05 Jul 2025 20:39:25 \Generative locamotion training with config: namespace(arch=namespace(decoder='trans_enc', ff_size=1024, latent_dim=512, num_heads=8, num_layers=4), data='data/sam_train', dataset=namespace(binaural=True, clip_len=240, cond='audio', dataset_name='SAM', move=120, nfeats=6, njoints=25, pose_vec='complex', rot_rep='6d', smpl_dir='smpl_models/smplx'), device=device(type='cuda', index=0), diff=namespace(diffusion_steps=1000, noise_schedule='cosine', sigma_small=True), finetune=False, name='mospa', part=None, save='./save/mospa', ssl='./save/ssl/best.pt', ssl_arch=namespace(audio_dim=512, ch=4, conv_kernel=3, conv_pad=1, latent_dim=256, mode='concat', mp_pad=1, mp_stride=4, num_layers=1, rot_dim=4, rotation=False), test_data='data/sam_test', trainer=namespace(batch_size=128, cond_mask_prob=0.1, ema=True, epoch=10000, eval_freq=500, load_num=-1, loss_terms='11111', lr=0.0001, lr_anneal_steps=0, mask_genre=False, mask_sound_source=False, save_freq=500, use_loss_foot_contact=True, use_loss_geo=True, use_loss_mse=True, use_loss_rotation=True, use_loss_traj=True, weight_decay=0.0, workers=8), val_data='data/sam_val') 05 Jul 2025 20:39:42 Load checkpoint from ./save/mospa/weights_8500.pt, start at epoch 8500, loss: 0.0059 05 Jul 2025 20:39:42 Evaluation... 05 Jul 2025 20:42:33 Epoch 8501/10000 | loss_data: 0.001108, loss_data_delta: 0.000287, loss_traj: 0.000534, loss_traj_delta: 0.000123, loss_dir: 0.075465, loss_rot: 0.001598, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000917, loss_geo_xyz_vel: 0.000213, loss_foot_contact: 0.000155, loss: 0.015291, | best_loss: 0.005880 05 Jul 2025 20:42:46 Epoch 8502/10000 | loss_data: 0.001021, loss_data_delta: 0.000281, loss_traj: 0.000430, loss_traj_delta: 0.000118, loss_dir: 0.085422, loss_rot: 0.001493, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000136, loss: 0.013824, | best_loss: 0.005880 05 Jul 2025 20:42:57 Epoch 8503/10000 | loss_data: 0.001043, loss_data_delta: 0.000283, loss_traj: 0.000454, loss_traj_delta: 0.000119, loss_dir: 0.068855, loss_rot: 0.001521, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000850, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000131, loss: 0.014106, | best_loss: 0.005880 05 Jul 2025 20:43:10 Epoch 8504/10000 | loss_data: 0.001015, loss_data_delta: 0.000278, loss_traj: 0.000373, loss_traj_delta: 0.000117, loss_dir: 0.058572, loss_rot: 0.001502, loss_rot_delta: 0.000421, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000128, loss: 0.013458, | best_loss: 0.005880 05 Jul 2025 20:43:22 Epoch 8505/10000 | loss_data: 0.001068, loss_data_delta: 0.000279, loss_traj: 0.000502, loss_traj_delta: 0.000114, loss_dir: 0.081147, loss_rot: 0.001546, loss_rot_delta: 0.000425, loss_geo_xyz: 0.000917, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000123, loss: 0.014466, | best_loss: 0.005880 05 Jul 2025 20:43:34 Epoch 8506/10000 | loss_data: 0.001075, loss_data_delta: 0.000282, loss_traj: 0.000438, loss_traj_delta: 0.000115, loss_dir: 0.064375, loss_rot: 0.001584, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000857, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000123, loss: 0.014291, | best_loss: 0.005880 05 Jul 2025 20:43:45 Epoch 8507/10000 | loss_data: 0.001038, loss_data_delta: 0.000279, loss_traj: 0.000505, loss_traj_delta: 0.000117, loss_dir: 0.064279, loss_rot: 0.001494, loss_rot_delta: 0.000423, loss_geo_xyz: 0.000904, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000122, loss: 0.014170, | best_loss: 0.005880 05 Jul 2025 20:43:57 Epoch 8508/10000 | loss_data: 0.001055, loss_data_delta: 0.000287, loss_traj: 0.000417, loss_traj_delta: 0.000120, loss_dir: 0.064359, loss_rot: 0.001554, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000837, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000124, loss: 0.014034, | best_loss: 0.005880 05 Jul 2025 20:44:09 Epoch 8509/10000 | loss_data: 0.001028, loss_data_delta: 0.000283, loss_traj: 0.000413, loss_traj_delta: 0.000119, loss_dir: 0.076227, loss_rot: 0.001506, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000122, loss: 0.013701, | best_loss: 0.005880 05 Jul 2025 20:44:21 Epoch 8510/10000 | loss_data: 0.001013, loss_data_delta: 0.000280, loss_traj: 0.000385, loss_traj_delta: 0.000115, loss_dir: 0.076239, loss_rot: 0.001504, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000119, loss: 0.013455, | best_loss: 0.005880 05 Jul 2025 20:44:34 Epoch 8511/10000 | loss_data: 0.000980, loss_data_delta: 0.000278, loss_traj: 0.000330, loss_traj_delta: 0.000112, loss_dir: 0.068771, loss_rot: 0.001465, loss_rot_delta: 0.000425, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000117, loss: 0.012861, | best_loss: 0.005880 05 Jul 2025 20:44:44 Epoch 8512/10000 | loss_data: 0.001043, loss_data_delta: 0.000283, loss_traj: 0.000438, loss_traj_delta: 0.000120, loss_dir: 0.072895, loss_rot: 0.001530, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000851, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000121, loss: 0.013981, | best_loss: 0.005880 05 Jul 2025 20:44:54 Epoch 8513/10000 | loss_data: 0.001007, loss_data_delta: 0.000285, loss_traj: 0.000340, loss_traj_delta: 0.000115, loss_dir: 0.077502, loss_rot: 0.001503, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000119, loss: 0.013189, | best_loss: 0.005880 05 Jul 2025 20:45:05 Epoch 8514/10000 | loss_data: 0.001045, loss_data_delta: 0.000285, loss_traj: 0.000390, loss_traj_delta: 0.000117, loss_dir: 0.075308, loss_rot: 0.001550, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000120, loss: 0.013791, | best_loss: 0.005880 05 Jul 2025 20:45:15 Epoch 8515/10000 | loss_data: 0.001060, loss_data_delta: 0.000288, loss_traj: 0.000432, loss_traj_delta: 0.000120, loss_dir: 0.076144, loss_rot: 0.001557, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000859, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000121, loss: 0.014121, | best_loss: 0.005880 05 Jul 2025 20:45:25 Epoch 8516/10000 | loss_data: 0.001070, loss_data_delta: 0.000285, loss_traj: 0.000417, loss_traj_delta: 0.000120, loss_dir: 0.058860, loss_rot: 0.001583, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000121, loss: 0.014161, | best_loss: 0.005880 05 Jul 2025 20:45:35 Epoch 8517/10000 | loss_data: 0.001040, loss_data_delta: 0.000283, loss_traj: 0.000429, loss_traj_delta: 0.000118, loss_dir: 0.074241, loss_rot: 0.001526, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000849, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000119, loss: 0.013882, | best_loss: 0.005880 05 Jul 2025 20:45:45 Epoch 8518/10000 | loss_data: 0.000992, loss_data_delta: 0.000284, loss_traj: 0.000354, loss_traj_delta: 0.000116, loss_dir: 0.059969, loss_rot: 0.001467, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000119, loss: 0.013074, | best_loss: 0.005880 05 Jul 2025 20:45:55 Epoch 8519/10000 | loss_data: 0.000997, loss_data_delta: 0.000282, loss_traj: 0.000369, loss_traj_delta: 0.000120, loss_dir: 0.062703, loss_rot: 0.001472, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000119, loss: 0.013205, | best_loss: 0.005880 05 Jul 2025 20:46:05 Epoch 8520/10000 | loss_data: 0.000996, loss_data_delta: 0.000284, loss_traj: 0.000353, loss_traj_delta: 0.000117, loss_dir: 0.072187, loss_rot: 0.001482, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000118, loss: 0.013137, | best_loss: 0.005880 05 Jul 2025 20:46:15 Epoch 8521/10000 | loss_data: 0.001007, loss_data_delta: 0.000284, loss_traj: 0.000364, loss_traj_delta: 0.000114, loss_dir: 0.065349, loss_rot: 0.001498, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000117, loss: 0.013283, | best_loss: 0.005880 05 Jul 2025 20:46:26 Epoch 8522/10000 | loss_data: 0.001037, loss_data_delta: 0.000283, loss_traj: 0.000441, loss_traj_delta: 0.000120, loss_dir: 0.070747, loss_rot: 0.001516, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000855, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000120, loss: 0.013907, | best_loss: 0.005880 05 Jul 2025 20:46:36 Epoch 8523/10000 | loss_data: 0.001070, loss_data_delta: 0.000289, loss_traj: 0.000413, loss_traj_delta: 0.000117, loss_dir: 0.064409, loss_rot: 0.001584, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000839, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000118, loss: 0.014122, | best_loss: 0.005880 05 Jul 2025 20:46:47 Epoch 8524/10000 | loss_data: 0.000989, loss_data_delta: 0.000278, loss_traj: 0.000382, loss_traj_delta: 0.000114, loss_dir: 0.055717, loss_rot: 0.001458, loss_rot_delta: 0.000423, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000115, loss: 0.013124, | best_loss: 0.005880 05 Jul 2025 20:46:57 Epoch 8525/10000 | loss_data: 0.001017, loss_data_delta: 0.000279, loss_traj: 0.000385, loss_traj_delta: 0.000114, loss_dir: 0.071717, loss_rot: 0.001511, loss_rot_delta: 0.000424, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000115, loss: 0.013449, | best_loss: 0.005880 05 Jul 2025 20:47:07 Epoch 8526/10000 | loss_data: 0.001049, loss_data_delta: 0.000285, loss_traj: 0.000462, loss_traj_delta: 0.000118, loss_dir: 0.052085, loss_rot: 0.001529, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000871, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000118, loss: 0.014089, | best_loss: 0.005880 05 Jul 2025 20:47:17 Epoch 8527/10000 | loss_data: 0.001042, loss_data_delta: 0.000282, loss_traj: 0.000397, loss_traj_delta: 0.000116, loss_dir: 0.057248, loss_rot: 0.001544, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000816, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000119, loss: 0.013771, | best_loss: 0.005880 05 Jul 2025 20:47:27 Epoch 8528/10000 | loss_data: 0.001013, loss_data_delta: 0.000275, loss_traj: 0.000377, loss_traj_delta: 0.000111, loss_dir: 0.060334, loss_rot: 0.001502, loss_rot_delta: 0.000418, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000115, loss: 0.013339, | best_loss: 0.005880 05 Jul 2025 20:47:38 Epoch 8529/10000 | loss_data: 0.001036, loss_data_delta: 0.000284, loss_traj: 0.000424, loss_traj_delta: 0.000120, loss_dir: 0.059377, loss_rot: 0.001523, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000120, loss: 0.013847, | best_loss: 0.005880 05 Jul 2025 20:47:48 Epoch 8530/10000 | loss_data: 0.001014, loss_data_delta: 0.000283, loss_traj: 0.000341, loss_traj_delta: 0.000117, loss_dir: 0.075880, loss_rot: 0.001512, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000116, loss: 0.013229, | best_loss: 0.005880 05 Jul 2025 20:47:59 Epoch 8531/10000 | loss_data: 0.001026, loss_data_delta: 0.000287, loss_traj: 0.000357, loss_traj_delta: 0.000117, loss_dir: 0.070248, loss_rot: 0.001529, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000116, loss: 0.013432, | best_loss: 0.005880 05 Jul 2025 20:48:09 Epoch 8532/10000 | loss_data: 0.001054, loss_data_delta: 0.000282, loss_traj: 0.000495, loss_traj_delta: 0.000114, loss_dir: 0.070727, loss_rot: 0.001523, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000902, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000114, loss: 0.014209, | best_loss: 0.005880 05 Jul 2025 20:48:19 Epoch 8533/10000 | loss_data: 0.001021, loss_data_delta: 0.000285, loss_traj: 0.000392, loss_traj_delta: 0.000115, loss_dir: 0.068767, loss_rot: 0.001508, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000116, loss: 0.013514, | best_loss: 0.005880 05 Jul 2025 20:48:29 Epoch 8534/10000 | loss_data: 0.001037, loss_data_delta: 0.000279, loss_traj: 0.000546, loss_traj_delta: 0.000110, loss_dir: 0.067333, loss_rot: 0.001475, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000940, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000113, loss: 0.014215, | best_loss: 0.005880 05 Jul 2025 20:48:40 Epoch 8535/10000 | loss_data: 0.001053, loss_data_delta: 0.000284, loss_traj: 0.000463, loss_traj_delta: 0.000115, loss_dir: 0.063179, loss_rot: 0.001536, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000874, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000114, loss: 0.014096, | best_loss: 0.005880 05 Jul 2025 20:48:51 Epoch 8536/10000 | loss_data: 0.001046, loss_data_delta: 0.000286, loss_traj: 0.000409, loss_traj_delta: 0.000115, loss_dir: 0.070854, loss_rot: 0.001544, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000116, loss: 0.013825, | best_loss: 0.005880 05 Jul 2025 20:49:01 Epoch 8537/10000 | loss_data: 0.001040, loss_data_delta: 0.000284, loss_traj: 0.000429, loss_traj_delta: 0.000114, loss_dir: 0.071675, loss_rot: 0.001524, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000841, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000115, loss: 0.013819, | best_loss: 0.005880 05 Jul 2025 20:49:11 Epoch 8538/10000 | loss_data: 0.001021, loss_data_delta: 0.000288, loss_traj: 0.000411, loss_traj_delta: 0.000122, loss_dir: 0.065056, loss_rot: 0.001502, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000117, loss: 0.013618, | best_loss: 0.005880 05 Jul 2025 20:49:22 Epoch 8539/10000 | loss_data: 0.001041, loss_data_delta: 0.000277, loss_traj: 0.000505, loss_traj_delta: 0.000115, loss_dir: 0.068688, loss_rot: 0.001496, loss_rot_delta: 0.000421, loss_geo_xyz: 0.000910, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000116, loss: 0.014118, | best_loss: 0.005880 05 Jul 2025 20:49:33 Epoch 8540/10000 | loss_data: 0.001080, loss_data_delta: 0.000288, loss_traj: 0.000512, loss_traj_delta: 0.000121, loss_dir: 0.073004, loss_rot: 0.001560, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000928, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000119, loss: 0.014605, | best_loss: 0.005880 05 Jul 2025 20:49:43 Epoch 8541/10000 | loss_data: 0.001008, loss_data_delta: 0.000290, loss_traj: 0.000354, loss_traj_delta: 0.000119, loss_dir: 0.058536, loss_rot: 0.001491, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000118, loss: 0.013231, | best_loss: 0.005880 05 Jul 2025 20:49:55 Epoch 8542/10000 | loss_data: 0.001043, loss_data_delta: 0.000282, loss_traj: 0.000391, loss_traj_delta: 0.000114, loss_dir: 0.054282, loss_rot: 0.001548, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000113, loss: 0.013698, | best_loss: 0.005880 05 Jul 2025 20:50:06 Epoch 8543/10000 | loss_data: 0.001039, loss_data_delta: 0.000286, loss_traj: 0.000409, loss_traj_delta: 0.000116, loss_dir: 0.062691, loss_rot: 0.001531, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000116, loss: 0.013753, | best_loss: 0.005880 05 Jul 2025 20:50:17 Epoch 8544/10000 | loss_data: 0.001035, loss_data_delta: 0.000284, loss_traj: 0.000399, loss_traj_delta: 0.000114, loss_dir: 0.061397, loss_rot: 0.001522, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000116, loss: 0.013647, | best_loss: 0.005880 05 Jul 2025 20:50:30 Epoch 8545/10000 | loss_data: 0.001035, loss_data_delta: 0.000286, loss_traj: 0.000435, loss_traj_delta: 0.000117, loss_dir: 0.061979, loss_rot: 0.001509, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000116, loss: 0.013794, | best_loss: 0.005880 05 Jul 2025 20:50:42 Epoch 8546/10000 | loss_data: 0.001041, loss_data_delta: 0.000281, loss_traj: 0.000448, loss_traj_delta: 0.000116, loss_dir: 0.076215, loss_rot: 0.001525, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000858, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000114, loss: 0.013926, | best_loss: 0.005880 05 Jul 2025 20:50:54 Epoch 8547/10000 | loss_data: 0.001132, loss_data_delta: 0.000289, loss_traj: 0.000761, loss_traj_delta: 0.000125, loss_dir: 0.069332, loss_rot: 0.001537, loss_rot_delta: 0.000437, loss_geo_xyz: 0.001175, loss_geo_xyz_vel: 0.000206, loss_foot_contact: 0.000119, loss: 0.016044, | best_loss: 0.005880 05 Jul 2025 20:51:06 Epoch 8548/10000 | loss_data: 0.001095, loss_data_delta: 0.000285, loss_traj: 0.000599, loss_traj_delta: 0.000120, loss_dir: 0.059533, loss_rot: 0.001547, loss_rot_delta: 0.000432, loss_geo_xyz: 0.001020, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000118, loss: 0.015062, | best_loss: 0.005880 05 Jul 2025 20:51:18 Epoch 8549/10000 | loss_data: 0.001027, loss_data_delta: 0.000280, loss_traj: 0.000396, loss_traj_delta: 0.000110, loss_dir: 0.081191, loss_rot: 0.001519, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000111, loss: 0.013524, | best_loss: 0.005880 05 Jul 2025 20:51:30 Epoch 8550/10000 | loss_data: 0.001017, loss_data_delta: 0.000287, loss_traj: 0.000375, loss_traj_delta: 0.000113, loss_dir: 0.070334, loss_rot: 0.001500, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000113, loss: 0.013344, | best_loss: 0.005880 05 Jul 2025 20:51:42 Epoch 8551/10000 | loss_data: 0.001017, loss_data_delta: 0.000286, loss_traj: 0.000374, loss_traj_delta: 0.000118, loss_dir: 0.060848, loss_rot: 0.001504, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000116, loss: 0.013394, | best_loss: 0.005880 05 Jul 2025 20:51:53 Epoch 8552/10000 | loss_data: 0.000997, loss_data_delta: 0.000286, loss_traj: 0.000349, loss_traj_delta: 0.000119, loss_dir: 0.081367, loss_rot: 0.001480, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000764, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000115, loss: 0.013097, | best_loss: 0.005880 05 Jul 2025 20:52:03 Epoch 8553/10000 | loss_data: 0.001089, loss_data_delta: 0.000288, loss_traj: 0.000545, loss_traj_delta: 0.000123, loss_dir: 0.072117, loss_rot: 0.001558, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000964, loss_geo_xyz_vel: 0.000204, loss_foot_contact: 0.000119, loss: 0.014807, | best_loss: 0.005880 05 Jul 2025 20:52:13 Epoch 8554/10000 | loss_data: 0.001046, loss_data_delta: 0.000288, loss_traj: 0.000425, loss_traj_delta: 0.000122, loss_dir: 0.083067, loss_rot: 0.001543, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000837, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000117, loss: 0.013948, | best_loss: 0.005880 05 Jul 2025 20:52:23 Epoch 8555/10000 | loss_data: 0.001005, loss_data_delta: 0.000285, loss_traj: 0.000362, loss_traj_delta: 0.000116, loss_dir: 0.058103, loss_rot: 0.001491, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000115, loss: 0.013217, | best_loss: 0.005880 05 Jul 2025 20:52:34 Epoch 8556/10000 | loss_data: 0.001048, loss_data_delta: 0.000289, loss_traj: 0.000458, loss_traj_delta: 0.000120, loss_dir: 0.072156, loss_rot: 0.001521, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000871, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000118, loss: 0.014040, | best_loss: 0.005880 05 Jul 2025 20:52:44 Epoch 8557/10000 | loss_data: 0.001021, loss_data_delta: 0.000274, loss_traj: 0.000395, loss_traj_delta: 0.000109, loss_dir: 0.074010, loss_rot: 0.001512, loss_rot_delta: 0.000417, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000110, loss: 0.013445, | best_loss: 0.005880 05 Jul 2025 20:52:54 Epoch 8558/10000 | loss_data: 0.001002, loss_data_delta: 0.000282, loss_traj: 0.000404, loss_traj_delta: 0.000113, loss_dir: 0.083495, loss_rot: 0.001469, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000799, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000113, loss: 0.013322, | best_loss: 0.005880 05 Jul 2025 20:53:05 Epoch 8559/10000 | loss_data: 0.001013, loss_data_delta: 0.000287, loss_traj: 0.000384, loss_traj_delta: 0.000120, loss_dir: 0.077744, loss_rot: 0.001493, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000116, loss: 0.013397, | best_loss: 0.005880 05 Jul 2025 20:53:16 Epoch 8560/10000 | loss_data: 0.001036, loss_data_delta: 0.000288, loss_traj: 0.000435, loss_traj_delta: 0.000118, loss_dir: 0.068544, loss_rot: 0.001506, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000843, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000117, loss: 0.013800, | best_loss: 0.005880 05 Jul 2025 20:53:26 Epoch 8561/10000 | loss_data: 0.001034, loss_data_delta: 0.000285, loss_traj: 0.000457, loss_traj_delta: 0.000117, loss_dir: 0.057723, loss_rot: 0.001499, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000862, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000115, loss: 0.013860, | best_loss: 0.005880 05 Jul 2025 20:53:36 Epoch 8562/10000 | loss_data: 0.000998, loss_data_delta: 0.000286, loss_traj: 0.000382, loss_traj_delta: 0.000119, loss_dir: 0.047476, loss_rot: 0.001468, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000116, loss: 0.013234, | best_loss: 0.005880 05 Jul 2025 20:53:46 Epoch 8563/10000 | loss_data: 0.001036, loss_data_delta: 0.000285, loss_traj: 0.000422, loss_traj_delta: 0.000119, loss_dir: 0.067241, loss_rot: 0.001522, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000831, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000118, loss: 0.013798, | best_loss: 0.005880 05 Jul 2025 20:53:56 Epoch 8564/10000 | loss_data: 0.001010, loss_data_delta: 0.000284, loss_traj: 0.000382, loss_traj_delta: 0.000116, loss_dir: 0.061492, loss_rot: 0.001492, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000113, loss: 0.013323, | best_loss: 0.005880 05 Jul 2025 20:54:07 Epoch 8565/10000 | loss_data: 0.001025, loss_data_delta: 0.000284, loss_traj: 0.000403, loss_traj_delta: 0.000116, loss_dir: 0.082231, loss_rot: 0.001503, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000115, loss: 0.013552, | best_loss: 0.005880 05 Jul 2025 20:54:17 Epoch 8566/10000 | loss_data: 0.001028, loss_data_delta: 0.000283, loss_traj: 0.000410, loss_traj_delta: 0.000117, loss_dir: 0.061207, loss_rot: 0.001518, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000816, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000115, loss: 0.013653, | best_loss: 0.005880 05 Jul 2025 20:54:28 Epoch 8567/10000 | loss_data: 0.001045, loss_data_delta: 0.000284, loss_traj: 0.000365, loss_traj_delta: 0.000115, loss_dir: 0.072804, loss_rot: 0.001558, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000114, loss: 0.013623, | best_loss: 0.005880 05 Jul 2025 20:54:39 Epoch 8568/10000 | loss_data: 0.001006, loss_data_delta: 0.000283, loss_traj: 0.000373, loss_traj_delta: 0.000113, loss_dir: 0.063339, loss_rot: 0.001488, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000112, loss: 0.013229, | best_loss: 0.005880 05 Jul 2025 20:54:48 Epoch 8569/10000 | loss_data: 0.000995, loss_data_delta: 0.000282, loss_traj: 0.000387, loss_traj_delta: 0.000112, loss_dir: 0.060578, loss_rot: 0.001455, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000111, loss: 0.013121, | best_loss: 0.005880 05 Jul 2025 20:54:59 Epoch 8570/10000 | loss_data: 0.000972, loss_data_delta: 0.000282, loss_traj: 0.000331, loss_traj_delta: 0.000114, loss_dir: 0.056159, loss_rot: 0.001444, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000730, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000113, loss: 0.012733, | best_loss: 0.005880 05 Jul 2025 20:55:09 Epoch 8571/10000 | loss_data: 0.001061, loss_data_delta: 0.000289, loss_traj: 0.000437, loss_traj_delta: 0.000124, loss_dir: 0.080446, loss_rot: 0.001552, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000863, loss_geo_xyz_vel: 0.000205, loss_foot_contact: 0.000118, loss: 0.014105, | best_loss: 0.005880 05 Jul 2025 20:55:20 Epoch 8572/10000 | loss_data: 0.001004, loss_data_delta: 0.000289, loss_traj: 0.000355, loss_traj_delta: 0.000116, loss_dir: 0.062881, loss_rot: 0.001487, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000114, loss: 0.013150, | best_loss: 0.005880 05 Jul 2025 20:55:30 Epoch 8573/10000 | loss_data: 0.001036, loss_data_delta: 0.000282, loss_traj: 0.000423, loss_traj_delta: 0.000113, loss_dir: 0.071667, loss_rot: 0.001517, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000837, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000113, loss: 0.013719, | best_loss: 0.005880 05 Jul 2025 20:55:40 Epoch 8574/10000 | loss_data: 0.001052, loss_data_delta: 0.000295, loss_traj: 0.000372, loss_traj_delta: 0.000121, loss_dir: 0.073448, loss_rot: 0.001560, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000205, loss_foot_contact: 0.000117, loss: 0.013746, | best_loss: 0.005880 05 Jul 2025 20:55:50 Epoch 8575/10000 | loss_data: 0.001017, loss_data_delta: 0.000283, loss_traj: 0.000359, loss_traj_delta: 0.000112, loss_dir: 0.065039, loss_rot: 0.001510, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000112, loss: 0.013274, | best_loss: 0.005880 05 Jul 2025 20:56:01 Epoch 8576/10000 | loss_data: 0.001016, loss_data_delta: 0.000292, loss_traj: 0.000343, loss_traj_delta: 0.000116, loss_dir: 0.062907, loss_rot: 0.001519, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000115, loss: 0.013268, | best_loss: 0.005880 05 Jul 2025 20:56:11 Epoch 8577/10000 | loss_data: 0.001077, loss_data_delta: 0.000288, loss_traj: 0.000540, loss_traj_delta: 0.000121, loss_dir: 0.080737, loss_rot: 0.001532, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000961, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000117, loss: 0.014608, | best_loss: 0.005880 05 Jul 2025 20:56:22 Epoch 8578/10000 | loss_data: 0.001018, loss_data_delta: 0.000280, loss_traj: 0.000407, loss_traj_delta: 0.000115, loss_dir: 0.057842, loss_rot: 0.001493, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000113, loss: 0.013484, | best_loss: 0.005880 05 Jul 2025 20:56:32 Epoch 8579/10000 | loss_data: 0.000986, loss_data_delta: 0.000281, loss_traj: 0.000340, loss_traj_delta: 0.000114, loss_dir: 0.072240, loss_rot: 0.001467, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000112, loss: 0.012895, | best_loss: 0.005880 05 Jul 2025 20:56:42 Epoch 8580/10000 | loss_data: 0.001018, loss_data_delta: 0.000289, loss_traj: 0.000351, loss_traj_delta: 0.000115, loss_dir: 0.052973, loss_rot: 0.001518, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000114, loss: 0.013308, | best_loss: 0.005880 05 Jul 2025 20:56:53 Epoch 8581/10000 | loss_data: 0.000987, loss_data_delta: 0.000278, loss_traj: 0.000340, loss_traj_delta: 0.000109, loss_dir: 0.064717, loss_rot: 0.001478, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000109, loss: 0.012896, | best_loss: 0.005880 05 Jul 2025 20:57:03 Epoch 8582/10000 | loss_data: 0.001049, loss_data_delta: 0.000291, loss_traj: 0.000392, loss_traj_delta: 0.000117, loss_dir: 0.069406, loss_rot: 0.001554, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000115, loss: 0.013786, | best_loss: 0.005880 05 Jul 2025 20:57:13 Epoch 8583/10000 | loss_data: 0.001010, loss_data_delta: 0.000286, loss_traj: 0.000387, loss_traj_delta: 0.000118, loss_dir: 0.061081, loss_rot: 0.001484, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000114, loss: 0.013343, | best_loss: 0.005880 05 Jul 2025 20:57:24 Epoch 8584/10000 | loss_data: 0.001008, loss_data_delta: 0.000286, loss_traj: 0.000364, loss_traj_delta: 0.000115, loss_dir: 0.067030, loss_rot: 0.001491, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000111, loss: 0.013198, | best_loss: 0.005880 05 Jul 2025 20:57:35 Epoch 8585/10000 | loss_data: 0.001045, loss_data_delta: 0.000288, loss_traj: 0.000390, loss_traj_delta: 0.000117, loss_dir: 0.072222, loss_rot: 0.001547, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000115, loss: 0.013733, | best_loss: 0.005880 05 Jul 2025 20:57:45 Epoch 8586/10000 | loss_data: 0.001055, loss_data_delta: 0.000280, loss_traj: 0.000532, loss_traj_delta: 0.000111, loss_dir: 0.075387, loss_rot: 0.001522, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000906, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000111, loss: 0.014349, | best_loss: 0.005880 05 Jul 2025 20:57:55 Epoch 8587/10000 | loss_data: 0.001049, loss_data_delta: 0.000282, loss_traj: 0.000462, loss_traj_delta: 0.000113, loss_dir: 0.068984, loss_rot: 0.001534, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000866, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000110, loss: 0.014015, | best_loss: 0.005880 05 Jul 2025 20:58:06 Epoch 8588/10000 | loss_data: 0.001078, loss_data_delta: 0.000288, loss_traj: 0.000567, loss_traj_delta: 0.000123, loss_dir: 0.072313, loss_rot: 0.001535, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000979, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000118, loss: 0.014805, | best_loss: 0.005880 05 Jul 2025 20:58:16 Epoch 8589/10000 | loss_data: 0.001057, loss_data_delta: 0.000289, loss_traj: 0.000535, loss_traj_delta: 0.000119, loss_dir: 0.073731, loss_rot: 0.001506, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000945, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000117, loss: 0.014426, | best_loss: 0.005880 05 Jul 2025 20:58:27 Epoch 8590/10000 | loss_data: 0.001049, loss_data_delta: 0.000283, loss_traj: 0.000413, loss_traj_delta: 0.000113, loss_dir: 0.085743, loss_rot: 0.001548, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000112, loss: 0.013819, | best_loss: 0.005880 05 Jul 2025 20:58:37 Epoch 8591/10000 | loss_data: 0.001002, loss_data_delta: 0.000284, loss_traj: 0.000383, loss_traj_delta: 0.000112, loss_dir: 0.064879, loss_rot: 0.001475, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000112, loss: 0.013224, | best_loss: 0.005880 05 Jul 2025 20:58:47 Epoch 8592/10000 | loss_data: 0.000967, loss_data_delta: 0.000283, loss_traj: 0.000352, loss_traj_delta: 0.000113, loss_dir: 0.071272, loss_rot: 0.001423, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000112, loss: 0.012728, | best_loss: 0.005880 05 Jul 2025 20:58:57 Epoch 8593/10000 | loss_data: 0.001032, loss_data_delta: 0.000284, loss_traj: 0.000438, loss_traj_delta: 0.000115, loss_dir: 0.075069, loss_rot: 0.001505, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000112, loss: 0.013741, | best_loss: 0.005880 05 Jul 2025 20:59:08 Epoch 8594/10000 | loss_data: 0.001038, loss_data_delta: 0.000281, loss_traj: 0.000545, loss_traj_delta: 0.000113, loss_dir: 0.088277, loss_rot: 0.001466, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000936, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000112, loss: 0.014157, | best_loss: 0.005880 05 Jul 2025 20:59:18 Epoch 8595/10000 | loss_data: 0.001045, loss_data_delta: 0.000291, loss_traj: 0.000406, loss_traj_delta: 0.000116, loss_dir: 0.056941, loss_rot: 0.001536, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000114, loss: 0.013763, | best_loss: 0.005880 05 Jul 2025 20:59:28 Epoch 8596/10000 | loss_data: 0.000985, loss_data_delta: 0.000284, loss_traj: 0.000344, loss_traj_delta: 0.000113, loss_dir: 0.078459, loss_rot: 0.001461, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000111, loss: 0.012890, | best_loss: 0.005880 05 Jul 2025 20:59:38 Epoch 8597/10000 | loss_data: 0.001008, loss_data_delta: 0.000283, loss_traj: 0.000387, loss_traj_delta: 0.000112, loss_dir: 0.077169, loss_rot: 0.001481, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000110, loss: 0.013255, | best_loss: 0.005880 05 Jul 2025 20:59:49 Epoch 8598/10000 | loss_data: 0.001041, loss_data_delta: 0.000289, loss_traj: 0.000423, loss_traj_delta: 0.000117, loss_dir: 0.071541, loss_rot: 0.001523, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000840, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000114, loss: 0.013799, | best_loss: 0.005880 05 Jul 2025 20:59:59 Epoch 8599/10000 | loss_data: 0.001027, loss_data_delta: 0.000283, loss_traj: 0.000366, loss_traj_delta: 0.000111, loss_dir: 0.068511, loss_rot: 0.001528, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000110, loss: 0.013389, | best_loss: 0.005880 05 Jul 2025 21:00:09 Epoch 8600/10000 | loss_data: 0.001010, loss_data_delta: 0.000285, loss_traj: 0.000354, loss_traj_delta: 0.000116, loss_dir: 0.059663, loss_rot: 0.001502, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000113, loss: 0.013216, | best_loss: 0.005880 05 Jul 2025 21:00:19 Epoch 8601/10000 | loss_data: 0.001019, loss_data_delta: 0.000285, loss_traj: 0.000359, loss_traj_delta: 0.000115, loss_dir: 0.079231, loss_rot: 0.001512, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000112, loss: 0.013293, | best_loss: 0.005880 05 Jul 2025 21:00:29 Epoch 8602/10000 | loss_data: 0.001035, loss_data_delta: 0.000291, loss_traj: 0.000380, loss_traj_delta: 0.000114, loss_dir: 0.066076, loss_rot: 0.001540, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000784, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000113, loss: 0.013592, | best_loss: 0.005880 05 Jul 2025 21:00:40 Epoch 8603/10000 | loss_data: 0.000993, loss_data_delta: 0.000279, loss_traj: 0.000355, loss_traj_delta: 0.000110, loss_dir: 0.063619, loss_rot: 0.001474, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000110, loss: 0.012992, | best_loss: 0.005880 05 Jul 2025 21:00:50 Epoch 8604/10000 | loss_data: 0.001046, loss_data_delta: 0.000288, loss_traj: 0.000413, loss_traj_delta: 0.000111, loss_dir: 0.066774, loss_rot: 0.001531, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000836, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000111, loss: 0.013746, | best_loss: 0.005880 05 Jul 2025 21:01:00 Epoch 8605/10000 | loss_data: 0.001007, loss_data_delta: 0.000286, loss_traj: 0.000358, loss_traj_delta: 0.000113, loss_dir: 0.059736, loss_rot: 0.001486, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000112, loss: 0.013146, | best_loss: 0.005880 05 Jul 2025 21:01:11 Epoch 8606/10000 | loss_data: 0.000961, loss_data_delta: 0.000280, loss_traj: 0.000322, loss_traj_delta: 0.000107, loss_dir: 0.076828, loss_rot: 0.001426, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000709, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000108, loss: 0.012488, | best_loss: 0.005880 05 Jul 2025 21:01:21 Epoch 8607/10000 | loss_data: 0.001061, loss_data_delta: 0.000286, loss_traj: 0.000486, loss_traj_delta: 0.000116, loss_dir: 0.071256, loss_rot: 0.001538, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000899, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000112, loss: 0.014227, | best_loss: 0.005880 05 Jul 2025 21:01:31 Epoch 8608/10000 | loss_data: 0.001037, loss_data_delta: 0.000288, loss_traj: 0.000387, loss_traj_delta: 0.000116, loss_dir: 0.082358, loss_rot: 0.001534, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000112, loss: 0.013608, | best_loss: 0.005880 05 Jul 2025 21:01:42 Epoch 8609/10000 | loss_data: 0.001021, loss_data_delta: 0.000285, loss_traj: 0.000411, loss_traj_delta: 0.000115, loss_dir: 0.057502, loss_rot: 0.001495, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000112, loss: 0.013519, | best_loss: 0.005880 05 Jul 2025 21:01:52 Epoch 8610/10000 | loss_data: 0.001039, loss_data_delta: 0.000287, loss_traj: 0.000474, loss_traj_delta: 0.000117, loss_dir: 0.068306, loss_rot: 0.001495, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000885, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000115, loss: 0.013960, | best_loss: 0.005880 05 Jul 2025 21:02:02 Epoch 8611/10000 | loss_data: 0.001061, loss_data_delta: 0.000292, loss_traj: 0.000407, loss_traj_delta: 0.000118, loss_dir: 0.071202, loss_rot: 0.001567, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000115, loss: 0.013958, | best_loss: 0.005880 05 Jul 2025 21:02:13 Epoch 8612/10000 | loss_data: 0.000998, loss_data_delta: 0.000285, loss_traj: 0.000357, loss_traj_delta: 0.000113, loss_dir: 0.086174, loss_rot: 0.001478, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000111, loss: 0.013069, | best_loss: 0.005880 05 Jul 2025 21:02:23 Epoch 8613/10000 | loss_data: 0.000988, loss_data_delta: 0.000282, loss_traj: 0.000345, loss_traj_delta: 0.000110, loss_dir: 0.070185, loss_rot: 0.001478, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000731, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000108, loss: 0.012929, | best_loss: 0.005880 05 Jul 2025 21:02:33 Epoch 8614/10000 | loss_data: 0.001024, loss_data_delta: 0.000285, loss_traj: 0.000423, loss_traj_delta: 0.000120, loss_dir: 0.068358, loss_rot: 0.001489, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000115, loss: 0.013618, | best_loss: 0.005880 05 Jul 2025 21:02:43 Epoch 8615/10000 | loss_data: 0.000994, loss_data_delta: 0.000276, loss_traj: 0.000387, loss_traj_delta: 0.000107, loss_dir: 0.064104, loss_rot: 0.001460, loss_rot_delta: 0.000423, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000107, loss: 0.013061, | best_loss: 0.005880 05 Jul 2025 21:02:53 Epoch 8616/10000 | loss_data: 0.001035, loss_data_delta: 0.000285, loss_traj: 0.000406, loss_traj_delta: 0.000115, loss_dir: 0.056326, loss_rot: 0.001529, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000113, loss: 0.013685, | best_loss: 0.005880 05 Jul 2025 21:03:03 Epoch 8617/10000 | loss_data: 0.001015, loss_data_delta: 0.000285, loss_traj: 0.000378, loss_traj_delta: 0.000116, loss_dir: 0.058131, loss_rot: 0.001488, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000113, loss: 0.013301, | best_loss: 0.005880 05 Jul 2025 21:03:14 Epoch 8618/10000 | loss_data: 0.001049, loss_data_delta: 0.000283, loss_traj: 0.000485, loss_traj_delta: 0.000118, loss_dir: 0.074944, loss_rot: 0.001513, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000905, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000114, loss: 0.014110, | best_loss: 0.005880 05 Jul 2025 21:03:24 Epoch 8619/10000 | loss_data: 0.000989, loss_data_delta: 0.000284, loss_traj: 0.000345, loss_traj_delta: 0.000111, loss_dir: 0.051725, loss_rot: 0.001461, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000110, loss: 0.012884, | best_loss: 0.005880 05 Jul 2025 21:03:34 Epoch 8620/10000 | loss_data: 0.001008, loss_data_delta: 0.000282, loss_traj: 0.000453, loss_traj_delta: 0.000114, loss_dir: 0.052890, loss_rot: 0.001458, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000840, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000113, loss: 0.013559, | best_loss: 0.005880 05 Jul 2025 21:03:45 Epoch 8621/10000 | loss_data: 0.001002, loss_data_delta: 0.000279, loss_traj: 0.000408, loss_traj_delta: 0.000111, loss_dir: 0.075515, loss_rot: 0.001470, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000109, loss: 0.013285, | best_loss: 0.005880 05 Jul 2025 21:03:55 Epoch 8622/10000 | loss_data: 0.001042, loss_data_delta: 0.000284, loss_traj: 0.000422, loss_traj_delta: 0.000114, loss_dir: 0.063770, loss_rot: 0.001527, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000112, loss: 0.013755, | best_loss: 0.005880 05 Jul 2025 21:04:05 Epoch 8623/10000 | loss_data: 0.001014, loss_data_delta: 0.000284, loss_traj: 0.000383, loss_traj_delta: 0.000111, loss_dir: 0.058564, loss_rot: 0.001493, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000111, loss: 0.013308, | best_loss: 0.005880 05 Jul 2025 21:04:15 Epoch 8624/10000 | loss_data: 0.001057, loss_data_delta: 0.000292, loss_traj: 0.000423, loss_traj_delta: 0.000115, loss_dir: 0.053376, loss_rot: 0.001550, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000114, loss: 0.013954, | best_loss: 0.005880 05 Jul 2025 21:04:25 Epoch 8625/10000 | loss_data: 0.001035, loss_data_delta: 0.000291, loss_traj: 0.000427, loss_traj_delta: 0.000117, loss_dir: 0.059235, loss_rot: 0.001511, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000114, loss: 0.013745, | best_loss: 0.005880 05 Jul 2025 21:04:36 Epoch 8626/10000 | loss_data: 0.001030, loss_data_delta: 0.000291, loss_traj: 0.000414, loss_traj_delta: 0.000118, loss_dir: 0.070984, loss_rot: 0.001499, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000826, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000112, loss: 0.013603, | best_loss: 0.005880 05 Jul 2025 21:04:46 Epoch 8627/10000 | loss_data: 0.001038, loss_data_delta: 0.000284, loss_traj: 0.000475, loss_traj_delta: 0.000120, loss_dir: 0.072733, loss_rot: 0.001498, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000886, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.013950, | best_loss: 0.005880 05 Jul 2025 21:04:56 Epoch 8628/10000 | loss_data: 0.001009, loss_data_delta: 0.000288, loss_traj: 0.000343, loss_traj_delta: 0.000114, loss_dir: 0.074886, loss_rot: 0.001502, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000113, loss: 0.013147, | best_loss: 0.005880 05 Jul 2025 21:05:06 Epoch 8629/10000 | loss_data: 0.001035, loss_data_delta: 0.000280, loss_traj: 0.000421, loss_traj_delta: 0.000110, loss_dir: 0.066383, loss_rot: 0.001515, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000109, loss: 0.013647, | best_loss: 0.005880 05 Jul 2025 21:05:16 Epoch 8630/10000 | loss_data: 0.001014, loss_data_delta: 0.000286, loss_traj: 0.000397, loss_traj_delta: 0.000114, loss_dir: 0.056954, loss_rot: 0.001490, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000112, loss: 0.013402, | best_loss: 0.005880 05 Jul 2025 21:05:27 Epoch 8631/10000 | loss_data: 0.000986, loss_data_delta: 0.000286, loss_traj: 0.000315, loss_traj_delta: 0.000110, loss_dir: 0.070213, loss_rot: 0.001472, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000716, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000109, loss: 0.012752, | best_loss: 0.005880 05 Jul 2025 21:05:37 Epoch 8632/10000 | loss_data: 0.001020, loss_data_delta: 0.000283, loss_traj: 0.000428, loss_traj_delta: 0.000112, loss_dir: 0.062991, loss_rot: 0.001480, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000111, loss: 0.013519, | best_loss: 0.005880 05 Jul 2025 21:05:47 Epoch 8633/10000 | loss_data: 0.001030, loss_data_delta: 0.000285, loss_traj: 0.000382, loss_traj_delta: 0.000111, loss_dir: 0.072423, loss_rot: 0.001520, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000110, loss: 0.013454, | best_loss: 0.005880 05 Jul 2025 21:05:58 Epoch 8634/10000 | loss_data: 0.001010, loss_data_delta: 0.000287, loss_traj: 0.000386, loss_traj_delta: 0.000118, loss_dir: 0.042906, loss_rot: 0.001481, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000796, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000115, loss: 0.013333, | best_loss: 0.005880 05 Jul 2025 21:06:08 Epoch 8635/10000 | loss_data: 0.001083, loss_data_delta: 0.000294, loss_traj: 0.000541, loss_traj_delta: 0.000123, loss_dir: 0.060159, loss_rot: 0.001535, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000965, loss_geo_xyz_vel: 0.000206, loss_foot_contact: 0.000118, loss: 0.014678, | best_loss: 0.005880 05 Jul 2025 21:06:18 Epoch 8636/10000 | loss_data: 0.001025, loss_data_delta: 0.000292, loss_traj: 0.000352, loss_traj_delta: 0.000116, loss_dir: 0.076537, loss_rot: 0.001521, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000775, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000112, loss: 0.013341, | best_loss: 0.005880 05 Jul 2025 21:06:28 Epoch 8637/10000 | loss_data: 0.001046, loss_data_delta: 0.000292, loss_traj: 0.000371, loss_traj_delta: 0.000116, loss_dir: 0.073333, loss_rot: 0.001549, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.013618, | best_loss: 0.005880 05 Jul 2025 21:06:39 Epoch 8638/10000 | loss_data: 0.001019, loss_data_delta: 0.000291, loss_traj: 0.000381, loss_traj_delta: 0.000118, loss_dir: 0.070727, loss_rot: 0.001501, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.013406, | best_loss: 0.005880 05 Jul 2025 21:06:49 Epoch 8639/10000 | loss_data: 0.001059, loss_data_delta: 0.000288, loss_traj: 0.000402, loss_traj_delta: 0.000119, loss_dir: 0.080340, loss_rot: 0.001569, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000114, loss: 0.013916, | best_loss: 0.005880 05 Jul 2025 21:07:00 Epoch 8640/10000 | loss_data: 0.001048, loss_data_delta: 0.000284, loss_traj: 0.000432, loss_traj_delta: 0.000113, loss_dir: 0.073350, loss_rot: 0.001538, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000845, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000109, loss: 0.013861, | best_loss: 0.005880 05 Jul 2025 21:07:10 Epoch 8641/10000 | loss_data: 0.001063, loss_data_delta: 0.000288, loss_traj: 0.000481, loss_traj_delta: 0.000122, loss_dir: 0.076961, loss_rot: 0.001538, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000901, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000116, loss: 0.014269, | best_loss: 0.005880 05 Jul 2025 21:07:20 Epoch 8642/10000 | loss_data: 0.001036, loss_data_delta: 0.000289, loss_traj: 0.000451, loss_traj_delta: 0.000120, loss_dir: 0.059804, loss_rot: 0.001502, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000859, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000116, loss: 0.013875, | best_loss: 0.005880 05 Jul 2025 21:07:30 Epoch 8643/10000 | loss_data: 0.001031, loss_data_delta: 0.000288, loss_traj: 0.000339, loss_traj_delta: 0.000114, loss_dir: 0.072485, loss_rot: 0.001539, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000111, loss: 0.013328, | best_loss: 0.005880 05 Jul 2025 21:07:41 Epoch 8644/10000 | loss_data: 0.001045, loss_data_delta: 0.000294, loss_traj: 0.000425, loss_traj_delta: 0.000115, loss_dir: 0.070368, loss_rot: 0.001520, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000838, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.013794, | best_loss: 0.005880 05 Jul 2025 21:07:51 Epoch 8645/10000 | loss_data: 0.001056, loss_data_delta: 0.000292, loss_traj: 0.000428, loss_traj_delta: 0.000120, loss_dir: 0.067763, loss_rot: 0.001546, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000115, loss: 0.013979, | best_loss: 0.005880 05 Jul 2025 21:08:02 Epoch 8646/10000 | loss_data: 0.001021, loss_data_delta: 0.000291, loss_traj: 0.000365, loss_traj_delta: 0.000114, loss_dir: 0.058905, loss_rot: 0.001508, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000110, loss: 0.013320, | best_loss: 0.005880 05 Jul 2025 21:08:11 Epoch 8647/10000 | loss_data: 0.001029, loss_data_delta: 0.000283, loss_traj: 0.000434, loss_traj_delta: 0.000113, loss_dir: 0.061029, loss_rot: 0.001496, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000844, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000110, loss: 0.013645, | best_loss: 0.005880 05 Jul 2025 21:08:22 Epoch 8648/10000 | loss_data: 0.001042, loss_data_delta: 0.000292, loss_traj: 0.000453, loss_traj_delta: 0.000119, loss_dir: 0.062657, loss_rot: 0.001506, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000864, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000114, loss: 0.013898, | best_loss: 0.005880 05 Jul 2025 21:08:32 Epoch 8649/10000 | loss_data: 0.001001, loss_data_delta: 0.000285, loss_traj: 0.000361, loss_traj_delta: 0.000114, loss_dir: 0.072217, loss_rot: 0.001475, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000112, loss: 0.013100, | best_loss: 0.005880 05 Jul 2025 21:08:43 Epoch 8650/10000 | loss_data: 0.001029, loss_data_delta: 0.000290, loss_traj: 0.000379, loss_traj_delta: 0.000119, loss_dir: 0.072560, loss_rot: 0.001520, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000114, loss: 0.013496, | best_loss: 0.005880 05 Jul 2025 21:08:53 Epoch 8651/10000 | loss_data: 0.000975, loss_data_delta: 0.000285, loss_traj: 0.000331, loss_traj_delta: 0.000113, loss_dir: 0.065431, loss_rot: 0.001445, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000109, loss: 0.012698, | best_loss: 0.005880 05 Jul 2025 21:09:04 Epoch 8652/10000 | loss_data: 0.001031, loss_data_delta: 0.000287, loss_traj: 0.000382, loss_traj_delta: 0.000112, loss_dir: 0.053411, loss_rot: 0.001522, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000109, loss: 0.013479, | best_loss: 0.005880 05 Jul 2025 21:09:15 Epoch 8653/10000 | loss_data: 0.001035, loss_data_delta: 0.000283, loss_traj: 0.000440, loss_traj_delta: 0.000116, loss_dir: 0.079900, loss_rot: 0.001507, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000111, loss: 0.013750, | best_loss: 0.005880 05 Jul 2025 21:09:24 Epoch 8654/10000 | loss_data: 0.000995, loss_data_delta: 0.000289, loss_traj: 0.000361, loss_traj_delta: 0.000114, loss_dir: 0.067646, loss_rot: 0.001470, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.013064, | best_loss: 0.005880 05 Jul 2025 21:09:35 Epoch 8655/10000 | loss_data: 0.001054, loss_data_delta: 0.000290, loss_traj: 0.000465, loss_traj_delta: 0.000116, loss_dir: 0.081775, loss_rot: 0.001532, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000876, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000113, loss: 0.014093, | best_loss: 0.005880 05 Jul 2025 21:09:45 Epoch 8656/10000 | loss_data: 0.001030, loss_data_delta: 0.000290, loss_traj: 0.000386, loss_traj_delta: 0.000111, loss_dir: 0.081613, loss_rot: 0.001520, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000110, loss: 0.013483, | best_loss: 0.005880 05 Jul 2025 21:09:56 Epoch 8657/10000 | loss_data: 0.000985, loss_data_delta: 0.000278, loss_traj: 0.000395, loss_traj_delta: 0.000112, loss_dir: 0.071023, loss_rot: 0.001442, loss_rot_delta: 0.000423, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000109, loss: 0.013047, | best_loss: 0.005880 05 Jul 2025 21:10:06 Epoch 8658/10000 | loss_data: 0.001023, loss_data_delta: 0.000286, loss_traj: 0.000389, loss_traj_delta: 0.000118, loss_dir: 0.072489, loss_rot: 0.001502, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000114, loss: 0.013456, | best_loss: 0.005880 05 Jul 2025 21:10:17 Epoch 8659/10000 | loss_data: 0.001035, loss_data_delta: 0.000292, loss_traj: 0.000393, loss_traj_delta: 0.000119, loss_dir: 0.083392, loss_rot: 0.001518, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000113, loss: 0.013589, | best_loss: 0.005880 05 Jul 2025 21:10:27 Epoch 8660/10000 | loss_data: 0.001044, loss_data_delta: 0.000286, loss_traj: 0.000385, loss_traj_delta: 0.000115, loss_dir: 0.078629, loss_rot: 0.001545, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000796, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000112, loss: 0.013643, | best_loss: 0.005880 05 Jul 2025 21:10:38 Epoch 8661/10000 | loss_data: 0.001034, loss_data_delta: 0.000288, loss_traj: 0.000496, loss_traj_delta: 0.000120, loss_dir: 0.078274, loss_rot: 0.001481, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000892, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000114, loss: 0.013994, | best_loss: 0.005880 05 Jul 2025 21:10:49 Epoch 8662/10000 | loss_data: 0.001049, loss_data_delta: 0.000293, loss_traj: 0.000416, loss_traj_delta: 0.000122, loss_dir: 0.069204, loss_rot: 0.001537, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000205, loss_foot_contact: 0.000117, loss: 0.013877, | best_loss: 0.005880 05 Jul 2025 21:10:59 Epoch 8663/10000 | loss_data: 0.001052, loss_data_delta: 0.000295, loss_traj: 0.000403, loss_traj_delta: 0.000121, loss_dir: 0.060954, loss_rot: 0.001549, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000115, loss: 0.013849, | best_loss: 0.005880 05 Jul 2025 21:11:09 Epoch 8664/10000 | loss_data: 0.001011, loss_data_delta: 0.000282, loss_traj: 0.000378, loss_traj_delta: 0.000113, loss_dir: 0.070484, loss_rot: 0.001492, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000109, loss: 0.013251, | best_loss: 0.005880 05 Jul 2025 21:11:19 Epoch 8665/10000 | loss_data: 0.001014, loss_data_delta: 0.000282, loss_traj: 0.000394, loss_traj_delta: 0.000111, loss_dir: 0.073709, loss_rot: 0.001494, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000108, loss: 0.013346, | best_loss: 0.005880 05 Jul 2025 21:11:29 Epoch 8666/10000 | loss_data: 0.000988, loss_data_delta: 0.000281, loss_traj: 0.000397, loss_traj_delta: 0.000114, loss_dir: 0.058468, loss_rot: 0.001443, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000110, loss: 0.013092, | best_loss: 0.005880 05 Jul 2025 21:11:39 Epoch 8667/10000 | loss_data: 0.001056, loss_data_delta: 0.000296, loss_traj: 0.000393, loss_traj_delta: 0.000124, loss_dir: 0.055515, loss_rot: 0.001561, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000207, loss_foot_contact: 0.000118, loss: 0.013892, | best_loss: 0.005880 05 Jul 2025 21:11:50 Epoch 8668/10000 | loss_data: 0.001051, loss_data_delta: 0.000288, loss_traj: 0.000411, loss_traj_delta: 0.000114, loss_dir: 0.067214, loss_rot: 0.001543, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000827, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.013799, | best_loss: 0.005880 05 Jul 2025 21:12:00 Epoch 8669/10000 | loss_data: 0.001036, loss_data_delta: 0.000286, loss_traj: 0.000381, loss_traj_delta: 0.000113, loss_dir: 0.069540, loss_rot: 0.001530, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000109, loss: 0.013504, | best_loss: 0.005880 05 Jul 2025 21:12:11 Epoch 8670/10000 | loss_data: 0.001052, loss_data_delta: 0.000292, loss_traj: 0.000425, loss_traj_delta: 0.000118, loss_dir: 0.067620, loss_rot: 0.001542, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000844, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.013911, | best_loss: 0.005880 05 Jul 2025 21:12:22 Epoch 8671/10000 | loss_data: 0.001010, loss_data_delta: 0.000286, loss_traj: 0.000378, loss_traj_delta: 0.000118, loss_dir: 0.066942, loss_rot: 0.001487, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000115, loss: 0.013305, | best_loss: 0.005880 05 Jul 2025 21:12:32 Epoch 8672/10000 | loss_data: 0.001009, loss_data_delta: 0.000288, loss_traj: 0.000395, loss_traj_delta: 0.000117, loss_dir: 0.057122, loss_rot: 0.001475, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000111, loss: 0.013313, | best_loss: 0.005880 05 Jul 2025 21:12:43 Epoch 8673/10000 | loss_data: 0.001082, loss_data_delta: 0.000292, loss_traj: 0.000497, loss_traj_delta: 0.000120, loss_dir: 0.066522, loss_rot: 0.001557, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000928, loss_geo_xyz_vel: 0.000204, loss_foot_contact: 0.000116, loss: 0.014496, | best_loss: 0.005880 05 Jul 2025 21:12:53 Epoch 8674/10000 | loss_data: 0.001019, loss_data_delta: 0.000288, loss_traj: 0.000360, loss_traj_delta: 0.000115, loss_dir: 0.058347, loss_rot: 0.001512, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000111, loss: 0.013301, | best_loss: 0.005880 05 Jul 2025 21:13:03 Epoch 8675/10000 | loss_data: 0.000992, loss_data_delta: 0.000285, loss_traj: 0.000324, loss_traj_delta: 0.000113, loss_dir: 0.068228, loss_rot: 0.001478, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000722, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000109, loss: 0.012846, | best_loss: 0.005880 05 Jul 2025 21:13:14 Epoch 8676/10000 | loss_data: 0.001033, loss_data_delta: 0.000291, loss_traj: 0.000398, loss_traj_delta: 0.000116, loss_dir: 0.060600, loss_rot: 0.001512, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000113, loss: 0.013573, | best_loss: 0.005880 05 Jul 2025 21:13:24 Epoch 8677/10000 | loss_data: 0.001009, loss_data_delta: 0.000282, loss_traj: 0.000383, loss_traj_delta: 0.000111, loss_dir: 0.065536, loss_rot: 0.001487, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000784, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000110, loss: 0.013252, | best_loss: 0.005880 05 Jul 2025 21:13:34 Epoch 8678/10000 | loss_data: 0.001037, loss_data_delta: 0.000287, loss_traj: 0.000432, loss_traj_delta: 0.000113, loss_dir: 0.070896, loss_rot: 0.001513, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000843, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000110, loss: 0.013740, | best_loss: 0.005880 05 Jul 2025 21:13:44 Epoch 8679/10000 | loss_data: 0.000988, loss_data_delta: 0.000283, loss_traj: 0.000340, loss_traj_delta: 0.000115, loss_dir: 0.073187, loss_rot: 0.001465, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000111, loss: 0.012883, | best_loss: 0.005880 05 Jul 2025 21:13:55 Epoch 8680/10000 | loss_data: 0.001050, loss_data_delta: 0.000288, loss_traj: 0.000462, loss_traj_delta: 0.000118, loss_dir: 0.059374, loss_rot: 0.001519, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000884, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.014011, | best_loss: 0.005880 05 Jul 2025 21:14:05 Epoch 8681/10000 | loss_data: 0.001013, loss_data_delta: 0.000285, loss_traj: 0.000387, loss_traj_delta: 0.000115, loss_dir: 0.064072, loss_rot: 0.001488, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000111, loss: 0.013318, | best_loss: 0.005880 05 Jul 2025 21:14:16 Epoch 8682/10000 | loss_data: 0.000988, loss_data_delta: 0.000285, loss_traj: 0.000335, loss_traj_delta: 0.000114, loss_dir: 0.068479, loss_rot: 0.001459, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.012817, | best_loss: 0.005880 05 Jul 2025 21:14:25 Epoch 8683/10000 | loss_data: 0.001015, loss_data_delta: 0.000281, loss_traj: 0.000448, loss_traj_delta: 0.000114, loss_dir: 0.060243, loss_rot: 0.001469, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000858, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000111, loss: 0.013584, | best_loss: 0.005880 05 Jul 2025 21:14:36 Epoch 8684/10000 | loss_data: 0.001023, loss_data_delta: 0.000283, loss_traj: 0.000403, loss_traj_delta: 0.000112, loss_dir: 0.062800, loss_rot: 0.001499, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000109, loss: 0.013456, | best_loss: 0.005880 05 Jul 2025 21:14:46 Epoch 8685/10000 | loss_data: 0.001049, loss_data_delta: 0.000287, loss_traj: 0.000460, loss_traj_delta: 0.000117, loss_dir: 0.075319, loss_rot: 0.001528, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000864, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000112, loss: 0.014008, | best_loss: 0.005880 05 Jul 2025 21:14:56 Epoch 8686/10000 | loss_data: 0.001042, loss_data_delta: 0.000296, loss_traj: 0.000403, loss_traj_delta: 0.000120, loss_dir: 0.072277, loss_rot: 0.001520, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000204, loss_foot_contact: 0.000114, loss: 0.013691, | best_loss: 0.005880 05 Jul 2025 21:15:07 Epoch 8687/10000 | loss_data: 0.001047, loss_data_delta: 0.000286, loss_traj: 0.000445, loss_traj_delta: 0.000113, loss_dir: 0.070772, loss_rot: 0.001521, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000860, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000110, loss: 0.013863, | best_loss: 0.005880 05 Jul 2025 21:15:17 Epoch 8688/10000 | loss_data: 0.001035, loss_data_delta: 0.000295, loss_traj: 0.000382, loss_traj_delta: 0.000115, loss_dir: 0.075066, loss_rot: 0.001528, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000110, loss: 0.013543, | best_loss: 0.005880 05 Jul 2025 21:15:27 Epoch 8689/10000 | loss_data: 0.001091, loss_data_delta: 0.000300, loss_traj: 0.000500, loss_traj_delta: 0.000121, loss_dir: 0.056230, loss_rot: 0.001578, loss_rot_delta: 0.000459, loss_geo_xyz: 0.000915, loss_geo_xyz_vel: 0.000205, loss_foot_contact: 0.000114, loss: 0.014617, | best_loss: 0.005880 05 Jul 2025 21:15:38 Epoch 8690/10000 | loss_data: 0.001024, loss_data_delta: 0.000283, loss_traj: 0.000383, loss_traj_delta: 0.000114, loss_dir: 0.055156, loss_rot: 0.001511, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000111, loss: 0.013411, | best_loss: 0.005880 05 Jul 2025 21:15:48 Epoch 8691/10000 | loss_data: 0.001054, loss_data_delta: 0.000284, loss_traj: 0.000503, loss_traj_delta: 0.000117, loss_dir: 0.056516, loss_rot: 0.001512, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000913, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000112, loss: 0.014194, | best_loss: 0.005880 05 Jul 2025 21:15:59 Epoch 8692/10000 | loss_data: 0.001021, loss_data_delta: 0.000284, loss_traj: 0.000427, loss_traj_delta: 0.000112, loss_dir: 0.067895, loss_rot: 0.001483, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000831, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000109, loss: 0.013512, | best_loss: 0.005880 05 Jul 2025 21:16:10 Epoch 8693/10000 | loss_data: 0.001026, loss_data_delta: 0.000285, loss_traj: 0.000408, loss_traj_delta: 0.000116, loss_dir: 0.072601, loss_rot: 0.001506, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.013548, | best_loss: 0.005880 05 Jul 2025 21:16:21 Epoch 8694/10000 | loss_data: 0.001025, loss_data_delta: 0.000280, loss_traj: 0.000389, loss_traj_delta: 0.000108, loss_dir: 0.069984, loss_rot: 0.001508, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000107, loss: 0.013396, | best_loss: 0.005880 05 Jul 2025 21:16:31 Epoch 8695/10000 | loss_data: 0.001019, loss_data_delta: 0.000287, loss_traj: 0.000417, loss_traj_delta: 0.000113, loss_dir: 0.058220, loss_rot: 0.001487, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000111, loss: 0.013502, | best_loss: 0.005880 05 Jul 2025 21:16:41 Epoch 8696/10000 | loss_data: 0.000991, loss_data_delta: 0.000283, loss_traj: 0.000342, loss_traj_delta: 0.000111, loss_dir: 0.061458, loss_rot: 0.001467, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.012881, | best_loss: 0.005880 05 Jul 2025 21:16:52 Epoch 8697/10000 | loss_data: 0.000969, loss_data_delta: 0.000279, loss_traj: 0.000343, loss_traj_delta: 0.000110, loss_dir: 0.076013, loss_rot: 0.001429, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000734, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000107, loss: 0.012638, | best_loss: 0.005880 05 Jul 2025 21:17:02 Epoch 8698/10000 | loss_data: 0.001092, loss_data_delta: 0.000287, loss_traj: 0.000490, loss_traj_delta: 0.000118, loss_dir: 0.077166, loss_rot: 0.001586, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000916, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000112, loss: 0.014546, | best_loss: 0.005880 05 Jul 2025 21:17:12 Epoch 8699/10000 | loss_data: 0.001032, loss_data_delta: 0.000288, loss_traj: 0.000400, loss_traj_delta: 0.000114, loss_dir: 0.068866, loss_rot: 0.001520, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000110, loss: 0.013570, | best_loss: 0.005880 05 Jul 2025 21:17:23 Epoch 8700/10000 | loss_data: 0.001031, loss_data_delta: 0.000293, loss_traj: 0.000374, loss_traj_delta: 0.000115, loss_dir: 0.066521, loss_rot: 0.001519, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000112, loss: 0.013452, | best_loss: 0.005880 05 Jul 2025 21:17:34 Epoch 8701/10000 | loss_data: 0.001013, loss_data_delta: 0.000289, loss_traj: 0.000409, loss_traj_delta: 0.000112, loss_dir: 0.056052, loss_rot: 0.001477, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000110, loss: 0.013387, | best_loss: 0.005880 05 Jul 2025 21:17:44 Epoch 8702/10000 | loss_data: 0.001051, loss_data_delta: 0.000292, loss_traj: 0.000396, loss_traj_delta: 0.000115, loss_dir: 0.087506, loss_rot: 0.001543, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000112, loss: 0.013746, | best_loss: 0.005880 05 Jul 2025 21:17:54 Epoch 8703/10000 | loss_data: 0.001029, loss_data_delta: 0.000287, loss_traj: 0.000387, loss_traj_delta: 0.000112, loss_dir: 0.070406, loss_rot: 0.001519, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000801, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000109, loss: 0.013483, | best_loss: 0.005880 05 Jul 2025 21:18:04 Epoch 8704/10000 | loss_data: 0.001035, loss_data_delta: 0.000290, loss_traj: 0.000366, loss_traj_delta: 0.000119, loss_dir: 0.061998, loss_rot: 0.001533, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000113, loss: 0.013498, | best_loss: 0.005880 05 Jul 2025 21:18:15 Epoch 8705/10000 | loss_data: 0.001029, loss_data_delta: 0.000285, loss_traj: 0.000438, loss_traj_delta: 0.000114, loss_dir: 0.059021, loss_rot: 0.001493, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000110, loss: 0.013660, | best_loss: 0.005880 05 Jul 2025 21:18:25 Epoch 8706/10000 | loss_data: 0.001013, loss_data_delta: 0.000284, loss_traj: 0.000381, loss_traj_delta: 0.000115, loss_dir: 0.076827, loss_rot: 0.001491, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000111, loss: 0.013300, | best_loss: 0.005880 05 Jul 2025 21:18:35 Epoch 8707/10000 | loss_data: 0.001089, loss_data_delta: 0.000295, loss_traj: 0.000475, loss_traj_delta: 0.000123, loss_dir: 0.078506, loss_rot: 0.001579, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000904, loss_geo_xyz_vel: 0.000207, loss_foot_contact: 0.000115, loss: 0.014488, | best_loss: 0.005880 05 Jul 2025 21:18:45 Epoch 8708/10000 | loss_data: 0.001037, loss_data_delta: 0.000293, loss_traj: 0.000366, loss_traj_delta: 0.000116, loss_dir: 0.066721, loss_rot: 0.001530, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000111, loss: 0.013472, | best_loss: 0.005880 05 Jul 2025 21:18:56 Epoch 8709/10000 | loss_data: 0.001036, loss_data_delta: 0.000293, loss_traj: 0.000382, loss_traj_delta: 0.000118, loss_dir: 0.066464, loss_rot: 0.001525, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000796, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000113, loss: 0.013560, | best_loss: 0.005880 05 Jul 2025 21:19:06 Epoch 8710/10000 | loss_data: 0.000985, loss_data_delta: 0.000286, loss_traj: 0.000323, loss_traj_delta: 0.000110, loss_dir: 0.083997, loss_rot: 0.001468, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000714, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000108, loss: 0.012761, | best_loss: 0.005880 05 Jul 2025 21:19:17 Epoch 8711/10000 | loss_data: 0.001058, loss_data_delta: 0.000291, loss_traj: 0.000516, loss_traj_delta: 0.000117, loss_dir: 0.076260, loss_rot: 0.001512, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000917, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000111, loss: 0.014276, | best_loss: 0.005880 05 Jul 2025 21:19:27 Epoch 8712/10000 | loss_data: 0.001026, loss_data_delta: 0.000283, loss_traj: 0.000363, loss_traj_delta: 0.000110, loss_dir: 0.064548, loss_rot: 0.001530, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000108, loss: 0.013353, | best_loss: 0.005880 05 Jul 2025 21:19:38 Epoch 8713/10000 | loss_data: 0.001064, loss_data_delta: 0.000290, loss_traj: 0.000420, loss_traj_delta: 0.000117, loss_dir: 0.084811, loss_rot: 0.001561, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000851, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000112, loss: 0.013993, | best_loss: 0.005880 05 Jul 2025 21:19:48 Epoch 8714/10000 | loss_data: 0.001002, loss_data_delta: 0.000285, loss_traj: 0.000374, loss_traj_delta: 0.000116, loss_dir: 0.064761, loss_rot: 0.001479, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000110, loss: 0.013177, | best_loss: 0.005880 05 Jul 2025 21:19:58 Epoch 8715/10000 | loss_data: 0.001013, loss_data_delta: 0.000283, loss_traj: 0.000436, loss_traj_delta: 0.000111, loss_dir: 0.065134, loss_rot: 0.001467, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013446, | best_loss: 0.005880 05 Jul 2025 21:20:09 Epoch 8716/10000 | loss_data: 0.000993, loss_data_delta: 0.000281, loss_traj: 0.000350, loss_traj_delta: 0.000108, loss_dir: 0.070299, loss_rot: 0.001470, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000107, loss: 0.012923, | best_loss: 0.005880 05 Jul 2025 21:20:19 Epoch 8717/10000 | loss_data: 0.001037, loss_data_delta: 0.000292, loss_traj: 0.000387, loss_traj_delta: 0.000119, loss_dir: 0.066901, loss_rot: 0.001521, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000113, loss: 0.013567, | best_loss: 0.005880 05 Jul 2025 21:20:30 Epoch 8718/10000 | loss_data: 0.001012, loss_data_delta: 0.000286, loss_traj: 0.000465, loss_traj_delta: 0.000118, loss_dir: 0.068560, loss_rot: 0.001450, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000861, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000113, loss: 0.013609, | best_loss: 0.005880 05 Jul 2025 21:20:40 Epoch 8719/10000 | loss_data: 0.001005, loss_data_delta: 0.000288, loss_traj: 0.000361, loss_traj_delta: 0.000114, loss_dir: 0.062993, loss_rot: 0.001480, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000111, loss: 0.013122, | best_loss: 0.005880 05 Jul 2025 21:20:51 Epoch 8720/10000 | loss_data: 0.001054, loss_data_delta: 0.000287, loss_traj: 0.000427, loss_traj_delta: 0.000113, loss_dir: 0.050479, loss_rot: 0.001544, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000838, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000109, loss: 0.013870, | best_loss: 0.005880 05 Jul 2025 21:21:01 Epoch 8721/10000 | loss_data: 0.000995, loss_data_delta: 0.000284, loss_traj: 0.000346, loss_traj_delta: 0.000111, loss_dir: 0.071350, loss_rot: 0.001471, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000109, loss: 0.012933, | best_loss: 0.005880 05 Jul 2025 21:21:11 Epoch 8722/10000 | loss_data: 0.001039, loss_data_delta: 0.000292, loss_traj: 0.000371, loss_traj_delta: 0.000116, loss_dir: 0.065899, loss_rot: 0.001535, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000111, loss: 0.013527, | best_loss: 0.005880 05 Jul 2025 21:21:21 Epoch 8723/10000 | loss_data: 0.001005, loss_data_delta: 0.000279, loss_traj: 0.000398, loss_traj_delta: 0.000109, loss_dir: 0.065114, loss_rot: 0.001469, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000108, loss: 0.013223, | best_loss: 0.005880 05 Jul 2025 21:21:31 Epoch 8724/10000 | loss_data: 0.001012, loss_data_delta: 0.000284, loss_traj: 0.000356, loss_traj_delta: 0.000112, loss_dir: 0.059697, loss_rot: 0.001503, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000109, loss: 0.013180, | best_loss: 0.005880 05 Jul 2025 21:21:42 Epoch 8725/10000 | loss_data: 0.000984, loss_data_delta: 0.000289, loss_traj: 0.000342, loss_traj_delta: 0.000112, loss_dir: 0.061162, loss_rot: 0.001456, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000110, loss: 0.012848, | best_loss: 0.005880 05 Jul 2025 21:21:53 Epoch 8726/10000 | loss_data: 0.001023, loss_data_delta: 0.000289, loss_traj: 0.000400, loss_traj_delta: 0.000117, loss_dir: 0.062448, loss_rot: 0.001499, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000111, loss: 0.013481, | best_loss: 0.005880 05 Jul 2025 21:22:03 Epoch 8727/10000 | loss_data: 0.001039, loss_data_delta: 0.000286, loss_traj: 0.000409, loss_traj_delta: 0.000112, loss_dir: 0.065948, loss_rot: 0.001527, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000109, loss: 0.013654, | best_loss: 0.005880 05 Jul 2025 21:22:13 Epoch 8728/10000 | loss_data: 0.001030, loss_data_delta: 0.000289, loss_traj: 0.000418, loss_traj_delta: 0.000116, loss_dir: 0.071320, loss_rot: 0.001502, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000111, loss: 0.013611, | best_loss: 0.005880 05 Jul 2025 21:22:24 Epoch 8729/10000 | loss_data: 0.001019, loss_data_delta: 0.000293, loss_traj: 0.000381, loss_traj_delta: 0.000117, loss_dir: 0.076867, loss_rot: 0.001497, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000111, loss: 0.013356, | best_loss: 0.005880 05 Jul 2025 21:22:34 Epoch 8730/10000 | loss_data: 0.000989, loss_data_delta: 0.000289, loss_traj: 0.000353, loss_traj_delta: 0.000117, loss_dir: 0.074835, loss_rot: 0.001458, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000749, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000111, loss: 0.012943, | best_loss: 0.005880 05 Jul 2025 21:22:45 Epoch 8731/10000 | loss_data: 0.001014, loss_data_delta: 0.000288, loss_traj: 0.000358, loss_traj_delta: 0.000112, loss_dir: 0.066664, loss_rot: 0.001505, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013205, | best_loss: 0.005880 05 Jul 2025 21:22:55 Epoch 8732/10000 | loss_data: 0.001033, loss_data_delta: 0.000290, loss_traj: 0.000377, loss_traj_delta: 0.000113, loss_dir: 0.057796, loss_rot: 0.001528, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013484, | best_loss: 0.005880 05 Jul 2025 21:23:05 Epoch 8733/10000 | loss_data: 0.001044, loss_data_delta: 0.000293, loss_traj: 0.000403, loss_traj_delta: 0.000119, loss_dir: 0.079825, loss_rot: 0.001533, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000112, loss: 0.013725, | best_loss: 0.005880 05 Jul 2025 21:23:16 Epoch 8734/10000 | loss_data: 0.001027, loss_data_delta: 0.000286, loss_traj: 0.000398, loss_traj_delta: 0.000116, loss_dir: 0.067840, loss_rot: 0.001512, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000112, loss: 0.013528, | best_loss: 0.005880 05 Jul 2025 21:23:26 Epoch 8735/10000 | loss_data: 0.001007, loss_data_delta: 0.000280, loss_traj: 0.000384, loss_traj_delta: 0.000112, loss_dir: 0.083855, loss_rot: 0.001484, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.013213, | best_loss: 0.005880 05 Jul 2025 21:23:36 Epoch 8736/10000 | loss_data: 0.001060, loss_data_delta: 0.000287, loss_traj: 0.000487, loss_traj_delta: 0.000110, loss_dir: 0.084831, loss_rot: 0.001525, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000892, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.014122, | best_loss: 0.005880 05 Jul 2025 21:23:47 Epoch 8737/10000 | loss_data: 0.001025, loss_data_delta: 0.000293, loss_traj: 0.000361, loss_traj_delta: 0.000117, loss_dir: 0.061297, loss_rot: 0.001512, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000113, loss: 0.013352, | best_loss: 0.005880 05 Jul 2025 21:23:57 Epoch 8738/10000 | loss_data: 0.001037, loss_data_delta: 0.000295, loss_traj: 0.000373, loss_traj_delta: 0.000116, loss_dir: 0.062048, loss_rot: 0.001531, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000112, loss: 0.013529, | best_loss: 0.005880 05 Jul 2025 21:24:08 Epoch 8739/10000 | loss_data: 0.001012, loss_data_delta: 0.000291, loss_traj: 0.000368, loss_traj_delta: 0.000117, loss_dir: 0.068932, loss_rot: 0.001491, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000112, loss: 0.013240, | best_loss: 0.005880 05 Jul 2025 21:24:18 Epoch 8740/10000 | loss_data: 0.001019, loss_data_delta: 0.000292, loss_traj: 0.000373, loss_traj_delta: 0.000120, loss_dir: 0.074289, loss_rot: 0.001501, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000112, loss: 0.013357, | best_loss: 0.005880 05 Jul 2025 21:24:28 Epoch 8741/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000421, loss_traj_delta: 0.000114, loss_dir: 0.068140, loss_rot: 0.001448, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.013315, | best_loss: 0.005880 05 Jul 2025 21:24:38 Epoch 8742/10000 | loss_data: 0.001042, loss_data_delta: 0.000289, loss_traj: 0.000412, loss_traj_delta: 0.000114, loss_dir: 0.071187, loss_rot: 0.001527, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000111, loss: 0.013699, | best_loss: 0.005880 05 Jul 2025 21:24:48 Epoch 8743/10000 | loss_data: 0.001043, loss_data_delta: 0.000289, loss_traj: 0.000417, loss_traj_delta: 0.000116, loss_dir: 0.068030, loss_rot: 0.001531, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.013756, | best_loss: 0.005880 05 Jul 2025 21:24:59 Epoch 8744/10000 | loss_data: 0.001037, loss_data_delta: 0.000286, loss_traj: 0.000404, loss_traj_delta: 0.000115, loss_dir: 0.062626, loss_rot: 0.001524, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.013641, | best_loss: 0.005880 05 Jul 2025 21:25:09 Epoch 8745/10000 | loss_data: 0.001051, loss_data_delta: 0.000287, loss_traj: 0.000415, loss_traj_delta: 0.000115, loss_dir: 0.059143, loss_rot: 0.001543, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000837, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013819, | best_loss: 0.005880 05 Jul 2025 21:25:20 Epoch 8746/10000 | loss_data: 0.001060, loss_data_delta: 0.000294, loss_traj: 0.000440, loss_traj_delta: 0.000117, loss_dir: 0.060862, loss_rot: 0.001541, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000855, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000113, loss: 0.014004, | best_loss: 0.005880 05 Jul 2025 21:25:30 Epoch 8747/10000 | loss_data: 0.001006, loss_data_delta: 0.000285, loss_traj: 0.000345, loss_traj_delta: 0.000110, loss_dir: 0.066569, loss_rot: 0.001494, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000108, loss: 0.013049, | best_loss: 0.005880 05 Jul 2025 21:25:41 Epoch 8748/10000 | loss_data: 0.001010, loss_data_delta: 0.000287, loss_traj: 0.000425, loss_traj_delta: 0.000112, loss_dir: 0.081958, loss_rot: 0.001469, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013403, | best_loss: 0.005880 05 Jul 2025 21:25:51 Epoch 8749/10000 | loss_data: 0.001046, loss_data_delta: 0.000289, loss_traj: 0.000377, loss_traj_delta: 0.000111, loss_dir: 0.077373, loss_rot: 0.001546, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000111, loss: 0.013596, | best_loss: 0.005880 05 Jul 2025 21:26:01 Epoch 8750/10000 | loss_data: 0.001017, loss_data_delta: 0.000286, loss_traj: 0.000402, loss_traj_delta: 0.000113, loss_dir: 0.066055, loss_rot: 0.001492, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013400, | best_loss: 0.005880 05 Jul 2025 21:26:12 Epoch 8751/10000 | loss_data: 0.001024, loss_data_delta: 0.000291, loss_traj: 0.000371, loss_traj_delta: 0.000118, loss_dir: 0.071072, loss_rot: 0.001511, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000112, loss: 0.013387, | best_loss: 0.005880 05 Jul 2025 21:26:22 Epoch 8752/10000 | loss_data: 0.001076, loss_data_delta: 0.000288, loss_traj: 0.000505, loss_traj_delta: 0.000121, loss_dir: 0.057951, loss_rot: 0.001548, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000929, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000113, loss: 0.014453, | best_loss: 0.005880 05 Jul 2025 21:26:32 Epoch 8753/10000 | loss_data: 0.001008, loss_data_delta: 0.000289, loss_traj: 0.000351, loss_traj_delta: 0.000116, loss_dir: 0.069131, loss_rot: 0.001491, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013114, | best_loss: 0.005880 05 Jul 2025 21:26:42 Epoch 8754/10000 | loss_data: 0.001025, loss_data_delta: 0.000289, loss_traj: 0.000418, loss_traj_delta: 0.000117, loss_dir: 0.060984, loss_rot: 0.001498, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000112, loss: 0.013593, | best_loss: 0.005880 05 Jul 2025 21:26:52 Epoch 8755/10000 | loss_data: 0.000971, loss_data_delta: 0.000287, loss_traj: 0.000347, loss_traj_delta: 0.000114, loss_dir: 0.063110, loss_rot: 0.001429, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000109, loss: 0.012711, | best_loss: 0.005880 05 Jul 2025 21:27:02 Epoch 8756/10000 | loss_data: 0.000992, loss_data_delta: 0.000283, loss_traj: 0.000361, loss_traj_delta: 0.000112, loss_dir: 0.061507, loss_rot: 0.001463, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000109, loss: 0.012981, | best_loss: 0.005880 05 Jul 2025 21:27:13 Epoch 8757/10000 | loss_data: 0.001003, loss_data_delta: 0.000281, loss_traj: 0.000413, loss_traj_delta: 0.000112, loss_dir: 0.076498, loss_rot: 0.001461, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013266, | best_loss: 0.005880 05 Jul 2025 21:27:23 Epoch 8758/10000 | loss_data: 0.001045, loss_data_delta: 0.000288, loss_traj: 0.000477, loss_traj_delta: 0.000118, loss_dir: 0.061081, loss_rot: 0.001504, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000886, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.014006, | best_loss: 0.005880 05 Jul 2025 21:27:33 Epoch 8759/10000 | loss_data: 0.001000, loss_data_delta: 0.000287, loss_traj: 0.000350, loss_traj_delta: 0.000112, loss_dir: 0.062591, loss_rot: 0.001484, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013033, | best_loss: 0.005880 05 Jul 2025 21:27:43 Epoch 8760/10000 | loss_data: 0.001019, loss_data_delta: 0.000286, loss_traj: 0.000403, loss_traj_delta: 0.000113, loss_dir: 0.062284, loss_rot: 0.001489, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000810, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000109, loss: 0.013407, | best_loss: 0.005880 05 Jul 2025 21:27:53 Epoch 8761/10000 | loss_data: 0.001049, loss_data_delta: 0.000289, loss_traj: 0.000418, loss_traj_delta: 0.000112, loss_dir: 0.073645, loss_rot: 0.001533, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000109, loss: 0.013765, | best_loss: 0.005880 05 Jul 2025 21:28:03 Epoch 8762/10000 | loss_data: 0.001016, loss_data_delta: 0.000294, loss_traj: 0.000356, loss_traj_delta: 0.000116, loss_dir: 0.062762, loss_rot: 0.001500, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000111, loss: 0.013227, | best_loss: 0.005880 05 Jul 2025 21:28:14 Epoch 8763/10000 | loss_data: 0.001040, loss_data_delta: 0.000288, loss_traj: 0.000398, loss_traj_delta: 0.000116, loss_dir: 0.074325, loss_rot: 0.001525, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013616, | best_loss: 0.005880 05 Jul 2025 21:28:24 Epoch 8764/10000 | loss_data: 0.001048, loss_data_delta: 0.000286, loss_traj: 0.000489, loss_traj_delta: 0.000116, loss_dir: 0.067429, loss_rot: 0.001511, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000893, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.014090, | best_loss: 0.005880 05 Jul 2025 21:28:35 Epoch 8765/10000 | loss_data: 0.001080, loss_data_delta: 0.000290, loss_traj: 0.000465, loss_traj_delta: 0.000117, loss_dir: 0.064597, loss_rot: 0.001574, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000887, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000112, loss: 0.014327, | best_loss: 0.005880 05 Jul 2025 21:28:45 Epoch 8766/10000 | loss_data: 0.000999, loss_data_delta: 0.000291, loss_traj: 0.000354, loss_traj_delta: 0.000113, loss_dir: 0.060105, loss_rot: 0.001470, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013014, | best_loss: 0.005880 05 Jul 2025 21:28:55 Epoch 8767/10000 | loss_data: 0.001005, loss_data_delta: 0.000287, loss_traj: 0.000393, loss_traj_delta: 0.000114, loss_dir: 0.062192, loss_rot: 0.001474, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000110, loss: 0.013261, | best_loss: 0.005880 05 Jul 2025 21:29:05 Epoch 8768/10000 | loss_data: 0.000984, loss_data_delta: 0.000284, loss_traj: 0.000373, loss_traj_delta: 0.000110, loss_dir: 0.071259, loss_rot: 0.001442, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000107, loss: 0.012910, | best_loss: 0.005880 05 Jul 2025 21:29:16 Epoch 8769/10000 | loss_data: 0.000990, loss_data_delta: 0.000285, loss_traj: 0.000341, loss_traj_delta: 0.000112, loss_dir: 0.051526, loss_rot: 0.001463, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000109, loss: 0.012872, | best_loss: 0.005880 05 Jul 2025 21:29:26 Epoch 8770/10000 | loss_data: 0.001024, loss_data_delta: 0.000292, loss_traj: 0.000433, loss_traj_delta: 0.000115, loss_dir: 0.062829, loss_rot: 0.001484, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000832, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.013586, | best_loss: 0.005880 05 Jul 2025 21:29:36 Epoch 8771/10000 | loss_data: 0.001044, loss_data_delta: 0.000288, loss_traj: 0.000449, loss_traj_delta: 0.000114, loss_dir: 0.066410, loss_rot: 0.001517, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000853, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000109, loss: 0.013856, | best_loss: 0.005880 05 Jul 2025 21:29:46 Epoch 8772/10000 | loss_data: 0.001016, loss_data_delta: 0.000290, loss_traj: 0.000347, loss_traj_delta: 0.000113, loss_dir: 0.072720, loss_rot: 0.001504, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000109, loss: 0.013155, | best_loss: 0.005880 05 Jul 2025 21:29:56 Epoch 8773/10000 | loss_data: 0.001044, loss_data_delta: 0.000292, loss_traj: 0.000397, loss_traj_delta: 0.000117, loss_dir: 0.063912, loss_rot: 0.001538, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000113, loss: 0.013712, | best_loss: 0.005880 05 Jul 2025 21:30:07 Epoch 8774/10000 | loss_data: 0.001006, loss_data_delta: 0.000279, loss_traj: 0.000411, loss_traj_delta: 0.000109, loss_dir: 0.064403, loss_rot: 0.001472, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000106, loss: 0.013287, | best_loss: 0.005880 05 Jul 2025 21:30:17 Epoch 8775/10000 | loss_data: 0.001000, loss_data_delta: 0.000286, loss_traj: 0.000378, loss_traj_delta: 0.000112, loss_dir: 0.071371, loss_rot: 0.001476, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013138, | best_loss: 0.005880 05 Jul 2025 21:30:27 Epoch 8776/10000 | loss_data: 0.001059, loss_data_delta: 0.000294, loss_traj: 0.000414, loss_traj_delta: 0.000116, loss_dir: 0.066040, loss_rot: 0.001554, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000843, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000112, loss: 0.013924, | best_loss: 0.005880 05 Jul 2025 21:30:37 Epoch 8777/10000 | loss_data: 0.001012, loss_data_delta: 0.000290, loss_traj: 0.000403, loss_traj_delta: 0.000114, loss_dir: 0.073859, loss_rot: 0.001477, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000112, loss: 0.013375, | best_loss: 0.005880 05 Jul 2025 21:30:47 Epoch 8778/10000 | loss_data: 0.001042, loss_data_delta: 0.000288, loss_traj: 0.000410, loss_traj_delta: 0.000111, loss_dir: 0.050589, loss_rot: 0.001525, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013650, | best_loss: 0.005880 05 Jul 2025 21:30:58 Epoch 8779/10000 | loss_data: 0.001006, loss_data_delta: 0.000286, loss_traj: 0.000373, loss_traj_delta: 0.000114, loss_dir: 0.059200, loss_rot: 0.001477, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013145, | best_loss: 0.005880 05 Jul 2025 21:31:08 Epoch 8780/10000 | loss_data: 0.001067, loss_data_delta: 0.000284, loss_traj: 0.000454, loss_traj_delta: 0.000114, loss_dir: 0.068304, loss_rot: 0.001551, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000871, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000110, loss: 0.014090, | best_loss: 0.005880 05 Jul 2025 21:31:19 Epoch 8781/10000 | loss_data: 0.001053, loss_data_delta: 0.000293, loss_traj: 0.000375, loss_traj_delta: 0.000115, loss_dir: 0.090437, loss_rot: 0.001557, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000110, loss: 0.013664, | best_loss: 0.005880 05 Jul 2025 21:31:29 Epoch 8782/10000 | loss_data: 0.001042, loss_data_delta: 0.000290, loss_traj: 0.000374, loss_traj_delta: 0.000113, loss_dir: 0.053460, loss_rot: 0.001538, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000110, loss: 0.013536, | best_loss: 0.005880 05 Jul 2025 21:31:40 Epoch 8783/10000 | loss_data: 0.001047, loss_data_delta: 0.000295, loss_traj: 0.000398, loss_traj_delta: 0.000117, loss_dir: 0.062347, loss_rot: 0.001533, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000112, loss: 0.013711, | best_loss: 0.005880 05 Jul 2025 21:31:50 Epoch 8784/10000 | loss_data: 0.001000, loss_data_delta: 0.000281, loss_traj: 0.000356, loss_traj_delta: 0.000107, loss_dir: 0.070103, loss_rot: 0.001482, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000106, loss: 0.013000, | best_loss: 0.005880 05 Jul 2025 21:32:00 Epoch 8785/10000 | loss_data: 0.001021, loss_data_delta: 0.000289, loss_traj: 0.000430, loss_traj_delta: 0.000118, loss_dir: 0.071134, loss_rot: 0.001480, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000832, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000112, loss: 0.013568, | best_loss: 0.005880 05 Jul 2025 21:32:10 Epoch 8786/10000 | loss_data: 0.000982, loss_data_delta: 0.000281, loss_traj: 0.000347, loss_traj_delta: 0.000110, loss_dir: 0.066170, loss_rot: 0.001454, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000108, loss: 0.012813, | best_loss: 0.005880 05 Jul 2025 21:32:21 Epoch 8787/10000 | loss_data: 0.001018, loss_data_delta: 0.000283, loss_traj: 0.000443, loss_traj_delta: 0.000111, loss_dir: 0.085905, loss_rot: 0.001474, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000845, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000108, loss: 0.013542, | best_loss: 0.005880 05 Jul 2025 21:32:31 Epoch 8788/10000 | loss_data: 0.000993, loss_data_delta: 0.000286, loss_traj: 0.000354, loss_traj_delta: 0.000111, loss_dir: 0.077053, loss_rot: 0.001468, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012939, | best_loss: 0.005880 05 Jul 2025 21:32:41 Epoch 8789/10000 | loss_data: 0.001033, loss_data_delta: 0.000288, loss_traj: 0.000408, loss_traj_delta: 0.000112, loss_dir: 0.072219, loss_rot: 0.001511, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000816, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000110, loss: 0.013579, | best_loss: 0.005880 05 Jul 2025 21:32:51 Epoch 8790/10000 | loss_data: 0.001011, loss_data_delta: 0.000278, loss_traj: 0.000385, loss_traj_delta: 0.000105, loss_dir: 0.066366, loss_rot: 0.001489, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000105, loss: 0.013205, | best_loss: 0.005880 05 Jul 2025 21:33:01 Epoch 8791/10000 | loss_data: 0.001004, loss_data_delta: 0.000285, loss_traj: 0.000409, loss_traj_delta: 0.000117, loss_dir: 0.068413, loss_rot: 0.001461, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000808, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013278, | best_loss: 0.005880 05 Jul 2025 21:33:11 Epoch 8792/10000 | loss_data: 0.001023, loss_data_delta: 0.000293, loss_traj: 0.000423, loss_traj_delta: 0.000116, loss_dir: 0.054994, loss_rot: 0.001486, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000112, loss: 0.013562, | best_loss: 0.005880 05 Jul 2025 21:33:21 Epoch 8793/10000 | loss_data: 0.001041, loss_data_delta: 0.000286, loss_traj: 0.000413, loss_traj_delta: 0.000112, loss_dir: 0.063805, loss_rot: 0.001524, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000825, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013648, | best_loss: 0.005880 05 Jul 2025 21:33:31 Epoch 8794/10000 | loss_data: 0.000996, loss_data_delta: 0.000290, loss_traj: 0.000369, loss_traj_delta: 0.000110, loss_dir: 0.053069, loss_rot: 0.001463, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013029, | best_loss: 0.005880 05 Jul 2025 21:33:42 Epoch 8795/10000 | loss_data: 0.001013, loss_data_delta: 0.000288, loss_traj: 0.000369, loss_traj_delta: 0.000112, loss_dir: 0.074244, loss_rot: 0.001500, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013247, | best_loss: 0.005880 05 Jul 2025 21:33:52 Epoch 8796/10000 | loss_data: 0.001024, loss_data_delta: 0.000286, loss_traj: 0.000376, loss_traj_delta: 0.000113, loss_dir: 0.075647, loss_rot: 0.001512, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013354, | best_loss: 0.005880 05 Jul 2025 21:34:02 Epoch 8797/10000 | loss_data: 0.001010, loss_data_delta: 0.000292, loss_traj: 0.000370, loss_traj_delta: 0.000114, loss_dir: 0.060726, loss_rot: 0.001483, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013196, | best_loss: 0.005880 05 Jul 2025 21:34:12 Epoch 8798/10000 | loss_data: 0.001016, loss_data_delta: 0.000286, loss_traj: 0.000421, loss_traj_delta: 0.000112, loss_dir: 0.063141, loss_rot: 0.001479, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013440, | best_loss: 0.005880 05 Jul 2025 21:34:22 Epoch 8799/10000 | loss_data: 0.001028, loss_data_delta: 0.000287, loss_traj: 0.000416, loss_traj_delta: 0.000112, loss_dir: 0.055938, loss_rot: 0.001497, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013535, | best_loss: 0.005880 05 Jul 2025 21:34:32 Epoch 8800/10000 | loss_data: 0.001019, loss_data_delta: 0.000291, loss_traj: 0.000418, loss_traj_delta: 0.000119, loss_dir: 0.065172, loss_rot: 0.001482, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000113, loss: 0.013527, | best_loss: 0.005880 05 Jul 2025 21:34:43 Epoch 8801/10000 | loss_data: 0.001062, loss_data_delta: 0.000291, loss_traj: 0.000510, loss_traj_delta: 0.000116, loss_dir: 0.055690, loss_rot: 0.001517, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000925, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000111, loss: 0.014274, | best_loss: 0.005880 05 Jul 2025 21:34:53 Epoch 8802/10000 | loss_data: 0.001013, loss_data_delta: 0.000284, loss_traj: 0.000417, loss_traj_delta: 0.000111, loss_dir: 0.055613, loss_rot: 0.001473, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.013388, | best_loss: 0.005880 05 Jul 2025 21:35:03 Epoch 8803/10000 | loss_data: 0.001027, loss_data_delta: 0.000288, loss_traj: 0.000435, loss_traj_delta: 0.000119, loss_dir: 0.066407, loss_rot: 0.001489, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000844, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000113, loss: 0.013663, | best_loss: 0.005880 05 Jul 2025 21:35:13 Epoch 8804/10000 | loss_data: 0.001006, loss_data_delta: 0.000287, loss_traj: 0.000375, loss_traj_delta: 0.000112, loss_dir: 0.058058, loss_rot: 0.001479, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013159, | best_loss: 0.005880 05 Jul 2025 21:35:23 Epoch 8805/10000 | loss_data: 0.001064, loss_data_delta: 0.000290, loss_traj: 0.000414, loss_traj_delta: 0.000112, loss_dir: 0.064936, loss_rot: 0.001568, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000831, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013914, | best_loss: 0.005880 05 Jul 2025 21:35:33 Epoch 8806/10000 | loss_data: 0.001014, loss_data_delta: 0.000288, loss_traj: 0.000377, loss_traj_delta: 0.000114, loss_dir: 0.078694, loss_rot: 0.001485, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000110, loss: 0.013255, | best_loss: 0.005880 05 Jul 2025 21:35:44 Epoch 8807/10000 | loss_data: 0.000997, loss_data_delta: 0.000294, loss_traj: 0.000307, loss_traj_delta: 0.000112, loss_dir: 0.046310, loss_rot: 0.001484, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000709, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.012806, | best_loss: 0.005880 05 Jul 2025 21:35:54 Epoch 8808/10000 | loss_data: 0.001006, loss_data_delta: 0.000285, loss_traj: 0.000355, loss_traj_delta: 0.000112, loss_dir: 0.073054, loss_rot: 0.001497, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.013111, | best_loss: 0.005880 05 Jul 2025 21:36:04 Epoch 8809/10000 | loss_data: 0.000960, loss_data_delta: 0.000282, loss_traj: 0.000311, loss_traj_delta: 0.000109, loss_dir: 0.065422, loss_rot: 0.001427, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000701, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012407, | best_loss: 0.005880 05 Jul 2025 21:36:14 Epoch 8810/10000 | loss_data: 0.001006, loss_data_delta: 0.000286, loss_traj: 0.000382, loss_traj_delta: 0.000112, loss_dir: 0.069141, loss_rot: 0.001476, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013179, | best_loss: 0.005880 05 Jul 2025 21:36:25 Epoch 8811/10000 | loss_data: 0.001037, loss_data_delta: 0.000294, loss_traj: 0.000394, loss_traj_delta: 0.000116, loss_dir: 0.067919, loss_rot: 0.001521, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.013573, | best_loss: 0.005880 05 Jul 2025 21:36:35 Epoch 8812/10000 | loss_data: 0.001035, loss_data_delta: 0.000286, loss_traj: 0.000505, loss_traj_delta: 0.000117, loss_dir: 0.061006, loss_rot: 0.001478, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000908, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013986, | best_loss: 0.005880 05 Jul 2025 21:36:45 Epoch 8813/10000 | loss_data: 0.001005, loss_data_delta: 0.000285, loss_traj: 0.000352, loss_traj_delta: 0.000113, loss_dir: 0.084355, loss_rot: 0.001484, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013044, | best_loss: 0.005880 05 Jul 2025 21:36:56 Epoch 8814/10000 | loss_data: 0.000997, loss_data_delta: 0.000288, loss_traj: 0.000366, loss_traj_delta: 0.000114, loss_dir: 0.058136, loss_rot: 0.001462, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013022, | best_loss: 0.005880 05 Jul 2025 21:37:06 Epoch 8815/10000 | loss_data: 0.001042, loss_data_delta: 0.000296, loss_traj: 0.000370, loss_traj_delta: 0.000115, loss_dir: 0.071278, loss_rot: 0.001546, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000110, loss: 0.013577, | best_loss: 0.005880 05 Jul 2025 21:37:17 Epoch 8816/10000 | loss_data: 0.001012, loss_data_delta: 0.000291, loss_traj: 0.000401, loss_traj_delta: 0.000113, loss_dir: 0.063190, loss_rot: 0.001477, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000799, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013336, | best_loss: 0.005880 05 Jul 2025 21:37:27 Epoch 8817/10000 | loss_data: 0.000983, loss_data_delta: 0.000283, loss_traj: 0.000380, loss_traj_delta: 0.000108, loss_dir: 0.070387, loss_rot: 0.001438, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.012909, | best_loss: 0.005880 05 Jul 2025 21:37:38 Epoch 8818/10000 | loss_data: 0.001059, loss_data_delta: 0.000290, loss_traj: 0.000394, loss_traj_delta: 0.000116, loss_dir: 0.063736, loss_rot: 0.001568, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013825, | best_loss: 0.005880 05 Jul 2025 21:37:48 Epoch 8819/10000 | loss_data: 0.001002, loss_data_delta: 0.000286, loss_traj: 0.000353, loss_traj_delta: 0.000114, loss_dir: 0.065448, loss_rot: 0.001480, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013038, | best_loss: 0.005880 05 Jul 2025 21:37:59 Epoch 8820/10000 | loss_data: 0.000987, loss_data_delta: 0.000282, loss_traj: 0.000397, loss_traj_delta: 0.000109, loss_dir: 0.059203, loss_rot: 0.001441, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000106, loss: 0.013023, | best_loss: 0.005880 05 Jul 2025 21:38:09 Epoch 8821/10000 | loss_data: 0.001021, loss_data_delta: 0.000287, loss_traj: 0.000367, loss_traj_delta: 0.000108, loss_dir: 0.061773, loss_rot: 0.001515, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000106, loss: 0.013280, | best_loss: 0.005880 05 Jul 2025 21:38:19 Epoch 8822/10000 | loss_data: 0.001028, loss_data_delta: 0.000287, loss_traj: 0.000378, loss_traj_delta: 0.000114, loss_dir: 0.068303, loss_rot: 0.001516, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000110, loss: 0.013419, | best_loss: 0.005880 05 Jul 2025 21:38:29 Epoch 8823/10000 | loss_data: 0.000998, loss_data_delta: 0.000287, loss_traj: 0.000365, loss_traj_delta: 0.000109, loss_dir: 0.072987, loss_rot: 0.001472, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000764, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013029, | best_loss: 0.005880 05 Jul 2025 21:38:39 Epoch 8824/10000 | loss_data: 0.001033, loss_data_delta: 0.000289, loss_traj: 0.000392, loss_traj_delta: 0.000111, loss_dir: 0.073089, loss_rot: 0.001519, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013510, | best_loss: 0.005880 05 Jul 2025 21:38:50 Epoch 8825/10000 | loss_data: 0.000982, loss_data_delta: 0.000282, loss_traj: 0.000359, loss_traj_delta: 0.000112, loss_dir: 0.069238, loss_rot: 0.001447, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.012863, | best_loss: 0.005880 05 Jul 2025 21:39:00 Epoch 8826/10000 | loss_data: 0.001029, loss_data_delta: 0.000292, loss_traj: 0.000369, loss_traj_delta: 0.000115, loss_dir: 0.071336, loss_rot: 0.001514, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.013363, | best_loss: 0.005880 05 Jul 2025 21:39:10 Epoch 8827/10000 | loss_data: 0.001043, loss_data_delta: 0.000290, loss_traj: 0.000386, loss_traj_delta: 0.000114, loss_dir: 0.067020, loss_rot: 0.001536, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013594, | best_loss: 0.005880 05 Jul 2025 21:39:21 Epoch 8828/10000 | loss_data: 0.000967, loss_data_delta: 0.000282, loss_traj: 0.000351, loss_traj_delta: 0.000106, loss_dir: 0.056097, loss_rot: 0.001422, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000104, loss: 0.012609, | best_loss: 0.005880 05 Jul 2025 21:39:32 Epoch 8829/10000 | loss_data: 0.000995, loss_data_delta: 0.000286, loss_traj: 0.000363, loss_traj_delta: 0.000115, loss_dir: 0.078004, loss_rot: 0.001465, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013007, | best_loss: 0.005880 05 Jul 2025 21:39:42 Epoch 8830/10000 | loss_data: 0.001002, loss_data_delta: 0.000286, loss_traj: 0.000380, loss_traj_delta: 0.000116, loss_dir: 0.059654, loss_rot: 0.001470, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000110, loss: 0.013171, | best_loss: 0.005880 05 Jul 2025 21:39:52 Epoch 8831/10000 | loss_data: 0.001036, loss_data_delta: 0.000284, loss_traj: 0.000415, loss_traj_delta: 0.000113, loss_dir: 0.078509, loss_rot: 0.001521, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000109, loss: 0.013652, | best_loss: 0.005880 05 Jul 2025 21:40:02 Epoch 8832/10000 | loss_data: 0.001017, loss_data_delta: 0.000284, loss_traj: 0.000387, loss_traj_delta: 0.000111, loss_dir: 0.078722, loss_rot: 0.001496, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.013311, | best_loss: 0.005880 05 Jul 2025 21:40:12 Epoch 8833/10000 | loss_data: 0.001040, loss_data_delta: 0.000289, loss_traj: 0.000451, loss_traj_delta: 0.000112, loss_dir: 0.056252, loss_rot: 0.001508, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000853, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013803, | best_loss: 0.005880 05 Jul 2025 21:40:22 Epoch 8834/10000 | loss_data: 0.000993, loss_data_delta: 0.000283, loss_traj: 0.000415, loss_traj_delta: 0.000110, loss_dir: 0.058863, loss_rot: 0.001438, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000107, loss: 0.013148, | best_loss: 0.005880 05 Jul 2025 21:40:33 Epoch 8835/10000 | loss_data: 0.001023, loss_data_delta: 0.000291, loss_traj: 0.000401, loss_traj_delta: 0.000116, loss_dir: 0.066378, loss_rot: 0.001501, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000799, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000110, loss: 0.013484, | best_loss: 0.005880 05 Jul 2025 21:40:43 Epoch 8836/10000 | loss_data: 0.001038, loss_data_delta: 0.000292, loss_traj: 0.000449, loss_traj_delta: 0.000116, loss_dir: 0.075146, loss_rot: 0.001506, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000849, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000111, loss: 0.013823, | best_loss: 0.005880 05 Jul 2025 21:40:54 Epoch 8837/10000 | loss_data: 0.001004, loss_data_delta: 0.000292, loss_traj: 0.000345, loss_traj_delta: 0.000112, loss_dir: 0.064769, loss_rot: 0.001485, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013029, | best_loss: 0.005880 05 Jul 2025 21:41:04 Epoch 8838/10000 | loss_data: 0.001006, loss_data_delta: 0.000285, loss_traj: 0.000400, loss_traj_delta: 0.000111, loss_dir: 0.063122, loss_rot: 0.001464, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013223, | best_loss: 0.005880 05 Jul 2025 21:41:14 Epoch 8839/10000 | loss_data: 0.001021, loss_data_delta: 0.000283, loss_traj: 0.000429, loss_traj_delta: 0.000112, loss_dir: 0.071885, loss_rot: 0.001485, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013511, | best_loss: 0.005880 05 Jul 2025 21:41:24 Epoch 8840/10000 | loss_data: 0.001037, loss_data_delta: 0.000290, loss_traj: 0.000400, loss_traj_delta: 0.000114, loss_dir: 0.069401, loss_rot: 0.001518, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013579, | best_loss: 0.005880 05 Jul 2025 21:41:34 Epoch 8841/10000 | loss_data: 0.001018, loss_data_delta: 0.000292, loss_traj: 0.000371, loss_traj_delta: 0.000116, loss_dir: 0.070114, loss_rot: 0.001492, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000111, loss: 0.013283, | best_loss: 0.005880 05 Jul 2025 21:41:45 Epoch 8842/10000 | loss_data: 0.001055, loss_data_delta: 0.000291, loss_traj: 0.000417, loss_traj_delta: 0.000114, loss_dir: 0.069037, loss_rot: 0.001553, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000827, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000111, loss: 0.013885, | best_loss: 0.005880 05 Jul 2025 21:41:55 Epoch 8843/10000 | loss_data: 0.001026, loss_data_delta: 0.000286, loss_traj: 0.000383, loss_traj_delta: 0.000112, loss_dir: 0.072173, loss_rot: 0.001522, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013439, | best_loss: 0.005880 05 Jul 2025 21:42:05 Epoch 8844/10000 | loss_data: 0.001010, loss_data_delta: 0.000282, loss_traj: 0.000477, loss_traj_delta: 0.000109, loss_dir: 0.073446, loss_rot: 0.001444, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000869, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013556, | best_loss: 0.005880 05 Jul 2025 21:42:16 Epoch 8845/10000 | loss_data: 0.001047, loss_data_delta: 0.000291, loss_traj: 0.000448, loss_traj_delta: 0.000117, loss_dir: 0.064160, loss_rot: 0.001520, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000862, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000112, loss: 0.013917, | best_loss: 0.005880 05 Jul 2025 21:42:26 Epoch 8846/10000 | loss_data: 0.001007, loss_data_delta: 0.000290, loss_traj: 0.000378, loss_traj_delta: 0.000117, loss_dir: 0.066316, loss_rot: 0.001480, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.013216, | best_loss: 0.005880 05 Jul 2025 21:42:37 Epoch 8847/10000 | loss_data: 0.001008, loss_data_delta: 0.000282, loss_traj: 0.000391, loss_traj_delta: 0.000111, loss_dir: 0.068804, loss_rot: 0.001482, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.013234, | best_loss: 0.005880 05 Jul 2025 21:42:47 Epoch 8848/10000 | loss_data: 0.001021, loss_data_delta: 0.000283, loss_traj: 0.000397, loss_traj_delta: 0.000112, loss_dir: 0.070984, loss_rot: 0.001497, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000801, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013377, | best_loss: 0.005880 05 Jul 2025 21:42:57 Epoch 8849/10000 | loss_data: 0.001000, loss_data_delta: 0.000292, loss_traj: 0.000370, loss_traj_delta: 0.000114, loss_dir: 0.064558, loss_rot: 0.001467, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013096, | best_loss: 0.005880 05 Jul 2025 21:43:07 Epoch 8850/10000 | loss_data: 0.001009, loss_data_delta: 0.000288, loss_traj: 0.000365, loss_traj_delta: 0.000112, loss_dir: 0.081474, loss_rot: 0.001494, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013174, | best_loss: 0.005880 05 Jul 2025 21:43:17 Epoch 8851/10000 | loss_data: 0.000995, loss_data_delta: 0.000284, loss_traj: 0.000372, loss_traj_delta: 0.000110, loss_dir: 0.053348, loss_rot: 0.001468, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000107, loss: 0.013038, | best_loss: 0.005880 05 Jul 2025 21:43:27 Epoch 8852/10000 | loss_data: 0.001030, loss_data_delta: 0.000292, loss_traj: 0.000419, loss_traj_delta: 0.000113, loss_dir: 0.071864, loss_rot: 0.001499, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013584, | best_loss: 0.005880 05 Jul 2025 21:43:38 Epoch 8853/10000 | loss_data: 0.000988, loss_data_delta: 0.000288, loss_traj: 0.000361, loss_traj_delta: 0.000114, loss_dir: 0.060932, loss_rot: 0.001449, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.012906, | best_loss: 0.005880 05 Jul 2025 21:43:48 Epoch 8854/10000 | loss_data: 0.001034, loss_data_delta: 0.000288, loss_traj: 0.000408, loss_traj_delta: 0.000112, loss_dir: 0.076467, loss_rot: 0.001512, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013571, | best_loss: 0.005880 05 Jul 2025 21:43:59 Epoch 8855/10000 | loss_data: 0.001000, loss_data_delta: 0.000286, loss_traj: 0.000354, loss_traj_delta: 0.000112, loss_dir: 0.054427, loss_rot: 0.001475, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.013004, | best_loss: 0.005880 05 Jul 2025 21:44:09 Epoch 8856/10000 | loss_data: 0.001102, loss_data_delta: 0.000300, loss_traj: 0.000526, loss_traj_delta: 0.000119, loss_dir: 0.071758, loss_rot: 0.001569, loss_rot_delta: 0.000459, loss_geo_xyz: 0.000961, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000112, loss: 0.014737, | best_loss: 0.005880 05 Jul 2025 21:44:20 Epoch 8857/10000 | loss_data: 0.000993, loss_data_delta: 0.000284, loss_traj: 0.000351, loss_traj_delta: 0.000116, loss_dir: 0.064650, loss_rot: 0.001468, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000747, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.012950, | best_loss: 0.005880 05 Jul 2025 21:44:30 Epoch 8858/10000 | loss_data: 0.000975, loss_data_delta: 0.000282, loss_traj: 0.000363, loss_traj_delta: 0.000109, loss_dir: 0.068078, loss_rot: 0.001425, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000106, loss: 0.012730, | best_loss: 0.005880 05 Jul 2025 21:44:40 Epoch 8859/10000 | loss_data: 0.000998, loss_data_delta: 0.000280, loss_traj: 0.000355, loss_traj_delta: 0.000107, loss_dir: 0.068564, loss_rot: 0.001476, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000105, loss: 0.012955, | best_loss: 0.005880 05 Jul 2025 21:44:50 Epoch 8860/10000 | loss_data: 0.000998, loss_data_delta: 0.000280, loss_traj: 0.000433, loss_traj_delta: 0.000110, loss_dir: 0.077398, loss_rot: 0.001447, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000106, loss: 0.013279, | best_loss: 0.005880 05 Jul 2025 21:45:01 Epoch 8861/10000 | loss_data: 0.001016, loss_data_delta: 0.000289, loss_traj: 0.000396, loss_traj_delta: 0.000115, loss_dir: 0.074803, loss_rot: 0.001490, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013374, | best_loss: 0.005880 05 Jul 2025 21:45:11 Epoch 8862/10000 | loss_data: 0.001010, loss_data_delta: 0.000291, loss_traj: 0.000391, loss_traj_delta: 0.000114, loss_dir: 0.060495, loss_rot: 0.001480, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013286, | best_loss: 0.005880 05 Jul 2025 21:45:21 Epoch 8863/10000 | loss_data: 0.001009, loss_data_delta: 0.000292, loss_traj: 0.000358, loss_traj_delta: 0.000114, loss_dir: 0.071671, loss_rot: 0.001484, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000110, loss: 0.013134, | best_loss: 0.005880 05 Jul 2025 21:45:32 Epoch 8864/10000 | loss_data: 0.000994, loss_data_delta: 0.000281, loss_traj: 0.000383, loss_traj_delta: 0.000107, loss_dir: 0.072418, loss_rot: 0.001447, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000104, loss: 0.012976, | best_loss: 0.005880 05 Jul 2025 21:45:42 Epoch 8865/10000 | loss_data: 0.001027, loss_data_delta: 0.000290, loss_traj: 0.000357, loss_traj_delta: 0.000112, loss_dir: 0.076298, loss_rot: 0.001523, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000109, loss: 0.013316, | best_loss: 0.005880 05 Jul 2025 21:45:52 Epoch 8866/10000 | loss_data: 0.001002, loss_data_delta: 0.000285, loss_traj: 0.000351, loss_traj_delta: 0.000113, loss_dir: 0.069321, loss_rot: 0.001487, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013037, | best_loss: 0.005880 05 Jul 2025 21:46:02 Epoch 8867/10000 | loss_data: 0.001023, loss_data_delta: 0.000286, loss_traj: 0.000474, loss_traj_delta: 0.000114, loss_dir: 0.079129, loss_rot: 0.001469, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000862, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013715, | best_loss: 0.005880 05 Jul 2025 21:46:12 Epoch 8868/10000 | loss_data: 0.000996, loss_data_delta: 0.000285, loss_traj: 0.000393, loss_traj_delta: 0.000112, loss_dir: 0.068958, loss_rot: 0.001459, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.013143, | best_loss: 0.005880 05 Jul 2025 21:46:23 Epoch 8869/10000 | loss_data: 0.001023, loss_data_delta: 0.000287, loss_traj: 0.000357, loss_traj_delta: 0.000111, loss_dir: 0.063169, loss_rot: 0.001520, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013272, | best_loss: 0.005880 05 Jul 2025 21:46:33 Epoch 8870/10000 | loss_data: 0.001016, loss_data_delta: 0.000283, loss_traj: 0.000506, loss_traj_delta: 0.000112, loss_dir: 0.065793, loss_rot: 0.001446, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000894, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000107, loss: 0.013761, | best_loss: 0.005880 05 Jul 2025 21:46:43 Epoch 8871/10000 | loss_data: 0.000998, loss_data_delta: 0.000289, loss_traj: 0.000366, loss_traj_delta: 0.000113, loss_dir: 0.052633, loss_rot: 0.001460, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013031, | best_loss: 0.005880 05 Jul 2025 21:46:54 Epoch 8872/10000 | loss_data: 0.001036, loss_data_delta: 0.000292, loss_traj: 0.000399, loss_traj_delta: 0.000116, loss_dir: 0.051193, loss_rot: 0.001517, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.013567, | best_loss: 0.005880 05 Jul 2025 21:47:04 Epoch 8873/10000 | loss_data: 0.001066, loss_data_delta: 0.000296, loss_traj: 0.000442, loss_traj_delta: 0.000113, loss_dir: 0.070158, loss_rot: 0.001547, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000865, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.014034, | best_loss: 0.005880 05 Jul 2025 21:47:14 Epoch 8874/10000 | loss_data: 0.001016, loss_data_delta: 0.000287, loss_traj: 0.000419, loss_traj_delta: 0.000111, loss_dir: 0.062883, loss_rot: 0.001472, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013378, | best_loss: 0.005880 05 Jul 2025 21:47:25 Epoch 8875/10000 | loss_data: 0.001017, loss_data_delta: 0.000292, loss_traj: 0.000377, loss_traj_delta: 0.000115, loss_dir: 0.058973, loss_rot: 0.001492, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.013287, | best_loss: 0.005880 05 Jul 2025 21:47:35 Epoch 8876/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000340, loss_traj_delta: 0.000109, loss_dir: 0.064176, loss_rot: 0.001482, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.012956, | best_loss: 0.005880 05 Jul 2025 21:47:46 Epoch 8877/10000 | loss_data: 0.001000, loss_data_delta: 0.000288, loss_traj: 0.000363, loss_traj_delta: 0.000111, loss_dir: 0.068281, loss_rot: 0.001468, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013027, | best_loss: 0.005880 05 Jul 2025 21:47:56 Epoch 8878/10000 | loss_data: 0.001024, loss_data_delta: 0.000296, loss_traj: 0.000369, loss_traj_delta: 0.000117, loss_dir: 0.062769, loss_rot: 0.001501, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000111, loss: 0.013334, | best_loss: 0.005880 05 Jul 2025 21:48:07 Epoch 8879/10000 | loss_data: 0.001056, loss_data_delta: 0.000292, loss_traj: 0.000439, loss_traj_delta: 0.000115, loss_dir: 0.077574, loss_rot: 0.001538, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000851, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013937, | best_loss: 0.005880 05 Jul 2025 21:48:17 Epoch 8880/10000 | loss_data: 0.001031, loss_data_delta: 0.000286, loss_traj: 0.000430, loss_traj_delta: 0.000111, loss_dir: 0.067508, loss_rot: 0.001504, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000826, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013627, | best_loss: 0.005880 05 Jul 2025 21:48:27 Epoch 8881/10000 | loss_data: 0.000999, loss_data_delta: 0.000282, loss_traj: 0.000401, loss_traj_delta: 0.000112, loss_dir: 0.068444, loss_rot: 0.001458, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000107, loss: 0.013171, | best_loss: 0.005880 05 Jul 2025 21:48:38 Epoch 8882/10000 | loss_data: 0.000974, loss_data_delta: 0.000282, loss_traj: 0.000316, loss_traj_delta: 0.000108, loss_dir: 0.065156, loss_rot: 0.001444, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000713, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.012548, | best_loss: 0.005880 05 Jul 2025 21:48:48 Epoch 8883/10000 | loss_data: 0.000985, loss_data_delta: 0.000289, loss_traj: 0.000332, loss_traj_delta: 0.000115, loss_dir: 0.067248, loss_rot: 0.001456, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000733, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.012796, | best_loss: 0.005880 05 Jul 2025 21:48:59 Epoch 8884/10000 | loss_data: 0.001043, loss_data_delta: 0.000289, loss_traj: 0.000470, loss_traj_delta: 0.000116, loss_dir: 0.051543, loss_rot: 0.001506, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000868, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013930, | best_loss: 0.005880 05 Jul 2025 21:49:09 Epoch 8885/10000 | loss_data: 0.001021, loss_data_delta: 0.000290, loss_traj: 0.000369, loss_traj_delta: 0.000115, loss_dir: 0.071350, loss_rot: 0.001499, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013270, | best_loss: 0.005880 05 Jul 2025 21:49:20 Epoch 8886/10000 | loss_data: 0.001006, loss_data_delta: 0.000291, loss_traj: 0.000357, loss_traj_delta: 0.000113, loss_dir: 0.065851, loss_rot: 0.001485, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013102, | best_loss: 0.005880 05 Jul 2025 21:49:30 Epoch 8887/10000 | loss_data: 0.000983, loss_data_delta: 0.000283, loss_traj: 0.000369, loss_traj_delta: 0.000110, loss_dir: 0.058952, loss_rot: 0.001444, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.012877, | best_loss: 0.005880 05 Jul 2025 21:49:41 Epoch 8888/10000 | loss_data: 0.000982, loss_data_delta: 0.000281, loss_traj: 0.000368, loss_traj_delta: 0.000108, loss_dir: 0.069748, loss_rot: 0.001436, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000106, loss: 0.012827, | best_loss: 0.005880 05 Jul 2025 21:49:51 Epoch 8889/10000 | loss_data: 0.001017, loss_data_delta: 0.000288, loss_traj: 0.000367, loss_traj_delta: 0.000114, loss_dir: 0.058115, loss_rot: 0.001491, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013206, | best_loss: 0.005880 05 Jul 2025 21:50:01 Epoch 8890/10000 | loss_data: 0.000994, loss_data_delta: 0.000284, loss_traj: 0.000354, loss_traj_delta: 0.000113, loss_dir: 0.057008, loss_rot: 0.001467, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000109, loss: 0.012963, | best_loss: 0.005880 05 Jul 2025 21:50:11 Epoch 8891/10000 | loss_data: 0.001040, loss_data_delta: 0.000294, loss_traj: 0.000415, loss_traj_delta: 0.000118, loss_dir: 0.071221, loss_rot: 0.001517, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000827, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000112, loss: 0.013715, | best_loss: 0.005880 05 Jul 2025 21:50:21 Epoch 8892/10000 | loss_data: 0.001043, loss_data_delta: 0.000286, loss_traj: 0.000436, loss_traj_delta: 0.000110, loss_dir: 0.067132, loss_rot: 0.001511, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000859, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013729, | best_loss: 0.005880 05 Jul 2025 21:50:31 Epoch 8893/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000377, loss_traj_delta: 0.000113, loss_dir: 0.057441, loss_rot: 0.001471, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000775, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013136, | best_loss: 0.005880 05 Jul 2025 21:50:41 Epoch 8894/10000 | loss_data: 0.000987, loss_data_delta: 0.000284, loss_traj: 0.000338, loss_traj_delta: 0.000108, loss_dir: 0.062611, loss_rot: 0.001452, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.012756, | best_loss: 0.005880 05 Jul 2025 21:50:52 Epoch 8895/10000 | loss_data: 0.001031, loss_data_delta: 0.000284, loss_traj: 0.000477, loss_traj_delta: 0.000112, loss_dir: 0.062650, loss_rot: 0.001479, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000874, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013778, | best_loss: 0.005880 05 Jul 2025 21:51:02 Epoch 8896/10000 | loss_data: 0.001027, loss_data_delta: 0.000286, loss_traj: 0.000464, loss_traj_delta: 0.000114, loss_dir: 0.061564, loss_rot: 0.001472, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000866, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013671, | best_loss: 0.005880 05 Jul 2025 21:51:13 Epoch 8897/10000 | loss_data: 0.000984, loss_data_delta: 0.000282, loss_traj: 0.000369, loss_traj_delta: 0.000108, loss_dir: 0.064768, loss_rot: 0.001446, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012860, | best_loss: 0.005880 05 Jul 2025 21:51:23 Epoch 8898/10000 | loss_data: 0.001058, loss_data_delta: 0.000289, loss_traj: 0.000458, loss_traj_delta: 0.000112, loss_dir: 0.071392, loss_rot: 0.001537, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000860, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.014006, | best_loss: 0.005880 05 Jul 2025 21:51:34 Epoch 8899/10000 | loss_data: 0.001065, loss_data_delta: 0.000298, loss_traj: 0.000422, loss_traj_delta: 0.000116, loss_dir: 0.061726, loss_rot: 0.001557, loss_rot_delta: 0.000456, loss_geo_xyz: 0.000840, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000111, loss: 0.013980, | best_loss: 0.005880 05 Jul 2025 21:51:45 Epoch 8900/10000 | loss_data: 0.001039, loss_data_delta: 0.000283, loss_traj: 0.000460, loss_traj_delta: 0.000110, loss_dir: 0.072780, loss_rot: 0.001503, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000855, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000107, loss: 0.013794, | best_loss: 0.005880 05 Jul 2025 21:51:55 Epoch 8901/10000 | loss_data: 0.001017, loss_data_delta: 0.000286, loss_traj: 0.000399, loss_traj_delta: 0.000112, loss_dir: 0.064974, loss_rot: 0.001486, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000808, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013330, | best_loss: 0.005880 05 Jul 2025 21:52:06 Epoch 8902/10000 | loss_data: 0.001010, loss_data_delta: 0.000289, loss_traj: 0.000359, loss_traj_delta: 0.000111, loss_dir: 0.053098, loss_rot: 0.001489, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013118, | best_loss: 0.005880 05 Jul 2025 21:52:16 Epoch 8903/10000 | loss_data: 0.001005, loss_data_delta: 0.000284, loss_traj: 0.000410, loss_traj_delta: 0.000113, loss_dir: 0.062433, loss_rot: 0.001464, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000808, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013282, | best_loss: 0.005880 05 Jul 2025 21:52:26 Epoch 8904/10000 | loss_data: 0.001009, loss_data_delta: 0.000287, loss_traj: 0.000460, loss_traj_delta: 0.000110, loss_dir: 0.062234, loss_rot: 0.001448, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000853, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013494, | best_loss: 0.005880 05 Jul 2025 21:52:36 Epoch 8905/10000 | loss_data: 0.000992, loss_data_delta: 0.000291, loss_traj: 0.000328, loss_traj_delta: 0.000110, loss_dir: 0.071037, loss_rot: 0.001470, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012807, | best_loss: 0.005880 05 Jul 2025 21:52:47 Epoch 8906/10000 | loss_data: 0.001028, loss_data_delta: 0.000291, loss_traj: 0.000383, loss_traj_delta: 0.000117, loss_dir: 0.062364, loss_rot: 0.001511, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013421, | best_loss: 0.005880 05 Jul 2025 21:52:57 Epoch 8907/10000 | loss_data: 0.001044, loss_data_delta: 0.000290, loss_traj: 0.000389, loss_traj_delta: 0.000115, loss_dir: 0.058716, loss_rot: 0.001538, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013623, | best_loss: 0.005880 05 Jul 2025 21:53:07 Epoch 8908/10000 | loss_data: 0.001018, loss_data_delta: 0.000290, loss_traj: 0.000379, loss_traj_delta: 0.000116, loss_dir: 0.059132, loss_rot: 0.001489, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000110, loss: 0.013294, | best_loss: 0.005880 05 Jul 2025 21:53:17 Epoch 8909/10000 | loss_data: 0.001043, loss_data_delta: 0.000288, loss_traj: 0.000414, loss_traj_delta: 0.000109, loss_dir: 0.059136, loss_rot: 0.001524, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000827, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000107, loss: 0.013656, | best_loss: 0.005880 05 Jul 2025 21:53:27 Epoch 8910/10000 | loss_data: 0.001024, loss_data_delta: 0.000293, loss_traj: 0.000359, loss_traj_delta: 0.000113, loss_dir: 0.057915, loss_rot: 0.001509, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013285, | best_loss: 0.005880 05 Jul 2025 21:53:37 Epoch 8911/10000 | loss_data: 0.001066, loss_data_delta: 0.000293, loss_traj: 0.000466, loss_traj_delta: 0.000118, loss_dir: 0.070266, loss_rot: 0.001538, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000886, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000112, loss: 0.014146, | best_loss: 0.005880 05 Jul 2025 21:53:47 Epoch 8912/10000 | loss_data: 0.001010, loss_data_delta: 0.000287, loss_traj: 0.000387, loss_traj_delta: 0.000109, loss_dir: 0.065025, loss_rot: 0.001479, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.013214, | best_loss: 0.005880 05 Jul 2025 21:53:57 Epoch 8913/10000 | loss_data: 0.000986, loss_data_delta: 0.000281, loss_traj: 0.000361, loss_traj_delta: 0.000109, loss_dir: 0.075228, loss_rot: 0.001457, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000106, loss: 0.012900, | best_loss: 0.005880 05 Jul 2025 21:54:07 Epoch 8914/10000 | loss_data: 0.001038, loss_data_delta: 0.000292, loss_traj: 0.000441, loss_traj_delta: 0.000115, loss_dir: 0.060365, loss_rot: 0.001502, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000849, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000110, loss: 0.013750, | best_loss: 0.005880 05 Jul 2025 21:54:17 Epoch 8915/10000 | loss_data: 0.001021, loss_data_delta: 0.000284, loss_traj: 0.000412, loss_traj_delta: 0.000112, loss_dir: 0.074669, loss_rot: 0.001494, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000108, loss: 0.013455, | best_loss: 0.005880 05 Jul 2025 21:54:27 Epoch 8916/10000 | loss_data: 0.001017, loss_data_delta: 0.000290, loss_traj: 0.000397, loss_traj_delta: 0.000117, loss_dir: 0.057588, loss_rot: 0.001490, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000801, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000110, loss: 0.013398, | best_loss: 0.005880 05 Jul 2025 21:54:37 Epoch 8917/10000 | loss_data: 0.001064, loss_data_delta: 0.000296, loss_traj: 0.000476, loss_traj_delta: 0.000119, loss_dir: 0.072827, loss_rot: 0.001532, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000890, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000111, loss: 0.014171, | best_loss: 0.005880 05 Jul 2025 21:54:48 Epoch 8918/10000 | loss_data: 0.001020, loss_data_delta: 0.000286, loss_traj: 0.000393, loss_traj_delta: 0.000109, loss_dir: 0.058365, loss_rot: 0.001493, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000799, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013333, | best_loss: 0.005880 05 Jul 2025 21:54:58 Epoch 8919/10000 | loss_data: 0.001020, loss_data_delta: 0.000292, loss_traj: 0.000368, loss_traj_delta: 0.000112, loss_dir: 0.050097, loss_rot: 0.001496, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013243, | best_loss: 0.005880 05 Jul 2025 21:55:08 Epoch 8920/10000 | loss_data: 0.000976, loss_data_delta: 0.000283, loss_traj: 0.000354, loss_traj_delta: 0.000112, loss_dir: 0.064451, loss_rot: 0.001430, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000108, loss: 0.012744, | best_loss: 0.005880 05 Jul 2025 21:55:18 Epoch 8921/10000 | loss_data: 0.000994, loss_data_delta: 0.000284, loss_traj: 0.000371, loss_traj_delta: 0.000110, loss_dir: 0.060697, loss_rot: 0.001458, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.012985, | best_loss: 0.005880 05 Jul 2025 21:55:28 Epoch 8922/10000 | loss_data: 0.001007, loss_data_delta: 0.000288, loss_traj: 0.000408, loss_traj_delta: 0.000113, loss_dir: 0.074936, loss_rot: 0.001465, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013284, | best_loss: 0.005880 05 Jul 2025 21:55:38 Epoch 8923/10000 | loss_data: 0.001010, loss_data_delta: 0.000287, loss_traj: 0.000346, loss_traj_delta: 0.000109, loss_dir: 0.061180, loss_rot: 0.001506, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013097, | best_loss: 0.005880 05 Jul 2025 21:55:49 Epoch 8924/10000 | loss_data: 0.000992, loss_data_delta: 0.000284, loss_traj: 0.000360, loss_traj_delta: 0.000109, loss_dir: 0.081992, loss_rot: 0.001465, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000749, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.012941, | best_loss: 0.005880 05 Jul 2025 21:55:59 Epoch 8925/10000 | loss_data: 0.001038, loss_data_delta: 0.000284, loss_traj: 0.000433, loss_traj_delta: 0.000113, loss_dir: 0.073498, loss_rot: 0.001507, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000839, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013681, | best_loss: 0.005880 05 Jul 2025 21:56:09 Epoch 8926/10000 | loss_data: 0.001032, loss_data_delta: 0.000293, loss_traj: 0.000396, loss_traj_delta: 0.000111, loss_dir: 0.064789, loss_rot: 0.001507, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013479, | best_loss: 0.005880 05 Jul 2025 21:56:19 Epoch 8927/10000 | loss_data: 0.001002, loss_data_delta: 0.000294, loss_traj: 0.000342, loss_traj_delta: 0.000116, loss_dir: 0.061066, loss_rot: 0.001477, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000110, loss: 0.013010, | best_loss: 0.005880 05 Jul 2025 21:56:29 Epoch 8928/10000 | loss_data: 0.001052, loss_data_delta: 0.000290, loss_traj: 0.000411, loss_traj_delta: 0.000116, loss_dir: 0.066692, loss_rot: 0.001544, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013793, | best_loss: 0.005880 05 Jul 2025 21:56:39 Epoch 8929/10000 | loss_data: 0.001027, loss_data_delta: 0.000286, loss_traj: 0.000405, loss_traj_delta: 0.000111, loss_dir: 0.059242, loss_rot: 0.001507, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013471, | best_loss: 0.005880 05 Jul 2025 21:56:50 Epoch 8930/10000 | loss_data: 0.001056, loss_data_delta: 0.000290, loss_traj: 0.000525, loss_traj_delta: 0.000112, loss_dir: 0.073212, loss_rot: 0.001500, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000923, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.014222, | best_loss: 0.005880 05 Jul 2025 21:57:00 Epoch 8931/10000 | loss_data: 0.001049, loss_data_delta: 0.000291, loss_traj: 0.000408, loss_traj_delta: 0.000110, loss_dir: 0.066103, loss_rot: 0.001542, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013731, | best_loss: 0.005880 05 Jul 2025 21:57:10 Epoch 8932/10000 | loss_data: 0.001025, loss_data_delta: 0.000285, loss_traj: 0.000391, loss_traj_delta: 0.000115, loss_dir: 0.071569, loss_rot: 0.001509, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013436, | best_loss: 0.005880 05 Jul 2025 21:57:20 Epoch 8933/10000 | loss_data: 0.001028, loss_data_delta: 0.000294, loss_traj: 0.000419, loss_traj_delta: 0.000119, loss_dir: 0.066370, loss_rot: 0.001490, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000833, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000112, loss: 0.013586, | best_loss: 0.005880 05 Jul 2025 21:57:30 Epoch 8934/10000 | loss_data: 0.000965, loss_data_delta: 0.000283, loss_traj: 0.000333, loss_traj_delta: 0.000112, loss_dir: 0.077213, loss_rot: 0.001425, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.012564, | best_loss: 0.005880 05 Jul 2025 21:57:40 Epoch 8935/10000 | loss_data: 0.000986, loss_data_delta: 0.000286, loss_traj: 0.000325, loss_traj_delta: 0.000110, loss_dir: 0.064511, loss_rot: 0.001463, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000718, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.012737, | best_loss: 0.005880 05 Jul 2025 21:57:50 Epoch 8936/10000 | loss_data: 0.001038, loss_data_delta: 0.000294, loss_traj: 0.000431, loss_traj_delta: 0.000118, loss_dir: 0.061029, loss_rot: 0.001514, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000111, loss: 0.013765, | best_loss: 0.005880 05 Jul 2025 21:58:00 Epoch 8937/10000 | loss_data: 0.001011, loss_data_delta: 0.000291, loss_traj: 0.000351, loss_traj_delta: 0.000116, loss_dir: 0.063370, loss_rot: 0.001494, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.013125, | best_loss: 0.005880 05 Jul 2025 21:58:11 Epoch 8938/10000 | loss_data: 0.001040, loss_data_delta: 0.000293, loss_traj: 0.000424, loss_traj_delta: 0.000115, loss_dir: 0.064905, loss_rot: 0.001513, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013706, | best_loss: 0.005880 05 Jul 2025 21:58:21 Epoch 8939/10000 | loss_data: 0.000999, loss_data_delta: 0.000288, loss_traj: 0.000362, loss_traj_delta: 0.000112, loss_dir: 0.053927, loss_rot: 0.001470, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013025, | best_loss: 0.005880 05 Jul 2025 21:58:31 Epoch 8940/10000 | loss_data: 0.001033, loss_data_delta: 0.000293, loss_traj: 0.000438, loss_traj_delta: 0.000113, loss_dir: 0.058051, loss_rot: 0.001491, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013663, | best_loss: 0.005880 05 Jul 2025 21:58:42 Epoch 8941/10000 | loss_data: 0.001006, loss_data_delta: 0.000284, loss_traj: 0.000398, loss_traj_delta: 0.000111, loss_dir: 0.074181, loss_rot: 0.001474, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000107, loss: 0.013247, | best_loss: 0.005880 05 Jul 2025 21:58:52 Epoch 8942/10000 | loss_data: 0.001046, loss_data_delta: 0.000293, loss_traj: 0.000386, loss_traj_delta: 0.000115, loss_dir: 0.070638, loss_rot: 0.001536, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013609, | best_loss: 0.005880 05 Jul 2025 21:59:02 Epoch 8943/10000 | loss_data: 0.001049, loss_data_delta: 0.000292, loss_traj: 0.000391, loss_traj_delta: 0.000109, loss_dir: 0.077945, loss_rot: 0.001540, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013628, | best_loss: 0.005880 05 Jul 2025 21:59:12 Epoch 8944/10000 | loss_data: 0.001010, loss_data_delta: 0.000287, loss_traj: 0.000385, loss_traj_delta: 0.000112, loss_dir: 0.060724, loss_rot: 0.001476, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013213, | best_loss: 0.005880 05 Jul 2025 21:59:22 Epoch 8945/10000 | loss_data: 0.001039, loss_data_delta: 0.000295, loss_traj: 0.000450, loss_traj_delta: 0.000121, loss_dir: 0.070881, loss_rot: 0.001499, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000851, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000112, loss: 0.013824, | best_loss: 0.005880 05 Jul 2025 21:59:33 Epoch 8946/10000 | loss_data: 0.001008, loss_data_delta: 0.000281, loss_traj: 0.000373, loss_traj_delta: 0.000109, loss_dir: 0.064994, loss_rot: 0.001485, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000105, loss: 0.013129, | best_loss: 0.005880 05 Jul 2025 21:59:43 Epoch 8947/10000 | loss_data: 0.001058, loss_data_delta: 0.000291, loss_traj: 0.000421, loss_traj_delta: 0.000114, loss_dir: 0.074273, loss_rot: 0.001550, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013876, | best_loss: 0.005880 05 Jul 2025 21:59:54 Epoch 8948/10000 | loss_data: 0.001077, loss_data_delta: 0.000289, loss_traj: 0.000547, loss_traj_delta: 0.000113, loss_dir: 0.068137, loss_rot: 0.001527, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000953, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.014512, | best_loss: 0.005880 05 Jul 2025 22:00:04 Epoch 8949/10000 | loss_data: 0.001121, loss_data_delta: 0.000295, loss_traj: 0.000648, loss_traj_delta: 0.000118, loss_dir: 0.068767, loss_rot: 0.001556, loss_rot_delta: 0.000450, loss_geo_xyz: 0.001069, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000111, loss: 0.015381, | best_loss: 0.005880 05 Jul 2025 22:00:14 Epoch 8950/10000 | loss_data: 0.001018, loss_data_delta: 0.000288, loss_traj: 0.000365, loss_traj_delta: 0.000112, loss_dir: 0.063312, loss_rot: 0.001506, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013250, | best_loss: 0.005880 05 Jul 2025 22:00:24 Epoch 8951/10000 | loss_data: 0.000997, loss_data_delta: 0.000290, loss_traj: 0.000360, loss_traj_delta: 0.000113, loss_dir: 0.070796, loss_rot: 0.001467, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013010, | best_loss: 0.005880 05 Jul 2025 22:00:34 Epoch 8952/10000 | loss_data: 0.001055, loss_data_delta: 0.000291, loss_traj: 0.000431, loss_traj_delta: 0.000113, loss_dir: 0.059739, loss_rot: 0.001533, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000854, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013849, | best_loss: 0.005880 05 Jul 2025 22:00:44 Epoch 8953/10000 | loss_data: 0.001126, loss_data_delta: 0.000286, loss_traj: 0.000854, loss_traj_delta: 0.000111, loss_dir: 0.063463, loss_rot: 0.001488, loss_rot_delta: 0.000439, loss_geo_xyz: 0.001236, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.016165, | best_loss: 0.005880 05 Jul 2025 22:00:54 Epoch 8954/10000 | loss_data: 0.000978, loss_data_delta: 0.000285, loss_traj: 0.000362, loss_traj_delta: 0.000115, loss_dir: 0.082683, loss_rot: 0.001435, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.012825, | best_loss: 0.005880 05 Jul 2025 22:01:05 Epoch 8955/10000 | loss_data: 0.001055, loss_data_delta: 0.000292, loss_traj: 0.000399, loss_traj_delta: 0.000112, loss_dir: 0.062548, loss_rot: 0.001561, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013771, | best_loss: 0.005880 05 Jul 2025 22:01:15 Epoch 8956/10000 | loss_data: 0.001037, loss_data_delta: 0.000291, loss_traj: 0.000409, loss_traj_delta: 0.000117, loss_dir: 0.068085, loss_rot: 0.001519, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013638, | best_loss: 0.005880 05 Jul 2025 22:01:25 Epoch 8957/10000 | loss_data: 0.001060, loss_data_delta: 0.000287, loss_traj: 0.000479, loss_traj_delta: 0.000116, loss_dir: 0.071437, loss_rot: 0.001532, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000887, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000111, loss: 0.014148, | best_loss: 0.005880 05 Jul 2025 22:01:35 Epoch 8958/10000 | loss_data: 0.001017, loss_data_delta: 0.000292, loss_traj: 0.000348, loss_traj_delta: 0.000114, loss_dir: 0.067120, loss_rot: 0.001500, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013157, | best_loss: 0.005880 05 Jul 2025 22:01:45 Epoch 8959/10000 | loss_data: 0.000990, loss_data_delta: 0.000282, loss_traj: 0.000373, loss_traj_delta: 0.000112, loss_dir: 0.078305, loss_rot: 0.001452, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012956, | best_loss: 0.005880 05 Jul 2025 22:01:55 Epoch 8960/10000 | loss_data: 0.001013, loss_data_delta: 0.000293, loss_traj: 0.000357, loss_traj_delta: 0.000117, loss_dir: 0.062242, loss_rot: 0.001495, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.013188, | best_loss: 0.005880 05 Jul 2025 22:02:05 Epoch 8961/10000 | loss_data: 0.001028, loss_data_delta: 0.000289, loss_traj: 0.000397, loss_traj_delta: 0.000113, loss_dir: 0.068341, loss_rot: 0.001508, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013464, | best_loss: 0.005880 05 Jul 2025 22:02:15 Epoch 8962/10000 | loss_data: 0.001018, loss_data_delta: 0.000286, loss_traj: 0.000390, loss_traj_delta: 0.000109, loss_dir: 0.061407, loss_rot: 0.001492, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013276, | best_loss: 0.005880 05 Jul 2025 22:02:26 Epoch 8963/10000 | loss_data: 0.001042, loss_data_delta: 0.000289, loss_traj: 0.000435, loss_traj_delta: 0.000109, loss_dir: 0.050737, loss_rot: 0.001516, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000832, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013717, | best_loss: 0.005880 05 Jul 2025 22:02:36 Epoch 8964/10000 | loss_data: 0.001068, loss_data_delta: 0.000297, loss_traj: 0.000478, loss_traj_delta: 0.000124, loss_dir: 0.070811, loss_rot: 0.001545, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000894, loss_geo_xyz_vel: 0.000207, loss_foot_contact: 0.000112, loss: 0.014276, | best_loss: 0.005880 05 Jul 2025 22:02:46 Epoch 8965/10000 | loss_data: 0.001037, loss_data_delta: 0.000292, loss_traj: 0.000421, loss_traj_delta: 0.000116, loss_dir: 0.062435, loss_rot: 0.001508, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.013660, | best_loss: 0.005880 05 Jul 2025 22:02:56 Epoch 8966/10000 | loss_data: 0.001016, loss_data_delta: 0.000285, loss_traj: 0.000421, loss_traj_delta: 0.000111, loss_dir: 0.064069, loss_rot: 0.001477, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000826, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013407, | best_loss: 0.005880 05 Jul 2025 22:03:06 Epoch 8967/10000 | loss_data: 0.001035, loss_data_delta: 0.000287, loss_traj: 0.000405, loss_traj_delta: 0.000111, loss_dir: 0.061432, loss_rot: 0.001515, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013538, | best_loss: 0.005880 05 Jul 2025 22:03:16 Epoch 8968/10000 | loss_data: 0.000988, loss_data_delta: 0.000282, loss_traj: 0.000363, loss_traj_delta: 0.000116, loss_dir: 0.060118, loss_rot: 0.001448, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.012903, | best_loss: 0.005880 05 Jul 2025 22:03:26 Epoch 8969/10000 | loss_data: 0.001007, loss_data_delta: 0.000287, loss_traj: 0.000347, loss_traj_delta: 0.000110, loss_dir: 0.080262, loss_rot: 0.001490, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.013026, | best_loss: 0.005880 05 Jul 2025 22:03:36 Epoch 8970/10000 | loss_data: 0.001070, loss_data_delta: 0.000293, loss_traj: 0.000406, loss_traj_delta: 0.000118, loss_dir: 0.064004, loss_rot: 0.001575, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000111, loss: 0.013970, | best_loss: 0.005880 05 Jul 2025 22:03:46 Epoch 8971/10000 | loss_data: 0.000996, loss_data_delta: 0.000284, loss_traj: 0.000354, loss_traj_delta: 0.000111, loss_dir: 0.073654, loss_rot: 0.001468, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.012949, | best_loss: 0.005880 05 Jul 2025 22:03:57 Epoch 8972/10000 | loss_data: 0.001018, loss_data_delta: 0.000281, loss_traj: 0.000491, loss_traj_delta: 0.000107, loss_dir: 0.062869, loss_rot: 0.001450, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000882, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000104, loss: 0.013649, | best_loss: 0.005880 05 Jul 2025 22:04:07 Epoch 8973/10000 | loss_data: 0.001004, loss_data_delta: 0.000285, loss_traj: 0.000386, loss_traj_delta: 0.000109, loss_dir: 0.067622, loss_rot: 0.001472, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013157, | best_loss: 0.005880 05 Jul 2025 22:04:17 Epoch 8974/10000 | loss_data: 0.001011, loss_data_delta: 0.000290, loss_traj: 0.000377, loss_traj_delta: 0.000114, loss_dir: 0.069957, loss_rot: 0.001480, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013212, | best_loss: 0.005880 05 Jul 2025 22:04:28 Epoch 8975/10000 | loss_data: 0.001034, loss_data_delta: 0.000291, loss_traj: 0.000416, loss_traj_delta: 0.000113, loss_dir: 0.062663, loss_rot: 0.001507, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000825, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013592, | best_loss: 0.005880 05 Jul 2025 22:04:38 Epoch 8976/10000 | loss_data: 0.001035, loss_data_delta: 0.000289, loss_traj: 0.000409, loss_traj_delta: 0.000112, loss_dir: 0.076535, loss_rot: 0.001515, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013581, | best_loss: 0.005880 05 Jul 2025 22:04:49 Epoch 8977/10000 | loss_data: 0.001007, loss_data_delta: 0.000290, loss_traj: 0.000359, loss_traj_delta: 0.000115, loss_dir: 0.069254, loss_rot: 0.001482, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013090, | best_loss: 0.005880 05 Jul 2025 22:05:00 Epoch 8978/10000 | loss_data: 0.001013, loss_data_delta: 0.000292, loss_traj: 0.000394, loss_traj_delta: 0.000114, loss_dir: 0.064183, loss_rot: 0.001485, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013328, | best_loss: 0.005880 05 Jul 2025 22:05:11 Epoch 8979/10000 | loss_data: 0.001023, loss_data_delta: 0.000285, loss_traj: 0.000391, loss_traj_delta: 0.000113, loss_dir: 0.058962, loss_rot: 0.001502, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013385, | best_loss: 0.005880 05 Jul 2025 22:05:20 Epoch 8980/10000 | loss_data: 0.001001, loss_data_delta: 0.000286, loss_traj: 0.000383, loss_traj_delta: 0.000110, loss_dir: 0.079850, loss_rot: 0.001468, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013112, | best_loss: 0.005880 05 Jul 2025 22:05:31 Epoch 8981/10000 | loss_data: 0.001041, loss_data_delta: 0.000287, loss_traj: 0.000553, loss_traj_delta: 0.000110, loss_dir: 0.064769, loss_rot: 0.001459, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000949, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.014139, | best_loss: 0.005880 05 Jul 2025 22:05:41 Epoch 8982/10000 | loss_data: 0.001034, loss_data_delta: 0.000296, loss_traj: 0.000391, loss_traj_delta: 0.000116, loss_dir: 0.065359, loss_rot: 0.001513, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000110, loss: 0.013519, | best_loss: 0.005880 05 Jul 2025 22:05:52 Epoch 8983/10000 | loss_data: 0.001049, loss_data_delta: 0.000289, loss_traj: 0.000492, loss_traj_delta: 0.000113, loss_dir: 0.056904, loss_rot: 0.001500, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000889, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.014012, | best_loss: 0.005880 05 Jul 2025 22:06:03 Epoch 8984/10000 | loss_data: 0.001040, loss_data_delta: 0.000292, loss_traj: 0.000444, loss_traj_delta: 0.000114, loss_dir: 0.062963, loss_rot: 0.001501, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000852, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.013757, | best_loss: 0.005880 05 Jul 2025 22:06:13 Epoch 8985/10000 | loss_data: 0.000997, loss_data_delta: 0.000283, loss_traj: 0.000389, loss_traj_delta: 0.000110, loss_dir: 0.067235, loss_rot: 0.001460, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.013087, | best_loss: 0.005880 05 Jul 2025 22:06:23 Epoch 8986/10000 | loss_data: 0.001037, loss_data_delta: 0.000287, loss_traj: 0.000423, loss_traj_delta: 0.000113, loss_dir: 0.076591, loss_rot: 0.001515, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013648, | best_loss: 0.005880 05 Jul 2025 22:06:34 Epoch 8987/10000 | loss_data: 0.000956, loss_data_delta: 0.000276, loss_traj: 0.000333, loss_traj_delta: 0.000105, loss_dir: 0.077040, loss_rot: 0.001418, loss_rot_delta: 0.000424, loss_geo_xyz: 0.000711, loss_geo_xyz_vel: 0.000182, loss_foot_contact: 0.000103, loss: 0.012441, | best_loss: 0.005880 05 Jul 2025 22:06:44 Epoch 8988/10000 | loss_data: 0.001006, loss_data_delta: 0.000291, loss_traj: 0.000335, loss_traj_delta: 0.000113, loss_dir: 0.065558, loss_rot: 0.001498, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000736, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013028, | best_loss: 0.005880 05 Jul 2025 22:06:54 Epoch 8989/10000 | loss_data: 0.000987, loss_data_delta: 0.000287, loss_traj: 0.000391, loss_traj_delta: 0.000111, loss_dir: 0.061834, loss_rot: 0.001434, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012983, | best_loss: 0.005880 05 Jul 2025 22:07:04 Epoch 8990/10000 | loss_data: 0.000974, loss_data_delta: 0.000283, loss_traj: 0.000385, loss_traj_delta: 0.000112, loss_dir: 0.071477, loss_rot: 0.001414, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012827, | best_loss: 0.005880 05 Jul 2025 22:07:15 Epoch 8991/10000 | loss_data: 0.000992, loss_data_delta: 0.000284, loss_traj: 0.000338, loss_traj_delta: 0.000108, loss_dir: 0.052047, loss_rot: 0.001472, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.012837, | best_loss: 0.005880 05 Jul 2025 22:07:26 Epoch 8992/10000 | loss_data: 0.001049, loss_data_delta: 0.000285, loss_traj: 0.000402, loss_traj_delta: 0.000107, loss_dir: 0.077602, loss_rot: 0.001548, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000105, loss: 0.013671, | best_loss: 0.005880 05 Jul 2025 22:07:36 Epoch 8993/10000 | loss_data: 0.001050, loss_data_delta: 0.000289, loss_traj: 0.000479, loss_traj_delta: 0.000117, loss_dir: 0.068971, loss_rot: 0.001506, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000894, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000111, loss: 0.014025, | best_loss: 0.005880 05 Jul 2025 22:07:47 Epoch 8994/10000 | loss_data: 0.001074, loss_data_delta: 0.000288, loss_traj: 0.000451, loss_traj_delta: 0.000110, loss_dir: 0.086410, loss_rot: 0.001566, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000866, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.014111, | best_loss: 0.005880 05 Jul 2025 22:07:57 Epoch 8995/10000 | loss_data: 0.001004, loss_data_delta: 0.000286, loss_traj: 0.000362, loss_traj_delta: 0.000110, loss_dir: 0.068672, loss_rot: 0.001477, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013045, | best_loss: 0.005880 05 Jul 2025 22:08:08 Epoch 8996/10000 | loss_data: 0.001038, loss_data_delta: 0.000285, loss_traj: 0.000413, loss_traj_delta: 0.000109, loss_dir: 0.050871, loss_rot: 0.001524, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000106, loss: 0.013622, | best_loss: 0.005880 05 Jul 2025 22:08:18 Epoch 8997/10000 | loss_data: 0.001042, loss_data_delta: 0.000287, loss_traj: 0.000422, loss_traj_delta: 0.000112, loss_dir: 0.060882, loss_rot: 0.001519, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000833, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013684, | best_loss: 0.005880 05 Jul 2025 22:08:28 Epoch 8998/10000 | loss_data: 0.001018, loss_data_delta: 0.000291, loss_traj: 0.000335, loss_traj_delta: 0.000111, loss_dir: 0.068470, loss_rot: 0.001510, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013104, | best_loss: 0.005880 05 Jul 2025 22:08:39 Epoch 8999/10000 | loss_data: 0.001042, loss_data_delta: 0.000293, loss_traj: 0.000418, loss_traj_delta: 0.000114, loss_dir: 0.059549, loss_rot: 0.001520, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000826, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013698, | best_loss: 0.005880 05 Jul 2025 22:08:49 Epoch 9000/10000 | loss_data: 0.000989, loss_data_delta: 0.000282, loss_traj: 0.000403, loss_traj_delta: 0.000110, loss_dir: 0.076793, loss_rot: 0.001437, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013045, | best_loss: 0.005880 05 Jul 2025 22:08:49 Evaluation... 05 Jul 2025 22:11:23 Saved checkpoint: ./save/mospa/weights_9000.pt 05 Jul 2025 22:11:33 Epoch 9001/10000 | loss_data: 0.001033, loss_data_delta: 0.000288, loss_traj: 0.000416, loss_traj_delta: 0.000111, loss_dir: 0.065287, loss_rot: 0.001509, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013570, | best_loss: 0.005880 05 Jul 2025 22:11:43 Epoch 9002/10000 | loss_data: 0.001065, loss_data_delta: 0.000294, loss_traj: 0.000392, loss_traj_delta: 0.000116, loss_dir: 0.081771, loss_rot: 0.001568, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.013838, | best_loss: 0.005880 05 Jul 2025 22:11:53 Epoch 9003/10000 | loss_data: 0.001013, loss_data_delta: 0.000288, loss_traj: 0.000441, loss_traj_delta: 0.000112, loss_dir: 0.052389, loss_rot: 0.001464, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000841, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013481, | best_loss: 0.005880 05 Jul 2025 22:12:03 Epoch 9004/10000 | loss_data: 0.001000, loss_data_delta: 0.000284, loss_traj: 0.000392, loss_traj_delta: 0.000107, loss_dir: 0.053597, loss_rot: 0.001464, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000105, loss: 0.013125, | best_loss: 0.005880 05 Jul 2025 22:12:14 Epoch 9005/10000 | loss_data: 0.001022, loss_data_delta: 0.000289, loss_traj: 0.000410, loss_traj_delta: 0.000114, loss_dir: 0.058496, loss_rot: 0.001489, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013455, | best_loss: 0.005880 05 Jul 2025 22:12:24 Epoch 9006/10000 | loss_data: 0.001030, loss_data_delta: 0.000291, loss_traj: 0.000450, loss_traj_delta: 0.000118, loss_dir: 0.056028, loss_rot: 0.001479, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000856, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000110, loss: 0.013685, | best_loss: 0.005880 05 Jul 2025 22:12:34 Epoch 9007/10000 | loss_data: 0.000995, loss_data_delta: 0.000279, loss_traj: 0.000372, loss_traj_delta: 0.000109, loss_dir: 0.070220, loss_rot: 0.001470, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000106, loss: 0.013023, | best_loss: 0.005880 05 Jul 2025 22:12:44 Epoch 9008/10000 | loss_data: 0.001022, loss_data_delta: 0.000286, loss_traj: 0.000385, loss_traj_delta: 0.000107, loss_dir: 0.065366, loss_rot: 0.001506, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.013320, | best_loss: 0.005880 05 Jul 2025 22:12:54 Epoch 9009/10000 | loss_data: 0.001001, loss_data_delta: 0.000289, loss_traj: 0.000387, loss_traj_delta: 0.000114, loss_dir: 0.055260, loss_rot: 0.001465, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013153, | best_loss: 0.005880 05 Jul 2025 22:13:05 Epoch 9010/10000 | loss_data: 0.001041, loss_data_delta: 0.000291, loss_traj: 0.000399, loss_traj_delta: 0.000114, loss_dir: 0.064241, loss_rot: 0.001523, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013593, | best_loss: 0.005880 05 Jul 2025 22:13:15 Epoch 9011/10000 | loss_data: 0.001003, loss_data_delta: 0.000292, loss_traj: 0.000358, loss_traj_delta: 0.000111, loss_dir: 0.069497, loss_rot: 0.001478, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013051, | best_loss: 0.005880 05 Jul 2025 22:13:25 Epoch 9012/10000 | loss_data: 0.001077, loss_data_delta: 0.000294, loss_traj: 0.000448, loss_traj_delta: 0.000114, loss_dir: 0.064787, loss_rot: 0.001567, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000871, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.014154, | best_loss: 0.005880 05 Jul 2025 22:13:35 Epoch 9013/10000 | loss_data: 0.001059, loss_data_delta: 0.000291, loss_traj: 0.000466, loss_traj_delta: 0.000117, loss_dir: 0.070640, loss_rot: 0.001530, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000874, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.014060, | best_loss: 0.005880 05 Jul 2025 22:13:45 Epoch 9014/10000 | loss_data: 0.001017, loss_data_delta: 0.000286, loss_traj: 0.000441, loss_traj_delta: 0.000110, loss_dir: 0.065986, loss_rot: 0.001468, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000838, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013469, | best_loss: 0.005880 05 Jul 2025 22:13:55 Epoch 9015/10000 | loss_data: 0.000982, loss_data_delta: 0.000290, loss_traj: 0.000341, loss_traj_delta: 0.000112, loss_dir: 0.062808, loss_rot: 0.001447, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000733, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.012759, | best_loss: 0.005880 05 Jul 2025 22:14:05 Epoch 9016/10000 | loss_data: 0.001015, loss_data_delta: 0.000287, loss_traj: 0.000372, loss_traj_delta: 0.000110, loss_dir: 0.076260, loss_rot: 0.001491, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013190, | best_loss: 0.005880 05 Jul 2025 22:14:15 Epoch 9017/10000 | loss_data: 0.001025, loss_data_delta: 0.000284, loss_traj: 0.000398, loss_traj_delta: 0.000110, loss_dir: 0.075417, loss_rot: 0.001501, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013404, | best_loss: 0.005880 05 Jul 2025 22:14:26 Epoch 9018/10000 | loss_data: 0.000984, loss_data_delta: 0.000283, loss_traj: 0.000345, loss_traj_delta: 0.000109, loss_dir: 0.066335, loss_rot: 0.001451, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012763, | best_loss: 0.005880 05 Jul 2025 22:14:36 Epoch 9019/10000 | loss_data: 0.001016, loss_data_delta: 0.000295, loss_traj: 0.000333, loss_traj_delta: 0.000115, loss_dir: 0.069263, loss_rot: 0.001500, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.013085, | best_loss: 0.005880 05 Jul 2025 22:14:46 Epoch 9020/10000 | loss_data: 0.001026, loss_data_delta: 0.000285, loss_traj: 0.000412, loss_traj_delta: 0.000112, loss_dir: 0.068591, loss_rot: 0.001494, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013467, | best_loss: 0.005880 05 Jul 2025 22:14:57 Epoch 9021/10000 | loss_data: 0.001019, loss_data_delta: 0.000284, loss_traj: 0.000379, loss_traj_delta: 0.000109, loss_dir: 0.059464, loss_rot: 0.001498, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.013256, | best_loss: 0.005880 05 Jul 2025 22:15:07 Epoch 9022/10000 | loss_data: 0.001027, loss_data_delta: 0.000288, loss_traj: 0.000367, loss_traj_delta: 0.000112, loss_dir: 0.063954, loss_rot: 0.001510, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013300, | best_loss: 0.005880 05 Jul 2025 22:15:17 Epoch 9023/10000 | loss_data: 0.001119, loss_data_delta: 0.000289, loss_traj: 0.000665, loss_traj_delta: 0.000118, loss_dir: 0.058034, loss_rot: 0.001548, loss_rot_delta: 0.000441, loss_geo_xyz: 0.001081, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000110, loss: 0.015410, | best_loss: 0.005880 05 Jul 2025 22:15:28 Epoch 9024/10000 | loss_data: 0.001010, loss_data_delta: 0.000295, loss_traj: 0.000333, loss_traj_delta: 0.000113, loss_dir: 0.059054, loss_rot: 0.001492, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013010, | best_loss: 0.005880 05 Jul 2025 22:15:38 Epoch 9025/10000 | loss_data: 0.001036, loss_data_delta: 0.000291, loss_traj: 0.000428, loss_traj_delta: 0.000111, loss_dir: 0.069189, loss_rot: 0.001504, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000108, loss: 0.013645, | best_loss: 0.005880 05 Jul 2025 22:15:48 Epoch 9026/10000 | loss_data: 0.001020, loss_data_delta: 0.000288, loss_traj: 0.000399, loss_traj_delta: 0.000110, loss_dir: 0.052849, loss_rot: 0.001489, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013361, | best_loss: 0.005880 05 Jul 2025 22:15:59 Epoch 9027/10000 | loss_data: 0.001026, loss_data_delta: 0.000285, loss_traj: 0.000426, loss_traj_delta: 0.000114, loss_dir: 0.053209, loss_rot: 0.001487, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000832, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013532, | best_loss: 0.005880 05 Jul 2025 22:16:09 Epoch 9028/10000 | loss_data: 0.000999, loss_data_delta: 0.000285, loss_traj: 0.000377, loss_traj_delta: 0.000111, loss_dir: 0.069778, loss_rot: 0.001465, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013069, | best_loss: 0.005880 05 Jul 2025 22:16:20 Epoch 9029/10000 | loss_data: 0.001013, loss_data_delta: 0.000288, loss_traj: 0.000381, loss_traj_delta: 0.000112, loss_dir: 0.056873, loss_rot: 0.001488, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013233, | best_loss: 0.005880 05 Jul 2025 22:16:30 Epoch 9030/10000 | loss_data: 0.000980, loss_data_delta: 0.000284, loss_traj: 0.000355, loss_traj_delta: 0.000108, loss_dir: 0.078494, loss_rot: 0.001440, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012761, | best_loss: 0.005880 05 Jul 2025 22:16:41 Epoch 9031/10000 | loss_data: 0.001009, loss_data_delta: 0.000282, loss_traj: 0.000437, loss_traj_delta: 0.000112, loss_dir: 0.057215, loss_rot: 0.001460, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013400, | best_loss: 0.005880 05 Jul 2025 22:16:51 Epoch 9032/10000 | loss_data: 0.001046, loss_data_delta: 0.000293, loss_traj: 0.000435, loss_traj_delta: 0.000116, loss_dir: 0.066827, loss_rot: 0.001517, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000846, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.013800, | best_loss: 0.005880 05 Jul 2025 22:17:01 Epoch 9033/10000 | loss_data: 0.001023, loss_data_delta: 0.000289, loss_traj: 0.000377, loss_traj_delta: 0.000112, loss_dir: 0.053494, loss_rot: 0.001503, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013315, | best_loss: 0.005880 05 Jul 2025 22:17:11 Epoch 9034/10000 | loss_data: 0.001002, loss_data_delta: 0.000288, loss_traj: 0.000327, loss_traj_delta: 0.000108, loss_dir: 0.051267, loss_rot: 0.001482, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.012863, | best_loss: 0.005880 05 Jul 2025 22:17:21 Epoch 9035/10000 | loss_data: 0.001040, loss_data_delta: 0.000294, loss_traj: 0.000401, loss_traj_delta: 0.000116, loss_dir: 0.074389, loss_rot: 0.001522, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013607, | best_loss: 0.005880 05 Jul 2025 22:17:32 Epoch 9036/10000 | loss_data: 0.001001, loss_data_delta: 0.000286, loss_traj: 0.000335, loss_traj_delta: 0.000105, loss_dir: 0.071699, loss_rot: 0.001487, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000730, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.012885, | best_loss: 0.005880 05 Jul 2025 22:17:42 Epoch 9037/10000 | loss_data: 0.000998, loss_data_delta: 0.000289, loss_traj: 0.000355, loss_traj_delta: 0.000110, loss_dir: 0.065772, loss_rot: 0.001469, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000749, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.012955, | best_loss: 0.005880 05 Jul 2025 22:17:52 Epoch 9038/10000 | loss_data: 0.001016, loss_data_delta: 0.000283, loss_traj: 0.000379, loss_traj_delta: 0.000108, loss_dir: 0.063244, loss_rot: 0.001500, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000105, loss: 0.013250, | best_loss: 0.005880 05 Jul 2025 22:18:02 Epoch 9039/10000 | loss_data: 0.000992, loss_data_delta: 0.000291, loss_traj: 0.000357, loss_traj_delta: 0.000118, loss_dir: 0.071333, loss_rot: 0.001457, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.012967, | best_loss: 0.005880 05 Jul 2025 22:18:12 Epoch 9040/10000 | loss_data: 0.000983, loss_data_delta: 0.000288, loss_traj: 0.000321, loss_traj_delta: 0.000108, loss_dir: 0.058868, loss_rot: 0.001453, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012637, | best_loss: 0.005880 05 Jul 2025 22:18:23 Epoch 9041/10000 | loss_data: 0.001036, loss_data_delta: 0.000292, loss_traj: 0.000389, loss_traj_delta: 0.000115, loss_dir: 0.068019, loss_rot: 0.001517, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013512, | best_loss: 0.005880 05 Jul 2025 22:18:33 Epoch 9042/10000 | loss_data: 0.000980, loss_data_delta: 0.000283, loss_traj: 0.000369, loss_traj_delta: 0.000108, loss_dir: 0.064278, loss_rot: 0.001435, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012811, | best_loss: 0.005880 05 Jul 2025 22:18:43 Epoch 9043/10000 | loss_data: 0.001017, loss_data_delta: 0.000289, loss_traj: 0.000349, loss_traj_delta: 0.000112, loss_dir: 0.068551, loss_rot: 0.001505, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013154, | best_loss: 0.005880 05 Jul 2025 22:18:53 Epoch 9044/10000 | loss_data: 0.000997, loss_data_delta: 0.000285, loss_traj: 0.000380, loss_traj_delta: 0.000112, loss_dir: 0.060719, loss_rot: 0.001452, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013024, | best_loss: 0.005880 05 Jul 2025 22:19:04 Epoch 9045/10000 | loss_data: 0.001031, loss_data_delta: 0.000285, loss_traj: 0.000375, loss_traj_delta: 0.000106, loss_dir: 0.050664, loss_rot: 0.001534, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000105, loss: 0.013410, | best_loss: 0.005880 05 Jul 2025 22:19:14 Epoch 9046/10000 | loss_data: 0.001012, loss_data_delta: 0.000288, loss_traj: 0.000418, loss_traj_delta: 0.000115, loss_dir: 0.059333, loss_rot: 0.001469, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013361, | best_loss: 0.005880 05 Jul 2025 22:19:24 Epoch 9047/10000 | loss_data: 0.001026, loss_data_delta: 0.000291, loss_traj: 0.000411, loss_traj_delta: 0.000112, loss_dir: 0.068996, loss_rot: 0.001493, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013468, | best_loss: 0.005880 05 Jul 2025 22:19:34 Epoch 9048/10000 | loss_data: 0.001043, loss_data_delta: 0.000291, loss_traj: 0.000376, loss_traj_delta: 0.000113, loss_dir: 0.064597, loss_rot: 0.001541, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013544, | best_loss: 0.005880 05 Jul 2025 22:19:45 Epoch 9049/10000 | loss_data: 0.001004, loss_data_delta: 0.000291, loss_traj: 0.000378, loss_traj_delta: 0.000114, loss_dir: 0.055559, loss_rot: 0.001470, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013143, | best_loss: 0.005880 05 Jul 2025 22:19:56 Epoch 9050/10000 | loss_data: 0.001019, loss_data_delta: 0.000285, loss_traj: 0.000402, loss_traj_delta: 0.000112, loss_dir: 0.066128, loss_rot: 0.001490, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013362, | best_loss: 0.005880 05 Jul 2025 22:20:06 Epoch 9051/10000 | loss_data: 0.001013, loss_data_delta: 0.000287, loss_traj: 0.000406, loss_traj_delta: 0.000112, loss_dir: 0.056839, loss_rot: 0.001476, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013314, | best_loss: 0.005880 05 Jul 2025 22:20:17 Epoch 9052/10000 | loss_data: 0.001028, loss_data_delta: 0.000289, loss_traj: 0.000431, loss_traj_delta: 0.000116, loss_dir: 0.055370, loss_rot: 0.001485, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013589, | best_loss: 0.005880 05 Jul 2025 22:20:27 Epoch 9053/10000 | loss_data: 0.001014, loss_data_delta: 0.000288, loss_traj: 0.000404, loss_traj_delta: 0.000114, loss_dir: 0.071522, loss_rot: 0.001473, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000808, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013325, | best_loss: 0.005880 05 Jul 2025 22:20:37 Epoch 9054/10000 | loss_data: 0.001008, loss_data_delta: 0.000285, loss_traj: 0.000378, loss_traj_delta: 0.000110, loss_dir: 0.058219, loss_rot: 0.001481, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000106, loss: 0.013161, | best_loss: 0.005880 05 Jul 2025 22:20:48 Epoch 9055/10000 | loss_data: 0.001056, loss_data_delta: 0.000293, loss_traj: 0.000386, loss_traj_delta: 0.000113, loss_dir: 0.062274, loss_rot: 0.001554, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013704, | best_loss: 0.005880 05 Jul 2025 22:20:58 Epoch 9056/10000 | loss_data: 0.000976, loss_data_delta: 0.000278, loss_traj: 0.000426, loss_traj_delta: 0.000109, loss_dir: 0.063676, loss_rot: 0.001407, loss_rot_delta: 0.000424, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012986, | best_loss: 0.005880 05 Jul 2025 22:21:08 Epoch 9057/10000 | loss_data: 0.000990, loss_data_delta: 0.000282, loss_traj: 0.000341, loss_traj_delta: 0.000104, loss_dir: 0.064832, loss_rot: 0.001466, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000101, loss: 0.012776, | best_loss: 0.005880 05 Jul 2025 22:21:18 Epoch 9058/10000 | loss_data: 0.001015, loss_data_delta: 0.000280, loss_traj: 0.000374, loss_traj_delta: 0.000107, loss_dir: 0.085318, loss_rot: 0.001495, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000775, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000104, loss: 0.013174, | best_loss: 0.005880 05 Jul 2025 22:21:28 Epoch 9059/10000 | loss_data: 0.001026, loss_data_delta: 0.000287, loss_traj: 0.000372, loss_traj_delta: 0.000108, loss_dir: 0.061061, loss_rot: 0.001515, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013310, | best_loss: 0.005880 05 Jul 2025 22:21:39 Epoch 9060/10000 | loss_data: 0.001005, loss_data_delta: 0.000284, loss_traj: 0.000367, loss_traj_delta: 0.000109, loss_dir: 0.073713, loss_rot: 0.001481, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013060, | best_loss: 0.005880 05 Jul 2025 22:21:49 Epoch 9061/10000 | loss_data: 0.001015, loss_data_delta: 0.000289, loss_traj: 0.000358, loss_traj_delta: 0.000113, loss_dir: 0.070525, loss_rot: 0.001495, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013155, | best_loss: 0.005880 05 Jul 2025 22:21:59 Epoch 9062/10000 | loss_data: 0.000960, loss_data_delta: 0.000284, loss_traj: 0.000312, loss_traj_delta: 0.000107, loss_dir: 0.068459, loss_rot: 0.001424, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000699, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012389, | best_loss: 0.005880 05 Jul 2025 22:22:09 Epoch 9063/10000 | loss_data: 0.001013, loss_data_delta: 0.000288, loss_traj: 0.000379, loss_traj_delta: 0.000110, loss_dir: 0.062916, loss_rot: 0.001488, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.013218, | best_loss: 0.005880 05 Jul 2025 22:22:19 Epoch 9064/10000 | loss_data: 0.000985, loss_data_delta: 0.000289, loss_traj: 0.000332, loss_traj_delta: 0.000113, loss_dir: 0.057204, loss_rot: 0.001452, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.012753, | best_loss: 0.005880 05 Jul 2025 22:22:30 Epoch 9065/10000 | loss_data: 0.001033, loss_data_delta: 0.000291, loss_traj: 0.000455, loss_traj_delta: 0.000113, loss_dir: 0.069419, loss_rot: 0.001485, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000856, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013696, | best_loss: 0.005880 05 Jul 2025 22:22:40 Epoch 9066/10000 | loss_data: 0.001001, loss_data_delta: 0.000290, loss_traj: 0.000356, loss_traj_delta: 0.000111, loss_dir: 0.061402, loss_rot: 0.001477, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013025, | best_loss: 0.005880 05 Jul 2025 22:22:50 Epoch 9067/10000 | loss_data: 0.001062, loss_data_delta: 0.000291, loss_traj: 0.000545, loss_traj_delta: 0.000111, loss_dir: 0.064520, loss_rot: 0.001510, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000939, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.014389, | best_loss: 0.005880 05 Jul 2025 22:23:00 Epoch 9068/10000 | loss_data: 0.001064, loss_data_delta: 0.000291, loss_traj: 0.000488, loss_traj_delta: 0.000112, loss_dir: 0.072213, loss_rot: 0.001536, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000895, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.014190, | best_loss: 0.005880 05 Jul 2025 22:23:11 Epoch 9069/10000 | loss_data: 0.001049, loss_data_delta: 0.000290, loss_traj: 0.000482, loss_traj_delta: 0.000115, loss_dir: 0.062317, loss_rot: 0.001504, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000890, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000109, loss: 0.014000, | best_loss: 0.005880 05 Jul 2025 22:23:21 Epoch 9070/10000 | loss_data: 0.001024, loss_data_delta: 0.000284, loss_traj: 0.000443, loss_traj_delta: 0.000113, loss_dir: 0.057230, loss_rot: 0.001486, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000839, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013602, | best_loss: 0.005880 05 Jul 2025 22:23:31 Epoch 9071/10000 | loss_data: 0.000975, loss_data_delta: 0.000280, loss_traj: 0.000340, loss_traj_delta: 0.000108, loss_dir: 0.067712, loss_rot: 0.001443, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000727, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.012645, | best_loss: 0.005880 05 Jul 2025 22:23:42 Epoch 9072/10000 | loss_data: 0.001024, loss_data_delta: 0.000292, loss_traj: 0.000374, loss_traj_delta: 0.000117, loss_dir: 0.045490, loss_rot: 0.001502, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013333, | best_loss: 0.005880 05 Jul 2025 22:23:51 Epoch 9073/10000 | loss_data: 0.001019, loss_data_delta: 0.000294, loss_traj: 0.000376, loss_traj_delta: 0.000116, loss_dir: 0.063173, loss_rot: 0.001493, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.013294, | best_loss: 0.005880 05 Jul 2025 22:24:02 Epoch 9074/10000 | loss_data: 0.001034, loss_data_delta: 0.000293, loss_traj: 0.000431, loss_traj_delta: 0.000116, loss_dir: 0.046058, loss_rot: 0.001487, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000849, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013612, | best_loss: 0.005880 05 Jul 2025 22:24:12 Epoch 9075/10000 | loss_data: 0.001007, loss_data_delta: 0.000288, loss_traj: 0.000372, loss_traj_delta: 0.000110, loss_dir: 0.058550, loss_rot: 0.001473, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013106, | best_loss: 0.005880 05 Jul 2025 22:24:23 Epoch 9076/10000 | loss_data: 0.001003, loss_data_delta: 0.000291, loss_traj: 0.000377, loss_traj_delta: 0.000115, loss_dir: 0.064987, loss_rot: 0.001467, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013129, | best_loss: 0.005880 05 Jul 2025 22:24:33 Epoch 9077/10000 | loss_data: 0.001057, loss_data_delta: 0.000294, loss_traj: 0.000412, loss_traj_delta: 0.000116, loss_dir: 0.089579, loss_rot: 0.001551, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000107, loss: 0.013828, | best_loss: 0.005880 05 Jul 2025 22:24:43 Epoch 9078/10000 | loss_data: 0.001032, loss_data_delta: 0.000289, loss_traj: 0.000376, loss_traj_delta: 0.000113, loss_dir: 0.077377, loss_rot: 0.001514, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013392, | best_loss: 0.005880 05 Jul 2025 22:24:54 Epoch 9079/10000 | loss_data: 0.001022, loss_data_delta: 0.000287, loss_traj: 0.000376, loss_traj_delta: 0.000108, loss_dir: 0.076409, loss_rot: 0.001505, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.013269, | best_loss: 0.005880 05 Jul 2025 22:25:04 Epoch 9080/10000 | loss_data: 0.000994, loss_data_delta: 0.000280, loss_traj: 0.000365, loss_traj_delta: 0.000109, loss_dir: 0.063533, loss_rot: 0.001458, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000764, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012918, | best_loss: 0.005880 05 Jul 2025 22:25:14 Epoch 9081/10000 | loss_data: 0.001027, loss_data_delta: 0.000286, loss_traj: 0.000402, loss_traj_delta: 0.000109, loss_dir: 0.065522, loss_rot: 0.001499, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.013409, | best_loss: 0.005880 05 Jul 2025 22:25:25 Epoch 9082/10000 | loss_data: 0.000996, loss_data_delta: 0.000279, loss_traj: 0.000361, loss_traj_delta: 0.000107, loss_dir: 0.072978, loss_rot: 0.001467, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.012929, | best_loss: 0.005880 05 Jul 2025 22:25:35 Epoch 9083/10000 | loss_data: 0.001024, loss_data_delta: 0.000288, loss_traj: 0.000405, loss_traj_delta: 0.000113, loss_dir: 0.072997, loss_rot: 0.001491, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000810, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013432, | best_loss: 0.005880 05 Jul 2025 22:25:46 Epoch 9084/10000 | loss_data: 0.001000, loss_data_delta: 0.000286, loss_traj: 0.000357, loss_traj_delta: 0.000112, loss_dir: 0.058070, loss_rot: 0.001474, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013005, | best_loss: 0.005880 05 Jul 2025 22:25:56 Epoch 9085/10000 | loss_data: 0.001041, loss_data_delta: 0.000291, loss_traj: 0.000401, loss_traj_delta: 0.000112, loss_dir: 0.071229, loss_rot: 0.001518, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013573, | best_loss: 0.005880 05 Jul 2025 22:26:07 Epoch 9086/10000 | loss_data: 0.001008, loss_data_delta: 0.000290, loss_traj: 0.000351, loss_traj_delta: 0.000111, loss_dir: 0.073803, loss_rot: 0.001488, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013066, | best_loss: 0.005880 05 Jul 2025 22:26:17 Epoch 9087/10000 | loss_data: 0.001042, loss_data_delta: 0.000292, loss_traj: 0.000390, loss_traj_delta: 0.000116, loss_dir: 0.065887, loss_rot: 0.001539, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013616, | best_loss: 0.005880 05 Jul 2025 22:26:27 Epoch 9088/10000 | loss_data: 0.000959, loss_data_delta: 0.000281, loss_traj: 0.000307, loss_traj_delta: 0.000106, loss_dir: 0.079579, loss_rot: 0.001424, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000694, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000102, loss: 0.012327, | best_loss: 0.005880 05 Jul 2025 22:26:37 Epoch 9089/10000 | loss_data: 0.001078, loss_data_delta: 0.000295, loss_traj: 0.000413, loss_traj_delta: 0.000116, loss_dir: 0.070195, loss_rot: 0.001586, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000837, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000106, loss: 0.014036, | best_loss: 0.005880 05 Jul 2025 22:26:48 Epoch 9090/10000 | loss_data: 0.001014, loss_data_delta: 0.000285, loss_traj: 0.000351, loss_traj_delta: 0.000108, loss_dir: 0.067149, loss_rot: 0.001501, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.013093, | best_loss: 0.005880 05 Jul 2025 22:26:58 Epoch 9091/10000 | loss_data: 0.001021, loss_data_delta: 0.000284, loss_traj: 0.000417, loss_traj_delta: 0.000105, loss_dir: 0.074608, loss_rot: 0.001486, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.013387, | best_loss: 0.005880 05 Jul 2025 22:27:08 Epoch 9092/10000 | loss_data: 0.000999, loss_data_delta: 0.000290, loss_traj: 0.000353, loss_traj_delta: 0.000112, loss_dir: 0.069226, loss_rot: 0.001467, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.012975, | best_loss: 0.005880 05 Jul 2025 22:27:18 Epoch 9093/10000 | loss_data: 0.000996, loss_data_delta: 0.000281, loss_traj: 0.000361, loss_traj_delta: 0.000104, loss_dir: 0.078754, loss_rot: 0.001468, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000181, loss_foot_contact: 0.000100, loss: 0.012899, | best_loss: 0.005880 05 Jul 2025 22:27:28 Epoch 9094/10000 | loss_data: 0.000980, loss_data_delta: 0.000283, loss_traj: 0.000347, loss_traj_delta: 0.000109, loss_dir: 0.062704, loss_rot: 0.001443, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000739, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.012740, | best_loss: 0.005880 05 Jul 2025 22:27:39 Epoch 9095/10000 | loss_data: 0.001065, loss_data_delta: 0.000291, loss_traj: 0.000410, loss_traj_delta: 0.000109, loss_dir: 0.059297, loss_rot: 0.001565, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013862, | best_loss: 0.005880 05 Jul 2025 22:27:50 Epoch 9096/10000 | loss_data: 0.000980, loss_data_delta: 0.000282, loss_traj: 0.000386, loss_traj_delta: 0.000107, loss_dir: 0.065641, loss_rot: 0.001426, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.012847, | best_loss: 0.005880 05 Jul 2025 22:28:00 Epoch 9097/10000 | loss_data: 0.000966, loss_data_delta: 0.000277, loss_traj: 0.000311, loss_traj_delta: 0.000103, loss_dir: 0.057891, loss_rot: 0.001441, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000696, loss_geo_xyz_vel: 0.000180, loss_foot_contact: 0.000101, loss: 0.012412, | best_loss: 0.005880 05 Jul 2025 22:28:10 Epoch 9098/10000 | loss_data: 0.000980, loss_data_delta: 0.000283, loss_traj: 0.000337, loss_traj_delta: 0.000109, loss_dir: 0.056639, loss_rot: 0.001447, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.012694, | best_loss: 0.005880 05 Jul 2025 22:28:21 Epoch 9099/10000 | loss_data: 0.001034, loss_data_delta: 0.000280, loss_traj: 0.000493, loss_traj_delta: 0.000111, loss_dir: 0.074066, loss_rot: 0.001473, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000902, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.013822, | best_loss: 0.005880 05 Jul 2025 22:28:31 Epoch 9100/10000 | loss_data: 0.001013, loss_data_delta: 0.000289, loss_traj: 0.000390, loss_traj_delta: 0.000112, loss_dir: 0.063982, loss_rot: 0.001480, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013243, | best_loss: 0.005880 05 Jul 2025 22:28:42 Epoch 9101/10000 | loss_data: 0.001045, loss_data_delta: 0.000294, loss_traj: 0.000380, loss_traj_delta: 0.000113, loss_dir: 0.062457, loss_rot: 0.001540, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013569, | best_loss: 0.005880 05 Jul 2025 22:28:53 Epoch 9102/10000 | loss_data: 0.000988, loss_data_delta: 0.000289, loss_traj: 0.000347, loss_traj_delta: 0.000109, loss_dir: 0.060048, loss_rot: 0.001453, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.012821, | best_loss: 0.005880 05 Jul 2025 22:29:03 Epoch 9103/10000 | loss_data: 0.001005, loss_data_delta: 0.000293, loss_traj: 0.000330, loss_traj_delta: 0.000115, loss_dir: 0.049510, loss_rot: 0.001486, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.012958, | best_loss: 0.005880 05 Jul 2025 22:29:13 Epoch 9104/10000 | loss_data: 0.001023, loss_data_delta: 0.000286, loss_traj: 0.000416, loss_traj_delta: 0.000110, loss_dir: 0.050802, loss_rot: 0.001480, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013414, | best_loss: 0.005880 05 Jul 2025 22:29:23 Epoch 9105/10000 | loss_data: 0.001026, loss_data_delta: 0.000290, loss_traj: 0.000430, loss_traj_delta: 0.000111, loss_dir: 0.075322, loss_rot: 0.001488, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013546, | best_loss: 0.005880 05 Jul 2025 22:29:33 Epoch 9106/10000 | loss_data: 0.001039, loss_data_delta: 0.000289, loss_traj: 0.000415, loss_traj_delta: 0.000115, loss_dir: 0.055587, loss_rot: 0.001518, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013640, | best_loss: 0.005880 05 Jul 2025 22:29:44 Epoch 9107/10000 | loss_data: 0.000988, loss_data_delta: 0.000280, loss_traj: 0.000368, loss_traj_delta: 0.000109, loss_dir: 0.070948, loss_rot: 0.001451, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012885, | best_loss: 0.005880 05 Jul 2025 22:29:54 Epoch 9108/10000 | loss_data: 0.001057, loss_data_delta: 0.000296, loss_traj: 0.000402, loss_traj_delta: 0.000109, loss_dir: 0.074302, loss_rot: 0.001550, loss_rot_delta: 0.000456, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013753, | best_loss: 0.005880 05 Jul 2025 22:30:04 Epoch 9109/10000 | loss_data: 0.001068, loss_data_delta: 0.000293, loss_traj: 0.000568, loss_traj_delta: 0.000115, loss_dir: 0.068324, loss_rot: 0.001486, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000983, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.014464, | best_loss: 0.005880 05 Jul 2025 22:30:14 Epoch 9110/10000 | loss_data: 0.001017, loss_data_delta: 0.000297, loss_traj: 0.000401, loss_traj_delta: 0.000122, loss_dir: 0.055923, loss_rot: 0.001470, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000206, loss_foot_contact: 0.000112, loss: 0.013385, | best_loss: 0.005880 05 Jul 2025 22:30:25 Epoch 9111/10000 | loss_data: 0.000999, loss_data_delta: 0.000286, loss_traj: 0.000363, loss_traj_delta: 0.000110, loss_dir: 0.063617, loss_rot: 0.001466, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012990, | best_loss: 0.005880 05 Jul 2025 22:30:35 Epoch 9112/10000 | loss_data: 0.001028, loss_data_delta: 0.000288, loss_traj: 0.000455, loss_traj_delta: 0.000111, loss_dir: 0.063428, loss_rot: 0.001481, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000107, loss: 0.013659, | best_loss: 0.005880 05 Jul 2025 22:30:45 Epoch 9113/10000 | loss_data: 0.000999, loss_data_delta: 0.000288, loss_traj: 0.000360, loss_traj_delta: 0.000114, loss_dir: 0.071910, loss_rot: 0.001470, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013017, | best_loss: 0.005880 05 Jul 2025 22:30:55 Epoch 9114/10000 | loss_data: 0.000998, loss_data_delta: 0.000285, loss_traj: 0.000380, loss_traj_delta: 0.000111, loss_dir: 0.076554, loss_rot: 0.001457, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013037, | best_loss: 0.005880 05 Jul 2025 22:31:06 Epoch 9115/10000 | loss_data: 0.001023, loss_data_delta: 0.000282, loss_traj: 0.000437, loss_traj_delta: 0.000108, loss_dir: 0.051830, loss_rot: 0.001488, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000104, loss: 0.013521, | best_loss: 0.005880 05 Jul 2025 22:31:16 Epoch 9116/10000 | loss_data: 0.001009, loss_data_delta: 0.000284, loss_traj: 0.000379, loss_traj_delta: 0.000111, loss_dir: 0.082473, loss_rot: 0.001477, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013144, | best_loss: 0.005880 05 Jul 2025 22:31:27 Epoch 9117/10000 | loss_data: 0.001004, loss_data_delta: 0.000289, loss_traj: 0.000335, loss_traj_delta: 0.000112, loss_dir: 0.062802, loss_rot: 0.001485, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.012951, | best_loss: 0.005880 05 Jul 2025 22:31:37 Epoch 9118/10000 | loss_data: 0.001005, loss_data_delta: 0.000290, loss_traj: 0.000353, loss_traj_delta: 0.000110, loss_dir: 0.067231, loss_rot: 0.001483, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013024, | best_loss: 0.005880 05 Jul 2025 22:31:47 Epoch 9119/10000 | loss_data: 0.001006, loss_data_delta: 0.000290, loss_traj: 0.000367, loss_traj_delta: 0.000112, loss_dir: 0.060004, loss_rot: 0.001474, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013092, | best_loss: 0.005880 05 Jul 2025 22:31:58 Epoch 9120/10000 | loss_data: 0.000989, loss_data_delta: 0.000288, loss_traj: 0.000347, loss_traj_delta: 0.000110, loss_dir: 0.070708, loss_rot: 0.001459, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000747, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.012846, | best_loss: 0.005880 05 Jul 2025 22:32:08 Epoch 9121/10000 | loss_data: 0.001094, loss_data_delta: 0.000293, loss_traj: 0.000475, loss_traj_delta: 0.000117, loss_dir: 0.073013, loss_rot: 0.001591, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000903, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.014471, | best_loss: 0.005880 05 Jul 2025 22:32:18 Epoch 9122/10000 | loss_data: 0.001019, loss_data_delta: 0.000294, loss_traj: 0.000359, loss_traj_delta: 0.000116, loss_dir: 0.072708, loss_rot: 0.001501, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013232, | best_loss: 0.005880 05 Jul 2025 22:32:28 Epoch 9123/10000 | loss_data: 0.001014, loss_data_delta: 0.000286, loss_traj: 0.000381, loss_traj_delta: 0.000111, loss_dir: 0.075450, loss_rot: 0.001485, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000107, loss: 0.013215, | best_loss: 0.005880 05 Jul 2025 22:32:38 Epoch 9124/10000 | loss_data: 0.001017, loss_data_delta: 0.000288, loss_traj: 0.000484, loss_traj_delta: 0.000109, loss_dir: 0.059760, loss_rot: 0.001440, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000883, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013595, | best_loss: 0.005880 05 Jul 2025 22:32:49 Epoch 9125/10000 | loss_data: 0.001089, loss_data_delta: 0.000300, loss_traj: 0.000489, loss_traj_delta: 0.000117, loss_dir: 0.061317, loss_rot: 0.001562, loss_rot_delta: 0.000458, loss_geo_xyz: 0.000910, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000109, loss: 0.014427, | best_loss: 0.005880 05 Jul 2025 22:32:59 Epoch 9126/10000 | loss_data: 0.001026, loss_data_delta: 0.000289, loss_traj: 0.000392, loss_traj_delta: 0.000113, loss_dir: 0.073215, loss_rot: 0.001505, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013406, | best_loss: 0.005880 05 Jul 2025 22:33:10 Epoch 9127/10000 | loss_data: 0.001064, loss_data_delta: 0.000294, loss_traj: 0.000461, loss_traj_delta: 0.000118, loss_dir: 0.072718, loss_rot: 0.001536, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000874, loss_geo_xyz_vel: 0.000201, loss_foot_contact: 0.000110, loss: 0.014084, | best_loss: 0.005880 05 Jul 2025 22:33:21 Epoch 9128/10000 | loss_data: 0.000999, loss_data_delta: 0.000283, loss_traj: 0.000366, loss_traj_delta: 0.000109, loss_dir: 0.075667, loss_rot: 0.001465, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.012974, | best_loss: 0.005880 05 Jul 2025 22:33:31 Epoch 9129/10000 | loss_data: 0.001019, loss_data_delta: 0.000293, loss_traj: 0.000348, loss_traj_delta: 0.000113, loss_dir: 0.052335, loss_rot: 0.001500, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013148, | best_loss: 0.005880 05 Jul 2025 22:33:41 Epoch 9130/10000 | loss_data: 0.001049, loss_data_delta: 0.000289, loss_traj: 0.000439, loss_traj_delta: 0.000114, loss_dir: 0.060174, loss_rot: 0.001525, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000851, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013839, | best_loss: 0.005880 05 Jul 2025 22:33:51 Epoch 9131/10000 | loss_data: 0.001001, loss_data_delta: 0.000289, loss_traj: 0.000385, loss_traj_delta: 0.000115, loss_dir: 0.055678, loss_rot: 0.001457, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013118, | best_loss: 0.005880 05 Jul 2025 22:34:02 Epoch 9132/10000 | loss_data: 0.000970, loss_data_delta: 0.000278, loss_traj: 0.000342, loss_traj_delta: 0.000105, loss_dir: 0.068197, loss_rot: 0.001424, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000734, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000101, loss: 0.012535, | best_loss: 0.005880 05 Jul 2025 22:34:12 Epoch 9133/10000 | loss_data: 0.001011, loss_data_delta: 0.000286, loss_traj: 0.000428, loss_traj_delta: 0.000110, loss_dir: 0.063977, loss_rot: 0.001465, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013360, | best_loss: 0.005880 05 Jul 2025 22:34:23 Epoch 9134/10000 | loss_data: 0.001031, loss_data_delta: 0.000287, loss_traj: 0.000404, loss_traj_delta: 0.000108, loss_dir: 0.074780, loss_rot: 0.001513, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013466, | best_loss: 0.005880 05 Jul 2025 22:34:33 Epoch 9135/10000 | loss_data: 0.001017, loss_data_delta: 0.000293, loss_traj: 0.000358, loss_traj_delta: 0.000111, loss_dir: 0.058698, loss_rot: 0.001492, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000764, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013156, | best_loss: 0.005880 05 Jul 2025 22:34:43 Epoch 9136/10000 | loss_data: 0.001046, loss_data_delta: 0.000294, loss_traj: 0.000399, loss_traj_delta: 0.000114, loss_dir: 0.064268, loss_rot: 0.001534, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.013669, | best_loss: 0.005880 05 Jul 2025 22:34:54 Epoch 9137/10000 | loss_data: 0.001052, loss_data_delta: 0.000289, loss_traj: 0.000431, loss_traj_delta: 0.000117, loss_dir: 0.073830, loss_rot: 0.001537, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000839, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013864, | best_loss: 0.005880 05 Jul 2025 22:35:04 Epoch 9138/10000 | loss_data: 0.000959, loss_data_delta: 0.000283, loss_traj: 0.000318, loss_traj_delta: 0.000110, loss_dir: 0.063007, loss_rot: 0.001416, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000707, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.012402, | best_loss: 0.005880 05 Jul 2025 22:35:14 Epoch 9139/10000 | loss_data: 0.000989, loss_data_delta: 0.000283, loss_traj: 0.000361, loss_traj_delta: 0.000109, loss_dir: 0.072940, loss_rot: 0.001452, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000106, loss: 0.012874, | best_loss: 0.005880 05 Jul 2025 22:35:25 Epoch 9140/10000 | loss_data: 0.000992, loss_data_delta: 0.000292, loss_traj: 0.000353, loss_traj_delta: 0.000114, loss_dir: 0.070977, loss_rot: 0.001453, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.012900, | best_loss: 0.005880 05 Jul 2025 22:35:35 Epoch 9141/10000 | loss_data: 0.001024, loss_data_delta: 0.000288, loss_traj: 0.000365, loss_traj_delta: 0.000109, loss_dir: 0.064733, loss_rot: 0.001510, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013232, | best_loss: 0.005880 05 Jul 2025 22:35:45 Epoch 9142/10000 | loss_data: 0.001035, loss_data_delta: 0.000288, loss_traj: 0.000403, loss_traj_delta: 0.000113, loss_dir: 0.056272, loss_rot: 0.001525, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013574, | best_loss: 0.005880 05 Jul 2025 22:35:55 Epoch 9143/10000 | loss_data: 0.000992, loss_data_delta: 0.000289, loss_traj: 0.000354, loss_traj_delta: 0.000112, loss_dir: 0.061756, loss_rot: 0.001459, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.012907, | best_loss: 0.005880 05 Jul 2025 22:36:05 Epoch 9144/10000 | loss_data: 0.001014, loss_data_delta: 0.000291, loss_traj: 0.000360, loss_traj_delta: 0.000115, loss_dir: 0.050861, loss_rot: 0.001498, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.013206, | best_loss: 0.005880 05 Jul 2025 22:36:15 Epoch 9145/10000 | loss_data: 0.000996, loss_data_delta: 0.000289, loss_traj: 0.000398, loss_traj_delta: 0.000113, loss_dir: 0.064321, loss_rot: 0.001445, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013090, | best_loss: 0.005880 05 Jul 2025 22:36:26 Epoch 9146/10000 | loss_data: 0.001042, loss_data_delta: 0.000292, loss_traj: 0.000420, loss_traj_delta: 0.000114, loss_dir: 0.069307, loss_rot: 0.001513, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.013676, | best_loss: 0.005880 05 Jul 2025 22:36:36 Epoch 9147/10000 | loss_data: 0.001079, loss_data_delta: 0.000291, loss_traj: 0.000554, loss_traj_delta: 0.000116, loss_dir: 0.054201, loss_rot: 0.001528, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000964, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.014590, | best_loss: 0.005880 05 Jul 2025 22:36:46 Epoch 9148/10000 | loss_data: 0.001044, loss_data_delta: 0.000290, loss_traj: 0.000458, loss_traj_delta: 0.000116, loss_dir: 0.062508, loss_rot: 0.001506, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000867, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013858, | best_loss: 0.005880 05 Jul 2025 22:36:57 Epoch 9149/10000 | loss_data: 0.000998, loss_data_delta: 0.000280, loss_traj: 0.000364, loss_traj_delta: 0.000106, loss_dir: 0.074296, loss_rot: 0.001465, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000103, loss: 0.012933, | best_loss: 0.005880 05 Jul 2025 22:37:07 Epoch 9150/10000 | loss_data: 0.001017, loss_data_delta: 0.000290, loss_traj: 0.000410, loss_traj_delta: 0.000113, loss_dir: 0.059001, loss_rot: 0.001488, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013407, | best_loss: 0.005880 05 Jul 2025 22:37:18 Epoch 9151/10000 | loss_data: 0.001042, loss_data_delta: 0.000292, loss_traj: 0.000414, loss_traj_delta: 0.000112, loss_dir: 0.064540, loss_rot: 0.001525, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013656, | best_loss: 0.005880 05 Jul 2025 22:37:28 Epoch 9152/10000 | loss_data: 0.000989, loss_data_delta: 0.000285, loss_traj: 0.000372, loss_traj_delta: 0.000110, loss_dir: 0.063012, loss_rot: 0.001452, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.012943, | best_loss: 0.005880 05 Jul 2025 22:37:38 Epoch 9153/10000 | loss_data: 0.000996, loss_data_delta: 0.000283, loss_traj: 0.000349, loss_traj_delta: 0.000107, loss_dir: 0.060525, loss_rot: 0.001465, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012860, | best_loss: 0.005880 05 Jul 2025 22:37:49 Epoch 9154/10000 | loss_data: 0.001040, loss_data_delta: 0.000290, loss_traj: 0.000434, loss_traj_delta: 0.000111, loss_dir: 0.059556, loss_rot: 0.001502, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000844, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013661, | best_loss: 0.005880 05 Jul 2025 22:37:59 Epoch 9155/10000 | loss_data: 0.001005, loss_data_delta: 0.000286, loss_traj: 0.000363, loss_traj_delta: 0.000106, loss_dir: 0.061919, loss_rot: 0.001485, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.013057, | best_loss: 0.005880 05 Jul 2025 22:38:10 Epoch 9156/10000 | loss_data: 0.001064, loss_data_delta: 0.000290, loss_traj: 0.000522, loss_traj_delta: 0.000113, loss_dir: 0.066110, loss_rot: 0.001514, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000927, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.014290, | best_loss: 0.005880 05 Jul 2025 22:38:20 Epoch 9157/10000 | loss_data: 0.000975, loss_data_delta: 0.000282, loss_traj: 0.000358, loss_traj_delta: 0.000107, loss_dir: 0.061010, loss_rot: 0.001432, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000104, loss: 0.012716, | best_loss: 0.005880 05 Jul 2025 22:38:30 Epoch 9158/10000 | loss_data: 0.000986, loss_data_delta: 0.000284, loss_traj: 0.000362, loss_traj_delta: 0.000111, loss_dir: 0.051530, loss_rot: 0.001448, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.012862, | best_loss: 0.005880 05 Jul 2025 22:38:40 Epoch 9159/10000 | loss_data: 0.001020, loss_data_delta: 0.000290, loss_traj: 0.000389, loss_traj_delta: 0.000113, loss_dir: 0.074091, loss_rot: 0.001489, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013302, | best_loss: 0.005880 05 Jul 2025 22:38:51 Epoch 9160/10000 | loss_data: 0.001014, loss_data_delta: 0.000286, loss_traj: 0.000408, loss_traj_delta: 0.000110, loss_dir: 0.063415, loss_rot: 0.001477, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013315, | best_loss: 0.005880 05 Jul 2025 22:39:01 Epoch 9161/10000 | loss_data: 0.000997, loss_data_delta: 0.000292, loss_traj: 0.000348, loss_traj_delta: 0.000109, loss_dir: 0.064720, loss_rot: 0.001465, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012889, | best_loss: 0.005880 05 Jul 2025 22:39:12 Epoch 9162/10000 | loss_data: 0.001032, loss_data_delta: 0.000294, loss_traj: 0.000402, loss_traj_delta: 0.000116, loss_dir: 0.055549, loss_rot: 0.001505, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.013522, | best_loss: 0.005880 05 Jul 2025 22:39:22 Epoch 9163/10000 | loss_data: 0.001071, loss_data_delta: 0.000294, loss_traj: 0.000520, loss_traj_delta: 0.000115, loss_dir: 0.067604, loss_rot: 0.001527, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000925, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.014364, | best_loss: 0.005880 05 Jul 2025 22:39:33 Epoch 9164/10000 | loss_data: 0.001037, loss_data_delta: 0.000295, loss_traj: 0.000402, loss_traj_delta: 0.000115, loss_dir: 0.062768, loss_rot: 0.001520, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013586, | best_loss: 0.005880 05 Jul 2025 22:39:43 Epoch 9165/10000 | loss_data: 0.001020, loss_data_delta: 0.000288, loss_traj: 0.000435, loss_traj_delta: 0.000113, loss_dir: 0.057510, loss_rot: 0.001474, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000826, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013506, | best_loss: 0.005880 05 Jul 2025 22:39:54 Epoch 9166/10000 | loss_data: 0.000982, loss_data_delta: 0.000284, loss_traj: 0.000362, loss_traj_delta: 0.000106, loss_dir: 0.067948, loss_rot: 0.001435, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.012768, | best_loss: 0.005880 05 Jul 2025 22:40:05 Epoch 9167/10000 | loss_data: 0.001012, loss_data_delta: 0.000290, loss_traj: 0.000390, loss_traj_delta: 0.000113, loss_dir: 0.070864, loss_rot: 0.001474, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013235, | best_loss: 0.005880 05 Jul 2025 22:40:16 Epoch 9168/10000 | loss_data: 0.000991, loss_data_delta: 0.000287, loss_traj: 0.000338, loss_traj_delta: 0.000112, loss_dir: 0.054317, loss_rot: 0.001463, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.012825, | best_loss: 0.005880 05 Jul 2025 22:40:26 Epoch 9169/10000 | loss_data: 0.000977, loss_data_delta: 0.000284, loss_traj: 0.000332, loss_traj_delta: 0.000107, loss_dir: 0.064977, loss_rot: 0.001445, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000715, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012603, | best_loss: 0.005880 05 Jul 2025 22:40:37 Epoch 9170/10000 | loss_data: 0.000983, loss_data_delta: 0.000284, loss_traj: 0.000362, loss_traj_delta: 0.000110, loss_dir: 0.056147, loss_rot: 0.001442, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.012826, | best_loss: 0.005880 05 Jul 2025 22:40:47 Epoch 9171/10000 | loss_data: 0.001030, loss_data_delta: 0.000287, loss_traj: 0.000466, loss_traj_delta: 0.000113, loss_dir: 0.054221, loss_rot: 0.001477, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000866, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000108, loss: 0.013722, | best_loss: 0.005880 05 Jul 2025 22:40:58 Epoch 9172/10000 | loss_data: 0.000984, loss_data_delta: 0.000285, loss_traj: 0.000372, loss_traj_delta: 0.000111, loss_dir: 0.053801, loss_rot: 0.001437, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012874, | best_loss: 0.005880 05 Jul 2025 22:41:08 Epoch 9173/10000 | loss_data: 0.001014, loss_data_delta: 0.000288, loss_traj: 0.000347, loss_traj_delta: 0.000110, loss_dir: 0.062915, loss_rot: 0.001500, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013073, | best_loss: 0.005880 05 Jul 2025 22:41:20 Epoch 9174/10000 | loss_data: 0.001026, loss_data_delta: 0.000277, loss_traj: 0.000553, loss_traj_delta: 0.000103, loss_dir: 0.073396, loss_rot: 0.001430, loss_rot_delta: 0.000425, loss_geo_xyz: 0.000952, loss_geo_xyz_vel: 0.000180, loss_foot_contact: 0.000100, loss: 0.013878, | best_loss: 0.005880 05 Jul 2025 22:41:30 Epoch 9175/10000 | loss_data: 0.000991, loss_data_delta: 0.000290, loss_traj: 0.000342, loss_traj_delta: 0.000113, loss_dir: 0.068852, loss_rot: 0.001456, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.012829, | best_loss: 0.005880 05 Jul 2025 22:41:41 Epoch 9176/10000 | loss_data: 0.000995, loss_data_delta: 0.000288, loss_traj: 0.000362, loss_traj_delta: 0.000113, loss_dir: 0.063257, loss_rot: 0.001461, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.012970, | best_loss: 0.005880 05 Jul 2025 22:41:52 Epoch 9177/10000 | loss_data: 0.000996, loss_data_delta: 0.000291, loss_traj: 0.000354, loss_traj_delta: 0.000112, loss_dir: 0.060012, loss_rot: 0.001459, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.012929, | best_loss: 0.005880 05 Jul 2025 22:42:02 Epoch 9178/10000 | loss_data: 0.000982, loss_data_delta: 0.000283, loss_traj: 0.000383, loss_traj_delta: 0.000108, loss_dir: 0.056047, loss_rot: 0.001432, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012868, | best_loss: 0.005880 05 Jul 2025 22:42:13 Epoch 9179/10000 | loss_data: 0.000996, loss_data_delta: 0.000291, loss_traj: 0.000348, loss_traj_delta: 0.000115, loss_dir: 0.052091, loss_rot: 0.001468, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.012947, | best_loss: 0.005880 05 Jul 2025 22:42:23 Epoch 9180/10000 | loss_data: 0.001043, loss_data_delta: 0.000290, loss_traj: 0.000387, loss_traj_delta: 0.000111, loss_dir: 0.071149, loss_rot: 0.001535, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013548, | best_loss: 0.005880 05 Jul 2025 22:42:33 Epoch 9181/10000 | loss_data: 0.001014, loss_data_delta: 0.000290, loss_traj: 0.000356, loss_traj_delta: 0.000111, loss_dir: 0.063914, loss_rot: 0.001500, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013129, | best_loss: 0.005880 05 Jul 2025 22:42:44 Epoch 9182/10000 | loss_data: 0.000992, loss_data_delta: 0.000287, loss_traj: 0.000381, loss_traj_delta: 0.000110, loss_dir: 0.092213, loss_rot: 0.001445, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012976, | best_loss: 0.005880 05 Jul 2025 22:42:54 Epoch 9183/10000 | loss_data: 0.001024, loss_data_delta: 0.000287, loss_traj: 0.000398, loss_traj_delta: 0.000109, loss_dir: 0.069745, loss_rot: 0.001496, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013362, | best_loss: 0.005880 05 Jul 2025 22:43:04 Epoch 9184/10000 | loss_data: 0.001030, loss_data_delta: 0.000293, loss_traj: 0.000368, loss_traj_delta: 0.000116, loss_dir: 0.070089, loss_rot: 0.001516, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000107, loss: 0.013365, | best_loss: 0.005880 05 Jul 2025 22:43:15 Epoch 9185/10000 | loss_data: 0.001005, loss_data_delta: 0.000282, loss_traj: 0.000378, loss_traj_delta: 0.000107, loss_dir: 0.077920, loss_rot: 0.001479, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.013100, | best_loss: 0.005880 05 Jul 2025 22:43:25 Epoch 9186/10000 | loss_data: 0.001004, loss_data_delta: 0.000291, loss_traj: 0.000364, loss_traj_delta: 0.000112, loss_dir: 0.063896, loss_rot: 0.001474, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013064, | best_loss: 0.005880 05 Jul 2025 22:43:36 Epoch 9187/10000 | loss_data: 0.001032, loss_data_delta: 0.000290, loss_traj: 0.000423, loss_traj_delta: 0.000112, loss_dir: 0.060900, loss_rot: 0.001498, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000825, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013568, | best_loss: 0.005880 05 Jul 2025 22:43:46 Epoch 9188/10000 | loss_data: 0.001026, loss_data_delta: 0.000292, loss_traj: 0.000422, loss_traj_delta: 0.000114, loss_dir: 0.069571, loss_rot: 0.001489, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000827, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013530, | best_loss: 0.005880 05 Jul 2025 22:43:57 Epoch 9189/10000 | loss_data: 0.001041, loss_data_delta: 0.000285, loss_traj: 0.000467, loss_traj_delta: 0.000116, loss_dir: 0.073689, loss_rot: 0.001503, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000874, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013880, | best_loss: 0.005880 05 Jul 2025 22:44:07 Epoch 9190/10000 | loss_data: 0.000999, loss_data_delta: 0.000287, loss_traj: 0.000396, loss_traj_delta: 0.000110, loss_dir: 0.079723, loss_rot: 0.001452, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013096, | best_loss: 0.005880 05 Jul 2025 22:44:17 Epoch 9191/10000 | loss_data: 0.000973, loss_data_delta: 0.000287, loss_traj: 0.000348, loss_traj_delta: 0.000111, loss_dir: 0.066254, loss_rot: 0.001427, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012662, | best_loss: 0.005880 05 Jul 2025 22:44:28 Epoch 9192/10000 | loss_data: 0.001038, loss_data_delta: 0.000290, loss_traj: 0.000404, loss_traj_delta: 0.000111, loss_dir: 0.055910, loss_rot: 0.001517, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013550, | best_loss: 0.005880 05 Jul 2025 22:44:38 Epoch 9193/10000 | loss_data: 0.001006, loss_data_delta: 0.000288, loss_traj: 0.000367, loss_traj_delta: 0.000109, loss_dir: 0.071983, loss_rot: 0.001478, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013062, | best_loss: 0.005880 05 Jul 2025 22:44:49 Epoch 9194/10000 | loss_data: 0.001021, loss_data_delta: 0.000287, loss_traj: 0.000417, loss_traj_delta: 0.000110, loss_dir: 0.079800, loss_rot: 0.001481, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000818, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013404, | best_loss: 0.005880 05 Jul 2025 22:44:59 Epoch 9195/10000 | loss_data: 0.001053, loss_data_delta: 0.000287, loss_traj: 0.000434, loss_traj_delta: 0.000111, loss_dir: 0.068518, loss_rot: 0.001532, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013814, | best_loss: 0.005880 05 Jul 2025 22:45:10 Epoch 9196/10000 | loss_data: 0.000991, loss_data_delta: 0.000286, loss_traj: 0.000367, loss_traj_delta: 0.000111, loss_dir: 0.071100, loss_rot: 0.001451, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.012921, | best_loss: 0.005880 05 Jul 2025 22:45:21 Epoch 9197/10000 | loss_data: 0.000971, loss_data_delta: 0.000286, loss_traj: 0.000350, loss_traj_delta: 0.000108, loss_dir: 0.056994, loss_rot: 0.001422, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.012638, | best_loss: 0.005880 05 Jul 2025 22:45:31 Epoch 9198/10000 | loss_data: 0.000998, loss_data_delta: 0.000294, loss_traj: 0.000376, loss_traj_delta: 0.000113, loss_dir: 0.053577, loss_rot: 0.001451, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000775, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013031, | best_loss: 0.005880 05 Jul 2025 22:45:42 Epoch 9199/10000 | loss_data: 0.001024, loss_data_delta: 0.000292, loss_traj: 0.000376, loss_traj_delta: 0.000110, loss_dir: 0.064607, loss_rot: 0.001504, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013297, | best_loss: 0.005880 05 Jul 2025 22:45:52 Epoch 9200/10000 | loss_data: 0.001048, loss_data_delta: 0.000293, loss_traj: 0.000397, loss_traj_delta: 0.000114, loss_dir: 0.058285, loss_rot: 0.001539, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013663, | best_loss: 0.005880 05 Jul 2025 22:46:03 Epoch 9201/10000 | loss_data: 0.001076, loss_data_delta: 0.000296, loss_traj: 0.000554, loss_traj_delta: 0.000116, loss_dir: 0.065386, loss_rot: 0.001519, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000950, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000109, loss: 0.014548, | best_loss: 0.005880 05 Jul 2025 22:46:13 Epoch 9202/10000 | loss_data: 0.001001, loss_data_delta: 0.000290, loss_traj: 0.000371, loss_traj_delta: 0.000114, loss_dir: 0.064125, loss_rot: 0.001466, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013064, | best_loss: 0.005880 05 Jul 2025 22:46:23 Epoch 9203/10000 | loss_data: 0.000977, loss_data_delta: 0.000278, loss_traj: 0.000350, loss_traj_delta: 0.000108, loss_dir: 0.074325, loss_rot: 0.001443, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012692, | best_loss: 0.005880 05 Jul 2025 22:46:34 Epoch 9204/10000 | loss_data: 0.001017, loss_data_delta: 0.000294, loss_traj: 0.000380, loss_traj_delta: 0.000116, loss_dir: 0.076801, loss_rot: 0.001486, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013277, | best_loss: 0.005880 05 Jul 2025 22:46:44 Epoch 9205/10000 | loss_data: 0.000973, loss_data_delta: 0.000286, loss_traj: 0.000335, loss_traj_delta: 0.000111, loss_dir: 0.062081, loss_rot: 0.001436, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012626, | best_loss: 0.005880 05 Jul 2025 22:46:55 Epoch 9206/10000 | loss_data: 0.001053, loss_data_delta: 0.000292, loss_traj: 0.000395, loss_traj_delta: 0.000114, loss_dir: 0.072683, loss_rot: 0.001549, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013707, | best_loss: 0.005880 05 Jul 2025 22:47:05 Epoch 9207/10000 | loss_data: 0.000997, loss_data_delta: 0.000288, loss_traj: 0.000363, loss_traj_delta: 0.000110, loss_dir: 0.067422, loss_rot: 0.001463, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.012972, | best_loss: 0.005880 05 Jul 2025 22:47:15 Epoch 9208/10000 | loss_data: 0.001017, loss_data_delta: 0.000291, loss_traj: 0.000377, loss_traj_delta: 0.000113, loss_dir: 0.050029, loss_rot: 0.001494, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013267, | best_loss: 0.005880 05 Jul 2025 22:47:26 Epoch 9209/10000 | loss_data: 0.001019, loss_data_delta: 0.000286, loss_traj: 0.000383, loss_traj_delta: 0.000110, loss_dir: 0.075112, loss_rot: 0.001498, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013281, | best_loss: 0.005880 05 Jul 2025 22:47:36 Epoch 9210/10000 | loss_data: 0.001005, loss_data_delta: 0.000291, loss_traj: 0.000355, loss_traj_delta: 0.000113, loss_dir: 0.059542, loss_rot: 0.001474, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013031, | best_loss: 0.005880 05 Jul 2025 22:47:47 Epoch 9211/10000 | loss_data: 0.000988, loss_data_delta: 0.000287, loss_traj: 0.000371, loss_traj_delta: 0.000112, loss_dir: 0.057337, loss_rot: 0.001440, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.012907, | best_loss: 0.005880 05 Jul 2025 22:47:58 Epoch 9212/10000 | loss_data: 0.001022, loss_data_delta: 0.000291, loss_traj: 0.000377, loss_traj_delta: 0.000111, loss_dir: 0.059690, loss_rot: 0.001497, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013276, | best_loss: 0.005880 05 Jul 2025 22:48:08 Epoch 9213/10000 | loss_data: 0.001056, loss_data_delta: 0.000298, loss_traj: 0.000388, loss_traj_delta: 0.000113, loss_dir: 0.066577, loss_rot: 0.001553, loss_rot_delta: 0.000458, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.013703, | best_loss: 0.005880 05 Jul 2025 22:48:18 Epoch 9214/10000 | loss_data: 0.001008, loss_data_delta: 0.000285, loss_traj: 0.000404, loss_traj_delta: 0.000107, loss_dir: 0.072361, loss_rot: 0.001471, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.013227, | best_loss: 0.005880 05 Jul 2025 22:48:29 Epoch 9215/10000 | loss_data: 0.001000, loss_data_delta: 0.000285, loss_traj: 0.000403, loss_traj_delta: 0.000109, loss_dir: 0.061031, loss_rot: 0.001456, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000801, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.013144, | best_loss: 0.005880 05 Jul 2025 22:48:40 Epoch 9216/10000 | loss_data: 0.001000, loss_data_delta: 0.000287, loss_traj: 0.000332, loss_traj_delta: 0.000107, loss_dir: 0.057347, loss_rot: 0.001481, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012838, | best_loss: 0.005880 05 Jul 2025 22:48:51 Epoch 9217/10000 | loss_data: 0.000989, loss_data_delta: 0.000285, loss_traj: 0.000327, loss_traj_delta: 0.000105, loss_dir: 0.068546, loss_rot: 0.001465, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000103, loss: 0.012714, | best_loss: 0.005880 05 Jul 2025 22:49:01 Epoch 9218/10000 | loss_data: 0.001037, loss_data_delta: 0.000296, loss_traj: 0.000374, loss_traj_delta: 0.000114, loss_dir: 0.061772, loss_rot: 0.001531, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013484, | best_loss: 0.005880 05 Jul 2025 22:49:12 Epoch 9219/10000 | loss_data: 0.000996, loss_data_delta: 0.000290, loss_traj: 0.000348, loss_traj_delta: 0.000114, loss_dir: 0.062173, loss_rot: 0.001463, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.012918, | best_loss: 0.005880 05 Jul 2025 22:49:22 Epoch 9220/10000 | loss_data: 0.000989, loss_data_delta: 0.000286, loss_traj: 0.000352, loss_traj_delta: 0.000109, loss_dir: 0.061056, loss_rot: 0.001450, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012824, | best_loss: 0.005880 05 Jul 2025 22:49:33 Epoch 9221/10000 | loss_data: 0.001013, loss_data_delta: 0.000293, loss_traj: 0.000371, loss_traj_delta: 0.000114, loss_dir: 0.050252, loss_rot: 0.001478, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000109, loss: 0.013168, | best_loss: 0.005880 05 Jul 2025 22:49:44 Epoch 9222/10000 | loss_data: 0.001016, loss_data_delta: 0.000287, loss_traj: 0.000423, loss_traj_delta: 0.000111, loss_dir: 0.067262, loss_rot: 0.001474, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000826, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013409, | best_loss: 0.005880 05 Jul 2025 22:49:55 Epoch 9223/10000 | loss_data: 0.000996, loss_data_delta: 0.000285, loss_traj: 0.000363, loss_traj_delta: 0.000109, loss_dir: 0.062700, loss_rot: 0.001469, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012960, | best_loss: 0.005880 05 Jul 2025 22:50:05 Epoch 9224/10000 | loss_data: 0.000997, loss_data_delta: 0.000283, loss_traj: 0.000397, loss_traj_delta: 0.000108, loss_dir: 0.056849, loss_rot: 0.001446, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.013048, | best_loss: 0.005880 05 Jul 2025 22:50:16 Epoch 9225/10000 | loss_data: 0.001005, loss_data_delta: 0.000286, loss_traj: 0.000357, loss_traj_delta: 0.000109, loss_dir: 0.067231, loss_rot: 0.001478, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013011, | best_loss: 0.005880 05 Jul 2025 22:50:26 Epoch 9226/10000 | loss_data: 0.001018, loss_data_delta: 0.000293, loss_traj: 0.000377, loss_traj_delta: 0.000115, loss_dir: 0.057424, loss_rot: 0.001490, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.013262, | best_loss: 0.005880 05 Jul 2025 22:50:37 Epoch 9227/10000 | loss_data: 0.000997, loss_data_delta: 0.000287, loss_traj: 0.000427, loss_traj_delta: 0.000106, loss_dir: 0.066108, loss_rot: 0.001437, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000104, loss: 0.013189, | best_loss: 0.005880 05 Jul 2025 22:50:48 Epoch 9228/10000 | loss_data: 0.001042, loss_data_delta: 0.000290, loss_traj: 0.000440, loss_traj_delta: 0.000111, loss_dir: 0.075473, loss_rot: 0.001506, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000853, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013724, | best_loss: 0.005880 05 Jul 2025 22:50:59 Epoch 9229/10000 | loss_data: 0.000989, loss_data_delta: 0.000292, loss_traj: 0.000380, loss_traj_delta: 0.000114, loss_dir: 0.062780, loss_rot: 0.001436, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.012952, | best_loss: 0.005880 05 Jul 2025 22:51:09 Epoch 9230/10000 | loss_data: 0.001008, loss_data_delta: 0.000286, loss_traj: 0.000356, loss_traj_delta: 0.000108, loss_dir: 0.075797, loss_rot: 0.001485, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000762, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013029, | best_loss: 0.005880 05 Jul 2025 22:51:19 Epoch 9231/10000 | loss_data: 0.000987, loss_data_delta: 0.000285, loss_traj: 0.000377, loss_traj_delta: 0.000113, loss_dir: 0.068497, loss_rot: 0.001439, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.012930, | best_loss: 0.005880 05 Jul 2025 22:51:30 Epoch 9232/10000 | loss_data: 0.001016, loss_data_delta: 0.000294, loss_traj: 0.000367, loss_traj_delta: 0.000120, loss_dir: 0.057837, loss_rot: 0.001493, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000110, loss: 0.013258, | best_loss: 0.005880 05 Jul 2025 22:51:40 Epoch 9233/10000 | loss_data: 0.001053, loss_data_delta: 0.000287, loss_traj: 0.000557, loss_traj_delta: 0.000112, loss_dir: 0.068408, loss_rot: 0.001471, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000974, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.014246, | best_loss: 0.005880 05 Jul 2025 22:51:51 Epoch 9234/10000 | loss_data: 0.001077, loss_data_delta: 0.000288, loss_traj: 0.000462, loss_traj_delta: 0.000111, loss_dir: 0.079680, loss_rot: 0.001563, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000866, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.014150, | best_loss: 0.005880 05 Jul 2025 22:52:02 Epoch 9235/10000 | loss_data: 0.001058, loss_data_delta: 0.000288, loss_traj: 0.000470, loss_traj_delta: 0.000114, loss_dir: 0.065903, loss_rot: 0.001528, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000886, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.014045, | best_loss: 0.005880 05 Jul 2025 22:52:13 Epoch 9236/10000 | loss_data: 0.001020, loss_data_delta: 0.000293, loss_traj: 0.000357, loss_traj_delta: 0.000113, loss_dir: 0.064924, loss_rot: 0.001507, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013209, | best_loss: 0.005880 05 Jul 2025 22:52:23 Epoch 9237/10000 | loss_data: 0.001034, loss_data_delta: 0.000287, loss_traj: 0.000499, loss_traj_delta: 0.000115, loss_dir: 0.057022, loss_rot: 0.001466, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000897, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013869, | best_loss: 0.005880 05 Jul 2025 22:52:33 Epoch 9238/10000 | loss_data: 0.001018, loss_data_delta: 0.000286, loss_traj: 0.000366, loss_traj_delta: 0.000110, loss_dir: 0.064844, loss_rot: 0.001507, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013216, | best_loss: 0.005880 05 Jul 2025 22:52:44 Epoch 9239/10000 | loss_data: 0.001040, loss_data_delta: 0.000296, loss_traj: 0.000370, loss_traj_delta: 0.000111, loss_dir: 0.059703, loss_rot: 0.001534, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013451, | best_loss: 0.005880 05 Jul 2025 22:52:55 Epoch 9240/10000 | loss_data: 0.000982, loss_data_delta: 0.000286, loss_traj: 0.000353, loss_traj_delta: 0.000110, loss_dir: 0.064589, loss_rot: 0.001446, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012781, | best_loss: 0.005880 05 Jul 2025 22:53:06 Epoch 9241/10000 | loss_data: 0.001026, loss_data_delta: 0.000285, loss_traj: 0.000400, loss_traj_delta: 0.000109, loss_dir: 0.072493, loss_rot: 0.001503, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013412, | best_loss: 0.005880 05 Jul 2025 22:53:16 Epoch 9242/10000 | loss_data: 0.001016, loss_data_delta: 0.000291, loss_traj: 0.000362, loss_traj_delta: 0.000109, loss_dir: 0.071150, loss_rot: 0.001496, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013147, | best_loss: 0.005880 05 Jul 2025 22:53:26 Epoch 9243/10000 | loss_data: 0.000998, loss_data_delta: 0.000286, loss_traj: 0.000366, loss_traj_delta: 0.000111, loss_dir: 0.059632, loss_rot: 0.001466, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.012995, | best_loss: 0.005880 05 Jul 2025 22:53:36 Epoch 9244/10000 | loss_data: 0.001039, loss_data_delta: 0.000284, loss_traj: 0.000531, loss_traj_delta: 0.000110, loss_dir: 0.064747, loss_rot: 0.001465, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000936, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.014021, | best_loss: 0.005880 05 Jul 2025 22:53:47 Epoch 9245/10000 | loss_data: 0.001007, loss_data_delta: 0.000292, loss_traj: 0.000350, loss_traj_delta: 0.000111, loss_dir: 0.057317, loss_rot: 0.001484, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013022, | best_loss: 0.005880 05 Jul 2025 22:53:57 Epoch 9246/10000 | loss_data: 0.000959, loss_data_delta: 0.000279, loss_traj: 0.000359, loss_traj_delta: 0.000105, loss_dir: 0.063286, loss_rot: 0.001399, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000100, loss: 0.012494, | best_loss: 0.005880 05 Jul 2025 22:54:08 Epoch 9247/10000 | loss_data: 0.001038, loss_data_delta: 0.000290, loss_traj: 0.000396, loss_traj_delta: 0.000111, loss_dir: 0.067985, loss_rot: 0.001521, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013517, | best_loss: 0.005880 05 Jul 2025 22:54:18 Epoch 9248/10000 | loss_data: 0.001015, loss_data_delta: 0.000294, loss_traj: 0.000360, loss_traj_delta: 0.000112, loss_dir: 0.056338, loss_rot: 0.001488, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013141, | best_loss: 0.005880 05 Jul 2025 22:54:28 Epoch 9249/10000 | loss_data: 0.001027, loss_data_delta: 0.000292, loss_traj: 0.000376, loss_traj_delta: 0.000117, loss_dir: 0.056742, loss_rot: 0.001504, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000107, loss: 0.013345, | best_loss: 0.005880 05 Jul 2025 22:54:39 Epoch 9250/10000 | loss_data: 0.001016, loss_data_delta: 0.000291, loss_traj: 0.000340, loss_traj_delta: 0.000110, loss_dir: 0.072580, loss_rot: 0.001502, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013069, | best_loss: 0.005880 05 Jul 2025 22:54:50 Epoch 9251/10000 | loss_data: 0.001012, loss_data_delta: 0.000294, loss_traj: 0.000376, loss_traj_delta: 0.000112, loss_dir: 0.063333, loss_rot: 0.001480, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013178, | best_loss: 0.005880 05 Jul 2025 22:55:00 Epoch 9252/10000 | loss_data: 0.001032, loss_data_delta: 0.000290, loss_traj: 0.000425, loss_traj_delta: 0.000111, loss_dir: 0.062656, loss_rot: 0.001488, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000836, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013523, | best_loss: 0.005880 05 Jul 2025 22:55:11 Epoch 9253/10000 | loss_data: 0.001011, loss_data_delta: 0.000288, loss_traj: 0.000386, loss_traj_delta: 0.000108, loss_dir: 0.067121, loss_rot: 0.001475, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.013142, | best_loss: 0.005880 05 Jul 2025 22:55:21 Epoch 9254/10000 | loss_data: 0.001067, loss_data_delta: 0.000291, loss_traj: 0.000449, loss_traj_delta: 0.000115, loss_dir: 0.066898, loss_rot: 0.001538, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000878, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000107, loss: 0.014001, | best_loss: 0.005880 05 Jul 2025 22:55:31 Epoch 9255/10000 | loss_data: 0.000995, loss_data_delta: 0.000288, loss_traj: 0.000376, loss_traj_delta: 0.000110, loss_dir: 0.074497, loss_rot: 0.001448, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.012971, | best_loss: 0.005880 05 Jul 2025 22:55:41 Epoch 9256/10000 | loss_data: 0.001019, loss_data_delta: 0.000290, loss_traj: 0.000371, loss_traj_delta: 0.000106, loss_dir: 0.066277, loss_rot: 0.001499, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.013202, | best_loss: 0.005880 05 Jul 2025 22:55:52 Epoch 9257/10000 | loss_data: 0.001029, loss_data_delta: 0.000290, loss_traj: 0.000432, loss_traj_delta: 0.000110, loss_dir: 0.072017, loss_rot: 0.001483, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000837, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013541, | best_loss: 0.005880 05 Jul 2025 22:56:02 Epoch 9258/10000 | loss_data: 0.001034, loss_data_delta: 0.000288, loss_traj: 0.000428, loss_traj_delta: 0.000109, loss_dir: 0.067320, loss_rot: 0.001500, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013574, | best_loss: 0.005880 05 Jul 2025 22:56:12 Epoch 9259/10000 | loss_data: 0.000982, loss_data_delta: 0.000286, loss_traj: 0.000322, loss_traj_delta: 0.000107, loss_dir: 0.065860, loss_rot: 0.001449, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000721, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012604, | best_loss: 0.005880 05 Jul 2025 22:56:23 Epoch 9260/10000 | loss_data: 0.001005, loss_data_delta: 0.000290, loss_traj: 0.000351, loss_traj_delta: 0.000110, loss_dir: 0.067255, loss_rot: 0.001478, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013013, | best_loss: 0.005880 05 Jul 2025 22:56:33 Epoch 9261/10000 | loss_data: 0.001050, loss_data_delta: 0.000290, loss_traj: 0.000439, loss_traj_delta: 0.000112, loss_dir: 0.072727, loss_rot: 0.001529, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000847, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013841, | best_loss: 0.005880 05 Jul 2025 22:56:44 Epoch 9262/10000 | loss_data: 0.000971, loss_data_delta: 0.000286, loss_traj: 0.000345, loss_traj_delta: 0.000113, loss_dir: 0.055732, loss_rot: 0.001420, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.012631, | best_loss: 0.005880 05 Jul 2025 22:56:54 Epoch 9263/10000 | loss_data: 0.001012, loss_data_delta: 0.000288, loss_traj: 0.000369, loss_traj_delta: 0.000112, loss_dir: 0.056189, loss_rot: 0.001487, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013155, | best_loss: 0.005880 05 Jul 2025 22:57:05 Epoch 9264/10000 | loss_data: 0.001032, loss_data_delta: 0.000287, loss_traj: 0.000396, loss_traj_delta: 0.000112, loss_dir: 0.056340, loss_rot: 0.001512, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013472, | best_loss: 0.005880 05 Jul 2025 22:57:15 Epoch 9265/10000 | loss_data: 0.000999, loss_data_delta: 0.000286, loss_traj: 0.000395, loss_traj_delta: 0.000113, loss_dir: 0.056913, loss_rot: 0.001459, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013142, | best_loss: 0.005880 05 Jul 2025 22:57:25 Epoch 9266/10000 | loss_data: 0.001050, loss_data_delta: 0.000294, loss_traj: 0.000408, loss_traj_delta: 0.000114, loss_dir: 0.068030, loss_rot: 0.001542, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013741, | best_loss: 0.005880 05 Jul 2025 22:57:35 Epoch 9267/10000 | loss_data: 0.001053, loss_data_delta: 0.000293, loss_traj: 0.000415, loss_traj_delta: 0.000113, loss_dir: 0.065558, loss_rot: 0.001537, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000833, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013774, | best_loss: 0.005880 05 Jul 2025 22:57:46 Epoch 9268/10000 | loss_data: 0.000995, loss_data_delta: 0.000290, loss_traj: 0.000357, loss_traj_delta: 0.000113, loss_dir: 0.061739, loss_rot: 0.001453, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.012908, | best_loss: 0.005880 05 Jul 2025 22:57:56 Epoch 9269/10000 | loss_data: 0.001024, loss_data_delta: 0.000285, loss_traj: 0.000465, loss_traj_delta: 0.000110, loss_dir: 0.071804, loss_rot: 0.001469, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000859, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013600, | best_loss: 0.005880 05 Jul 2025 22:58:06 Epoch 9270/10000 | loss_data: 0.001006, loss_data_delta: 0.000285, loss_traj: 0.000415, loss_traj_delta: 0.000109, loss_dir: 0.063695, loss_rot: 0.001461, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000810, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000105, loss: 0.013263, | best_loss: 0.005880 05 Jul 2025 22:58:16 Epoch 9271/10000 | loss_data: 0.000999, loss_data_delta: 0.000284, loss_traj: 0.000384, loss_traj_delta: 0.000107, loss_dir: 0.070833, loss_rot: 0.001462, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000103, loss: 0.013063, | best_loss: 0.005880 05 Jul 2025 22:58:27 Epoch 9272/10000 | loss_data: 0.001027, loss_data_delta: 0.000295, loss_traj: 0.000356, loss_traj_delta: 0.000118, loss_dir: 0.048549, loss_rot: 0.001515, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000202, loss_foot_contact: 0.000108, loss: 0.013304, | best_loss: 0.005880 05 Jul 2025 22:58:38 Epoch 9273/10000 | loss_data: 0.001010, loss_data_delta: 0.000285, loss_traj: 0.000362, loss_traj_delta: 0.000109, loss_dir: 0.058061, loss_rot: 0.001492, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.013096, | best_loss: 0.005880 05 Jul 2025 22:58:48 Epoch 9274/10000 | loss_data: 0.001015, loss_data_delta: 0.000288, loss_traj: 0.000363, loss_traj_delta: 0.000110, loss_dir: 0.060565, loss_rot: 0.001495, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000106, loss: 0.013174, | best_loss: 0.005880 05 Jul 2025 22:58:58 Epoch 9275/10000 | loss_data: 0.001034, loss_data_delta: 0.000293, loss_traj: 0.000391, loss_traj_delta: 0.000115, loss_dir: 0.058409, loss_rot: 0.001515, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000801, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013484, | best_loss: 0.005880 05 Jul 2025 22:59:08 Epoch 9276/10000 | loss_data: 0.001004, loss_data_delta: 0.000293, loss_traj: 0.000341, loss_traj_delta: 0.000112, loss_dir: 0.063441, loss_rot: 0.001484, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.012984, | best_loss: 0.005880 05 Jul 2025 22:59:18 Epoch 9277/10000 | loss_data: 0.001043, loss_data_delta: 0.000289, loss_traj: 0.000465, loss_traj_delta: 0.000112, loss_dir: 0.059230, loss_rot: 0.001500, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000867, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013831, | best_loss: 0.005880 05 Jul 2025 22:59:28 Epoch 9278/10000 | loss_data: 0.000984, loss_data_delta: 0.000284, loss_traj: 0.000372, loss_traj_delta: 0.000110, loss_dir: 0.062832, loss_rot: 0.001439, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.012858, | best_loss: 0.005880 05 Jul 2025 22:59:39 Epoch 9279/10000 | loss_data: 0.001027, loss_data_delta: 0.000292, loss_traj: 0.000390, loss_traj_delta: 0.000112, loss_dir: 0.063740, loss_rot: 0.001510, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013421, | best_loss: 0.005880 05 Jul 2025 22:59:48 Epoch 9280/10000 | loss_data: 0.001026, loss_data_delta: 0.000291, loss_traj: 0.000399, loss_traj_delta: 0.000115, loss_dir: 0.066918, loss_rot: 0.001497, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013430, | best_loss: 0.005880 05 Jul 2025 22:59:58 Epoch 9281/10000 | loss_data: 0.000958, loss_data_delta: 0.000282, loss_traj: 0.000334, loss_traj_delta: 0.000107, loss_dir: 0.055576, loss_rot: 0.001406, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.012420, | best_loss: 0.005880 05 Jul 2025 23:00:09 Epoch 9282/10000 | loss_data: 0.001032, loss_data_delta: 0.000291, loss_traj: 0.000402, loss_traj_delta: 0.000112, loss_dir: 0.068933, loss_rot: 0.001507, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013481, | best_loss: 0.005880 05 Jul 2025 23:00:19 Epoch 9283/10000 | loss_data: 0.000989, loss_data_delta: 0.000286, loss_traj: 0.000353, loss_traj_delta: 0.000112, loss_dir: 0.062430, loss_rot: 0.001456, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.012841, | best_loss: 0.005880 05 Jul 2025 23:00:30 Epoch 9284/10000 | loss_data: 0.000977, loss_data_delta: 0.000281, loss_traj: 0.000397, loss_traj_delta: 0.000107, loss_dir: 0.056534, loss_rot: 0.001411, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000103, loss: 0.012840, | best_loss: 0.005880 05 Jul 2025 23:00:40 Epoch 9285/10000 | loss_data: 0.001032, loss_data_delta: 0.000290, loss_traj: 0.000427, loss_traj_delta: 0.000112, loss_dir: 0.064905, loss_rot: 0.001496, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000827, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013575, | best_loss: 0.005880 05 Jul 2025 23:00:51 Epoch 9286/10000 | loss_data: 0.001023, loss_data_delta: 0.000292, loss_traj: 0.000413, loss_traj_delta: 0.000114, loss_dir: 0.069765, loss_rot: 0.001482, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013446, | best_loss: 0.005880 05 Jul 2025 23:01:01 Epoch 9287/10000 | loss_data: 0.001015, loss_data_delta: 0.000290, loss_traj: 0.000364, loss_traj_delta: 0.000112, loss_dir: 0.061726, loss_rot: 0.001492, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013161, | best_loss: 0.005880 05 Jul 2025 23:01:12 Epoch 9288/10000 | loss_data: 0.001034, loss_data_delta: 0.000288, loss_traj: 0.000407, loss_traj_delta: 0.000110, loss_dir: 0.063361, loss_rot: 0.001509, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013505, | best_loss: 0.005880 05 Jul 2025 23:01:23 Epoch 9289/10000 | loss_data: 0.001015, loss_data_delta: 0.000292, loss_traj: 0.000436, loss_traj_delta: 0.000115, loss_dir: 0.072008, loss_rot: 0.001456, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000838, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013442, | best_loss: 0.005880 05 Jul 2025 23:01:33 Epoch 9290/10000 | loss_data: 0.001069, loss_data_delta: 0.000290, loss_traj: 0.000583, loss_traj_delta: 0.000118, loss_dir: 0.070417, loss_rot: 0.001489, loss_rot_delta: 0.000440, loss_geo_xyz: 0.001002, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000110, loss: 0.014575, | best_loss: 0.005880 05 Jul 2025 23:01:44 Epoch 9291/10000 | loss_data: 0.001074, loss_data_delta: 0.000291, loss_traj: 0.000499, loss_traj_delta: 0.000110, loss_dir: 0.069559, loss_rot: 0.001539, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000909, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.014264, | best_loss: 0.005880 05 Jul 2025 23:01:54 Epoch 9292/10000 | loss_data: 0.001068, loss_data_delta: 0.000296, loss_traj: 0.000413, loss_traj_delta: 0.000114, loss_dir: 0.055616, loss_rot: 0.001557, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000829, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000107, loss: 0.013882, | best_loss: 0.005880 05 Jul 2025 23:02:05 Epoch 9293/10000 | loss_data: 0.000990, loss_data_delta: 0.000286, loss_traj: 0.000391, loss_traj_delta: 0.000111, loss_dir: 0.059868, loss_rot: 0.001435, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.012980, | best_loss: 0.005880 05 Jul 2025 23:02:16 Epoch 9294/10000 | loss_data: 0.001021, loss_data_delta: 0.000292, loss_traj: 0.000393, loss_traj_delta: 0.000112, loss_dir: 0.057788, loss_rot: 0.001488, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013316, | best_loss: 0.005880 05 Jul 2025 23:02:26 Epoch 9295/10000 | loss_data: 0.001075, loss_data_delta: 0.000287, loss_traj: 0.000626, loss_traj_delta: 0.000109, loss_dir: 0.069571, loss_rot: 0.001491, loss_rot_delta: 0.000440, loss_geo_xyz: 0.001019, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.014737, | best_loss: 0.005880 05 Jul 2025 23:02:37 Epoch 9296/10000 | loss_data: 0.001036, loss_data_delta: 0.000293, loss_traj: 0.000380, loss_traj_delta: 0.000113, loss_dir: 0.072545, loss_rot: 0.001526, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013473, | best_loss: 0.005880 05 Jul 2025 23:02:47 Epoch 9297/10000 | loss_data: 0.001047, loss_data_delta: 0.000290, loss_traj: 0.000443, loss_traj_delta: 0.000110, loss_dir: 0.076802, loss_rot: 0.001515, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000850, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013786, | best_loss: 0.005880 05 Jul 2025 23:02:57 Epoch 9298/10000 | loss_data: 0.000997, loss_data_delta: 0.000288, loss_traj: 0.000362, loss_traj_delta: 0.000115, loss_dir: 0.067057, loss_rot: 0.001457, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.012956, | best_loss: 0.005880 05 Jul 2025 23:03:08 Epoch 9299/10000 | loss_data: 0.001054, loss_data_delta: 0.000294, loss_traj: 0.000430, loss_traj_delta: 0.000113, loss_dir: 0.056922, loss_rot: 0.001529, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000850, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000108, loss: 0.013831, | best_loss: 0.005880 05 Jul 2025 23:03:19 Epoch 9300/10000 | loss_data: 0.001027, loss_data_delta: 0.000289, loss_traj: 0.000419, loss_traj_delta: 0.000109, loss_dir: 0.061462, loss_rot: 0.001496, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013495, | best_loss: 0.005880 05 Jul 2025 23:03:29 Epoch 9301/10000 | loss_data: 0.000970, loss_data_delta: 0.000283, loss_traj: 0.000349, loss_traj_delta: 0.000110, loss_dir: 0.087152, loss_rot: 0.001419, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000739, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012600, | best_loss: 0.005880 05 Jul 2025 23:03:40 Epoch 9302/10000 | loss_data: 0.001001, loss_data_delta: 0.000286, loss_traj: 0.000354, loss_traj_delta: 0.000110, loss_dir: 0.052812, loss_rot: 0.001478, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012976, | best_loss: 0.005880 05 Jul 2025 23:03:51 Epoch 9303/10000 | loss_data: 0.001010, loss_data_delta: 0.000285, loss_traj: 0.000378, loss_traj_delta: 0.000108, loss_dir: 0.068966, loss_rot: 0.001480, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.013140, | best_loss: 0.005880 05 Jul 2025 23:04:01 Epoch 9304/10000 | loss_data: 0.000994, loss_data_delta: 0.000286, loss_traj: 0.000349, loss_traj_delta: 0.000108, loss_dir: 0.074986, loss_rot: 0.001467, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012864, | best_loss: 0.005880 05 Jul 2025 23:04:12 Epoch 9305/10000 | loss_data: 0.000964, loss_data_delta: 0.000280, loss_traj: 0.000346, loss_traj_delta: 0.000107, loss_dir: 0.065918, loss_rot: 0.001412, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000739, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012507, | best_loss: 0.005880 05 Jul 2025 23:04:22 Epoch 9306/10000 | loss_data: 0.000974, loss_data_delta: 0.000283, loss_traj: 0.000321, loss_traj_delta: 0.000108, loss_dir: 0.067531, loss_rot: 0.001443, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000716, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012549, | best_loss: 0.005880 05 Jul 2025 23:04:33 Epoch 9307/10000 | loss_data: 0.001021, loss_data_delta: 0.000289, loss_traj: 0.000397, loss_traj_delta: 0.000110, loss_dir: 0.060930, loss_rot: 0.001489, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000796, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013336, | best_loss: 0.005880 05 Jul 2025 23:04:44 Epoch 9308/10000 | loss_data: 0.001022, loss_data_delta: 0.000293, loss_traj: 0.000352, loss_traj_delta: 0.000112, loss_dir: 0.065408, loss_rot: 0.001504, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013171, | best_loss: 0.005880 05 Jul 2025 23:04:54 Epoch 9309/10000 | loss_data: 0.001030, loss_data_delta: 0.000292, loss_traj: 0.000385, loss_traj_delta: 0.000110, loss_dir: 0.069118, loss_rot: 0.001507, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000107, loss: 0.013390, | best_loss: 0.005880 05 Jul 2025 23:05:05 Epoch 9310/10000 | loss_data: 0.001015, loss_data_delta: 0.000290, loss_traj: 0.000357, loss_traj_delta: 0.000110, loss_dir: 0.061593, loss_rot: 0.001496, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013114, | best_loss: 0.005880 05 Jul 2025 23:05:16 Epoch 9311/10000 | loss_data: 0.001018, loss_data_delta: 0.000295, loss_traj: 0.000348, loss_traj_delta: 0.000112, loss_dir: 0.063552, loss_rot: 0.001497, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013131, | best_loss: 0.005880 05 Jul 2025 23:05:27 Epoch 9312/10000 | loss_data: 0.001007, loss_data_delta: 0.000289, loss_traj: 0.000391, loss_traj_delta: 0.000111, loss_dir: 0.067563, loss_rot: 0.001469, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013183, | best_loss: 0.005880 05 Jul 2025 23:05:38 Epoch 9313/10000 | loss_data: 0.000970, loss_data_delta: 0.000277, loss_traj: 0.000351, loss_traj_delta: 0.000103, loss_dir: 0.066350, loss_rot: 0.001430, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000728, loss_geo_xyz_vel: 0.000179, loss_foot_contact: 0.000099, loss: 0.012585, | best_loss: 0.005880 05 Jul 2025 23:05:48 Epoch 9314/10000 | loss_data: 0.000995, loss_data_delta: 0.000283, loss_traj: 0.000386, loss_traj_delta: 0.000109, loss_dir: 0.057689, loss_rot: 0.001447, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012990, | best_loss: 0.005880 05 Jul 2025 23:05:58 Epoch 9315/10000 | loss_data: 0.001044, loss_data_delta: 0.000292, loss_traj: 0.000405, loss_traj_delta: 0.000110, loss_dir: 0.063695, loss_rot: 0.001517, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000825, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013577, | best_loss: 0.005880 05 Jul 2025 23:06:09 Epoch 9316/10000 | loss_data: 0.000978, loss_data_delta: 0.000284, loss_traj: 0.000330, loss_traj_delta: 0.000107, loss_dir: 0.057649, loss_rot: 0.001447, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000715, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012610, | best_loss: 0.005880 05 Jul 2025 23:06:20 Epoch 9317/10000 | loss_data: 0.000975, loss_data_delta: 0.000286, loss_traj: 0.000356, loss_traj_delta: 0.000106, loss_dir: 0.059833, loss_rot: 0.001431, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000102, loss: 0.012696, | best_loss: 0.005880 05 Jul 2025 23:06:31 Epoch 9318/10000 | loss_data: 0.000968, loss_data_delta: 0.000284, loss_traj: 0.000334, loss_traj_delta: 0.000105, loss_dir: 0.062284, loss_rot: 0.001427, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000717, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012512, | best_loss: 0.005880 05 Jul 2025 23:06:41 Epoch 9319/10000 | loss_data: 0.000967, loss_data_delta: 0.000287, loss_traj: 0.000332, loss_traj_delta: 0.000108, loss_dir: 0.058368, loss_rot: 0.001423, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000720, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.012523, | best_loss: 0.005880 05 Jul 2025 23:06:51 Epoch 9320/10000 | loss_data: 0.000935, loss_data_delta: 0.000274, loss_traj: 0.000330, loss_traj_delta: 0.000101, loss_dir: 0.082583, loss_rot: 0.001374, loss_rot_delta: 0.000422, loss_geo_xyz: 0.000703, loss_geo_xyz_vel: 0.000177, loss_foot_contact: 0.000098, loss: 0.012115, | best_loss: 0.005880 05 Jul 2025 23:07:02 Epoch 9321/10000 | loss_data: 0.001004, loss_data_delta: 0.000286, loss_traj: 0.000378, loss_traj_delta: 0.000110, loss_dir: 0.053943, loss_rot: 0.001472, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013099, | best_loss: 0.005880 05 Jul 2025 23:07:12 Epoch 9322/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000351, loss_traj_delta: 0.000111, loss_dir: 0.059716, loss_rot: 0.001478, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012970, | best_loss: 0.005880 05 Jul 2025 23:07:22 Epoch 9323/10000 | loss_data: 0.001025, loss_data_delta: 0.000289, loss_traj: 0.000404, loss_traj_delta: 0.000111, loss_dir: 0.062582, loss_rot: 0.001496, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013421, | best_loss: 0.005880 05 Jul 2025 23:07:33 Epoch 9324/10000 | loss_data: 0.000969, loss_data_delta: 0.000287, loss_traj: 0.000357, loss_traj_delta: 0.000109, loss_dir: 0.061307, loss_rot: 0.001414, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012638, | best_loss: 0.005880 05 Jul 2025 23:07:44 Epoch 9325/10000 | loss_data: 0.001012, loss_data_delta: 0.000283, loss_traj: 0.000384, loss_traj_delta: 0.000108, loss_dir: 0.059699, loss_rot: 0.001487, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.013194, | best_loss: 0.005880 05 Jul 2025 23:07:54 Epoch 9326/10000 | loss_data: 0.000988, loss_data_delta: 0.000291, loss_traj: 0.000353, loss_traj_delta: 0.000115, loss_dir: 0.062303, loss_rot: 0.001443, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000107, loss: 0.012838, | best_loss: 0.005880 05 Jul 2025 23:08:05 Epoch 9327/10000 | loss_data: 0.000985, loss_data_delta: 0.000281, loss_traj: 0.000396, loss_traj_delta: 0.000109, loss_dir: 0.056645, loss_rot: 0.001434, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012966, | best_loss: 0.005880 05 Jul 2025 23:08:16 Epoch 9328/10000 | loss_data: 0.000953, loss_data_delta: 0.000286, loss_traj: 0.000317, loss_traj_delta: 0.000109, loss_dir: 0.052455, loss_rot: 0.001394, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000713, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012272, | best_loss: 0.005880 05 Jul 2025 23:08:26 Epoch 9329/10000 | loss_data: 0.001055, loss_data_delta: 0.000290, loss_traj: 0.000489, loss_traj_delta: 0.000112, loss_dir: 0.054869, loss_rot: 0.001504, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000901, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.014023, | best_loss: 0.005880 05 Jul 2025 23:08:37 Epoch 9330/10000 | loss_data: 0.000991, loss_data_delta: 0.000282, loss_traj: 0.000339, loss_traj_delta: 0.000105, loss_dir: 0.078809, loss_rot: 0.001470, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000100, loss: 0.012776, | best_loss: 0.005880 05 Jul 2025 23:08:47 Epoch 9331/10000 | loss_data: 0.001069, loss_data_delta: 0.000292, loss_traj: 0.000552, loss_traj_delta: 0.000111, loss_dir: 0.056037, loss_rot: 0.001508, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000954, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.014425, | best_loss: 0.005880 05 Jul 2025 23:08:58 Epoch 9332/10000 | loss_data: 0.000974, loss_data_delta: 0.000285, loss_traj: 0.000386, loss_traj_delta: 0.000109, loss_dir: 0.050619, loss_rot: 0.001415, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012799, | best_loss: 0.005880 05 Jul 2025 23:09:09 Epoch 9333/10000 | loss_data: 0.001022, loss_data_delta: 0.000293, loss_traj: 0.000404, loss_traj_delta: 0.000116, loss_dir: 0.053308, loss_rot: 0.001486, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000810, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013420, | best_loss: 0.005880 05 Jul 2025 23:09:19 Epoch 9334/10000 | loss_data: 0.001013, loss_data_delta: 0.000288, loss_traj: 0.000368, loss_traj_delta: 0.000110, loss_dir: 0.050357, loss_rot: 0.001489, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013138, | best_loss: 0.005880 05 Jul 2025 23:09:30 Epoch 9335/10000 | loss_data: 0.001026, loss_data_delta: 0.000295, loss_traj: 0.000372, loss_traj_delta: 0.000113, loss_dir: 0.059139, loss_rot: 0.001507, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013331, | best_loss: 0.005880 05 Jul 2025 23:09:41 Epoch 9336/10000 | loss_data: 0.000995, loss_data_delta: 0.000291, loss_traj: 0.000351, loss_traj_delta: 0.000110, loss_dir: 0.059992, loss_rot: 0.001461, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.012893, | best_loss: 0.005880 05 Jul 2025 23:09:51 Epoch 9337/10000 | loss_data: 0.000998, loss_data_delta: 0.000286, loss_traj: 0.000367, loss_traj_delta: 0.000108, loss_dir: 0.072413, loss_rot: 0.001457, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012944, | best_loss: 0.005880 05 Jul 2025 23:10:01 Epoch 9338/10000 | loss_data: 0.000976, loss_data_delta: 0.000284, loss_traj: 0.000370, loss_traj_delta: 0.000109, loss_dir: 0.065455, loss_rot: 0.001426, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.012760, | best_loss: 0.005880 05 Jul 2025 23:10:12 Epoch 9339/10000 | loss_data: 0.000998, loss_data_delta: 0.000286, loss_traj: 0.000440, loss_traj_delta: 0.000111, loss_dir: 0.065923, loss_rot: 0.001429, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013254, | best_loss: 0.005880 05 Jul 2025 23:10:24 Epoch 9340/10000 | loss_data: 0.001016, loss_data_delta: 0.000290, loss_traj: 0.000355, loss_traj_delta: 0.000111, loss_dir: 0.058509, loss_rot: 0.001501, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013144, | best_loss: 0.005880 05 Jul 2025 23:10:34 Epoch 9341/10000 | loss_data: 0.000996, loss_data_delta: 0.000293, loss_traj: 0.000332, loss_traj_delta: 0.000110, loss_dir: 0.057214, loss_rot: 0.001475, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.012859, | best_loss: 0.005880 05 Jul 2025 23:10:45 Epoch 9342/10000 | loss_data: 0.001015, loss_data_delta: 0.000286, loss_traj: 0.000398, loss_traj_delta: 0.000107, loss_dir: 0.072915, loss_rot: 0.001484, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.013263, | best_loss: 0.005880 05 Jul 2025 23:10:55 Epoch 9343/10000 | loss_data: 0.001048, loss_data_delta: 0.000291, loss_traj: 0.000471, loss_traj_delta: 0.000114, loss_dir: 0.066368, loss_rot: 0.001509, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000877, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013944, | best_loss: 0.005880 05 Jul 2025 23:11:06 Epoch 9344/10000 | loss_data: 0.000979, loss_data_delta: 0.000291, loss_traj: 0.000323, loss_traj_delta: 0.000110, loss_dir: 0.059764, loss_rot: 0.001442, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000717, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.012611, | best_loss: 0.005880 05 Jul 2025 23:11:17 Epoch 9345/10000 | loss_data: 0.001030, loss_data_delta: 0.000289, loss_traj: 0.000423, loss_traj_delta: 0.000115, loss_dir: 0.059123, loss_rot: 0.001493, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000831, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000109, loss: 0.013574, | best_loss: 0.005880 05 Jul 2025 23:11:27 Epoch 9346/10000 | loss_data: 0.000999, loss_data_delta: 0.000285, loss_traj: 0.000390, loss_traj_delta: 0.000109, loss_dir: 0.062879, loss_rot: 0.001458, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.013071, | best_loss: 0.005880 05 Jul 2025 23:11:39 Epoch 9347/10000 | loss_data: 0.001030, loss_data_delta: 0.000292, loss_traj: 0.000409, loss_traj_delta: 0.000112, loss_dir: 0.069341, loss_rot: 0.001501, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013499, | best_loss: 0.005880 05 Jul 2025 23:11:49 Epoch 9348/10000 | loss_data: 0.000997, loss_data_delta: 0.000290, loss_traj: 0.000410, loss_traj_delta: 0.000109, loss_dir: 0.068440, loss_rot: 0.001444, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013140, | best_loss: 0.005880 05 Jul 2025 23:12:00 Epoch 9349/10000 | loss_data: 0.001040, loss_data_delta: 0.000287, loss_traj: 0.000397, loss_traj_delta: 0.000110, loss_dir: 0.080730, loss_rot: 0.001528, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013541, | best_loss: 0.005880 05 Jul 2025 23:12:11 Epoch 9350/10000 | loss_data: 0.000985, loss_data_delta: 0.000288, loss_traj: 0.000360, loss_traj_delta: 0.000110, loss_dir: 0.065176, loss_rot: 0.001445, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012825, | best_loss: 0.005880 05 Jul 2025 23:12:21 Epoch 9351/10000 | loss_data: 0.000999, loss_data_delta: 0.000288, loss_traj: 0.000356, loss_traj_delta: 0.000109, loss_dir: 0.065779, loss_rot: 0.001472, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012955, | best_loss: 0.005880 05 Jul 2025 23:12:32 Epoch 9352/10000 | loss_data: 0.001036, loss_data_delta: 0.000291, loss_traj: 0.000429, loss_traj_delta: 0.000114, loss_dir: 0.056783, loss_rot: 0.001494, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013608, | best_loss: 0.005880 05 Jul 2025 23:12:43 Epoch 9353/10000 | loss_data: 0.001001, loss_data_delta: 0.000287, loss_traj: 0.000378, loss_traj_delta: 0.000111, loss_dir: 0.062929, loss_rot: 0.001459, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013062, | best_loss: 0.005880 05 Jul 2025 23:12:54 Epoch 9354/10000 | loss_data: 0.000982, loss_data_delta: 0.000286, loss_traj: 0.000358, loss_traj_delta: 0.000108, loss_dir: 0.058892, loss_rot: 0.001438, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012760, | best_loss: 0.005880 05 Jul 2025 23:13:05 Epoch 9355/10000 | loss_data: 0.001028, loss_data_delta: 0.000287, loss_traj: 0.000457, loss_traj_delta: 0.000111, loss_dir: 0.054877, loss_rot: 0.001479, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000852, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013637, | best_loss: 0.005880 05 Jul 2025 23:13:15 Epoch 9356/10000 | loss_data: 0.001023, loss_data_delta: 0.000290, loss_traj: 0.000417, loss_traj_delta: 0.000112, loss_dir: 0.082779, loss_rot: 0.001488, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000816, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013454, | best_loss: 0.005880 05 Jul 2025 23:13:26 Epoch 9357/10000 | loss_data: 0.001014, loss_data_delta: 0.000295, loss_traj: 0.000347, loss_traj_delta: 0.000112, loss_dir: 0.066178, loss_rot: 0.001492, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013078, | best_loss: 0.005880 05 Jul 2025 23:13:37 Epoch 9358/10000 | loss_data: 0.000972, loss_data_delta: 0.000285, loss_traj: 0.000353, loss_traj_delta: 0.000106, loss_dir: 0.057656, loss_rot: 0.001420, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000739, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000103, loss: 0.012619, | best_loss: 0.005880 05 Jul 2025 23:13:48 Epoch 9359/10000 | loss_data: 0.000977, loss_data_delta: 0.000285, loss_traj: 0.000329, loss_traj_delta: 0.000108, loss_dir: 0.062907, loss_rot: 0.001440, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000720, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.012600, | best_loss: 0.005880 05 Jul 2025 23:13:58 Epoch 9360/10000 | loss_data: 0.000987, loss_data_delta: 0.000287, loss_traj: 0.000339, loss_traj_delta: 0.000108, loss_dir: 0.067025, loss_rot: 0.001451, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000736, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012732, | best_loss: 0.005880 05 Jul 2025 23:14:08 Epoch 9361/10000 | loss_data: 0.000999, loss_data_delta: 0.000288, loss_traj: 0.000383, loss_traj_delta: 0.000110, loss_dir: 0.056559, loss_rot: 0.001456, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013047, | best_loss: 0.005880 05 Jul 2025 23:14:19 Epoch 9362/10000 | loss_data: 0.001008, loss_data_delta: 0.000288, loss_traj: 0.000358, loss_traj_delta: 0.000107, loss_dir: 0.055434, loss_rot: 0.001476, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013000, | best_loss: 0.005880 05 Jul 2025 23:14:29 Epoch 9363/10000 | loss_data: 0.000996, loss_data_delta: 0.000294, loss_traj: 0.000358, loss_traj_delta: 0.000115, loss_dir: 0.065437, loss_rot: 0.001459, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.012967, | best_loss: 0.005880 05 Jul 2025 23:14:40 Epoch 9364/10000 | loss_data: 0.001005, loss_data_delta: 0.000278, loss_traj: 0.000377, loss_traj_delta: 0.000105, loss_dir: 0.075108, loss_rot: 0.001472, loss_rot_delta: 0.000426, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000101, loss: 0.013032, | best_loss: 0.005880 05 Jul 2025 23:14:50 Epoch 9365/10000 | loss_data: 0.000974, loss_data_delta: 0.000288, loss_traj: 0.000314, loss_traj_delta: 0.000109, loss_dir: 0.065920, loss_rot: 0.001439, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000707, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012516, | best_loss: 0.005880 05 Jul 2025 23:15:00 Epoch 9366/10000 | loss_data: 0.000975, loss_data_delta: 0.000283, loss_traj: 0.000332, loss_traj_delta: 0.000108, loss_dir: 0.069188, loss_rot: 0.001439, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000724, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012595, | best_loss: 0.005880 05 Jul 2025 23:15:11 Epoch 9367/10000 | loss_data: 0.001011, loss_data_delta: 0.000288, loss_traj: 0.000397, loss_traj_delta: 0.000111, loss_dir: 0.060911, loss_rot: 0.001468, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013225, | best_loss: 0.005880 05 Jul 2025 23:15:21 Epoch 9368/10000 | loss_data: 0.001027, loss_data_delta: 0.000295, loss_traj: 0.000365, loss_traj_delta: 0.000108, loss_dir: 0.057738, loss_rot: 0.001508, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013268, | best_loss: 0.005880 05 Jul 2025 23:15:32 Epoch 9369/10000 | loss_data: 0.001018, loss_data_delta: 0.000284, loss_traj: 0.000448, loss_traj_delta: 0.000110, loss_dir: 0.077245, loss_rot: 0.001460, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000849, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013453, | best_loss: 0.005880 05 Jul 2025 23:15:42 Epoch 9370/10000 | loss_data: 0.001005, loss_data_delta: 0.000284, loss_traj: 0.000492, loss_traj_delta: 0.000110, loss_dir: 0.068981, loss_rot: 0.001424, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000880, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013510, | best_loss: 0.005880 05 Jul 2025 23:15:53 Epoch 9371/10000 | loss_data: 0.001091, loss_data_delta: 0.000298, loss_traj: 0.000479, loss_traj_delta: 0.000116, loss_dir: 0.061059, loss_rot: 0.001576, loss_rot_delta: 0.000457, loss_geo_xyz: 0.000900, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000109, loss: 0.014422, | best_loss: 0.005880 05 Jul 2025 23:16:04 Epoch 9372/10000 | loss_data: 0.001027, loss_data_delta: 0.000292, loss_traj: 0.000378, loss_traj_delta: 0.000111, loss_dir: 0.069007, loss_rot: 0.001506, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000784, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013340, | best_loss: 0.005880 05 Jul 2025 23:16:15 Epoch 9373/10000 | loss_data: 0.000984, loss_data_delta: 0.000284, loss_traj: 0.000342, loss_traj_delta: 0.000107, loss_dir: 0.062003, loss_rot: 0.001451, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012727, | best_loss: 0.005880 05 Jul 2025 23:16:26 Epoch 9374/10000 | loss_data: 0.000970, loss_data_delta: 0.000290, loss_traj: 0.000342, loss_traj_delta: 0.000107, loss_dir: 0.066106, loss_rot: 0.001424, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012584, | best_loss: 0.005880 05 Jul 2025 23:16:37 Epoch 9375/10000 | loss_data: 0.000996, loss_data_delta: 0.000285, loss_traj: 0.000359, loss_traj_delta: 0.000104, loss_dir: 0.078824, loss_rot: 0.001466, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000101, loss: 0.012893, | best_loss: 0.005880 05 Jul 2025 23:16:47 Epoch 9376/10000 | loss_data: 0.001014, loss_data_delta: 0.000288, loss_traj: 0.000410, loss_traj_delta: 0.000109, loss_dir: 0.066179, loss_rot: 0.001475, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013305, | best_loss: 0.005880 05 Jul 2025 23:16:58 Epoch 9377/10000 | loss_data: 0.001010, loss_data_delta: 0.000290, loss_traj: 0.000376, loss_traj_delta: 0.000113, loss_dir: 0.058612, loss_rot: 0.001473, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013135, | best_loss: 0.005880 05 Jul 2025 23:17:09 Epoch 9378/10000 | loss_data: 0.001005, loss_data_delta: 0.000285, loss_traj: 0.000339, loss_traj_delta: 0.000108, loss_dir: 0.060170, loss_rot: 0.001491, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012944, | best_loss: 0.005880 05 Jul 2025 23:17:20 Epoch 9379/10000 | loss_data: 0.000990, loss_data_delta: 0.000287, loss_traj: 0.000335, loss_traj_delta: 0.000111, loss_dir: 0.060615, loss_rot: 0.001461, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012784, | best_loss: 0.005880 05 Jul 2025 23:17:31 Epoch 9380/10000 | loss_data: 0.000999, loss_data_delta: 0.000287, loss_traj: 0.000386, loss_traj_delta: 0.000110, loss_dir: 0.064587, loss_rot: 0.001458, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.013076, | best_loss: 0.005880 05 Jul 2025 23:17:41 Epoch 9381/10000 | loss_data: 0.001029, loss_data_delta: 0.000285, loss_traj: 0.000372, loss_traj_delta: 0.000109, loss_dir: 0.063890, loss_rot: 0.001519, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013313, | best_loss: 0.005880 05 Jul 2025 23:17:52 Epoch 9382/10000 | loss_data: 0.001046, loss_data_delta: 0.000295, loss_traj: 0.000469, loss_traj_delta: 0.000112, loss_dir: 0.053903, loss_rot: 0.001493, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000883, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013871, | best_loss: 0.005880 05 Jul 2025 23:18:02 Epoch 9383/10000 | loss_data: 0.001046, loss_data_delta: 0.000292, loss_traj: 0.000371, loss_traj_delta: 0.000112, loss_dir: 0.066665, loss_rot: 0.001550, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013531, | best_loss: 0.005880 05 Jul 2025 23:18:13 Epoch 9384/10000 | loss_data: 0.000983, loss_data_delta: 0.000284, loss_traj: 0.000344, loss_traj_delta: 0.000108, loss_dir: 0.079308, loss_rot: 0.001446, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.012724, | best_loss: 0.005880 05 Jul 2025 23:18:23 Epoch 9385/10000 | loss_data: 0.001042, loss_data_delta: 0.000290, loss_traj: 0.000450, loss_traj_delta: 0.000115, loss_dir: 0.066247, loss_rot: 0.001504, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000857, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013785, | best_loss: 0.005880 05 Jul 2025 23:18:34 Epoch 9386/10000 | loss_data: 0.000999, loss_data_delta: 0.000291, loss_traj: 0.000367, loss_traj_delta: 0.000111, loss_dir: 0.068064, loss_rot: 0.001459, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.012987, | best_loss: 0.005880 05 Jul 2025 23:18:45 Epoch 9387/10000 | loss_data: 0.001003, loss_data_delta: 0.000286, loss_traj: 0.000375, loss_traj_delta: 0.000107, loss_dir: 0.056430, loss_rot: 0.001471, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.013036, | best_loss: 0.005880 05 Jul 2025 23:18:55 Epoch 9388/10000 | loss_data: 0.001038, loss_data_delta: 0.000297, loss_traj: 0.000409, loss_traj_delta: 0.000116, loss_dir: 0.061418, loss_rot: 0.001509, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013599, | best_loss: 0.005880 05 Jul 2025 23:19:06 Epoch 9389/10000 | loss_data: 0.001052, loss_data_delta: 0.000296, loss_traj: 0.000456, loss_traj_delta: 0.000116, loss_dir: 0.065450, loss_rot: 0.001509, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000876, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013888, | best_loss: 0.005880 05 Jul 2025 23:19:16 Epoch 9390/10000 | loss_data: 0.001012, loss_data_delta: 0.000290, loss_traj: 0.000371, loss_traj_delta: 0.000107, loss_dir: 0.054948, loss_rot: 0.001484, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013122, | best_loss: 0.005880 05 Jul 2025 23:19:27 Epoch 9391/10000 | loss_data: 0.000981, loss_data_delta: 0.000285, loss_traj: 0.000387, loss_traj_delta: 0.000108, loss_dir: 0.059447, loss_rot: 0.001423, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012854, | best_loss: 0.005880 05 Jul 2025 23:19:37 Epoch 9392/10000 | loss_data: 0.000999, loss_data_delta: 0.000283, loss_traj: 0.000406, loss_traj_delta: 0.000106, loss_dir: 0.072344, loss_rot: 0.001448, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.013100, | best_loss: 0.005880 05 Jul 2025 23:19:48 Epoch 9393/10000 | loss_data: 0.001026, loss_data_delta: 0.000287, loss_traj: 0.000429, loss_traj_delta: 0.000110, loss_dir: 0.092179, loss_rot: 0.001486, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000831, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013501, | best_loss: 0.005880 05 Jul 2025 23:19:59 Epoch 9394/10000 | loss_data: 0.001035, loss_data_delta: 0.000295, loss_traj: 0.000365, loss_traj_delta: 0.000113, loss_dir: 0.058979, loss_rot: 0.001516, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000106, loss: 0.013343, | best_loss: 0.005880 05 Jul 2025 23:20:10 Epoch 9395/10000 | loss_data: 0.001011, loss_data_delta: 0.000291, loss_traj: 0.000358, loss_traj_delta: 0.000109, loss_dir: 0.061895, loss_rot: 0.001487, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013078, | best_loss: 0.005880 05 Jul 2025 23:20:21 Epoch 9396/10000 | loss_data: 0.001039, loss_data_delta: 0.000290, loss_traj: 0.000359, loss_traj_delta: 0.000110, loss_dir: 0.063182, loss_rot: 0.001540, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013382, | best_loss: 0.005880 05 Jul 2025 23:20:32 Epoch 9397/10000 | loss_data: 0.001032, loss_data_delta: 0.000290, loss_traj: 0.000465, loss_traj_delta: 0.000108, loss_dir: 0.063009, loss_rot: 0.001478, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000858, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013665, | best_loss: 0.005880 05 Jul 2025 23:20:43 Epoch 9398/10000 | loss_data: 0.001000, loss_data_delta: 0.000283, loss_traj: 0.000401, loss_traj_delta: 0.000108, loss_dir: 0.056340, loss_rot: 0.001453, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.013106, | best_loss: 0.005880 05 Jul 2025 23:20:53 Epoch 9399/10000 | loss_data: 0.000994, loss_data_delta: 0.000287, loss_traj: 0.000324, loss_traj_delta: 0.000108, loss_dir: 0.069971, loss_rot: 0.001472, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000725, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012741, | best_loss: 0.005880 05 Jul 2025 23:21:04 Epoch 9400/10000 | loss_data: 0.000991, loss_data_delta: 0.000290, loss_traj: 0.000347, loss_traj_delta: 0.000110, loss_dir: 0.060653, loss_rot: 0.001458, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012830, | best_loss: 0.005880 05 Jul 2025 23:21:16 Epoch 9401/10000 | loss_data: 0.001009, loss_data_delta: 0.000292, loss_traj: 0.000384, loss_traj_delta: 0.000112, loss_dir: 0.060904, loss_rot: 0.001472, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013180, | best_loss: 0.005880 05 Jul 2025 23:21:26 Epoch 9402/10000 | loss_data: 0.001006, loss_data_delta: 0.000286, loss_traj: 0.000393, loss_traj_delta: 0.000109, loss_dir: 0.059100, loss_rot: 0.001467, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013163, | best_loss: 0.005880 05 Jul 2025 23:21:36 Epoch 9403/10000 | loss_data: 0.001017, loss_data_delta: 0.000288, loss_traj: 0.000392, loss_traj_delta: 0.000107, loss_dir: 0.054829, loss_rot: 0.001485, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013247, | best_loss: 0.005880 05 Jul 2025 23:21:47 Epoch 9404/10000 | loss_data: 0.001017, loss_data_delta: 0.000287, loss_traj: 0.000419, loss_traj_delta: 0.000112, loss_dir: 0.046621, loss_rot: 0.001472, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013369, | best_loss: 0.005880 05 Jul 2025 23:21:58 Epoch 9405/10000 | loss_data: 0.001000, loss_data_delta: 0.000288, loss_traj: 0.000350, loss_traj_delta: 0.000110, loss_dir: 0.074365, loss_rot: 0.001469, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012931, | best_loss: 0.005880 05 Jul 2025 23:22:08 Epoch 9406/10000 | loss_data: 0.001095, loss_data_delta: 0.000292, loss_traj: 0.000708, loss_traj_delta: 0.000117, loss_dir: 0.065504, loss_rot: 0.001483, loss_rot_delta: 0.000445, loss_geo_xyz: 0.001112, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.015299, | best_loss: 0.005880 05 Jul 2025 23:22:20 Epoch 9407/10000 | loss_data: 0.001010, loss_data_delta: 0.000287, loss_traj: 0.000403, loss_traj_delta: 0.000109, loss_dir: 0.067868, loss_rot: 0.001471, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000801, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.013251, | best_loss: 0.005880 05 Jul 2025 23:22:30 Epoch 9408/10000 | loss_data: 0.001060, loss_data_delta: 0.000294, loss_traj: 0.000451, loss_traj_delta: 0.000116, loss_dir: 0.083277, loss_rot: 0.001532, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000863, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.013977, | best_loss: 0.005880 05 Jul 2025 23:22:41 Epoch 9409/10000 | loss_data: 0.001032, loss_data_delta: 0.000290, loss_traj: 0.000464, loss_traj_delta: 0.000119, loss_dir: 0.066378, loss_rot: 0.001477, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000869, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000107, loss: 0.013734, | best_loss: 0.005880 05 Jul 2025 23:22:52 Epoch 9410/10000 | loss_data: 0.000985, loss_data_delta: 0.000288, loss_traj: 0.000328, loss_traj_delta: 0.000107, loss_dir: 0.070720, loss_rot: 0.001460, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000717, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012685, | best_loss: 0.005880 05 Jul 2025 23:23:03 Epoch 9411/10000 | loss_data: 0.000998, loss_data_delta: 0.000288, loss_traj: 0.000398, loss_traj_delta: 0.000111, loss_dir: 0.069337, loss_rot: 0.001441, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013079, | best_loss: 0.005880 05 Jul 2025 23:23:13 Epoch 9412/10000 | loss_data: 0.001022, loss_data_delta: 0.000293, loss_traj: 0.000399, loss_traj_delta: 0.000112, loss_dir: 0.072705, loss_rot: 0.001483, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000105, loss: 0.013338, | best_loss: 0.005880 05 Jul 2025 23:23:24 Epoch 9413/10000 | loss_data: 0.001028, loss_data_delta: 0.000291, loss_traj: 0.000416, loss_traj_delta: 0.000113, loss_dir: 0.061915, loss_rot: 0.001492, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013495, | best_loss: 0.005880 05 Jul 2025 23:23:34 Epoch 9414/10000 | loss_data: 0.000996, loss_data_delta: 0.000290, loss_traj: 0.000380, loss_traj_delta: 0.000112, loss_dir: 0.053386, loss_rot: 0.001448, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013010, | best_loss: 0.005880 05 Jul 2025 23:23:45 Epoch 9415/10000 | loss_data: 0.001026, loss_data_delta: 0.000287, loss_traj: 0.000376, loss_traj_delta: 0.000110, loss_dir: 0.055045, loss_rot: 0.001505, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013296, | best_loss: 0.005880 05 Jul 2025 23:23:56 Epoch 9416/10000 | loss_data: 0.001065, loss_data_delta: 0.000288, loss_traj: 0.000512, loss_traj_delta: 0.000112, loss_dir: 0.068512, loss_rot: 0.001526, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000919, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.014263, | best_loss: 0.005880 05 Jul 2025 23:24:06 Epoch 9417/10000 | loss_data: 0.001027, loss_data_delta: 0.000293, loss_traj: 0.000417, loss_traj_delta: 0.000113, loss_dir: 0.047470, loss_rot: 0.001487, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013474, | best_loss: 0.005880 05 Jul 2025 23:24:17 Epoch 9418/10000 | loss_data: 0.000997, loss_data_delta: 0.000287, loss_traj: 0.000348, loss_traj_delta: 0.000110, loss_dir: 0.062227, loss_rot: 0.001468, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012880, | best_loss: 0.005880 05 Jul 2025 23:24:28 Epoch 9419/10000 | loss_data: 0.001013, loss_data_delta: 0.000289, loss_traj: 0.000401, loss_traj_delta: 0.000112, loss_dir: 0.063625, loss_rot: 0.001469, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013253, | best_loss: 0.005880 05 Jul 2025 23:24:38 Epoch 9420/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000393, loss_traj_delta: 0.000108, loss_dir: 0.056623, loss_rot: 0.001458, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013102, | best_loss: 0.005880 05 Jul 2025 23:24:49 Epoch 9421/10000 | loss_data: 0.000997, loss_data_delta: 0.000291, loss_traj: 0.000354, loss_traj_delta: 0.000110, loss_dir: 0.056133, loss_rot: 0.001457, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.012884, | best_loss: 0.005880 05 Jul 2025 23:24:59 Epoch 9422/10000 | loss_data: 0.001069, loss_data_delta: 0.000294, loss_traj: 0.000529, loss_traj_delta: 0.000116, loss_dir: 0.054992, loss_rot: 0.001515, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000930, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.014356, | best_loss: 0.005880 05 Jul 2025 23:25:09 Epoch 9423/10000 | loss_data: 0.001003, loss_data_delta: 0.000288, loss_traj: 0.000385, loss_traj_delta: 0.000110, loss_dir: 0.054748, loss_rot: 0.001460, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013093, | best_loss: 0.005880 05 Jul 2025 23:25:20 Epoch 9424/10000 | loss_data: 0.000984, loss_data_delta: 0.000282, loss_traj: 0.000363, loss_traj_delta: 0.000107, loss_dir: 0.061165, loss_rot: 0.001442, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012784, | best_loss: 0.005880 05 Jul 2025 23:25:31 Epoch 9425/10000 | loss_data: 0.000965, loss_data_delta: 0.000282, loss_traj: 0.000348, loss_traj_delta: 0.000107, loss_dir: 0.054161, loss_rot: 0.001421, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012564, | best_loss: 0.005880 05 Jul 2025 23:25:41 Epoch 9426/10000 | loss_data: 0.000989, loss_data_delta: 0.000285, loss_traj: 0.000375, loss_traj_delta: 0.000108, loss_dir: 0.075785, loss_rot: 0.001446, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012924, | best_loss: 0.005880 05 Jul 2025 23:25:52 Epoch 9427/10000 | loss_data: 0.000970, loss_data_delta: 0.000285, loss_traj: 0.000331, loss_traj_delta: 0.000107, loss_dir: 0.051802, loss_rot: 0.001425, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000722, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012515, | best_loss: 0.005880 05 Jul 2025 23:26:03 Epoch 9428/10000 | loss_data: 0.001046, loss_data_delta: 0.000293, loss_traj: 0.000414, loss_traj_delta: 0.000117, loss_dir: 0.076216, loss_rot: 0.001529, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013726, | best_loss: 0.005880 05 Jul 2025 23:26:13 Epoch 9429/10000 | loss_data: 0.001001, loss_data_delta: 0.000293, loss_traj: 0.000329, loss_traj_delta: 0.000109, loss_dir: 0.056656, loss_rot: 0.001474, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.012839, | best_loss: 0.005880 05 Jul 2025 23:26:24 Epoch 9430/10000 | loss_data: 0.001027, loss_data_delta: 0.000288, loss_traj: 0.000388, loss_traj_delta: 0.000107, loss_dir: 0.069965, loss_rot: 0.001506, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000796, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.013348, | best_loss: 0.005880 05 Jul 2025 23:26:35 Epoch 9431/10000 | loss_data: 0.001002, loss_data_delta: 0.000285, loss_traj: 0.000363, loss_traj_delta: 0.000113, loss_dir: 0.072882, loss_rot: 0.001472, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013018, | best_loss: 0.005880 05 Jul 2025 23:26:45 Epoch 9432/10000 | loss_data: 0.001049, loss_data_delta: 0.000286, loss_traj: 0.000527, loss_traj_delta: 0.000107, loss_dir: 0.055655, loss_rot: 0.001490, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000925, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.014101, | best_loss: 0.005880 05 Jul 2025 23:26:56 Epoch 9433/10000 | loss_data: 0.000978, loss_data_delta: 0.000286, loss_traj: 0.000360, loss_traj_delta: 0.000108, loss_dir: 0.071574, loss_rot: 0.001433, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000747, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012740, | best_loss: 0.005880 05 Jul 2025 23:27:06 Epoch 9434/10000 | loss_data: 0.000990, loss_data_delta: 0.000292, loss_traj: 0.000335, loss_traj_delta: 0.000112, loss_dir: 0.059501, loss_rot: 0.001458, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000733, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.012796, | best_loss: 0.005880 05 Jul 2025 23:27:16 Epoch 9435/10000 | loss_data: 0.000967, loss_data_delta: 0.000283, loss_traj: 0.000366, loss_traj_delta: 0.000108, loss_dir: 0.047801, loss_rot: 0.001409, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012625, | best_loss: 0.005880 05 Jul 2025 23:27:27 Epoch 9436/10000 | loss_data: 0.001024, loss_data_delta: 0.000285, loss_traj: 0.000470, loss_traj_delta: 0.000106, loss_dir: 0.062803, loss_rot: 0.001468, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000865, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000102, loss: 0.013616, | best_loss: 0.005880 05 Jul 2025 23:27:37 Epoch 9437/10000 | loss_data: 0.000997, loss_data_delta: 0.000291, loss_traj: 0.000362, loss_traj_delta: 0.000108, loss_dir: 0.055938, loss_rot: 0.001457, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000756, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.012919, | best_loss: 0.005880 05 Jul 2025 23:27:48 Epoch 9438/10000 | loss_data: 0.000980, loss_data_delta: 0.000285, loss_traj: 0.000398, loss_traj_delta: 0.000107, loss_dir: 0.061716, loss_rot: 0.001419, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012897, | best_loss: 0.005880 05 Jul 2025 23:27:59 Epoch 9439/10000 | loss_data: 0.001021, loss_data_delta: 0.000291, loss_traj: 0.000381, loss_traj_delta: 0.000110, loss_dir: 0.063589, loss_rot: 0.001496, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013262, | best_loss: 0.005880 05 Jul 2025 23:28:09 Epoch 9440/10000 | loss_data: 0.001003, loss_data_delta: 0.000286, loss_traj: 0.000401, loss_traj_delta: 0.000108, loss_dir: 0.065627, loss_rot: 0.001459, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.013153, | best_loss: 0.005880 05 Jul 2025 23:28:20 Epoch 9441/10000 | loss_data: 0.001030, loss_data_delta: 0.000290, loss_traj: 0.000446, loss_traj_delta: 0.000109, loss_dir: 0.065925, loss_rot: 0.001483, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000844, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013592, | best_loss: 0.005880 05 Jul 2025 23:28:31 Epoch 9442/10000 | loss_data: 0.001027, loss_data_delta: 0.000292, loss_traj: 0.000371, loss_traj_delta: 0.000111, loss_dir: 0.085431, loss_rot: 0.001509, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013311, | best_loss: 0.005880 05 Jul 2025 23:28:42 Epoch 9443/10000 | loss_data: 0.000965, loss_data_delta: 0.000285, loss_traj: 0.000315, loss_traj_delta: 0.000105, loss_dir: 0.064805, loss_rot: 0.001418, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000713, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012368, | best_loss: 0.005880 05 Jul 2025 23:28:52 Epoch 9444/10000 | loss_data: 0.000996, loss_data_delta: 0.000287, loss_traj: 0.000341, loss_traj_delta: 0.000107, loss_dir: 0.075883, loss_rot: 0.001471, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000736, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012833, | best_loss: 0.005880 05 Jul 2025 23:29:02 Epoch 9445/10000 | loss_data: 0.001058, loss_data_delta: 0.000293, loss_traj: 0.000485, loss_traj_delta: 0.000112, loss_dir: 0.060974, loss_rot: 0.001522, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000888, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.014096, | best_loss: 0.005880 05 Jul 2025 23:29:13 Epoch 9446/10000 | loss_data: 0.000988, loss_data_delta: 0.000286, loss_traj: 0.000373, loss_traj_delta: 0.000109, loss_dir: 0.071766, loss_rot: 0.001443, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012889, | best_loss: 0.005880 05 Jul 2025 23:29:24 Epoch 9447/10000 | loss_data: 0.001023, loss_data_delta: 0.000293, loss_traj: 0.000416, loss_traj_delta: 0.000111, loss_dir: 0.064472, loss_rot: 0.001480, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013430, | best_loss: 0.005880 05 Jul 2025 23:29:35 Epoch 9448/10000 | loss_data: 0.001012, loss_data_delta: 0.000291, loss_traj: 0.000387, loss_traj_delta: 0.000110, loss_dir: 0.062930, loss_rot: 0.001475, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013186, | best_loss: 0.005880 05 Jul 2025 23:29:46 Epoch 9449/10000 | loss_data: 0.000980, loss_data_delta: 0.000286, loss_traj: 0.000366, loss_traj_delta: 0.000109, loss_dir: 0.066857, loss_rot: 0.001428, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.012767, | best_loss: 0.005880 05 Jul 2025 23:29:56 Epoch 9450/10000 | loss_data: 0.000975, loss_data_delta: 0.000287, loss_traj: 0.000345, loss_traj_delta: 0.000109, loss_dir: 0.071422, loss_rot: 0.001430, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012649, | best_loss: 0.005880 05 Jul 2025 23:30:07 Epoch 9451/10000 | loss_data: 0.001015, loss_data_delta: 0.000288, loss_traj: 0.000356, loss_traj_delta: 0.000110, loss_dir: 0.056422, loss_rot: 0.001501, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000105, loss: 0.013125, | best_loss: 0.005880 05 Jul 2025 23:30:18 Epoch 9452/10000 | loss_data: 0.001002, loss_data_delta: 0.000287, loss_traj: 0.000379, loss_traj_delta: 0.000106, loss_dir: 0.073545, loss_rot: 0.001472, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000102, loss: 0.013061, | best_loss: 0.005880 05 Jul 2025 23:30:29 Epoch 9453/10000 | loss_data: 0.001005, loss_data_delta: 0.000282, loss_traj: 0.000379, loss_traj_delta: 0.000106, loss_dir: 0.064961, loss_rot: 0.001475, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000775, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.013064, | best_loss: 0.005880 05 Jul 2025 23:30:40 Epoch 9454/10000 | loss_data: 0.001039, loss_data_delta: 0.000293, loss_traj: 0.000406, loss_traj_delta: 0.000112, loss_dir: 0.070427, loss_rot: 0.001513, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000813, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013547, | best_loss: 0.005880 05 Jul 2025 23:30:50 Epoch 9455/10000 | loss_data: 0.000990, loss_data_delta: 0.000290, loss_traj: 0.000347, loss_traj_delta: 0.000111, loss_dir: 0.066337, loss_rot: 0.001457, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.012831, | best_loss: 0.005880 05 Jul 2025 23:31:00 Epoch 9456/10000 | loss_data: 0.001006, loss_data_delta: 0.000289, loss_traj: 0.000374, loss_traj_delta: 0.000109, loss_dir: 0.057011, loss_rot: 0.001473, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013075, | best_loss: 0.005880 05 Jul 2025 23:31:11 Epoch 9457/10000 | loss_data: 0.001008, loss_data_delta: 0.000289, loss_traj: 0.000356, loss_traj_delta: 0.000110, loss_dir: 0.079250, loss_rot: 0.001477, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013015, | best_loss: 0.005880 05 Jul 2025 23:31:21 Epoch 9458/10000 | loss_data: 0.001053, loss_data_delta: 0.000298, loss_traj: 0.000478, loss_traj_delta: 0.000115, loss_dir: 0.059459, loss_rot: 0.001502, loss_rot_delta: 0.000457, loss_geo_xyz: 0.000891, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000107, loss: 0.013981, | best_loss: 0.005880 05 Jul 2025 23:31:31 Epoch 9459/10000 | loss_data: 0.001024, loss_data_delta: 0.000289, loss_traj: 0.000431, loss_traj_delta: 0.000107, loss_dir: 0.061670, loss_rot: 0.001479, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013467, | best_loss: 0.005880 05 Jul 2025 23:31:41 Epoch 9460/10000 | loss_data: 0.001029, loss_data_delta: 0.000293, loss_traj: 0.000407, loss_traj_delta: 0.000115, loss_dir: 0.058606, loss_rot: 0.001502, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000810, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000108, loss: 0.013508, | best_loss: 0.005880 05 Jul 2025 23:31:51 Epoch 9461/10000 | loss_data: 0.001019, loss_data_delta: 0.000293, loss_traj: 0.000367, loss_traj_delta: 0.000115, loss_dir: 0.068316, loss_rot: 0.001496, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013230, | best_loss: 0.005880 05 Jul 2025 23:32:02 Epoch 9462/10000 | loss_data: 0.001030, loss_data_delta: 0.000292, loss_traj: 0.000392, loss_traj_delta: 0.000111, loss_dir: 0.064274, loss_rot: 0.001504, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000104, loss: 0.013398, | best_loss: 0.005880 05 Jul 2025 23:32:13 Epoch 9463/10000 | loss_data: 0.001002, loss_data_delta: 0.000287, loss_traj: 0.000379, loss_traj_delta: 0.000110, loss_dir: 0.062330, loss_rot: 0.001466, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013061, | best_loss: 0.005880 05 Jul 2025 23:32:24 Epoch 9464/10000 | loss_data: 0.001072, loss_data_delta: 0.000293, loss_traj: 0.000414, loss_traj_delta: 0.000112, loss_dir: 0.066774, loss_rot: 0.001573, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000837, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013940, | best_loss: 0.005880 05 Jul 2025 23:32:34 Epoch 9465/10000 | loss_data: 0.000981, loss_data_delta: 0.000283, loss_traj: 0.000315, loss_traj_delta: 0.000104, loss_dir: 0.070707, loss_rot: 0.001458, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000701, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000101, loss: 0.012556, | best_loss: 0.005880 05 Jul 2025 23:32:45 Epoch 9466/10000 | loss_data: 0.001004, loss_data_delta: 0.000285, loss_traj: 0.000390, loss_traj_delta: 0.000105, loss_dir: 0.059803, loss_rot: 0.001461, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.013068, | best_loss: 0.005880 05 Jul 2025 23:32:55 Epoch 9467/10000 | loss_data: 0.001018, loss_data_delta: 0.000286, loss_traj: 0.000432, loss_traj_delta: 0.000106, loss_dir: 0.071527, loss_rot: 0.001467, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000101, loss: 0.013371, | best_loss: 0.005880 05 Jul 2025 23:33:05 Epoch 9468/10000 | loss_data: 0.000988, loss_data_delta: 0.000283, loss_traj: 0.000375, loss_traj_delta: 0.000112, loss_dir: 0.071156, loss_rot: 0.001447, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012922, | best_loss: 0.005880 05 Jul 2025 23:33:15 Epoch 9469/10000 | loss_data: 0.001022, loss_data_delta: 0.000291, loss_traj: 0.000360, loss_traj_delta: 0.000112, loss_dir: 0.056130, loss_rot: 0.001508, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013225, | best_loss: 0.005880 05 Jul 2025 23:33:26 Epoch 9470/10000 | loss_data: 0.001067, loss_data_delta: 0.000300, loss_traj: 0.000458, loss_traj_delta: 0.000118, loss_dir: 0.065878, loss_rot: 0.001533, loss_rot_delta: 0.000459, loss_geo_xyz: 0.000877, loss_geo_xyz_vel: 0.000203, loss_foot_contact: 0.000109, loss: 0.014066, | best_loss: 0.005880 05 Jul 2025 23:33:37 Epoch 9471/10000 | loss_data: 0.001023, loss_data_delta: 0.000286, loss_traj: 0.000432, loss_traj_delta: 0.000109, loss_dir: 0.057037, loss_rot: 0.001478, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000833, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.013448, | best_loss: 0.005880 05 Jul 2025 23:33:47 Epoch 9472/10000 | loss_data: 0.001047, loss_data_delta: 0.000290, loss_traj: 0.000389, loss_traj_delta: 0.000108, loss_dir: 0.068971, loss_rot: 0.001542, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000800, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.013572, | best_loss: 0.005880 05 Jul 2025 23:33:57 Epoch 9473/10000 | loss_data: 0.001065, loss_data_delta: 0.000296, loss_traj: 0.000426, loss_traj_delta: 0.000114, loss_dir: 0.074984, loss_rot: 0.001551, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000845, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013915, | best_loss: 0.005880 05 Jul 2025 23:34:08 Epoch 9474/10000 | loss_data: 0.001021, loss_data_delta: 0.000286, loss_traj: 0.000429, loss_traj_delta: 0.000109, loss_dir: 0.058206, loss_rot: 0.001473, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013425, | best_loss: 0.005880 05 Jul 2025 23:34:19 Epoch 9475/10000 | loss_data: 0.001031, loss_data_delta: 0.000289, loss_traj: 0.000374, loss_traj_delta: 0.000109, loss_dir: 0.078337, loss_rot: 0.001515, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013328, | best_loss: 0.005880 05 Jul 2025 23:34:30 Epoch 9476/10000 | loss_data: 0.001050, loss_data_delta: 0.000296, loss_traj: 0.000436, loss_traj_delta: 0.000114, loss_dir: 0.078840, loss_rot: 0.001522, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000848, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013810, | best_loss: 0.005880 05 Jul 2025 23:34:41 Epoch 9477/10000 | loss_data: 0.001002, loss_data_delta: 0.000293, loss_traj: 0.000349, loss_traj_delta: 0.000112, loss_dir: 0.056435, loss_rot: 0.001468, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.012959, | best_loss: 0.005880 05 Jul 2025 23:34:50 Epoch 9478/10000 | loss_data: 0.001021, loss_data_delta: 0.000292, loss_traj: 0.000389, loss_traj_delta: 0.000113, loss_dir: 0.057258, loss_rot: 0.001493, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013335, | best_loss: 0.005880 05 Jul 2025 23:35:01 Epoch 9479/10000 | loss_data: 0.001028, loss_data_delta: 0.000294, loss_traj: 0.000378, loss_traj_delta: 0.000114, loss_dir: 0.067867, loss_rot: 0.001504, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013351, | best_loss: 0.005880 05 Jul 2025 23:35:11 Epoch 9480/10000 | loss_data: 0.000967, loss_data_delta: 0.000282, loss_traj: 0.000336, loss_traj_delta: 0.000103, loss_dir: 0.069633, loss_rot: 0.001423, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000722, loss_geo_xyz_vel: 0.000182, loss_foot_contact: 0.000100, loss: 0.012486, | best_loss: 0.005880 05 Jul 2025 23:35:22 Epoch 9481/10000 | loss_data: 0.001003, loss_data_delta: 0.000296, loss_traj: 0.000335, loss_traj_delta: 0.000113, loss_dir: 0.060179, loss_rot: 0.001473, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.012905, | best_loss: 0.005880 05 Jul 2025 23:35:33 Epoch 9482/10000 | loss_data: 0.000986, loss_data_delta: 0.000285, loss_traj: 0.000405, loss_traj_delta: 0.000111, loss_dir: 0.065846, loss_rot: 0.001425, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012988, | best_loss: 0.005880 05 Jul 2025 23:35:44 Epoch 9483/10000 | loss_data: 0.001019, loss_data_delta: 0.000289, loss_traj: 0.000366, loss_traj_delta: 0.000110, loss_dir: 0.070780, loss_rot: 0.001503, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013200, | best_loss: 0.005880 05 Jul 2025 23:35:54 Epoch 9484/10000 | loss_data: 0.001013, loss_data_delta: 0.000290, loss_traj: 0.000353, loss_traj_delta: 0.000114, loss_dir: 0.068853, loss_rot: 0.001489, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013083, | best_loss: 0.005880 05 Jul 2025 23:36:04 Epoch 9485/10000 | loss_data: 0.000989, loss_data_delta: 0.000288, loss_traj: 0.000359, loss_traj_delta: 0.000107, loss_dir: 0.060210, loss_rot: 0.001449, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012819, | best_loss: 0.005880 05 Jul 2025 23:36:14 Epoch 9486/10000 | loss_data: 0.001007, loss_data_delta: 0.000289, loss_traj: 0.000354, loss_traj_delta: 0.000108, loss_dir: 0.076208, loss_rot: 0.001482, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012993, | best_loss: 0.005880 05 Jul 2025 23:36:25 Epoch 9487/10000 | loss_data: 0.000997, loss_data_delta: 0.000286, loss_traj: 0.000341, loss_traj_delta: 0.000110, loss_dir: 0.073859, loss_rot: 0.001468, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012840, | best_loss: 0.005880 05 Jul 2025 23:36:35 Epoch 9488/10000 | loss_data: 0.000979, loss_data_delta: 0.000289, loss_traj: 0.000333, loss_traj_delta: 0.000110, loss_dir: 0.064007, loss_rot: 0.001439, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000721, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012648, | best_loss: 0.005880 05 Jul 2025 23:36:46 Epoch 9489/10000 | loss_data: 0.000983, loss_data_delta: 0.000283, loss_traj: 0.000339, loss_traj_delta: 0.000107, loss_dir: 0.064489, loss_rot: 0.001451, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000734, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012683, | best_loss: 0.005880 05 Jul 2025 23:36:57 Epoch 9490/10000 | loss_data: 0.000999, loss_data_delta: 0.000289, loss_traj: 0.000347, loss_traj_delta: 0.000112, loss_dir: 0.058057, loss_rot: 0.001470, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.012914, | best_loss: 0.005880 05 Jul 2025 23:37:08 Epoch 9491/10000 | loss_data: 0.001003, loss_data_delta: 0.000293, loss_traj: 0.000341, loss_traj_delta: 0.000111, loss_dir: 0.055733, loss_rot: 0.001476, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.012938, | best_loss: 0.005880 05 Jul 2025 23:37:18 Epoch 9492/10000 | loss_data: 0.001049, loss_data_delta: 0.000291, loss_traj: 0.000485, loss_traj_delta: 0.000112, loss_dir: 0.058214, loss_rot: 0.001504, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000882, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013966, | best_loss: 0.005880 05 Jul 2025 23:37:29 Epoch 9493/10000 | loss_data: 0.000997, loss_data_delta: 0.000287, loss_traj: 0.000384, loss_traj_delta: 0.000109, loss_dir: 0.067640, loss_rot: 0.001452, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013016, | best_loss: 0.005880 05 Jul 2025 23:37:39 Epoch 9494/10000 | loss_data: 0.001000, loss_data_delta: 0.000282, loss_traj: 0.000371, loss_traj_delta: 0.000105, loss_dir: 0.065106, loss_rot: 0.001464, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000101, loss: 0.012962, | best_loss: 0.005880 05 Jul 2025 23:37:50 Epoch 9495/10000 | loss_data: 0.001016, loss_data_delta: 0.000294, loss_traj: 0.000386, loss_traj_delta: 0.000112, loss_dir: 0.051021, loss_rot: 0.001483, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013262, | best_loss: 0.005880 05 Jul 2025 23:38:00 Epoch 9496/10000 | loss_data: 0.001017, loss_data_delta: 0.000290, loss_traj: 0.000367, loss_traj_delta: 0.000110, loss_dir: 0.065001, loss_rot: 0.001494, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013170, | best_loss: 0.005880 05 Jul 2025 23:38:11 Epoch 9497/10000 | loss_data: 0.001015, loss_data_delta: 0.000295, loss_traj: 0.000407, loss_traj_delta: 0.000108, loss_dir: 0.040562, loss_rot: 0.001473, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013309, | best_loss: 0.005880 05 Jul 2025 23:38:22 Epoch 9498/10000 | loss_data: 0.001033, loss_data_delta: 0.000296, loss_traj: 0.000377, loss_traj_delta: 0.000110, loss_dir: 0.045158, loss_rot: 0.001506, loss_rot_delta: 0.000456, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000104, loss: 0.013330, | best_loss: 0.005880 05 Jul 2025 23:38:32 Epoch 9499/10000 | loss_data: 0.001004, loss_data_delta: 0.000286, loss_traj: 0.000398, loss_traj_delta: 0.000108, loss_dir: 0.068869, loss_rot: 0.001462, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013139, | best_loss: 0.005880 05 Jul 2025 23:38:43 Epoch 9500/10000 | loss_data: 0.001001, loss_data_delta: 0.000289, loss_traj: 0.000358, loss_traj_delta: 0.000110, loss_dir: 0.048882, loss_rot: 0.001469, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000106, loss: 0.012984, | best_loss: 0.005880 05 Jul 2025 23:38:43 Evaluation... 05 Jul 2025 23:41:17 Saved checkpoint: ./save/mospa/weights_9500.pt 05 Jul 2025 23:41:27 Epoch 9501/10000 | loss_data: 0.001021, loss_data_delta: 0.000297, loss_traj: 0.000396, loss_traj_delta: 0.000116, loss_dir: 0.064684, loss_rot: 0.001488, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000107, loss: 0.013370, | best_loss: 0.005880 05 Jul 2025 23:41:37 Epoch 9502/10000 | loss_data: 0.000993, loss_data_delta: 0.000291, loss_traj: 0.000376, loss_traj_delta: 0.000114, loss_dir: 0.078915, loss_rot: 0.001437, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.012949, | best_loss: 0.005880 05 Jul 2025 23:41:48 Epoch 9503/10000 | loss_data: 0.001017, loss_data_delta: 0.000285, loss_traj: 0.000420, loss_traj_delta: 0.000108, loss_dir: 0.068242, loss_rot: 0.001475, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000810, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000105, loss: 0.013364, | best_loss: 0.005880 05 Jul 2025 23:41:59 Epoch 9504/10000 | loss_data: 0.001007, loss_data_delta: 0.000290, loss_traj: 0.000366, loss_traj_delta: 0.000112, loss_dir: 0.080140, loss_rot: 0.001475, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013060, | best_loss: 0.005880 05 Jul 2025 23:42:09 Epoch 9505/10000 | loss_data: 0.001025, loss_data_delta: 0.000289, loss_traj: 0.000411, loss_traj_delta: 0.000114, loss_dir: 0.079921, loss_rot: 0.001488, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013444, | best_loss: 0.005880 05 Jul 2025 23:42:19 Epoch 9506/10000 | loss_data: 0.001032, loss_data_delta: 0.000289, loss_traj: 0.000442, loss_traj_delta: 0.000110, loss_dir: 0.071748, loss_rot: 0.001492, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000841, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013612, | best_loss: 0.005880 05 Jul 2025 23:42:29 Epoch 9507/10000 | loss_data: 0.000988, loss_data_delta: 0.000286, loss_traj: 0.000379, loss_traj_delta: 0.000112, loss_dir: 0.050578, loss_rot: 0.001443, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012937, | best_loss: 0.005880 05 Jul 2025 23:42:40 Epoch 9508/10000 | loss_data: 0.001045, loss_data_delta: 0.000292, loss_traj: 0.000387, loss_traj_delta: 0.000113, loss_dir: 0.066062, loss_rot: 0.001537, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013586, | best_loss: 0.005880 05 Jul 2025 23:42:51 Epoch 9509/10000 | loss_data: 0.001039, loss_data_delta: 0.000295, loss_traj: 0.000400, loss_traj_delta: 0.000110, loss_dir: 0.091664, loss_rot: 0.001522, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013538, | best_loss: 0.005880 05 Jul 2025 23:43:01 Epoch 9510/10000 | loss_data: 0.001027, loss_data_delta: 0.000291, loss_traj: 0.000411, loss_traj_delta: 0.000114, loss_dir: 0.074456, loss_rot: 0.001488, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013441, | best_loss: 0.005880 05 Jul 2025 23:43:11 Epoch 9511/10000 | loss_data: 0.001012, loss_data_delta: 0.000289, loss_traj: 0.000446, loss_traj_delta: 0.000114, loss_dir: 0.062746, loss_rot: 0.001447, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000840, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013431, | best_loss: 0.005880 05 Jul 2025 23:43:21 Epoch 9512/10000 | loss_data: 0.001014, loss_data_delta: 0.000290, loss_traj: 0.000369, loss_traj_delta: 0.000106, loss_dir: 0.052808, loss_rot: 0.001487, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013111, | best_loss: 0.005880 05 Jul 2025 23:43:32 Epoch 9513/10000 | loss_data: 0.000976, loss_data_delta: 0.000285, loss_traj: 0.000341, loss_traj_delta: 0.000107, loss_dir: 0.066532, loss_rot: 0.001429, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012605, | best_loss: 0.005880 05 Jul 2025 23:43:42 Epoch 9514/10000 | loss_data: 0.000949, loss_data_delta: 0.000281, loss_traj: 0.000312, loss_traj_delta: 0.000105, loss_dir: 0.053472, loss_rot: 0.001400, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000687, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000101, loss: 0.012214, | best_loss: 0.005880 05 Jul 2025 23:43:53 Epoch 9515/10000 | loss_data: 0.001029, loss_data_delta: 0.000293, loss_traj: 0.000408, loss_traj_delta: 0.000113, loss_dir: 0.063529, loss_rot: 0.001500, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013491, | best_loss: 0.005880 05 Jul 2025 23:44:03 Epoch 9516/10000 | loss_data: 0.001018, loss_data_delta: 0.000288, loss_traj: 0.000424, loss_traj_delta: 0.000110, loss_dir: 0.064495, loss_rot: 0.001471, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013393, | best_loss: 0.005880 05 Jul 2025 23:44:13 Epoch 9517/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000351, loss_traj_delta: 0.000108, loss_dir: 0.057515, loss_rot: 0.001479, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000749, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012966, | best_loss: 0.005880 05 Jul 2025 23:44:24 Epoch 9518/10000 | loss_data: 0.000989, loss_data_delta: 0.000285, loss_traj: 0.000352, loss_traj_delta: 0.000106, loss_dir: 0.072650, loss_rot: 0.001454, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012775, | best_loss: 0.005880 05 Jul 2025 23:44:34 Epoch 9519/10000 | loss_data: 0.001017, loss_data_delta: 0.000292, loss_traj: 0.000371, loss_traj_delta: 0.000114, loss_dir: 0.063073, loss_rot: 0.001488, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000107, loss: 0.013218, | best_loss: 0.005880 05 Jul 2025 23:44:45 Epoch 9520/10000 | loss_data: 0.001013, loss_data_delta: 0.000285, loss_traj: 0.000401, loss_traj_delta: 0.000107, loss_dir: 0.062060, loss_rot: 0.001486, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.013275, | best_loss: 0.005880 05 Jul 2025 23:44:56 Epoch 9521/10000 | loss_data: 0.001058, loss_data_delta: 0.000294, loss_traj: 0.000398, loss_traj_delta: 0.000114, loss_dir: 0.046757, loss_rot: 0.001553, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.013754, | best_loss: 0.005880 05 Jul 2025 23:45:05 Epoch 9522/10000 | loss_data: 0.000979, loss_data_delta: 0.000285, loss_traj: 0.000351, loss_traj_delta: 0.000109, loss_dir: 0.062012, loss_rot: 0.001438, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.012699, | best_loss: 0.005880 05 Jul 2025 23:45:16 Epoch 9523/10000 | loss_data: 0.001003, loss_data_delta: 0.000291, loss_traj: 0.000354, loss_traj_delta: 0.000113, loss_dir: 0.079260, loss_rot: 0.001475, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013000, | best_loss: 0.005880 05 Jul 2025 23:45:27 Epoch 9524/10000 | loss_data: 0.000992, loss_data_delta: 0.000292, loss_traj: 0.000348, loss_traj_delta: 0.000111, loss_dir: 0.064924, loss_rot: 0.001454, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.012836, | best_loss: 0.005880 05 Jul 2025 23:45:37 Epoch 9525/10000 | loss_data: 0.001019, loss_data_delta: 0.000288, loss_traj: 0.000418, loss_traj_delta: 0.000107, loss_dir: 0.073839, loss_rot: 0.001475, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000816, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.013355, | best_loss: 0.005880 05 Jul 2025 23:45:48 Epoch 9526/10000 | loss_data: 0.001000, loss_data_delta: 0.000285, loss_traj: 0.000359, loss_traj_delta: 0.000110, loss_dir: 0.059607, loss_rot: 0.001471, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012957, | best_loss: 0.005880 05 Jul 2025 23:45:57 Epoch 9527/10000 | loss_data: 0.000988, loss_data_delta: 0.000286, loss_traj: 0.000337, loss_traj_delta: 0.000105, loss_dir: 0.054250, loss_rot: 0.001456, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000731, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012707, | best_loss: 0.005880 05 Jul 2025 23:46:08 Epoch 9528/10000 | loss_data: 0.001021, loss_data_delta: 0.000294, loss_traj: 0.000373, loss_traj_delta: 0.000113, loss_dir: 0.072519, loss_rot: 0.001490, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.013240, | best_loss: 0.005880 05 Jul 2025 23:46:19 Epoch 9529/10000 | loss_data: 0.000972, loss_data_delta: 0.000288, loss_traj: 0.000303, loss_traj_delta: 0.000108, loss_dir: 0.070147, loss_rot: 0.001435, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000702, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012424, | best_loss: 0.005880 05 Jul 2025 23:46:29 Epoch 9530/10000 | loss_data: 0.000969, loss_data_delta: 0.000289, loss_traj: 0.000330, loss_traj_delta: 0.000109, loss_dir: 0.062989, loss_rot: 0.001412, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012473, | best_loss: 0.005880 05 Jul 2025 23:46:40 Epoch 9531/10000 | loss_data: 0.000985, loss_data_delta: 0.000285, loss_traj: 0.000383, loss_traj_delta: 0.000109, loss_dir: 0.058503, loss_rot: 0.001430, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012879, | best_loss: 0.005880 05 Jul 2025 23:46:50 Epoch 9532/10000 | loss_data: 0.000974, loss_data_delta: 0.000285, loss_traj: 0.000360, loss_traj_delta: 0.000114, loss_dir: 0.061558, loss_rot: 0.001421, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.012715, | best_loss: 0.005880 05 Jul 2025 23:47:01 Epoch 9533/10000 | loss_data: 0.001020, loss_data_delta: 0.000292, loss_traj: 0.000387, loss_traj_delta: 0.000111, loss_dir: 0.080800, loss_rot: 0.001489, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013291, | best_loss: 0.005880 05 Jul 2025 23:47:12 Epoch 9534/10000 | loss_data: 0.000999, loss_data_delta: 0.000290, loss_traj: 0.000356, loss_traj_delta: 0.000116, loss_dir: 0.069655, loss_rot: 0.001470, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.013000, | best_loss: 0.005880 05 Jul 2025 23:47:23 Epoch 9535/10000 | loss_data: 0.001067, loss_data_delta: 0.000295, loss_traj: 0.000423, loss_traj_delta: 0.000114, loss_dir: 0.074734, loss_rot: 0.001553, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000855, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000105, loss: 0.013908, | best_loss: 0.005880 05 Jul 2025 23:47:34 Epoch 9536/10000 | loss_data: 0.001045, loss_data_delta: 0.000295, loss_traj: 0.000461, loss_traj_delta: 0.000116, loss_dir: 0.063067, loss_rot: 0.001500, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000862, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000106, loss: 0.013840, | best_loss: 0.005880 05 Jul 2025 23:47:44 Epoch 9537/10000 | loss_data: 0.001013, loss_data_delta: 0.000293, loss_traj: 0.000386, loss_traj_delta: 0.000117, loss_dir: 0.054458, loss_rot: 0.001471, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000107, loss: 0.013220, | best_loss: 0.005880 05 Jul 2025 23:47:54 Epoch 9538/10000 | loss_data: 0.001014, loss_data_delta: 0.000291, loss_traj: 0.000365, loss_traj_delta: 0.000112, loss_dir: 0.061979, loss_rot: 0.001490, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013152, | best_loss: 0.005880 05 Jul 2025 23:48:05 Epoch 9539/10000 | loss_data: 0.000999, loss_data_delta: 0.000289, loss_traj: 0.000379, loss_traj_delta: 0.000108, loss_dir: 0.072246, loss_rot: 0.001455, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013002, | best_loss: 0.005880 05 Jul 2025 23:48:16 Epoch 9540/10000 | loss_data: 0.000996, loss_data_delta: 0.000284, loss_traj: 0.000375, loss_traj_delta: 0.000110, loss_dir: 0.083435, loss_rot: 0.001454, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012956, | best_loss: 0.005880 05 Jul 2025 23:48:26 Epoch 9541/10000 | loss_data: 0.000989, loss_data_delta: 0.000285, loss_traj: 0.000371, loss_traj_delta: 0.000103, loss_dir: 0.062669, loss_rot: 0.001453, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000181, loss_foot_contact: 0.000100, loss: 0.012873, | best_loss: 0.005880 05 Jul 2025 23:48:37 Epoch 9542/10000 | loss_data: 0.001024, loss_data_delta: 0.000289, loss_traj: 0.000396, loss_traj_delta: 0.000112, loss_dir: 0.069304, loss_rot: 0.001496, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013364, | best_loss: 0.005880 05 Jul 2025 23:48:47 Epoch 9543/10000 | loss_data: 0.001014, loss_data_delta: 0.000282, loss_traj: 0.000399, loss_traj_delta: 0.000107, loss_dir: 0.056542, loss_rot: 0.001482, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.013234, | best_loss: 0.005880 05 Jul 2025 23:48:58 Epoch 9544/10000 | loss_data: 0.001027, loss_data_delta: 0.000288, loss_traj: 0.000426, loss_traj_delta: 0.000111, loss_dir: 0.052414, loss_rot: 0.001492, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013520, | best_loss: 0.005880 05 Jul 2025 23:49:08 Epoch 9545/10000 | loss_data: 0.001024, loss_data_delta: 0.000294, loss_traj: 0.000434, loss_traj_delta: 0.000110, loss_dir: 0.062800, loss_rot: 0.001478, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000103, loss: 0.013486, | best_loss: 0.005880 05 Jul 2025 23:49:18 Epoch 9546/10000 | loss_data: 0.000977, loss_data_delta: 0.000284, loss_traj: 0.000353, loss_traj_delta: 0.000109, loss_dir: 0.058284, loss_rot: 0.001432, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012691, | best_loss: 0.005880 05 Jul 2025 23:49:29 Epoch 9547/10000 | loss_data: 0.001005, loss_data_delta: 0.000293, loss_traj: 0.000359, loss_traj_delta: 0.000115, loss_dir: 0.061390, loss_rot: 0.001475, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000108, loss: 0.013072, | best_loss: 0.005880 05 Jul 2025 23:49:40 Epoch 9548/10000 | loss_data: 0.000976, loss_data_delta: 0.000283, loss_traj: 0.000352, loss_traj_delta: 0.000107, loss_dir: 0.055245, loss_rot: 0.001431, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012665, | best_loss: 0.005880 05 Jul 2025 23:49:51 Epoch 9549/10000 | loss_data: 0.000991, loss_data_delta: 0.000286, loss_traj: 0.000371, loss_traj_delta: 0.000110, loss_dir: 0.053712, loss_rot: 0.001448, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012911, | best_loss: 0.005880 05 Jul 2025 23:50:02 Epoch 9550/10000 | loss_data: 0.001062, loss_data_delta: 0.000290, loss_traj: 0.000603, loss_traj_delta: 0.000111, loss_dir: 0.076101, loss_rot: 0.001472, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000998, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.014512, | best_loss: 0.005880 05 Jul 2025 23:50:13 Epoch 9551/10000 | loss_data: 0.000983, loss_data_delta: 0.000282, loss_traj: 0.000376, loss_traj_delta: 0.000104, loss_dir: 0.063738, loss_rot: 0.001430, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000099, loss: 0.012775, | best_loss: 0.005880 05 Jul 2025 23:50:24 Epoch 9552/10000 | loss_data: 0.001046, loss_data_delta: 0.000291, loss_traj: 0.000482, loss_traj_delta: 0.000113, loss_dir: 0.062852, loss_rot: 0.001497, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000888, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013918, | best_loss: 0.005880 05 Jul 2025 23:50:35 Epoch 9553/10000 | loss_data: 0.001060, loss_data_delta: 0.000286, loss_traj: 0.000433, loss_traj_delta: 0.000111, loss_dir: 0.066831, loss_rot: 0.001545, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000847, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013853, | best_loss: 0.005880 05 Jul 2025 23:50:46 Epoch 9554/10000 | loss_data: 0.001043, loss_data_delta: 0.000287, loss_traj: 0.000419, loss_traj_delta: 0.000112, loss_dir: 0.062047, loss_rot: 0.001519, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000833, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013657, | best_loss: 0.005880 05 Jul 2025 23:50:57 Epoch 9555/10000 | loss_data: 0.001043, loss_data_delta: 0.000290, loss_traj: 0.000403, loss_traj_delta: 0.000109, loss_dir: 0.065419, loss_rot: 0.001522, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013551, | best_loss: 0.005880 05 Jul 2025 23:51:08 Epoch 9556/10000 | loss_data: 0.000992, loss_data_delta: 0.000284, loss_traj: 0.000347, loss_traj_delta: 0.000107, loss_dir: 0.064814, loss_rot: 0.001460, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012799, | best_loss: 0.005880 05 Jul 2025 23:51:18 Epoch 9557/10000 | loss_data: 0.001010, loss_data_delta: 0.000290, loss_traj: 0.000355, loss_traj_delta: 0.000111, loss_dir: 0.073412, loss_rot: 0.001477, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000764, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013006, | best_loss: 0.005880 05 Jul 2025 23:51:28 Epoch 9558/10000 | loss_data: 0.000988, loss_data_delta: 0.000286, loss_traj: 0.000394, loss_traj_delta: 0.000108, loss_dir: 0.069954, loss_rot: 0.001430, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012937, | best_loss: 0.005880 05 Jul 2025 23:51:39 Epoch 9559/10000 | loss_data: 0.001009, loss_data_delta: 0.000291, loss_traj: 0.000416, loss_traj_delta: 0.000106, loss_dir: 0.074905, loss_rot: 0.001450, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.013219, | best_loss: 0.005880 05 Jul 2025 23:51:49 Epoch 9560/10000 | loss_data: 0.001008, loss_data_delta: 0.000288, loss_traj: 0.000390, loss_traj_delta: 0.000113, loss_dir: 0.062269, loss_rot: 0.001468, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013184, | best_loss: 0.005880 05 Jul 2025 23:52:00 Epoch 9561/10000 | loss_data: 0.001035, loss_data_delta: 0.000296, loss_traj: 0.000375, loss_traj_delta: 0.000115, loss_dir: 0.057494, loss_rot: 0.001519, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000108, loss: 0.013443, | best_loss: 0.005880 05 Jul 2025 23:52:11 Epoch 9562/10000 | loss_data: 0.001008, loss_data_delta: 0.000283, loss_traj: 0.000432, loss_traj_delta: 0.000111, loss_dir: 0.075144, loss_rot: 0.001453, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013300, | best_loss: 0.005880 05 Jul 2025 23:52:22 Epoch 9563/10000 | loss_data: 0.001013, loss_data_delta: 0.000287, loss_traj: 0.000375, loss_traj_delta: 0.000108, loss_dir: 0.061486, loss_rot: 0.001491, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.013178, | best_loss: 0.005880 05 Jul 2025 23:52:32 Epoch 9564/10000 | loss_data: 0.001016, loss_data_delta: 0.000288, loss_traj: 0.000411, loss_traj_delta: 0.000112, loss_dir: 0.074103, loss_rot: 0.001475, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000816, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013328, | best_loss: 0.005880 05 Jul 2025 23:52:43 Epoch 9565/10000 | loss_data: 0.000986, loss_data_delta: 0.000287, loss_traj: 0.000327, loss_traj_delta: 0.000107, loss_dir: 0.063483, loss_rot: 0.001458, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012681, | best_loss: 0.005880 05 Jul 2025 23:52:54 Epoch 9566/10000 | loss_data: 0.000998, loss_data_delta: 0.000285, loss_traj: 0.000376, loss_traj_delta: 0.000107, loss_dir: 0.057415, loss_rot: 0.001455, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.012971, | best_loss: 0.005880 05 Jul 2025 23:53:04 Epoch 9567/10000 | loss_data: 0.001022, loss_data_delta: 0.000287, loss_traj: 0.000383, loss_traj_delta: 0.000111, loss_dir: 0.052329, loss_rot: 0.001496, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013283, | best_loss: 0.005880 05 Jul 2025 23:53:15 Epoch 9568/10000 | loss_data: 0.001046, loss_data_delta: 0.000295, loss_traj: 0.000481, loss_traj_delta: 0.000113, loss_dir: 0.066005, loss_rot: 0.001490, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000885, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013903, | best_loss: 0.005880 05 Jul 2025 23:53:25 Epoch 9569/10000 | loss_data: 0.001045, loss_data_delta: 0.000289, loss_traj: 0.000447, loss_traj_delta: 0.000111, loss_dir: 0.048381, loss_rot: 0.001505, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000857, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013740, | best_loss: 0.005880 05 Jul 2025 23:53:36 Epoch 9570/10000 | loss_data: 0.001040, loss_data_delta: 0.000295, loss_traj: 0.000356, loss_traj_delta: 0.000110, loss_dir: 0.053462, loss_rot: 0.001537, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013374, | best_loss: 0.005880 05 Jul 2025 23:53:46 Epoch 9571/10000 | loss_data: 0.000987, loss_data_delta: 0.000282, loss_traj: 0.000340, loss_traj_delta: 0.000108, loss_dir: 0.066311, loss_rot: 0.001461, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000731, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012749, | best_loss: 0.005880 05 Jul 2025 23:53:57 Epoch 9572/10000 | loss_data: 0.000993, loss_data_delta: 0.000283, loss_traj: 0.000380, loss_traj_delta: 0.000108, loss_dir: 0.059273, loss_rot: 0.001441, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012914, | best_loss: 0.005880 05 Jul 2025 23:54:07 Epoch 9573/10000 | loss_data: 0.001035, loss_data_delta: 0.000291, loss_traj: 0.000440, loss_traj_delta: 0.000109, loss_dir: 0.069752, loss_rot: 0.001497, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013631, | best_loss: 0.005880 05 Jul 2025 23:54:17 Epoch 9574/10000 | loss_data: 0.001025, loss_data_delta: 0.000288, loss_traj: 0.000414, loss_traj_delta: 0.000109, loss_dir: 0.053583, loss_rot: 0.001488, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013419, | best_loss: 0.005880 05 Jul 2025 23:54:28 Epoch 9575/10000 | loss_data: 0.000964, loss_data_delta: 0.000288, loss_traj: 0.000341, loss_traj_delta: 0.000109, loss_dir: 0.070236, loss_rot: 0.001413, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.012505, | best_loss: 0.005880 05 Jul 2025 23:54:39 Epoch 9576/10000 | loss_data: 0.000981, loss_data_delta: 0.000286, loss_traj: 0.000395, loss_traj_delta: 0.000106, loss_dir: 0.057133, loss_rot: 0.001418, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012850, | best_loss: 0.005880 05 Jul 2025 23:54:49 Epoch 9577/10000 | loss_data: 0.001018, loss_data_delta: 0.000292, loss_traj: 0.000374, loss_traj_delta: 0.000110, loss_dir: 0.057211, loss_rot: 0.001499, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000775, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013226, | best_loss: 0.005880 05 Jul 2025 23:55:00 Epoch 9578/10000 | loss_data: 0.001000, loss_data_delta: 0.000288, loss_traj: 0.000380, loss_traj_delta: 0.000111, loss_dir: 0.065833, loss_rot: 0.001458, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013045, | best_loss: 0.005880 05 Jul 2025 23:55:10 Epoch 9579/10000 | loss_data: 0.000993, loss_data_delta: 0.000289, loss_traj: 0.000361, loss_traj_delta: 0.000110, loss_dir: 0.055099, loss_rot: 0.001454, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012891, | best_loss: 0.005880 05 Jul 2025 23:55:21 Epoch 9580/10000 | loss_data: 0.000996, loss_data_delta: 0.000291, loss_traj: 0.000357, loss_traj_delta: 0.000111, loss_dir: 0.066956, loss_rot: 0.001467, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.012946, | best_loss: 0.005880 05 Jul 2025 23:55:31 Epoch 9581/10000 | loss_data: 0.000977, loss_data_delta: 0.000282, loss_traj: 0.000356, loss_traj_delta: 0.000105, loss_dir: 0.073839, loss_rot: 0.001429, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000101, loss: 0.012658, | best_loss: 0.005880 05 Jul 2025 23:55:41 Epoch 9582/10000 | loss_data: 0.000989, loss_data_delta: 0.000291, loss_traj: 0.000336, loss_traj_delta: 0.000110, loss_dir: 0.071909, loss_rot: 0.001455, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012762, | best_loss: 0.005880 05 Jul 2025 23:55:52 Epoch 9583/10000 | loss_data: 0.000980, loss_data_delta: 0.000288, loss_traj: 0.000318, loss_traj_delta: 0.000106, loss_dir: 0.059330, loss_rot: 0.001451, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000718, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012588, | best_loss: 0.005880 05 Jul 2025 23:56:03 Epoch 9584/10000 | loss_data: 0.001040, loss_data_delta: 0.000293, loss_traj: 0.000383, loss_traj_delta: 0.000110, loss_dir: 0.063366, loss_rot: 0.001530, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013479, | best_loss: 0.005880 05 Jul 2025 23:56:13 Epoch 9585/10000 | loss_data: 0.000995, loss_data_delta: 0.000290, loss_traj: 0.000323, loss_traj_delta: 0.000109, loss_dir: 0.065680, loss_rot: 0.001471, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012741, | best_loss: 0.005880 05 Jul 2025 23:56:23 Epoch 9586/10000 | loss_data: 0.001019, loss_data_delta: 0.000288, loss_traj: 0.000416, loss_traj_delta: 0.000111, loss_dir: 0.057830, loss_rot: 0.001469, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013350, | best_loss: 0.005880 05 Jul 2025 23:56:34 Epoch 9587/10000 | loss_data: 0.000998, loss_data_delta: 0.000288, loss_traj: 0.000371, loss_traj_delta: 0.000109, loss_dir: 0.078495, loss_rot: 0.001461, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000105, loss: 0.012993, | best_loss: 0.005880 05 Jul 2025 23:56:45 Epoch 9588/10000 | loss_data: 0.001002, loss_data_delta: 0.000289, loss_traj: 0.000328, loss_traj_delta: 0.000109, loss_dir: 0.068012, loss_rot: 0.001481, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000733, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012838, | best_loss: 0.005880 05 Jul 2025 23:56:56 Epoch 9589/10000 | loss_data: 0.000962, loss_data_delta: 0.000283, loss_traj: 0.000336, loss_traj_delta: 0.000105, loss_dir: 0.053105, loss_rot: 0.001416, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000717, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000101, loss: 0.012457, | best_loss: 0.005880 05 Jul 2025 23:57:07 Epoch 9590/10000 | loss_data: 0.001025, loss_data_delta: 0.000294, loss_traj: 0.000366, loss_traj_delta: 0.000112, loss_dir: 0.062534, loss_rot: 0.001497, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.013241, | best_loss: 0.005880 05 Jul 2025 23:57:17 Epoch 9591/10000 | loss_data: 0.000987, loss_data_delta: 0.000286, loss_traj: 0.000326, loss_traj_delta: 0.000108, loss_dir: 0.052956, loss_rot: 0.001457, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012681, | best_loss: 0.005880 05 Jul 2025 23:57:28 Epoch 9592/10000 | loss_data: 0.001010, loss_data_delta: 0.000284, loss_traj: 0.000415, loss_traj_delta: 0.000106, loss_dir: 0.053169, loss_rot: 0.001460, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.013235, | best_loss: 0.005880 05 Jul 2025 23:57:38 Epoch 9593/10000 | loss_data: 0.000967, loss_data_delta: 0.000285, loss_traj: 0.000339, loss_traj_delta: 0.000108, loss_dir: 0.059675, loss_rot: 0.001422, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012531, | best_loss: 0.005880 05 Jul 2025 23:57:49 Epoch 9594/10000 | loss_data: 0.001020, loss_data_delta: 0.000293, loss_traj: 0.000381, loss_traj_delta: 0.000112, loss_dir: 0.047373, loss_rot: 0.001494, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000104, loss: 0.013262, | best_loss: 0.005880 05 Jul 2025 23:58:00 Epoch 9595/10000 | loss_data: 0.001013, loss_data_delta: 0.000293, loss_traj: 0.000363, loss_traj_delta: 0.000110, loss_dir: 0.058800, loss_rot: 0.001484, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000764, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013107, | best_loss: 0.005880 05 Jul 2025 23:58:10 Epoch 9596/10000 | loss_data: 0.000976, loss_data_delta: 0.000283, loss_traj: 0.000403, loss_traj_delta: 0.000109, loss_dir: 0.046960, loss_rot: 0.001406, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000104, loss: 0.012850, | best_loss: 0.005880 05 Jul 2025 23:58:21 Epoch 9597/10000 | loss_data: 0.001008, loss_data_delta: 0.000292, loss_traj: 0.000402, loss_traj_delta: 0.000110, loss_dir: 0.069389, loss_rot: 0.001464, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013224, | best_loss: 0.005880 05 Jul 2025 23:58:31 Epoch 9598/10000 | loss_data: 0.000993, loss_data_delta: 0.000287, loss_traj: 0.000360, loss_traj_delta: 0.000109, loss_dir: 0.062364, loss_rot: 0.001456, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012894, | best_loss: 0.005880 05 Jul 2025 23:58:42 Epoch 9599/10000 | loss_data: 0.001039, loss_data_delta: 0.000294, loss_traj: 0.000392, loss_traj_delta: 0.000112, loss_dir: 0.056653, loss_rot: 0.001523, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000799, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000104, loss: 0.013506, | best_loss: 0.005880 05 Jul 2025 23:58:52 Epoch 9600/10000 | loss_data: 0.000996, loss_data_delta: 0.000292, loss_traj: 0.000347, loss_traj_delta: 0.000113, loss_dir: 0.064208, loss_rot: 0.001460, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.012899, | best_loss: 0.005880 05 Jul 2025 23:59:02 Epoch 9601/10000 | loss_data: 0.001034, loss_data_delta: 0.000290, loss_traj: 0.000395, loss_traj_delta: 0.000113, loss_dir: 0.073480, loss_rot: 0.001510, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013451, | best_loss: 0.005880 05 Jul 2025 23:59:12 Epoch 9602/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000354, loss_traj_delta: 0.000109, loss_dir: 0.081513, loss_rot: 0.001474, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012970, | best_loss: 0.005880 05 Jul 2025 23:59:23 Epoch 9603/10000 | loss_data: 0.001046, loss_data_delta: 0.000291, loss_traj: 0.000440, loss_traj_delta: 0.000114, loss_dir: 0.061960, loss_rot: 0.001511, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000850, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.013756, | best_loss: 0.005880 05 Jul 2025 23:59:34 Epoch 9604/10000 | loss_data: 0.001012, loss_data_delta: 0.000290, loss_traj: 0.000343, loss_traj_delta: 0.000111, loss_dir: 0.067161, loss_rot: 0.001493, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013005, | best_loss: 0.005880 05 Jul 2025 23:59:45 Epoch 9605/10000 | loss_data: 0.000977, loss_data_delta: 0.000282, loss_traj: 0.000389, loss_traj_delta: 0.000104, loss_dir: 0.064114, loss_rot: 0.001415, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000100, loss: 0.012772, | best_loss: 0.005880 05 Jul 2025 23:59:55 Epoch 9606/10000 | loss_data: 0.001045, loss_data_delta: 0.000283, loss_traj: 0.000455, loss_traj_delta: 0.000108, loss_dir: 0.075434, loss_rot: 0.001514, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000850, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.013779, | best_loss: 0.005880 06 Jul 2025 00:00:05 Epoch 9607/10000 | loss_data: 0.001027, loss_data_delta: 0.000287, loss_traj: 0.000417, loss_traj_delta: 0.000109, loss_dir: 0.062395, loss_rot: 0.001491, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000812, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.013423, | best_loss: 0.005880 06 Jul 2025 00:00:15 Epoch 9608/10000 | loss_data: 0.000976, loss_data_delta: 0.000285, loss_traj: 0.000360, loss_traj_delta: 0.000108, loss_dir: 0.049679, loss_rot: 0.001422, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012677, | best_loss: 0.005880 06 Jul 2025 00:00:26 Epoch 9609/10000 | loss_data: 0.000992, loss_data_delta: 0.000289, loss_traj: 0.000353, loss_traj_delta: 0.000110, loss_dir: 0.053970, loss_rot: 0.001456, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012856, | best_loss: 0.005880 06 Jul 2025 00:00:37 Epoch 9610/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000363, loss_traj_delta: 0.000108, loss_dir: 0.069572, loss_rot: 0.001429, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012754, | best_loss: 0.005880 06 Jul 2025 00:00:47 Epoch 9611/10000 | loss_data: 0.000993, loss_data_delta: 0.000288, loss_traj: 0.000344, loss_traj_delta: 0.000107, loss_dir: 0.058429, loss_rot: 0.001459, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000739, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012795, | best_loss: 0.005880 06 Jul 2025 00:00:58 Epoch 9612/10000 | loss_data: 0.000967, loss_data_delta: 0.000284, loss_traj: 0.000332, loss_traj_delta: 0.000109, loss_dir: 0.054636, loss_rot: 0.001422, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012498, | best_loss: 0.005880 06 Jul 2025 00:01:08 Epoch 9613/10000 | loss_data: 0.000954, loss_data_delta: 0.000284, loss_traj: 0.000354, loss_traj_delta: 0.000106, loss_dir: 0.054621, loss_rot: 0.001394, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012454, | best_loss: 0.005880 06 Jul 2025 00:01:18 Epoch 9614/10000 | loss_data: 0.001079, loss_data_delta: 0.000293, loss_traj: 0.000476, loss_traj_delta: 0.000111, loss_dir: 0.063526, loss_rot: 0.001561, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000888, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.014264, | best_loss: 0.005880 06 Jul 2025 00:01:29 Epoch 9615/10000 | loss_data: 0.001034, loss_data_delta: 0.000292, loss_traj: 0.000433, loss_traj_delta: 0.000113, loss_dir: 0.061148, loss_rot: 0.001494, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013597, | best_loss: 0.005880 06 Jul 2025 00:01:40 Epoch 9616/10000 | loss_data: 0.000989, loss_data_delta: 0.000288, loss_traj: 0.000347, loss_traj_delta: 0.000106, loss_dir: 0.063032, loss_rot: 0.001451, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012762, | best_loss: 0.005880 06 Jul 2025 00:01:50 Epoch 9617/10000 | loss_data: 0.000969, loss_data_delta: 0.000285, loss_traj: 0.000334, loss_traj_delta: 0.000108, loss_dir: 0.064512, loss_rot: 0.001428, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000717, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012536, | best_loss: 0.005880 06 Jul 2025 00:02:01 Epoch 9618/10000 | loss_data: 0.000974, loss_data_delta: 0.000290, loss_traj: 0.000305, loss_traj_delta: 0.000106, loss_dir: 0.068525, loss_rot: 0.001440, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000703, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012442, | best_loss: 0.005880 06 Jul 2025 00:02:11 Epoch 9619/10000 | loss_data: 0.001022, loss_data_delta: 0.000291, loss_traj: 0.000367, loss_traj_delta: 0.000111, loss_dir: 0.067731, loss_rot: 0.001498, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013205, | best_loss: 0.005880 06 Jul 2025 00:02:22 Epoch 9620/10000 | loss_data: 0.000973, loss_data_delta: 0.000284, loss_traj: 0.000363, loss_traj_delta: 0.000107, loss_dir: 0.051098, loss_rot: 0.001417, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012660, | best_loss: 0.005880 06 Jul 2025 00:02:33 Epoch 9621/10000 | loss_data: 0.000989, loss_data_delta: 0.000290, loss_traj: 0.000361, loss_traj_delta: 0.000109, loss_dir: 0.053169, loss_rot: 0.001442, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.012825, | best_loss: 0.005880 06 Jul 2025 00:02:44 Epoch 9622/10000 | loss_data: 0.001014, loss_data_delta: 0.000289, loss_traj: 0.000387, loss_traj_delta: 0.000111, loss_dir: 0.060415, loss_rot: 0.001477, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000792, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013193, | best_loss: 0.005880 06 Jul 2025 00:02:54 Epoch 9623/10000 | loss_data: 0.001027, loss_data_delta: 0.000283, loss_traj: 0.000419, loss_traj_delta: 0.000109, loss_dir: 0.049370, loss_rot: 0.001492, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013444, | best_loss: 0.005880 06 Jul 2025 00:03:05 Epoch 9624/10000 | loss_data: 0.001033, loss_data_delta: 0.000298, loss_traj: 0.000402, loss_traj_delta: 0.000113, loss_dir: 0.059462, loss_rot: 0.001501, loss_rot_delta: 0.000457, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.013500, | best_loss: 0.005880 06 Jul 2025 00:03:16 Epoch 9625/10000 | loss_data: 0.001011, loss_data_delta: 0.000291, loss_traj: 0.000373, loss_traj_delta: 0.000110, loss_dir: 0.061742, loss_rot: 0.001477, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000102, loss: 0.013102, | best_loss: 0.005880 06 Jul 2025 00:03:27 Epoch 9626/10000 | loss_data: 0.001040, loss_data_delta: 0.000291, loss_traj: 0.000494, loss_traj_delta: 0.000114, loss_dir: 0.058359, loss_rot: 0.001475, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000896, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013880, | best_loss: 0.005880 06 Jul 2025 00:03:38 Epoch 9627/10000 | loss_data: 0.001058, loss_data_delta: 0.000292, loss_traj: 0.000436, loss_traj_delta: 0.000111, loss_dir: 0.062527, loss_rot: 0.001531, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000855, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013835, | best_loss: 0.005880 06 Jul 2025 00:03:48 Epoch 9628/10000 | loss_data: 0.001011, loss_data_delta: 0.000283, loss_traj: 0.000434, loss_traj_delta: 0.000108, loss_dir: 0.072059, loss_rot: 0.001460, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000831, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.013336, | best_loss: 0.005880 06 Jul 2025 00:03:59 Epoch 9629/10000 | loss_data: 0.001059, loss_data_delta: 0.000292, loss_traj: 0.000509, loss_traj_delta: 0.000114, loss_dir: 0.057367, loss_rot: 0.001502, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000923, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.014142, | best_loss: 0.005880 06 Jul 2025 00:04:10 Epoch 9630/10000 | loss_data: 0.000944, loss_data_delta: 0.000279, loss_traj: 0.000324, loss_traj_delta: 0.000104, loss_dir: 0.060972, loss_rot: 0.001384, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000705, loss_geo_xyz_vel: 0.000182, loss_foot_contact: 0.000100, loss: 0.012193, | best_loss: 0.005880 06 Jul 2025 00:04:20 Epoch 9631/10000 | loss_data: 0.001048, loss_data_delta: 0.000289, loss_traj: 0.000447, loss_traj_delta: 0.000109, loss_dir: 0.062588, loss_rot: 0.001520, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000854, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013814, | best_loss: 0.005880 06 Jul 2025 00:04:31 Epoch 9632/10000 | loss_data: 0.001023, loss_data_delta: 0.000293, loss_traj: 0.000391, loss_traj_delta: 0.000114, loss_dir: 0.066262, loss_rot: 0.001492, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000801, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000105, loss: 0.013339, | best_loss: 0.005880 06 Jul 2025 00:04:41 Epoch 9633/10000 | loss_data: 0.000984, loss_data_delta: 0.000287, loss_traj: 0.000349, loss_traj_delta: 0.000110, loss_dir: 0.068807, loss_rot: 0.001444, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012740, | best_loss: 0.005880 06 Jul 2025 00:04:52 Epoch 9634/10000 | loss_data: 0.000964, loss_data_delta: 0.000286, loss_traj: 0.000323, loss_traj_delta: 0.000106, loss_dir: 0.073351, loss_rot: 0.001419, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000709, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000100, loss: 0.012402, | best_loss: 0.005880 06 Jul 2025 00:05:03 Epoch 9635/10000 | loss_data: 0.001025, loss_data_delta: 0.000286, loss_traj: 0.000406, loss_traj_delta: 0.000110, loss_dir: 0.060686, loss_rot: 0.001498, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000803, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013408, | best_loss: 0.005880 06 Jul 2025 00:05:13 Epoch 9636/10000 | loss_data: 0.001038, loss_data_delta: 0.000292, loss_traj: 0.000491, loss_traj_delta: 0.000113, loss_dir: 0.067394, loss_rot: 0.001480, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000892, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013883, | best_loss: 0.005880 06 Jul 2025 00:05:23 Epoch 9637/10000 | loss_data: 0.000980, loss_data_delta: 0.000285, loss_traj: 0.000357, loss_traj_delta: 0.000109, loss_dir: 0.071988, loss_rot: 0.001438, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012765, | best_loss: 0.005880 06 Jul 2025 00:05:33 Epoch 9638/10000 | loss_data: 0.000994, loss_data_delta: 0.000288, loss_traj: 0.000402, loss_traj_delta: 0.000106, loss_dir: 0.070302, loss_rot: 0.001431, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.013001, | best_loss: 0.005880 06 Jul 2025 00:05:44 Epoch 9639/10000 | loss_data: 0.001015, loss_data_delta: 0.000287, loss_traj: 0.000382, loss_traj_delta: 0.000110, loss_dir: 0.063040, loss_rot: 0.001480, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013191, | best_loss: 0.005880 06 Jul 2025 00:05:54 Epoch 9640/10000 | loss_data: 0.000997, loss_data_delta: 0.000287, loss_traj: 0.000371, loss_traj_delta: 0.000110, loss_dir: 0.059157, loss_rot: 0.001455, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012959, | best_loss: 0.005880 06 Jul 2025 00:06:05 Epoch 9641/10000 | loss_data: 0.001048, loss_data_delta: 0.000292, loss_traj: 0.000417, loss_traj_delta: 0.000110, loss_dir: 0.073368, loss_rot: 0.001524, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000103, loss: 0.013663, | best_loss: 0.005880 06 Jul 2025 00:06:15 Epoch 9642/10000 | loss_data: 0.000993, loss_data_delta: 0.000286, loss_traj: 0.000353, loss_traj_delta: 0.000110, loss_dir: 0.062653, loss_rot: 0.001453, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.012817, | best_loss: 0.005880 06 Jul 2025 00:06:26 Epoch 9643/10000 | loss_data: 0.001021, loss_data_delta: 0.000290, loss_traj: 0.000434, loss_traj_delta: 0.000112, loss_dir: 0.054435, loss_rot: 0.001475, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000830, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013474, | best_loss: 0.005880 06 Jul 2025 00:06:37 Epoch 9644/10000 | loss_data: 0.001061, loss_data_delta: 0.000293, loss_traj: 0.000478, loss_traj_delta: 0.000112, loss_dir: 0.063597, loss_rot: 0.001525, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000892, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.014069, | best_loss: 0.005880 06 Jul 2025 00:06:48 Epoch 9645/10000 | loss_data: 0.000970, loss_data_delta: 0.000284, loss_traj: 0.000364, loss_traj_delta: 0.000105, loss_dir: 0.055987, loss_rot: 0.001412, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000747, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012616, | best_loss: 0.005880 06 Jul 2025 00:06:59 Epoch 9646/10000 | loss_data: 0.000999, loss_data_delta: 0.000286, loss_traj: 0.000357, loss_traj_delta: 0.000109, loss_dir: 0.059018, loss_rot: 0.001470, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012935, | best_loss: 0.005880 06 Jul 2025 00:07:09 Epoch 9647/10000 | loss_data: 0.001020, loss_data_delta: 0.000290, loss_traj: 0.000433, loss_traj_delta: 0.000110, loss_dir: 0.061830, loss_rot: 0.001476, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000823, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013457, | best_loss: 0.005880 06 Jul 2025 00:07:20 Epoch 9648/10000 | loss_data: 0.000992, loss_data_delta: 0.000290, loss_traj: 0.000353, loss_traj_delta: 0.000113, loss_dir: 0.058624, loss_rot: 0.001454, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.012864, | best_loss: 0.005880 06 Jul 2025 00:07:30 Epoch 9649/10000 | loss_data: 0.000994, loss_data_delta: 0.000289, loss_traj: 0.000360, loss_traj_delta: 0.000110, loss_dir: 0.067590, loss_rot: 0.001454, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.012871, | best_loss: 0.005880 06 Jul 2025 00:07:41 Epoch 9650/10000 | loss_data: 0.000975, loss_data_delta: 0.000285, loss_traj: 0.000338, loss_traj_delta: 0.000105, loss_dir: 0.061088, loss_rot: 0.001434, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000727, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012578, | best_loss: 0.005880 06 Jul 2025 00:07:51 Epoch 9651/10000 | loss_data: 0.000971, loss_data_delta: 0.000282, loss_traj: 0.000344, loss_traj_delta: 0.000108, loss_dir: 0.054580, loss_rot: 0.001428, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000730, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012587, | best_loss: 0.005880 06 Jul 2025 00:08:02 Epoch 9652/10000 | loss_data: 0.000968, loss_data_delta: 0.000287, loss_traj: 0.000318, loss_traj_delta: 0.000111, loss_dir: 0.064142, loss_rot: 0.001423, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000710, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.012442, | best_loss: 0.005880 06 Jul 2025 00:08:13 Epoch 9653/10000 | loss_data: 0.000978, loss_data_delta: 0.000283, loss_traj: 0.000410, loss_traj_delta: 0.000111, loss_dir: 0.072558, loss_rot: 0.001410, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000796, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.012921, | best_loss: 0.005880 06 Jul 2025 00:08:23 Epoch 9654/10000 | loss_data: 0.000964, loss_data_delta: 0.000287, loss_traj: 0.000338, loss_traj_delta: 0.000106, loss_dir: 0.068330, loss_rot: 0.001413, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000721, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012483, | best_loss: 0.005880 06 Jul 2025 00:08:34 Epoch 9655/10000 | loss_data: 0.000991, loss_data_delta: 0.000284, loss_traj: 0.000389, loss_traj_delta: 0.000105, loss_dir: 0.073791, loss_rot: 0.001432, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012903, | best_loss: 0.005880 06 Jul 2025 00:08:44 Epoch 9656/10000 | loss_data: 0.000981, loss_data_delta: 0.000288, loss_traj: 0.000338, loss_traj_delta: 0.000106, loss_dir: 0.060072, loss_rot: 0.001447, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012664, | best_loss: 0.005880 06 Jul 2025 00:08:55 Epoch 9657/10000 | loss_data: 0.000979, loss_data_delta: 0.000284, loss_traj: 0.000378, loss_traj_delta: 0.000110, loss_dir: 0.076008, loss_rot: 0.001427, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012808, | best_loss: 0.005880 06 Jul 2025 00:09:05 Epoch 9658/10000 | loss_data: 0.001020, loss_data_delta: 0.000292, loss_traj: 0.000439, loss_traj_delta: 0.000108, loss_dir: 0.072492, loss_rot: 0.001466, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.013438, | best_loss: 0.005880 06 Jul 2025 00:09:15 Epoch 9659/10000 | loss_data: 0.000984, loss_data_delta: 0.000285, loss_traj: 0.000336, loss_traj_delta: 0.000106, loss_dir: 0.063951, loss_rot: 0.001442, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000736, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012643, | best_loss: 0.005880 06 Jul 2025 00:09:26 Epoch 9660/10000 | loss_data: 0.000988, loss_data_delta: 0.000285, loss_traj: 0.000375, loss_traj_delta: 0.000105, loss_dir: 0.050362, loss_rot: 0.001441, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.012848, | best_loss: 0.005880 06 Jul 2025 00:09:37 Epoch 9661/10000 | loss_data: 0.000998, loss_data_delta: 0.000292, loss_traj: 0.000341, loss_traj_delta: 0.000110, loss_dir: 0.072658, loss_rot: 0.001465, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.012845, | best_loss: 0.005880 06 Jul 2025 00:09:47 Epoch 9662/10000 | loss_data: 0.000982, loss_data_delta: 0.000288, loss_traj: 0.000352, loss_traj_delta: 0.000111, loss_dir: 0.063433, loss_rot: 0.001439, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012761, | best_loss: 0.005880 06 Jul 2025 00:09:58 Epoch 9663/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000347, loss_traj_delta: 0.000105, loss_dir: 0.064157, loss_rot: 0.001446, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000736, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012707, | best_loss: 0.005880 06 Jul 2025 00:10:09 Epoch 9664/10000 | loss_data: 0.001032, loss_data_delta: 0.000292, loss_traj: 0.000398, loss_traj_delta: 0.000110, loss_dir: 0.079225, loss_rot: 0.001503, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013424, | best_loss: 0.005880 06 Jul 2025 00:10:20 Epoch 9665/10000 | loss_data: 0.000987, loss_data_delta: 0.000297, loss_traj: 0.000367, loss_traj_delta: 0.000116, loss_dir: 0.053517, loss_rot: 0.001435, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000107, loss: 0.012895, | best_loss: 0.005880 06 Jul 2025 00:10:31 Epoch 9666/10000 | loss_data: 0.000974, loss_data_delta: 0.000283, loss_traj: 0.000378, loss_traj_delta: 0.000112, loss_dir: 0.049769, loss_rot: 0.001412, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012748, | best_loss: 0.005880 06 Jul 2025 00:10:41 Epoch 9667/10000 | loss_data: 0.000982, loss_data_delta: 0.000287, loss_traj: 0.000352, loss_traj_delta: 0.000104, loss_dir: 0.080719, loss_rot: 0.001433, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000736, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012669, | best_loss: 0.005880 06 Jul 2025 00:10:52 Epoch 9668/10000 | loss_data: 0.001002, loss_data_delta: 0.000287, loss_traj: 0.000361, loss_traj_delta: 0.000105, loss_dir: 0.061278, loss_rot: 0.001467, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012939, | best_loss: 0.005880 06 Jul 2025 00:11:03 Epoch 9669/10000 | loss_data: 0.000994, loss_data_delta: 0.000298, loss_traj: 0.000347, loss_traj_delta: 0.000115, loss_dir: 0.062503, loss_rot: 0.001451, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000107, loss: 0.012873, | best_loss: 0.005880 06 Jul 2025 00:11:13 Epoch 9670/10000 | loss_data: 0.001061, loss_data_delta: 0.000295, loss_traj: 0.000477, loss_traj_delta: 0.000116, loss_dir: 0.080186, loss_rot: 0.001525, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000893, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000107, loss: 0.014094, | best_loss: 0.005880 06 Jul 2025 00:11:23 Epoch 9671/10000 | loss_data: 0.001020, loss_data_delta: 0.000290, loss_traj: 0.000394, loss_traj_delta: 0.000110, loss_dir: 0.074893, loss_rot: 0.001483, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013297, | best_loss: 0.005880 06 Jul 2025 00:11:34 Epoch 9672/10000 | loss_data: 0.000994, loss_data_delta: 0.000290, loss_traj: 0.000414, loss_traj_delta: 0.000112, loss_dir: 0.076688, loss_rot: 0.001432, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000806, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013123, | best_loss: 0.005880 06 Jul 2025 00:11:44 Epoch 9673/10000 | loss_data: 0.001018, loss_data_delta: 0.000289, loss_traj: 0.000359, loss_traj_delta: 0.000109, loss_dir: 0.055939, loss_rot: 0.001499, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013132, | best_loss: 0.005880 06 Jul 2025 00:11:54 Epoch 9674/10000 | loss_data: 0.000968, loss_data_delta: 0.000286, loss_traj: 0.000343, loss_traj_delta: 0.000108, loss_dir: 0.066664, loss_rot: 0.001417, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000101, loss: 0.012538, | best_loss: 0.005880 06 Jul 2025 00:12:05 Epoch 9675/10000 | loss_data: 0.000993, loss_data_delta: 0.000288, loss_traj: 0.000401, loss_traj_delta: 0.000110, loss_dir: 0.090408, loss_rot: 0.001437, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013030, | best_loss: 0.005880 06 Jul 2025 00:12:16 Epoch 9676/10000 | loss_data: 0.001022, loss_data_delta: 0.000291, loss_traj: 0.000374, loss_traj_delta: 0.000111, loss_dir: 0.057945, loss_rot: 0.001500, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000775, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013250, | best_loss: 0.005880 06 Jul 2025 00:12:27 Epoch 9677/10000 | loss_data: 0.001031, loss_data_delta: 0.000287, loss_traj: 0.000385, loss_traj_delta: 0.000108, loss_dir: 0.078380, loss_rot: 0.001511, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013360, | best_loss: 0.005880 06 Jul 2025 00:12:37 Epoch 9678/10000 | loss_data: 0.001014, loss_data_delta: 0.000292, loss_traj: 0.000406, loss_traj_delta: 0.000114, loss_dir: 0.063767, loss_rot: 0.001467, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013294, | best_loss: 0.005880 06 Jul 2025 00:12:47 Epoch 9679/10000 | loss_data: 0.000971, loss_data_delta: 0.000282, loss_traj: 0.000343, loss_traj_delta: 0.000107, loss_dir: 0.060791, loss_rot: 0.001422, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000736, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012559, | best_loss: 0.005880 06 Jul 2025 00:12:58 Epoch 9680/10000 | loss_data: 0.001006, loss_data_delta: 0.000285, loss_traj: 0.000433, loss_traj_delta: 0.000105, loss_dir: 0.069687, loss_rot: 0.001446, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.013252, | best_loss: 0.005880 06 Jul 2025 00:13:09 Epoch 9681/10000 | loss_data: 0.000966, loss_data_delta: 0.000285, loss_traj: 0.000321, loss_traj_delta: 0.000105, loss_dir: 0.075040, loss_rot: 0.001418, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000707, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000100, loss: 0.012385, | best_loss: 0.005880 06 Jul 2025 00:13:19 Epoch 9682/10000 | loss_data: 0.001049, loss_data_delta: 0.000293, loss_traj: 0.000424, loss_traj_delta: 0.000113, loss_dir: 0.062347, loss_rot: 0.001521, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000843, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000105, loss: 0.013716, | best_loss: 0.005880 06 Jul 2025 00:13:30 Epoch 9683/10000 | loss_data: 0.001057, loss_data_delta: 0.000293, loss_traj: 0.000452, loss_traj_delta: 0.000110, loss_dir: 0.064772, loss_rot: 0.001520, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000860, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013873, | best_loss: 0.005880 06 Jul 2025 00:13:40 Epoch 9684/10000 | loss_data: 0.000977, loss_data_delta: 0.000286, loss_traj: 0.000329, loss_traj_delta: 0.000108, loss_dir: 0.078951, loss_rot: 0.001433, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000727, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012560, | best_loss: 0.005880 06 Jul 2025 00:13:50 Epoch 9685/10000 | loss_data: 0.001015, loss_data_delta: 0.000289, loss_traj: 0.000411, loss_traj_delta: 0.000112, loss_dir: 0.068223, loss_rot: 0.001478, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013336, | best_loss: 0.005880 06 Jul 2025 00:14:01 Epoch 9686/10000 | loss_data: 0.001014, loss_data_delta: 0.000289, loss_traj: 0.000363, loss_traj_delta: 0.000106, loss_dir: 0.098911, loss_rot: 0.001485, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000101, loss: 0.013065, | best_loss: 0.005880 06 Jul 2025 00:14:12 Epoch 9687/10000 | loss_data: 0.000974, loss_data_delta: 0.000285, loss_traj: 0.000362, loss_traj_delta: 0.000107, loss_dir: 0.077199, loss_rot: 0.001426, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012695, | best_loss: 0.005880 06 Jul 2025 00:14:23 Epoch 9688/10000 | loss_data: 0.001002, loss_data_delta: 0.000281, loss_traj: 0.000372, loss_traj_delta: 0.000107, loss_dir: 0.065585, loss_rot: 0.001473, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000102, loss: 0.013016, | best_loss: 0.005880 06 Jul 2025 00:14:33 Epoch 9689/10000 | loss_data: 0.000990, loss_data_delta: 0.000284, loss_traj: 0.000374, loss_traj_delta: 0.000108, loss_dir: 0.059907, loss_rot: 0.001447, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000764, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012889, | best_loss: 0.005880 06 Jul 2025 00:14:43 Epoch 9690/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000350, loss_traj_delta: 0.000111, loss_dir: 0.050344, loss_rot: 0.001447, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012765, | best_loss: 0.005880 06 Jul 2025 00:14:54 Epoch 9691/10000 | loss_data: 0.000992, loss_data_delta: 0.000285, loss_traj: 0.000393, loss_traj_delta: 0.000110, loss_dir: 0.065879, loss_rot: 0.001439, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.012984, | best_loss: 0.005880 06 Jul 2025 00:15:04 Epoch 9692/10000 | loss_data: 0.001041, loss_data_delta: 0.000294, loss_traj: 0.000441, loss_traj_delta: 0.000116, loss_dir: 0.064878, loss_rot: 0.001498, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000850, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.013725, | best_loss: 0.005880 06 Jul 2025 00:15:15 Epoch 9693/10000 | loss_data: 0.001004, loss_data_delta: 0.000292, loss_traj: 0.000368, loss_traj_delta: 0.000111, loss_dir: 0.061910, loss_rot: 0.001464, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013038, | best_loss: 0.005880 06 Jul 2025 00:15:25 Epoch 9694/10000 | loss_data: 0.001043, loss_data_delta: 0.000292, loss_traj: 0.000427, loss_traj_delta: 0.000107, loss_dir: 0.069083, loss_rot: 0.001508, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.013627, | best_loss: 0.005880 06 Jul 2025 00:15:35 Epoch 9695/10000 | loss_data: 0.000962, loss_data_delta: 0.000283, loss_traj: 0.000371, loss_traj_delta: 0.000107, loss_dir: 0.063231, loss_rot: 0.001391, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012571, | best_loss: 0.005880 06 Jul 2025 00:15:46 Epoch 9696/10000 | loss_data: 0.001031, loss_data_delta: 0.000292, loss_traj: 0.000374, loss_traj_delta: 0.000113, loss_dir: 0.064553, loss_rot: 0.001518, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.013370, | best_loss: 0.005880 06 Jul 2025 00:15:57 Epoch 9697/10000 | loss_data: 0.001024, loss_data_delta: 0.000292, loss_traj: 0.000404, loss_traj_delta: 0.000110, loss_dir: 0.049722, loss_rot: 0.001487, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.013381, | best_loss: 0.005880 06 Jul 2025 00:16:07 Epoch 9698/10000 | loss_data: 0.001030, loss_data_delta: 0.000293, loss_traj: 0.000430, loss_traj_delta: 0.000115, loss_dir: 0.061752, loss_rot: 0.001486, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000106, loss: 0.013559, | best_loss: 0.005880 06 Jul 2025 00:16:18 Epoch 9699/10000 | loss_data: 0.001036, loss_data_delta: 0.000289, loss_traj: 0.000456, loss_traj_delta: 0.000116, loss_dir: 0.061615, loss_rot: 0.001483, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000868, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000109, loss: 0.013728, | best_loss: 0.005880 06 Jul 2025 00:16:29 Epoch 9700/10000 | loss_data: 0.000983, loss_data_delta: 0.000291, loss_traj: 0.000308, loss_traj_delta: 0.000109, loss_dir: 0.058893, loss_rot: 0.001455, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000702, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012576, | best_loss: 0.005880 06 Jul 2025 00:16:40 Epoch 9701/10000 | loss_data: 0.001047, loss_data_delta: 0.000297, loss_traj: 0.000403, loss_traj_delta: 0.000111, loss_dir: 0.057802, loss_rot: 0.001521, loss_rot_delta: 0.000457, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013599, | best_loss: 0.005880 06 Jul 2025 00:16:50 Epoch 9702/10000 | loss_data: 0.000994, loss_data_delta: 0.000288, loss_traj: 0.000379, loss_traj_delta: 0.000109, loss_dir: 0.048165, loss_rot: 0.001446, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012949, | best_loss: 0.005880 06 Jul 2025 00:17:01 Epoch 9703/10000 | loss_data: 0.001016, loss_data_delta: 0.000292, loss_traj: 0.000394, loss_traj_delta: 0.000111, loss_dir: 0.060832, loss_rot: 0.001478, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013254, | best_loss: 0.005880 06 Jul 2025 00:17:12 Epoch 9704/10000 | loss_data: 0.001026, loss_data_delta: 0.000298, loss_traj: 0.000393, loss_traj_delta: 0.000115, loss_dir: 0.061611, loss_rot: 0.001491, loss_rot_delta: 0.000457, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000106, loss: 0.013373, | best_loss: 0.005880 06 Jul 2025 00:17:22 Epoch 9705/10000 | loss_data: 0.000958, loss_data_delta: 0.000288, loss_traj: 0.000314, loss_traj_delta: 0.000107, loss_dir: 0.052574, loss_rot: 0.001403, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000709, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012295, | best_loss: 0.005880 06 Jul 2025 00:17:32 Epoch 9706/10000 | loss_data: 0.001004, loss_data_delta: 0.000290, loss_traj: 0.000354, loss_traj_delta: 0.000110, loss_dir: 0.054131, loss_rot: 0.001477, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.012971, | best_loss: 0.005880 06 Jul 2025 00:17:42 Epoch 9707/10000 | loss_data: 0.000990, loss_data_delta: 0.000287, loss_traj: 0.000390, loss_traj_delta: 0.000111, loss_dir: 0.063072, loss_rot: 0.001436, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012963, | best_loss: 0.005880 06 Jul 2025 00:17:53 Epoch 9708/10000 | loss_data: 0.001038, loss_data_delta: 0.000292, loss_traj: 0.000448, loss_traj_delta: 0.000113, loss_dir: 0.068593, loss_rot: 0.001492, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000856, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000107, loss: 0.013705, | best_loss: 0.005880 06 Jul 2025 00:18:03 Epoch 9709/10000 | loss_data: 0.000996, loss_data_delta: 0.000286, loss_traj: 0.000347, loss_traj_delta: 0.000106, loss_dir: 0.048832, loss_rot: 0.001467, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012840, | best_loss: 0.005880 06 Jul 2025 00:18:14 Epoch 9710/10000 | loss_data: 0.000990, loss_data_delta: 0.000289, loss_traj: 0.000346, loss_traj_delta: 0.000108, loss_dir: 0.052745, loss_rot: 0.001455, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.012787, | best_loss: 0.005880 06 Jul 2025 00:18:25 Epoch 9711/10000 | loss_data: 0.001033, loss_data_delta: 0.000295, loss_traj: 0.000380, loss_traj_delta: 0.000107, loss_dir: 0.076042, loss_rot: 0.001508, loss_rot_delta: 0.000457, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.013333, | best_loss: 0.005880 06 Jul 2025 00:18:35 Epoch 9712/10000 | loss_data: 0.000996, loss_data_delta: 0.000288, loss_traj: 0.000370, loss_traj_delta: 0.000113, loss_dir: 0.067324, loss_rot: 0.001445, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000104, loss: 0.012922, | best_loss: 0.005880 06 Jul 2025 00:18:46 Epoch 9713/10000 | loss_data: 0.000970, loss_data_delta: 0.000285, loss_traj: 0.000336, loss_traj_delta: 0.000103, loss_dir: 0.050455, loss_rot: 0.001422, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000719, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000100, loss: 0.012490, | best_loss: 0.005880 06 Jul 2025 00:18:56 Epoch 9714/10000 | loss_data: 0.001015, loss_data_delta: 0.000284, loss_traj: 0.000401, loss_traj_delta: 0.000108, loss_dir: 0.062279, loss_rot: 0.001478, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013251, | best_loss: 0.005880 06 Jul 2025 00:19:08 Epoch 9715/10000 | loss_data: 0.001006, loss_data_delta: 0.000293, loss_traj: 0.000421, loss_traj_delta: 0.000114, loss_dir: 0.059528, loss_rot: 0.001444, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013263, | best_loss: 0.005880 06 Jul 2025 00:19:18 Epoch 9716/10000 | loss_data: 0.001008, loss_data_delta: 0.000291, loss_traj: 0.000373, loss_traj_delta: 0.000109, loss_dir: 0.063703, loss_rot: 0.001474, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013093, | best_loss: 0.005880 06 Jul 2025 00:19:29 Epoch 9717/10000 | loss_data: 0.001015, loss_data_delta: 0.000288, loss_traj: 0.000396, loss_traj_delta: 0.000111, loss_dir: 0.071604, loss_rot: 0.001479, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013262, | best_loss: 0.005880 06 Jul 2025 00:19:39 Epoch 9718/10000 | loss_data: 0.000961, loss_data_delta: 0.000286, loss_traj: 0.000322, loss_traj_delta: 0.000104, loss_dir: 0.063606, loss_rot: 0.001412, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000708, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000101, loss: 0.012365, | best_loss: 0.005880 06 Jul 2025 00:19:49 Epoch 9719/10000 | loss_data: 0.001053, loss_data_delta: 0.000292, loss_traj: 0.000496, loss_traj_delta: 0.000112, loss_dir: 0.067183, loss_rot: 0.001502, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000907, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.014042, | best_loss: 0.005880 06 Jul 2025 00:20:00 Epoch 9720/10000 | loss_data: 0.001011, loss_data_delta: 0.000293, loss_traj: 0.000400, loss_traj_delta: 0.000113, loss_dir: 0.054505, loss_rot: 0.001465, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013243, | best_loss: 0.005880 06 Jul 2025 00:20:10 Epoch 9721/10000 | loss_data: 0.001014, loss_data_delta: 0.000290, loss_traj: 0.000392, loss_traj_delta: 0.000112, loss_dir: 0.052027, loss_rot: 0.001474, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013228, | best_loss: 0.005880 06 Jul 2025 00:20:21 Epoch 9722/10000 | loss_data: 0.000965, loss_data_delta: 0.000284, loss_traj: 0.000318, loss_traj_delta: 0.000105, loss_dir: 0.070878, loss_rot: 0.001420, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000706, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012373, | best_loss: 0.005880 06 Jul 2025 00:20:31 Epoch 9723/10000 | loss_data: 0.000973, loss_data_delta: 0.000284, loss_traj: 0.000341, loss_traj_delta: 0.000104, loss_dir: 0.052788, loss_rot: 0.001428, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000720, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000100, loss: 0.012547, | best_loss: 0.005880 06 Jul 2025 00:20:41 Epoch 9724/10000 | loss_data: 0.001065, loss_data_delta: 0.000293, loss_traj: 0.000433, loss_traj_delta: 0.000113, loss_dir: 0.064970, loss_rot: 0.001550, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000853, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.013946, | best_loss: 0.005880 06 Jul 2025 00:20:51 Epoch 9725/10000 | loss_data: 0.001025, loss_data_delta: 0.000288, loss_traj: 0.000430, loss_traj_delta: 0.000109, loss_dir: 0.063534, loss_rot: 0.001476, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000834, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013445, | best_loss: 0.005880 06 Jul 2025 00:21:02 Epoch 9726/10000 | loss_data: 0.001009, loss_data_delta: 0.000290, loss_traj: 0.000419, loss_traj_delta: 0.000114, loss_dir: 0.052145, loss_rot: 0.001454, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013296, | best_loss: 0.005880 06 Jul 2025 00:21:12 Epoch 9727/10000 | loss_data: 0.001040, loss_data_delta: 0.000291, loss_traj: 0.000419, loss_traj_delta: 0.000113, loss_dir: 0.076909, loss_rot: 0.001519, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000819, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000106, loss: 0.013647, | best_loss: 0.005880 06 Jul 2025 00:21:23 Epoch 9728/10000 | loss_data: 0.001020, loss_data_delta: 0.000287, loss_traj: 0.000394, loss_traj_delta: 0.000111, loss_dir: 0.070726, loss_rot: 0.001493, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.013289, | best_loss: 0.005880 06 Jul 2025 00:21:33 Epoch 9729/10000 | loss_data: 0.000989, loss_data_delta: 0.000283, loss_traj: 0.000387, loss_traj_delta: 0.000107, loss_dir: 0.078491, loss_rot: 0.001441, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012933, | best_loss: 0.005880 06 Jul 2025 00:21:44 Epoch 9730/10000 | loss_data: 0.001005, loss_data_delta: 0.000289, loss_traj: 0.000404, loss_traj_delta: 0.000112, loss_dir: 0.066587, loss_rot: 0.001461, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000798, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013208, | best_loss: 0.005880 06 Jul 2025 00:21:54 Epoch 9731/10000 | loss_data: 0.001020, loss_data_delta: 0.000289, loss_traj: 0.000439, loss_traj_delta: 0.000113, loss_dir: 0.078111, loss_rot: 0.001463, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000843, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013456, | best_loss: 0.005880 06 Jul 2025 00:22:05 Epoch 9732/10000 | loss_data: 0.000996, loss_data_delta: 0.000288, loss_traj: 0.000340, loss_traj_delta: 0.000110, loss_dir: 0.062327, loss_rot: 0.001467, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012830, | best_loss: 0.005880 06 Jul 2025 00:22:15 Epoch 9733/10000 | loss_data: 0.000980, loss_data_delta: 0.000281, loss_traj: 0.000340, loss_traj_delta: 0.000104, loss_dir: 0.061901, loss_rot: 0.001440, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000101, loss: 0.012623, | best_loss: 0.005880 06 Jul 2025 00:22:26 Epoch 9734/10000 | loss_data: 0.001026, loss_data_delta: 0.000289, loss_traj: 0.000377, loss_traj_delta: 0.000111, loss_dir: 0.087719, loss_rot: 0.001512, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013325, | best_loss: 0.005880 06 Jul 2025 00:22:37 Epoch 9735/10000 | loss_data: 0.000967, loss_data_delta: 0.000286, loss_traj: 0.000341, loss_traj_delta: 0.000109, loss_dir: 0.052694, loss_rot: 0.001413, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000731, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012528, | best_loss: 0.005880 06 Jul 2025 00:22:47 Epoch 9736/10000 | loss_data: 0.000966, loss_data_delta: 0.000288, loss_traj: 0.000335, loss_traj_delta: 0.000109, loss_dir: 0.073192, loss_rot: 0.001413, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012476, | best_loss: 0.005880 06 Jul 2025 00:22:58 Epoch 9737/10000 | loss_data: 0.001025, loss_data_delta: 0.000298, loss_traj: 0.000379, loss_traj_delta: 0.000115, loss_dir: 0.061299, loss_rot: 0.001487, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000106, loss: 0.013280, | best_loss: 0.005880 06 Jul 2025 00:23:08 Epoch 9738/10000 | loss_data: 0.000988, loss_data_delta: 0.000289, loss_traj: 0.000353, loss_traj_delta: 0.000110, loss_dir: 0.057376, loss_rot: 0.001446, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012787, | best_loss: 0.005880 06 Jul 2025 00:23:19 Epoch 9739/10000 | loss_data: 0.001034, loss_data_delta: 0.000291, loss_traj: 0.000409, loss_traj_delta: 0.000108, loss_dir: 0.067876, loss_rot: 0.001509, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013503, | best_loss: 0.005880 06 Jul 2025 00:23:30 Epoch 9740/10000 | loss_data: 0.000977, loss_data_delta: 0.000290, loss_traj: 0.000365, loss_traj_delta: 0.000110, loss_dir: 0.064803, loss_rot: 0.001415, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.012720, | best_loss: 0.005880 06 Jul 2025 00:23:40 Epoch 9741/10000 | loss_data: 0.000971, loss_data_delta: 0.000290, loss_traj: 0.000307, loss_traj_delta: 0.000107, loss_dir: 0.072464, loss_rot: 0.001434, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000698, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012425, | best_loss: 0.005880 06 Jul 2025 00:23:50 Epoch 9742/10000 | loss_data: 0.000980, loss_data_delta: 0.000286, loss_traj: 0.000361, loss_traj_delta: 0.000107, loss_dir: 0.060209, loss_rot: 0.001431, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.012742, | best_loss: 0.005880 06 Jul 2025 00:24:01 Epoch 9743/10000 | loss_data: 0.000982, loss_data_delta: 0.000288, loss_traj: 0.000344, loss_traj_delta: 0.000107, loss_dir: 0.061998, loss_rot: 0.001438, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000734, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012680, | best_loss: 0.005880 06 Jul 2025 00:24:11 Epoch 9744/10000 | loss_data: 0.001002, loss_data_delta: 0.000285, loss_traj: 0.000396, loss_traj_delta: 0.000109, loss_dir: 0.056064, loss_rot: 0.001451, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.013075, | best_loss: 0.005880 06 Jul 2025 00:24:22 Epoch 9745/10000 | loss_data: 0.000996, loss_data_delta: 0.000289, loss_traj: 0.000382, loss_traj_delta: 0.000110, loss_dir: 0.058657, loss_rot: 0.001454, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000770, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013024, | best_loss: 0.005880 06 Jul 2025 00:24:32 Epoch 9746/10000 | loss_data: 0.000994, loss_data_delta: 0.000291, loss_traj: 0.000336, loss_traj_delta: 0.000108, loss_dir: 0.041385, loss_rot: 0.001456, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012757, | best_loss: 0.005880 06 Jul 2025 00:24:43 Epoch 9747/10000 | loss_data: 0.000997, loss_data_delta: 0.000291, loss_traj: 0.000379, loss_traj_delta: 0.000108, loss_dir: 0.071033, loss_rot: 0.001452, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000761, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012991, | best_loss: 0.005880 06 Jul 2025 00:24:53 Epoch 9748/10000 | loss_data: 0.000993, loss_data_delta: 0.000286, loss_traj: 0.000378, loss_traj_delta: 0.000104, loss_dir: 0.058738, loss_rot: 0.001445, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012892, | best_loss: 0.005880 06 Jul 2025 00:25:04 Epoch 9749/10000 | loss_data: 0.000994, loss_data_delta: 0.000288, loss_traj: 0.000352, loss_traj_delta: 0.000110, loss_dir: 0.054558, loss_rot: 0.001461, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000743, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012869, | best_loss: 0.005880 06 Jul 2025 00:25:15 Epoch 9750/10000 | loss_data: 0.001010, loss_data_delta: 0.000289, loss_traj: 0.000390, loss_traj_delta: 0.000109, loss_dir: 0.076765, loss_rot: 0.001465, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013144, | best_loss: 0.005880 06 Jul 2025 00:25:25 Epoch 9751/10000 | loss_data: 0.001003, loss_data_delta: 0.000292, loss_traj: 0.000380, loss_traj_delta: 0.000115, loss_dir: 0.053025, loss_rot: 0.001456, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000107, loss: 0.013087, | best_loss: 0.005880 06 Jul 2025 00:25:36 Epoch 9752/10000 | loss_data: 0.000977, loss_data_delta: 0.000286, loss_traj: 0.000363, loss_traj_delta: 0.000106, loss_dir: 0.072265, loss_rot: 0.001420, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012681, | best_loss: 0.005880 06 Jul 2025 00:25:46 Epoch 9753/10000 | loss_data: 0.000998, loss_data_delta: 0.000288, loss_traj: 0.000364, loss_traj_delta: 0.000111, loss_dir: 0.067625, loss_rot: 0.001452, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.012928, | best_loss: 0.005880 06 Jul 2025 00:25:57 Epoch 9754/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000361, loss_traj_delta: 0.000108, loss_dir: 0.071411, loss_rot: 0.001434, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012760, | best_loss: 0.005880 06 Jul 2025 00:26:07 Epoch 9755/10000 | loss_data: 0.000970, loss_data_delta: 0.000281, loss_traj: 0.000399, loss_traj_delta: 0.000105, loss_dir: 0.060328, loss_rot: 0.001400, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000100, loss: 0.012739, | best_loss: 0.005880 06 Jul 2025 00:26:18 Epoch 9756/10000 | loss_data: 0.000954, loss_data_delta: 0.000279, loss_traj: 0.000345, loss_traj_delta: 0.000106, loss_dir: 0.060667, loss_rot: 0.001398, loss_rot_delta: 0.000427, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.012386, | best_loss: 0.005880 06 Jul 2025 00:26:28 Epoch 9757/10000 | loss_data: 0.001017, loss_data_delta: 0.000292, loss_traj: 0.000362, loss_traj_delta: 0.000108, loss_dir: 0.066554, loss_rot: 0.001491, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.013107, | best_loss: 0.005880 06 Jul 2025 00:26:38 Epoch 9758/10000 | loss_data: 0.000961, loss_data_delta: 0.000283, loss_traj: 0.000316, loss_traj_delta: 0.000107, loss_dir: 0.065830, loss_rot: 0.001417, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000703, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012354, | best_loss: 0.005880 06 Jul 2025 00:26:49 Epoch 9759/10000 | loss_data: 0.000984, loss_data_delta: 0.000284, loss_traj: 0.000324, loss_traj_delta: 0.000105, loss_dir: 0.068355, loss_rot: 0.001447, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012582, | best_loss: 0.005880 06 Jul 2025 00:27:00 Epoch 9760/10000 | loss_data: 0.001051, loss_data_delta: 0.000293, loss_traj: 0.000402, loss_traj_delta: 0.000112, loss_dir: 0.073935, loss_rot: 0.001541, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013672, | best_loss: 0.005880 06 Jul 2025 00:27:10 Epoch 9761/10000 | loss_data: 0.000998, loss_data_delta: 0.000286, loss_traj: 0.000367, loss_traj_delta: 0.000109, loss_dir: 0.066962, loss_rot: 0.001458, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012929, | best_loss: 0.005880 06 Jul 2025 00:27:21 Epoch 9762/10000 | loss_data: 0.000997, loss_data_delta: 0.000291, loss_traj: 0.000343, loss_traj_delta: 0.000105, loss_dir: 0.068286, loss_rot: 0.001460, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012794, | best_loss: 0.005880 06 Jul 2025 00:27:32 Epoch 9763/10000 | loss_data: 0.000973, loss_data_delta: 0.000283, loss_traj: 0.000331, loss_traj_delta: 0.000105, loss_dir: 0.056474, loss_rot: 0.001428, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000720, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000101, loss: 0.012511, | best_loss: 0.005880 06 Jul 2025 00:27:43 Epoch 9764/10000 | loss_data: 0.000985, loss_data_delta: 0.000290, loss_traj: 0.000370, loss_traj_delta: 0.000110, loss_dir: 0.060539, loss_rot: 0.001428, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012805, | best_loss: 0.005880 06 Jul 2025 00:27:54 Epoch 9765/10000 | loss_data: 0.000994, loss_data_delta: 0.000287, loss_traj: 0.000414, loss_traj_delta: 0.000106, loss_dir: 0.065521, loss_rot: 0.001427, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.013045, | best_loss: 0.005880 06 Jul 2025 00:28:05 Epoch 9766/10000 | loss_data: 0.001023, loss_data_delta: 0.000293, loss_traj: 0.000408, loss_traj_delta: 0.000113, loss_dir: 0.060063, loss_rot: 0.001484, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000107, loss: 0.013406, | best_loss: 0.005880 06 Jul 2025 00:28:15 Epoch 9767/10000 | loss_data: 0.000959, loss_data_delta: 0.000282, loss_traj: 0.000328, loss_traj_delta: 0.000105, loss_dir: 0.057552, loss_rot: 0.001411, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000716, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.012374, | best_loss: 0.005880 06 Jul 2025 00:28:26 Epoch 9768/10000 | loss_data: 0.001007, loss_data_delta: 0.000289, loss_traj: 0.000342, loss_traj_delta: 0.000108, loss_dir: 0.069402, loss_rot: 0.001484, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000749, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012933, | best_loss: 0.005880 06 Jul 2025 00:28:36 Epoch 9769/10000 | loss_data: 0.001010, loss_data_delta: 0.000287, loss_traj: 0.000425, loss_traj_delta: 0.000108, loss_dir: 0.062185, loss_rot: 0.001451, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000826, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.013251, | best_loss: 0.005880 06 Jul 2025 00:28:47 Epoch 9770/10000 | loss_data: 0.000960, loss_data_delta: 0.000284, loss_traj: 0.000322, loss_traj_delta: 0.000108, loss_dir: 0.059230, loss_rot: 0.001416, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000712, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012386, | best_loss: 0.005880 06 Jul 2025 00:28:58 Epoch 9771/10000 | loss_data: 0.001004, loss_data_delta: 0.000289, loss_traj: 0.000361, loss_traj_delta: 0.000108, loss_dir: 0.078800, loss_rot: 0.001469, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000757, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012962, | best_loss: 0.005880 06 Jul 2025 00:29:08 Epoch 9772/10000 | loss_data: 0.000999, loss_data_delta: 0.000284, loss_traj: 0.000387, loss_traj_delta: 0.000108, loss_dir: 0.066680, loss_rot: 0.001462, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.013053, | best_loss: 0.005880 06 Jul 2025 00:29:19 Epoch 9773/10000 | loss_data: 0.000986, loss_data_delta: 0.000284, loss_traj: 0.000348, loss_traj_delta: 0.000106, loss_dir: 0.067333, loss_rot: 0.001454, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012744, | best_loss: 0.005880 06 Jul 2025 00:29:29 Epoch 9774/10000 | loss_data: 0.000986, loss_data_delta: 0.000289, loss_traj: 0.000370, loss_traj_delta: 0.000108, loss_dir: 0.074577, loss_rot: 0.001438, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.012839, | best_loss: 0.005880 06 Jul 2025 00:29:40 Epoch 9775/10000 | loss_data: 0.000998, loss_data_delta: 0.000296, loss_traj: 0.000355, loss_traj_delta: 0.000115, loss_dir: 0.056175, loss_rot: 0.001465, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000105, loss: 0.012960, | best_loss: 0.005880 06 Jul 2025 00:29:51 Epoch 9776/10000 | loss_data: 0.000977, loss_data_delta: 0.000287, loss_traj: 0.000367, loss_traj_delta: 0.000106, loss_dir: 0.064013, loss_rot: 0.001420, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012695, | best_loss: 0.005880 06 Jul 2025 00:30:01 Epoch 9777/10000 | loss_data: 0.000990, loss_data_delta: 0.000286, loss_traj: 0.000365, loss_traj_delta: 0.000107, loss_dir: 0.058456, loss_rot: 0.001446, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012841, | best_loss: 0.005880 06 Jul 2025 00:30:12 Epoch 9778/10000 | loss_data: 0.001038, loss_data_delta: 0.000289, loss_traj: 0.000396, loss_traj_delta: 0.000110, loss_dir: 0.061738, loss_rot: 0.001517, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013499, | best_loss: 0.005880 06 Jul 2025 00:30:23 Epoch 9779/10000 | loss_data: 0.001029, loss_data_delta: 0.000293, loss_traj: 0.000380, loss_traj_delta: 0.000110, loss_dir: 0.069491, loss_rot: 0.001508, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013349, | best_loss: 0.005880 06 Jul 2025 00:30:34 Epoch 9780/10000 | loss_data: 0.000975, loss_data_delta: 0.000288, loss_traj: 0.000359, loss_traj_delta: 0.000108, loss_dir: 0.077210, loss_rot: 0.001425, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000100, loss: 0.012666, | best_loss: 0.005880 06 Jul 2025 00:30:44 Epoch 9781/10000 | loss_data: 0.001037, loss_data_delta: 0.000287, loss_traj: 0.000502, loss_traj_delta: 0.000107, loss_dir: 0.059364, loss_rot: 0.001465, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000898, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.013805, | best_loss: 0.005880 06 Jul 2025 00:30:54 Epoch 9782/10000 | loss_data: 0.001000, loss_data_delta: 0.000286, loss_traj: 0.000393, loss_traj_delta: 0.000106, loss_dir: 0.059871, loss_rot: 0.001457, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000100, loss: 0.013054, | best_loss: 0.005880 06 Jul 2025 00:31:04 Epoch 9783/10000 | loss_data: 0.001005, loss_data_delta: 0.000291, loss_traj: 0.000365, loss_traj_delta: 0.000113, loss_dir: 0.072658, loss_rot: 0.001465, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000773, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000105, loss: 0.013020, | best_loss: 0.005880 06 Jul 2025 00:31:15 Epoch 9784/10000 | loss_data: 0.001011, loss_data_delta: 0.000288, loss_traj: 0.000373, loss_traj_delta: 0.000109, loss_dir: 0.064748, loss_rot: 0.001472, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.013073, | best_loss: 0.005880 06 Jul 2025 00:31:26 Epoch 9785/10000 | loss_data: 0.000977, loss_data_delta: 0.000285, loss_traj: 0.000376, loss_traj_delta: 0.000109, loss_dir: 0.057215, loss_rot: 0.001415, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012731, | best_loss: 0.005880 06 Jul 2025 00:31:37 Epoch 9786/10000 | loss_data: 0.001002, loss_data_delta: 0.000292, loss_traj: 0.000380, loss_traj_delta: 0.000113, loss_dir: 0.069499, loss_rot: 0.001450, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013038, | best_loss: 0.005880 06 Jul 2025 00:31:48 Epoch 9787/10000 | loss_data: 0.001019, loss_data_delta: 0.000287, loss_traj: 0.000380, loss_traj_delta: 0.000107, loss_dir: 0.064756, loss_rot: 0.001489, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.013203, | best_loss: 0.005880 06 Jul 2025 00:31:58 Epoch 9788/10000 | loss_data: 0.001029, loss_data_delta: 0.000295, loss_traj: 0.000397, loss_traj_delta: 0.000114, loss_dir: 0.069441, loss_rot: 0.001490, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000820, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000108, loss: 0.013416, | best_loss: 0.005880 06 Jul 2025 00:32:08 Epoch 9789/10000 | loss_data: 0.000994, loss_data_delta: 0.000288, loss_traj: 0.000372, loss_traj_delta: 0.000111, loss_dir: 0.059076, loss_rot: 0.001449, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012938, | best_loss: 0.005880 06 Jul 2025 00:32:20 Epoch 9790/10000 | loss_data: 0.001018, loss_data_delta: 0.000285, loss_traj: 0.000429, loss_traj_delta: 0.000104, loss_dir: 0.061702, loss_rot: 0.001471, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000823, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.013353, | best_loss: 0.005880 06 Jul 2025 00:32:30 Epoch 9791/10000 | loss_data: 0.000969, loss_data_delta: 0.000281, loss_traj: 0.000327, loss_traj_delta: 0.000101, loss_dir: 0.052788, loss_rot: 0.001429, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000707, loss_geo_xyz_vel: 0.000180, loss_foot_contact: 0.000097, loss: 0.012429, | best_loss: 0.005880 06 Jul 2025 00:32:40 Epoch 9792/10000 | loss_data: 0.001000, loss_data_delta: 0.000288, loss_traj: 0.000388, loss_traj_delta: 0.000113, loss_dir: 0.063599, loss_rot: 0.001456, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013087, | best_loss: 0.005880 06 Jul 2025 00:32:51 Epoch 9793/10000 | loss_data: 0.001009, loss_data_delta: 0.000293, loss_traj: 0.000385, loss_traj_delta: 0.000112, loss_dir: 0.065580, loss_rot: 0.001465, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013146, | best_loss: 0.005880 06 Jul 2025 00:33:02 Epoch 9794/10000 | loss_data: 0.000991, loss_data_delta: 0.000284, loss_traj: 0.000390, loss_traj_delta: 0.000108, loss_dir: 0.069174, loss_rot: 0.001439, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012953, | best_loss: 0.005880 06 Jul 2025 00:33:12 Epoch 9795/10000 | loss_data: 0.001016, loss_data_delta: 0.000288, loss_traj: 0.000388, loss_traj_delta: 0.000107, loss_dir: 0.069553, loss_rot: 0.001480, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000101, loss: 0.013183, | best_loss: 0.005880 06 Jul 2025 00:33:22 Epoch 9796/10000 | loss_data: 0.000991, loss_data_delta: 0.000285, loss_traj: 0.000377, loss_traj_delta: 0.000109, loss_dir: 0.067893, loss_rot: 0.001439, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012890, | best_loss: 0.005880 06 Jul 2025 00:33:34 Epoch 9797/10000 | loss_data: 0.000985, loss_data_delta: 0.000280, loss_traj: 0.000355, loss_traj_delta: 0.000105, loss_dir: 0.063302, loss_rot: 0.001447, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000749, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000100, loss: 0.012748, | best_loss: 0.005880 06 Jul 2025 00:33:44 Epoch 9798/10000 | loss_data: 0.001022, loss_data_delta: 0.000289, loss_traj: 0.000424, loss_traj_delta: 0.000112, loss_dir: 0.070262, loss_rot: 0.001477, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013427, | best_loss: 0.005880 06 Jul 2025 00:33:54 Epoch 9799/10000 | loss_data: 0.000982, loss_data_delta: 0.000285, loss_traj: 0.000348, loss_traj_delta: 0.000104, loss_dir: 0.070533, loss_rot: 0.001439, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012684, | best_loss: 0.005880 06 Jul 2025 00:34:05 Epoch 9800/10000 | loss_data: 0.001011, loss_data_delta: 0.000287, loss_traj: 0.000416, loss_traj_delta: 0.000108, loss_dir: 0.052476, loss_rot: 0.001456, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.013224, | best_loss: 0.005880 06 Jul 2025 00:34:16 Epoch 9801/10000 | loss_data: 0.000997, loss_data_delta: 0.000287, loss_traj: 0.000370, loss_traj_delta: 0.000111, loss_dir: 0.069104, loss_rot: 0.001464, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000760, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012988, | best_loss: 0.005880 06 Jul 2025 00:34:25 Epoch 9802/10000 | loss_data: 0.001008, loss_data_delta: 0.000292, loss_traj: 0.000376, loss_traj_delta: 0.000111, loss_dir: 0.061770, loss_rot: 0.001474, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000774, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000103, loss: 0.013108, | best_loss: 0.005880 06 Jul 2025 00:34:36 Epoch 9803/10000 | loss_data: 0.001015, loss_data_delta: 0.000292, loss_traj: 0.000427, loss_traj_delta: 0.000113, loss_dir: 0.081072, loss_rot: 0.001465, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013393, | best_loss: 0.005880 06 Jul 2025 00:34:46 Epoch 9804/10000 | loss_data: 0.000989, loss_data_delta: 0.000284, loss_traj: 0.000397, loss_traj_delta: 0.000108, loss_dir: 0.070121, loss_rot: 0.001430, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012954, | best_loss: 0.005880 06 Jul 2025 00:34:56 Epoch 9805/10000 | loss_data: 0.001009, loss_data_delta: 0.000290, loss_traj: 0.000401, loss_traj_delta: 0.000116, loss_dir: 0.057910, loss_rot: 0.001458, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000106, loss: 0.013210, | best_loss: 0.005880 06 Jul 2025 00:35:06 Epoch 9806/10000 | loss_data: 0.000981, loss_data_delta: 0.000288, loss_traj: 0.000383, loss_traj_delta: 0.000108, loss_dir: 0.062537, loss_rot: 0.001415, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000778, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012809, | best_loss: 0.005880 06 Jul 2025 00:35:17 Epoch 9807/10000 | loss_data: 0.000988, loss_data_delta: 0.000287, loss_traj: 0.000342, loss_traj_delta: 0.000107, loss_dir: 0.054685, loss_rot: 0.001456, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000733, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012749, | best_loss: 0.005880 06 Jul 2025 00:35:28 Epoch 9808/10000 | loss_data: 0.000985, loss_data_delta: 0.000284, loss_traj: 0.000430, loss_traj_delta: 0.000107, loss_dir: 0.077056, loss_rot: 0.001408, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000808, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.013018, | best_loss: 0.005880 06 Jul 2025 00:35:39 Epoch 9809/10000 | loss_data: 0.001012, loss_data_delta: 0.000286, loss_traj: 0.000382, loss_traj_delta: 0.000107, loss_dir: 0.073498, loss_rot: 0.001482, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.013142, | best_loss: 0.005880 06 Jul 2025 00:35:49 Epoch 9810/10000 | loss_data: 0.000935, loss_data_delta: 0.000277, loss_traj: 0.000299, loss_traj_delta: 0.000103, loss_dir: 0.083600, loss_rot: 0.001382, loss_rot_delta: 0.000425, loss_geo_xyz: 0.000683, loss_geo_xyz_vel: 0.000180, loss_foot_contact: 0.000098, loss: 0.011993, | best_loss: 0.005880 06 Jul 2025 00:36:00 Epoch 9811/10000 | loss_data: 0.001000, loss_data_delta: 0.000287, loss_traj: 0.000405, loss_traj_delta: 0.000112, loss_dir: 0.065456, loss_rot: 0.001445, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013115, | best_loss: 0.005880 06 Jul 2025 00:36:10 Epoch 9812/10000 | loss_data: 0.001016, loss_data_delta: 0.000288, loss_traj: 0.000404, loss_traj_delta: 0.000106, loss_dir: 0.055923, loss_rot: 0.001478, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000799, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.013272, | best_loss: 0.005880 06 Jul 2025 00:36:21 Epoch 9813/10000 | loss_data: 0.001006, loss_data_delta: 0.000288, loss_traj: 0.000373, loss_traj_delta: 0.000108, loss_dir: 0.058549, loss_rot: 0.001474, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013062, | best_loss: 0.005880 06 Jul 2025 00:36:31 Epoch 9814/10000 | loss_data: 0.001026, loss_data_delta: 0.000291, loss_traj: 0.000383, loss_traj_delta: 0.000110, loss_dir: 0.065704, loss_rot: 0.001498, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000105, loss: 0.013316, | best_loss: 0.005880 06 Jul 2025 00:36:42 Epoch 9815/10000 | loss_data: 0.001044, loss_data_delta: 0.000288, loss_traj: 0.000590, loss_traj_delta: 0.000110, loss_dir: 0.057332, loss_rot: 0.001442, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000982, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.014252, | best_loss: 0.005880 06 Jul 2025 00:36:53 Epoch 9816/10000 | loss_data: 0.001024, loss_data_delta: 0.000292, loss_traj: 0.000361, loss_traj_delta: 0.000109, loss_dir: 0.064583, loss_rot: 0.001505, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013199, | best_loss: 0.005880 06 Jul 2025 00:37:04 Epoch 9817/10000 | loss_data: 0.001024, loss_data_delta: 0.000287, loss_traj: 0.000454, loss_traj_delta: 0.000111, loss_dir: 0.064707, loss_rot: 0.001463, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000854, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013530, | best_loss: 0.005880 06 Jul 2025 00:37:14 Epoch 9818/10000 | loss_data: 0.001031, loss_data_delta: 0.000296, loss_traj: 0.000369, loss_traj_delta: 0.000113, loss_dir: 0.071671, loss_rot: 0.001510, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013326, | best_loss: 0.005880 06 Jul 2025 00:37:25 Epoch 9819/10000 | loss_data: 0.001001, loss_data_delta: 0.000291, loss_traj: 0.000371, loss_traj_delta: 0.000109, loss_dir: 0.066179, loss_rot: 0.001463, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000105, loss: 0.013028, | best_loss: 0.005880 06 Jul 2025 00:37:36 Epoch 9820/10000 | loss_data: 0.000996, loss_data_delta: 0.000288, loss_traj: 0.000372, loss_traj_delta: 0.000110, loss_dir: 0.056407, loss_rot: 0.001455, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000767, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012963, | best_loss: 0.005880 06 Jul 2025 00:37:47 Epoch 9821/10000 | loss_data: 0.001005, loss_data_delta: 0.000293, loss_traj: 0.000406, loss_traj_delta: 0.000116, loss_dir: 0.056722, loss_rot: 0.001446, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000810, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000106, loss: 0.013194, | best_loss: 0.005880 06 Jul 2025 00:37:57 Epoch 9822/10000 | loss_data: 0.000957, loss_data_delta: 0.000286, loss_traj: 0.000313, loss_traj_delta: 0.000108, loss_dir: 0.073167, loss_rot: 0.001411, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000699, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012312, | best_loss: 0.005880 06 Jul 2025 00:38:08 Epoch 9823/10000 | loss_data: 0.000981, loss_data_delta: 0.000290, loss_traj: 0.000342, loss_traj_delta: 0.000110, loss_dir: 0.059212, loss_rot: 0.001437, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012688, | best_loss: 0.005880 06 Jul 2025 00:38:18 Epoch 9824/10000 | loss_data: 0.001029, loss_data_delta: 0.000290, loss_traj: 0.000374, loss_traj_delta: 0.000108, loss_dir: 0.067293, loss_rot: 0.001510, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000780, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.013279, | best_loss: 0.005880 06 Jul 2025 00:38:29 Epoch 9825/10000 | loss_data: 0.001005, loss_data_delta: 0.000286, loss_traj: 0.000424, loss_traj_delta: 0.000112, loss_dir: 0.074973, loss_rot: 0.001456, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000811, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013272, | best_loss: 0.005880 06 Jul 2025 00:38:39 Epoch 9826/10000 | loss_data: 0.001010, loss_data_delta: 0.000292, loss_traj: 0.000379, loss_traj_delta: 0.000110, loss_dir: 0.073899, loss_rot: 0.001479, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013150, | best_loss: 0.005880 06 Jul 2025 00:38:50 Epoch 9827/10000 | loss_data: 0.001023, loss_data_delta: 0.000296, loss_traj: 0.000369, loss_traj_delta: 0.000115, loss_dir: 0.057201, loss_rot: 0.001494, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000199, loss_foot_contact: 0.000106, loss: 0.013240, | best_loss: 0.005880 06 Jul 2025 00:39:00 Epoch 9828/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000398, loss_traj_delta: 0.000108, loss_dir: 0.067653, loss_rot: 0.001420, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012907, | best_loss: 0.005880 06 Jul 2025 00:39:11 Epoch 9829/10000 | loss_data: 0.000982, loss_data_delta: 0.000287, loss_traj: 0.000336, loss_traj_delta: 0.000107, loss_dir: 0.055906, loss_rot: 0.001442, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012642, | best_loss: 0.005880 06 Jul 2025 00:39:22 Epoch 9830/10000 | loss_data: 0.000977, loss_data_delta: 0.000288, loss_traj: 0.000336, loss_traj_delta: 0.000108, loss_dir: 0.070875, loss_rot: 0.001434, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000728, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012606, | best_loss: 0.005880 06 Jul 2025 00:39:33 Epoch 9831/10000 | loss_data: 0.000998, loss_data_delta: 0.000287, loss_traj: 0.000365, loss_traj_delta: 0.000108, loss_dir: 0.058210, loss_rot: 0.001464, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012940, | best_loss: 0.005880 06 Jul 2025 00:39:44 Epoch 9832/10000 | loss_data: 0.000996, loss_data_delta: 0.000289, loss_traj: 0.000349, loss_traj_delta: 0.000108, loss_dir: 0.070244, loss_rot: 0.001462, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.012833, | best_loss: 0.005880 06 Jul 2025 00:39:54 Epoch 9833/10000 | loss_data: 0.001012, loss_data_delta: 0.000288, loss_traj: 0.000354, loss_traj_delta: 0.000109, loss_dir: 0.064117, loss_rot: 0.001492, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013051, | best_loss: 0.005880 06 Jul 2025 00:40:04 Epoch 9834/10000 | loss_data: 0.001045, loss_data_delta: 0.000288, loss_traj: 0.000423, loss_traj_delta: 0.000110, loss_dir: 0.070751, loss_rot: 0.001527, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000835, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.013674, | best_loss: 0.005880 06 Jul 2025 00:40:14 Epoch 9835/10000 | loss_data: 0.000949, loss_data_delta: 0.000281, loss_traj: 0.000312, loss_traj_delta: 0.000106, loss_dir: 0.055702, loss_rot: 0.001394, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000699, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012187, | best_loss: 0.005880 06 Jul 2025 00:40:25 Epoch 9836/10000 | loss_data: 0.000990, loss_data_delta: 0.000288, loss_traj: 0.000382, loss_traj_delta: 0.000107, loss_dir: 0.068263, loss_rot: 0.001434, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000101, loss: 0.012879, | best_loss: 0.005880 06 Jul 2025 00:40:35 Epoch 9837/10000 | loss_data: 0.001036, loss_data_delta: 0.000291, loss_traj: 0.000401, loss_traj_delta: 0.000110, loss_dir: 0.084051, loss_rot: 0.001515, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000808, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013489, | best_loss: 0.005880 06 Jul 2025 00:40:46 Epoch 9838/10000 | loss_data: 0.001008, loss_data_delta: 0.000283, loss_traj: 0.000369, loss_traj_delta: 0.000105, loss_dir: 0.069617, loss_rot: 0.001482, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.013038, | best_loss: 0.005880 06 Jul 2025 00:40:57 Epoch 9839/10000 | loss_data: 0.001025, loss_data_delta: 0.000291, loss_traj: 0.000398, loss_traj_delta: 0.000110, loss_dir: 0.055926, loss_rot: 0.001488, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013341, | best_loss: 0.005880 06 Jul 2025 00:41:07 Epoch 9840/10000 | loss_data: 0.000974, loss_data_delta: 0.000284, loss_traj: 0.000349, loss_traj_delta: 0.000106, loss_dir: 0.054756, loss_rot: 0.001428, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012614, | best_loss: 0.005880 06 Jul 2025 00:41:18 Epoch 9841/10000 | loss_data: 0.000981, loss_data_delta: 0.000294, loss_traj: 0.000363, loss_traj_delta: 0.000111, loss_dir: 0.063804, loss_rot: 0.001426, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.012772, | best_loss: 0.005880 06 Jul 2025 00:41:28 Epoch 9842/10000 | loss_data: 0.000999, loss_data_delta: 0.000282, loss_traj: 0.000368, loss_traj_delta: 0.000106, loss_dir: 0.067727, loss_rot: 0.001464, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012944, | best_loss: 0.005880 06 Jul 2025 00:41:39 Epoch 9843/10000 | loss_data: 0.000986, loss_data_delta: 0.000288, loss_traj: 0.000351, loss_traj_delta: 0.000108, loss_dir: 0.053533, loss_rot: 0.001439, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012727, | best_loss: 0.005880 06 Jul 2025 00:41:50 Epoch 9844/10000 | loss_data: 0.000998, loss_data_delta: 0.000290, loss_traj: 0.000345, loss_traj_delta: 0.000107, loss_dir: 0.067063, loss_rot: 0.001461, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000744, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012826, | best_loss: 0.005880 06 Jul 2025 00:42:00 Epoch 9845/10000 | loss_data: 0.000978, loss_data_delta: 0.000283, loss_traj: 0.000359, loss_traj_delta: 0.000107, loss_dir: 0.077799, loss_rot: 0.001429, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000745, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000100, loss: 0.012671, | best_loss: 0.005880 06 Jul 2025 00:42:11 Epoch 9846/10000 | loss_data: 0.001018, loss_data_delta: 0.000290, loss_traj: 0.000470, loss_traj_delta: 0.000106, loss_dir: 0.068744, loss_rot: 0.001454, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000854, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.013530, | best_loss: 0.005880 06 Jul 2025 00:42:21 Epoch 9847/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000355, loss_traj_delta: 0.000110, loss_dir: 0.069506, loss_rot: 0.001438, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000747, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.012759, | best_loss: 0.005880 06 Jul 2025 00:42:32 Epoch 9848/10000 | loss_data: 0.000995, loss_data_delta: 0.000290, loss_traj: 0.000354, loss_traj_delta: 0.000110, loss_dir: 0.077583, loss_rot: 0.001456, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.012853, | best_loss: 0.005880 06 Jul 2025 00:42:42 Epoch 9849/10000 | loss_data: 0.001008, loss_data_delta: 0.000293, loss_traj: 0.000395, loss_traj_delta: 0.000110, loss_dir: 0.079363, loss_rot: 0.001462, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013163, | best_loss: 0.005880 06 Jul 2025 00:42:54 Epoch 9850/10000 | loss_data: 0.001012, loss_data_delta: 0.000292, loss_traj: 0.000391, loss_traj_delta: 0.000113, loss_dir: 0.070347, loss_rot: 0.001470, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000791, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000106, loss: 0.013210, | best_loss: 0.005880 06 Jul 2025 00:43:04 Epoch 9851/10000 | loss_data: 0.000992, loss_data_delta: 0.000290, loss_traj: 0.000351, loss_traj_delta: 0.000108, loss_dir: 0.053558, loss_rot: 0.001446, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012786, | best_loss: 0.005880 06 Jul 2025 00:43:15 Epoch 9852/10000 | loss_data: 0.001033, loss_data_delta: 0.000291, loss_traj: 0.000435, loss_traj_delta: 0.000110, loss_dir: 0.069706, loss_rot: 0.001494, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000840, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.013597, | best_loss: 0.005880 06 Jul 2025 00:43:25 Epoch 9853/10000 | loss_data: 0.000991, loss_data_delta: 0.000286, loss_traj: 0.000421, loss_traj_delta: 0.000112, loss_dir: 0.067556, loss_rot: 0.001421, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000106, loss: 0.013094, | best_loss: 0.005880 06 Jul 2025 00:43:37 Epoch 9854/10000 | loss_data: 0.000953, loss_data_delta: 0.000283, loss_traj: 0.000330, loss_traj_delta: 0.000106, loss_dir: 0.071286, loss_rot: 0.001399, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000711, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.012323, | best_loss: 0.005880 06 Jul 2025 00:43:47 Epoch 9855/10000 | loss_data: 0.000971, loss_data_delta: 0.000280, loss_traj: 0.000402, loss_traj_delta: 0.000104, loss_dir: 0.061463, loss_rot: 0.001402, loss_rot_delta: 0.000431, loss_geo_xyz: 0.000786, loss_geo_xyz_vel: 0.000182, loss_foot_contact: 0.000099, loss: 0.012758, | best_loss: 0.005880 06 Jul 2025 00:43:57 Epoch 9856/10000 | loss_data: 0.000990, loss_data_delta: 0.000288, loss_traj: 0.000366, loss_traj_delta: 0.000110, loss_dir: 0.065595, loss_rot: 0.001449, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012875, | best_loss: 0.005880 06 Jul 2025 00:44:08 Epoch 9857/10000 | loss_data: 0.000990, loss_data_delta: 0.000285, loss_traj: 0.000417, loss_traj_delta: 0.000106, loss_dir: 0.065955, loss_rot: 0.001425, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.013032, | best_loss: 0.005880 06 Jul 2025 00:44:18 Epoch 9858/10000 | loss_data: 0.000965, loss_data_delta: 0.000281, loss_traj: 0.000346, loss_traj_delta: 0.000103, loss_dir: 0.071888, loss_rot: 0.001409, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000730, loss_geo_xyz_vel: 0.000182, loss_foot_contact: 0.000099, loss: 0.012458, | best_loss: 0.005880 06 Jul 2025 00:44:29 Epoch 9859/10000 | loss_data: 0.000968, loss_data_delta: 0.000285, loss_traj: 0.000312, loss_traj_delta: 0.000108, loss_dir: 0.065057, loss_rot: 0.001428, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000702, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012409, | best_loss: 0.005880 06 Jul 2025 00:44:40 Epoch 9860/10000 | loss_data: 0.000953, loss_data_delta: 0.000277, loss_traj: 0.000327, loss_traj_delta: 0.000103, loss_dir: 0.074499, loss_rot: 0.001402, loss_rot_delta: 0.000425, loss_geo_xyz: 0.000707, loss_geo_xyz_vel: 0.000180, loss_foot_contact: 0.000098, loss: 0.012273, | best_loss: 0.005880 06 Jul 2025 00:44:51 Epoch 9861/10000 | loss_data: 0.000998, loss_data_delta: 0.000295, loss_traj: 0.000335, loss_traj_delta: 0.000111, loss_dir: 0.066331, loss_rot: 0.001471, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.012857, | best_loss: 0.005880 06 Jul 2025 00:45:02 Epoch 9862/10000 | loss_data: 0.000984, loss_data_delta: 0.000289, loss_traj: 0.000338, loss_traj_delta: 0.000111, loss_dir: 0.077939, loss_rot: 0.001445, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.012711, | best_loss: 0.005880 06 Jul 2025 00:45:12 Epoch 9863/10000 | loss_data: 0.001022, loss_data_delta: 0.000287, loss_traj: 0.000435, loss_traj_delta: 0.000107, loss_dir: 0.068136, loss_rot: 0.001475, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000103, loss: 0.013449, | best_loss: 0.005880 06 Jul 2025 00:45:22 Epoch 9864/10000 | loss_data: 0.000972, loss_data_delta: 0.000286, loss_traj: 0.000371, loss_traj_delta: 0.000106, loss_dir: 0.062088, loss_rot: 0.001417, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000100, loss: 0.012680, | best_loss: 0.005880 06 Jul 2025 00:45:33 Epoch 9865/10000 | loss_data: 0.001008, loss_data_delta: 0.000288, loss_traj: 0.000378, loss_traj_delta: 0.000109, loss_dir: 0.067316, loss_rot: 0.001466, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000785, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013073, | best_loss: 0.005880 06 Jul 2025 00:45:44 Epoch 9866/10000 | loss_data: 0.000991, loss_data_delta: 0.000288, loss_traj: 0.000357, loss_traj_delta: 0.000108, loss_dir: 0.061481, loss_rot: 0.001448, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012813, | best_loss: 0.005880 06 Jul 2025 00:45:54 Epoch 9867/10000 | loss_data: 0.001003, loss_data_delta: 0.000286, loss_traj: 0.000402, loss_traj_delta: 0.000109, loss_dir: 0.070853, loss_rot: 0.001454, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.013115, | best_loss: 0.005880 06 Jul 2025 00:46:05 Epoch 9868/10000 | loss_data: 0.001008, loss_data_delta: 0.000295, loss_traj: 0.000377, loss_traj_delta: 0.000117, loss_dir: 0.068072, loss_rot: 0.001464, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000783, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000107, loss: 0.013124, | best_loss: 0.005880 06 Jul 2025 00:46:15 Epoch 9869/10000 | loss_data: 0.001028, loss_data_delta: 0.000293, loss_traj: 0.000423, loss_traj_delta: 0.000113, loss_dir: 0.076550, loss_rot: 0.001486, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000821, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.013506, | best_loss: 0.005880 06 Jul 2025 00:46:26 Epoch 9870/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000364, loss_traj_delta: 0.000106, loss_dir: 0.069173, loss_rot: 0.001441, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012793, | best_loss: 0.005880 06 Jul 2025 00:46:37 Epoch 9871/10000 | loss_data: 0.001023, loss_data_delta: 0.000288, loss_traj: 0.000475, loss_traj_delta: 0.000113, loss_dir: 0.069848, loss_rot: 0.001457, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000870, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000104, loss: 0.013626, | best_loss: 0.005880 06 Jul 2025 00:46:47 Epoch 9872/10000 | loss_data: 0.001053, loss_data_delta: 0.000295, loss_traj: 0.000452, loss_traj_delta: 0.000112, loss_dir: 0.060382, loss_rot: 0.001512, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000861, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013835, | best_loss: 0.005880 06 Jul 2025 00:46:58 Epoch 9873/10000 | loss_data: 0.001013, loss_data_delta: 0.000287, loss_traj: 0.000451, loss_traj_delta: 0.000108, loss_dir: 0.066820, loss_rot: 0.001458, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000836, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000104, loss: 0.013452, | best_loss: 0.005880 06 Jul 2025 00:47:08 Epoch 9874/10000 | loss_data: 0.000998, loss_data_delta: 0.000288, loss_traj: 0.000387, loss_traj_delta: 0.000105, loss_dir: 0.053476, loss_rot: 0.001448, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012985, | best_loss: 0.005880 06 Jul 2025 00:47:18 Epoch 9875/10000 | loss_data: 0.001005, loss_data_delta: 0.000291, loss_traj: 0.000351, loss_traj_delta: 0.000108, loss_dir: 0.048835, loss_rot: 0.001484, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012978, | best_loss: 0.005880 06 Jul 2025 00:47:29 Epoch 9876/10000 | loss_data: 0.000991, loss_data_delta: 0.000291, loss_traj: 0.000351, loss_traj_delta: 0.000109, loss_dir: 0.066432, loss_rot: 0.001447, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012790, | best_loss: 0.005880 06 Jul 2025 00:47:40 Epoch 9877/10000 | loss_data: 0.001000, loss_data_delta: 0.000291, loss_traj: 0.000334, loss_traj_delta: 0.000111, loss_dir: 0.058376, loss_rot: 0.001475, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000103, loss: 0.012849, | best_loss: 0.005880 06 Jul 2025 00:47:50 Epoch 9878/10000 | loss_data: 0.001020, loss_data_delta: 0.000291, loss_traj: 0.000366, loss_traj_delta: 0.000110, loss_dir: 0.070923, loss_rot: 0.001499, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013197, | best_loss: 0.005880 06 Jul 2025 00:48:01 Epoch 9879/10000 | loss_data: 0.001017, loss_data_delta: 0.000290, loss_traj: 0.000406, loss_traj_delta: 0.000112, loss_dir: 0.057709, loss_rot: 0.001472, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000805, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013287, | best_loss: 0.005880 06 Jul 2025 00:48:11 Epoch 9880/10000 | loss_data: 0.001010, loss_data_delta: 0.000290, loss_traj: 0.000431, loss_traj_delta: 0.000112, loss_dir: 0.058209, loss_rot: 0.001455, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000824, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013351, | best_loss: 0.005880 06 Jul 2025 00:48:22 Epoch 9881/10000 | loss_data: 0.000997, loss_data_delta: 0.000283, loss_traj: 0.000389, loss_traj_delta: 0.000107, loss_dir: 0.074704, loss_rot: 0.001448, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012998, | best_loss: 0.005880 06 Jul 2025 00:48:32 Epoch 9882/10000 | loss_data: 0.000987, loss_data_delta: 0.000288, loss_traj: 0.000339, loss_traj_delta: 0.000108, loss_dir: 0.084376, loss_rot: 0.001446, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012689, | best_loss: 0.005880 06 Jul 2025 00:48:43 Epoch 9883/10000 | loss_data: 0.000918, loss_data_delta: 0.000274, loss_traj: 0.000308, loss_traj_delta: 0.000104, loss_dir: 0.053621, loss_rot: 0.001342, loss_rot_delta: 0.000420, loss_geo_xyz: 0.000680, loss_geo_xyz_vel: 0.000180, loss_foot_contact: 0.000099, loss: 0.011813, | best_loss: 0.005880 06 Jul 2025 00:48:53 Epoch 9884/10000 | loss_data: 0.000990, loss_data_delta: 0.000287, loss_traj: 0.000383, loss_traj_delta: 0.000113, loss_dir: 0.058400, loss_rot: 0.001436, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000106, loss: 0.012960, | best_loss: 0.005880 06 Jul 2025 00:49:05 Epoch 9885/10000 | loss_data: 0.000996, loss_data_delta: 0.000287, loss_traj: 0.000347, loss_traj_delta: 0.000108, loss_dir: 0.065062, loss_rot: 0.001466, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000739, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012846, | best_loss: 0.005880 06 Jul 2025 00:49:15 Epoch 9886/10000 | loss_data: 0.000994, loss_data_delta: 0.000293, loss_traj: 0.000364, loss_traj_delta: 0.000107, loss_dir: 0.046925, loss_rot: 0.001456, loss_rot_delta: 0.000453, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000100, loss: 0.012891, | best_loss: 0.005880 06 Jul 2025 00:49:25 Epoch 9887/10000 | loss_data: 0.000968, loss_data_delta: 0.000284, loss_traj: 0.000361, loss_traj_delta: 0.000109, loss_dir: 0.052551, loss_rot: 0.001409, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000746, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000101, loss: 0.012593, | best_loss: 0.005880 06 Jul 2025 00:49:36 Epoch 9888/10000 | loss_data: 0.001017, loss_data_delta: 0.000291, loss_traj: 0.000397, loss_traj_delta: 0.000111, loss_dir: 0.060108, loss_rot: 0.001478, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013268, | best_loss: 0.005880 06 Jul 2025 00:49:47 Epoch 9889/10000 | loss_data: 0.000976, loss_data_delta: 0.000280, loss_traj: 0.000404, loss_traj_delta: 0.000106, loss_dir: 0.078496, loss_rot: 0.001407, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000102, loss: 0.012826, | best_loss: 0.005880 06 Jul 2025 00:49:57 Epoch 9890/10000 | loss_data: 0.000982, loss_data_delta: 0.000283, loss_traj: 0.000351, loss_traj_delta: 0.000106, loss_dir: 0.061313, loss_rot: 0.001440, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000742, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012699, | best_loss: 0.005880 06 Jul 2025 00:50:08 Epoch 9891/10000 | loss_data: 0.000982, loss_data_delta: 0.000286, loss_traj: 0.000364, loss_traj_delta: 0.000109, loss_dir: 0.062974, loss_rot: 0.001431, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012757, | best_loss: 0.005880 06 Jul 2025 00:50:19 Epoch 9892/10000 | loss_data: 0.001027, loss_data_delta: 0.000290, loss_traj: 0.000379, loss_traj_delta: 0.000111, loss_dir: 0.055456, loss_rot: 0.001507, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013315, | best_loss: 0.005880 06 Jul 2025 00:50:29 Epoch 9893/10000 | loss_data: 0.000962, loss_data_delta: 0.000285, loss_traj: 0.000340, loss_traj_delta: 0.000108, loss_dir: 0.058900, loss_rot: 0.001396, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000734, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012418, | best_loss: 0.005880 06 Jul 2025 00:50:40 Epoch 9894/10000 | loss_data: 0.000963, loss_data_delta: 0.000283, loss_traj: 0.000341, loss_traj_delta: 0.000105, loss_dir: 0.065712, loss_rot: 0.001414, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000726, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.012472, | best_loss: 0.005880 06 Jul 2025 00:50:50 Epoch 9895/10000 | loss_data: 0.000973, loss_data_delta: 0.000290, loss_traj: 0.000339, loss_traj_delta: 0.000107, loss_dir: 0.066191, loss_rot: 0.001421, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.012544, | best_loss: 0.005880 06 Jul 2025 00:51:00 Epoch 9896/10000 | loss_data: 0.001016, loss_data_delta: 0.000293, loss_traj: 0.000379, loss_traj_delta: 0.000108, loss_dir: 0.055821, loss_rot: 0.001480, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000101, loss: 0.013145, | best_loss: 0.005880 06 Jul 2025 00:51:11 Epoch 9897/10000 | loss_data: 0.000975, loss_data_delta: 0.000288, loss_traj: 0.000350, loss_traj_delta: 0.000110, loss_dir: 0.060103, loss_rot: 0.001427, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.012654, | best_loss: 0.005880 06 Jul 2025 00:51:22 Epoch 9898/10000 | loss_data: 0.001011, loss_data_delta: 0.000293, loss_traj: 0.000368, loss_traj_delta: 0.000107, loss_dir: 0.067460, loss_rot: 0.001481, loss_rot_delta: 0.000452, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000101, loss: 0.013077, | best_loss: 0.005880 06 Jul 2025 00:51:32 Epoch 9899/10000 | loss_data: 0.001007, loss_data_delta: 0.000290, loss_traj: 0.000339, loss_traj_delta: 0.000107, loss_dir: 0.064317, loss_rot: 0.001481, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012899, | best_loss: 0.005880 06 Jul 2025 00:51:42 Epoch 9900/10000 | loss_data: 0.000980, loss_data_delta: 0.000289, loss_traj: 0.000360, loss_traj_delta: 0.000112, loss_dir: 0.062911, loss_rot: 0.001421, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000766, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000103, loss: 0.012717, | best_loss: 0.005880 06 Jul 2025 00:51:53 Epoch 9901/10000 | loss_data: 0.000986, loss_data_delta: 0.000287, loss_traj: 0.000358, loss_traj_delta: 0.000110, loss_dir: 0.065605, loss_rot: 0.001435, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000753, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000104, loss: 0.012769, | best_loss: 0.005880 06 Jul 2025 00:52:04 Epoch 9902/10000 | loss_data: 0.000988, loss_data_delta: 0.000283, loss_traj: 0.000350, loss_traj_delta: 0.000106, loss_dir: 0.065354, loss_rot: 0.001458, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000101, loss: 0.012782, | best_loss: 0.005880 06 Jul 2025 00:52:15 Epoch 9903/10000 | loss_data: 0.001017, loss_data_delta: 0.000293, loss_traj: 0.000392, loss_traj_delta: 0.000107, loss_dir: 0.058209, loss_rot: 0.001481, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000784, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.013220, | best_loss: 0.005880 06 Jul 2025 00:52:25 Epoch 9904/10000 | loss_data: 0.000973, loss_data_delta: 0.000287, loss_traj: 0.000335, loss_traj_delta: 0.000108, loss_dir: 0.077359, loss_rot: 0.001427, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000731, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000103, loss: 0.012571, | best_loss: 0.005880 06 Jul 2025 00:52:35 Epoch 9905/10000 | loss_data: 0.000990, loss_data_delta: 0.000286, loss_traj: 0.000353, loss_traj_delta: 0.000108, loss_dir: 0.054813, loss_rot: 0.001453, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012809, | best_loss: 0.005880 06 Jul 2025 00:52:45 Epoch 9906/10000 | loss_data: 0.001032, loss_data_delta: 0.000289, loss_traj: 0.000415, loss_traj_delta: 0.000110, loss_dir: 0.067427, loss_rot: 0.001496, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000827, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013478, | best_loss: 0.005880 06 Jul 2025 00:52:55 Epoch 9907/10000 | loss_data: 0.000984, loss_data_delta: 0.000286, loss_traj: 0.000352, loss_traj_delta: 0.000109, loss_dir: 0.062993, loss_rot: 0.001439, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000749, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012733, | best_loss: 0.005880 06 Jul 2025 00:53:06 Epoch 9908/10000 | loss_data: 0.000978, loss_data_delta: 0.000290, loss_traj: 0.000345, loss_traj_delta: 0.000108, loss_dir: 0.069939, loss_rot: 0.001438, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012676, | best_loss: 0.005880 06 Jul 2025 00:53:17 Epoch 9909/10000 | loss_data: 0.000995, loss_data_delta: 0.000286, loss_traj: 0.000374, loss_traj_delta: 0.000109, loss_dir: 0.071559, loss_rot: 0.001449, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000771, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.012929, | best_loss: 0.005880 06 Jul 2025 00:53:27 Epoch 9910/10000 | loss_data: 0.000983, loss_data_delta: 0.000288, loss_traj: 0.000353, loss_traj_delta: 0.000108, loss_dir: 0.059155, loss_rot: 0.001443, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012751, | best_loss: 0.005880 06 Jul 2025 00:53:38 Epoch 9911/10000 | loss_data: 0.000994, loss_data_delta: 0.000282, loss_traj: 0.000342, loss_traj_delta: 0.000104, loss_dir: 0.064139, loss_rot: 0.001469, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000099, loss: 0.012781, | best_loss: 0.005880 06 Jul 2025 00:53:48 Epoch 9912/10000 | loss_data: 0.000986, loss_data_delta: 0.000289, loss_traj: 0.000353, loss_traj_delta: 0.000107, loss_dir: 0.069350, loss_rot: 0.001440, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000101, loss: 0.012742, | best_loss: 0.005880 06 Jul 2025 00:53:58 Epoch 9913/10000 | loss_data: 0.000964, loss_data_delta: 0.000281, loss_traj: 0.000340, loss_traj_delta: 0.000104, loss_dir: 0.065360, loss_rot: 0.001419, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000719, loss_geo_xyz_vel: 0.000182, loss_foot_contact: 0.000100, loss: 0.012479, | best_loss: 0.005880 06 Jul 2025 00:54:09 Epoch 9914/10000 | loss_data: 0.000935, loss_data_delta: 0.000282, loss_traj: 0.000288, loss_traj_delta: 0.000102, loss_dir: 0.064063, loss_rot: 0.001381, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000670, loss_geo_xyz_vel: 0.000181, loss_foot_contact: 0.000098, loss: 0.011932, | best_loss: 0.005880 06 Jul 2025 00:54:19 Epoch 9915/10000 | loss_data: 0.000997, loss_data_delta: 0.000286, loss_traj: 0.000352, loss_traj_delta: 0.000107, loss_dir: 0.071142, loss_rot: 0.001464, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012864, | best_loss: 0.005880 06 Jul 2025 00:54:30 Epoch 9916/10000 | loss_data: 0.001015, loss_data_delta: 0.000287, loss_traj: 0.000383, loss_traj_delta: 0.000110, loss_dir: 0.072982, loss_rot: 0.001485, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013197, | best_loss: 0.005880 06 Jul 2025 00:54:41 Epoch 9917/10000 | loss_data: 0.000980, loss_data_delta: 0.000286, loss_traj: 0.000362, loss_traj_delta: 0.000108, loss_dir: 0.071184, loss_rot: 0.001428, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000758, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.012722, | best_loss: 0.005880 06 Jul 2025 00:54:51 Epoch 9918/10000 | loss_data: 0.000970, loss_data_delta: 0.000282, loss_traj: 0.000323, loss_traj_delta: 0.000104, loss_dir: 0.052972, loss_rot: 0.001429, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000711, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000099, loss: 0.012440, | best_loss: 0.005880 06 Jul 2025 00:55:02 Epoch 9919/10000 | loss_data: 0.001005, loss_data_delta: 0.000296, loss_traj: 0.000347, loss_traj_delta: 0.000110, loss_dir: 0.067532, loss_rot: 0.001475, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.012960, | best_loss: 0.005880 06 Jul 2025 00:55:13 Epoch 9920/10000 | loss_data: 0.000961, loss_data_delta: 0.000279, loss_traj: 0.000331, loss_traj_delta: 0.000104, loss_dir: 0.072806, loss_rot: 0.001418, loss_rot_delta: 0.000429, loss_geo_xyz: 0.000711, loss_geo_xyz_vel: 0.000181, loss_foot_contact: 0.000098, loss: 0.012397, | best_loss: 0.005880 06 Jul 2025 00:55:24 Epoch 9921/10000 | loss_data: 0.001015, loss_data_delta: 0.000295, loss_traj: 0.000364, loss_traj_delta: 0.000110, loss_dir: 0.062194, loss_rot: 0.001486, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000103, loss: 0.013113, | best_loss: 0.005880 06 Jul 2025 00:55:34 Epoch 9922/10000 | loss_data: 0.000955, loss_data_delta: 0.000287, loss_traj: 0.000326, loss_traj_delta: 0.000105, loss_dir: 0.057262, loss_rot: 0.001403, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000703, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.012342, | best_loss: 0.005880 06 Jul 2025 00:55:45 Epoch 9923/10000 | loss_data: 0.000967, loss_data_delta: 0.000284, loss_traj: 0.000336, loss_traj_delta: 0.000109, loss_dir: 0.062852, loss_rot: 0.001417, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000721, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012486, | best_loss: 0.005880 06 Jul 2025 00:55:55 Epoch 9924/10000 | loss_data: 0.001018, loss_data_delta: 0.000282, loss_traj: 0.000427, loss_traj_delta: 0.000108, loss_dir: 0.069897, loss_rot: 0.001477, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000815, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.013379, | best_loss: 0.005880 06 Jul 2025 00:56:06 Epoch 9925/10000 | loss_data: 0.000989, loss_data_delta: 0.000285, loss_traj: 0.000388, loss_traj_delta: 0.000106, loss_dir: 0.072609, loss_rot: 0.001433, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000777, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012902, | best_loss: 0.005880 06 Jul 2025 00:56:17 Epoch 9926/10000 | loss_data: 0.001016, loss_data_delta: 0.000291, loss_traj: 0.000372, loss_traj_delta: 0.000109, loss_dir: 0.055428, loss_rot: 0.001484, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013149, | best_loss: 0.005880 06 Jul 2025 00:56:27 Epoch 9927/10000 | loss_data: 0.000961, loss_data_delta: 0.000279, loss_traj: 0.000377, loss_traj_delta: 0.000106, loss_dir: 0.054490, loss_rot: 0.001395, loss_rot_delta: 0.000428, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000101, loss: 0.012578, | best_loss: 0.005880 06 Jul 2025 00:56:37 Epoch 9928/10000 | loss_data: 0.001003, loss_data_delta: 0.000291, loss_traj: 0.000399, loss_traj_delta: 0.000109, loss_dir: 0.062895, loss_rot: 0.001446, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000799, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000104, loss: 0.013105, | best_loss: 0.005880 06 Jul 2025 00:56:48 Epoch 9929/10000 | loss_data: 0.001008, loss_data_delta: 0.000284, loss_traj: 0.000395, loss_traj_delta: 0.000107, loss_dir: 0.066077, loss_rot: 0.001468, loss_rot_delta: 0.000437, loss_geo_xyz: 0.000793, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000102, loss: 0.013144, | best_loss: 0.005880 06 Jul 2025 00:56:58 Epoch 9930/10000 | loss_data: 0.000965, loss_data_delta: 0.000288, loss_traj: 0.000329, loss_traj_delta: 0.000108, loss_dir: 0.067028, loss_rot: 0.001410, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000718, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.012411, | best_loss: 0.005880 06 Jul 2025 00:57:09 Epoch 9931/10000 | loss_data: 0.000986, loss_data_delta: 0.000285, loss_traj: 0.000373, loss_traj_delta: 0.000103, loss_dir: 0.072191, loss_rot: 0.001439, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000099, loss: 0.012802, | best_loss: 0.005880 06 Jul 2025 00:57:19 Epoch 9932/10000 | loss_data: 0.000969, loss_data_delta: 0.000279, loss_traj: 0.000349, loss_traj_delta: 0.000102, loss_dir: 0.062612, loss_rot: 0.001424, loss_rot_delta: 0.000430, loss_geo_xyz: 0.000731, loss_geo_xyz_vel: 0.000180, loss_foot_contact: 0.000098, loss: 0.012537, | best_loss: 0.005880 06 Jul 2025 00:57:29 Epoch 9933/10000 | loss_data: 0.001000, loss_data_delta: 0.000293, loss_traj: 0.000353, loss_traj_delta: 0.000112, loss_dir: 0.056843, loss_rot: 0.001467, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000104, loss: 0.012937, | best_loss: 0.005880 06 Jul 2025 00:57:39 Epoch 9934/10000 | loss_data: 0.001006, loss_data_delta: 0.000289, loss_traj: 0.000414, loss_traj_delta: 0.000108, loss_dir: 0.070823, loss_rot: 0.001453, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000807, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013193, | best_loss: 0.005880 06 Jul 2025 00:57:50 Epoch 9935/10000 | loss_data: 0.001000, loss_data_delta: 0.000293, loss_traj: 0.000343, loss_traj_delta: 0.000110, loss_dir: 0.054349, loss_rot: 0.001471, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000738, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.012886, | best_loss: 0.005880 06 Jul 2025 00:58:00 Epoch 9936/10000 | loss_data: 0.001027, loss_data_delta: 0.000289, loss_traj: 0.000403, loss_traj_delta: 0.000112, loss_dir: 0.075153, loss_rot: 0.001492, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000809, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.013388, | best_loss: 0.005880 06 Jul 2025 00:58:11 Epoch 9937/10000 | loss_data: 0.001025, loss_data_delta: 0.000300, loss_traj: 0.000375, loss_traj_delta: 0.000113, loss_dir: 0.063350, loss_rot: 0.001490, loss_rot_delta: 0.000460, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000198, loss_foot_contact: 0.000106, loss: 0.013268, | best_loss: 0.005880 06 Jul 2025 00:58:21 Epoch 9938/10000 | loss_data: 0.000982, loss_data_delta: 0.000289, loss_traj: 0.000318, loss_traj_delta: 0.000103, loss_dir: 0.080080, loss_rot: 0.001451, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000714, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000099, loss: 0.012550, | best_loss: 0.005880 06 Jul 2025 00:58:31 Epoch 9939/10000 | loss_data: 0.000968, loss_data_delta: 0.000287, loss_traj: 0.000332, loss_traj_delta: 0.000104, loss_dir: 0.061800, loss_rot: 0.001417, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000718, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012451, | best_loss: 0.005880 06 Jul 2025 00:58:41 Epoch 9940/10000 | loss_data: 0.001005, loss_data_delta: 0.000291, loss_traj: 0.000380, loss_traj_delta: 0.000114, loss_dir: 0.065341, loss_rot: 0.001468, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000781, loss_geo_xyz_vel: 0.000195, loss_foot_contact: 0.000105, loss: 0.013122, | best_loss: 0.005880 06 Jul 2025 00:58:52 Epoch 9941/10000 | loss_data: 0.000984, loss_data_delta: 0.000283, loss_traj: 0.000369, loss_traj_delta: 0.000104, loss_dir: 0.067668, loss_rot: 0.001431, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000763, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.012744, | best_loss: 0.005880 06 Jul 2025 00:59:03 Epoch 9942/10000 | loss_data: 0.000976, loss_data_delta: 0.000290, loss_traj: 0.000353, loss_traj_delta: 0.000108, loss_dir: 0.058631, loss_rot: 0.001425, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000747, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012667, | best_loss: 0.005880 06 Jul 2025 00:59:14 Epoch 9943/10000 | loss_data: 0.001022, loss_data_delta: 0.000292, loss_traj: 0.000403, loss_traj_delta: 0.000109, loss_dir: 0.054380, loss_rot: 0.001488, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000804, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000101, loss: 0.013335, | best_loss: 0.005880 06 Jul 2025 00:59:24 Epoch 9944/10000 | loss_data: 0.001000, loss_data_delta: 0.000293, loss_traj: 0.000385, loss_traj_delta: 0.000109, loss_dir: 0.062541, loss_rot: 0.001448, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000779, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.013024, | best_loss: 0.005880 06 Jul 2025 00:59:35 Epoch 9945/10000 | loss_data: 0.000998, loss_data_delta: 0.000288, loss_traj: 0.000344, loss_traj_delta: 0.000110, loss_dir: 0.068978, loss_rot: 0.001471, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000752, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012877, | best_loss: 0.005880 06 Jul 2025 00:59:45 Epoch 9946/10000 | loss_data: 0.000984, loss_data_delta: 0.000284, loss_traj: 0.000343, loss_traj_delta: 0.000108, loss_dir: 0.054012, loss_rot: 0.001442, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000741, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012691, | best_loss: 0.005880 06 Jul 2025 00:59:55 Epoch 9947/10000 | loss_data: 0.000980, loss_data_delta: 0.000288, loss_traj: 0.000359, loss_traj_delta: 0.000108, loss_dir: 0.067135, loss_rot: 0.001429, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000751, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012712, | best_loss: 0.005880 06 Jul 2025 01:00:05 Epoch 9948/10000 | loss_data: 0.000987, loss_data_delta: 0.000291, loss_traj: 0.000332, loss_traj_delta: 0.000110, loss_dir: 0.064510, loss_rot: 0.001449, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000727, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000104, loss: 0.012689, | best_loss: 0.005880 06 Jul 2025 01:00:15 Epoch 9949/10000 | loss_data: 0.000958, loss_data_delta: 0.000285, loss_traj: 0.000346, loss_traj_delta: 0.000110, loss_dir: 0.063077, loss_rot: 0.001395, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000733, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000104, loss: 0.012452, | best_loss: 0.005880 06 Jul 2025 01:00:26 Epoch 9950/10000 | loss_data: 0.000969, loss_data_delta: 0.000290, loss_traj: 0.000328, loss_traj_delta: 0.000107, loss_dir: 0.052845, loss_rot: 0.001414, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000727, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000101, loss: 0.012448, | best_loss: 0.005880 06 Jul 2025 01:00:37 Epoch 9951/10000 | loss_data: 0.000991, loss_data_delta: 0.000288, loss_traj: 0.000428, loss_traj_delta: 0.000107, loss_dir: 0.071519, loss_rot: 0.001414, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000816, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.013068, | best_loss: 0.005880 06 Jul 2025 01:00:48 Epoch 9952/10000 | loss_data: 0.000981, loss_data_delta: 0.000287, loss_traj: 0.000377, loss_traj_delta: 0.000114, loss_dir: 0.075269, loss_rot: 0.001424, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000104, loss: 0.012824, | best_loss: 0.005880 06 Jul 2025 01:00:58 Epoch 9953/10000 | loss_data: 0.000980, loss_data_delta: 0.000288, loss_traj: 0.000376, loss_traj_delta: 0.000109, loss_dir: 0.067331, loss_rot: 0.001414, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000769, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.012750, | best_loss: 0.005880 06 Jul 2025 01:01:09 Epoch 9954/10000 | loss_data: 0.001011, loss_data_delta: 0.000287, loss_traj: 0.000358, loss_traj_delta: 0.000106, loss_dir: 0.058305, loss_rot: 0.001484, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000759, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.013022, | best_loss: 0.005880 06 Jul 2025 01:01:19 Epoch 9955/10000 | loss_data: 0.000968, loss_data_delta: 0.000282, loss_traj: 0.000394, loss_traj_delta: 0.000106, loss_dir: 0.080093, loss_rot: 0.001402, loss_rot_delta: 0.000433, loss_geo_xyz: 0.000768, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012725, | best_loss: 0.005880 06 Jul 2025 01:01:29 Epoch 9956/10000 | loss_data: 0.000972, loss_data_delta: 0.000286, loss_traj: 0.000340, loss_traj_delta: 0.000103, loss_dir: 0.071659, loss_rot: 0.001428, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000724, loss_geo_xyz_vel: 0.000183, loss_foot_contact: 0.000098, loss: 0.012538, | best_loss: 0.005880 06 Jul 2025 01:01:39 Epoch 9957/10000 | loss_data: 0.000972, loss_data_delta: 0.000286, loss_traj: 0.000339, loss_traj_delta: 0.000108, loss_dir: 0.077494, loss_rot: 0.001432, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000723, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000100, loss: 0.012573, | best_loss: 0.005880 06 Jul 2025 01:01:49 Epoch 9958/10000 | loss_data: 0.000989, loss_data_delta: 0.000286, loss_traj: 0.000338, loss_traj_delta: 0.000107, loss_dir: 0.062466, loss_rot: 0.001460, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000732, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012742, | best_loss: 0.005880 06 Jul 2025 01:02:00 Epoch 9959/10000 | loss_data: 0.000969, loss_data_delta: 0.000286, loss_traj: 0.000353, loss_traj_delta: 0.000109, loss_dir: 0.068832, loss_rot: 0.001416, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000735, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000100, loss: 0.012572, | best_loss: 0.005880 06 Jul 2025 01:02:11 Epoch 9960/10000 | loss_data: 0.000985, loss_data_delta: 0.000285, loss_traj: 0.000346, loss_traj_delta: 0.000104, loss_dir: 0.062576, loss_rot: 0.001439, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000740, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000100, loss: 0.012661, | best_loss: 0.005880 06 Jul 2025 01:02:22 Epoch 9961/10000 | loss_data: 0.000997, loss_data_delta: 0.000288, loss_traj: 0.000426, loss_traj_delta: 0.000111, loss_dir: 0.074927, loss_rot: 0.001431, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000814, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000103, loss: 0.013163, | best_loss: 0.005880 06 Jul 2025 01:02:32 Epoch 9962/10000 | loss_data: 0.001037, loss_data_delta: 0.000293, loss_traj: 0.000381, loss_traj_delta: 0.000109, loss_dir: 0.055073, loss_rot: 0.001517, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000795, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013394, | best_loss: 0.005880 06 Jul 2025 01:02:42 Epoch 9963/10000 | loss_data: 0.000999, loss_data_delta: 0.000285, loss_traj: 0.000381, loss_traj_delta: 0.000104, loss_dir: 0.061001, loss_rot: 0.001459, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000765, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000101, loss: 0.012986, | best_loss: 0.005880 06 Jul 2025 01:02:53 Epoch 9964/10000 | loss_data: 0.001003, loss_data_delta: 0.000293, loss_traj: 0.000380, loss_traj_delta: 0.000111, loss_dir: 0.079235, loss_rot: 0.001457, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013045, | best_loss: 0.005880 06 Jul 2025 01:03:04 Epoch 9965/10000 | loss_data: 0.001037, loss_data_delta: 0.000286, loss_traj: 0.000459, loss_traj_delta: 0.000109, loss_dir: 0.074767, loss_rot: 0.001488, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000868, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.013686, | best_loss: 0.005880 06 Jul 2025 01:03:14 Epoch 9966/10000 | loss_data: 0.000979, loss_data_delta: 0.000290, loss_traj: 0.000342, loss_traj_delta: 0.000107, loss_dir: 0.065695, loss_rot: 0.001436, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012651, | best_loss: 0.005880 06 Jul 2025 01:03:24 Epoch 9967/10000 | loss_data: 0.001016, loss_data_delta: 0.000289, loss_traj: 0.000442, loss_traj_delta: 0.000110, loss_dir: 0.062109, loss_rot: 0.001462, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000833, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013437, | best_loss: 0.005880 06 Jul 2025 01:03:34 Epoch 9968/10000 | loss_data: 0.001002, loss_data_delta: 0.000291, loss_traj: 0.000440, loss_traj_delta: 0.000108, loss_dir: 0.058129, loss_rot: 0.001431, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000828, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.013230, | best_loss: 0.005880 06 Jul 2025 01:03:45 Epoch 9969/10000 | loss_data: 0.001034, loss_data_delta: 0.000293, loss_traj: 0.000400, loss_traj_delta: 0.000111, loss_dir: 0.066128, loss_rot: 0.001498, loss_rot_delta: 0.000450, loss_geo_xyz: 0.000822, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000105, loss: 0.013441, | best_loss: 0.005880 06 Jul 2025 01:03:55 Epoch 9970/10000 | loss_data: 0.000979, loss_data_delta: 0.000286, loss_traj: 0.000355, loss_traj_delta: 0.000105, loss_dir: 0.065099, loss_rot: 0.001424, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000748, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000100, loss: 0.012641, | best_loss: 0.005880 06 Jul 2025 01:04:06 Epoch 9971/10000 | loss_data: 0.001008, loss_data_delta: 0.000293, loss_traj: 0.000409, loss_traj_delta: 0.000105, loss_dir: 0.054016, loss_rot: 0.001459, loss_rot_delta: 0.000454, loss_geo_xyz: 0.000797, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000100, loss: 0.013181, | best_loss: 0.005880 06 Jul 2025 01:04:16 Epoch 9972/10000 | loss_data: 0.001008, loss_data_delta: 0.000293, loss_traj: 0.000369, loss_traj_delta: 0.000111, loss_dir: 0.072407, loss_rot: 0.001469, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000776, loss_geo_xyz_vel: 0.000192, loss_foot_contact: 0.000103, loss: 0.013049, | best_loss: 0.005880 06 Jul 2025 01:04:27 Epoch 9973/10000 | loss_data: 0.000972, loss_data_delta: 0.000285, loss_traj: 0.000356, loss_traj_delta: 0.000105, loss_dir: 0.072192, loss_rot: 0.001416, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000184, loss_foot_contact: 0.000100, loss: 0.012579, | best_loss: 0.005880 06 Jul 2025 01:04:37 Epoch 9974/10000 | loss_data: 0.000977, loss_data_delta: 0.000289, loss_traj: 0.000349, loss_traj_delta: 0.000107, loss_dir: 0.054512, loss_rot: 0.001429, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000739, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000102, loss: 0.012652, | best_loss: 0.005880 06 Jul 2025 01:04:47 Epoch 9975/10000 | loss_data: 0.000984, loss_data_delta: 0.000288, loss_traj: 0.000334, loss_traj_delta: 0.000107, loss_dir: 0.062521, loss_rot: 0.001447, loss_rot_delta: 0.000443, loss_geo_xyz: 0.000728, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012663, | best_loss: 0.005880 06 Jul 2025 01:04:57 Epoch 9976/10000 | loss_data: 0.001073, loss_data_delta: 0.000292, loss_traj: 0.000672, loss_traj_delta: 0.000118, loss_dir: 0.056708, loss_rot: 0.001454, loss_rot_delta: 0.000444, loss_geo_xyz: 0.001064, loss_geo_xyz_vel: 0.000200, loss_foot_contact: 0.000108, loss: 0.014901, | best_loss: 0.005880 06 Jul 2025 01:05:08 Epoch 9977/10000 | loss_data: 0.001000, loss_data_delta: 0.000289, loss_traj: 0.000370, loss_traj_delta: 0.000109, loss_dir: 0.073996, loss_rot: 0.001460, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.012975, | best_loss: 0.005880 06 Jul 2025 01:05:18 Epoch 9978/10000 | loss_data: 0.001003, loss_data_delta: 0.000291, loss_traj: 0.000390, loss_traj_delta: 0.000112, loss_dir: 0.044556, loss_rot: 0.001454, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000794, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000105, loss: 0.013105, | best_loss: 0.005880 06 Jul 2025 01:05:29 Epoch 9979/10000 | loss_data: 0.001003, loss_data_delta: 0.000289, loss_traj: 0.000394, loss_traj_delta: 0.000110, loss_dir: 0.065473, loss_rot: 0.001449, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000790, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000103, loss: 0.013070, | best_loss: 0.005880 06 Jul 2025 01:05:40 Epoch 9980/10000 | loss_data: 0.000952, loss_data_delta: 0.000286, loss_traj: 0.000341, loss_traj_delta: 0.000111, loss_dir: 0.071514, loss_rot: 0.001383, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000729, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.012349, | best_loss: 0.005880 06 Jul 2025 01:05:50 Epoch 9981/10000 | loss_data: 0.000996, loss_data_delta: 0.000287, loss_traj: 0.000333, loss_traj_delta: 0.000109, loss_dir: 0.058318, loss_rot: 0.001464, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000737, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000101, loss: 0.012758, | best_loss: 0.005880 06 Jul 2025 01:06:01 Epoch 9982/10000 | loss_data: 0.000995, loss_data_delta: 0.000283, loss_traj: 0.000368, loss_traj_delta: 0.000107, loss_dir: 0.069780, loss_rot: 0.001463, loss_rot_delta: 0.000434, loss_geo_xyz: 0.000755, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012921, | best_loss: 0.005880 06 Jul 2025 01:06:11 Epoch 9983/10000 | loss_data: 0.001037, loss_data_delta: 0.000294, loss_traj: 0.000440, loss_traj_delta: 0.000113, loss_dir: 0.055329, loss_rot: 0.001490, loss_rot_delta: 0.000449, loss_geo_xyz: 0.000842, loss_geo_xyz_vel: 0.000197, loss_foot_contact: 0.000106, loss: 0.013644, | best_loss: 0.005880 06 Jul 2025 01:06:21 Epoch 9984/10000 | loss_data: 0.000983, loss_data_delta: 0.000284, loss_traj: 0.000399, loss_traj_delta: 0.000107, loss_dir: 0.075817, loss_rot: 0.001417, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000788, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.012880, | best_loss: 0.005880 06 Jul 2025 01:06:32 Epoch 9985/10000 | loss_data: 0.001002, loss_data_delta: 0.000287, loss_traj: 0.000413, loss_traj_delta: 0.000106, loss_dir: 0.072415, loss_rot: 0.001447, loss_rot_delta: 0.000441, loss_geo_xyz: 0.000802, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000101, loss: 0.013135, | best_loss: 0.005880 06 Jul 2025 01:06:42 Epoch 9986/10000 | loss_data: 0.001009, loss_data_delta: 0.000291, loss_traj: 0.000382, loss_traj_delta: 0.000110, loss_dir: 0.070154, loss_rot: 0.001469, loss_rot_delta: 0.000446, loss_geo_xyz: 0.000787, loss_geo_xyz_vel: 0.000191, loss_foot_contact: 0.000102, loss: 0.013109, | best_loss: 0.005880 06 Jul 2025 01:06:53 Epoch 9987/10000 | loss_data: 0.001071, loss_data_delta: 0.000292, loss_traj: 0.000573, loss_traj_delta: 0.000123, loss_dir: 0.058952, loss_rot: 0.001497, loss_rot_delta: 0.000442, loss_geo_xyz: 0.000975, loss_geo_xyz_vel: 0.000204, loss_foot_contact: 0.000107, loss: 0.014522, | best_loss: 0.005880 06 Jul 2025 01:07:03 Epoch 9988/10000 | loss_data: 0.001023, loss_data_delta: 0.000291, loss_traj: 0.000409, loss_traj_delta: 0.000109, loss_dir: 0.064308, loss_rot: 0.001481, loss_rot_delta: 0.000448, loss_geo_xyz: 0.000817, loss_geo_xyz_vel: 0.000190, loss_foot_contact: 0.000102, loss: 0.013339, | best_loss: 0.005880 06 Jul 2025 01:07:14 Epoch 9989/10000 | loss_data: 0.000967, loss_data_delta: 0.000282, loss_traj: 0.000345, loss_traj_delta: 0.000107, loss_dir: 0.059567, loss_rot: 0.001414, loss_rot_delta: 0.000432, loss_geo_xyz: 0.000734, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.012510, | best_loss: 0.005880 06 Jul 2025 01:07:25 Epoch 9990/10000 | loss_data: 0.000965, loss_data_delta: 0.000291, loss_traj: 0.000338, loss_traj_delta: 0.000107, loss_dir: 0.054781, loss_rot: 0.001407, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000725, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000102, loss: 0.012470, | best_loss: 0.005880 06 Jul 2025 01:07:35 Epoch 9991/10000 | loss_data: 0.000990, loss_data_delta: 0.000287, loss_traj: 0.000362, loss_traj_delta: 0.000108, loss_dir: 0.075384, loss_rot: 0.001448, loss_rot_delta: 0.000440, loss_geo_xyz: 0.000750, loss_geo_xyz_vel: 0.000188, loss_foot_contact: 0.000102, loss: 0.012837, | best_loss: 0.005880 06 Jul 2025 01:07:45 Epoch 9992/10000 | loss_data: 0.000994, loss_data_delta: 0.000284, loss_traj: 0.000370, loss_traj_delta: 0.000107, loss_dir: 0.053714, loss_rot: 0.001448, loss_rot_delta: 0.000436, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000187, loss_foot_contact: 0.000100, loss: 0.012877, | best_loss: 0.005880 06 Jul 2025 01:07:55 Epoch 9993/10000 | loss_data: 0.001003, loss_data_delta: 0.000286, loss_traj: 0.000446, loss_traj_delta: 0.000109, loss_dir: 0.075939, loss_rot: 0.001435, loss_rot_delta: 0.000439, loss_geo_xyz: 0.000831, loss_geo_xyz_vel: 0.000189, loss_foot_contact: 0.000103, loss: 0.013285, | best_loss: 0.005880 06 Jul 2025 01:08:06 Epoch 9994/10000 | loss_data: 0.001028, loss_data_delta: 0.000296, loss_traj: 0.000365, loss_traj_delta: 0.000110, loss_dir: 0.067747, loss_rot: 0.001504, loss_rot_delta: 0.000455, loss_geo_xyz: 0.000772, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000104, loss: 0.013237, | best_loss: 0.005880 06 Jul 2025 01:08:17 Epoch 9995/10000 | loss_data: 0.000989, loss_data_delta: 0.000290, loss_traj: 0.000396, loss_traj_delta: 0.000111, loss_dir: 0.067587, loss_rot: 0.001425, loss_rot_delta: 0.000444, loss_geo_xyz: 0.000789, loss_geo_xyz_vel: 0.000193, loss_foot_contact: 0.000103, loss: 0.012957, | best_loss: 0.005880 06 Jul 2025 01:08:27 Epoch 9996/10000 | loss_data: 0.001054, loss_data_delta: 0.000293, loss_traj: 0.000544, loss_traj_delta: 0.000114, loss_dir: 0.066207, loss_rot: 0.001476, loss_rot_delta: 0.000447, loss_geo_xyz: 0.000943, loss_geo_xyz_vel: 0.000196, loss_foot_contact: 0.000106, loss: 0.014207, | best_loss: 0.005880 06 Jul 2025 01:08:38 Epoch 9997/10000 | loss_data: 0.001049, loss_data_delta: 0.000294, loss_traj: 0.000357, loss_traj_delta: 0.000111, loss_dir: 0.074945, loss_rot: 0.001552, loss_rot_delta: 0.000451, loss_geo_xyz: 0.000782, loss_geo_xyz_vel: 0.000194, loss_foot_contact: 0.000103, loss: 0.013458, | best_loss: 0.005880 06 Jul 2025 01:08:48 Epoch 9998/10000 | loss_data: 0.000942, loss_data_delta: 0.000283, loss_traj: 0.000328, loss_traj_delta: 0.000105, loss_dir: 0.073588, loss_rot: 0.001379, loss_rot_delta: 0.000435, loss_geo_xyz: 0.000704, loss_geo_xyz_vel: 0.000185, loss_foot_contact: 0.000099, loss: 0.012180, | best_loss: 0.005880 06 Jul 2025 01:08:59 Epoch 9999/10000 | loss_data: 0.000996, loss_data_delta: 0.000289, loss_traj: 0.000352, loss_traj_delta: 0.000105, loss_dir: 0.052080, loss_rot: 0.001461, loss_rot_delta: 0.000445, loss_geo_xyz: 0.000754, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000100, loss: 0.012842, | best_loss: 0.005880 06 Jul 2025 01:09:10 Epoch 10000/10000 | loss_data: 0.001003, loss_data_delta: 0.000285, loss_traj: 0.000471, loss_traj_delta: 0.000106, loss_dir: 0.068996, loss_rot: 0.001424, loss_rot_delta: 0.000438, loss_geo_xyz: 0.000855, loss_geo_xyz_vel: 0.000186, loss_foot_contact: 0.000101, loss: 0.013361, | best_loss: 0.005880 06 Jul 2025 01:09:10 Evaluation... 06 Jul 2025 01:11:43 Saved checkpoint: ./save/mospa/weights_10000.pt 06 Jul 2025 01:11:43 Load checkpoint from ./save/mospa/best.pt, start at epoch 4975, loss: 0.0059 06 Jul 2025 01:11:44 Total training time: 272.3311763127645 mins