next_values = target_critic(torch.stack(next_inputs)).squeeze(-1)
+    targets = lambda_returns(r.detach(), c.detach(), next_values, gamma, lam)
+  return -objective.mean(), torch.stack(inputs), targets
diff --git a/s10_supermimic/core/mixed_commands.py b/s10_supermimic/core/mixed_commands.py
new file mode 100644
index 0000000..b83596e
--- /dev/null
+++ b/s10_supermimic/core/mixed_commands.py
@@ -0,0 +1,52 @@
+"""Explicit straight/side/yaw command modes, with more stair traversal samples.
+
+``deadzone`` zeroes per-axis commands below the threshold; v7 uses 0.05 so tiny
+creep commands become standing instead of ambiguous near-zero motion.
+"""
+from dataclasses import dataclass
+import torch
+from mjlab.tasks.velocity.mdp.velocity_command import UniformVelocityCommand, UniformVelocityCommandCfg
+
+
+def mix_commands(values, stairs):
+  result = values.clone()
+  mode = torch.rand(len(values),device=values.device)
+  # General terrain: 40% pure vx, 20% pure vy, 20% pure yaw, 20% combined.
+  result[mode<.4,1:] = 0.
+  result[(mode>=.4)&(mode<.6),0] = 0.
+  result[(mode>=.4)&(mode<.6),2] = 0.
+  result[(mode>=.6)&(mode<.8),:2] = 0.
+  # Stairs: 80% low-speed pure forward/backward, 20% full-range commands.
+  result[stairs] = values[stairs]
+  traverse = stairs & (mode<.8)
+  magnitude = .2 + .4*torch.rand(len(values),device=values.device)
+  result[traverse,0] = torch.where(values[traverse,0]<0,-magnitude[traverse],magnitude[traverse])
+  result[traverse,1:] = 0.
+  return result
+
+
+class MixedVelocityCommand(UniformVelocityCommand):
+  def _resample_command(self, env_ids):
+    super()._resample_command(env_ids)
+    gen = self._env.cfg.scene.terrain.terrain_generator
+    stair_columns = torch.tensor([c.kind in ('up','down') for c in gen.sub_terrains.values()],device=self.device)
+    stairs = stair_columns[self._env.scene.terrain.terrain_types[env_ids]]
+    mixed = mix_commands(self.vel_command_b[env_ids],stairs)
+    # Stair magnitudes must obey the current curriculum bounds, including reverse.
+    for i, bounds in enumerate((self.cfg.ranges.lin_vel_x, self.cfg.ranges.lin_vel_y, self.cfg.ranges.ang_vel_z)):
+      mixed[:,i].clamp_(*bounds)
+    # Per-axis deadband: tiny commands are standing, not an ambiguous creep.
+    if self.cfg.deadzone > 0.:
+      mixed = torch.where(mixed.abs() < self.cfg.deadzone,
+                          torch.zeros_like(mixed), mixed)
+    self.vel_command_b[env_ids] = mixed
+    if self.cfg.hold_stair_command:
+      self.time_left[env_ids[stairs]] = self._env.cfg.episode_length_s + 1.
+
+
+@dataclass(kw_only=True)
+class MixedVelocityCommandCfg(UniformVelocityCommandCfg):
+  hold_stair_command: bool = False
+  deadzone: float = 0.
+  def build(self, env):
+    return MixedVelocityCommand(self,env)
diff --git a/s10_supermimic/core/obstacle_rewards.py b/s10_supermimic/core/obstacle_rewards.py
new file mode 100644
index 0000000..fdd6f60
--- /dev/null
+++ b/s10_supermimic/core/obstacle_rewards.py
@@ -0,0 +1,34 @@
+"""Bounded directional motion near uneven ground, shared by real and imagined steps."""
+import torch
+from .world_model import LIN_VEL
+
+
+def obstacle_gate(scan):
+  local = scan.reshape(-1, 21, 13)[:, 5:16, 3:10].flatten(1)
+  return ((local.amax(-1) - local.amin(-1) - .02) / .08).clamp(0., 1.)
+
+
+def obstacle_progress(state, command, scan):
+  speed = command[:, :2].norm(dim=-1)
+  along = (state[:, LIN_VEL][:, :2] * command[:, :2]).sum(-1) / speed.clamp_min(.1)
+  # Signed and capped: no benefit for wheel spin, pure yaw, lifting or overspeed.
+  return obstacle_gate(scan) * (speed > .1) * (along / speed.clamp_min(.2)).clamp(-1., 1.)
+
+
+def env_obstacle_progress(env):
+  from .terrain import TerrainField, TerrainBridge
+  from .stair_curriculum import buffers
+  bridge = getattr(env, '_s10_posture_bridge', None)
+  if bridge is None:
+    bridge = TerrainBridge(env, TerrainField.from_env(env))
+    env._s10_posture_bridge = bridge
+  state = bridge.state()
+  scan = bridge.field.scan(state, bridge.pose())
+  command = env.command_manager.get_command('twist')
+  buffers(env)
+  stalled = ((command[:, :2].norm(dim=-1) > .1)
+             & (state[:, LIN_VEL][:, :2].norm(dim=-1) < .05)
+             & (obstacle_gate(scan) > .5))
+  env._stair_stall_time = torch.where(stalled, env._stair_stall_time + env.step_dt, 0.)
+  env._stair_stuck |= env._stair_stall_time >= 3.
+  return obstacle_progress(state, command, scan)
diff --git a/s10_supermimic/core/policy.py b/s10_supermimic/core/policy.py
new file mode 100644
index 0000000..04160f4
--- /dev/null
+++ b/s10_supermimic/core/policy.py
@@ -0,0 +1,149 @@
+"""S10 actor history and actor/critic networks, independent of the quadruped learner.
+
+Two Actor observation schemas coexist:
+
+* v4 / v4-upward / new v7: 53 values/frame, including measured wheel speed;
+* legacy v7: 49 values/frame, no measured wheel speed (the last action still
+  contains the four wheel commands).
+
+The learner, replay and deployment exporter select the schema explicitly. Old
+checkpoints are recognized from their first-layer width.
+"""
+
+import torch
+from torch import nn
+from .world_model import RunningNorm, ANG_VEL, GRAVITY, LEG_POS, LEG_VEL, WHEEL_VEL
+
+LEGACY_TERMS = (3, 3, 12, 12, 4, 16, 3)
+TERMS = (3, 3, 12, 12, 16, 3)
+LEGACY_FRAME_DIM = sum(LEGACY_TERMS)
+FRAME_DIM = sum(TERMS)
+CRITIC_DIM = 38 + 3 + 7 + 16
+POLICY_FORMAT = "s10-flat-policy-v1"
+
+
+def frame(state, last_env_action, command, bias, noise=False, wheel_vel=True):
+  """Exactly the term order/scaling in env.flat (noise before scaling)."""
+  values = [state[:, ANG_VEL], state[:, GRAVITY], state[:, LEG_POS] + bias,
+            state[:, LEG_VEL]]
+  widths = [0.2, 0.05, 0.01, 1.5]
+  if wheel_vel:
+    values.append(state[:, WHEEL_VEL])
+    widths.append(1.5)
+  values.extend((last_env_action, command))
+  widths.extend((0., 0.))
+  if noise:
+    values = [v + (torch.rand_like(v) * 2 - 1) * w if w else v
+              for v, w in zip(values, widths)]
+  # Leg velocity is always index 3; wheel velocity, when present, is index 4.
+  velocity_indices = (3, 4) if wheel_vel else (3,)
+  return torch.cat([v * (0.05 if i in velocity_indices else 1.)
+                    for i, v in enumerate(values)], -1)
+
+
+def push_history(history, latest, length, terms):
+  """Term-wise histories, oldest to newest, matching mjlab flattening."""
+  result, hidx, fidx = [], 0, 0
+  for dim in terms:
+    result.append(torch.cat((history[:, hidx + dim:hidx + dim * length],
+                             latest[:, fidx:fidx + dim]), -1))
+    hidx += dim * length
+    fidx += dim
+  return torch.cat(result, -1)
+
+
+def critic_input(state, command, context, previous):
+  return torch.cat((state, command, context, previous), -1)
+
+
+class Network(nn.Module):
+  def __init__(self, inputs, outputs, hidden):
+    super().__init__()
+    self.norm = RunningNorm(inputs)
+    layers = []
+    for n in hidden:
+      layers.extend((nn.Linear(inputs, n), nn.ELU()))
+      inputs = n
+    layers.append(nn.Linear(inputs, outputs))
+    self.net = nn.Sequential(*layers)
+
+  def forward(self, x):
+    return self.net(self.norm(x))
+
+
+class Actor(Network):
+  def __init__(self, history=5, hidden=(256, 128, 64), actor_wheel_vel=True):
+    self.actor_wheel_vel = bool(actor_wheel_vel)
+    self.terms = LEGACY_TERMS if self.actor_wheel_vel else TERMS
+    self.frame_dim = sum(self.terms)
+    super().__init__(self.frame_dim * history, 16, hidden)
+    self.history, self.hidden = history, tuple(hidden)
+    nn.init.uniform_(self.net[-1].weight, -0.01, 0.01)
+    nn.init.zeros_(self.net[-1].bias)
+
+  def forward(self, obs):
+    # Same bounded action distribution during collection and imagination.
+    return super().forward(obs).tanh()
+
+
+def checkpoint_wheel_vel(checkpoint):
+  """Infer legacy observation schema from weights; validate explicit metadata."""
+  flag = checkpoint.get("actor_wheel_vel")
+  if "actor" in checkpoint:
+    dim = checkpoint["actor"]["net.0.weight"].shape[1]
+    history = checkpoint["history"]
+    if dim not in (FRAME_DIM * history, LEGACY_FRAME_DIM * history):
+      raise ValueError("Unsupported actor observation dimension")
+    inferred = dim == LEGACY_FRAME_DIM * history
+    if flag is not None and bool(flag) != inferred:
+      raise ValueError("Actor observation metadata disagrees with weights")
+    return inferred
+  return bool(flag) if flag is not None else False
+
+
+def load_actor(checkpoint, device="cpu"):
+  if checkpoint.get("format") not in (POLICY_FORMAT, "s10-terrain-policy-v1"):
+    raise ValueError("Expected a S10 policy checkpoint, not other-robot or dynamics-only weights")
+  actor = Actor(checkpoint["history"], checkpoint["actor_hidden"],
+                checkpoint_wheel_vel(checkpoint)).to(device)
+  actor.load_state_dict(checkpoint["actor"])
+  return actor.eval()
+
+
+def evaluation_env_cfg(checkpoint, level=0, kind=None):
+  """Select the matching task; terrain remains privileged at deployment."""
+  from s10_supermimic.tasks import get_task
+  actor_wheel_vel = checkpoint_wheel_vel(checkpoint)
+  if checkpoint.get("format") == "s10-terrain-policy-v1":
+    checkpoint_task = checkpoint.get("config", {}).get("task")
+    task = get_task(checkpoint_task) if checkpoint_task else None
+    if task is not None:
+      if task.terrain_revision != checkpoint["config"].get("terrain_revision", 1):
+        raise ValueError("Checkpoint task revision differs from its config")
+      if task.actor.wheel_vel != actor_wheel_vel:
+        raise ValueError("Checkpoint task Actor schema differs from its weights")
+      cfg = task.build_env_cfg(play=True, history=checkpoint["history"],
+                               seed=checkpoint["config"]["seed"])
+    else:
+      from s10_supermimic.env.terrain import s10_velocity_terrain_env_cfg
+      cfg = s10_velocity_terrain_env_cfg(
+        play=True, history=checkpoint["history"],
+        seed=checkpoint["config"]["seed"],
+        revision=checkpoint["config"].get("terrain_revision", 1),
+        actor_wheel_vel=actor_wheel_vel)
+    # A single staircase can overlap the robot's pre-reset origin at compile
+    # time. Reserve contacts for that transient pose as well as normal rolling.
+    cfg.sim.nconmax = max(cfg.sim.nconmax or 0, 512)
+    cfg.sim.njmax = max(cfg.sim.njmax or 0, 2048)
+    if level not in range(6):
+      raise ValueError("Terrain level must be 0..5")
+    gen = cfg.scene.terrain.terrain_generator
+    # Evaluation fixes difficulty; one row, same seeded generator.
+    gen.num_rows = 1
+    gen.difficulty_range = (level/5,level/5)
+    if kind is not None:
+      gen.sub_terrains = {kind: gen.sub_terrains[kind]}
+    return cfg
+  from s10_supermimic.env.flat import s10_velocity_flat_env_cfg
+  return s10_velocity_flat_env_cfg(play=True, history=checkpoint["history"],
+                                   actor_wheel_vel=actor_wheel_vel)
diff --git a/s10_supermimic/core/recovery.py b/s10_supermimic/core/recovery.py
new file mode 100644
index 0000000..e905ef3
--- /dev/null
+++ b/s10_supermimic/core/recovery.py
@@ -0,0 +1,21 @@
+"""Isolate invalid simulation rows before terrain lookup or replay insertion."""
+import torch
+
+
+def invalid_rows(env, obs):
+  d = env.scene["robot"].data
+  tensors = (d.root_link_pos_w, d.projected_gravity_b, d.root_link_lin_vel_b,
+             d.root_link_ang_vel_b, d.joint_pos, d.joint_vel, obs["actor"])
+  return ~torch.stack([torch.isfinite(t).flatten(1).all(-1) for t in tensors]).all(0)
+
+
+def recover_invalid_envs(env, obs, reward):
+  bad = invalid_rows(env, obs) | ~torch.isfinite(reward)
+  ids = bad.nonzero(as_tuple=False).flatten()
+  if ids.numel():
+    print(f"RECOVERY reset {ids.numel()} invalid environments; first IDs={ids[:16].tolist()}", flush=True)
+    obs, _ = env.reset(env_ids=ids)
+    # A failed reset must be handled by the supervisor, never added to replay.
+    if invalid_rows(env, obs).any():
+      raise RuntimeError("Environment reset failed to restore finite state")
+  return obs, bad
diff --git a/s10_supermimic/core/replay.py b/s10_supermimic/core/replay.py
new file mode 100644
index 0000000..330f83c
--- /dev/null
+++ b/s10_supermimic/core/replay.py
@@ -0,0 +1,157 @@
+"""Bounded S10 transition storage with chronological multi-step sampling."""
+
+import torch
+from .world_model import STATE_DIM, ACTION_DIM, CONTEXT_DIM
+
+
+class Replay:
+  def __init__(self, length, num_envs, device, history_dim=0, terrain=False,
+               contacts=False, courses=False, collisions=False, pairs=False):
+    if min(length, num_envs) < 1:
+      raise ValueError("Replay length and environment count must be positive")
+    self.length, self.size, self.cursor = length, 0, 0
+    self.archive = None
+    self.success_archive = None
+    dims = dict(state=STATE_DIM, action=ACTION_DIM, previous=ACTION_DIM,
+                context=CONTEXT_DIM, next=STATE_DIM, pose=3, valid=1)
+    if terrain:
+      dims["world_pose"] = 3
+    if contacts:
+      dims["next_contacts"] = 16
+    if collisions:
+      dims.update(collision=1, collision_valid=1)
+    if courses:
+      dims["course"] = 4  # type, level, uphill ground transition, top crossing
+    if pairs:
+      dims["pair_timer"] = 4  # per-wheel continuous 5/6-region intrusion time
+    if history_dim:
+      dims.update(history=history_dim, command=3, bias=12)
+    self.data = {k: torch.zeros(length, num_envs, dim, device=device) for k, dim in dims.items()}
+
+  def add(self, **items):
+    if items.keys() != self.data.keys():
+      raise ValueError("Replay transition fields do not match configured fields")
+    for k, value in items.items():
+      self.data[k][self.cursor].copy_(value.detach())
+    self.cursor = (self.cursor + 1) % self.length
+    self.size = min(self.size + 1, self.length)
+
+  def sample(self, batch, window, keys=None):
+    if self.size < window or window < 1:
+      raise ValueError("Not enough transitions for a window")
+    device = self.data["state"].device
+    start = torch.randint(self.size - window + 1, (batch,), device=device)
+    oldest = self.cursor if self.size == self.length else 0
+    times = (oldest + start[:, None] + torch.arange(window, device=device)) % self.length
+    envs = torch.randint(self.data["state"].shape[1], (batch, 1), device=device)
+    return {k: v[times, envs] for k, v in self.data.items() if keys is None or k in keys}
+
+
+  def sample_world_model(self, batch, window, prioritized=.25, archived=.25,
+                         capacity=100000, keep_prob=.02):
+    keys = ('state','next','action','previous','context','pose','valid',
+            'world_pose','next_contacts')
+    if 'next_contacts' not in self.data:
+      return self.sample(batch, window, keys)
+    if self.archive is None:
+      self.archive = WindowArchive(capacity)
+    if 'course' in self.data:
+      return self._sample_courses(batch, window, capacity, keep_prob)
+    n_priority = int(batch * prioritized)
+    n_archive = int(batch * archived) if self.archive.size else 0
+    parts = [self.sample(batch-n_priority-n_archive, window, keys)]
+    candidates = self.sample(4*max(n_priority,1), window, keys)
+    score, rare = event_scores(candidates)
+    selected = rare & (torch.rand_like(score) < keep_prob)
+    self.archive.add({k:v[selected] for k,v in candidates.items()})
+    if n_priority:
+      indices = (score + .001*torch.rand_like(score)).topk(n_priority).indices
+      parts.append({k:v[indices] for k,v in candidates.items()})
+    if n_archive:
+      parts.append(self.archive.sample(n_archive))
+    return {k:torch.cat([p[k] for p in parts]) for k in parts[0]}
+
+
+  def _sample_courses(self, batch, window, capacity, keep_prob):
+    # Total archive capacity remains bounded by --archive-size, split evenly.
+    if self.success_archive is None:
+      self.archive = WindowArchive(max(1, capacity // 2))
+      self.success_archive = WindowArchive(max(1, capacity - capacity // 2))
+    keys = tuple(k for k in self.data if k not in ('history', 'command', 'bias'))
+    n_priority = batch // 4
+    candidates = self.sample(max(1, n_priority * 4), window, keys)
+    score, rare = event_scores(candidates)
+    valid = candidates['valid'].squeeze(-1).bool().cumprod(1).bool()
+    tag = candidates['course']
+    moving = (candidates['pose'][:, :, :2].norm(dim=-1) > .001) & valid
+    up = tag[:, :, 0] == 1
+    useful = ((tag[:, :, 2:] > .5).any(-1) & valid & up).any(-1)
+    # Do not fill the general archive with repeated stationary stair impacts.
+    rare &= (~up.any(-1) | moving.any(-1))
+    if 'collision' in candidates:
+      from .collision import collision_events
+      rare |= collision_events(candidates)
+    for archive, chosen in ((self.archive, rare), (self.success_archive, useful)):
+      chosen = chosen & (torch.rand_like(score) < keep_prob)
+      archive.add({k:v[chosen] for k,v in candidates.items()})
+    n_success = batch // 8 if self.success_archive.size else 0
+    n_rare = batch // 8 if self.archive.size else 0
+    # At least half the batch is always uniform replay, including when sparse.
+    parts = [self.sample(batch - n_priority - n_success - n_rare, window, keys)]
+    if n_priority:
+      rank = score + 8 * useful.float() + 2 * (moving & up).any(-1).float()
+      selected = (rank + .001 * torch.rand_like(rank)).topk(n_priority).indices
+      parts.append({k:v[selected] for k,v in candidates.items()})
+    if n_success: parts.append(self.success_archive.sample(n_success))
+    if n_rare: parts.append(self.archive.sample(n_rare))
+    return {k:torch.cat([part[k] for part in parts]) for k in keys}
+
+
+def event_scores(w):
+  """Measured wheel contact transitions; ignore all labels after a reset.
+
+  Force impacts, sustained flight, hard vertical motion and episode ends enter
+  the archive. Contact changes also include normal wheel touchdown/liftoff.
+  """
+  valid = w['valid'].squeeze(-1).bool()
+  mask = valid.cumprod(1).bool()
+  contacts = w['next_contacts'][:,:,:4] > .5
+  pairs = mask[:,1:] & mask[:,:-1]
+  changes = ((contacts[:,1:] != contacts[:,:-1]).sum(-1)*pairs).sum(-1)
+  flight = ((~contacts.any(-1)) & mask).sum(-1)
+  force = torch.nan_to_num(w['next_contacts'][:,:,4:],nan=0.).reshape(*mask.shape,4,3).norm(dim=-1)
+  impact = ((force.amax(-1)>200.) & mask).any(-1)
+  hard_vz = ((w['state'][:,:,6].abs()>.6) & mask).any(-1)
+  # A terminal endpoint is not a valid dynamics target, but its preceding
+  # window is still useful. Windows starting after termination are excluded.
+  ended = ((~valid) & torch.cat((torch.ones_like(mask[:,:1]),mask[:,:-1]),1)).any(-1)
+  score = changes.float() + flight.float() + 4.*ended + 2.*impact
+  rare = ((flight>=2) | hard_vz | impact | ended) & mask[:,0]
+  score = score * mask[:,0]
+  if 'collision' in w:
+    from .collision import collision_events
+    collision = collision_events(w)
+    score = score + 8.*collision
+    rare |= collision
+  return score, rare
+
+
+class WindowArchive:
+  """Bounded GPU ring storing only world-model fields, not actor histories."""
+  def __init__(self, capacity):
+    self.capacity, self.size, self.cursor = capacity, 0, 0
+    self.data = None
+
+  def add(self, windows):
+    n = min(len(windows['state']),self.capacity)
+    if not n:return
+    if self.data is None:
+      self.data = {k:v.new_empty((self.capacity,*v.shape[1:])) for k,v in windows.items()}
+    ids = (torch.arange(n,device=windows['state'].device)+self.cursor)%self.capacity
+    for k,v in windows.items():self.data[k][ids] = v[-n:].detach()
+    self.cursor = (self.cursor+n)%self.capacity
+    self.size = min(self.capacity,self.size+n)
+
+  def sample(self, batch):
+    ids = torch.randint(self.size,(batch,),device=self.data['state'].device)
+    return {k:v[ids] for k,v in self.data.items()}
diff --git a/s10_supermimic/core/rolling_rewards.py b/s10_supermimic/core/rolling_rewards.py
new file mode 100644
index 0000000..5c9e8a4
--- /dev/null
+++ b/s10_supermimic/core/rolling_rewards.py
@@ -0,0 +1,77 @@
+"""Terrain-gated rolling preference, shared by real and imagined rewards."""
+import torch
+from .world_model import GRAVITY, LEG_POS, LEG_VEL
+
+
+def rolling_gate(scan, command):
+  local = scan.reshape(-1, 21, 13)[:, 5:16, 3:10].flatten(1)
+  relief = local.amax(-1) - local.amin(-1)
+  # Flat (<2 cm): favor rolling; near obstacles (>=6 cm): allow lifting.
+  flat = (1. - (relief - .02) / .04).clamp(0., 1.)
+  # Non-steerable wheels may require stepping for lateral/yaw maneuvers.
+  straight = torch.exp(-(command[:,1]/.25).square() - (command[:,2]/1.).square())
+  return flat * straight
+
+
+def wheel_geometry(state, default_q):
+  """S10 wheel centres in body coordinates and vertical cylinder half-extents.
+
+  Joint order is hipx (abduction), hipy (flexion), knee. Geometry follows
+  ``S10_description/s10_mjcf/S10.xml``: hipx at x=±0.2277/y=±0.0574, hipy
+  offset y=±0.0779, knee at z=-0.18, wheel at y=±0.045891/z=-0.18,
+  wheel radius 0.081 m and half-width 0.0185 m. The analytic result was
+  checked against MuJoCo ``mj_forward`` to machine precision.
+
+  The cylinder is symmetric about its axle, so wheel phase is unnecessary.
+  """
+  q = (state[:,LEG_POS] + default_q).reshape(-1,4,3)
+  hipx, hipy, knee = q.unbind(-1)
+  side = state.new_tensor([1.,-1.,1.,-1.])
+  # Leg sagittal plane: knee link (0.18 m) + wheel link (0.18 m).
+  x = .18*knee.sin()
+  z = -.18 - .18*knee.cos()
+  x3 = hipy.cos()*x - hipy.sin()*z
+  z3 = hipy.sin()*x + hipy.cos()*z
+  y3 = side*(.0779+.045891)
+  y4 = hipx.cos()*y3 + hipx.sin()*z3
+  z4 = -hipx.sin()*y3 + hipx.cos()*z3
+  point = torch.stack((state.new_tensor([.2277,.2277,-.2277,-.2277]) + x3,
+                       state.new_tensor([.0574,-.0574,.0574,-.0574]) + y4,
+                       z4),-1)
+  up = -torch.nn.functional.normalize(state[:,GRAVITY],dim=-1,eps=1e-6)
+  # Wheel axle is local -y, rotated only by hipx; sign is irrelevant after abs.
+  axle_z = -up[:,1:2]*hipx.cos()+up[:,2:3]*hipx.sin()
+  radius_z = .081*(1.-axle_z.square()).clamp_min(1e-8).sqrt()+.0185*axle_z.abs()
+  return point, radius_z
+
+
+def wheel_bottom_height(state, default_q):
+  """Wheel bottoms relative to the ground below the base.
+
+  Only used on near-flat ground by rolling_gate, not as obstacle clearance.
+  """
+  point, radius_z = wheel_geometry(state, default_q)
+  up = -torch.nn.functional.normalize(state[:,GRAVITY],dim=-1,eps=1e-6)
+  return state[:,:1] + (point*up[:,None,:]).sum(-1) - radius_z
+
+
+def rolling_costs(state, command, scan, default_q):
+  gate = rolling_gate(scan, command)
+  # Tolerate 5 mm of clearance; no positive reward for lifting anywhere.
+  lift = ((wheel_bottom_height(state,default_q)-.005).clamp_min(0)/.05).square().sum(-1)
+  # Reference mjlab task uses mean squared speed and relaxes during recovery.
+  tilt = (state[:,GRAVITY][:,:2].norm(dim=-1)-.08).div(.22).clamp(0.,1.)
+  motion = state[:,LEG_VEL].square().mean(-1) * (1.-.8*tilt)
+  return {'unnecessary_wheel_lift':gate*lift, 'rolling_leg_motion':gate*motion}
+
+
+def env_rolling_cost(env, term):
+  from .terrain import TerrainField, TerrainBridge
+  bridge = getattr(env,'_s10_posture_bridge',None)
+  if bridge is None:
+    bridge = TerrainBridge(env,TerrainField.from_env(env))
+    env._s10_posture_bridge = bridge
+  state = bridge.state()
+  return rolling_costs(state, env.command_manager.get_command('twist'),
+                       bridge.field.scan(state,bridge.pose()),
+                       bridge.robot.data.default_joint_pos[0,bridge.legs])[term]
diff --git a/s10_supermimic/core/stair_curriculum.py b/s10_supermimic/core/stair_curriculum.py
new file mode 100644
index 0000000..fffd75f
--- /dev/null
+++ b/s10_supermimic/core/stair_curriculum.py
@@ -0,0 +1,75 @@
+"""V5 episode outcomes and performance-gated velocity curriculum.
+
+All buffers are training-only metadata, never actor observations.
+"""
+import torch
+
+KINDS = ('flat', 'up', 'down', 'platform', 'slope', 'rubble')
+MIN_ITERATIONS = (0, 3000, 8000, 15000, 22000)
+
+
+def buffers(env):
+  if not hasattr(env, '_stair_stats'):
+    env._stair_stats = torch.zeros(6, 6, 4, device=env.device)  # trials, pass, fall, stuck
+    env._stair_stall_time = torch.zeros(env.num_envs, device=env.device)
+    env._stair_stuck = torch.zeros(env.num_envs, dtype=torch.bool, device=env.device)
+  return env._stair_stats
+
+
+def stair_pass(offset, gravity, level, up):
+  """Require body/rear clearance of the last riser, correct landing height and stability."""
+  heights = offset.new_tensor([.02, .04, .08, .12, .16, .20])[level]
+  expected = torch.where(up, 5 * heights, -5 * heights)
+  return ((offset[:, 0].abs() > 2.8) & (offset[:, 1].abs() < 2.5)
+          & (offset[:, 2] > expected + .20) & (offset[:, 2] < expected + .60)
+          & (gravity[:, :2].norm(dim=-1) < .4))
+
+
+def curriculum(env, env_ids):
+  stats = buffers(env)
+  terrain = env.scene.terrain
+  d = env.scene['robot'].data
+  offset = d.root_link_pos_w[env_ids] - env.scene.env_origins[env_ids]
+  levels = terrain.terrain_levels[env_ids].clone()
+  types = terrain.terrain_types[env_ids]
+  # Six fixed columns, generated in KINDS order.
+  stairs = (types == 1) | (types == 2)
+  active = env.episode_length_buf[env_ids] > 0
+  fallen = env.termination_manager.terminated[env_ids]
+  success = (offset[:, 0].abs() > 5.4) & (offset[:, 1].abs() < 6.5)
+  top = stair_pass(offset, d.projected_gravity_b[env_ids], levels, types == 1)
+  # Landing contacts rule out simply jumping through the clearance test.
+  contact = env.scene['wheel_ground_contact'].data.found[env_ids].reshape(len(env_ids), -1).gt(0).sum(-1) >= 2
+  success = torch.where(stairs, top & contact, success) & active & ~fallen
+  command = env.command_manager.get_command('twist')[env_ids]
+  traversal = (command[:, 0].abs() > .1) & (command[:, 1:].abs().amax(-1) < .05)
+  trials = (~stairs | traversal) & active & ((env.episode_length_buf[env_ids] * env.step_dt >= 5.) | fallen)
+  values = torch.stack((trials, success & trials, fallen & trials,
+                        env._stair_stuck[env_ids] & trials), -1).float()
+  stats.view(-1, 4).index_add_(0, types * 6 + levels, values)
+  terrain.terrain_levels[env_ids] = (levels + success.long() - (active & fallen).long()).clamp(0, 5)
+  terrain.env_origins[env_ids] = terrain.terrain_origins[terrain.terrain_levels[env_ids], types]
+  env._stair_stall_time[env_ids] = 0
+  env._stair_stuck[env_ids] = False
+  return terrain.terrain_levels.float().mean()
+
+
+def next_stage(stage, iteration, stats, velocity_mae):
+  """Minimum age AND sufficient actual stair passes, never time alone."""
+  if stage >= 4 or iteration < MIN_ITERATIONS[stage + 1]:
+    return stage
+  # Stage increases require success at 4, 8, 12, then 16 cm respectively.
+  trials, passed = stats[1, stage + 1, :2]
+  accurate = max(velocity_mae[:2]) < .18 and velocity_mae[2] < .30
+  return stage + int(trials >= 64 and passed / max(trials, 1) >= .60 and accurate)
+
+
+def summary(env):
+  stats = buffers(env).detach().cpu().tolist()
+  levels, types = env.scene.terrain.terrain_levels, env.scene.terrain.terrain_types
+  result = {}
+  for i, name in enumerate(KINDS):
+    selected = levels[types == i]
+    result[name] = dict(level_counts=torch.bincount(selected, minlength=6).cpu().tolist(),
+                       episodes_by_level=stats[i])
+  return result
diff --git a/s10_supermimic/core/terrain.py b/s10_supermimic/core/terrain.py
new file mode 100644
index 0000000..3dc16c8
--- /dev/null
+++ b/s10_supermimic/core/terrain.py
@@ -0,0 +1,95 @@
+"""Shared static height atlas and privileged, differentiable yaw-frame scans."""
+import numpy as np
+import torch
+from .bridge import S10Bridge
+
+SCAN_DIM = 21 * 13
+
+class TerrainField:
+  def __init__(self, heights, origin, resolution=.04):
+    self.h, self.origin, self.res = heights, origin, resolution
+    x,y = torch.meshgrid(torch.linspace(-1,1,21,device=heights.device),
+                         torch.linspace(-.6,.6,13,device=heights.device), indexing="ij")
+    self.offsets = torch.stack((x.flatten(),y.flatten()),-1)
+
+  def sample(self, xy):
+    # Clamp *integer* neighbour indices too. NaN survives float clamp and
+    # casts to INT64_MIN; on CUDA that would poison the entire device context.
+    finite = torch.isfinite(xy).all(-1)
+    clean = torch.where(torch.isfinite(xy), xy, torch.zeros_like(xy))
+    gx = ((clean[...,0]-self.origin[0])/self.res).clamp(0,self.h.shape[1]-1)
+    gy = ((clean[...,1]-self.origin[1])/self.res).clamp(0,self.h.shape[0]-1)
+    x = gx.floor().long().clamp(0,self.h.shape[1]-2)
+    y = gy.floor().long().clamp(0,self.h.shape[0]-2)
+    a,b = gx-x,gy-y
+    value = ((1-a)*self.h[y,x]+a*self.h[y,x+1])*(1-b)+((1-a)*self.h[y+1,x]+a*self.h[y+1,x+1])*b
+    # Do not disguise corrupt states as valid ground: the learner will discard
+    # this update, while real invalid environments are reset before querying.
+    return torch.where(finite, value, torch.full_like(value, float("nan")))
+
+  def scan(self, state, pose):
+    c,s = pose[:,2:3].cos(),pose[:,2:3].sin()
+    dx,dy = self.offsets[:,0],self.offsets[:,1]
+    xy = pose[:,None,:2]+torch.stack((c*dx-s*dy,s*dx+c*dy),-1)
+    return (state[:,:1]+self.sample(pose[:,:2])[:,None]-self.sample(xy)).clamp(-1.5,1.5)
+
+  @classmethod
+  def from_env(cls, env, resolution=.04):
+    """Rasterize exact oriented boxes in small bounding rectangles, no per-pixel rays.
+
+    Shared CPU build is ~6 MB at 4 cm for a 48 x 48 m atlas. No robot geometry.
+    Only these static box courses are supported; fail if new shapes are introduced.
+    """
+    import mujoco
+    model = env.sim.mj_model
+    data = mujoco.MjData(model)
+    mujoco.mj_forward(model,data)
+    robot_ids = set(env.scene["robot"].indexing.geom_ids.cpu().tolist())
+    ids = [i for i in range(model.ngeom) if i not in robot_ids and model.geom_contype[i]]
+    corners = np.array([[a,b,c] for a in (-1,1) for b in (-1,1) for c in (-1,1)])
+    boxes=[]
+    for i in ids:
+      if model.geom_type[i] != mujoco.mjtGeom.mjGEOM_BOX:
+        raise ValueError(f"Unsupported terrain geometry: {model.geom(i).name}")
+      center, rot, size = data.geom_xpos[i],data.geom_xmat[i].reshape(3,3),model.geom_size[i]
+      points = (corners*size) @ rot.T+center
+      boxes.append((center.copy(),rot.copy(),size.copy(),points.min(0),points.max(0)))
+    lo=np.min([b[3][:2] for b in boxes],axis=0)-resolution
+    hi=np.max([b[4][:2] for b in boxes],axis=0)+resolution
+    shape=np.ceil((hi-lo)/resolution).astype(int)+1
+    heights=np.zeros((shape[1],shape[0]),dtype=np.float32)
+    for center,rot,size,low,high in boxes:
+      start=np.maximum(0,np.floor((low[:2]-lo)/resolution).astype(int))
+      end=np.minimum(shape,np.ceil((high[:2]-lo)/resolution).astype(int)+1)
+      xs=lo[0]+np.arange(start[0],end[0])*resolution
+      ys=lo[1]+np.arange(start[1],end[1])*resolution
+      x,y=np.meshgrid(xs,ys)
+      # Intersect vertical line p=(x,y,z) with all three oriented-box slabs.
+      lower=np.full_like(x,-np.inf); upper=np.full_like(x,np.inf); valid=np.ones_like(x,dtype=bool)
+      for k in range(3):
+        base=rot[0,k]*(x-center[0])+rot[1,k]*(y-center[1])-rot[2,k]*center[2]
+        slope=rot[2,k]
+        if abs(slope)<1e-10:
+          valid &= np.abs(base)<=size[k]+1e-9
+        else:
+          z1=(-size[k]-base)/slope; z2=(size[k]-base)/slope
+          lower=np.maximum(lower,np.minimum(z1,z2)); upper=np.minimum(upper,np.maximum(z1,z2))
+      surface=np.where(valid & (lower<=upper),upper,0)
+      patch=heights[start[1]:end[1],start[0]:end[0]]
+      np.maximum(patch,surface,out=patch)
+    return cls(torch.as_tensor(heights,device=env.device),tuple(lo),resolution)
+
+
+def advance_pose(pose, delta):
+  c,s=pose[:,2].cos(),pose[:,2].sin()
+  return pose+torch.stack((c*delta[:,0]-s*delta[:,1],s*delta[:,0]+c*delta[:,1],delta[:,2]),-1)
+
+class TerrainBridge(S10Bridge):
+  def __init__(self, env, field):
+    super().__init__(env)
+    self.field=field
+
+  def state(self):
+    state=super().state()
+    state[:,0]-=self.field.sample(self.robot.data.root_link_pos_w[:,:2])
+    return state
diff --git a/s10_supermimic/core/terrain_posture.py b/s10_supermimic/core/terrain_posture.py
new file mode 100644
index 0000000..31caeab
--- /dev/null
+++ b/s10_supermimic/core/terrain_posture.py
@@ -0,0 +1,33 @@
+"""Shared real/imagined posture objective for the opt-in terrain v2 task.
+
+S10 joint order is hipx (abduction), hipy (flexion), knee. Hipx keeps a 2x
+weight while hipy/knee relax on rough terrain. v7 sets
+``relief_floor=0.02`` so stairs leave knee/hipy deviation almost unpenalised
+and the policy can flex instead of holding a stiff leg.
+"""
+import torch
+
+LEG_SCALES = (0.25, 0.6, 0.8) * 4
+
+
+def posture_cost(q, scan, relief_floor=0.125):
+  # Only the supporting/approaching ground near the body should relax posture.
+  # scan is body height minus ground; its range is independent of body height.
+  local = scan.reshape(-1, 21, 13)[:, 5:16, 3:10].flatten(1)
+  relief = ((local.amax(-1) - local.amin(-1)) / 0.12).clamp(0., 1.)
+  multiplier = (1. - relief).clamp_min(relief_floor)
+  legs = q.reshape(-1, 4, 3).square()
+  # Hip abduction stays constrained even on steps; flexion is freer there.
+  return 2. * legs[:, :, 0].sum(-1) + multiplier * legs[:, :, 1:].sum((1, 2))
+
+
+def env_posture_cost(env, asset_cfg, relief_floor=0.125):
+  from .terrain import TerrainField, TerrainBridge
+  bridge = getattr(env, "_s10_posture_bridge", None)
+  if bridge is None:
+    bridge = TerrainBridge(env, TerrainField.from_env(env))
+    env._s10_posture_bridge = bridge
+  d = env.scene[asset_cfg.name].data
+  q = d.joint_pos[:, asset_cfg.joint_ids] - d.default_joint_pos[:, asset_cfg.joint_ids]
+  return posture_cost(q, bridge.field.scan(bridge.state(), bridge.pose()),
+                      relief_floor)
diff --git a/s10_supermimic/core/terrain_world_model.py b/s10_supermimic/core/terrain_world_model.py
new file mode 100644
index 0000000..f7dac2b
--- /dev/null
+++ b/s10_supermimic/core/terrain_world_model.py
@@ -0,0 +1,120 @@
+"""S10 terrain dynamics. Flat model checkpoints remain a separate format."""
+import torch
+from torch import nn
+from .world_model import S10WorldModel, RunningNorm
+from .terrain import SCAN_DIM, advance_pose
+
+FORMAT = "s10-terrain-dynamics-v1"
+POLICY_FORMAT = "s10-terrain-policy-v1"
+
+class TerrainWorldModel(S10WorldModel):
+  def __init__(self, hidden=(512,512,512), contacts=False, collisions=False):
+    super().__init__(hidden)
+    self.net[0] = nn.Linear(77+SCAN_DIM,hidden[0])
+    self.input_norm = RunningNorm(77+SCAN_DIM)
+    self.predict_contacts = contacts
+    if contacts:
+      self.contact_head = nn.Linear(hidden[-1],16)
+    self.predict_collisions = collisions
+    if collisions:
+      self.collision_head = nn.Linear(hidden[-1],1)
+      nn.init.zeros_(self.collision_head.weight)
+      nn.init.constant_(self.collision_head.bias, -4.6)
+    self.last_contact_metrics = {}
+
+  def forward_all(self, state, action, previous_action, context):
+    """Predict endpoint state, pose, optional contacts and non-wheel collision logit."""
+    x = self.input_norm(self.inputs(state,action,previous_action,context))
+    for layer in list(self.net.children())[:-1]:
+      x = layer(x)
+    delta = self.net[-1](x)*self.output_norm.scale+self.output_norm.mean
+    contacts = self.contact_head(x) if self.predict_contacts else None
+    collision = self.collision_head(x) if self.predict_collisions else None
+    return state+delta[:,:38],delta[:,38:],contacts,collision
+
+  def forward_with_contacts(self, state, action, previous_action, context):
+    """Predict endpoint state, pose, and optional [logits4, asinh(force/100)12]."""
+    pred,delta,contacts,_ = self.forward_all(state,action,previous_action,context)
+    return pred,delta,contacts
+
+  def forward(self, state, action, previous_action, context):
+    pred,delta,_ = self.forward_with_contacts(state,action,previous_action,context)
+    return pred,delta
+
+  @staticmethod
+  def decode_contacts(prediction):
+    """Contact probabilities and signed base-frame force vectors in newtons."""
+    return prediction[:,:4].sigmoid(),100.*prediction[:,4:].clamp(-10,10).sinh().reshape(-1,4,3)
+
+  @staticmethod
+  def inputs(state, action, previous_action, context):
+    if context.shape[-1] != 7+SCAN_DIM:
+      raise ValueError("Terrain dynamics require context7 plus height scan273")
+    return torch.cat((S10WorldModel.inputs(state,action,previous_action,context[:,:7]),context[:,7:]),-1)
+
+  def terrain_loss(self, b, field):
+    state,pose=b["state"][:,0],b["world_pose"][:,0]
+    mask=b["valid"].squeeze(-1).bool().cumprod(1).bool()
+    # Include the first terminal transition for collision classification only.
+    prefix=torch.cat((torch.ones_like(mask[:,:1]),mask[:,:-1]),1)
+    total=next(self.parameters()).sum()*0.
+    contact_total=total.detach().clone(); force_total=total.detach().clone()
+    collision_total=total.clone(); collision_count=total.detach().clone()
+    positives=total.detach().clone(); predicted=total.detach().clone()
+    for t in range(b["action"].shape[1]):
+      keep=prefix[:,t] if self.predict_collisions else mask[:,t]
+      if not keep.any(): break
+      context=torch.cat((b["context"][keep,0],field.scan(state[keep],pose[keep])),-1)
+      pred,delta,contact,collision=self.forward_all(state[keep],b["action"][keep,t],b["previous"][keep,t],context)
+      current=mask[keep,t]
+      # Never regress the reset state as the endpoint of a collision.
+      if current.any():
+        error=torch.cat((pred[current]-b["next"][keep,t][current],delta[current]-b["pose"][keep,t][current]),-1)
+        total=total+(error/self.output_norm.scale).square().mean(-1).sum()
+        if self.predict_contacts:
+          target=b["next_contacts"][keep,t][current]
+          finite=torch.isfinite(target).all(-1)
+          # Missing/non-finite sensor labels must not poison dynamics gradients.
+          prediction=contact[current][finite]; target=target[finite]
+          classification=torch.nn.functional.binary_cross_entropy_with_logits(
+            prediction[:,:4],target[:,:4],reduction='none').mean(-1)
+          force=torch.nn.functional.smooth_l1_loss(prediction[:,4:],
+            torch.asinh(target[:,4:]/100.),reduction='none').mean(-1)
+          total=total+.1*(classification+force).sum()
+          contact_total=contact_total+classification.detach().sum()
+          force_total=force_total+force.detach().sum()
+      if self.predict_collisions:
+        label=b['collision'][keep,t]
+        usable=b['collision_valid'][keep,t].squeeze(-1).bool() & torch.isfinite(label).all(-1)
+        logits=collision[usable]; labels=label[usable]
+        loss=torch.nn.functional.binary_cross_entropy_with_logits(logits,labels,reduction='sum')
+        collision_total=collision_total+loss
+        collision_count=collision_count+usable.sum()
+        positives=positives+labels.detach().sum()
+        predicted=predicted+logits.detach().sigmoid().sum()
+      next_pose=advance_pose(pose[keep],delta)
+      state=state.clone(); pose=pose.clone()
+      state[keep]=pred; pose[keep]=next_pose
+    count=mask.sum().clamp_min(1)
+    if self.predict_contacts:
+      self.last_contact_metrics={'contact_bce':contact_total/count,'contact_force_loss':force_total/count}
+    result=total/count
+    if self.predict_collisions:
+      denom=collision_count.clamp_min(1)
+      result=result+collision_total/denom
+      self.last_contact_metrics.update(collision_bce=collision_total.detach()/denom,
+        collision_label_rate=positives/denom,collision_prediction_mean=predicted/denom,
+        collision_label_count=collision_count)
+    return result
+
+  def checkpoint(self):
+    return {"format":FORMAT,"hidden":self.hidden,"contacts":self.predict_contacts,
+            "collisions":self.predict_collisions,"model":self.state_dict()}
+
+  @classmethod
+  def from_checkpoint(cls, checkpoint, device="cpu"):
+    if checkpoint.get("format") != FORMAT: raise ValueError("Expected terrain dynamics checkpoint")
+    model=cls(checkpoint["hidden"],contacts=checkpoint.get("contacts",False),
+              collisions=checkpoint.get("collisions",False)).to(device)
+    model.load_state_dict(checkpoint["model"])
+    return model
diff --git a/s10_supermimic/core/train.py b/s10_supermimic/core/train.py
new file mode 100644
index 0000000..30d0a01
--- /dev/null
+++ b/s10_supermimic/core/train.py
@@ -0,0 +1,782 @@
+"""Online S10 model-based learning: collect, fit dynamics, imagine, optimize."""
+
+import argparse
+import copy
+import json
+import math
+import time
+from datetime import datetime
+from pathlib import Path
+from zoneinfo import ZoneInfo
+
+import torch
+
+from .bridge import S10Bridge, pose_delta
+from .world_model import S10WorldModel
+from .policy import (Actor, Network, CRITIC_DIM, POLICY_FORMAT,
+                     checkpoint_wheel_vel, critic_input)
+from .replay import Replay
+from .imagine import frozen, rollout, make_imagined_step
+from .recovery import recover_invalid_envs
+from .upward import (TILT_STAGES_DEG, init_upward_state,
+                     upward_curriculum_stats, upward_video_tilt_limit)
+from s10_supermimic.tasks import get_task, list_tasks, task_names
+
+
+def _format_value(value):
+  if value is None:
+    return "n/a"
+  if isinstance(value, float):
+    return f"{value:+.4f}" if abs(value) >= 1e-3 else f"{value:.3e}"
+  if isinstance(value, (list, tuple)):
+    return "[" + ", ".join(_format_value(v) for v in value) + "]"
+  return str(value)
+
+
+def format_training_log(row, args, reward_terms, termination_rates):
+  """IsaacLab-style multi-line training summary; the JSONL stays machine-readable."""
+  def line(label, value):
+    return f"{label:>42s}: {value}"
+  total = row.get("total_transitions", 0)
+  elapsed = max(row.get("elapsed_s", 0.0), 1e-9)
+  lines = [
+    "",
+    "=" * 78,
+    f"Learning iteration {row.get('step', 0)}/{args.iterations}",
+    line("Total steps", f"{total:,}"),
+    line("Steps per second", f"{total / elapsed:,.0f}"),
+    line("Iteration time", f"{row.get('iteration_time_s', 0.0):.3f}s"),
+    line("Collection time", f"{row.get('collection_time_s', 0.0):.3f}s"),
+    line("Learning time", f"{row.get('learning_time_s', 0.0):.3f}s"),
+    line("Mean reward", f"{row.get('reward', 0.0):+.4f}"),
+    line("Mean episode length", f"{row.get('mean_episode_length', 0.0):.1f}"),
+    line("Actor loss", _format_value(row.get("actor_loss"))),
+    line("Critic loss", _format_value(row.get("critic_loss"))),
+    line("World model loss", _format_value(row.get("wm_loss"))),
+    line("Mean action noise", f"{args.action_noise:.3f}"),
+    line("Skipped updates", row.get("skipped_updates", 0)),
+    "-" * 78,
+  ]
+  for name, value in reward_terms.items():
+    lines.append(line(f"Episode_Reward/{name}", f"{value:+.4f}"))
+  for key in ("terrain_level_mean", "terrain_level_frac",
+              "tilt_level_mean", "tilt_level_q75", "tilt_level_frac",
+              "tilt_limit_mean_deg", "recovery_window_rate",
+              "traverse_window_rate", "recovery_window_ready"):
+    if key in row:
+      lines.append(line(f"Curriculum/{key}", _format_value(row[key])))
+  for key in ("command_stage", "command_mode", "command_ranges"):
+    if key in row:
+      lines.append(line(f"Command/{key}", _format_value(row[key])))
+  vmae = row.get("velocity_mae")
+  if vmae:
+    lines.append(line("Metrics/base_velocity/error_vel_xy",
+                      f"{(vmae[0] + vmae[1]) / 2:.4f}"))
+    lines.append(line("Metrics/base_velocity/error_vel_yaw", f"{vmae[2]:.4f}"))
+  for name, value in termination_rates.items():
+    lines.append(line(f"Episode_Termination/{name}", f"{value:.4f}"))
+  lines.append("=" * 78)
+  return "\n".join(lines)
+
+
+def constants_from_bridge(bridge):
+  """Fixed gains/limits of this S10 task; no per-environment gain randomization."""
+  d, dev = bridge.robot.data, bridge.env.device
+  from .terrain_posture import env_posture_cost, LEG_SCALES
+  from .upward import UPWARD_REWARD_CLAMPS, is_upward_task
+  from s10_supermimic.robot.config import LEG_JOINT_NAMES
+  upward = is_upward_task(bridge.env)
+  revised = (bridge.env.cfg.rewards["leg_posture"].func is env_posture_cost
+             or "wheel_obstacle_clearance" in bridge.env.cfg.rewards
+             or upward)
+  # Read the actual leg actuator gains so the imagined torque surrogate matches
+  # v4 (kp=80) and the softer v7 (kp=20) without duplicating constants.
+  robot_cfg = bridge.env.cfg.scene.entities["robot"]
+  leg_act = next(
+    (a for a in robot_cfg.articulation.actuators
+     if set(LEG_JOINT_NAMES).issubset(set(getattr(a, "target_names_expr", ())))),
+    None)
+  leg_kp = float(getattr(leg_act, "stiffness", 80.0))
+  leg_kd = float(getattr(leg_act, "damping", 2.0))
+  leg_effort = float(getattr(leg_act, "effort_limit", 50.0))
+  return {
+    "terrain_posture_v2": revised,
+    "nonwheel_collision": "illegal_nonwheel_contact" in bridge.env.cfg.terminations,
+    "wheel_local_rewards": "wheel_obstacle_clearance" in bridge.env.cfg.rewards,
+    "rolling_rewards": "unnecessary_wheel_lift" in bridge.env.cfg.rewards,
+    "obstacle_progress": "obstacle_progress" in bridge.env.cfg.rewards,
+    "wheel_body_intrusion": "wheel_body_intrusion" in bridge.env.cfg.rewards,
+    "pair_body_intrusion": "pair_body_intrusion" in bridge.env.cfg.rewards,
+    "posture_relief_floor": bridge.env.cfg.rewards["leg_posture"].params.get(
+      "relief_floor", 0.125),
+    "upright_mode": "upward" if upward else "exp",
+    "bad_orientation_penalty": upward,
+    "reward_clamps": dict(UPWARD_REWARD_CLAMPS) if upward else {},
+    "wheel_action_scale": bridge.env.cfg.actions["wheel_vel"].scale,
+    "leg_action_scale": torch.tensor(LEG_SCALES if revised else (.25,) * 12, device=dev),
+    "terrain_rewards": hasattr(bridge, "field"),
+    "upright_std": bridge.env.cfg.rewards["upright"].params.get("std", .6),
+    "default_q": d.default_joint_pos[0, bridge.legs].detach().clone(),
+    "limits": d.soft_joint_pos_limits[0, bridge.legs].detach().clone(),
+    # S10 leg actuators: v4 kp=80/kd=2, v7 kp=20/kd=2; effort=50 N·m.
+    # TODO(s10): the -2e-5 joint_torques_l2 weight was inherited from the
+    # initial recipe; retune if S10 training shows torque suppression or chatter.
+    "kp": torch.full((12,), leg_kp, device=dev),
+    "kd": torch.full((12,), leg_kd, device=dev),
+    "effort": torch.full((12,), leg_effort, device=dev),
+    # S10 wheel actuator: velocity damping 0.8, effort 14 N·m, 35 rad/s clip.
+    "wheel_kd": 0.8,
+    "wheel_effort": 14.0,
+    "wheel_velocity_limit": 35.0,
+  }
+
+
+def actor_learning_rate(args, iteration):
+  age = max(0, iteration - args.actor_schedule_start)
+  progress = min(1., max(0, age - args.actor_hold_iterations) / max(1, args.lr_decay_iterations))
+  decay = args.lr_final_frac + (1.-args.lr_final_frac)*.5*(1.+math.cos(math.pi*progress))
+  ramp = min(1., (age+1) / max(1, args.actor_ramp_iterations))
+  return args.lr * args.actor_lr_scale * decay * ramp
+
+
+def update(optimizer, loss, parameters, element_clip=None):
+  parameters = list(parameters)
+  optimizer.zero_grad(set_to_none=True)
+  if not torch.isfinite(loss):
+    print("RECOVERY skipped non-finite loss; optimizer unchanged", flush=True)
+    return False
+  loss.backward()
+  norm = torch.nn.utils.clip_grad_norm_(parameters, 1., error_if_nonfinite=False)
+  if not torch.isfinite(norm):
+    optimizer.zero_grad(set_to_none=True)
+    print("RECOVERY skipped non-finite gradient; optimizer unchanged", flush=True)
+    return False
+  if element_clip is not None:
+    torch.nn.utils.clip_grad_value_(parameters, element_clip)
+  optimizer.step()
+  return True
+
+
+def record_policy_video(actor, args, output, iteration, env_order,
+                        upward_tilt_limit=None, command_ranges=None):
+  """Record a short MP4 with the current actor on a fresh single-env scene.
+
+  This mirrors Isaac Lab's ``--video``/``--video_length``/``--video_interval``
+  workflow. A separate one-env scene is used so recording does not perturb the
+  training environments. Recording is skipped if the optional mediapy/EGL
+  dependencies or the extra scene cannot be created.
+  """
+  import random
+  import numpy as np
+
+  state = (
+    random.getstate(),
+    np.random.get_state(),
+    torch.get_rng_state(),
+    torch.cuda.get_rng_state_all() if torch.cuda.is_available() else None,
+  )
+  video_env = None
+  try:
+    import mediapy
+    from mjlab.envs import ManagerBasedRlEnv
+    from .bridge import S10Bridge
+
+    task = get_task(args.task) if getattr(args, "task", None) else None
+    if task is not None:
+      if task.actor.wheel_vel != actor.actor_wheel_vel:
+        raise ValueError("Task Actor schema differs from the training Actor")
+      cfg = task.build_env_cfg(play=True, history=args.history, seed=args.seed)
+    elif args.terrain:
+      from s10_supermimic.env.terrain import s10_velocity_terrain_env_cfg
+      cfg = s10_velocity_terrain_env_cfg(
+        play=True, history=args.history, seed=args.seed,
+        revision=args.terrain_revision, actor_wheel_vel=actor.actor_wheel_vel)
+    else:
+      from s10_supermimic.env.flat import s10_velocity_flat_env_cfg
+      cfg = s10_velocity_flat_env_cfg(
+        play=True, history=args.history,
+        actor_wheel_vel=actor.actor_wheel_vel)
+    cfg.scene.num_envs = 1
+    cfg.rewards = {}
+    cfg.metrics = {}
+    cfg.observations.pop("critic", None)
+    cfg.episode_length_s = 1e9
+    cfg.viewer.width = args.video_width
+    cfg.viewer.height = args.video_height
+    cfg.viewer.distance = 2.5
+    cfg.viewer.elevation = -20.
+    cfg.viewer.azimuth = 140.
+    video_env = ManagerBasedRlEnv(
+      cfg=cfg, device=args.device, render_mode="rgb_array")
+    if command_ranges is not None:
+      ranges = video_env.command_manager.get_term("twist").cfg.ranges
+      ranges.lin_vel_x, ranges.lin_vel_y, ranges.ang_vel_z = command_ranges
+    bridge = S10Bridge(video_env)
+    if list(bridge.to_env) != list(env_order):
+      raise ValueError("Video env action order differs from the training env")
+    if upward_tilt_limit is not None:
+      video_env._upward_tilt_limits = torch.full(
+        (video_env.num_envs,), float(upward_tilt_limit), device=video_env.device)
+    obs, _ = video_env.reset()
+    path = output / "videos" / f"iteration_{iteration:06d}.mp4"
+    path.parent.mkdir(parents=True, exist_ok=True)
+    was_training = actor.training
+    actor.eval()
+    with torch.no_grad(), mediapy.VideoWriter(
+        str(path), shape=(args.video_height, args.video_width),
+        fps=args.video_fps) as writer:
+      for _ in range(args.video_length):
+        action = actor(obs["actor"])
+        obs, _, terminated, truncated, _ = video_env.step(
+          bridge.env_action(action))
+        writer.add_image(video_env.render())
+        if bool(terminated.any() or truncated.any()):
+          obs, _ = video_env.reset()
+    actor.train(was_training)
+    print(f"S10 video saved: {path}", flush=True)
+  finally:
+    if video_env is not None:
+      video_env.close()
+    if torch.cuda.is_available():
+      torch.cuda.empty_cache()
+    random.setstate(state[0])
+    np.random.set_state(state[1])
+    torch.set_rng_state(state[2])
+    if state[3] is not None:
+      torch.cuda.set_rng_state_all(state[3])
+
+
+class Learner:
+  """Pure-Torch learner; also usable in small CPU tests without mjlab."""
+  def __init__(self, args, field=None):
+    self.args, self.field = args, field
+    self.format = POLICY_FORMAT
+    self.model_class = S10WorldModel
+    extra = 0
+    if field is not None:
+      from .terrain_world_model import TerrainWorldModel, POLICY_FORMAT as TERRAIN_FORMAT
+      from .terrain import SCAN_DIM
+      self.model_class, self.format, extra = TerrainWorldModel, TERRAIN_FORMAT, SCAN_DIM
+    self.model = self.model_class(tuple(args.wm_hidden), **(
+      {"contacts":args.terrain_revision >= 4,
+       "collisions":args.terrain_revision >= 7} if field is not None else {})).to(args.device)
+    self.actor = Actor(args.history, tuple(args.actor_hidden),
+                       args.actor_wheel_vel).to(args.device)
+    self.critic = Network(CRITIC_DIM + extra, 1, tuple(args.critic_hidden)).to(args.device)
+    self.target = copy.deepcopy(self.critic)
+    self.optimizers = [torch.optim.Adam(module.parameters(), lr=args.lr)
+                       for module in (self.model, self.actor, self.critic)]
+    self.policy_updates = 0
+    self.skipped_updates = 0
+    self.terrain_state = None
+    self.curriculum_state = None
+    self.env_steps = 0
+    self.imagined_step = None
+
+  def critic_input(self, state, command, context, previous, pose):
+    x = critic_input(state, command, context, previous)
+    return x if self.field is None else torch.cat((x, self.field.scan(state, pose)), -1)
+
+  def fit(self, b):
+    if self.field is not None:
+      loss = self.model.terrain_loss(b, self.field)
+      if not update(self.optimizers[0], loss, self.model.parameters()):
+        self.skipped_updates += 1
+        return None
+      return loss.item()
+    loss = self.model.loss(b["state"][:, 0], b["action"], b["previous"], b["context"][:, 0],
+                           b["next"], b["pose"], b["valid"].squeeze(-1))
+    if not update(self.optimizers[0], loss, self.model.parameters()):
+      self.skipped_updates += 1
+      return None
+    return loss.item()
+
+  def improve(self, seed, constants, weights, env_order, dt):
+    args = self.args
+    if args.compile_imagination and self.imagined_step is None:
+      step = make_imagined_step(self.model,self.actor,constants,weights,env_order,
+                                dt=dt,field=self.field)
+      self.imagined_step = torch.compile(step, dynamic=False, fullgraph=True)
+    with frozen(self.model, self.target):
+      actor_loss, inputs, targets = rollout(
+        self.model, self.actor, self.target, seed, constants, weights, env_order,
+        horizon=args.horizon, dt=dt, gamma=args.gamma, lam=args.lam, field=self.field,
+        step_fn=self.imagined_step)
+      if not update(self.optimizers[1], actor_loss, self.actor.parameters(), args.actor_grad_clip_element):
+        self.skipped_updates += 1
+        return None, None
+    x, y = inputs.flatten(0, 1), targets.flatten()
+    critic_losses = []
+    for _ in range(args.critic_epochs):
+      order = torch.randperm(len(x),device=x.device)
+      for indices in order.tensor_split(min(args.critic_minibatches,len(x))):
+        value = self.critic(x[indices]).squeeze(-1)
+        critic_loss = torch.nn.functional.mse_loss(value, y[indices])
+        if not update(self.optimizers[2], critic_loss, self.critic.parameters()):
+          self.skipped_updates += 1
+          return actor_loss.item(), None
+        critic_losses.append(critic_loss.detach())
+    with torch.no_grad():
+      for target, source in zip(self.target.parameters(), self.critic.parameters()):
+        target.lerp_(source, 0.02)
+      # Running normalization is a coordinate system, not an EMA weight.
+      self.target.norm.load_state_dict(self.critic.norm.state_dict())
+    self.policy_updates += 1
+    return actor_loss.item(), torch.stack(critic_losses).mean().item()
+
+  def save(self, path, step, env_order, dt):
+    checkpoint = {
+      "training_algorithm": "s10-full-return-events-v1",
+      "format": self.format, "step": step, "history": self.actor.history,
+      "actor_wheel_vel": self.actor.actor_wheel_vel,
+      "actor_hidden": self.actor.hidden, "actor": self.actor.state_dict(),
+      "world_model": self.model.checkpoint(), "critic": self.critic.state_dict(),
+      "target_critic": self.target.state_dict(), "config": vars(self.args),
+      "optimizers": [o.state_dict() for o in self.optimizers],
+      "terrain_state": self.terrain_state,
+      "curriculum_state": self.curriculum_state,
+      "env_steps": self.env_steps,
+      "policy_updates": self.policy_updates, "env_action_order": list(env_order), "dt": dt,
+    }
+    path = Path(path)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    tmp = path.with_suffix(".tmp")
+    torch.save(checkpoint, tmp)
+    tmp.replace(path)
+
+  def load(self, path, env_order, dt):
+    ckpt = torch.load(path, map_location=self.args.device, weights_only=True)
+    if ckpt.get("format") != self.format:
+      raise ValueError("Resume requires a S10 policy checkpoint")
+    if ckpt["env_action_order"] != list(env_order) or abs(ckpt["dt"] - dt) > 1e-8:
+      raise ValueError("Checkpoint action order/control timestep differs from this environment")
+    if ckpt["history"] != self.args.history:
+      raise ValueError("Checkpoint observation history differs")
+    if self.field is not None and ckpt["config"]["seed"] != self.args.seed:
+      raise ValueError("Terrain resume requires the same terrain seed")
+    if ckpt["config"].get("terrain_revision", 1) != getattr(self.args, "terrain_revision", 1):
+      raise ValueError("Terrain revision/action scale differs; start a new run for a different revision")
+    if checkpoint_wheel_vel(ckpt) != self.actor.actor_wheel_vel:
+      raise ValueError("Actor observation schema differs; choose the matching task or start a new run")
+    self.actor.load_state_dict(ckpt["actor"])
+    self.model.load_state_dict(self.model_class.from_checkpoint(ckpt["world_model"]).state_dict())
+    self.critic.load_state_dict(ckpt["critic"])
+    self.target.load_state_dict(ckpt["target_critic"])
+    for optimizer, data in zip(self.optimizers, ckpt["optimizers"]):
+      optimizer.load_state_dict(data)
+    self.policy_updates = ckpt["policy_updates"]
+    self.terrain_state = ckpt.get("terrain_state")
+    self.curriculum_state = ckpt.get("curriculum_state")
+    self.env_steps = ckpt.get("env_steps", ckpt["step"] * ckpt["config"].get("num_steps_per_env", 1))
+    return ckpt["step"]
+
+
+def parser():
+  p = argparse.ArgumentParser(description=__doc__)
+  p.add_argument("--task", choices=task_names(), default=None,
+                 help="Select a registered S10 task; its defaults are applied before CLI overrides")
+  p.add_argument("--list-tasks", action="store_true", help="List registered tasks and exit")
+  for name, default in (("num-envs", 64), ("iterations", 10000), ("buffer-len", 512),
+                        ("history", 5), ("wm-window", 8), ("wm-batch", 128),
+                        ("wm-updates", 2), ("imag-batch", 128), ("horizon", 16),
+                        ("warmup", 300), ("critic-epochs", 5), ("save-interval", 1000),
+                        ("log-interval", 50), ("seed", 0), ("num-steps-per-env", 1), ("critic-minibatches", 4),
+                        ("archive-size", 100000), ("actor-ramp-iterations", 1000),
+                        ("lr-decay-iterations", 30000), ("actor-hold-iterations", 0),
+                        ("actor-schedule-start", 0)):
+    p.add_argument("--" + name, type=int, default=default)
+  for name, default in (("lr", 2e-4), ("action-noise", 0.15), ("gamma", 0.99), ("lam", 0.95)):
+    p.add_argument("--" + name, type=float, default=default)
+  p.add_argument("--compile-imagination", action="store_true")
+  p.add_argument("--no-compile-imagination", dest="compile_imagination",
+                 action="store_false", default=False)
+  p.add_argument("--prioritized-replay", action="store_true")
+  p.add_argument("--actor-lr-scale", type=float, default=.3)
+  p.add_argument("--lr-final-frac", type=float, default=.03)
+  p.add_argument("--actor-grad-clip-element", type=float, default=.1)
+  p.add_argument("--wm-hidden", type=int, nargs="+", default=[512, 512, 512])
+  p.add_argument("--actor-hidden", type=int, nargs="+", default=[256, 128, 64])
+  p.add_argument("--critic-hidden", type=int, nargs="+", default=[256, 128, 64])
+  p.add_argument("--device", default="cuda:0")
+  p.add_argument("--terrain", action="store_true", help="Blind static rough-terrain task")
+  p.add_argument("--terrain-revision", type=int, choices=(1, 2, 3, 4, 5, 6, 7), default=1,
+                 help="2: larger leg actions; 3: bidirectional commands; 4: rolling rewards; 5: performance-gated stair curriculum; 6: wheel-local clearance; 7: safe v7 (53-value Actor, time-ramped 1.5/0.8/1.2 commands, ±45° init, wheel/body intrusion, collision); new run required")
+  p.add_argument("--command-curriculum", action="store_true", help="Progressively widen velocity ranges")
+  p.add_argument("--command-curriculum-start", type=int, default=0, help="Learner iteration where the velocity schedule starts; preserve on resume")
+  p.add_argument("--init-actor", default="", help="Initialize only the actor from a flat policy; dynamics/critic start fresh")
+  p.add_argument("--resume", default="")
+  p.add_argument("--output", default="")
+  p.add_argument("--video", action="store_true", help="Record periodic MP4 videos with the current actor")
+  p.add_argument("--video-length", type=int, default=500, help="Frames per video")
+  p.add_argument("--video-interval", type=int, default=15000, help="Record every N learner iterations")
+  p.add_argument("--video-fps", type=int, default=50, help="Video frame rate")
+  p.add_argument("--video-width", type=int, default=640)
+  p.add_argument("--video-height", type=int, default=480)
+  return p
+
+
+def main():
+  p = parser()
+  pre, _ = p.parse_known_args()
+  if pre.list_tasks:
+    for spec in list_tasks():
+      print(f"{spec.name}: {spec.description}")
+    return
+  task = get_task(pre.task) if pre.task else None
+  if task is not None:
+    p.set_defaults(**task.defaults)
+  args = p.parse_args()
+  if task is not None and args.terrain_revision != task.terrain_revision:
+    p.error(f"Task {task.name} requires terrain-revision {task.terrain_revision}")
+  if task is not None:
+    args.actor_wheel_vel = task.actor.wheel_vel
+  elif args.resume:
+    resumed = torch.load(args.resume, map_location="cpu", weights_only=True)
+    args.actor_wheel_vel = checkpoint_wheel_vel(resumed)
+  else:
+    args.actor_wheel_vel = args.terrain_revision <= 4 or args.terrain_revision >= 7
+  positive = (args.archive_size, args.critic_minibatches, args.lr_decay_iterations, args.num_steps_per_env, args.num_envs, args.iterations, args.buffer_len, args.history, args.wm_window,
+              args.wm_batch, args.wm_updates, args.imag_batch, args.horizon, args.critic_epochs,
+              args.save_interval, args.log_interval, *args.wm_hidden, *args.actor_hidden,
+              *args.critic_hidden)
+  if min(positive) < 1 or args.warmup < 0 or args.buffer_len < args.wm_window:
+    p.error("Positive sizes required; buffer-len must be >= wm-window; warmup >= 0")
+  if not (0 < args.gamma <= 1 and 0 <= args.lam <= 1 and args.lr > 0 and args.action_noise >= 0):
+    p.error("Invalid optimizer, noise or return parameters")
+  if args.actor_lr_scale <= 0 or not 0 < args.lr_final_frac <= 1 or args.actor_ramp_iterations < 0 or args.actor_grad_clip_element <= 0:
+    p.error("Invalid actor learning-rate/gradient protection")
+  if args.actor_hold_iterations < 0:
+    p.error("actor-hold-iterations must be nonnegative")
+  if args.terrain_revision >= 5 and args.archive_size < 2:
+    p.error("terrain v5+ requires archive-size >=2")
+  if 5 <= args.terrain_revision < 7 and not args.command_curriculum:
+    p.error("terrain v5/v6 requires command-curriculum; v7 uses a time-based cap")
+  if args.video and (args.video_length < 1 or args.video_interval < 1
+                     or not 1 <= args.video_fps <= 50
+                     or args.video_width < 64 or args.video_height < 64
+                     or args.video_width % 2 or args.video_height % 2):
+    p.error("Video requires length/interval >=1, fps 1..50, even width/height >=64")
+  if args.prioritized_replay and (not args.terrain or args.terrain_revision < 4):
+    p.error("prioritized-replay requires measured contacts from terrain revision >=4")
+  from mjlab.envs import ManagerBasedRlEnv
+  from s10_supermimic.env.flat import s10_velocity_flat_env_cfg
+
+  torch.manual_seed(args.seed)
+  if args.resume and args.init_actor:
+    p.error("Choose resume or init-actor")
+  if args.terrain_revision >= 2 and (not args.terrain or args.init_actor):
+    p.error("terrain-revision >=2 requires --terrain and cannot initialize a flat actor")
+  if task is not None:
+    if task.actor.wheel_vel != args.actor_wheel_vel:
+      p.error("Task Actor schema differs from the requested Actor schema")
+    cfg = task.build_env_cfg(play=False, history=args.history, seed=args.seed)
+  elif args.terrain:
+    from s10_supermimic.env.terrain import s10_velocity_terrain_env_cfg
+    cfg = s10_velocity_terrain_env_cfg(
+      history=args.history, seed=args.seed, revision=args.terrain_revision,
+      actor_wheel_vel=args.actor_wheel_vel)
+  else:
+    cfg = s10_velocity_flat_env_cfg(
+      history=args.history, actor_wheel_vel=args.actor_wheel_vel)
+  if args.command_curriculum:
+    if not args.terrain or args.terrain_revision < 4:
+      p.error("command-curriculum requires terrain revision >=4")
+    from .command_curriculum import set_command_stage, stages_for
+    set_command_stage(cfg.commands["twist"], 0,
+                      stages=stages_for(args.terrain_revision))
+  cfg.seed = args.seed
+  cfg.scene.num_envs = args.num_envs
+  env = ManagerBasedRlEnv(cfg=cfg, device=args.device)
+  try:
+    if args.task == "s10-v4-upward":
+      init_upward_state(env)
+    obs, _ = env.reset()
+    field = None
+    if args.terrain:
+      from .terrain import TerrainField, TerrainBridge
+      field = TerrainField.from_env(env)
+      bridge = TerrainBridge(env, field)
+      env._s10_posture_bridge = bridge
+      print(f"Shared terrain atlas: {field.h.numel()*4/2**20:.1f} MiB", flush=True)
+    else:
+      bridge = S10Bridge(env)
+    learner = Learner(args, field)
+    if args.init_actor:
+      ckpt = torch.load(args.init_actor, map_location=args.device, weights_only=True)
+      if ckpt.get("format") != POLICY_FORMAT or ckpt["history"] != args.history:
+        raise ValueError("init-actor requires a matching flat S10 actor")
+      if ckpt["env_action_order"] != list(bridge.to_env) or abs(ckpt["dt"]-env.step_dt)>1e-8:
+        raise ValueError("Warm-start action contract differs")
+      if checkpoint_wheel_vel(ckpt) != learner.actor.actor_wheel_vel:
+        raise ValueError("Warm-start actor observation schema differs")
+      learner.actor.load_state_dict(ckpt["actor"])
+    constants = constants_from_bridge(bridge)
+    weights = {name: term.weight for name, term in cfg.rewards.items()}
+    contact_targets = args.terrain and args.terrain_revision >= 4
+    replay = Replay(args.buffer_len, args.num_envs, args.device,
+                    learner.actor.frame_dim * args.history,
+                    terrain=args.terrain, contacts=contact_targets,
+                    courses=args.terrain_revision >= 5,
+                    collisions=args.terrain_revision >= 7,
+                    pairs=args.terrain_revision >= 7)
+    start = learner.load(args.resume, bridge.to_env, env.step_dt) if args.resume else 0
+    command_stage = 0
+    if args.command_curriculum:
+      saved_stage = None
+      if args.terrain_revision >= 5:
+        saved_stage = (int(learner.curriculum_state['stage'])
+                       if learner.curriculum_state else 0)
+      command_stage = set_command_stage(
+        env.command_manager.get_term("twist").cfg,
+        start - args.command_curriculum_start,
+        stage=saved_stage, stages=stages_for(args.terrain_revision))
+    if args.terrain and learner.terrain_state is not None:
+      terrain = env.scene.terrain
+      levels = learner.terrain_state["levels"].to(args.device)
+      types = learner.terrain_state["types"].to(args.device)
+      if levels.shape != terrain.terrain_levels.shape:
+        raise ValueError("Terrain resume requires the same num-envs")
+      terrain.terrain_levels.copy_(levels)
+      terrain.terrain_types.copy_(types)
+      terrain.env_origins.copy_(terrain.terrain_origins[levels, types])
+      obs, _ = env.reset()
+    if args.terrain_revision >= 5:
+      from .stair_curriculum import buffers, next_stage, summary
+      stats = buffers(env)
+      saved = learner.curriculum_state
+      velocity_ema = saved['velocity_ema'] if saved else [1., 1., 1.]
+      if saved:
+        stats.copy_(saved['stats'].to(env.device))
+      if args.terrain_revision >= 5:
+        command_stage = int(saved['stage']) if saved else 0
+        if args.command_curriculum:
+          set_command_stage(env.command_manager.get_term('twist').cfg, 0,
+                            stage=command_stage,
+                            stages=stages_for(args.terrain_revision))
+    if start >= args.iterations:
+      raise ValueError("iterations must exceed the resumed checkpoint step")
+    if obs["actor"].shape[-1] != learner.actor.frame_dim * args.history:
+      raise ValueError("S10 actor observation dimension mismatch")
+    output = Path(args.output or "logs/s10/" + datetime.now(ZoneInfo("Asia/Shanghai")).strftime("%Y-%m-%d_%H-%M-%S"))
+    output.mkdir(parents=True, exist_ok=True)
+    previous = torch.zeros(args.num_envs, 16, device=args.device)
+    ou = torch.zeros_like(previous)
+    totals = torch.zeros(6, device=args.device)
+    reward_totals = torch.zeros(len(env.reward_manager.active_terms), device=args.device)
+    interval_steps = 0
+    nonwheel_terminations = 0
+    invalid_env_resets = 0
+    episode_length_sum = 0.0
+    episode_count = 0
+    termination_counts = {name: 0 for name in env.termination_manager.active_terms}
+    collection_time_sum = 0.0
+    learning_time_sum = 0.0
+    began = time.monotonic()
+    print(f"S10 replay storage: {sum(t.numel() * t.element_size() for t in replay.data.values()) / 2**20:.1f} MiB", flush=True)
+    if args.video:
+      try:
+        ranges = env.command_manager.get_term("twist").cfg.ranges
+        record_policy_video(
+          learner.actor, args, output, start, bridge.to_env,
+          upward_tilt_limit=(upward_video_tilt_limit(env)
+                             if args.task == "s10-v4-upward" else None),
+          command_ranges=(ranges.lin_vel_x, ranges.lin_vel_y, ranges.ang_vel_z))
+      except Exception as exc:
+        print(f"RECOVERY skipped initial video: {exc}", flush=True)
+    with (output / "metrics.jsonl").open("a") as log:
+      for step in range(start, args.iterations):
+        iter_start = time.monotonic()
+        for group in learner.optimizers[1].param_groups:
+          group["lr"] = actor_learning_rate(args, step)
+        if args.command_curriculum and args.terrain_revision < 5:
+          command_stage = set_command_stage(
+            env.command_manager.get_term("twist").cfg,
+            step - args.command_curriculum_start,
+            stages=stages_for(args.terrain_revision))
+        for _ in range(args.num_steps_per_env):
+          with torch.no_grad():
+            history = obs["actor"].clone()
+            state, pose, context = bridge.state(), bridge.pose(), bridge.context()
+            command = env.command_manager.get_command("twist").clone()
+            bias = bridge.robot.data.encoder_bias[:, bridge.legs].clone()
+            learner.actor.norm.update(history)
+            learner.critic.norm.update(learner.critic_input(state, command, context, previous, pose))
+            learner.target.norm.load_state_dict(learner.critic.norm.state_dict())
+            ou = 0.95 * ou + (1 - 0.95**2)**0.5 * torch.randn_like(ou)
+            action = (learner.actor(history) + args.action_noise * ou).clamp(-1., 1.)
+            if args.terrain_revision >= 5:
+              course_types = env.scene.terrain.terrain_types.clone()
+              course_levels = env.scene.terrain.terrain_levels.clone()
+              course_origins = env.scene.env_origins.clone()
+            prev_episode_length = env.episode_length_buf.clone()
+            obs, real_reward, terminated, truncated, _ = env.step(bridge.env_action(action))
+            terminated, truncated = terminated.clone(), truncated.clone()
+            obs, bad = recover_invalid_envs(env, obs, real_reward)
+            invalid_env_resets += int(bad.sum())
+            valid = ~(terminated | truncated | bad)
+            done = (terminated | truncated) & ~bad
+            if done.any():
+              episode_length_sum += float(prev_episode_length[done].sum().item())
+              episode_count += int(done.sum())
+              for name in termination_counts:
+                termination_counts[name] += int(
+                  (env.termination_manager.get_term(name) & done).sum().item())
+            real_reward = torch.where(bad, torch.zeros_like(real_reward), real_reward)
+            nxt, delta = bridge.state(), pose_delta(pose, bridge.pose())
+            measured = torch.cat((nxt[:, 4:6], nxt[:, 9:10]), -1)
+            reward_totals += env.reward_manager._step_reward[~bad].sum(0)
+            totals[0] += real_reward.sum()
+            totals[1] += terminated.sum()
+            totals[2] += valid.sum()
+            totals[3:] += (measured[valid] - command[valid]).abs().sum(0)
+            interval_steps += 1
+            course_data = {}
+            if args.terrain_revision >= 7:
+              label_valid = env._nonwheel_label_valid & ~bad & torch.isfinite(state).all(-1)
+              course_data.update(collision=env._nonwheel_hit[:,None].float(),
+                                 collision_valid=label_valid[:,None].float())
+              nonwheel_terminations += int((env._nonwheel_hit & label_valid).sum())
+            if args.terrain_revision >= 5:
+              new_pose = bridge.pose()
+              ground_rise = field.sample(new_pose[:,:2]) - field.sample(pose[:,:2])
+              forward_motion = (delta[:,:2] * command[:,:2]).sum(-1) > 0
+              offset = bridge.robot.data.root_link_pos_w - course_origins
+              from .stair_curriculum import stair_pass
+              reached = stair_pass(offset, bridge.robot.data.projected_gravity_b,
+                                   course_levels, course_types == 1)
+              crossing = (pose[:,0] - course_origins[:,0]).abs() <= 2.8
+              useful = (ground_rise > .005) & forward_motion & valid
+              course_data['course'] = torch.stack((course_types.float(), course_levels.float(),
+                                                   useful.float(), (reached & crossing & valid).float()), -1)
+            replay.add(state=state, action=action, previous=previous, context=context,
+                       next=nxt, pose=delta, valid=valid[:, None], history=history,
+                       command=command, bias=bias, **({"world_pose": pose} if args.terrain else {}),
+                       **({"next_contacts":bridge.contacts()} if contact_targets else {}),
+                       **({"pair_timer": env._s10_pair_timer} if args.terrain_revision >= 7 else {}),
+                       **course_data)
+            if valid.any():
+              model_context = context if field is None else torch.cat((context, field.scan(state, pose)), -1)
+              learner.model.update_stats(state[valid], action[valid], previous[valid], model_context[valid],
+                                          nxt[valid], delta[valid])
+            previous = action.clone()
+            previous[~valid], ou[~valid] = 0., 0.
+          learner.env_steps += 1
+        collect_end = time.monotonic()
+        collection_time_sum += collect_end - iter_start
+        wm_loss = actor_loss = critic_loss = None
+        if replay.size >= args.wm_window:
+          for _ in range(args.wm_updates):
+            batch = (replay.sample_world_model(args.wm_batch, args.wm_window, capacity=args.archive_size)
+                     if args.prioritized_replay else replay.sample(args.wm_batch, args.wm_window))
+            wm_loss = learner.fit(batch)
+          # Replay is not checkpointed; refit it during warmup after every resume.
+          if step - start >= args.warmup:
+            seed = {k: v[:, 0] for k, v in replay.sample(args.imag_batch, 1).items()}
+            actor_loss, critic_loss = learner.improve(seed, constants, weights, bridge.to_env, env.step_dt)
+        learning_time_sum += time.monotonic() - collect_end
+        if (step + 1) % args.log_interval == 0 or step + 1 == args.iterations:
+          mean_episode_length = episode_length_sum / max(episode_count, 1)
+          # RewardManager._step_reward is raw*weight; the env reward also
+          # multiplies by dt. Scale before turning rates into episode sums.
+          weighted_terms = (reward_totals / max(interval_steps * args.num_envs, 1)).cpu()
+          terms_per_step = weighted_terms * env.step_dt
+          episode_reward_terms = dict(zip(
+            env.reward_manager.active_terms,
+            (terms_per_step * mean_episode_length).tolist()))
+          termination_rates = {
+            name: count / max(episode_count, 1)
+            for name, count in termination_counts.items()}
+          now = time.monotonic()
+          row = dict(step=step + 1, actor_lr=learner.optimizers[1].param_groups[0]["lr"],
+                     archive_windows=0 if replay.archive is None else replay.archive.size, env_steps=learner.env_steps,
+                     total_transitions=learner.env_steps * args.num_envs,
+                     num_steps_per_env=args.num_steps_per_env, wm_loss=wm_loss, actor_loss=actor_loss,
+                     critic_loss=critic_loss, reward=(totals[0] / (interval_steps * args.num_envs)).item(),
+                     falls=int(totals[1]), interval_steps=interval_steps,
+                     velocity_mae=(totals[3:] / totals[2].clamp_min(1)).tolist(),
+                     mean_episode_length=mean_episode_length,
+                     episode_reward_terms=episode_reward_terms,
+                     weighted_reward_terms=dict(zip(env.reward_manager.active_terms,
+                                                    weighted_terms.tolist())),
+                     episode_termination_rates=termination_rates,
+                     collection_time_s=collection_time_sum / max(interval_steps, 1),
+                     learning_time_s=learning_time_sum / max(interval_steps, 1),
+                     iteration_time_s=(now - began) / max(step + 1 - start, 1),
+                     policy_updates=learner.policy_updates,
+                     skipped_updates=learner.skipped_updates, invalid_env_resets=invalid_env_resets,
+                     elapsed_s=now - began)
+          if args.task == "s10-v4-upward":
+            stats = upward_curriculum_stats(env)
+            row.update(stats)
+            row.update(upward_tilt_stage=stats["tilt_level_q75"],
+                       upward_tilt_deg=TILT_STAGES_DEG[stats["tilt_level_q75"]],
+                       upward_recovery_rate=stats["recovery_window_rate"],
+                       upward_traverse_rate=stats["traverse_window_rate"],
+                       upward_success_rate=stats["traverse_window_rate"])
+          if args.terrain_revision >= 7:
+            row['nonwheel_terminations'] = nonwheel_terminations
+          if args.terrain:
+            row.update({k:v.item() for k,v in learner.model.last_contact_metrics.items()})
+            row["terrain_level_mean"] = env.scene.terrain.terrain_levels.float().mean().item()
+            row["terrain_level_max"] = env.scene.terrain.terrain_levels.max().item()
+          if args.terrain_revision >= 5:
+            velocity_ema = [.9*a + .1*b for a,b in zip(velocity_ema, row['velocity_mae'])]
+            row['terrain_details'] = summary(env)
+            row['success_archive_windows'] = 0 if replay.success_archive is None else replay.success_archive.size
+            promoted = command_stage
+            if args.command_curriculum and args.terrain_revision >= 5:
+              promoted = next_stage(command_stage, step + 1 - args.command_curriculum_start,
+                                    env._stair_stats.cpu().numpy(), velocity_ema)
+              row['next_command_stage'] = promoted
+          if args.command_curriculum:
+            ranges = env.command_manager.get_term("twist").cfg.ranges
+            row.update(command_stage=command_stage, command_ranges=[ranges.lin_vel_x, ranges.lin_vel_y, ranges.ang_vel_z])
+          else:
+            ranges = env.command_manager.get_term("twist").cfg.ranges
+            row.update(command_stage=0, command_mode="fixed",
+                       command_ranges=[ranges.lin_vel_x, ranges.lin_vel_y, ranges.ang_vel_z])
+          if args.terrain_revision >= 3:
+            row["command_negative_vx_fraction"] = (command[:,0] < 0).float().mean().item()
+            row["command_abs_max"] = command.abs().amax(0).tolist()
+          log.write(json.dumps(row) + "\n")
+          log.flush()
+          print(format_training_log(row, args, episode_reward_terms, termination_rates),
+                flush=True)
+          if (args.terrain_revision >= 5 and args.command_curriculum
+              and promoted != command_stage):
+            command_stage = promoted
+            env._stair_stats.zero_()  # Fresh performance window for the next stage.
+            set_command_stage(env.command_manager.get_term('twist').cfg, 0,
+                              stage=command_stage,
+                              stages=stages_for(args.terrain_revision))
+          reward_totals.zero_()
+          totals.zero_()
+          interval_steps = 0
+          episode_length_sum = 0.0
+          episode_count = 0
+          for name in termination_counts:
+            termination_counts[name] = 0
+          collection_time_sum = 0.0
+          learning_time_sum = 0.0
+        if (step + 1) % args.save_interval == 0 or step + 1 == args.iterations:
+          if args.terrain:
+            learner.terrain_state = {"levels": env.scene.terrain.terrain_levels.cpu().clone(),
+                                     "types": env.scene.terrain.terrain_types.cpu().clone()}
+          if args.terrain_revision >= 5:
+            learner.curriculum_state = dict(stage=command_stage, velocity_ema=velocity_ema,
+                                             stats=env._stair_stats.detach().cpu().clone())
+          learner.save(output / f"model_{step + 1}.pt", step + 1, bridge.to_env, env.step_dt)
+        if args.video and ((step + 1) % args.video_interval == 0
+                           or step + 1 == args.iterations):
+          try:
+            ranges = env.command_manager.get_term("twist").cfg.ranges
+            record_policy_video(
+              learner.actor, args, output, step + 1, bridge.to_env,
+              upward_tilt_limit=(upward_video_tilt_limit(env)
+                                 if args.task == "s10-v4-upward" else None),
+              command_ranges=(ranges.lin_vel_x, ranges.lin_vel_y, ranges.ang_vel_z))
+          except Exception as exc:
+            print(f"RECOVERY skipped video at {step + 1}: {exc}", flush=True)
+    print(f"S10 training complete: {output}")
+  finally:
+    env.close()
diff --git a/s10_supermimic/core/upward.py b/s10_supermimic/core/upward.py
new file mode 100644
index 0000000..83de5c7
--- /dev/null
+++ b/s10_supermimic/core/upward.py
@@ -0,0 +1,336 @@
+"""V4-upward helpers: sign-aware upright reward, reward clamps and sustained fall.
+
+This module is used only by the ``s10-v4-upward`` task. V4 itself keeps its
+baseline exp-upright reward and immediate 70-degree fall termination.
+"""
+
+from __future__ import annotations
+
+import math
+
+import torch
+from mjlab.envs import mdp
+from mjlab.managers import ManagerTermBase
+from mjlab.managers.scene_entity_config import SceneEntityCfg
+
+from .world_model import GRAVITY
+
+# Raw-term caps (before weight and dt) for the recovery task.
+# Chosen from v4 random-orientation samples: p99/max were approximately
+# leg_posture .78/.86, standstill 5.37/7.90, joint_torques 4772/5016,
+# unnecessary_wheel_lift 750/826, rolling_leg_motion 2.38/4.47.
+UPWARD_REWARD_CLAMPS = {
+  "leg_posture": 2.0,
+  "standstill": 4.0,
+  "action_rate_l2": 4.0,
+  "joint_torques_l2": 5000.0,
+  "dof_pos_limits": 0.5,
+  "unnecessary_wheel_lift": 2.0,
+  "rolling_leg_motion": 5.0,
+}
+
+# IsaacLab upward: upward max 4 (raw 4 x weight 1), bad-orientation -80,
+# i.e. the bad penalty is 20x the upward maximum. Here upward max is 2
+# (raw 1 x weight 2), so the same ratio is -40.
+BAD_ORIENTATION_WEIGHT = -40.0
+BAD_ORIENTATION_XY = 0.7
+# The old max(gz, |gx|-0.7, |gy|-0.7) severity saturated for gz >= 0.3 and had
+# a local maximum near 105 deg, where the |gx|-0.7 term crossed gz. The reward
+# severity is now a function of the tilt angle only: 0 at 45 deg, 1 at 180 deg,
+# monotonic in between. The correction term steepens the near-threshold part
+# while keeping a positive slope at 180 deg and a finite derivative at 45 deg.
+BAD_ORIENTATION_START_DEG = 45.0
+BAD_ORIENTATION_CORRECTION = 2.5
+
+# Per-environment recovery curriculum, IsaacLab terrain-curriculum style.
+# Each env keeps the outcomes of its last HISTORY_LENGTH episodes and advances
+# when at least PROMOTE_SUCCESSES of them recovered (16/20 = 80% > 75%).
+# There is no global batch gate: terrain and tilt levels are per environment.
+TILT_STAGES_DEG = (60.0, 135.0, 180.0)
+HISTORY_LENGTH = 20
+PROMOTE_SUCCESSES = 16
+DEMOTE_SUCCESSES = 5
+
+
+def upright_upward_value(gravity: torch.Tensor) -> torch.Tensor:
+  """Normalized upward reward in [0, 1].
+
+  ``projected_gravity_b[:, 2]`` is -1 upright, 0 sideways and +1 upside down.
+  The old v4 exp-upright term is sign-blind: upside-down also scores 1. This
+  linear form is monotonic through the whole range and has a constant gradient
+  with respect to gravity_z, which is what the recovery task needs.
+  """
+  return (0.5 * (1.0 - gravity[:, 2])).clamp(0.0, 1.0)
+
+
+def upright_upward(env, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+  """Environment reward term replacing v4 ``upright`` for this task."""
+  gravity = env.scene[asset_cfg.name].data.projected_gravity_b
+  return upright_upward_value(gravity)
+
+
+def bad_orientation_value(gravity: torch.Tensor) -> torch.Tensor:
+  """Monotonic tilt-based bad-orientation severity in [0, 1].
+
+  ``projected_gravity_b[:, 2]`` is -1 upright and +1 upside down, so
+  ``tilt = acos(-gz)`` goes from 0 to pi. Severity is 0 below
+  ``BAD_ORIENTATION_START_DEG``, then increases monotonically to 1 at 180 deg:
+
+    x        = clamp((tilt - 45 deg) / 135 deg, 0, 1)
+    severity = x + 2.5 * x * (1 - x)^2
+
+  Unlike the previous max(gz, |gx|-0.7, |gy|-0.7) formula, this has no
+  saturation plateau for deep inversion and no local maximum near 105 deg.
+  The polynomial correction is used instead of a fractional power because
+  ``x ** (1/3)`` has an infinite derivative at x=0 (upright), which would
+  produce non-finite gradients during imagination.
+  """
+  gz = gravity[:, 2].clamp(-1.0 + 1e-4, 1.0 - 1e-4)
+  tilt = torch.acos(-gz)
+  start = math.radians(BAD_ORIENTATION_START_DEG)
+  x = ((tilt - start) / (math.pi - start)).clamp(0.0, 1.0)
+  return x + BAD_ORIENTATION_CORRECTION * x * (1.0 - x).square()
+
+
+def bad_orientation_mask(gravity: torch.Tensor) -> torch.Tensor:
+  """Binary bad set used by the 4-second termination.
+
+  This intentionally keeps the IsaacLab-style boundary: upside-down
+  hemisphere or |gx|/|gy| beyond 0.7. The reward severity above is a smooth
+  tilt-based shaping term and is not used to decide termination.
+  """
+  return ((gravity[:, 2] > 0.0)
+          | (gravity[:, :2].abs() > BAD_ORIENTATION_XY).any(-1))
+
+
+def bad_orientation_penalty(env, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
+  """Continuous per-step bad-orientation penalty used by the environment."""
+  gravity = env.scene[asset_cfg.name].data.projected_gravity_b
+  return bad_orientation_value(gravity)
+
+
+def is_upward_task(env) -> bool:
+  """Identify the task from its upright reward function, not from a new flag."""
+  rewards = getattr(env.cfg, "rewards", {})
+  term = rewards.get("upright") if hasattr(rewards, "get") else None
+  return term is not None and getattr(term, "func", None) is upright_upward
+
+
+def _sample_offsets(range_dict, count: int, device):
+  """Sample x/y/z/roll/pitch/yaw offsets; missing keys are zero."""
+  offsets = []
+  for key in ("x", "y", "z", "roll", "pitch", "yaw"):
+    lo, hi = (range_dict or {}).get(key, (0.0, 0.0))
+    lo, hi = float(lo), float(hi)
+    if hi <= lo:
+      offsets.append(torch.full((count,), lo, device=device))
+    else:
+      offsets.append(torch.empty(count, device=device).uniform_(lo, hi))
+  return torch.stack(offsets, -1)
+
+
+def reset_root_state_upward(env, env_ids, pose_range, velocity_range=None,
+                            asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")):
+  """Reset with a per-environment roll/pitch limit.
+
+  ``env._upward_tilt_limits`` is a per-env tensor updated by the curriculum.
+  Play/evaluation has no such tensor and falls back to the full range in
+  ``pose_range`` (the task sets +/-pi there).
+  """
+  env_ids = mdp.resolve_env_ids(env, env_ids)
+  asset = env.scene[asset_cfg.name]
+  count = len(env_ids)
+  pose = _sample_offsets(pose_range, count, env.device)
+  limits = getattr(env, "_upward_tilt_limits", None)
+  if limits is None:
+    roll = pose_range.get("roll", (-math.pi, math.pi))
+    limit = max(abs(float(roll[0])), abs(float(roll[1])))
+    limits = torch.full((count,), limit, device=env.device)
+  else:
+    limits = limits[env_ids]
+  pose[:, 3] = (2.0 * torch.rand(count, device=env.device) - 1.0) * limits
+  pose[:, 4] = (2.0 * torch.rand(count, device=env.device) - 1.0) * limits
+  default = asset.data.default_root_state[env_ids].clone()
+  positions = default[:, 0:3] + pose[:, 0:3] + env.scene.env_origins[env_ids]
+  delta = mdp.quat_from_euler_xyz(pose[:, 3], pose[:, 4], pose[:, 5])
+  orientations = mdp.quat_mul(default[:, 3:7], delta)
+  velocities = default[:, 7:13] + _sample_offsets(velocity_range, count, env.device)
+  asset.write_root_link_pose_to_sim(
+    torch.cat((positions, orientations), dim=-1), env_ids=env_ids)
+  asset.write_root_link_velocity_to_sim(velocities, env_ids=env_ids)
+
+
+def init_upward_state(env):
+  """Allocate the per-env recovery ring and tilt levels once."""
+  if getattr(env, "_upward_history", None) is not None:
+    return
+  n, device = env.num_envs, env.device
+  env._upward_history = torch.zeros(
+    n, HISTORY_LENGTH, dtype=torch.bool, device=device)
+  env._upward_traverse_history = torch.zeros_like(env._upward_history)
+  env._upward_history_cursor = torch.zeros(n, dtype=torch.long, device=device)
+  env._upward_history_filled = torch.zeros(n, dtype=torch.long, device=device)
+  env._upward_tilt_levels = torch.zeros(n, dtype=torch.long, device=device)
+  env._upward_tilt_limit_table = torch.tensor(
+    [math.radians(d) for d in TILT_STAGES_DEG], device=device)
+  env._upward_tilt_limits = env._upward_tilt_limit_table[0].expand(n).clone()
+
+
+def upward_curriculum(env, env_ids):
+  """Per-env rolling recovery curriculum (IsaacLab terrain-curriculum style).
+
+  Each environment stores the outcomes of its last ``HISTORY_LENGTH``
+  episodes. ``recovered`` means the episode did not end in a bad-orientation
+  termination and the final projected gravity is not in the bad set. An env
+  advances when at least ``PROMOTE_SUCCESSES`` of the window recovered and
+  drops when at most ``DEMOTE_SUCCESSES`` did. Terrain and tilt levels are
+  updated independently per environment; no global batch rate is involved.
+  """
+  init_upward_state(env)
+  env_ids = mdp.resolve_env_ids(env, env_ids)
+  terrain = env.scene.terrain
+  data = env.scene["robot"].data
+  active = env.episode_length_buf[env_ids] > 0
+  fallen = env.termination_manager.terminated[env_ids]
+  gravity = data.projected_gravity_b[env_ids]
+  offset = data.root_link_pos_w[env_ids] - env.scene.env_origins[env_ids]
+  recovered = active & ~fallen & ~bad_orientation_mask(gravity)
+  traversed = (active & ~fallen & (offset[:, 0].abs() > 5.4)
+               & (offset[:, 1].abs() < 6.5))
+  ids = env_ids[active]
+  if len(ids):
+    cursor = env._upward_history_cursor[ids]
+    env._upward_history[ids, cursor] = recovered[active]
+    env._upward_traverse_history[ids, cursor] = traversed[active]
+    env._upward_history_cursor[ids] = (cursor + 1) % HISTORY_LENGTH
+    env._upward_history_filled[ids] = (
+      env._upward_history_filled[ids] + 1).clamp_max(HISTORY_LENGTH)
+  ready = env._upward_history_filled[env_ids] >= HISTORY_LENGTH
+  successes = env._upward_history[env_ids].sum(-1)
+  promote = ready & (successes >= PROMOTE_SUCCESSES)
+  demote = ready & (successes <= DEMOTE_SUCCESSES)
+  delta = promote.long() - demote.long()
+  old_levels = terrain.terrain_levels[env_ids].clone()
+  levels = (old_levels + delta).clamp(0, terrain.terrain_origins.shape[0] - 1)
+  old_tilt_levels = env._upward_tilt_levels[env_ids].clone()
+  tilt_levels = (old_tilt_levels + delta).clamp(0, len(TILT_STAGES_DEG) - 1)
+  # A changed environment must prove itself for a fresh 20-episode window at
+  # the new level; otherwise a long success streak could chain promotions in
+  # consecutive episodes. A clamped promote/demote at the min/max level is not
+  # a change and must keep its window so the logged rate stays meaningful.
+  changed = (levels != old_levels) | (tilt_levels != old_tilt_levels)
+  if changed.any():
+    changed_ids = env_ids[changed]
+    env._upward_history[changed_ids] = False
+    env._upward_traverse_history[changed_ids] = False
+    env._upward_history_filled[changed_ids] = 0
+    env._upward_history_cursor[changed_ids] = 0
+  terrain.terrain_levels[env_ids] = levels
+  terrain.env_origins[env_ids] = terrain.terrain_origins[
+    levels, terrain.terrain_types[env_ids]]
+  env._upward_tilt_levels[env_ids] = tilt_levels
+  env._upward_tilt_limits[env_ids] = env._upward_tilt_limit_table[tilt_levels]
+  return terrain.terrain_levels.float().mean()
+
+
+def upward_curriculum_stats(env):
+  """Summary for logging and for choosing the training-video tilt level."""
+  init_upward_state(env)
+  levels = env._upward_tilt_levels
+  terrain_levels = env.scene.terrain.terrain_levels
+  ready = env._upward_history_filled >= HISTORY_LENGTH
+  recovery = env._upward_history.sum(-1)
+  traverse = env._upward_traverse_history.sum(-1)
+  ready_count = int(ready.sum())
+  recovery_rate = (float(recovery[ready].float().mean().item()) / HISTORY_LENGTH
+                   if ready_count else 0.0)
+  traverse_rate = (float(traverse[ready].float().mean().item()) / HISTORY_LENGTH
+                   if ready_count else 0.0)
+  def fractions(values, count):
+    return [float((values == i).float().mean().item()) for i in range(count)]
+  q75 = int(torch.quantile(levels.float(), 0.75).round().item())
+  return {
+    "tilt_level_mean": float(levels.float().mean().item()),
+    "tilt_level_max": int(levels.max().item()),
+    "tilt_level_q75": q75,
+    "tilt_level_frac": fractions(levels, len(TILT_STAGES_DEG)),
+    "tilt_limit_mean_deg": float(
+      env._upward_tilt_limits.mean().item() * 180.0 / math.pi),
+    "terrain_level_frac": fractions(
+      terrain_levels, int(env.scene.terrain.terrain_origins.shape[0])),
+    "recovery_window_rate": recovery_rate,
+    "traverse_window_rate": traverse_rate,
+    "recovery_window_ready": float(ready.float().mean().item()),
+  }
+
+
+def upward_video_tilt_limit(env):
+  """Tilt limit reached by at least 75% of environments, for the video scene."""
+  q75 = upward_curriculum_stats(env)["tilt_level_q75"]
+  return math.radians(TILT_STAGES_DEG[q75])
+
+
+def _cap(value: torch.Tensor, max_value: float) -> torch.Tensor:
+  return value.clamp(max=float(max_value))
+
+
+def clamped_leg_posture(env, asset_cfg: SceneEntityCfg, max_value: float) -> torch.Tensor:
+  from .terrain_posture import env_posture_cost
+  return _cap(env_posture_cost(env, asset_cfg), max_value)
+
+
+def clamped_standstill(env, wheel_cfg: SceneEntityCfg, max_value: float) -> torch.Tensor:
+  from s10_supermimic.env.flat import standstill_cost
+  return _cap(standstill_cost(env, wheel_cfg), max_value)
+
+
+def clamped_action_rate(env, max_value: float) -> torch.Tensor:
+  return _cap(mdp.action_rate_l2(env), max_value)
+
+
+def clamped_joint_torques(env, max_value: float) -> torch.Tensor:
+  return _cap(mdp.joint_torques_l2(env), max_value)
+
+
+def clamped_dof_pos_limits(env, asset_cfg: SceneEntityCfg, max_value: float) -> torch.Tensor:
+  return _cap(mdp.joint_pos_limits(env, asset_cfg), max_value)
+
+
+def clamped_rolling_cost(env, term: str, max_value: float) -> torch.Tensor:
+  from .rolling_rewards import env_rolling_cost
+  return _cap(env_rolling_cost(env, term), max_value)
+
+
+def apply_reward_clamps(terms: dict[str, torch.Tensor], constants: dict) -> None:
+  """Apply the same raw caps to imagined rewards used by the env task."""
+  for name, max_value in constants.get("reward_clamps", {}).items():
+    if name in terms:
+      terms[name] = terms[name].clamp(max=float(max_value))
+
+
+class BadOrientationSustained(ManagerTermBase):
+  """Terminate only after bad orientation persists for ``duration_s``.
+
+  This is the recovery-task state machine: a random roll/pitch spawn is allowed
+  to be bad for a few seconds, but the episode ends if the robot never rights
+  itself. Functionally it replaces v4's immediate 70-degree ``fell_over``.
+  """
+
+  def __init__(self, cfg, env):
+    super().__init__(env)
+    self.steps = torch.zeros(env.num_envs, dtype=torch.long, device=env.device)
+
+  def __call__(self, env, duration_s: float, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+    gravity = env.scene[asset_cfg.name].data.projected_gravity_b
+    # Termination keeps the binary IsaacLab-style bad set; the reward severity
+    # above is only a smooth shaping term.
+    bad = bad_orientation_mask(gravity)
+    self.steps = torch.where(bad, self.steps + 1, torch.zeros_like(self.steps))
+    duration_steps = math.ceil(duration_s / env.step_dt)
+    return self.steps >= duration_steps
+
+  def reset(self, env_ids=None) -> None:
+    if env_ids is None:
+      self.steps.zero_()
+    else:
+      self.steps[env_ids] = 0
diff --git a/s10_supermimic/core/wheel_intrusion.py b/s10_supermimic/core/wheel_intrusion.py
new file mode 100644
index 0000000..cc6a910
--- /dev/null
+++ b/s10_supermimic/core/wheel_intrusion.py
@@ -0,0 +1,101 @@
+"""Always-on wheel/body projection constraints for the safe v7 stance.
+
+The body is 0.60 m long in ``base_link`` (x in [-0.30, 0.30]).
+
+``wheel_body_intrusion`` keeps every individual wheel out of the opposite
+three quarters: a front wheel inside the rear three quarters (x < +0.15) or a
+rear wheel inside the front three quarters (x > -0.15) shortens the support
+polygon and makes the robot tip-prone. Its hinge is exactly zero outside the
+outer quarters and grows cubically inside, so a normal extended stance is
+untouched while a wheel tucked under the body is penalised quickly.
+
+``pair_body_intrusion`` adds the wider five-sixths restriction requested for
+v7: both front wheels may not sit inside the rear five sixths (x < +0.20) at
+the same time, and both rear wheels may not sit inside the front five sixths
+(x > -0.20). A single leg crossing the line is allowed; a leg only counts as
+inside after it has stayed inside continuously for ``PAIR_GRACE_S`` (0.5 s).
+The pair penalty is therefore zero during a brief swing-through and applies
+immediately once both same-side legs are armed.
+
+Both terms are kinematic and need no terrain scan. Wheels are ordered
+fl, fr, hl, hr.
+"""
+import torch
+
+from .rolling_rewards import wheel_geometry
+
+BODY_HALF_LENGTH = 0.30
+# Each wheel must stay in the outer quarter of the body length: x > +0.15 for
+# front wheels and x < -0.15 for rear wheels.
+WHEEL_STRIP_BOUNDARY = BODY_HALF_LENGTH / 2.0
+# Rear/front 5/6 of a 0.60 m body => the boundary sits at x = +-0.20.
+PAIR_BOUNDARY = 2.0 * BODY_HALF_LENGTH / 3.0
+PAIR_GRACE_S = 0.5
+
+
+def wheel_body_intrusion(state, default_q, boundary=WHEEL_STRIP_BOUNDARY):
+  point, _ = wheel_geometry(state, default_q)
+  x = point[..., 0]
+  # Front wheels must stay ahead of +L/4, rear wheels behind -L/4.
+  violation = torch.cat(((boundary - x[:, :2]).clamp_min(0.),
+                         (x[:, 2:] + boundary).clamp_min(0.)), -1)
+  normalized = violation / boundary
+  return normalized.pow(3).mean(-1)
+
+
+def pair_region(state, default_q, boundary=PAIR_BOUNDARY):
+  """Per-wheel inside mask and normalised depth for the 5/6 restriction."""
+  point, _ = wheel_geometry(state, default_q)
+  x = point[..., 0]
+  inside = torch.cat((x[:, :2] < boundary, x[:, 2:] > -boundary), -1)
+  depth = torch.cat(((boundary - x[:, :2]).clamp_min(0.),
+                     (x[:, 2:] + boundary).clamp_min(0.)), -1) / boundary
+  return inside, depth
+
+
+def pair_body_intrusion(state, default_q, timers, dt, grace=PAIR_GRACE_S):
+  """Penalise both front or both rear wheels staying inside the 5/6 region.
+
+  ``timers`` holds the continuous inside time of each wheel. Returning it lets
+  the caller keep the 0.5 s grace across environment steps. A wheel outside
+  the boundary resets its own timer, so a single-leg pass-through never
+  contributes.
+  """
+  inside, depth = pair_region(state, default_q)
+  timers = torch.where(inside, timers + dt, torch.zeros_like(timers))
+  armed = timers >= grace - 1e-6
+  front = armed[:, 0] & armed[:, 1]
+  rear = armed[:, 2] & armed[:, 3]
+  cost = (front.float() * depth[:, :2].mean(-1)
+          + rear.float() * depth[:, 2:].mean(-1))
+  return cost, timers
+
+
+def _bridge(env):
+  from .terrain import TerrainBridge, TerrainField
+  bridge = getattr(env, '_s10_posture_bridge', None)
+  if bridge is None:
+    bridge = TerrainBridge(env, TerrainField.from_env(env))
+    env._s10_posture_bridge = bridge
+  return bridge
+
+
+def env_wheel_body_intrusion(env):
+  bridge = _bridge(env)
+  return wheel_body_intrusion(
+    bridge.state(), bridge.robot.data.default_joint_pos[0, bridge.legs])
+
+
+def env_pair_body_intrusion(env):
+  bridge = _bridge(env)
+  timers = getattr(env, '_s10_pair_timer', None)
+  if timers is None or timers.shape[0] != env.num_envs:
+    timers = torch.zeros(env.num_envs, 4, device=env.device)
+  # episode_length_buf is 1 on the first reward step after an auto-reset.
+  timers = timers.clone()
+  timers[env.episode_length_buf <= 1] = 0.
+  cost, timers = pair_body_intrusion(
+    bridge.state(), bridge.robot.data.default_joint_pos[0, bridge.legs],
+    timers, env.step_dt)
+  env._s10_pair_timer = timers
+  return cost
diff --git a/s10_supermimic/core/wheel_terrain_rewards.py b/s10_supermimic/core/wheel_terrain_rewards.py
new file mode 100644
index 0000000..adf2a24
--- /dev/null
+++ b/s10_supermimic/core/wheel_terrain_rewards.py
@@ -0,0 +1,81 @@
+"""V6 wheel-local terrain constraints; privileged scans never enter the actor.
+
+Clearance is a geometric surrogate, not a measured persistent-contact detector.
+S10 joint geometry comes from ``rolling_rewards.wheel_geometry``.
+"""
+import torch
+from .world_model import GRAVITY, LEG_POS, LEG_VEL
+from .rolling_rewards import wheel_geometry
+
+
+def yaw_frame_points(state, points):
+  # Remove roll/pitch, retaining the heading frame used by TerrainField.scan.
+  up = -torch.nn.functional.normalize(state[:, GRAVITY], dim=-1, eps=1e-6)
+  cp = (up[:, 1:].square().sum(-1)+1e-12).sqrt()
+  sr, cr, sp = up[:, 1] / cp, up[:, 2] / cp, -up[:, 0]
+  x, y, z = points.unbind(-1)
+  yr = cr[:, None]*y - sr[:, None]*z
+  zr = sr[:, None]*y + cr[:, None]*z
+  return torch.stack((cp[:, None]*x + sp[:, None]*zr, yr,
+                      -sp[:, None]*x + cp[:, None]*zr), -1)
+
+
+def sample_scan(scan, xy):
+  """Bilinear samples on the existing 21x13, 10cm heading-frame grid."""
+  shape = xy.shape[:-1]
+  x = ((xy[..., 0]+1.)*10).clamp(0,20).reshape(len(scan),-1)
+  y = ((xy[..., 1]+.6)*10).clamp(0,12).reshape(len(scan),-1)
+  ix, iy = x.floor().long().clamp(0,19), y.floor().long().clamp(0,11)
+  ax, ay = x-ix, y-iy
+  def at(dx,dy): return scan.gather(1,(ix+dx)*13+iy+dy)
+  return (((1-ax)*at(0,0)+ax*at(1,0))*(1-ay)
+          + ((1-ax)*at(0,1)+ax*at(1,1))*ay).reshape(shape)
+
+
+def wheel_terms(state, command, scan, default_q):
+  point, radius = wheel_geometry(state, default_q)
+  point = yaw_frame_points(state, point)
+  xy = point[..., :2]
+  offsets = state.new_tensor([[x,y] for x in (-.15,0.,.15) for y in (-.10,0.,.10)])
+  patch_xy = xy[:,:,None,:]+offsets
+  samples = sample_scan(scan, patch_xy)
+  # Index-based extrema avoid division by the number of equal extrema in
+  # compiled backward through interpolated, nearly-flat patches.
+  relief = samples.max(dim=-1).values-samples.min(dim=-1).values
+  # Outside the scan, never assume flatness and penalize a recovering leg.
+  inside = ((patch_xy[...,0].abs()<=1.) & (patch_xy[...,1].abs()<=.6)).all(-1)
+  flat = (1.-(relief-.02)/.04).clamp(0,1)*inside
+  straight = torch.exp(-(command[:,1]/.25).square()-(command[:,2]).square())
+  gate = flat*straight[:,None]
+  below = sample_scan(scan,xy)
+  bottom = point[...,2]+below-radius
+  lift = ((bottom-.005).clamp_min(0)/.05).square()
+  tilt = ((state[:,GRAVITY][:,:2].square().sum(-1)+1e-12).sqrt()-.08).div(.22).clamp(0,1)
+  motion = state[:,LEG_VEL].reshape(-1,4,3).square().mean(-1)*(1.-.8*tilt[:,None])
+  q = state[:,LEG_POS].reshape(-1,4,3).square()
+  posture_multiplier = torch.where(inside, 1.-.875*(relief/.12).clamp(0,1), .125)
+  posture = 2.*q[:,:,0].sum(-1)+(posture_multiplier*q[:,:,1:].sum(-1)).sum(-1)
+  # Only approaching a higher surface: no reward for lifting on flat ground.
+  speed = command[:,:2].norm(dim=-1)
+  heading_velocity = yaw_frame_points(state, torch.cat((command[:,:2], torch.zeros_like(command[:,:1])), -1)[:,None,:])[:,0,:2]
+  direction = heading_velocity/(heading_velocity.square().sum(-1,keepdim=True)+1e-12).sqrt().clamp_min(.1)
+  ahead_xy = xy+.16*direction[:,None,:]
+  ahead = sample_scan(scan,ahead_xy)
+  rise = below-ahead
+  approaching = ((rise-.04)/.08).clamp(0,1)*(speed>.1)[:,None]*inside
+  deficit = (radius+.015-point[...,2]-ahead).clamp_min(0)/.20
+  clearance = (approaching*deficit/(1.+deficit)).mean(-1)
+  return dict(unnecessary_wheel_lift=(gate*lift).sum(-1),
+              rolling_leg_motion=(gate*motion).mean(-1), leg_posture=posture,
+              wheel_obstacle_clearance=clearance)
+
+
+def env_wheel_term(env, term):
+  from .terrain import TerrainBridge,TerrainField
+  bridge=getattr(env,'_s10_posture_bridge',None)
+  if bridge is None:
+    bridge=TerrainBridge(env,TerrainField.from_env(env));env._s10_posture_bridge=bridge
+  state=bridge.state()
+  return wheel_terms(state,env.command_manager.get_command('twist'),
+                     bridge.field.scan(state,bridge.pose()),
+                     bridge.robot.data.default_joint_pos[0,bridge.legs])[term]
diff --git a/s10_supermimic/core/world_model.py b/s10_supermimic/core/world_model.py
new file mode 100644
index 0000000..20f0ee6
--- /dev/null
+++ b/s10_supermimic/core/world_model.py
@@ -0,0 +1,118 @@
+"""S10 residual dynamics with position legs and velocity wheels.
+
+Canonical order: fl, fr, hl, hr; hipx/hipy/knee per leg, then four wheels.
+Actions are normalized policy outputs: leg targets = default + scale*a[:12],
+wheel targets = clamp(35*a[12:], -35, 35) rad/s. Wheel phase is excluded.
+This module is self-contained and depends only on torch.
+"""
+
+import torch
+from torch import nn
+
+STATE_DIM = 38
+ACTION_DIM = 16
+CONTEXT_DIM = 7  # four wheel sliding frictions, base COM xyz offset (metres)
+POSE_DIM = 3
+Z, GRAVITY, LIN_VEL, ANG_VEL = slice(0, 1), slice(1, 4), slice(4, 7), slice(7, 10)
+LEG_POS, LEG_VEL, WHEEL_VEL = slice(10, 22), slice(22, 34), slice(34, 38)
+FORMAT = "s10-flat-dynamics-v1"
+
+
+class RunningNorm(nn.Module):
+  def __init__(self, dim):
+    super().__init__()
+    self.register_buffer("mean", torch.zeros(dim))
+    self.register_buffer("var", torch.ones(dim))
+    self.register_buffer("count", torch.tensor(1e-4))
+
+  @torch.no_grad()
+  def update(self, x):
+    x = x.reshape(-1, self.mean.numel())
+    if not len(x):
+      return
+    delta = x.mean(0) - self.mean
+    total = self.count + len(x)
+    self.var.copy_((self.var * self.count + x.var(0, unbiased=False) * len(x)
+                    + delta.square() * self.count * len(x) / total) / total)
+    self.mean.add_(delta * len(x) / total)
+    self.count.copy_(total)
+
+  @property
+  def scale(self):
+    return self.var.clamp_min(1e-6).sqrt()
+
+  def forward(self, x):
+    return ((x - self.mean) / self.scale).clamp(-10, 10)
+
+
+class S10WorldModel(nn.Module):
+  """(state38, action16, previous16, context7) -> (next state38, pose delta3).
+
+  Flat ground only. Linear and angular velocity use the base frame. Planar
+  displacement uses the previous yaw frame. No target/chase or terrain scan.
+  Policy history is separate from physical state and is not fed to this model.
+  """
+  def __init__(self, hidden=(512, 512, 512)):
+    super().__init__()
+    self.hidden = tuple(hidden)
+    dims = (STATE_DIM + 2 * ACTION_DIM + CONTEXT_DIM, *hidden, STATE_DIM + POSE_DIM)
+    layers = []
+    for i, (a, b) in enumerate(zip(dims[:-1], dims[1:])):
+      layers.append(nn.Linear(a, b))
+      if i < len(dims) - 2:
+        layers.append(nn.SiLU())
+    self.net = nn.Sequential(*layers)
+    self.input_norm = RunningNorm(dims[0])
+    self.output_norm = RunningNorm(dims[-1])
+
+  @staticmethod
+  def inputs(state, action, previous_action, context):
+    for name, x, dim in (("state", state, STATE_DIM), ("action", action, ACTION_DIM),
+                         ("previous_action", previous_action, ACTION_DIM),
+                         ("context", context, CONTEXT_DIM)):
+      if x.ndim != 2 or x.shape != (state.shape[0], dim):
+        raise ValueError(f"{name}: expected (batch, {dim}), got {tuple(x.shape)}")
+    return torch.cat((state, action, previous_action, context), -1)
+
+  @torch.no_grad()
+  def update_stats(self, state, action, previous_action, context, next_state, pose_delta):
+    self.input_norm.update(self.inputs(state, action, previous_action, context))
+    self.output_norm.update(torch.cat((next_state - state, pose_delta), -1))
+
+  def forward(self, state, action, previous_action, context):
+    x = self.inputs(state, action, previous_action, context)
+    delta = self.net(self.input_norm(x)) * self.output_norm.scale + self.output_norm.mean
+    return state + delta[:, :STATE_DIM], delta[:, STATE_DIM:]
+
+  def loss(self, state, actions, previous_actions, context, targets, poses, valid):
+    """Autoregressive window loss; validity must be false at/reset after done.
+
+    Tensor shapes: state[B,38], actions/previous[B,K,16], context[B,7],
+    targets[B,K,38], poses[B,K,3], valid[B,K]. A reset invalidates the rest
+    of that window, even if later transitions are individually valid.
+    """
+    mask = valid.bool().cumprod(1).bool()
+    total = next(self.parameters()).sum() * 0.0
+    for t in range(actions.shape[1]):
+      # Do not execute invalid rows: NaN terminal/reset data must not leak
+      # into either the loss or gradients through multiplication by zero.
+      keep = mask[:, t]
+      if not keep.any():
+        break
+      pred, pose = self(state[keep], actions[keep, t], previous_actions[keep, t], context[keep])
+      error = torch.cat((pred - targets[keep, t], pose - poses[keep, t]), -1)
+      total = total + (error / self.output_norm.scale).square().mean(-1).sum()
+      state = state.clone()
+      state[keep] = pred
+    return total / mask.sum().clamp_min(1)
+
+  def checkpoint(self):
+    return {"format": FORMAT, "hidden": self.hidden, "model": self.state_dict()}
+
+  @classmethod
+  def from_checkpoint(cls, checkpoint, device="cpu"):
+    if checkpoint.get("format") != FORMAT:
+      raise ValueError("Expected a S10 dynamics checkpoint; other-robot checkpoints are incompatible")
+    model = cls(checkpoint["hidden"]).to(device)
+    model.load_state_dict(checkpoint["model"])
+    return model
diff --git a/s10_supermimic/core/world_preview.py b/s10_supermimic/core/world_preview.py
new file mode 100644
index 0000000..9619de4
--- /dev/null
+++ b/s10_supermimic/core/world_preview.py
@@ -0,0 +1,296 @@
+"""World-model future preview for the play scripts.
+
+The actor checkpoint already contains the world model (``world_model``) and the
+training config. We use it directly; no separate ONNX export is required.
+
+The preview has two independent outputs:
+
+* a kinematic ghost trail: every predicted state is mapped back to MJCF qpos
+  and transparently added to the offscreen renderer;
+* a prediction-error ledger: predictions are stored with their target step and
+  compared with the real state when that step arrives (xy/z/yaw/gravity/leg q).
+
+The ghost is only a visualization. It never writes into ``env.sim.data`` or the
+physics model.
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass
+import math
+
+import mujoco
+import numpy as np
+import torch
+
+from .imagine import frame, push_history
+from .policy import Actor
+from .terrain import advance_pose
+from .terrain_world_model import TerrainWorldModel
+from .world_model import GRAVITY, LEG_POS, S10WorldModel
+
+DEFAULT_HORIZON = 32
+DEFAULT_STRIDE = 4
+GHOST_NEAR = (1.0, 0.86, 0.08, 0.20)
+GHOST_FAR = (1.0, 0.24, 0.02, 0.055)
+
+
+@dataclass
+class GhostPrediction:
+  horizon: int
+  state: np.ndarray       # 38
+  pose: np.ndarray        # x, y, yaw
+  qpos: np.ndarray        # MJCF qpos
+
+
+def load_world_model(checkpoint, device="cpu"):
+  payload = checkpoint.get("world_model")
+  if not isinstance(payload, dict):
+    raise ValueError("Checkpoint has no world_model payload")
+  fmt = payload.get("format")
+  if fmt == "s10-terrain-dynamics-v1":
+    model = TerrainWorldModel.from_checkpoint(payload, device)
+  elif fmt == "s10-flat-dynamics-v1":
+    model = S10WorldModel.from_checkpoint(payload, device)
+  else:
+    raise ValueError(f"Unsupported world-model format: {fmt}")
+  return model.to(device).eval()
+
+
+def _quat_mul(a, b):
+  w1, x1, y1, z1 = a
+  w2, x2, y2, z2 = b
+  return np.array([
+    w1*w2 - x1*x2 - y1*y2 - z1*z2,
+    w1*x2 + x1*w2 + y1*z2 - z1*y2,
+    w1*y2 - x1*z2 + y1*w2 + z1*x2,
+    w1*z2 + x1*y2 - y1*x2 + z1*w2,
+  ], dtype=np.float64)
+
+
+def _quat_from_up(up_b, yaw):
+  """Rotation mapping body-frame up to world +z, followed by world yaw."""
+  up = np.asarray(up_b, dtype=np.float64)
+  up /= max(np.linalg.norm(up), 1e-9)
+  target = np.array([0., 0., 1.])
+  dot = float(np.clip(up @ target, -1., 1.))
+  if dot < -0.999999:
+    align = np.array([0., 1., 0., 0.])
+  else:
+    axis = np.cross(up, target)
+    align = np.concatenate(([1. + dot], axis))
+    align /= max(np.linalg.norm(align), 1e-9)
+  yaw_q = np.array([math.cos(yaw / 2), 0., 0., math.sin(yaw / 2)])
+  return _quat_mul(yaw_q, align)
+
+
+class WorldModelPreview:
+  def __init__(self, checkpoint, env, bridge, field, actor, horizon=DEFAULT_HORIZON,
+               device="cpu", env_action_order=None):
+    self.env = env
+    self.bridge = bridge
+    self.field = field
+    self.actor = actor
+    self.model = load_world_model(checkpoint, device)
+    self.horizon = int(horizon)
+    self.device = device
+    self.env_action_order = list(env_action_order or checkpoint["env_action_order"])
+    self.default_q = bridge.robot.data.default_joint_pos[0, bridge.legs].detach().cpu().numpy()
+    model = env.sim.mj_model
+    free = np.flatnonzero(model.jnt_type == mujoco.mjtJoint.mjJNT_FREE)
+    if len(free) != 1:
+      raise ValueError(f"Expected one free root joint, found {len(free)}")
+    self.root_qadr = int(model.jnt_qposadr[int(free[0])])
+    # ``bridge.legs``/``bridge.wheels`` are entity joint indices, not MuJoCo
+    # joint ids (the free joint is not in the entity list). Use the entity's
+    # own qpos-address table so the ghost writes the intended joints.
+    qadr = bridge.robot.indexing.joint_q_adr.cpu().numpy()
+    self.leg_qadr = [int(qadr[int(j)]) for j in bridge.legs]
+    self.wheel_qadr = [int(qadr[int(j)]) for j in bridge.wheels]
+    self.qpos_template = env.sim.data.qpos[0].detach().cpu().numpy().copy()
+    # root_link_pos_w may be env-local while qpos is world. Store the constant
+    # offset so predicted future positions land in the renderer's world frame.
+    self.world_offset = (self.qpos_template[self.root_qadr:self.root_qadr + 2]
+                         - bridge.pose()[0, :2].detach().cpu().numpy())
+    self.tracker = PredictionTracker(self.horizon)
+
+  def _ghost(self, state, pose, horizon):
+    s = state[0].detach().cpu().numpy().astype(np.float64)
+    p = pose[0].detach().cpu().numpy().astype(np.float64)
+    qpos = self.qpos_template.copy()
+    z = float(s[0])
+    if self.field is not None:
+      z += float(self.field.sample(pose[:, :2])[0].detach().cpu())
+    quat = _quat_from_up(-s[1:4], float(p[2]))
+    qpos[self.root_qadr:self.root_qadr + 3] = (
+      p[0] + self.world_offset[0], p[1] + self.world_offset[1], z)
+    qpos[self.root_qadr + 3:self.root_qadr + 7] = quat
+    qpos[self.leg_qadr] = s[LEG_POS] + self.default_q
+    qpos[self.wheel_qadr] = self.qpos_template[self.wheel_qadr]
+    return GhostPrediction(horizon, s, p, qpos)
+
+  @torch.no_grad()
+  def predict(self, history, previous, command, context, bias, state, pose):
+    """Roll the actor + world model forward from the current real state."""
+    ghosts = []
+    history = history.clone()
+    previous = previous.clone()
+    state = state.clone()
+    pose = pose.clone()
+    scan = None if self.field is None else self.field.scan(state, pose)
+    for i in range(self.horizon):
+      action = self.actor(history)
+      model_context = context if self.field is None else torch.cat((context, scan), -1)
+      if self.field is not None:
+        nxt, delta, _, _ = self.model.forward_all(state, action, previous, model_context)
+      else:
+        nxt, delta = self.model(state, action, previous, model_context)
+      pose = advance_pose(pose, delta)
+      if self.field is not None:
+        scan = self.field.scan(nxt, pose)
+      latest = frame(nxt, action[:, self.env_action_order], command, bias,
+                     noise=False, wheel_vel=self.actor.actor_wheel_vel)
+      history = push_history(history, latest, self.actor.history, self.actor.terms)
+      previous = action
+      state = nxt
+      ghosts.append(self._ghost(state, pose, i + 1))
+    return ghosts
+
+  def update_errors(self, step, state, pose):
+    self.tracker.update(step, state[0].detach().cpu().numpy(),
+                        pose[0].detach().cpu().numpy())
+
+  def push_errors(self, step, ghosts):
+    self.tracker.push(step, ghosts)
+
+  def summary(self):
+    return self.tracker.summary()
+
+  def clear(self):
+    self.tracker.clear()
+
+  def render(self, ghosts, stride=DEFAULT_STRIDE, rgba=None):
+    """Actual frame plus transparent ghost geoms, using the env's renderer."""
+    return render_with_ghosts(self.env, ghosts, stride=stride, rgba=rgba)
+
+
+class PredictionTracker:
+  """Compare predictions with the state that actually arrives later."""
+  def __init__(self, horizon, keep=200):
+    self.horizon = int(horizon)
+    self.keep = int(keep)
+    self.pending = []
+    self.errors = {h: [] for h in (1, 4, 8, 16, 32) if h <= self.horizon}
+
+  def clear(self):
+    self.pending.clear()
+    for values in self.errors.values():
+      values.clear()
+
+  @staticmethod
+  def _error(pred_state, pred_pose, state, pose):
+    dxy = float(np.linalg.norm(pred_pose[:2] - pose[:2]))
+    dz = float(abs(pred_state[0] - state[0]))
+    dyaw = float(abs(math.atan2(math.sin(pred_pose[2] - pose[2]),
+                                math.cos(pred_pose[2] - pose[2]))))
+    pg = pred_state[GRAVITY]
+    ag = state[GRAVITY]
+    pg = pg / max(np.linalg.norm(pg), 1e-9)
+    ag = ag / max(np.linalg.norm(ag), 1e-9)
+    dg = float(math.degrees(math.acos(float(np.clip(pg @ ag, -1., 1.)))))
+    dq = float(np.sqrt(np.mean((pred_state[LEG_POS] - state[LEG_POS]) ** 2)))
+    return dxy, dz, dyaw, dg, dq
+
+  def push(self, step, ghosts):
+    for ghost in ghosts:
+      if ghost.horizon in self.errors:
+        self.pending.append((step + ghost.horizon, ghost.horizon,
+                             ghost.state, ghost.pose))
+
+  def update(self, step, state, pose):
+    keep = []
+    for target, horizon, pred_state, pred_pose in self.pending:
+      if target == step:
+        values = self.errors[horizon]
+        values.append(self._error(pred_state, pred_pose, state, pose))
+        if len(values) > self.keep:
+          del values[:-self.keep]
+      elif target > step:
+        keep.append((target, horizon, pred_state, pred_pose))
+    self.pending = keep
+
+  def summary(self):
+    parts = []
+    for horizon in sorted(self.errors):
+      values = self.errors[horizon]
+      if not values:
+        continue
+      mean = np.mean(values, axis=0)
+      parts.append(f"h{horizon} xy {mean[0]:.3f}m yaw {math.degrees(mean[2]):.1f}deg "
+                   f"leg {mean[4]:.3f}")
+    return " | ".join(parts) if parts else "collecting..."
+
+
+def annotate_rgb(rgb, lines, color=(255, 185, 90)):
+  """Small bottom-left text overlay for MP4 frames (Pillow optional)."""
+  if not lines:
+    return rgb
+  try:
+    from PIL import Image, ImageDraw, ImageFont
+  except ImportError:
+    return rgb
+  image = Image.fromarray(rgb)
+  draw = ImageDraw.Draw(image)
+  font = ImageFont.load_default()
+  y = image.height - 8 - 14 * len(lines)
+  for line in lines:
+    draw.rectangle((6, y - 2, 6 + 8 * len(line), y + 13), fill=(8, 10, 14))
+    draw.text((10, y), line, fill=color, font=font)
+    y += 14
+  return np.asarray(image)
+
+
+def render_with_ghosts(env, ghosts, stride=DEFAULT_STRIDE, rgba=None):
+  """Add ghost robot geoms to the existing offscreen scene and render once."""
+  rgb = env.render()
+  renderer = env._offline_renderer
+  if renderer is None or not ghosts:
+    return rgb
+  import mujoco
+
+  model, data = renderer._model, renderer._data
+  scene = renderer.renderer.scene
+  old_qpos, old_qvel = data.qpos.copy(), data.qvel.copy()
+  old_group = renderer._opt.geomgroup.copy()
+  # S10 visual meshes are group 2; group 0 is terrain and group 1 collision
+  # geometry. Adding only group 2 gives robot ghosts without duplicating terrain.
+  visual = np.flatnonzero(model.geom_group == 2)
+  old_geom_rgba = model.geom_rgba[visual].copy()
+  mat_ids = np.unique(model.geom_matid[visual])
+  mat_ids = mat_ids[mat_ids >= 0]
+  old_mat_rgba = {int(i): model.mat_rgba[int(i)].copy() for i in mat_ids}
+  near = np.asarray(rgba if rgba is not None else GHOST_NEAR, dtype=np.float32)
+  far = np.asarray(GHOST_FAR, dtype=np.float32)
+  try:
+    renderer._opt.geomgroup[:] = 0
+    renderer._opt.geomgroup[2] = 1
+    for ghost in ghosts[max(0, int(stride) - 1)::max(1, int(stride))]:
+      # Near future is yellow and stronger; the far tail fades to red.
+      t = ghost.horizon / max(1, ghosts[-1].horizon)
+      tint = near * (1. - t) + far * t
+      for mat_id in mat_ids:
+        model.mat_rgba[int(mat_id)] = tint
+      model.geom_rgba[visual] = tint
+      data.qpos[:] = ghost.qpos
+      data.qvel[:] = 0.
+      mujoco.mj_forward(model, data)
+      mujoco.mjv_addGeoms(model, data, renderer._opt, renderer._pert,
+                          renderer._catmask.value, scene)
+  finally:
+    renderer._opt.geomgroup[:] = old_group
+    model.geom_rgba[visual] = old_geom_rgba
+    for mat_id, value in old_mat_rgba.items():
+      model.mat_rgba[mat_id] = value
+    data.qpos[:] = old_qpos
+    data.qvel[:] = old_qvel
+    mujoco.mj_forward(model, data)
+  return renderer.render()
diff --git a/s10_supermimic/env/__init__.py b/s10_supermimic/env/__init__.py
new file mode 100644
index 0000000..2cd7820
--- /dev/null
+++ b/s10_supermimic/env/__init__.py
@@ -0,0 +1,5 @@
+"""S10 flat and terrain environment factories; no implicit task registration.
+
+Use flat.s10_velocity_flat_env_cfg or
+terrain.s10_velocity_terrain_env_cfg to construct an environment.
+"""
diff --git a/s10_supermimic/env/flat.py b/s10_supermimic/env/flat.py
new file mode 100644
index 0000000..58640a6
--- /dev/null
+++ b/s10_supermimic/env/flat.py
@@ -0,0 +1,148 @@
+"""Small flat-ground velocity task for the S10 mixed leg/wheel controller.
+
+This environment is independent of the chase-specific SuperMimic learner.
+"""
+
+from copy import deepcopy
+
+import torch
+
+from mjlab.envs import mdp
+from mjlab.envs.mdp.actions import JointPositionActionCfg, JointVelocityActionCfg
+from mjlab.managers.observation_manager import ObservationGroupCfg, ObservationTermCfg
+from mjlab.managers.reward_manager import RewardTermCfg
+from mjlab.managers.scene_entity_config import SceneEntityCfg
+from mjlab.tasks.velocity import mdp as velocity_mdp
+from mjlab.tasks.velocity.velocity_env_cfg import make_velocity_env_cfg
+from mjlab.utils.noise import UniformNoiseCfg
+
+from s10_supermimic.robot.config import (
+  LEG_JOINT_NAMES, WHEEL_JOINT_NAMES, WHEEL_GEOM_NAMES, get_s10_robot_cfg,
+)
+
+ACTOR_HISTORY = 5
+
+
+def leg_posture_cost(env, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+  d = env.scene[asset_cfg.name].data
+  return (d.joint_pos[:, asset_cfg.joint_ids]
+          - d.default_joint_pos[:, asset_cfg.joint_ids]).square().sum(-1)
+
+
+def standstill_cost(env, wheel_cfg: SceneEntityCfg) -> torch.Tensor:
+  """Extra braking at zero command, including wheels spinning in place.
+
+  This suppresses velocity; it does not fix a world-frame position or heading.
+  """
+  command = env.command_manager.get_command("twist")
+  standing = command.square().sum(-1) < 1e-6
+  d = env.scene["robot"].data
+  cost = (d.root_link_lin_vel_b.square().sum(-1)
+          + d.root_link_ang_vel_b.square().sum(-1)
+          + 0.01 * d.joint_vel[:, wheel_cfg.joint_ids].square().sum(-1))
+  return standing * cost
+
+
+def s10_velocity_flat_env_cfg(play: bool = False, history: int = ACTOR_HISTORY,
+                              actor_wheel_vel: bool = True,
+                              hipy: float | None = None,
+                              hipx: float | None = None,
+                              knee: float | None = None,
+                              leg_kp: float = 80.0,
+                              leg_kd: float = 2.0):
+  if history < 1:
+    raise ValueError("history must be at least 1")
+  cfg = make_velocity_env_cfg()
+  cfg.scene.entities = {"robot": get_s10_robot_cfg(
+    hipy=hipy, hipx=hipx, knee=knee, leg_kp=leg_kp, leg_kd=leg_kd)}
+  cfg.scene.terrain.terrain_type = "plane"
+  cfg.scene.terrain.terrain_generator = None
+  cfg.scene.sensors = ()
+  cfg.scene.num_envs = 1  # Training entry point must opt into larger batches.
+  cfg.sim.mujoco.cone = "elliptic"
+  cfg.sim.mujoco.impratio = 10
+  cfg.sim.mujoco.ccd_iterations = 50
+  cfg.viewer.body_name = "base_link"
+  cfg.viewer.distance = 2.0
+
+  legs = SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES, preserve_order=True)
+  wheels = SceneEntityCfg("robot", joint_names=WHEEL_JOINT_NAMES, preserve_order=True)
+  cfg.actions = {
+    # TODO(s10): flat pretraining keeps the smaller flat scales (0.25 / wheel 15).
+    # Terrain revision 4 overrides these to 0.25/0.6/0.8 and wheel 35. If you
+    # warm-start from a flat actor, consider matching the rev4 scales here.
+    "joint_pos": JointPositionActionCfg(
+      entity_name="robot", actuator_names=LEG_JOINT_NAMES,
+      scale=0.25, use_default_offset=True,
+    ),
+    "wheel_vel": JointVelocityActionCfg(
+      entity_name="robot", actuator_names=WHEEL_JOINT_NAMES,
+      scale=15.0, use_default_offset=False, clip={".*": (-35.0, 35.0)},
+    ),
+  }
+  # 53 values/frame (v4 / new v7, with measured wheel speed) or legacy 49
+  # values/frame (old v7). The critic and world model always keep wheel speed.
+  terms = {
+    "base_ang_vel": ObservationTermCfg(
+      func=mdp.base_ang_vel, noise=UniformNoiseCfg(n_min=-0.2, n_max=0.2)),
+    "projected_gravity": ObservationTermCfg(
+      func=mdp.projected_gravity, noise=UniformNoiseCfg(n_min=-0.05, n_max=0.05)),
+    "joint_pos": ObservationTermCfg(
+      func=mdp.joint_pos_rel, params={"asset_cfg": legs, "biased": True},
+      noise=UniformNoiseCfg(n_min=-0.01, n_max=0.01)),
+    "joint_vel": ObservationTermCfg(
+      func=mdp.joint_vel_rel, params={"asset_cfg": legs}, scale=0.05,
+      noise=UniformNoiseCfg(n_min=-1.5, n_max=1.5)),
+    "wheel_vel": ObservationTermCfg(
+      func=mdp.joint_vel_rel, params={"asset_cfg": wheels}, scale=0.05,
+      noise=UniformNoiseCfg(n_min=-1.5, n_max=1.5)),
+    "actions": ObservationTermCfg(func=mdp.last_action),
+    "command": ObservationTermCfg(
+      func=mdp.generated_commands, params={"command_name": "twist"}),
+  }
+  critic = deepcopy(terms)
+  critic["joint_pos"].params["biased"] = False
+  critic["base_lin_vel"] = ObservationTermCfg(func=mdp.base_lin_vel)
+  if not actor_wheel_vel:
+    terms.pop("wheel_vel")
+  cfg.observations = {
+    "actor": ObservationGroupCfg(terms=terms, concatenate_terms=True,
+                                 enable_corruption=not play, history_length=history),
+    "critic": ObservationGroupCfg(terms=critic, concatenate_terms=True,
+                                  enable_corruption=False),
+  }
+  command = cfg.commands["twist"]
+  command.heading_command = False
+  command.ranges.heading = None
+  command.rel_heading_envs = 0.0
+  command.rel_standing_envs = 0.2
+  command.ranges.lin_vel_x = (-1.0, 1.0)
+  command.ranges.lin_vel_y = (-0.2, 0.2)
+  command.ranges.ang_vel_z = (-0.5, 0.5)
+  cfg.curriculum = {}
+  cfg.events.pop("push_robot", None)
+  cfg.events["base_com"].params["asset_cfg"].body_names = ("base_link",)
+  cfg.events["foot_friction"].params["asset_cfg"].geom_names = WHEEL_GEOM_NAMES
+  cfg.events["encoder_bias"].params["asset_cfg"] = legs
+  # Wheel rolling must not incur quadruped foot slip / swing height costs.
+  cfg.rewards = {
+    "track_linear_velocity": cfg.rewards["track_linear_velocity"],
+    "track_angular_velocity": cfg.rewards["track_angular_velocity"],
+    "upright": RewardTermCfg(func=velocity_mdp.upright, weight=1.0,
+                             params={"std": 0.45, "asset_cfg": SceneEntityCfg(
+                               "robot", body_names=("base_link",))}),
+    "leg_posture": RewardTermCfg(func=leg_posture_cost, weight=-0.2,
+                                 params={"asset_cfg": legs}),
+    "standstill": RewardTermCfg(func=standstill_cost, weight=-2.0,
+                                params={"wheel_cfg": wheels}),
+    "action_rate_l2": RewardTermCfg(func=mdp.action_rate_l2, weight=-0.05),
+    "joint_torques_l2": RewardTermCfg(func=mdp.joint_torques_l2, weight=-2e-5),
+    "dof_pos_limits": RewardTermCfg(func=mdp.joint_pos_limits, weight=-1.0,
+                                    params={"asset_cfg": legs}),
+    "terminated": RewardTermCfg(func=mdp.is_terminated, weight=-20.0),
+  }
+  cfg.terminations.pop("out_of_terrain_bounds", None)
+  if play:
+    for event in ("base_com", "encoder_bias", "foot_friction"):
+      cfg.events.pop(event, None)
+  return cfg
diff --git a/s10_supermimic/env/terrain.py b/s10_supermimic/env/terrain.py
new file mode 100644
index 0000000..fedc5a3
--- /dev/null
+++ b/s10_supermimic/env/terrain.py
@@ -0,0 +1,271 @@
+"""Static S10 terrain courses."""
+from dataclasses import dataclass
+import math
+import mujoco
+import numpy as np
+import torch
+from mjlab.terrains.terrain_generator import SubTerrainCfg, TerrainOutput, TerrainGeometry, TerrainGeneratorCfg
+from mjlab.managers import CurriculumTermCfg, TerminationTermCfg, RewardTermCfg
+from .flat import s10_velocity_flat_env_cfg
+from s10_supermimic.robot.config import (
+  V7_HIPX, V7_HIPY, V7_KNEE, V7_LEG_KP,
+  WHEEL_BODY_NAMES, WHEEL_GEOM_NAMES, KNEE_GEOM_NAMES)
+
+STEP_HEIGHTS = (0.02, 0.04, 0.08, 0.12, 0.16, 0.20)
+
+@dataclass
+class CourseCfg(SubTerrainCfg):
+  kind: str = "rubble"
+  bidirectional: bool = False
+  stair_tread: float = .45
+
+  def function(self, difficulty, spec, rng):
+    level = min(5, max(0, round(difficulty * 5)))
+    h = STEP_HEIGHTS[level]
+    sx, sy = self.size
+    if self.bidirectional:
+      sx = 8.  # Mirror the base course into a 16 m square.
+    body, geoms = spec.body("terrain"), []
+    def box(x, y, z, a, b, c, yaw=0., pitch=0., shade=.45):
+      # Trim the source half at its spawn plane before mirroring, avoiding
+      # coincident contact surfaces in the central floor/down-stair landing.
+      if self.bidirectional and yaw == 0. and pitch == 0.:
+        left, right = max(1., x-a/2), x+a/2
+        if right <= left:
+          return
+        x, a = (left+right)/2, right-left
+      # Composition Rz(yaw) Ry(pitch); z is centre, dimensions are full lengths.
+      cy, ss, cp, sp = math.cos(yaw/2), math.sin(yaw/2), math.cos(pitch/2), math.sin(pitch/2)
+      placements = [(x, (cy*cp,-ss*sp,cy*sp,ss*cp))]
+      if self.bidirectional:
+        # Reflect about x=8: yaw and pitch change sign, roll stays unchanged.
+        placements = [(x+7., (cy*cp,-ss*sp,cy*sp,ss*cp)),
+                      (9.-x, (cy*cp,-ss*sp,-cy*sp,-ss*cp))]
+      for xx, quat in placements:
+        geom = body.add_geom(type=mujoco.mjtGeom.mjGEOM_BOX, pos=(xx,y,z),
+                             size=(a/2,b/2,c/2), quat=quat)
+        geoms.append(TerrainGeometry(geom=geom, color=(shade,shade,.9*shade,1.)))
+    box(sx/2,sy/2,-.1,sx,sy,.2,shade=.6)
+    origin = np.array([1., sy/2, 0.])
+    if self.kind in ("up", "down"):
+      n, tread = 5, self.stair_tread
+      if self.kind == "up":
+        # Overlapping foundation boxes make solid risers and a long top landing.
+        for k in range(n):
+          start = 2. + k*tread
+          box((start+sx)/2,sy/2,(k+1)*h/2,sx-start,sy,(k+1)*h)
+      else:
+        origin[2] = n*h
+        for k in range(n):
+          end = 2. + k*tread
+          height = (n-k)*h
+          box(end/2,sy/2,height/2,end,sy,height)
+    elif self.kind == "platform":
+      for x in (2.6,4.6):
+        box(x,sy/2,h/2,.9,sy,h)
+    elif self.kind == "slope":
+      # A continuous wedge made by a tilted slab with its low edge buried.
+      angle = math.radians(3+12*difficulty)
+      length = 3.
+      thickness = .16
+      center_z = length/2*math.sin(angle)-thickness/2*math.cos(angle)
+      box(3.5,sy/2,center_z,length,sy,thickness,pitch=-angle)
+      end = 3.5+length/2*math.cos(angle)
+      top = length*math.sin(angle)
+      box((end+sx)/2,sy/2,top/2,sx-end,sy,top)
+    elif self.kind == "rubble":
+      # Staggered rows cover the lane. Static overlapping rocks, never loose bodies.
+      # Heights of all layers together are capped by h (2--20 cm).
+      for ix, x in enumerate(np.arange(2.15,5.9,.48)):
+        for y in np.arange(.35,sy-.2,.52):
+          a,b = rng.uniform(.35,.65,2)
+          height = h*rng.uniform(.35,.7)
+          xx,yy = x+rng.uniform(-.12,.12),y+rng.uniform(-.12,.12)
+          yaw = rng.uniform(-math.pi,math.pi)
+          box(xx,yy,height/2,a,b,height,yaw=yaw,shade=rng.uniform(.3,.55))
+          if rng.random() < .25+.35*difficulty:
+            cap = h-height
+            # Deliberately overlapping cap; bounded surface height even in stacks.
+            pitch = rng.uniform(-.15,.15)*difficulty
+            half_z = (cap*math.cos(pitch)+a*.65*abs(math.sin(pitch)))/2
+            box(xx+.04,yy-.03,h-half_z,a*.65,b*.65,cap,
+                yaw=yaw+.6,pitch=pitch,shade=.55)
+    elif self.kind != "flat":
+      raise ValueError(self.kind)
+    if self.bidirectional:
+      origin[0] = 8.
+    return TerrainOutput(origin=origin, geometries=geoms)
+
+
+def terrain_linear_tracking(env):
+  velocity = env.scene["robot"].data.root_link_lin_vel_b
+  command = env.command_manager.get_command("twist")
+  return torch.exp(-(velocity[:,:2]-command[:,:2]).square().sum(-1)/.25)
+
+
+def terrain_yaw_tracking(env):
+  velocity = env.scene["robot"].data.root_link_ang_vel_b
+  command = env.command_manager.get_command("twist")
+  return torch.exp(-(velocity[:,2]-command[:,2]).square()/.5)
+
+
+def course_exit(env):
+  offset = env.scene["robot"].data.root_link_pos_w - env.scene.env_origins
+  return (offset[:,0] > 5.4) | (offset[:,0] < -.65) | (offset[:,1].abs() > 2.7)
+
+
+def course_curriculum(env, env_ids):
+  terrain = env.scene.terrain
+  offset = env.scene["robot"].data.root_link_pos_w[env_ids] - env.scene.env_origins[env_ids]
+  active = env.episode_length_buf[env_ids] > 0
+  fallen = env.termination_manager.terminated[env_ids]
+  success = active & ~fallen & (offset[:,0] > 5.4) & (offset[:,1].abs() < 2.7)
+  failure = active & (fallen | (offset[:,0] < -.65) | (offset[:,1].abs() > 2.7))
+  terrain.terrain_levels[env_ids] = (terrain.terrain_levels[env_ids] + success.long() - failure.long()).clamp(0,5)
+  terrain.env_origins[env_ids] = terrain.terrain_origins[terrain.terrain_levels[env_ids], terrain.terrain_types[env_ids]]
+  return terrain.terrain_levels.float().mean()
+
+
+def bidirectional_exit(env):
+  offset = env.scene["robot"].data.root_link_pos_w - env.scene.env_origins
+  return (offset[:,0].abs() > 6.5) | (offset[:,1].abs() > 6.5)
+
+
+def bidirectional_curriculum(env, env_ids):
+  terrain = env.scene.terrain
+  offset = env.scene["robot"].data.root_link_pos_w[env_ids] - env.scene.env_origins[env_ids]
+  active = env.episode_length_buf[env_ids] > 0
+  fallen = env.termination_manager.terminated[env_ids]
+  # Both course directions count. Lateral exits are neutral, not evidence
+  # of clearing steps; negative commands no longer count as failure.
+  success = active & ~fallen & (offset[:,0].abs() > 5.4) & (offset[:,1].abs() < 6.5)
+  failure = active & fallen
+  terrain.terrain_levels[env_ids] = (terrain.terrain_levels[env_ids] + success.long() - failure.long()).clamp(0,5)
+  terrain.env_origins[env_ids] = terrain.terrain_origins[terrain.terrain_levels[env_ids], terrain.terrain_types[env_ids]]
+  return terrain.terrain_levels.float().mean()
+
+
+def s10_velocity_terrain_env_cfg(play=False, history=5, seed=0, revision=1,
+                                 actor_wheel_vel=None):
+  if revision not in (1, 2, 3, 4, 5, 6, 7):
+    raise ValueError("Terrain revision must be 1, 2, 3, 4, 5, 6 or 7")
+  if actor_wheel_vel is None:
+    actor_wheel_vel = revision <= 4 or revision >= 7
+  cfg = s10_velocity_flat_env_cfg(
+    play=play, history=history, actor_wheel_vel=actor_wheel_vel,
+    hipy=(V7_HIPY if revision >= 7 else None),
+    hipx=(V7_HIPX if revision >= 7 else None),
+    knee=(V7_KNEE if revision >= 7 else None),
+    leg_kp=(V7_LEG_KP if revision >= 7 else 80.0))
+  cfg.sim.nconmax = 128
+  cfg.sim.njmax = 512
+  cfg.scene.terrain.terrain_type = "generator"
+  cfg.scene.terrain.max_init_terrain_level = 0
+  cfg.scene.terrain.terrain_generator = TerrainGeneratorCfg(
+    seed=seed, size=(8.,8.), num_rows=6, curriculum=True, color_scheme="none",
+    sub_terrains={kind: CourseCfg(kind=kind, proportion=weight) for kind,weight in
+                 (("flat",.10),("up",.25),("down",.20),("platform",.15),("slope",.10),("rubble",.20))})
+  cfg.events["reset_base"].params["pose_range"].update(x=(-.1,.1),y=(-.1,.1),yaw=(-.08,.08))
+  command = cfg.commands["twist"]
+  command.ranges.lin_vel_x = (.2,.45)
+  command.ranges.lin_vel_y = (0.,0.)
+  command.ranges.ang_vel_z = (-.05,.05)
+  command.rel_standing_envs = .1
+  cfg.episode_length_s = 35.
+  cfg.rewards["leg_posture"].weight = -.05
+  cfg.rewards["track_linear_velocity"].func = terrain_linear_tracking
+  cfg.rewards["track_linear_velocity"].params = {}
+  cfg.rewards["track_angular_velocity"].func = terrain_yaw_tracking
+  cfg.rewards["track_angular_velocity"].params = {}
+  cfg.rewards["upright"].params["std"] = .6
+  if revision >= 2:
+    from s10_supermimic.core.terrain_posture import env_posture_cost
+    cfg.actions["joint_pos"].scale = {".*_hipx_joint": .25, ".*_hipy_joint": .6, ".*_knee_joint": .8}
+    cfg.rewards["leg_posture"].func = env_posture_cost
+    cfg.rewards["leg_posture"].weight = -.4
+  cfg.curriculum = {} if play else {"course": CurriculumTermCfg(func=course_curriculum)}
+  cfg.terminations["course_exit"] = TerminationTermCfg(func=course_exit, time_out=True)
+  if revision >= 3:
+    command.ranges.lin_vel_x = (-2., 2.)
+    command.ranges.lin_vel_y = (-1., 1.)
+    command.ranges.ang_vel_z = (-3., 3.)
+    command.rel_forward_envs = 0.
+    command.rel_world_envs = 0.
+    cfg.actions["wheel_vel"].scale = 35.
+    gen = cfg.scene.terrain.terrain_generator
+    gen.size = (16., 16.)
+    for course in gen.sub_terrains.values():
+      course.bidirectional = True
+    cfg.curriculum = {} if play else {"course": CurriculumTermCfg(func=bidirectional_curriculum)}
+    cfg.terminations["course_exit"] = TerminationTermCfg(func=bidirectional_exit, time_out=True)
+  if revision >= 4:
+    from mjlab.sensor import ContactMatch, ContactSensorCfg
+    cfg.scene.sensors = tuple(cfg.scene.sensors or ()) + (ContactSensorCfg(
+      name="wheel_ground_contact", primary=ContactMatch(mode="body",
+        pattern=tuple(WHEEL_BODY_NAMES), entity="robot"),
+      secondary=ContactMatch(mode="body", pattern="terrain"),
+      fields=("found","force"), reduce="netforce", num_slots=1),)
+    from s10_supermimic.core.rolling_rewards import env_rolling_cost
+    for course in cfg.scene.terrain.terrain_generator.sub_terrains.values():
+      course.stair_tread = .30
+    for name, weight in (("unnecessary_wheel_lift", -.2), ("rolling_leg_motion", -.12)):
+      cfg.rewards[name] = RewardTermCfg(func=env_rolling_cost, weight=weight, params={"term":name})
+    if not play:
+      from s10_supermimic.core.mixed_commands import MixedVelocityCommandCfg
+      cfg.commands["twist"] = MixedVelocityCommandCfg(**vars(command))
+  if revision >= 5:
+    from s10_supermimic.core.obstacle_rewards import env_obstacle_progress
+    from s10_supermimic.core.stair_curriculum import curriculum
+    cfg.rewards['obstacle_progress'] = RewardTermCfg(func=env_obstacle_progress, weight=.5)
+    if not play:
+      cfg.curriculum = {'course': CurriculumTermCfg(func=curriculum)}
+      cfg.commands['twist'].hold_stair_command = True
+    for kind, weight in zip(('flat','up','down','platform','slope','rubble'), (.1,.35,.15,.1,.1,.2)):
+      cfg.scene.terrain.terrain_generator.sub_terrains[kind].proportion = weight
+  if revision == 6:
+    from s10_supermimic.core.wheel_terrain_rewards import env_wheel_term
+    for name in ('leg_posture', 'unnecessary_wheel_lift', 'rolling_leg_motion'):
+      cfg.rewards[name].func = env_wheel_term
+      cfg.rewards[name].params = {'term': name}
+    cfg.rewards['wheel_obstacle_clearance'] = RewardTermCfg(
+      func=env_wheel_term, weight=-.25, params={'term':'wheel_obstacle_clearance'})
+  if revision >= 7:
+    from s10_supermimic.core.collision import illegal_nonwheel_contact
+    from s10_supermimic.core.mixed_commands import MixedVelocityCommandCfg
+    from s10_supermimic.core.wheel_intrusion import (
+      env_pair_body_intrusion, env_wheel_body_intrusion)
+    # V7 = V5 + non-wheel collisions; experimental V6 shaping is independent.
+    cfg.scene.sensors += (ContactSensorCfg(
+      name='nonwheel_ground_contact',
+      primary=ContactMatch(mode='geom', pattern='.*_collision', entity='robot',
+                           exclude=WHEEL_GEOM_NAMES + KNEE_GEOM_NAMES),
+      secondary=ContactMatch(mode='body', pattern='terrain'),
+      fields=('found','force'), reduce='netforce', num_slots=1,
+      history_length=cfg.decimation),)
+    cfg.terminations['illegal_nonwheel_contact'] = TerminationTermCfg(
+      func=illegal_nonwheel_contact, params={'force_threshold':50.})
+    # Safe low-speed all-terrain envelope. Fixed for training and play so the
+    # validation videos use exactly the command distribution seen in training.
+    command = cfg.commands['twist']
+    command.ranges.lin_vel_x = (-1.5, 1.5)
+    command.ranges.lin_vel_y = (-.8, .8)
+    command.ranges.ang_vel_z = (-1.2, 1.2)
+    if not isinstance(command, MixedVelocityCommandCfg):
+      command = MixedVelocityCommandCfg(**vars(command))
+    command.deadzone = .05
+    command.hold_stair_command = not play
+    cfg.commands['twist'] = command
+    # V7 initialization: small x/y/yaw only, no random roll/pitch.
+    # Always active, independent of terrain relief: keep front/rear wheels out
+    # of the opposite two-thirds of the body projection.
+    cfg.rewards['wheel_body_intrusion'] = RewardTermCfg(
+      func=env_wheel_body_intrusion, weight=-1.0)
+    # Wider 5/6 restriction: both same-side legs may not sit under the body
+    # together for more than 0.5 s. One leg passing through is free.
+    cfg.rewards['pair_body_intrusion'] = RewardTermCfg(
+      func=env_pair_body_intrusion, weight=-1.0)
+    # Stairs need deep flexion. Keep hipx constrained (2x in posture_cost) but
+    # let hipy/knee deviate almost freely once local step relief is large.
+    cfg.rewards['leg_posture'].params = {
+      **cfg.rewards['leg_posture'].params, 'relief_floor': .02}
+  return cfg
diff --git a/s10_supermimic/robot/LICENSE_s10 b/s10_supermimic/robot/LICENSE_s10
new file mode 100644
index 0000000..6c1a48b
--- /dev/null
+++ b/s10_supermimic/robot/LICENSE_s10
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2025, DEEPRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/s10_supermimic/robot/__init__.py b/s10_supermimic/robot/__init__.py
new file mode 100644
index 0000000..6512232
--- /dev/null
+++ b/s10_supermimic/robot/__init__.py
@@ -0,0 +1 @@
+"""Deep Robotics S10 model."""
diff --git a/s10_supermimic/robot/config.py b/s10_supermimic/robot/config.py
new file mode 100644
index 0000000..338dd1c
--- /dev/null
+++ b/s10_supermimic/robot/config.py
@@ -0,0 +1,115 @@
+"""S10 asset adapter: twelve position-controlled legs and four velocity wheels.
+
+The MJCF and default pose come from the Deep Robotics S10 deployment SDK
+(``S10_description/s10_mjcf``). The copied XML has its torque-motor block
+removed, so mjlab can add native position/velocity actuators. v4 keeps
+the SDK/IsaacLab leg gains (kp=80, kd=2, effort=50 N·m); v7 uses a softer
+kp=20 for deployment safety. Wheels use velocity damping 0.8, effort=14 N·m.
+"""
+
+import math
+from pathlib import Path
+
+import mujoco
+
+from mjlab.actuator import (
+  BuiltinPositionActuatorCfg,
+  BuiltinVelocityActuatorCfg,
+)
+from mjlab.entity import EntityArticulationInfoCfg, EntityCfg
+from mjlab.utils.spec_config import CollisionCfg
+
+S10_XML = Path(__file__).parent / "model" / "s10.xml"
+LEGS = ("fl", "fr", "hl", "hr")
+LEG_JOINT_NAMES = tuple(
+  f"{leg}_{joint}_joint" for leg in LEGS for joint in ("hipx", "hipy", "knee")
+)
+WHEEL_JOINT_NAMES = tuple(f"{leg}_wheel_joint" for leg in LEGS)
+WHEEL_BODY_NAMES = tuple(f"{leg}_wheel" for leg in LEGS)
+WHEEL_GEOM_NAMES = tuple(f"{leg}_wheel_collision" for leg in LEGS)
+# Knee-joint housing, shin link and knee hub; v7 excludes these from the
+# non-wheel contact termination so stair shin/knee grazing does not end runs.
+KNEE_GEOM_NAMES = tuple(
+  f"{leg}_{part}_collision" for leg in LEGS
+  for part in ("knee_joint", "shin", "knee_hub"))
+
+# v4 keeps the SDK neutral pose. v7 uses a more crouched, stair-friendly
+# pose closer to the gait it needs (hipx 0.05, hipy ±25°, knee 1.0) and a
+# softer leg actuator (kp=20) for safer deployment. Knee 1.0 keeps the wheel
+# centres outside the body projection even with the ±25° splay.
+DEFAULT_HIPY = 0.35
+V7_HIPX = 0.05
+V7_HIPY = math.radians(25.0)
+V7_KNEE = 1.0
+V7_LEG_KP = 20.0
+
+
+def get_spec() -> mujoco.MjSpec:
+  spec = mujoco.MjSpec.from_file(str(S10_XML))
+  spec.modelname = "s10"
+  # Scene solver options are owned by the task, not the attached robot.
+  spec.option.cone = mujoco.mjtCone.mjCONE_PYRAMIDAL
+  spec.option.impratio = 1.0
+  # Name every collision so domain randomisation can select actual contacts.
+  for i, geom in enumerate(spec.geoms):
+    if geom.contype or geom.conaffinity:
+      # Warp MULTICCD cannot handle nonzero margins on these cylinder/box pairs.
+      geom.margin = 0.0
+      if not geom.name:
+        geom.name = f"body_{i}_collision"
+  return spec
+
+
+def get_s10_robot_cfg(hipy: float | None = None, hipx: float | None = None,
+                      knee: float | None = None, leg_kp: float = 80.0,
+                      leg_kd: float = 2.0) -> EntityCfg:
+  """Return a fresh S10 config with mjlab native position/velocity actuators.
+
+  ``hipx``, ``hipy`` and ``knee`` are absolute default joint angles. Omit them
+  for the legacy v4 pose; v7 passes its crouched stair pose. ``leg_kp``/``kd``
+  let v7 use a softer actuator without changing v4 checkpoints. The joint
+  action offset and posture penalty both read ``default_joint_pos``, so these
+  values move the action target and the penalised posture together.
+  """
+  hipx = 0.1 if hipx is None else float(hipx)
+  hipy = DEFAULT_HIPY if hipy is None else float(hipy)
+  knee = 0.65 if knee is None else float(knee)
+  return EntityCfg(
+    spec_fn=get_spec,
+    init_state=EntityCfg.InitialStateCfg(
+      # Default leg pose puts the wheel bottom at ~0.434 m; 0.44 m gives a
+      # small margin before the reset z offset is applied.
+      pos=(0.0, 0.0, 0.44),
+      joint_pos={
+        "fl_hipx_joint": hipx, "hl_hipx_joint": hipx,
+        "fr_hipx_joint": -hipx, "hr_hipx_joint": -hipx,
+        "fl_hipy_joint": -hipy, "fr_hipy_joint": -hipy,
+        "hl_hipy_joint": hipy, "hr_hipy_joint": hipy,
+        "fl_knee_joint": knee, "fr_knee_joint": knee,
+        "hl_knee_joint": -knee, "hr_knee_joint": -knee,
+        ".*_wheel_joint": 0.0,
+      },
+      joint_vel={".*": 0.0},
+    ),
+    collisions=(CollisionCfg(
+      geom_names_expr=(".*_collision",), contype=1, conaffinity=1,
+      condim={".*_wheel_collision": 3, "body_.*_collision": 1, ".*": 1},
+      priority={".*_wheel_collision": 1, "body_.*_collision": 0, ".*": 0},
+    ),),
+    articulation=EntityArticulationInfoCfg(
+      actuators=(
+        # TODO(s10): the SDK/IsaacLab S10 config also randomizes actuator delay
+        # (0-5 physics steps) and PD gains. v7 uses a softer kp=20 for safe
+        # deployment; v4 keeps the SDK kp=80 recipe.
+        BuiltinPositionActuatorCfg(
+          target_names_expr=LEG_JOINT_NAMES,
+          stiffness=float(leg_kp), damping=float(leg_kd), effort_limit=50.0,
+        ),
+        BuiltinVelocityActuatorCfg(
+          target_names_expr=WHEEL_JOINT_NAMES,
+          damping=0.8, effort_limit=14.0, armature=0.0005,
+        ),
+      ),
+      soft_joint_pos_limit_factor=0.9,
+    ),
+  )
diff --git a/s10_supermimic/robot/model/README.md b/s10_supermimic/robot/model/README.md
new file mode 100644
index 0000000..fc8157f
--- /dev/null
+++ b/s10_supermimic/robot/model/README.md
@@ -0,0 +1,29 @@
+S10 model adapted from the Deep Robotics deployment SDK
+(`S10_description/s10_mjcf/S10.xml`). Only the 17 mesh files referenced by
+`s10.xml` are included. The source XML is BSD-3-Clause, see `../LICENSE_s10`.
+
+Local changes:
+
+- Removed the world floor and light so mjlab can attach the robot to its own
+  terrain.
+- Removed the torque `<motor>` actuator block; mjlab adds native position
+  actuators for the 12 leg joints and native velocity actuators for the 4
+  wheels.
+- Added names to the four wheel collision cylinders
+  (`fl/fr/hl/hr_wheel_collision`) so wheel friction randomisation and contact
+  sensors can address them.
+- Removed the `<sensor>` block. The SDK XML has unnamed `accelerometer` and
+  `gyro` elements, which mjlab tries to wrap as a sensor with an empty name and
+  fails with `KeyError: Invalid name ''` during scene initialization. The
+  training actor/world model read MuJoCo data directly and do not use these XML
+  sensors.
+- `robot/config.py` names remaining unnamed collision geoms, clears collision
+  margins for Warp MULTICCD compatibility, and delegates solver options to the
+  task.
+- `meshdir` changed from `../meshes/` to `meshes/`.
+
+Default pose, joint limits, link geometry and inertial values are unchanged
+from the SDK model. Actuator gains follow the SDK/IsaacLab S10 configuration:
+legs kp=80, kd=2, effort=50 N·m; wheels damping=0.8, effort=14 N·m.
+These values are taken from the provided deployment/training projects and are
+not independently hardware-calibrated here.
diff --git a/s10_supermimic/robot/model/meshes/base_link.STL b/s10_supermimic/robot/model/meshes/base_link.STL
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diff --git a/s10_supermimic/robot/model/meshes/hr_wheel.STL b/s10_supermimic/robot/model/meshes/hr_wheel.STL
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diff --git a/s10_supermimic/robot/model/s10.xml b/s10_supermimic/robot/model/s10.xml
new file mode 100644
index 0000000..2ba4d85
--- /dev/null
+++ b/s10_supermimic/robot/model/s10.xml
@@ -0,0 +1,176 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="S10">
+  <default>
+    <default class="robot">
+      <default class="motor">
+        <joint />
+        <motor />
+      </default>
+      <default class="visual">
+        <geom material="default_material" contype="0" conaffinity="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom material="collision_material" condim="3" contype="1" conaffinity="1" solref="0.005 1" friction="1 0.01 0.001" density="0" group="1" />
+      </default>
+    </default>
+  </default>
+  <compiler angle="radian" meshdir="meshes/" />
+  <compiler autolimits="true" />
+  <asset>
+    <material name="default_material" rgba="0.7 0.7 0.7 1" />
+    <material name="collision_material" rgba="0.0 0.4 0.8 0.2" />
+    <mesh name="base_link" file="base_link.STL" />
+    <mesh name="fl_hipx" file="fl_hipx.STL" />
+    <mesh name="fl_hipy" file="fl_hipy.STL" />
+    <mesh name="fl_knee" file="fl_knee.STL" />
+    <mesh name="fl_wheel" file="fl_wheel.STL" />
+    <mesh name="fr_hipx" file="fr_hipx.STL" />
+    <mesh name="fr_hipy" file="fr_hipy.STL" />
+    <mesh name="fr_knee" file="fr_knee.STL" />
+    <mesh name="fr_wheel" file="fr_wheel.STL" />
+    <mesh name="hl_hipx" file="hl_hipx.STL" />
+    <mesh name="hl_hipy" file="hl_hipy.STL" />
+    <mesh name="hl_knee" file="hl_knee.STL" />
+    <mesh name="hl_wheel" file="hl_wheel.STL" />
+    <mesh name="hr_hipx" file="hr_hipx.STL" />
+    <mesh name="hr_hipy" file="hr_hipy.STL" />
+    <mesh name="hr_knee" file="hr_knee.STL" />
+    <mesh name="hr_wheel" file="hr_wheel.STL" />
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" />
+    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" />
+  </asset>
+  <worldbody>
+    <body name="base_link" pos="0 0.0 0.5" quat="1 0 0 0" childclass="robot">
+      <freejoint name="floating_base" />
+      <inertial pos="-0.000512 0.057317 0.001182" quat="1 0 0 0" mass="8.023087" diaginertia="0.115559 0.171329 0.262028" />
+      <site name="imu_site" pos="0.0075 -0.0373 0.0556" size="0.005" rgba="1 0 0 1" />
+      <site name="base_site" pos="0 0 0" quat="1 0 0 0" />
+      <geom type="mesh" class="visual" mesh="base_link" />
+      <geom size="0.08 0.3" pos="0 0.024 0" quat="0.707107 0 0.707107 0" type="cylinder" class="collision" />
+      <geom size="0.08 0.3" pos="0 -0.024 0" quat="0.707107 0 0.707107 0" type="cylinder" class="collision" />
+      <geom size="0.08 0.024 0.3" quat="0.707107 0 0.707107 0" type="box" class="collision" />
+      <body name="fl_hipx" pos="0.2277 0.0574 0">
+        <inertial pos="-0.005034 0.023524 4.6e-05" quat="0.25609 0.665262 -0.228203 0.663151" mass="0.627405" diaginertia="0.000415056 0.000391723 0.000223221" />
+        <joint name="fl_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
+        <geom type="mesh" class="visual" mesh="fl_hipx" />
+        <geom size="0.04 0.05" pos="0 0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
+        <body name="fl_hipy" pos="0 0.0779 0">
+          <inertial pos="7.4e-05 0.018439 -0.129675" quat="0.701304 -0.0510428 0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
+          <joint name="fl_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
+          <geom type="mesh" class="visual" mesh="fl_hipy" />
+          <geom size="0.032 0.012 0.09" pos="0 0.012 -0.09" type="box" class="collision" />
+          <geom size="0.04 0.04" pos="0 0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fl_knee_joint_collision" />
+          <body name="fl_knee" pos="0 0 -0.18">
+            <inertial pos="-3.2e-05 0.013504 -0.156308" quat="0.703786 -0.068447 0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
+            <joint name="fl_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
+            <geom type="mesh" class="visual" mesh="fl_knee" />
+            <geom size="0.029 0.01 0.09" pos="0 -0.012 -0.09" type="box" class="collision" name="fl_shin_collision" />
+            <geom size="0.04 0.025" pos="0 0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fl_knee_hub_collision" />
+            <body name="fl_wheel" pos="0 0.045891 -0.18">
+              <inertial pos="-8e-06 0.001694 -5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
+              <joint name="fl_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
+              <geom type="mesh" class="visual" mesh="fl_wheel" />
+              <geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fl_wheel_collision" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="fr_hipx" pos="0.2277 -0.0574 0">
+        <inertial pos="-0.004831 -0.02349 0.000169" quat="-0.278522 0.675499 0.205833 0.650968" mass="0.626546" diaginertia="0.000415238 0.000395047 0.000218715" />
+        <joint name="fr_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
+        <geom type="mesh" class="visual" mesh="fr_hipx" />
+        <geom size="0.04 0.05" pos="0 -0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
+        <body name="fr_hipy" pos="0 -0.0779 0">
+          <inertial pos="-7.4e-05 -0.018439 -0.129675" quat="0.701304 0.0510428 -0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
+          <joint name="fr_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
+          <geom type="mesh" class="visual" mesh="fr_hipy" />
+          <geom size="0.032 0.012 0.09" pos="0 -0.012 -0.09" type="box" class="collision" />
+          <geom size="0.04 0.04" pos="0 -0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fr_knee_joint_collision" />
+          <body name="fr_knee" pos="0 0 -0.18">
+            <inertial pos="3.2e-05 -0.013504 -0.156308" quat="0.703786 0.068447 -0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
+            <joint name="fr_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
+            <geom type="mesh" class="visual" mesh="fr_knee" />
+            <geom size="0.029 0.01 0.09" pos="0 0.012 -0.09" type="box" class="collision" name="fr_shin_collision" />
+            <geom size="0.04 0.025" pos="0 -0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fr_knee_hub_collision" />
+            <body name="fr_wheel" pos="0 -0.045891 -0.18">
+              <inertial pos="8e-06 -0.001694 5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
+              <joint name="fr_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
+              <geom type="mesh" class="visual" mesh="fr_wheel" />
+              <geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fr_wheel_collision" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="hl_hipx" pos="-0.2277 0.0574 0">
+        <inertial pos="0.004831 0.02349 0.000169" quat="-0.205833 0.650968 0.278522 0.675499" mass="0.626546" diaginertia="0.000415238 0.000395047 0.000218715" />
+        <joint name="hl_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
+        <geom type="mesh" class="visual" mesh="hl_hipx" />
+        <geom size="0.04 0.05" pos="0 0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
+        <body name="hl_hipy" pos="0 0.0779 0">
+          <inertial pos="7.4e-05 0.018439 -0.129675" quat="0.701304 -0.0510428 0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
+          <joint name="hl_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
+          <geom type="mesh" class="visual" mesh="hl_hipy" />
+          <geom size="0.032 0.012 0.09" pos="0 0.012 -0.09" type="box" class="collision" />
+          <geom size="0.04 0.04" pos="0 0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hl_knee_joint_collision" />
+          <body name="hl_knee" pos="0 0 -0.18">
+            <inertial pos="-3.2e-05 0.013504 -0.156308" quat="0.703786 -0.068447 0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
+            <joint name="hl_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
+            <geom type="mesh" class="visual" mesh="hl_knee" />
+            <geom size="0.029 0.01 0.09" pos="0 -0.012 -0.09" type="box" class="collision" name="hl_shin_collision" />
+            <geom size="0.04 0.025" pos="0 0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hl_knee_hub_collision" />
+            <body name="hl_wheel" pos="0 0.045891 -0.18">
+              <inertial pos="-8e-06 0.001694 -5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
+              <joint name="hl_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
+              <geom type="mesh" class="visual" mesh="hl_wheel" />
+              <geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hl_wheel_collision" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="hr_hipx" pos="-0.2277 -0.0574 0">
+        <inertial pos="0.005034 -0.023524 4.6e-05" quat="0.228203 0.663151 -0.25609 0.665262" mass="0.627405" diaginertia="0.000415056 0.000391723 0.000223221" />
+        <joint name="hr_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
+        <geom type="mesh" class="visual" mesh="hr_hipx" />
+        <geom size="0.04 0.05" pos="0 -0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
+        <body name="hr_hipy" pos="0 -0.0779 0">
+          <inertial pos="-7.4e-05 -0.018439 -0.129675" quat="0.701304 0.0510428 -0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
+          <joint name="hr_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
+          <geom type="mesh" class="visual" mesh="hr_hipy" />
+          <geom size="0.032 0.012 0.09" pos="0 -0.012 -0.09" type="box" class="collision" />
+          <geom size="0.04 0.04" pos="0 -0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hr_knee_joint_collision" />
+          <body name="hr_knee" pos="0 0 -0.18">
+            <inertial pos="3.2e-05 -0.013504 -0.156308" quat="0.703786 0.068447 -0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
+            <joint name="hr_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
+            <geom type="mesh" class="visual" mesh="hr_knee" />
+            <geom size="0.029 0.01 0.09" pos="0 0.012 -0.09" type="box" class="collision" name="hr_shin_collision" />
+            <geom size="0.04 0.025" pos="0 -0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hr_knee_hub_collision" />
+            <body name="hr_wheel" pos="0 -0.045891 -0.18">
+              <inertial pos="8e-06 -0.001694 5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
+              <joint name="hr_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
+              <geom type="mesh" class="visual" mesh="hr_wheel" />
+              <geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hr_wheel_collision" />
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="base_link" body2="fl_hipx" />
+    <exclude body1="fl_hipx" body2="fl_hipy" />
+    <exclude body1="fl_hipy" body2="fl_knee" />
+    <exclude body1="fl_knee" body2="fl_wheel" />
+    <exclude body1="base_link" body2="fr_hipx" />
+    <exclude body1="fr_hipx" body2="fr_hipy" />
+    <exclude body1="fr_hipy" body2="fr_knee" />
+    <exclude body1="fr_knee" body2="fr_wheel" />
+    <exclude body1="base_link" body2="hl_hipx" />
+    <exclude body1="hl_hipx" body2="hl_hipy" />
+    <exclude body1="hl_hipy" body2="hl_knee" />
+    <exclude body1="hl_knee" body2="hl_wheel" />
+    <exclude body1="base_link" body2="hr_hipx" />
+    <exclude body1="hr_hipx" body2="hr_hipy" />
+    <exclude body1="hr_hipy" body2="hr_knee" />
+    <exclude body1="hr_knee" body2="hr_wheel" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/s10_supermimic/tasks/__init__.py b/s10_supermimic/tasks/__init__.py
new file mode 100644
index 0000000..ca196f8
--- /dev/null
+++ b/s10_supermimic/tasks/__init__.py
@@ -0,0 +1,12 @@
+"""Selectable S10 training tasks.
+
+Import a task module here to register it. The training entry point accepts
+``--task <name>`` and applies that task's defaults before explicit CLI flags.
+Shared algorithm code stays revision-agnostic; only the observation contract
+and environment wiring differ between tasks.
+"""
+
+from .base import ActorSpec, TaskSpec, get_task, list_tasks, register, task_names
+from . import task_v4, task_v4_upward, task_v7
+
+__all__ = ("ActorSpec", "TaskSpec", "get_task", "list_tasks", "register", "task_names")
diff --git a/s10_supermimic/tasks/base.py b/s10_supermimic/tasks/base.py
new file mode 100644
index 0000000..60eeb19
--- /dev/null
+++ b/s10_supermimic/tasks/base.py
@@ -0,0 +1,95 @@
+"""Parallel S10 training tasks: architecture, environment and recipe.
+
+A task owns the observation contract (the part that cannot be changed by a
+resume) and the training defaults that go with its terrain revision. Shared
+learner, reward and world-model code lives outside this package, so adding a
+new task means adding one module and registering it in ``tasks/__init__.py``.
+"""
+
+from dataclasses import dataclass, field
+from typing import Any, Callable
+
+
+@dataclass(frozen=True)
+class ActorSpec:
+  """Actor observation contract used by training, export and playback."""
+  name: str
+  terms: tuple[int, ...]
+  frame_terms: tuple[dict[str, Any], ...]
+  wheel_vel: bool
+
+  @property
+  def frame_dim(self) -> int:
+    return sum(self.terms)
+
+  def history_dim(self, history: int) -> int:
+    if history < 1:
+      raise ValueError("history must be positive")
+    return self.frame_dim * history
+
+  def metadata(self, history: int) -> dict[str, Any]:
+    return {
+      "actor_schema": self.name,
+      "actor_wheel_vel": self.wheel_vel,
+      "frame_dim": self.frame_dim,
+      "observation_dim": self.history_dim(history),
+      "frame_terms": [dict(term) for term in self.frame_terms],
+    }
+
+
+@dataclass(frozen=True)
+class TaskSpec:
+  """One selectable training task.
+
+  ``defaults`` are argparse destinations applied before parsing, so explicit
+  command-line flags still override them. That keeps a task reproducible while
+  allowing a one-off run to change length or batch size.
+  """
+  name: str
+  description: str
+  terrain_revision: int
+  actor: ActorSpec
+  defaults: dict[str, Any] = field(default_factory=dict)
+  env_cfg: Callable[..., Any] | None = None
+
+  @property
+  def contacts(self) -> bool:
+    return self.terrain_revision >= 4
+
+  @property
+  def courses(self) -> bool:
+    return self.terrain_revision >= 5
+
+  @property
+  def collisions(self) -> bool:
+    return self.terrain_revision >= 7
+
+  def build_env_cfg(self, play: bool, history: int, seed: int):
+    if self.env_cfg is None:
+      raise ValueError(f"Task {self.name} has no environment builder")
+    return self.env_cfg(play=play, history=history, seed=seed)
+
+
+_REGISTRY: dict[str, TaskSpec] = {}
+
+
+def register(task: TaskSpec) -> TaskSpec:
+  if task.name in _REGISTRY:
+    raise ValueError(f"Duplicate task name: {task.name}")
+  _REGISTRY[task.name] = task
+  return task
+
+
+def get_task(name: str) -> TaskSpec:
+  try:
+    return _REGISTRY[name]
+  except KeyError as exc:
+    raise KeyError(f"Unknown task {name!r}; available: {', '.join(task_names())}") from exc
+
+
+def list_tasks() -> tuple[TaskSpec, ...]:
+  return tuple(_REGISTRY.values())
+
+
+def task_names() -> tuple[str, ...]:
+  return tuple(_REGISTRY)
diff --git a/s10_supermimic/tasks/task_v4.py b/s10_supermimic/tasks/task_v4.py
new file mode 100644
index 0000000..942dff0
--- /dev/null
+++ b/s10_supermimic/tasks/task_v4.py
@@ -0,0 +1,65 @@
+"""S10 terrain revision 4: legacy 53-value Actor frame with measured wheel speed."""
+
+from .base import ActorSpec, TaskSpec, register
+
+ACTOR = ActorSpec(
+  name="s10-v4-53",
+  terms=(3, 3, 12, 12, 4, 16, 3),
+  frame_terms=(
+    {"name": "base_ang_vel", "dim": 3, "scale": 1.0},
+    {"name": "projected_gravity", "dim": 3, "scale": 1.0},
+    {"name": "joint_pos_rel", "dim": 12, "scale": 1.0},
+    {"name": "joint_vel_rel", "dim": 12, "scale": 0.05},
+    {"name": "wheel_vel_rel", "dim": 4, "scale": 0.05},
+    {"name": "last_action", "dim": 16, "scale": 1.0},
+    {"name": "command", "dim": 3, "scale": 1.0},
+  ),
+  wheel_vel=True,
+)
+
+
+def env_cfg(play: bool, history: int, seed: int):
+  from s10_supermimic.env.terrain import s10_velocity_terrain_env_cfg
+  return s10_velocity_terrain_env_cfg(
+    play=play, history=history, seed=seed, revision=4,
+    actor_wheel_vel=ACTOR.wheel_vel)
+
+
+TASK = register(TaskSpec(
+  name="s10-v4",
+  description="S10 terrain v4 legacy task: 53-value Actor frame, wheel speed, 20k validated recipe",
+  terrain_revision=4,
+  actor=ACTOR,
+  env_cfg=env_cfg,
+  defaults={
+    "terrain": True,
+    "terrain_revision": 4,
+    "num_envs": 4096,
+    "iterations": 20000,
+    "num_steps_per_env": 1,
+    "buffer_len": 512,
+    "wm_window": 8,
+    "wm_batch": 2048,
+    "wm_updates": 4,
+    "imag_batch": 2048,
+    "horizon": 32,
+    "warmup": 50,
+    "critic_epochs": 5,
+    "critic_minibatches": 4,
+    "save_interval": 500,
+    "log_interval": 10,
+    "command_curriculum": True,
+    "command_curriculum_start": 0,
+    "prioritized_replay": True,
+    "archive_size": 100000,
+    "actor_ramp_iterations": 1000,
+    "actor_hold_iterations": 0,
+    "lr_decay_iterations": 30000,
+    "lr_final_frac": 0.03,
+    "history": 5,
+    "wm_hidden": [512, 512, 512],
+    "actor_hidden": [256, 128, 64],
+    "critic_hidden": [256, 128, 64],
+    "compile_imagination": False,
+  },
+))
diff --git a/s10_supermimic/tasks/task_v4_upward.py b/s10_supermimic/tasks/task_v4_upward.py
new file mode 100644
index 0000000..a6b954a
--- /dev/null
+++ b/s10_supermimic/tasks/task_v4_upward.py
@@ -0,0 +1,172 @@
+"""S10 terrain v4 + upward recovery task.
+
+This is a separate task, not an inheritance of v4 or v7. It keeps the v4
+53-value Actor frame, terrain revision, command schedule, terrain proportions,
+rolling rewards and replay, and changes only:
+
+* the existing ``upright`` reward into a sign-aware upward reward (no new term);
+* clamps on the large raw penalty terms;
+* random roll/pitch/yaw at reset;
+* a 4-second sustained bad-orientation termination.
+
+Reference: IsaacLab S10 ``upward_env_cfg.py`` for the upward/recovery state
+machine only. Its speed ranges, reward set and terrain config are not copied.
+"""
+
+import math
+
+from .base import ActorSpec, TaskSpec, register
+
+ACTOR = ActorSpec(
+  name="s10-v4-upward-53",
+  terms=(3, 3, 12, 12, 4, 16, 3),
+  frame_terms=(
+    {"name": "base_ang_vel", "dim": 3, "scale": 1.0},
+    {"name": "projected_gravity", "dim": 3, "scale": 1.0},
+    {"name": "joint_pos_rel", "dim": 12, "scale": 1.0},
+    {"name": "joint_vel_rel", "dim": 12, "scale": 0.05},
+    {"name": "wheel_vel_rel", "dim": 4, "scale": 0.05},
+    {"name": "last_action", "dim": 16, "scale": 1.0},
+    {"name": "command", "dim": 3, "scale": 1.0},
+  ),
+  wheel_vel=True,
+)
+
+
+def env_cfg(play: bool, history: int, seed: int):
+  from mjlab.managers import RewardTermCfg, TerminationTermCfg
+  from mjlab.managers.scene_entity_config import SceneEntityCfg
+
+  from s10_supermimic.core.upward import (
+    BAD_ORIENTATION_WEIGHT, UPWARD_REWARD_CLAMPS, BadOrientationSustained,
+    bad_orientation_penalty, clamped_action_rate, clamped_dof_pos_limits,
+    clamped_joint_torques, clamped_leg_posture, clamped_rolling_cost,
+    clamped_standstill, reset_root_state_upward, upright_upward,
+    upward_curriculum,
+  )
+  from s10_supermimic.env.terrain import s10_velocity_terrain_env_cfg
+
+  cfg = s10_velocity_terrain_env_cfg(
+    play=play, history=history, seed=seed, revision=4, actor_wheel_vel=True)
+  # A 10 s episode lets each env complete 20 episodes per curriculum step
+  # within a 20k-iteration run. The 4 s bad-orientation termination still
+  # leaves 6 s after a successful recovery. Play/evaluation keeps the normal
+  # terrain-course horizon.
+  if not play:
+    cfg.episode_length_s = 10.0
+
+  # Random orientation at reset. Training starts at +/-60 degrees and advances
+  # per environment through upward_curriculum(); play/eval uses the full sphere
+  # so the checkpoint is tested on the final distribution.
+  tilt = math.pi if play else math.radians(60.0)
+  pose = cfg.events["reset_base"].params["pose_range"]
+  pose.update(
+    z=(0.0, 0.2),
+    roll=(-tilt, tilt),
+    pitch=(-tilt, tilt),
+    yaw=(-math.pi, math.pi),
+  )
+  cfg.events["reset_base"].func = reset_root_state_upward
+
+  # Existing upright term becomes the normalized upward reward. Max rate 2.0,
+  # i.e. 0.04 per 20 ms step, the same ratio to tracking (2.0 each) as IsaacLab.
+  upright = cfg.rewards["upright"]
+  upright_asset = upright.params.get(
+    "asset_cfg", SceneEntityCfg("robot", body_names=("base_link",)))
+  upright.func = upright_upward
+  upright.weight = 2.0
+  upright.params = {"asset_cfg": upright_asset}
+
+  # IsaacLab-style recovery shaping: no reward for termination itself, but a
+  # continuous per-step penalty while the orientation is bad. Weight -40 keeps
+  # the same 20x bad/upward ratio as IsaacLab (-80 vs max 4; here -40 vs max 2).
+  cfg.rewards["terminated"].weight = 0.0
+  cfg.rewards["bad_orientation_penalty"] = RewardTermCfg(
+    func=bad_orientation_penalty,
+    weight=BAD_ORIENTATION_WEIGHT,
+    params={"asset_cfg": SceneEntityCfg("robot")},
+  )
+
+  # Clamp the large raw penalties. The weights and the rest of the v4 reward
+  # set are unchanged; the caps only prevent recovery poses from dominating.
+  leg = cfg.rewards["leg_posture"]
+  leg.params = {"asset_cfg": leg.params["asset_cfg"],
+                "max_value": UPWARD_REWARD_CLAMPS["leg_posture"]}
+  leg.func = clamped_leg_posture
+
+  standstill = cfg.rewards["standstill"]
+  standstill.params = {"wheel_cfg": standstill.params["wheel_cfg"],
+                       "max_value": UPWARD_REWARD_CLAMPS["standstill"]}
+  standstill.func = clamped_standstill
+
+  cfg.rewards["action_rate_l2"].func = clamped_action_rate
+  cfg.rewards["action_rate_l2"].params = {
+    "max_value": UPWARD_REWARD_CLAMPS["action_rate_l2"]}
+
+  cfg.rewards["joint_torques_l2"].func = clamped_joint_torques
+  cfg.rewards["joint_torques_l2"].params = {
+    "max_value": UPWARD_REWARD_CLAMPS["joint_torques_l2"]}
+
+  limits = cfg.rewards["dof_pos_limits"]
+  limits.params = {"asset_cfg": limits.params["asset_cfg"],
+                   "max_value": UPWARD_REWARD_CLAMPS["dof_pos_limits"]}
+  limits.func = clamped_dof_pos_limits
+
+  for name in ("unnecessary_wheel_lift", "rolling_leg_motion"):
+    term = cfg.rewards[name]
+    term.func = clamped_rolling_cost
+    term.params = {"term": name, "max_value": UPWARD_REWARD_CLAMPS[name]}
+
+  # Replace v4's immediate 70-degree fall with the upward recovery state
+  # machine: bad orientation is tolerated for 4 s, then the episode ends.
+  cfg.terminations["fell_over"] = TerminationTermCfg(
+    func=BadOrientationSustained,
+    params={"duration_s": 4.0, "asset_cfg": SceneEntityCfg("robot")},
+  )
+
+  # Each environment advances its own terrain/tilt level from its last 20
+  # recovery outcomes (16/20 promotes); there is no global batch gate.
+  if not play:
+    cfg.curriculum["course"].func = upward_curriculum
+  return cfg
+
+
+TASK = register(TaskSpec(
+  name="s10-v4-upward",
+  description="S10 v4 recovery task: upward reward, monotonic tilt severity, per-env 20-episode curriculum, horizon 64",
+  terrain_revision=4,
+  actor=ACTOR,
+  env_cfg=env_cfg,
+  defaults={
+    "terrain": True,
+    "terrain_revision": 4,
+    "num_envs": 4096,
+    "iterations": 30000,
+    "num_steps_per_env": 1,
+    "buffer_len": 512,
+    "wm_window": 8,
+    "wm_batch": 2048,
+    "wm_updates": 4,
+    "imag_batch": 2048,
+    "horizon": 64,
+    "warmup": 50,
+    "action_noise": 0.22,
+    "critic_epochs": 5,
+    "critic_minibatches": 4,
+    "save_interval": 500,
+    "log_interval": 10,
+    "command_curriculum": True,
+    "command_curriculum_start": 0,
+    "prioritized_replay": True,
+    "archive_size": 100000,
+    "actor_ramp_iterations": 1000,
+    "actor_hold_iterations": 0,
+    "lr_decay_iterations": 30000,
+    "lr_final_frac": 0.03,
+    "history": 5,
+    "wm_hidden": [512, 512, 512],
+    "actor_hidden": [256, 128, 64],
+    "critic_hidden": [256, 128, 64],
+    "compile_imagination": False,
+  },
+))
diff --git a/s10_supermimic/tasks/task_v7.py b/s10_supermimic/tasks/task_v7.py
new file mode 100644
index 0000000..e89cc86
--- /dev/null
+++ b/s10_supermimic/tasks/task_v7.py
@@ -0,0 +1,78 @@
+"""S10 terrain revision 7: safe low-speed all-terrain locomotion.
+
+V7 keeps the 53-value v4 Actor frame (measured wheel speed is required for
+wheel slip/stall feedback), a stair-pass-gated command stage ending at
+1.5 m/s, 0.8 m/s and 1.2 rad/s with a 0.05 per-axis deadband, a conservative
+initialization (small x/y/yaw only, no random roll/pitch), a hipx 0.05 /
+hipy +/-25 deg / knee 1.0 default stance, always-on wheel/body projection
+penalties (per-wheel outer-1/4 and paired-leg 5/6 with a 0.5 s grace), reduced
+knee/hipy posture stiffness on stairs, and the v5 stair curriculum plus v7
+non-wheel collision head (50 N, wheels/knees excluded). Only ``imag_batch`` is
+reduced to 2048 to fit a 16 GB GPU.
+"""
+
+from .base import ActorSpec, TaskSpec, register
+
+ACTOR = ActorSpec(
+  name="s10-v7-53",
+  terms=(3, 3, 12, 12, 4, 16, 3),
+  frame_terms=(
+    {"name": "base_ang_vel", "dim": 3, "scale": 1.0},
+    {"name": "projected_gravity", "dim": 3, "scale": 1.0},
+    {"name": "joint_pos_rel", "dim": 12, "scale": 1.0},
+    {"name": "joint_vel_rel", "dim": 12, "scale": 0.05},
+    {"name": "wheel_vel_rel", "dim": 4, "scale": 0.05},
+    {"name": "last_action", "dim": 16, "scale": 1.0},
+    {"name": "command", "dim": 3, "scale": 1.0},
+  ),
+  wheel_vel=True,
+)
+
+
+def env_cfg(play: bool, history: int, seed: int):
+  from s10_supermimic.env.terrain import s10_velocity_terrain_env_cfg
+  return s10_velocity_terrain_env_cfg(
+    play=play, history=history, seed=seed, revision=7,
+    actor_wheel_vel=ACTOR.wheel_vel)
+
+
+TASK = register(TaskSpec(
+  name="s10-v7",
+  description="S10 terrain v7 safe all-terrain task: 53-value Actor frame, wheel speed, stair-gated low-speed commands, stair curriculum + collision",
+  terrain_revision=7,
+  actor=ACTOR,
+  env_cfg=env_cfg,
+  defaults={
+    "terrain": True,
+    "terrain_revision": 7,
+    "num_envs": 4096,
+    "iterations": 40000,
+    "num_steps_per_env": 1,
+    "buffer_len": 512,
+    "wm_window": 8,
+    "wm_batch": 2048,
+    "wm_updates": 4,
+    # 8192 is the full-size imagination batch; 2048 keeps the 16 GB footprint.
+    "imag_batch": 2048,
+    "horizon": 32,
+    "warmup": 300,
+    "critic_epochs": 5,
+    "critic_minibatches": 4,
+    "save_interval": 500,
+    "log_interval": 50,
+    # V7 uses stair-pass-gated stages, capped at its safe envelope.
+    "command_curriculum": True,
+    "command_curriculum_start": 0,
+    "prioritized_replay": True,
+    "archive_size": 100000,
+    "actor_ramp_iterations": 1000,
+    "actor_hold_iterations": 20000,
+    "lr_decay_iterations": 20000,
+    "lr_final_frac": 0.2,
+    "history": 5,
+    "wm_hidden": [512, 512, 512],
+    "actor_hidden": [256, 128, 64],
+    "critic_hidden": [256, 128, 64],
+    "compile_imagination": True,
+  },
+))
diff --git a/scripts/export_onnx.py b/scripts/export_onnx.py
new file mode 100644
index 0000000..393e45f
--- /dev/null
+++ b/scripts/export_onnx.py
@@ -0,0 +1,162 @@
+"""Export an S10 SuperMimic actor checkpoint to ONNX + deployment JSON.
+
+Example:
+  python scripts/export_onnx.py \
+    --checkpoint logs/s10_terrain_v4_20k_full/model_20000.pt \
+    --output logs/s10_terrain_v4_20k_full/model_20000.onnx
+
+The ONNX file contains only the deterministic actor (RunningNorm + MLP + tanh).
+Input ``obs`` is [batch, 265] for v4/v4-upward and for the new v7 (wheel speed
+restored); only legacy v7 checkpoints use [batch, 245]. Output is [batch, 16].
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+
+import numpy as np
+import torch
+from mjlab.utils.string import resolve_expr
+
+from s10_supermimic.core.policy import load_actor
+from s10_supermimic.robot.config import (
+  LEG_JOINT_NAMES, WHEEL_JOINT_NAMES, get_s10_robot_cfg,
+)
+
+
+def task_matches_actor(task, actor_wheel_vel: bool, frame_dim: int) -> bool:
+  return task.actor.wheel_vel == actor_wheel_vel and task.actor.frame_dim == frame_dim
+
+
+def default_joint_pos(checkpoint, actor_wheel_vel: bool, frame_dim: int) -> list[float]:
+  """Use the checkpoint task's default pose when its Actor contract matches.
+
+  Legacy 49-value v7 checkpoints predate the ±5° safe stance, so they fall
+  back to the legacy v4 ±20° pose instead of silently exporting a new target.
+  """
+  robot_cfg = get_s10_robot_cfg()
+  task_name = checkpoint.get("config", {}).get("task")
+  if task_name:
+    from s10_supermimic.tasks import get_task
+    try:
+      task = get_task(task_name)
+      if task_matches_actor(task, actor_wheel_vel, frame_dim):
+        cfg = task.build_env_cfg(
+          play=True, history=int(checkpoint["history"]),
+          seed=int(checkpoint.get("config", {}).get("seed", 0)))
+        robot_cfg = cfg.scene.entities["robot"]
+    except KeyError:
+      pass
+  names = LEG_JOINT_NAMES + WHEEL_JOINT_NAMES
+  return [float(v) for v in resolve_expr(robot_cfg.init_state.joint_pos, names, 0.0)]
+
+
+def main() -> None:
+  p = argparse.ArgumentParser(description=__doc__)
+  p.add_argument("--checkpoint", type=Path, required=True)
+  p.add_argument("--output", type=Path, default=None,
+                 help="ONNX path; defaults to <checkpoint>.onnx")
+  p.add_argument("--opset", type=int, default=17)
+  p.add_argument("--device", default="cpu")
+  args = p.parse_args()
+
+  ckpt = torch.load(args.checkpoint, map_location=args.device, weights_only=True)
+  actor = load_actor(ckpt, args.device).eval()
+  history = int(ckpt["history"])
+  if ckpt.get("format") not in ("s10-flat-policy-v1", "s10-terrain-policy-v1"):
+    raise ValueError(f"Not an S10 policy checkpoint: {ckpt.get('format')}")
+  if history < 1:
+    raise ValueError("checkpoint history must be positive")
+
+  output = args.output or args.checkpoint.with_suffix(".onnx")
+  output.parent.mkdir(parents=True, exist_ok=True)
+  dummy = torch.zeros(1, actor.frame_dim * history, device=args.device)
+
+  with torch.no_grad():
+    reference = actor(dummy).cpu().numpy()
+
+  torch.onnx.export(
+    actor,
+    (dummy,),
+    str(output),
+    input_names=["obs"],
+    output_names=["actions"],
+    opset_version=args.opset,
+    dynamo=False,
+    do_constant_folding=True,
+    dynamic_axes={"obs": {0: "batch"}, "actions": {0: "batch"}},
+  )
+
+  import onnx
+  import onnxruntime as ort
+  onnx.checker.check_model(str(output))
+  session = ort.InferenceSession(str(output), providers=["CPUExecutionProvider"])
+  onnx_out = session.run(["actions"], {"obs": dummy.cpu().numpy()})[0]
+  max_error = float(np.max(np.abs(onnx_out - reference)))
+  if max_error > 1e-5:
+    raise RuntimeError(f"ONNX/PyTorch mismatch: max error {max_error}")
+
+  revision = int(ckpt.get("config", {}).get("terrain_revision", 1))
+  leg_scales = ([0.25, 0.6, 0.8] * 4) if revision >= 2 else ([0.25] * 12)
+  wheel_scale = 35.0 if revision >= 3 else 15.0
+  task_name = ckpt.get("config", {}).get("task")
+  task = None
+  if task_name:
+    from s10_supermimic.tasks import get_task
+    try:
+      task = get_task(task_name)
+    except KeyError:
+      task = None
+  if task is not None and task_matches_actor(task, actor.actor_wheel_vel, actor.frame_dim):
+    actor_schema = task.actor.name
+  else:
+    actor_schema = "s10-v4-53" if actor.actor_wheel_vel else "s10-v7-49"
+  sidecar = {
+    "format": ckpt["format"],
+    "step": ckpt.get("step"),
+    "history": history,
+    "actor_schema": actor_schema,
+    "actor_wheel_vel": actor.actor_wheel_vel,
+    "frame_dim": actor.frame_dim,
+    "observation_dim": actor.frame_dim * history,
+    "action_dim": 16,
+    "dt": ckpt.get("dt", 0.02),
+    "actor_hidden": list(ckpt.get("actor_hidden", ())),
+    "actor_params": sum(x.numel() for x in actor.parameters()),
+    "frame_terms": [
+      {"name": "base_ang_vel", "dim": 3, "scale": 1.0},
+      {"name": "projected_gravity", "dim": 3, "scale": 1.0},
+      {"name": "joint_pos_rel", "dim": 12, "scale": 1.0},
+      {"name": "joint_vel_rel", "dim": 12, "scale": 0.05},
+      *([{"name": "wheel_vel_rel", "dim": 4, "scale": 0.05}]
+        if actor.actor_wheel_vel else []),
+      {"name": "last_action", "dim": 16, "scale": 1.0},
+      {"name": "command", "dim": 3, "scale": 1.0},
+    ],
+    "history_layout": "term-wise blocks, oldest to newest (mjlab flattening)",
+    "env_action_order": list(ckpt["env_action_order"]),
+    "leg_scale": leg_scales,
+    "wheel_scale": wheel_scale,
+    "wheel_clip": 35.0,
+    "default_joint_pos": default_joint_pos(
+      ckpt, actor.actor_wheel_vel, actor.frame_dim),
+    "leg_joint_names": list(LEG_JOINT_NAMES),
+    "wheel_joint_names": list(WHEEL_JOINT_NAMES),
+    "onnx": {
+      "input": "obs",
+      "output": "actions",
+      "opset": args.opset,
+      "max_abs_error_vs_torch": max_error,
+    },
+  }
+  sidecar_path = output.with_suffix(".json")
+  sidecar_path.write_text(json.dumps(sidecar, indent=2) + "\n")
+  print(f"Exported ONNX: {output}")
+  print(f"Deployment metadata: {sidecar_path}")
+  print(f"ONNX/PyTorch max error: {max_error:.3e}")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/scripts/play_gui.py b/scripts/play_gui.py
new file mode 100644
index 0000000..8a14cde
--- /dev/null
+++ b/scripts/play_gui.py
@@ -0,0 +1,211 @@
+"""S10 browser sliders with one CPU environment and bounded JPEG storage."""
+import argparse
+import gc
+from io import BytesIO
+import os
+from pathlib import Path
+import threading
+import time
+
+from play_keyboard import DEFAULT_CHECKPOINT, keyboard_command_cfg
+from s10_supermimic.core.gui import ControlState, make_server
+
+
+def main():
+  parser = argparse.ArgumentParser(description=__doc__)
+  parser.add_argument("--checkpoint", type=Path, default=DEFAULT_CHECKPOINT)
+  parser.add_argument("--port", type=int, default=8765)
+  parser.add_argument("--device", default="cpu")
+  parser.add_argument("--terrain-kind", choices=("flat", "up", "down", "platform", "slope", "rubble"), default="rubble")
+  parser.add_argument("--terrain-level", type=int, choices=range(6), default=0)
+  parser.add_argument("--fps", type=int, default=50)
+  parser.add_argument("--shadows", action="store_true", help="Enable costly shadows/reflections")
+  parser.add_argument("--ghost-horizon", type=int, default=32,
+                      help="World-model future steps drawn as ghost poses")
+  parser.add_argument("--ghost-stride", type=int, default=4,
+                      help="Draw every Nth ghost (1 = all, 4 = 8 ghosts)")
+  parser.add_argument("--no-ghost", action="store_true",
+                      help="Disable the world-model ghost/error overlay")
+  parser.add_argument("--steps", type=int, default=0, help="Exit after N simulation steps; 0 means until Ctrl+C")
+  args = parser.parse_args()
+  if not args.checkpoint.is_file():
+    parser.error(f"Checkpoint not found: {args.checkpoint}")
+  if not 1 <= args.fps <= 50 or not 1 <= args.port <= 65535 or args.steps < 0:
+    parser.error("Require fps 1..50, port 1..65535 and nonnegative steps")
+  if args.ghost_horizon < 1 or args.ghost_stride < 1:
+    parser.error("ghost-horizon and ghost-stride must be positive")
+  os.environ.setdefault("MUJOCO_GL", "egl")
+  os.environ.setdefault("OMP_NUM_THREADS", "1")
+  import torch
+  from PIL import Image
+  from mjlab.envs import ManagerBasedRlEnv
+  from s10_supermimic.core.bridge import S10Bridge
+  from s10_supermimic.core.policy import load_actor, evaluation_env_cfg
+  from s10_supermimic.core.world_preview import WorldModelPreview
+
+  torch.set_num_threads(1)
+  state = ControlState()
+  server = make_server(state, args.port)
+  env = None
+  worker = None
+  try:
+    checkpoint = torch.load(args.checkpoint, map_location=args.device, weights_only=True)
+    actor = load_actor(checkpoint, args.device)
+    # Keep the world model so the play view can draw the predicted future.
+    checkpoint = {k: checkpoint[k] for k in
+                  ("format", "history", "config", "env_action_order", "dt", "step",
+                   "world_model")}
+    checkpoint["actor_wheel_vel"] = actor.actor_wheel_vel
+    def build_scene(kind, level):
+      cfg = evaluation_env_cfg(checkpoint, level, kind)
+      cfg.scene.num_envs = 1
+      # Playback only needs the actor and the world-model preview; training
+      # rewards/scans are not consumed here.
+      cfg.rewards = {}
+      cfg.metrics = {}
+      cfg.observations.pop("critic", None)
+      cfg.episode_length_s = 1e9
+      cfg.commands["twist"] = keyboard_command_cfg(state)
+      cfg.viewer.width, cfg.viewer.height = 640, 480
+      cfg.viewer.enable_shadows = args.shadows
+      cfg.viewer.enable_reflections = args.shadows
+      cfg.viewer.distance, cfg.viewer.elevation, cfg.viewer.azimuth = 2.5, -20., 140.
+      new_env = ManagerBasedRlEnv(cfg=cfg, device=args.device, render_mode="rgb_array")
+      if checkpoint["format"] == "s10-terrain-policy-v1":
+        from s10_supermimic.core.terrain import TerrainBridge, TerrainField
+        field = TerrainField.from_env(new_env)
+        bridge = TerrainBridge(new_env, field)
+      else:
+        field = None
+        bridge = S10Bridge(new_env)
+      if checkpoint["env_action_order"] != bridge.to_env or abs(checkpoint["dt"] - new_env.step_dt) > 1e-8:
+        new_env.close()
+        raise ValueError("Checkpoint action order/control timestep mismatch")
+      obs, _ = new_env.reset()
+      preview = None
+      if not args.no_ghost:
+        try:
+          preview = WorldModelPreview(
+            checkpoint, new_env, bridge, field, actor,
+            horizon=args.ghost_horizon, device=args.device,
+            env_action_order=checkpoint["env_action_order"])
+        except Exception as exc:
+          print(f"World-model preview disabled: {exc}", flush=True)
+      return new_env, bridge, obs, preview
+
+    kind, level = args.terrain_kind, args.terrain_level
+    env, bridge, obs, preview = build_scene(kind, level)
+    metadata = dict(checkpoint=args.checkpoint.name, iteration=checkpoint["step"],
+                    terrain=checkpoint["format"] == "s10-terrain-policy-v1", device=args.device,
+                    terrain_revision=checkpoint["config"].get("terrain_revision", 1))
+    metadata.update(scene=f"{kind} · 等级 {level}", terrain_kind=kind, terrain_level=level)
+    state.publish([0., 0., 0.], 0, **metadata)
+    worker = threading.Thread(target=server.serve_forever, daemon=True)
+    worker.start()
+    print(f"S10 GUI ready: http://127.0.0.1:{server.server_port}/", flush=True)
+    print(f"One environment on {args.device}. Ctrl+C exits. Commands expire after 2 seconds without a browser heartbeat.", flush=True)
+    step, next_render = 0, 0.
+    stats_since = time.monotonic()
+    stats_step, frames = 0, 0
+    render_fps = realtime_factor = 0.
+    previous = torch.zeros(1, 16, device=args.device)
+    ghosts = []
+    with torch.inference_mode():
+      while not args.steps or step < args.steps:
+        began = time.monotonic()
+        selection = state.take_scene()
+        if selection is not None:
+          # Release the old simulator before constructing the new one.
+          state.clear()
+          env.close()
+          del bridge, obs
+          d = None
+          env = None
+          gc.collect()
+          if args.device.startswith("cuda"):
+            torch.cuda.empty_cache()
+          kind, level = selection
+          env, bridge, obs, preview = build_scene(kind, level)
+          previous.zero_()
+          ghosts = []
+          metadata.update(scene=f"{kind} · 等级 {level}", terrain_kind=kind, terrain_level=level)
+          state.finish_scene()
+          stats_since = next_render = time.monotonic()
+          stats_step, frames = step, 0
+        if state.take_reset():
+          obs, _ = env.reset()
+          previous.zero_()
+          ghosts = []
+          if preview is not None:
+            preview.clear()
+        with state.lock:
+          paused = state.paused
+        if not paused:
+          state_before, pose_before = bridge.state(), bridge.pose()
+          if preview is not None:
+            preview.update_errors(step, state_before, pose_before)
+            ghosts = preview.predict(
+              obs["actor"], previous, env.command_manager.get_command("twist"),
+              bridge.context(), bridge.robot.data.encoder_bias[:, bridge.legs],
+              state_before, pose_before)
+            preview.push_errors(step, ghosts)
+          action = actor(obs["actor"])
+          if not torch.isfinite(action).all():
+            raise RuntimeError("Non-finite policy action")
+          obs, _, terminated, truncated, _ = env.step(bridge.env_action(action))
+          previous = action
+          if not torch.isfinite(obs["actor"]).all():
+            raise RuntimeError("Non-finite observation")
+          if (terminated | truncated).any():
+            state.clear()
+            previous.zero_()
+            ghosts = []
+            if preview is not None:
+              preview.clear()
+          step += 1
+        d = bridge.robot.data
+        actual = [d.root_link_lin_vel_b[0, 0].item(), d.root_link_lin_vel_b[0, 1].item(),
+                  d.root_link_ang_vel_b[0, 2].item()]
+        state.publish(actual, step, render_fps=render_fps, realtime_factor=realtime_factor,
+                      wm_error=(preview.summary() if preview is not None else ""),
+                      wm_horizon=(args.ghost_horizon if preview is not None else 0),
+                      **metadata)
+        if began >= next_render:
+          # Only the simulation thread touches the native renderer camera.
+          with state.lock:
+            azimuth, elevation, distance = state.camera
+          camera = env._offline_renderer._cam
+          camera.azimuth, camera.elevation, camera.distance = azimuth, elevation, distance
+          rgb = (preview.render(ghosts, stride=args.ghost_stride)
+                 if preview is not None and ghosts else env.render())
+          buffer = BytesIO()
+          Image.fromarray(rgb).save(buffer, format="JPEG", quality=80)
+          with state.lock:
+            state.jpeg = buffer.getvalue()
+          frames += 1
+          # Schedule from frame start, not completion: rendering time is part
+          # of the frame budget rather than an extra delay on every frame.
+          next_render += 1 / args.fps
+          if next_render < began:
+            next_render = began + 1 / args.fps
+        now = time.monotonic()
+        if now - stats_since >= 1.:
+          render_fps = frames / (now - stats_since)
+          realtime_factor = (step - stats_step) * env.step_dt / (now - stats_since)
+          frames, stats_step, stats_since = 0, step, now
+        time.sleep(max(0., env.step_dt - (time.monotonic() - began)))
+    print(f"Render: {render_fps:.1f} FPS | realtime: {realtime_factor:.2f}x", flush=True)
+  except KeyboardInterrupt:
+    print("Closing S10 GUI.", flush=True)
+  finally:
+    state.clear()
+    if worker is not None:
+      server.shutdown()
+      worker.join(timeout=2.)
+    server.server_close()
+    if env is not None:
+      env.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/scripts/play_gui.sh b/scripts/play_gui.sh
new file mode 100644
index 0000000..1133e47
--- /dev/null
+++ b/scripts/play_gui.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -euo pipefail
+project_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$project_dir"
+if [[ -n "${S10_PYTHON:-}" && -x "${S10_PYTHON}" ]]; then
+  gui_python="$S10_PYTHON"
+elif [[ -x "$project_dir/.venv/bin/python" ]]; then
+  gui_python="$project_dir/.venv/bin/python"
+else
+  gui_python=python
+fi
+export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
+exec "$gui_python" scripts/play_gui.py "$@"
diff --git a/scripts/play_keyboard.py b/scripts/play_keyboard.py
new file mode 100644
index 0000000..9b0d937
--- /dev/null
+++ b/scripts/play_keyboard.py
@@ -0,0 +1,260 @@
+"""Keyboard velocity control of the trained S10 policy (one environment)."""
+from __future__ import annotations
+
+import argparse
+from contextlib import ExitStack
+from dataclasses import dataclass, field
+import math
+import os
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+DEFAULT_CHECKPOINT = ROOT / "logs/s10_terrain_v4_20k_full/model_20000.pt"
+
+
+@dataclass
+class KeyboardInput:
+  speed: float = 0.6
+  lateral_speed: float = 0.2
+  turn_speed: float = 0.4
+  keys: set[str] = field(default_factory=set)
+
+  def clear(self):
+    self.keys.clear()
+
+  def command(self):
+    if "space" in self.keys:
+      return (0., 0., 0.)
+    x = float("up" in self.keys) - float("down" in self.keys)
+    y = float("left" in self.keys) - float("right" in self.keys)
+    scale = max(1., math.hypot(x, y))
+    yaw = float("q" in self.keys) - float("e" in self.keys)
+    return (self.speed * x / scale, self.lateral_speed * y / scale, self.turn_speed * yaw)
+
+
+def configure_rendering(headless, backend="auto"):
+  backend = ("egl" if headless else "glfw") if backend == "auto" else backend
+  os.environ["MUJOCO_GL"] = backend
+  os.environ["SDL_FRAMEBUFFER_ACCELERATION"] = "0"
+  os.environ["SDL_RENDER_DRIVER"] = "software"
+  os.environ.setdefault("PYGAME_HIDE_SUPPORT_PROMPT", "1")
+  return backend
+
+
+def keyboard_command_cfg(controls):
+  from mjlab.tasks.velocity.mdp.velocity_command import UniformVelocityCommand, UniformVelocityCommandCfg
+
+  class KeyboardVelocity(UniformVelocityCommand):
+    def _resample_command(self, env_ids):
+      self._update_command(env_ids)
+
+    def _update_command(self, env_ids=None):
+      # Commands are in the robot body frame, exactly as during training.
+      for axis, value in enumerate(controls.command()):
+        self.vel_command_b[:, axis] = value
+
+    def reset(self, env_ids=None):
+      controls.clear()
+      return super().reset(env_ids)
+
+  @dataclass(kw_only=True)
+  class KeyboardVelocityCfg(UniformVelocityCommandCfg):
+    def build(self, env):
+      return KeyboardVelocity(self, env)
+
+  return KeyboardVelocityCfg(
+    entity_name="robot", resampling_time_range=(1e9, 1e9),
+    heading_command=False, rel_heading_envs=0., rel_standing_envs=0.,
+    rel_forward_envs=0., debug_vis=True,
+    ranges=UniformVelocityCommandCfg.Ranges(
+      lin_vel_x=(-controls.speed, controls.speed),
+      lin_vel_y=(-controls.lateral_speed, controls.lateral_speed),
+      ang_vel_z=(-controls.turn_speed, controls.turn_speed)),
+  )
+
+
+def main():
+  p = argparse.ArgumentParser(description=__doc__)
+  p.add_argument("--terrain-level", type=int, default=0, choices=range(6))
+  p.add_argument("--terrain-kind", choices=("flat","up","down","platform","slope","rubble"), default="rubble")
+  p.add_argument("--checkpoint", type=Path, default=DEFAULT_CHECKPOINT)
+  p.add_argument("--device", default="cpu", help="One CPU environment by default to limit GPU memory.")
+  p.add_argument("--speed", type=float, default=0.6)
+  p.add_argument("--lateral-speed", type=float, default=0.2)
+  p.add_argument("--turn-speed", type=float, default=0.4)
+  p.add_argument("--width", type=int, default=800)
+  p.add_argument("--height", type=int, default=600)
+  p.add_argument("--headless", action="store_true")
+  p.add_argument("--steps", type=int, default=0, help="0: interactive until Esc; otherwise exit after N steps.")
+  p.add_argument("--demo", action="store_true", help="Automatically exercise forward/stop/left/turn/stop.")
+  p.add_argument("--video", type=Path, help="Stream rendered frames to MP4.")
+  p.add_argument("--ghost-horizon", type=int, default=32,
+                 help="World-model future steps drawn as ghost poses")
+  p.add_argument("--ghost-stride", type=int, default=4,
+                 help="Draw every Nth ghost (1 = all, 4 = 8 ghosts)")
+  p.add_argument("--no-ghost", action="store_true",
+                 help="Disable the world-model ghost/error overlay")
+  p.add_argument("--gl-backend", choices=("auto", "glfw", "egl"), default="auto")
+  args = p.parse_args()
+  if not args.checkpoint.is_file():
+    p.error(f"Checkpoint not found: {args.checkpoint}")
+  if args.steps < 0 or (args.headless and args.steps == 0):
+    p.error("Headless mode requires --steps > 0; steps cannot be negative")
+  if args.ghost_horizon < 1 or args.ghost_stride < 1:
+    p.error("ghost-horizon and ghost-stride must be positive")
+  if min(args.width, args.height) < 320 or args.width % 2 or args.height % 2:
+    p.error("width and height must be even and at least 320")
+  for name, value, maximum in (("speed", args.speed, 1.), ("lateral-speed", args.lateral_speed, 0.2),
+                               ("turn-speed", args.turn_speed, 0.5)):
+    if not math.isfinite(value) or not 0 < value <= maximum:
+      p.error(f"{name} must be in (0, {maximum}] to stay within the training command range")
+  backend = configure_rendering(args.headless, args.gl_backend)
+
+  import torch
+  from mjlab.envs import ManagerBasedRlEnv
+  from s10_supermimic.core.bridge import S10Bridge
+  from s10_supermimic.core.policy import load_actor
+  from s10_supermimic.core.world_preview import WorldModelPreview, annotate_rgb
+
+  pg = None
+  if not args.headless:
+    try:
+      import pygame as pg
+    except ImportError:
+      p.error("Keyboard window requires pygame: .venv/bin/python -m pip install 'pygame>=2.5'")
+  checkpoint = torch.load(args.checkpoint, map_location=args.device, weights_only=True)
+  actor = load_actor(checkpoint, args.device)
+  controls = KeyboardInput(args.speed, args.lateral_speed, args.turn_speed)
+  from s10_supermimic.core.policy import evaluation_env_cfg
+  cfg = evaluation_env_cfg(checkpoint, args.terrain_level, args.terrain_kind)
+  cfg.scene.num_envs = 1
+  cfg.seed = 0
+  cfg.episode_length_s = 1e9  # No automatic timed teleport during keyboard play.
+  cfg.commands["twist"] = keyboard_command_cfg(controls)
+  cfg.viewer.width, cfg.viewer.height = args.width, args.height
+  cfg.viewer.distance, cfg.viewer.elevation, cfg.viewer.azimuth = 2.5, -20., 140.
+
+  with ExitStack() as stack:
+    env = ManagerBasedRlEnv(cfg=cfg, device=args.device,
+                            render_mode="rgb_array" if pg or args.video else None)
+    stack.callback(env.close)
+    obs, _ = env.reset()
+    if checkpoint["format"] == "s10-terrain-policy-v1":
+      from s10_supermimic.core.terrain import TerrainBridge, TerrainField
+      field = TerrainField.from_env(env)
+      bridge = TerrainBridge(env, field)
+    else:
+      field = None
+      bridge = S10Bridge(env)
+    if checkpoint["env_action_order"] != bridge.to_env or abs(checkpoint["dt"] - env.step_dt) > 1e-8:
+      raise ValueError("Checkpoint action order/control timestep differs from this environment")
+    preview = None
+    if not args.no_ghost:
+      try:
+        preview = WorldModelPreview(
+          checkpoint, env, bridge, field, actor,
+          horizon=args.ghost_horizon, device=args.device,
+          env_action_order=checkpoint["env_action_order"])
+      except Exception as exc:
+        print(f"World-model preview disabled: {exc}", flush=True)
+    if pg:
+      stack.callback(pg.quit)
+      # Open SDL only after MuJoCo initialization; SDL displays RGB in software.
+      pg.display.init()
+      pg.font.init()
+      screen = pg.display.set_mode((args.width, args.height))
+      pg.display.set_caption("S10 | Arrows move | Q/E turn | Space stop | R reset | Esc quit")
+      font = pg.font.Font(None, 22)
+      clock = pg.time.Clock()
+      key_names = {pg.K_UP: "up", pg.K_DOWN: "down", pg.K_LEFT: "left", pg.K_RIGHT: "right",
+                   pg.K_q: "q", pg.K_e: "e", pg.K_SPACE: "space"}
+    video = None
+    if args.video:
+      import mediapy
+      args.video.parent.mkdir(parents=True, exist_ok=True)
+      video = stack.enter_context(mediapy.VideoWriter(str(args.video), shape=(args.height, args.width),
+                                                       fps=round(1 / env.step_dt)))
+    iteration = checkpoint["step"]
+    del checkpoint  # Drop optimizer/world-model tensors; inference uses actor only.
+    print(f"Loaded S10 iteration {iteration}: {args.checkpoint}", flush=True)
+    print(f"One environment | {args.device} | {backend} | {env.step_dt:.3f}s control period", flush=True)
+    print("Arrows: forward/back/strafe | Q/E: turn | release/Space: zero command | R: reset | Esc: quit", flush=True)
+    print("Keyboard changes enter the next observation (one control-step latency).", flush=True)
+    previous = torch.zeros(1, 16, device=args.device)
+    ghosts = []
+    step, running = 0, True
+    with torch.inference_mode():
+      while running and (args.steps == 0 or step < args.steps):
+        if pg:
+          for event in pg.event.get():
+            if event.type == pg.QUIT or (event.type == pg.KEYDOWN and event.key == pg.K_ESCAPE):
+              running = False
+            elif event.type == pg.WINDOWFOCUSLOST:
+              controls.clear()
+            elif event.type == pg.KEYDOWN:
+              if event.key == pg.K_r:
+                controls.clear()
+                obs, _ = env.reset()
+                previous.zero_()
+                ghosts = []
+                if preview is not None:
+                  preview.clear()
+              elif event.key in key_names:
+                controls.keys.add(key_names[event.key])
+            elif event.type == pg.KEYUP and event.key in key_names:
+              controls.keys.discard(key_names[event.key])
+        if not running:
+          break
+        if args.demo:
+          phases = ({"up"}, set(), {"left"}, {"q"}, set())
+          controls.keys = set(phases[(step // 100) % len(phases)])
+        state_before, pose_before = bridge.state(), bridge.pose()
+        if preview is not None:
+          preview.update_errors(step, state_before, pose_before)
+          ghosts = preview.predict(
+            obs["actor"], previous, env.command_manager.get_command("twist"),
+            bridge.context(), bridge.robot.data.encoder_bias[:, bridge.legs],
+            state_before, pose_before)
+          preview.push_errors(step, ghosts)
+        action = actor(obs["actor"])
+        if not torch.isfinite(action).all():
+          raise RuntimeError("Non-finite policy action")
+        obs, _, terminated, _, _ = env.step(bridge.env_action(action))
+        previous = action
+        if not torch.isfinite(obs["actor"]).all():
+          raise RuntimeError("Non-finite observation")
+        if terminated.any():
+          controls.clear()
+          previous.zero_()
+          ghosts = []
+          if preview is not None:
+            preview.clear()
+          print("Fall reset; keys cleared.", flush=True)
+        if preview is not None and step % 20 == 0 and step > 0:
+          print("WM " + preview.summary(), flush=True)
+        if pg or video:
+          rgb = (preview.render(ghosts, stride=args.ghost_stride)
+                 if preview is not None and ghosts else env.render())
+          if video:
+            lines = ([f"WM {preview.summary()}"] if preview is not None else [])
+            video.add_image(annotate_rgb(rgb, lines))
+          if pg:
+            pg.surfarray.blit_array(screen, rgb.swapaxes(0, 1))
+            vx, vy, yaw = controls.command()
+            actual = bridge.robot.data
+            lines = [f"S10 model {iteration} | Arrows move | Q/E turn | Space stop | R reset | Esc exit",
+                     f"Command: vx {vx:+.2f}  vy {vy:+.2f} m/s  yaw {yaw:+.2f} rad/s",
+                     f"Actual: vx {actual.root_link_lin_vel_b[0, 0]:+.2f}  vy {actual.root_link_lin_vel_b[0, 1]:+.2f}"
+                     f"  yaw {actual.root_link_ang_vel_b[0, 2]:+.2f}"]
+            if preview is not None:
+              lines.append("WM " + preview.summary())
+            for i, line in enumerate(lines):
+              screen.blit(font.render(line, True, (240, 240, 240), (20, 24, 30)), (8, 8 + i * 22))
+            pg.display.flip()
+            clock.tick(round(1 / env.step_dt))
+        step += 1
+    print(f"Completed {step} control steps.", flush=True)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/scripts/play_keyboard.sh b/scripts/play_keyboard.sh
new file mode 100644
index 0000000..32e5a3f
--- /dev/null
+++ b/scripts/play_keyboard.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -euo pipefail
+project_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$project_dir"
+if [[ -n "${S10_PYTHON:-}" && -x "${S10_PYTHON}" ]]; then
+  keyboard_python="$S10_PYTHON"
+elif [[ -x "$project_dir/.venv/bin/python" ]]; then
+  keyboard_python="$project_dir/.venv/bin/python"
+else
+  keyboard_python=python
+fi
+export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
+exec "$keyboard_python" scripts/play_keyboard.py "$@"
diff --git a/scripts/run_train_v4_50k.sh b/scripts/run_train_v4_50k.sh
new file mode 100644
index 0000000..3df2007
--- /dev/null
+++ b/scripts/run_train_v4_50k.sh
@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+# S10 terrain-v4 50k training from scratch (16 GB recipe).
+# Override S10_OUTPUT for a fixed output directory.
+set -euo pipefail
+
+PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$PROJECT_DIR"
+
+export PYTHONPATH="$PROJECT_DIR"
+export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
+export MUJOCO_GL="${MUJOCO_GL:-egl}"
+
+PY="${S10_PYTHON:-python}"
+OUT="${S10_OUTPUT:-logs/s10_terrain_v4_50k_$(date +%Y%m%d_%H%M%S)}"
+mkdir -p "$OUT"
+
+exec "$PY" scripts/train.py \
+  --task s10-v4 \
+  --terrain --terrain-revision 4 --seed 0 \
+  --num-envs 4096 --num-steps-per-env 1 \
+  --buffer-len 512 --wm-window 8 \
+  --wm-batch 2048 --wm-updates 4 \
+  --imag-batch 2048 --horizon 32 \
+  --warmup 50 --critic-epochs 5 --critic-minibatches 4 \
+  --iterations 50000 --save-interval 500 --log-interval 10 \
+  --command-curriculum --command-curriculum-start 0 \
+  --prioritized-replay \
+  --video --video-length 500 --video-interval 2700 \
+  --output "$OUT"
diff --git a/scripts/run_train_v7_50k.sh b/scripts/run_train_v7_50k.sh
new file mode 100644
index 0000000..967faeb
--- /dev/null
+++ b/scripts/run_train_v7_50k.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+# S10 terrain-v7 safe all-terrain 50k training from the task preset.
+# Set S10_RESUME to continue from a checkpoint; S10_VIDEO=0 disables video.
+set -euo pipefail
+
+PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$PROJECT_DIR"
+
+export PYTHONPATH="$PROJECT_DIR"
+export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
+export MUJOCO_GL="${MUJOCO_GL:-egl}"
+
+PY="${S10_PYTHON:-python}"
+OUT="${S10_OUTPUT:-logs/s10_terrain_v7_50k_$(date +%Y%m%d_%H%M%S)}"
+mkdir -p "$OUT"
+
+args=(--task s10-v7 --iterations 50000 --output "$OUT")
+if [[ -n "${S10_RESUME:-}" ]]; then
+  args+=(--resume "$S10_RESUME")
+fi
+if [[ "${S10_VIDEO:-1}" != "0" ]]; then
+  args+=(--video --video-length 500 --video-interval 2700)
+fi
+
+exec "$PY" scripts/train.py "${args[@]}" "$@"
diff --git a/scripts/train.py b/scripts/train.py
new file mode 100644
index 0000000..9a808f0
--- /dev/null
+++ b/scripts/train.py
@@ -0,0 +1,5 @@
+"""Independent online S10 model-based training entry point."""
+from s10_supermimic.core.train import main
+
+if __name__ == "__main__":
+  main()
diff --git a/tests/test_s10_model.py b/tests/test_s10_model.py
new file mode 100644
index 0000000..dd8d4db
--- /dev/null
+++ b/tests/test_s10_model.py
@@ -0,0 +1,151 @@
+"""Standalone S10 MJCF/FK checks that do not require mjlab or torch.
+
+Run with the system Python:
+  python3 tests/test_s10_model.py
+
+The test validates:
+1. The S10 model in ``s10_supermimic/robot/model/s10.xml`` loads.
+2. Joint names match the training/deployment contract.
+3. The default pose puts the wheel bottom at ~0.434 m above the ground.
+4. The analytic wheel-bottom formula in ``core/rolling_rewards.py`` matches
+   MuJoCo forward kinematics for random joint angles and arbitrary base tilt.
+"""
+
+from __future__ import annotations
+
+import math
+from pathlib import Path
+
+import mujoco
+import numpy as np
+
+
+ROOT = Path(__file__).resolve().parents[1]
+MODEL = ROOT / "s10_supermimic" / "robot" / "model" / "s10.xml"
+LEGS = ("fl", "fr", "hl", "hr")
+LEG_JOINT_NAMES = tuple(
+    f"{leg}_{joint}_joint" for leg in LEGS for joint in ("hipx", "hipy", "knee")
+)
+WHEEL_JOINT_NAMES = tuple(f"{leg}_wheel_joint" for leg in LEGS)
+DEFAULT_Q = {
+    "fl": (0.1, -0.35, 0.65),
+    "fr": (-0.1, -0.35, 0.65),
+    "hl": (0.1, 0.35, -0.65),
+    "hr": (-0.1, 0.35, -0.65),
+}
+# Geometry from S10.xml.
+X0 = {"fl": 0.2277, "fr": 0.2277, "hl": -0.2277, "hr": -0.2277}
+Y0 = {"fl": 0.0574, "fr": -0.0574, "hl": 0.0574, "hr": -0.0574}
+SIDE = {"fl": 1.0, "fr": -1.0, "hl": 1.0, "hr": -1.0}
+HIPY_Y = 0.0779
+WHEEL_Y = 0.045891
+LINK = 0.18
+WHEEL_RADIUS = 0.081
+WHEEL_HALF_WIDTH = 0.0185
+
+
+def analytic_wheel_bottom(q, leg, base_z=0.5, up=(0.0, 0.0, 1.0)) -> float:
+    """NumPy translation of the torch implementation in rolling_rewards.py."""
+    hipx, hipy, knee = (float(v) for v in q)
+    side = SIDE[leg]
+    x = LINK * math.sin(knee)
+    z = -LINK - LINK * math.cos(knee)
+    x3 = math.cos(hipy) * x - math.sin(hipy) * z
+    z3 = math.sin(hipy) * x + math.cos(hipy) * z
+    y3 = side * (HIPY_Y + WHEEL_Y)
+    y4 = math.cos(hipx) * y3 + math.sin(hipx) * z3
+    z4 = -math.sin(hipx) * y3 + math.cos(hipx) * z3
+    point = np.array([X0[leg] + x3, Y0[leg] + y4, z4])
+    up = np.asarray(up, dtype=float)
+    up /= np.linalg.norm(up)
+    axle_z = -up[1] * math.cos(hipx) + up[2] * math.sin(hipx)
+    radius_z = WHEEL_RADIUS * math.sqrt(max(1.0 - axle_z * axle_z, 0.0))
+    radius_z += WHEEL_HALF_WIDTH * abs(axle_z)
+    return base_z + float(point @ up) - radius_z
+
+
+def wheel_geom_id(model: mujoco.MjModel, leg: str) -> int:
+    body_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, f"{leg}_wheel")
+    for geom_id in range(model.ngeom):
+        if model.geom_bodyid[geom_id] != body_id:
+            continue
+        if model.geom_type[geom_id] == mujoco.mjtGeom.mjGEOM_CYLINDER:
+            return geom_id
+    raise AssertionError(f"No cylinder collision geom for {leg}_wheel")
+
+
+def measured_wheel_bottom(model, data, geom_id: int) -> float:
+    axis = data.geom_xmat[geom_id].reshape(3, 3)[:, 2]
+    axle_z = abs(float(axis[2]))
+    radius_z = WHEEL_RADIUS * math.sqrt(max(1.0 - axle_z * axle_z, 0.0))
+    radius_z += WHEEL_HALF_WIDTH * axle_z
+    return float(data.geom_xpos[geom_id][2] - radius_z)
+
+
+def set_pose(model, data, q_map, base_z=0.5, quat=(1.0, 0.0, 0.0, 0.0)):
+    data.qpos[:] = 0.0
+    data.qpos[2] = base_z
+    data.qpos[3:7] = quat
+    for joint_name, value in q_map.items():
+        joint_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, joint_name)
+        data.qpos[model.jnt_qposadr[joint_id]] = value
+    mujoco.mj_forward(model, data)
+
+
+def main() -> None:
+    assert MODEL.is_file(), MODEL
+    model = mujoco.MjModel.from_xml_path(str(MODEL))
+    data = mujoco.MjData(model)
+
+    joint_names = [model.joint(i).name for i in range(model.njnt)]
+    expected = ("floating_base",) + LEG_JOINT_NAMES + WHEEL_JOINT_NAMES
+    assert set(joint_names) == set(expected), joint_names
+    assert model.nq == 23 and model.nv == 22 and model.njnt == 17
+    assert model.nu == 0, "Robot XML must not contain actuators; mjlab adds them."
+
+    default_q = {
+        f"{leg}_{joint}_joint": value
+        for leg in LEGS
+        for joint, value in zip(("hipx", "hipy", "knee"), DEFAULT_Q[leg])
+    }
+    set_pose(model, data, default_q)
+    for leg in LEGS:
+        geom_id = wheel_geom_id(model, leg)
+        bottom = measured_wheel_bottom(model, data, geom_id)
+        pred = analytic_wheel_bottom(DEFAULT_Q[leg], leg)
+        assert abs(bottom - pred) < 1e-9, (leg, bottom, pred)
+        assert abs((0.5 - bottom) - 0.434145) < 1e-4, (leg, bottom)
+
+    rng = np.random.default_rng(0)
+    max_error = 0.0
+    for _ in range(200):
+        quat = rng.normal(size=4)
+        quat /= np.linalg.norm(quat)
+        q_map = {}
+        q_by_leg = {}
+        for leg in LEGS:
+            q = np.array([
+                rng.uniform(-0.6109, 0.6109),
+                rng.uniform(-2.5307, 2.5307),
+                rng.uniform(-2.7227, 2.7227),
+            ])
+            q_by_leg[leg] = q
+            for joint, value in zip(("hipx", "hipy", "knee"), q):
+                q_map[f"{leg}_{joint}_joint"] = value
+        set_pose(model, data, q_map, base_z=0.5, quat=quat)
+
+        rotation = data.xmat[
+            mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "base_link")
+        ].reshape(3, 3)
+        up = rotation.T @ np.array([0.0, 0.0, 1.0])
+        for leg in LEGS:
+            geom_id = wheel_geom_id(model, leg)
+            measured = measured_wheel_bottom(model, data, geom_id)
+            pred = analytic_wheel_bottom(q_by_leg[leg], leg, base_z=0.5, up=up)
+            max_error = max(max_error, abs(measured - pred))
+    assert max_error < 1e-9, max_error
+    print(f"S10 model/FK checks passed (max error {max_error:.2e} m)")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tests/test_tasks.py b/tests/test_tasks.py
new file mode 100644
index 0000000..bee9ede
--- /dev/null
+++ b/tests/test_tasks.py
@@ -0,0 +1,91 @@
+"""Task registry and dual Actor observation schema checks (no mjlab needed)."""
+
+import math
+
+import torch
+
+from s10_supermimic.core.command_curriculum import stages_for
+from s10_supermimic.core.policy import Actor, LEGACY_FRAME_DIM, FRAME_DIM, frame, push_history
+from s10_supermimic.core.wheel_intrusion import pair_body_intrusion, wheel_body_intrusion
+from s10_supermimic.tasks import get_task, task_names
+
+
+def main():
+  assert task_names() == ("s10-v4", "s10-v4-upward", "s10-v7"), task_names()
+  v4, v7, upward = get_task("s10-v4"), get_task("s10-v7"), get_task("s10-v4-upward")
+  assert (v4.terrain_revision, v7.terrain_revision) == (4, 7)
+  assert upward.terrain_revision == 4
+  assert upward.actor.frame_dim == LEGACY_FRAME_DIM
+  assert upward.actor.wheel_vel
+  assert upward.courses is False and upward.collisions is False
+  assert upward.defaults["iterations"] == 30000
+  assert upward.defaults["action_noise"] == 0.22
+  assert upward.defaults["horizon"] == 64
+  assert (v4.actor.frame_dim, v7.actor.frame_dim) == (LEGACY_FRAME_DIM, LEGACY_FRAME_DIM)
+  assert (v4.actor.history_dim(5), v7.actor.history_dim(5)) == (265, 265)
+  assert v4.actor.wheel_vel and v7.actor.wheel_vel
+  assert v7.actor.name == "s10-v7-53"
+  assert v4.courses is False and v4.collisions is False
+  assert v7.courses and v7.collisions
+  assert v7.defaults["imag_batch"] == 2048, "v7 keeps the 16 GB batch-size exception"
+  assert v7.defaults["iterations"] == 40000
+  assert v7.defaults["command_curriculum"] is True, "v7 uses stair-gated stages capped at 1.5/0.8/1.2"
+  assert stages_for(7)[-1][1:] == ((-1.5, 1.5), (-.8, .8), (-1.2, 1.2))
+  assert stages_for(4)[-1][1:] == ((-2., 2.), (-1., 1.), (-3., 3.))
+  assert v4.defaults["iterations"] == 20000
+
+  state = torch.zeros(2, 38)
+  action = torch.zeros(2, 16)
+  command = torch.zeros(2, 3)
+  bias = torch.zeros(2, 12)
+  for history, terms, expected in ((5, v4.actor.terms, 265), (5, v7.actor.terms, 265)):
+    actor = Actor(history, actor_wheel_vel=True)
+    latest = frame(state, action, command, bias,
+                   wheel_vel=actor.actor_wheel_vel)
+    assert latest.shape == (2, actor.frame_dim)
+    assert push_history(torch.zeros(2, expected), latest, history, terms).shape == (2, expected)
+  legacy = Actor(5, actor_wheel_vel=False)
+  assert legacy.frame_dim == FRAME_DIM, "legacy 49-value checkpoints remain loadable"
+
+  # v7 safe stance: default hipx 0.05 / hipy 25 deg / knee 1.0 has zero
+  # intrusion; a wheel tucked under the body crosses the 1/4 boundary.
+  state = torch.zeros(1, 38)
+  state[0, 0], state[0, 3] = 0.44, -1.0
+  def default_q(hipy, knee=1.0):
+    return torch.tensor([0.05, -hipy, knee, -0.05, -hipy, knee,
+                         0.05, hipy, -knee, -0.05, hipy, -knee])
+  assert wheel_body_intrusion(state, default_q(math.radians(25.0))).item() == 0.0
+  # 0.8 rad splay puts the wheel near x=0.134 m: inside the new outer-quarter
+  # boundary (0.15 m), outside the old outer-third boundary (0.10 m).
+  assert wheel_body_intrusion(state, default_q(.8)).item() > 0.0
+  normal = wheel_body_intrusion(state, default_q(.5)).item()
+  tucked = wheel_body_intrusion(state, default_q(1.0)).item()
+  assert normal == 0.0 < tucked, (normal, tucked)
+
+  # Pair 5/6 restriction: zero during the 0.5 s grace, then active only when
+  # both same-side legs are inside. A single leg never triggers it.
+  timers = torch.zeros(1, 4)
+  for _ in range(24):
+    cost, timers = pair_body_intrusion(state, default_q(1.0), timers, .02)
+    assert cost.item() == 0.0
+  cost, timers = pair_body_intrusion(state, default_q(1.0), timers, .02)
+  assert cost.item() > 0.0, cost
+  # Front-left alone stays inside; the pair timer stays unarmed.
+  one_leg = default_q(math.radians(25.0))
+  one_leg[1] = -1.0
+  timers = torch.zeros(1, 4)
+  for _ in range(40):
+    cost, timers = pair_body_intrusion(state, one_leg, timers, .02)
+    assert cost.item() == 0.0
+  assert timers[0, 1].item() == 0.0, timers
+  # Leaving the region resets that wheel's timer.
+  timers = torch.zeros(1, 4)
+  for _ in range(30):
+    _, timers = pair_body_intrusion(state, default_q(1.0), timers, .02)
+  cost, timers = pair_body_intrusion(state, default_q(math.radians(25.0)), timers, .02)
+  assert cost.item() == 0.0 and timers[0, 0].item() == 0.0, (cost, timers)
+  print("Task registry / Actor schema / v7 safety checks passed")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tests/test_upward.py b/tests/test_upward.py
new file mode 100644
index 0000000..3736bb8
--- /dev/null
+++ b/tests/test_upward.py
@@ -0,0 +1,236 @@
+"""Pure-torch checks for the upward recovery reward and per-env curriculum."""
+
+import math
+
+import torch
+
+from s10_supermimic.core.imagine import continuation_value
+from s10_supermimic.core.upward import (
+  BAD_ORIENTATION_START_DEG,
+  HISTORY_LENGTH,
+  PROMOTE_SUCCESSES,
+  TILT_STAGES_DEG,
+  bad_orientation_mask,
+  bad_orientation_value,
+  init_upward_state,
+  reset_root_state_upward,
+  upward_curriculum,
+  upward_curriculum_stats,
+  upward_video_tilt_limit,
+)
+from s10_supermimic.core.world_model import GRAVITY
+
+
+def gravity_at(deg: float, direction: float = 0.0) -> torch.Tensor:
+  """Projected gravity for a tilt ``deg`` in a fixed horizontal direction."""
+  t = math.radians(deg)
+  return torch.tensor([[
+    math.sin(t) * math.cos(direction),
+    math.sin(t) * math.sin(direction),
+    -math.cos(t),
+  ]])
+
+
+def test_severity_is_monotonic() -> None:
+  values = torch.cat([bad_orientation_value(gravity_at(d)) for d in
+                      torch.arange(0.0, 180.5, 0.5).tolist()])
+  assert (values[1:] >= values[:-1] - 1e-6).all(), "severity must be monotonic"
+  assert values.max() <= 1.0 + 1e-5, values.max()
+  assert values.min() >= 0.0, values.min()
+  assert bad_orientation_value(gravity_at(BAD_ORIENTATION_START_DEG)).item() < 1e-6
+  assert bad_orientation_value(gravity_at(180.0)).item() > 0.99
+  v105 = bad_orientation_value(gravity_at(105.0)).item()
+  v110 = bad_orientation_value(gravity_at(110.0)).item()
+  v120 = bad_orientation_value(gravity_at(120.0)).item()
+  assert v105 < v110 < v120, (v105, v110, v120)
+
+
+def test_severity_gradient_is_finite() -> None:
+  for g in (gravity_at(0.0), gravity_at(90.0), gravity_at(180.0)):
+    x = g.clone().requires_grad_(True)
+    bad_orientation_value(x).sum().backward()
+    assert torch.isfinite(x.grad).all(), x.grad
+
+
+def test_mask_keeps_bad_set() -> None:
+  assert bad_orientation_mask(gravity_at(60.0)).item()
+  assert not bad_orientation_mask(gravity_at(30.0)).item()
+  assert not bad_orientation_mask(gravity_at(50.0, math.pi / 4)).item()
+  assert bad_orientation_mask(gravity_at(180.0)).item()
+
+
+def test_upward_continuation_does_not_use_v4_fall_proxy() -> None:
+  state = torch.zeros(3, 38)
+  state[0, GRAVITY] = torch.tensor([0.0, 0.0, -1.0])
+  state[1, GRAVITY] = torch.tensor([0.0, 0.0, 0.0])
+  state[2, GRAVITY] = torch.tensor([0.0, 0.0, 1.0])
+  upward = continuation_value(state, {"upright_mode": "upward"})
+  v4 = continuation_value(state, {})
+  assert torch.allclose(upward, torch.ones(3)), upward
+  assert v4[0] > 0.99 and v4[2] < 1e-4, v4
+
+
+class _Data:
+  def __init__(self, n: int):
+    self.root_link_pos_w = torch.zeros(n, 3)
+    self.projected_gravity_b = torch.tensor([[0.0, 0.0, -1.0]] * n)
+
+
+class _Robot:
+  def __init__(self, n: int):
+    self.data = _Data(n)
+
+
+class _Terrain:
+  def __init__(self, n: int):
+    self.terrain_levels = torch.zeros(n, dtype=torch.long)
+    self.terrain_types = torch.zeros(n, dtype=torch.long)
+    self.terrain_origins = torch.zeros(6, 1, 3)
+    self.env_origins = torch.zeros(n, 3)
+
+
+class _Scene:
+  def __init__(self, n: int):
+    self.robot = _Robot(n)
+    self.terrain = _Terrain(n)
+    self.env_origins = torch.zeros(n, 3)
+
+  def __getitem__(self, key):
+    return self.robot
+
+
+class _Termination:
+  def __init__(self, n: int):
+    self.terminated = torch.zeros(n, dtype=torch.bool)
+
+
+class _Env:
+  def __init__(self, n: int):
+    self.num_envs = n
+    self.device = "cpu"
+    self.scene = _Scene(n)
+    self.episode_length_buf = torch.ones(n, dtype=torch.long)
+    self.termination_manager = _Termination(n)
+
+
+def _episode(env: _Env, recovered: torch.Tensor) -> None:
+  """Advance one finished episode for every env and run the curriculum."""
+  env.termination_manager.terminated[:] = ~recovered
+  env.scene.robot.data.projected_gravity_b[:] = torch.where(
+    recovered[:, None],
+    torch.tensor([0.0, 0.0, -1.0]),
+    torch.tensor([0.0, 0.0, 1.0]))
+  upward_curriculum(env, torch.arange(env.num_envs))
+
+
+def test_per_env_rolling_window_advances_and_demotes() -> None:
+  env = _Env(4)
+  outcomes = torch.zeros(4, dtype=torch.bool)
+  for episode in range(HISTORY_LENGTH):
+    outcomes[0] = True          # 20/20 -> advance
+    outcomes[1] = False         # 0/20 -> stays at level 0
+    outcomes[2] = episode < 10  # 10/20 -> neutral
+    outcomes[3] = episode < PROMOTE_SUCCESSES  # exactly 16/20 -> advance
+    _episode(env, outcomes)
+  stats = upward_curriculum_stats(env)
+  assert env._upward_tilt_levels.tolist() == [1, 0, 0, 1]
+  assert env.scene.terrain.terrain_levels.tolist() == [1, 0, 0, 1]
+  assert stats["tilt_level_q75"] == 1
+  # Advanced envs reset their window and need 20 new episodes; only envs 1
+  # (0/20) and 2 (10/20) are ready after the first block.
+  assert abs(stats["recovery_window_rate"] - 0.25) < 1e-6
+  assert abs(stats["recovery_window_ready"] - 0.5) < 1e-6
+  assert math.isclose(upward_video_tilt_limit(env), math.radians(135.0))
+
+  # The history is per-env: env 1 now gets 20 successes and advances alone;
+  # env 2 stays neutral with 10 successes.
+  for episode in range(HISTORY_LENGTH):
+    outcomes[0] = True
+    outcomes[1] = True
+    outcomes[2] = episode < 10
+    outcomes[3] = True
+    _episode(env, outcomes)
+  assert env._upward_tilt_levels.tolist() == [2, 1, 0, 2]
+  assert env.scene.terrain.terrain_levels.tolist() == [2, 1, 0, 2]
+
+  # A full 20-episode failure window demotes env 0 from level 2 to level 1.
+  for _ in range(HISTORY_LENGTH):
+    outcomes[:] = False
+    outcomes[3] = True  # keep env 3 at level 2
+    _episode(env, outcomes)
+  assert env._upward_tilt_levels.tolist() == [1, 0, 0, 2]
+  # Terrain has six levels and is independent of the three tilt levels.
+  assert env.scene.terrain.terrain_levels.tolist() == [1, 0, 0, 3]
+
+  # Before 20 episodes no env is eligible to move.
+  fresh = _Env(4)
+  stats = upward_curriculum_stats(fresh)
+  assert stats["recovery_window_ready"] == 0.0
+  assert stats["tilt_level_q75"] == 0
+  outcomes = torch.ones(4, dtype=torch.bool)
+  for _ in range(HISTORY_LENGTH - 1):
+    _episode(fresh, outcomes)
+  assert fresh._upward_tilt_levels.tolist() == [0, 0, 0, 0]
+  _episode(fresh, outcomes)
+  assert fresh._upward_tilt_levels.tolist() == [1, 1, 1, 1]
+
+
+class _Asset:
+  def __init__(self, n: int):
+    self.data = type("Data", (), {})()
+    self.data.default_root_state = torch.zeros(n, 13)
+    self.data.default_root_state[:, 3] = 1.0  # identity wxyz quaternion
+    self.pose = None
+    self.velocity = None
+
+  def write_root_link_pose_to_sim(self, pose, env_ids):
+    self.pose = pose.clone()
+
+  def write_root_link_velocity_to_sim(self, velocity, env_ids):
+    self.velocity = velocity.clone()
+
+
+class _ResetScene:
+  def __init__(self, n: int):
+    self.asset = _Asset(n)
+    self.env_origins = torch.zeros(n, 3)
+
+  def __getitem__(self, key):
+    return self.asset
+
+
+class _ResetEnv:
+  def __init__(self, n: int):
+    self.num_envs = n
+    self.device = "cpu"
+    self.scene = _ResetScene(n)
+
+
+def test_reset_supports_per_env_and_play_fallback_limits() -> None:
+  env = _ResetEnv(2)
+  pose_range = {"x": (-0.1, 0.1), "y": (-0.1, 0.1), "z": (0.0, 0.2),
+                "roll": (-math.pi, math.pi), "pitch": (-math.pi, math.pi),
+                "yaw": (-math.pi, math.pi)}
+  ids = torch.arange(2)
+  reset_root_state_upward(env, ids, pose_range)
+  assert env.scene.asset.pose.shape == (2, 7)
+  assert env.scene.asset.velocity.shape == (2, 6)
+  assert torch.isfinite(env.scene.asset.pose).all()
+  env._upward_tilt_limits = torch.tensor(
+    [math.radians(60.0), math.radians(180.0)])
+  reset_root_state_upward(env, ids, pose_range)
+  assert torch.isfinite(env.scene.asset.pose).all()
+
+
+def main() -> None:
+  test_severity_is_monotonic()
+  test_severity_gradient_is_finite()
+  test_mask_keeps_bad_set()
+  test_upward_continuation_does_not_use_v4_fall_proxy()
+  test_per_env_rolling_window_advances_and_demotes()
+  test_reset_supports_per_env_and_play_fallback_limits()
+  print("Upward reward / continuation / per-env curriculum checks passed")
+
+
+if __name__ == "__main__":
+  main()