rerun visualizer started (app_id=robowbc-showcase-gear_sonic)
mujoco simulation transport active (mapped_joints=29/29, model=assets/robots/unitree_g1/g1_29dof.xml, gain_profile=default_pd, model_variant=meshless-public-mjcf+ground-plane, meshless_public_fallback=true)
runtime metrics: ticks=400, sent_commands=400, avg_inference_ms=4.060, achieved_hz=44.69, dropped_frames=1
velocity tracking: vx_rmse=0.306 m/s, vy_rmse=0.159 m/s, yaw_rmse=0.772 rad/s, forward_distance=3.087 m, heading_change=2.5 deg
wrote run report to /tmp/robowbc-site/policies/gear_sonic/run.json
wrote replay trace to /tmp/robowbc-site/policies/gear_sonic/run_replay_trace.json
shutdown complete: ticks=400, avg_inference_ms=4.060, achieved_hz=44.69, dropped_frames=1

--- STDERR ---