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[INFO] Starting server...
[INFO] Listening for agent connections on 127.0.0.1:60000
[INFO] Listening for monitor connections on 127.0.0.1:60001
[INFO] Starting Simulation loop.
[INFO] Starting server... DONE!
[INFO] Running a parallel simulation update loop.
[INFO] New agent connection: TCP('127.0.0.1', 54946).
[INFO] Player TestTeam #1 joined the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 54946) activated.
[INFO] Player TestTeam #1 left the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 54946) removed.
[INFO] New agent connection: TCP('127.0.0.1', 45378).
[INFO] Player TestTeam #1 joined the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 45378) activated.
[INFO] Player TestTeam #1 left the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 45378) removed.
[INFO] New agent connection: TCP('127.0.0.1', 54262).
[INFO] Player TestTeam #1 joined the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 54262) activated.
[INFO] Player TestTeam #1 left the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 54262) removed.
[INFO] New agent connection: TCP('127.0.0.1', 35942).
[INFO] Player TestTeam #1 joined the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 35942) activated.
[INFO] Player TestTeam #1 left the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 35942) removed.
[INFO] New agent connection: TCP('127.0.0.1', 45006).
[INFO] Player TestTeam #1 joined the game.
[INFO] Agent TestTeam #1 @ TCP('127.0.0.1', 45006) activated.
Exception in thread sim_loop:
Traceback (most recent call last):
File "/home/yiranwang/miniconda3/envs/robocup_sim/lib/python3.13/threading.py", line 1044, in _bootstrap_inner
self.run()
~~~~~~~~^^
File "/home/yiranwang/miniconda3/envs/robocup_sim/lib/python3.13/threading.py", line 995, in run
self._target(*self._args, **self._kwargs)
~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/yiranwang/ZJUDancer/rcssservermj/src/rcsssmj/server/server.py", line 239, in _run_simulation
self._parallel_update_loop()
~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/home/yiranwang/ZJUDancer/rcssservermj/src/rcsssmj/server/server.py", line 286, in _parallel_update_loop
self.sim.step(monitor_commands)
~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^
File "/home/yiranwang/ZJUDancer/rcssservermj/src/rcsssmj/sim/simulation.py", line 274, in step
self._pre_step()
~~~~~~~~~~~~~~^^
File "/home/yiranwang/ZJUDancer/rcssservermj/src/rcsssmj/sim/simulation.py", line 290, in _pre_step
obj.pre_step(self._mj_model, self._mj_data)
~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/yiranwang/ZJUDancer/rcssservermj/src/rcsssmj/sim/sim_agent.py", line 189, in pre_step
action.perform(ai)
~~~~~~~~~~~~~~^^^^
File "/home/yiranwang/ZJUDancer/rcssservermj/src/rcsssmj/sim/actions.py", line 119, in perform
ai.ctrl_motor(self.actuator_name, self.q, self.dq, self.kp, self.kd, self.tau)
~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/yiranwang/ZJUDancer/rcssservermj/src/rcsssmj/sim/simulation.py", line 165, in ctrl_motor
actuator_tau_model = self.mj_model.actuator(name + '_tau')
KeyError: "Invalid name 'r-0-1-l_hip_pitch_joint_tau'. Valid names: ['r-0-1-l_ankle_pitch_joint', 'r-0-1-l_ankle_roll_joint', 'r-0-1-l_calf_joint', 'r-0-1-l_elbow_joint', 'r-0-1-l_hip_pitch_joint', 'r-0-1-l_hip_roll_joint', 'r-0-1-l_shoulder_pitch_joint', 'r-0-1-l_shoulder_roll_joint', 'r-0-1-l_thigh_joint', 'r-0-1-l_upper_arm_joint', 'r-0-1-l_wrist_joint', 'r-0-1-r_ankle_pitch_joint', 'r-0-1-r_ankle_roll_joint', 'r-0-1-r_calf_joint', 'r-0-1-r_elbow_joint', 'r-0-1-r_hip_pitch_joint', 'r-0-1-r_hip_roll_joint', 'r-0-1-r_shoulder_pitch_joint', 'r-0-1-r_shoulder_roll_joint', 'r-0-1-r_thigh_joint', 'r-0-1-r_upper_arm_joint', 'r-0-1-r_wrist_joint']"
[INFO] Shutting down Server...
[INFO] Shutdown agent connection listener thread.
[INFO] Shutdown monitor connection listener thread.
[INFO] Disconnected agents.
[INFO] Disconnected monitors.
[INFO] Shutdown simulation.
[INFO] Shutting down server... DONE!