rerun visualizer started (app_id=robowbc-showcase-decoupled_wbc)
mujoco simulation transport active (mapped_joints=29/29, model=assets/robots/unitree_g1/g1_29dof.xml, gain_profile=simulation_pd, model_variant=meshless-public-mjcf+ground-plane, meshless_public_fallback=true)
runtime metrics: ticks=400, sent_commands=400, avg_inference_ms=0.316, achieved_hz=45.69, dropped_frames=0
velocity tracking: vx_rmse=0.165 m/s, vy_rmse=0.109 m/s, yaw_rmse=0.304 rad/s, forward_distance=3.887 m, heading_change=-83.8 deg
wrote run report to /tmp/robowbc-site/policies/decoupled_wbc/run.json
wrote replay trace to /tmp/robowbc-site/policies/decoupled_wbc/run_replay_trace.json
shutdown complete: ticks=400, avg_inference_ms=0.316, achieved_hz=45.69, dropped_frames=0

--- STDERR ---