examples/dummy_fmugym.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "225772d6",
   "metadata": {},
   "source": [
    "# Dummy example for gym environment with FMU with HER"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "11deb528",
   "metadata": {},
   "outputs": [],
   "source": [
    "import os, sys\n",
    "import time\n",
    "from collections import OrderedDict\n",
    "\n",
    "import numpy as np\n",
    "from matplotlib import pyplot as plt\n",
    "\n",
    "from fmpy import read_model_description, extract\n",
    "\n",
    "from fmugym import FMUGym, FMUGymConfig, VarSpace, State2Out, TargetValue\n",
    "\n",
    "import gymnasium as gym\n",
    "from stable_baselines3 import SAC, HerReplayBuffer"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "093d19b1",
   "metadata": {},
   "source": [
    "### 2 Implement abstract FMUGym class"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "4ca189da-c534-4e14-8498-06e98b21b8c8",
   "metadata": {},
   "outputs": [],
   "source": [
    "class FMUEnv(FMUGym):\n",
    "    def __init__(self, config):\n",
    "        super().__init__(config)\n",
    "\n",
    "    # Used by step() and reset(), returns any relevant debugging information.\n",
    "    def _get_info(self):\n",
    "        return {'info_time':time.time()}\n",
    "\n",
    "    # Retrieves FMU output values by possibly calling self.fmu_get_fmu_output for handling different FMU versions\n",
    "    # and stores them in the self.observation dictionary. \n",
    "    # It can also add output noise (using self._get_output_noise()) and update the set point \n",
    "    def _get_obs(self):\n",
    "        \n",
    "        self._get_fmu_output()\n",
    "\n",
    "        obs = np.array(list(self.observation.values())).flatten()\n",
    "        \n",
    "        noisy_observation = obs + self._get_output_noise()\n",
    "        \n",
    "        setpoint = self.setpoint_trajectory(self.y_start, self.y_stop, self.time)\n",
    "\n",
    "        obs_dict = OrderedDict([\n",
    "            ('observation', np.array(noisy_observation)),\n",
    "            ('achieved_goal', np.array(noisy_observation)),\n",
    "            ('desired_goal', setpoint.astype(np.float32))\n",
    "        ])\n",
    "        return obs_dict\n",
    "\n",
    "    # Returns input noise for each input component, potentially by sampling from the self.input_noise dictionary.\n",
    "    def _get_input_noise(self):\n",
    "        input_noise = []\n",
    "        for inp_name in self.input_dict:\n",
    "            input_noise.append(self.input_noise[inp_name].sample()[0])\n",
    "        return np.array(input_noise)\n",
    "\n",
    "    # Similar to self._get_input_noise, generates output noise for each output component,\n",
    "    # potentially by sampling from the self.output_noise dictionary.\n",
    "    def _get_output_noise(self):\n",
    "        output_noise = []\n",
    "        for out_name in self.output_dict:\n",
    "            output_noise.append(self.output_noise[out_name].sample()[0])\n",
    "        return np.array(output_noise)\n",
    "\n",
    "    # Returns two booleans indicating first the termination and second truncation status. \n",
    "    def _get_terminated(self):\n",
    "        if self.time > self.stop_time:\n",
    "                self.reset()\n",
    "                return True, False\n",
    "    \n",
    "        for termination in self.terminations:\n",
    "            min_value = self.terminations[termination].low[0]\n",
    "            max_value = self.terminations[termination].high[0]\n",
    "            if self.observation[termination] < min_value or self.observation[termination] > max_value:\n",
    "                self.reset()\n",
    "                print(\"truncated\")\n",
    "                return False, True\n",
    "                    \n",
    "        return False, False\n",
    "\n",
    "    # Constructs the action space from a VarSpace object representing the inputs. \n",
    "    # It can use gymnasium.spaces.Box for continuous action spaces.\n",
    "    def _create_action_space(self, inputs):\n",
    "        lows = []\n",
    "        highs = []\n",
    "        for inp in inputs:\n",
    "            lows.append(inputs[inp].low[0])\n",
    "            highs.append(inputs[inp].high[0])\n",
    "        action_space = gym.spaces.Box(low=np.array(lows), high=np.array(highs), dtype=np.float32)\n",
    "        return action_space\n",
    "\n",
    "    # Constructs the observation space returning it as a gymnasium.spaces.Dict. \n",
    "    # The observation space typically includes observation, achieved_goal, and desired_goal, each created from a VarSpace object.\n",
    "    def _create_observation_space(self, outputs):\n",
    "        lows = []\n",
    "        highs = []\n",
    "        for out in outputs:\n",
    "            lows.append(outputs[out].low[0])\n",
    "            highs.append(outputs[out].high[0])\n",
    "        observation_space = gym.spaces.Dict({\n",
    "            'observation': gym.spaces.Box(low=np.array(lows), high=np.array(highs), dtype=np.float32),\n",
    "            'achieved_goal': gym.spaces.Box(low=np.array(lows), high=np.array(highs), dtype=np.float32),\n",
    "            'desired_goal': gym.spaces.Box(low=np.array(lows), high=np.array(highs), dtype=np.float32)\n",
    "        })\n",
    "        return observation_space\n",
    "\n",
    "    # Random variations to initial system states and dynamic parameters by sampling from self.random_vars_refs \n",
    "    # and propagates to corresponding initial output values.  \n",
    "    # It also allows for direct manipulation and randomization of set point goals using the self.y_stop class variable.\n",
    "    def _noisy_init(self):\n",
    "        # add noise to setpoint goals\n",
    "        for ye in self.y_stop:\n",
    "            self.y_stop[ye] = self.y_stop_range[ye].sample()[0]\n",
    "        \n",
    "        # add noise to initial system state\n",
    "        init_states = {}\n",
    "        for var in self.random_vars_refs:\n",
    "            var_ref = self.random_vars_refs[var][0]\n",
    "            uniform_value = self.random_vars_refs[var][1].sample()[0]\n",
    "            init_states[var_ref] = uniform_value\n",
    "\n",
    "            # domain randomization with noisy initial y_start\n",
    "            if var in self.rand_starts.keys():\n",
    "                input_string = self.rand_starts[var]\n",
    "                self.y_start[input_string] = float(uniform_value)\n",
    "        \n",
    "        return init_states\n",
    "\n",
    "    # Called by self.step() to add noise to action from RL library.\n",
    "    # May be used to execute low-level controller and adapt action space.\n",
    "    def _process_action(self, action):\n",
    "        processed_action = action + self._get_input_noise()\n",
    "        return processed_action\n",
    "\n",
    "    # Determines the set point values at the current time step within the trajectory, called by self._get_obs().\n",
    "    def setpoint_trajectory(self, y_start, y_stop, time):\n",
    "        y = []\n",
    "        for y0, ye in zip(y_start.values(), y_stop.values()):\n",
    "            y.append((ye - y0)/(self.stop_time-self.start_time)*(time-self.start_time) + y0)\n",
    "        return np.array(y)\n",
    "\n",
    "    # Interface between step method of fmugym and compute_reward. adjusts the necessary paramters for reward method of RL library (SKRL, SB3).\n",
    "    def _process_reward(self, obs, acts, info):\n",
    "        achieved_goal = obs[\"achieved_goal\"]\n",
    "        desired_goal = obs[\"desired_goal\"]\n",
    "        reward = self.compute_reward(achieved_goal, desired_goal, info)\n",
    "        return reward\n",
    "\n",
    "    # Computes and returns a scalar reward value from achieved_goal, desired_goal, and possibly further parameters.\n",
    "    def compute_reward(self, achieved_goal, desired_goal, info):\n",
    "        \"\"\"\n",
    "        compute reward for HER\n",
    "            achieved_goal: outputs of FMU\n",
    "            desired_goal: current setpoint of trajectory\n",
    "            info: [NOT USED]\n",
    "        Returns:\n",
    "            float: environment reward\n",
    "        \"\"\"\n",
    "\n",
    "        # Deceptive reward: it is positive (0) only when the goal is achieved\n",
    "        # Here we are using a vectorized version\n",
    "        boundary_accuracy = 0.1\n",
    "        control_error = achieved_goal - desired_goal\n",
    "        if len(control_error) == self.observation_space[\"observation\"].shape[0]:\n",
    "                boundary_violated = False\n",
    "                for err in control_error:\n",
    "                    boundary_violated = boundary_violated or (abs(err)>boundary_accuracy)            \n",
    "                reward = -(boundary_violated.astype(np.float32))\n",
    "                \n",
    "        else:\n",
    "            reward = []\n",
    "            for ctrl_err in control_error:\n",
    "                boundary_violated = False\n",
    "                for err in ctrl_err:\n",
    "                    boundary_violated = boundary_violated or (abs(err)>boundary_accuracy)\n",
    "                reward.append(-(boundary_violated.astype(np.float32)))\n",
    "        \n",
    "        return np.array(reward)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "725804e5-8b5c-4b58-999a-b56efcf6acc1",
   "metadata": {},
   "source": [
    "### 3 Create FMUGymConfig object"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "c3e20963-cfc0-4e45-8d6e-f8df2f1c3ed5",
   "metadata": {},
   "outputs": [],
   "source": [
    "# providing inputs, outputs and their noises with range of values\n",
    "inputs = VarSpace(\"inputs\")\n",
    "inputs.add_var_box(\"input1\", -2.0, 2.0)\n",
    "inputs.add_var_box(\"input2\", -2.0, 2.0)\n",
    "\n",
    "input_noise = VarSpace(\"input_noise\")\n",
    "input_noise.add_var_box(\"input1\", 0.0, 0.0)\n",
    "input_noise.add_var_box(\"input2\", 0.0, 0.0)\n",
    "\n",
    "outputs = VarSpace(\"outputs\")\n",
    "outputs.add_var_box(\"output1\", -1e6, 1e6)\n",
    "outputs.add_var_box(\"output2\", -1e6, 1e6)\n",
    "\n",
    "output_noise = VarSpace(\"output_noise\")\n",
    "output_noise.add_var_box(\"output1\", 0.0, 0.0)\n",
    "output_noise.add_var_box(\"output2\", 0.0, 0.0)\n",
    "\n",
    "# randomized dynamics parameters and their range of values\n",
    "random_vars = VarSpace(\"random_vars\")\n",
    "random_vars.add_var_box(\"firstOrder.k\", 4, 6)\n",
    "random_vars.add_var_box(\"firstOrder1.k\", 4, 6)\n",
    "# randomized initial initial states and their range of values\n",
    "random_vars.add_var_box(\"firstOrder.y_start\", -0.5, 0.5)\n",
    "random_vars.add_var_box(\"firstOrder1.y_start\", -0.5, 0.5)\n",
    "\n",
    "# map state variables to corresponding outputs of Modelica Model\n",
    "set_point_map = State2Out(\"set_point_map\")\n",
    "set_point_map.add_map(\"firstOrder.y_start\", \"output1\")\n",
    "set_point_map.add_map(\"firstOrder1.y_start\", \"output2\")\n",
    "\n",
    "# set point values for the start and stop of the trajectory\n",
    "set_point_nominal_start = TargetValue(\"set_point_nominal_start\")\n",
    "set_point_nominal_start.add_target(\"output1\", 0.0)\n",
    "set_point_nominal_start.add_target(\"output2\", 0.0)\n",
    "\n",
    "set_point_stop = VarSpace(\"set_point_stop\")\n",
    "set_point_stop.add_var_box(\"output1\", 1.0, 2.5)\n",
    "set_point_stop.add_var_box(\"output2\", 1.2, 3.0)\n",
    "\n",
    "# allowed range of output values, if exceeded termination (or rather truncation) of the episode\n",
    "terminations = VarSpace(\"terminations\")\n",
    "terminations.add_var_box(\"output1\", -0.6, 3.0)\n",
    "terminations.add_var_box(\"output2\", -0.6, 3.5)\n",
    "\n",
    "# create FMUGymConfig object from all the above defined parameters\n",
    "config = FMUGymConfig(fmu_path=os.path.abspath('FMUs/dummy_for_FMU_cosim.fmu'),\n",
    "                      start_time=0.0,\n",
    "                      stop_time=10.0,\n",
    "                      sim_step_size=0.01,\n",
    "                      action_step_size=0.01,\n",
    "                      inputs=inputs,\n",
    "                      input_noise=input_noise,\n",
    "                      outputs=outputs,\n",
    "                      output_noise=output_noise,\n",
    "                      random_vars=random_vars,\n",
    "                      set_point_map=set_point_map,\n",
    "                      set_point_nominal_start=set_point_nominal_start,\n",
    "                      set_point_stop=set_point_stop,\n",
    "                      terminations=terminations\n",
    "                     )                        "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "f82741f5-2bd4-45dc-966e-3083f2cb13d9",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "ModelDescription(fmiVersion='2.0', modelName='dummy_for_FMU', coSimulation=CoSimulation(modelIdentifier='testexport_fmu'), modelExchange=None, scheduledExecution=None)\n"
     ]
    }
   ],
   "source": [
    "model_description = read_model_description(config.fmu_path)\n",
    "print(model_description)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "b6fe83cf",
   "metadata": {},
   "source": [
    "### 4 Creation of FMUEnv instance"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "e9baf88f-91cb-481b-9e96-0c6808ca36e2",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n"
     ]
    }
   ],
   "source": [
    "dummyEnv = FMUEnv(config)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "143def4d",
   "metadata": {},
   "source": [
    "### 5 Creation of RL agent from FMUEnv and start training"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "f54f9181",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Using cpu device\n",
      "Wrapping the env with a `Monitor` wrapper\n",
      "Wrapping the env in a DummyVecEnv.\n"
     ]
    }
   ],
   "source": [
    "model = SAC(\n",
    "    \"MultiInputPolicy\",\n",
    "    dummyEnv,\n",
    "    replay_buffer_class=HerReplayBuffer,\n",
    "    replay_buffer_kwargs=dict(\n",
    "        n_sampled_goal=6,\n",
    "        goal_selection_strategy=\"future\",\n",
    "    ),\n",
    "    ent_coef=\"auto_1.0\",\n",
    "    learning_starts = int(2*(config.stop_time - config.start_time)/config.sim_step_size),\n",
    "    gamma=0.99,\n",
    "    verbose=1,\n",
    ")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "86f8ce91",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 250      |\n",
      "|    ep_rew_mean     | -242     |\n",
      "| time/              |          |\n",
      "|    episodes        | 4        |\n",
      "|    fps             | 1398     |\n",
      "|    time_elapsed    | 0        |\n",
      "|    total_timesteps | 1000     |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 207      |\n",
      "|    ep_rew_mean     | -192     |\n",
      "| time/              |          |\n",
      "|    episodes        | 8        |\n",
      "|    fps             | 1318     |\n",
      "|    time_elapsed    | 1        |\n",
      "|    total_timesteps | 1658     |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/kwrede/BuildingEnergy/Shango/fmugym/.venv/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: \u001b[33mWARN: env.compute_reward to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.compute_reward` for environment variables or `env.get_wrapper_attr('compute_reward')` that will search the reminding wrappers.\u001b[0m\n",
      "  logger.warn(\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 178      |\n",
      "|    ep_rew_mean     | -165     |\n",
      "| time/              |          |\n",
      "|    episodes        | 12       |\n",
      "|    fps             | 605      |\n",
      "|    time_elapsed    | 3        |\n",
      "|    total_timesteps | 2135     |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -2       |\n",
      "|    critic_loss     | 0.131    |\n",
      "|    ent_coef        | 0.961    |\n",
      "|    ent_coef_loss   | -0.134   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 134      |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 192      |\n",
      "|    ep_rew_mean     | -179     |\n",
      "| time/              |          |\n",
      "|    episodes        | 16       |\n",
      "|    fps             | 194      |\n",
      "|    time_elapsed    | 15       |\n",
      "|    total_timesteps | 3066     |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -2.33    |\n",
      "|    critic_loss     | 0.0684   |\n",
      "|    ent_coef        | 0.727    |\n",
      "|    ent_coef_loss   | -1.07    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 1065     |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 162      |\n",
      "|    ep_rew_mean     | -151     |\n",
      "| time/              |          |\n",
      "|    episodes        | 20       |\n",
      "|    fps             | 176      |\n",
      "|    time_elapsed    | 18       |\n",
      "|    total_timesteps | 3235     |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -2.34    |\n",
      "|    critic_loss     | 0.0732   |\n",
      "|    ent_coef        | 0.691    |\n",
      "|    ent_coef_loss   | -1.24    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 1234     |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 143      |\n",
      "|    ep_rew_mean     | -132     |\n",
      "| time/              |          |\n",
      "|    episodes        | 24       |\n",
      "|    fps             | 162      |\n",
      "|    time_elapsed    | 21       |\n",
      "|    total_timesteps | 3429     |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -2.23    |\n",
      "|    critic_loss     | 0.0814   |\n",
      "|    ent_coef        | 0.652    |\n",
      "|    ent_coef_loss   | -1.42    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 1428     |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 266      |\n",
      "|    ep_rew_mean     | -160     |\n",
      "| time/              |          |\n",
      "|    episodes        | 28       |\n",
      "|    fps             | 105      |\n",
      "|    time_elapsed    | 70       |\n",
      "|    total_timesteps | 7437     |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -0.502   |\n",
      "|    critic_loss     | 0.167    |\n",
      "|    ent_coef        | 0.224    |\n",
      "|    ent_coef_loss   | -2.26    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 5436     |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 358      |\n",
      "|    ep_rew_mean     | -141     |\n",
      "| time/              |          |\n",
      "|    episodes        | 32       |\n",
      "|    fps             | 94       |\n",
      "|    time_elapsed    | 121      |\n",
      "|    total_timesteps | 11445    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -2.48    |\n",
      "|    critic_loss     | 0.13     |\n",
      "|    ent_coef        | 0.095    |\n",
      "|    ent_coef_loss   | -1.67    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 9444     |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 429      |\n",
      "|    ep_rew_mean     | -126     |\n",
      "| time/              |          |\n",
      "|    episodes        | 36       |\n",
      "|    fps             | 87       |\n",
      "|    time_elapsed    | 176      |\n",
      "|    total_timesteps | 15453    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -7.85    |\n",
      "|    critic_loss     | 0.104    |\n",
      "|    ent_coef        | 0.0638   |\n",
      "|    ent_coef_loss   | 0.131    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13452    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 387      |\n",
      "|    ep_rew_mean     | -114     |\n",
      "| time/              |          |\n",
      "|    episodes        | 40       |\n",
      "|    fps             | 87       |\n",
      "|    time_elapsed    | 176      |\n",
      "|    total_timesteps | 15481    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -7.34    |\n",
      "|    critic_loss     | 0.207    |\n",
      "|    ent_coef        | 0.0639   |\n",
      "|    ent_coef_loss   | -0.562   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13480    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 352      |\n",
      "|    ep_rew_mean     | -104     |\n",
      "| time/              |          |\n",
      "|    episodes        | 44       |\n",
      "|    fps             | 87       |\n",
      "|    time_elapsed    | 177      |\n",
      "|    total_timesteps | 15497    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.1     |\n",
      "|    critic_loss     | 0.122    |\n",
      "|    ent_coef        | 0.0639   |\n",
      "|    ent_coef_loss   | 0.977    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13496    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 323      |\n",
      "|    ep_rew_mean     | -95.5    |\n",
      "| time/              |          |\n",
      "|    episodes        | 48       |\n",
      "|    fps             | 87       |\n",
      "|    time_elapsed    | 178      |\n",
      "|    total_timesteps | 15524    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -7.69    |\n",
      "|    critic_loss     | 0.113    |\n",
      "|    ent_coef        | 0.064    |\n",
      "|    ent_coef_loss   | 0.0203   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13523    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 299      |\n",
      "|    ep_rew_mean     | -88.6    |\n",
      "| time/              |          |\n",
      "|    episodes        | 52       |\n",
      "|    fps             | 86       |\n",
      "|    time_elapsed    | 178      |\n",
      "|    total_timesteps | 15554    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -7.88    |\n",
      "|    critic_loss     | 0.0974   |\n",
      "|    ent_coef        | 0.064    |\n",
      "|    ent_coef_loss   | -0.467   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13553    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 278      |\n",
      "|    ep_rew_mean     | -82.8    |\n",
      "| time/              |          |\n",
      "|    episodes        | 56       |\n",
      "|    fps             | 86       |\n",
      "|    time_elapsed    | 179      |\n",
      "|    total_timesteps | 15587    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -7.79    |\n",
      "|    critic_loss     | 0.0923   |\n",
      "|    ent_coef        | 0.064    |\n",
      "|    ent_coef_loss   | -0.0992  |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13586    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 260      |\n",
      "|    ep_rew_mean     | -77.8    |\n",
      "| time/              |          |\n",
      "|    episodes        | 60       |\n",
      "|    fps             | 86       |\n",
      "|    time_elapsed    | 180      |\n",
      "|    total_timesteps | 15620    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.28    |\n",
      "|    critic_loss     | 0.115    |\n",
      "|    ent_coef        | 0.0639   |\n",
      "|    ent_coef_loss   | -0.0746  |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13619    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 245      |\n",
      "|    ep_rew_mean     | -73.4    |\n",
      "| time/              |          |\n",
      "|    episodes        | 64       |\n",
      "|    fps             | 86       |\n",
      "|    time_elapsed    | 181      |\n",
      "|    total_timesteps | 15660    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.16    |\n",
      "|    critic_loss     | 0.1      |\n",
      "|    ent_coef        | 0.0636   |\n",
      "|    ent_coef_loss   | -0.509   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13659    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 231      |\n",
      "|    ep_rew_mean     | -69.7    |\n",
      "| time/              |          |\n",
      "|    episodes        | 68       |\n",
      "|    fps             | 85       |\n",
      "|    time_elapsed    | 182      |\n",
      "|    total_timesteps | 15706    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.14    |\n",
      "|    critic_loss     | 0.128    |\n",
      "|    ent_coef        | 0.0634   |\n",
      "|    ent_coef_loss   | -0.349   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13705    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 218      |\n",
      "|    ep_rew_mean     | -66      |\n",
      "| time/              |          |\n",
      "|    episodes        | 72       |\n",
      "|    fps             | 85       |\n",
      "|    time_elapsed    | 183      |\n",
      "|    total_timesteps | 15730    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.43    |\n",
      "|    critic_loss     | 0.42     |\n",
      "|    ent_coef        | 0.0633   |\n",
      "|    ent_coef_loss   | -0.476   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13729    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 208      |\n",
      "|    ep_rew_mean     | -63      |\n",
      "| time/              |          |\n",
      "|    episodes        | 76       |\n",
      "|    fps             | 85       |\n",
      "|    time_elapsed    | 184      |\n",
      "|    total_timesteps | 15772    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.25    |\n",
      "|    critic_loss     | 0.145    |\n",
      "|    ent_coef        | 0.0629   |\n",
      "|    ent_coef_loss   | 0.00404  |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13771    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 198      |\n",
      "|    ep_rew_mean     | -60.5    |\n",
      "| time/              |          |\n",
      "|    episodes        | 80       |\n",
      "|    fps             | 85       |\n",
      "|    time_elapsed    | 185      |\n",
      "|    total_timesteps | 15827    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.02    |\n",
      "|    critic_loss     | 0.14     |\n",
      "|    ent_coef        | 0.0623   |\n",
      "|    ent_coef_loss   | -0.4     |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13826    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 189      |\n",
      "|    ep_rew_mean     | -58      |\n",
      "| time/              |          |\n",
      "|    episodes        | 84       |\n",
      "|    fps             | 84       |\n",
      "|    time_elapsed    | 186      |\n",
      "|    total_timesteps | 15874    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.39    |\n",
      "|    critic_loss     | 0.167    |\n",
      "|    ent_coef        | 0.0618   |\n",
      "|    ent_coef_loss   | -0.946   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13873    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 181      |\n",
      "|    ep_rew_mean     | -55.9    |\n",
      "| time/              |          |\n",
      "|    episodes        | 88       |\n",
      "|    fps             | 84       |\n",
      "|    time_elapsed    | 188      |\n",
      "|    total_timesteps | 15947    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -8.47    |\n",
      "|    critic_loss     | 0.158    |\n",
      "|    ent_coef        | 0.0612   |\n",
      "|    ent_coef_loss   | -0.216   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 13946    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 175      |\n",
      "|    ep_rew_mean     | -54.6    |\n",
      "| time/              |          |\n",
      "|    episodes        | 92       |\n",
      "|    fps             | 84       |\n",
      "|    time_elapsed    | 190      |\n",
      "|    total_timesteps | 16069    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -9.42    |\n",
      "|    critic_loss     | 0.115    |\n",
      "|    ent_coef        | 0.0594   |\n",
      "|    ent_coef_loss   | 0.328    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 14068    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 181      |\n",
      "|    ep_rew_mean     | -64.4    |\n",
      "| time/              |          |\n",
      "|    episodes        | 96       |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 208      |\n",
      "|    total_timesteps | 17370    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -9.98    |\n",
      "|    critic_loss     | 0.0916   |\n",
      "|    ent_coef        | 0.0426   |\n",
      "|    ent_coef_loss   | -1.01    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 15369    |\n",
      "---------------------------------\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 177      |\n",
      "|    ep_rew_mean     | -63.2    |\n",
      "| time/              |          |\n",
      "|    episodes        | 100      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 212      |\n",
      "|    total_timesteps | 17680    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -9.5     |\n",
      "|    critic_loss     | 0.0734   |\n",
      "|    ent_coef        | 0.0398   |\n",
      "|    ent_coef_loss   | -0.451   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 15679    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 192      |\n",
      "|    ep_rew_mean     | -55.2    |\n",
      "| time/              |          |\n",
      "|    episodes        | 104      |\n",
      "|    fps             | 81       |\n",
      "|    time_elapsed    | 248      |\n",
      "|    total_timesteps | 20243    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -5.29    |\n",
      "|    critic_loss     | 0.0802   |\n",
      "|    ent_coef        | 0.0283   |\n",
      "|    ent_coef_loss   | 1.19     |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 18242    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 226      |\n",
      "|    ep_rew_mean     | -49.6    |\n",
      "| time/              |          |\n",
      "|    episodes        | 108      |\n",
      "|    fps             | 79       |\n",
      "|    time_elapsed    | 304      |\n",
      "|    total_timesteps | 24251    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -2.97    |\n",
      "|    critic_loss     | 0.123    |\n",
      "|    ent_coef        | 0.0487   |\n",
      "|    ent_coef_loss   | 0.275    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 22250    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 261      |\n",
      "|    ep_rew_mean     | -45.2    |\n",
      "| time/              |          |\n",
      "|    episodes        | 112      |\n",
      "|    fps             | 78       |\n",
      "|    time_elapsed    | 358      |\n",
      "|    total_timesteps | 28259    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -1.97    |\n",
      "|    critic_loss     | 0.061    |\n",
      "|    ent_coef        | 0.0528   |\n",
      "|    ent_coef_loss   | 0.461    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 26258    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 292      |\n",
      "|    ep_rew_mean     | -36.4    |\n",
      "| time/              |          |\n",
      "|    episodes        | 116      |\n",
      "|    fps             | 78       |\n",
      "|    time_elapsed    | 413      |\n",
      "|    total_timesteps | 32267    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -1.79    |\n",
      "|    critic_loss     | 0.0505   |\n",
      "|    ent_coef        | 0.0537   |\n",
      "|    ent_coef_loss   | -1.2     |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 30266    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 330      |\n",
      "|    ep_rew_mean     | -35      |\n",
      "| time/              |          |\n",
      "|    episodes        | 120      |\n",
      "|    fps             | 78       |\n",
      "|    time_elapsed    | 461      |\n",
      "|    total_timesteps | 36275    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 0.453    |\n",
      "|    critic_loss     | 0.0734   |\n",
      "|    ent_coef        | 0.0468   |\n",
      "|    ent_coef_loss   | -0.41    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 34274    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 369      |\n",
      "|    ep_rew_mean     | -33.4    |\n",
      "| time/              |          |\n",
      "|    episodes        | 124      |\n",
      "|    fps             | 79       |\n",
      "|    time_elapsed    | 505      |\n",
      "|    total_timesteps | 40283    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -0.334   |\n",
      "|    critic_loss     | 0.0542   |\n",
      "|    ent_coef        | 0.0495   |\n",
      "|    ent_coef_loss   | -0.89    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 38282    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 369      |\n",
      "|    ep_rew_mean     | -20.3    |\n",
      "| time/              |          |\n",
      "|    episodes        | 128      |\n",
      "|    fps             | 80       |\n",
      "|    time_elapsed    | 550      |\n",
      "|    total_timesteps | 44291    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 2.77     |\n",
      "|    critic_loss     | 0.0493   |\n",
      "|    ent_coef        | 0.0425   |\n",
      "|    ent_coef_loss   | 0.243    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 42290    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 369      |\n",
      "|    ep_rew_mean     | -20      |\n",
      "| time/              |          |\n",
      "|    episodes        | 132      |\n",
      "|    fps             | 81       |\n",
      "|    time_elapsed    | 595      |\n",
      "|    total_timesteps | 48299    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 1.69     |\n",
      "|    critic_loss     | 0.0787   |\n",
      "|    ent_coef        | 0.0616   |\n",
      "|    ent_coef_loss   | -0.0285  |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 46298    |\n",
      "---------------------------------\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 339      |\n",
      "|    ep_rew_mean     | -20      |\n",
      "| time/              |          |\n",
      "|    episodes        | 136      |\n",
      "|    fps             | 81       |\n",
      "|    time_elapsed    | 607      |\n",
      "|    total_timesteps | 49326    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 1.1      |\n",
      "|    critic_loss     | 0.318    |\n",
      "|    ent_coef        | 0.0668   |\n",
      "|    ent_coef_loss   | 0.169    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 47325    |\n",
      "---------------------------------\n",
      "truncated\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 369      |\n",
      "|    ep_rew_mean     | -19.9    |\n",
      "| time/              |          |\n",
      "|    episodes        | 140      |\n",
      "|    fps             | 81       |\n",
      "|    time_elapsed    | 641      |\n",
      "|    total_timesteps | 52337    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | -0.226   |\n",
      "|    critic_loss     | 0.0534   |\n",
      "|    ent_coef        | 0.0455   |\n",
      "|    ent_coef_loss   | -0.311   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 50336    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 408      |\n",
      "|    ep_rew_mean     | -19.8    |\n",
      "| time/              |          |\n",
      "|    episodes        | 144      |\n",
      "|    fps             | 82       |\n",
      "|    time_elapsed    | 686      |\n",
      "|    total_timesteps | 56345    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 2.54     |\n",
      "|    critic_loss     | 0.127    |\n",
      "|    ent_coef        | 0.0318   |\n",
      "|    ent_coef_loss   | 0.146    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 54344    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 448      |\n",
      "|    ep_rew_mean     | -19.6    |\n",
      "| time/              |          |\n",
      "|    episodes        | 148      |\n",
      "|    fps             | 82       |\n",
      "|    time_elapsed    | 730      |\n",
      "|    total_timesteps | 60353    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.06     |\n",
      "|    critic_loss     | 0.0325   |\n",
      "|    ent_coef        | 0.0482   |\n",
      "|    ent_coef_loss   | 0.832    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 58352    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 488      |\n",
      "|    ep_rew_mean     | -19.4    |\n",
      "| time/              |          |\n",
      "|    episodes        | 152      |\n",
      "|    fps             | 82       |\n",
      "|    time_elapsed    | 776      |\n",
      "|    total_timesteps | 64361    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.16     |\n",
      "|    critic_loss     | 0.0239   |\n",
      "|    ent_coef        | 0.0496   |\n",
      "|    ent_coef_loss   | 0.595    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 62360    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 528      |\n",
      "|    ep_rew_mean     | -19.1    |\n",
      "| time/              |          |\n",
      "|    episodes        | 156      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 821      |\n",
      "|    total_timesteps | 68369    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 3.92     |\n",
      "|    critic_loss     | 0.0522   |\n",
      "|    ent_coef        | 0.0495   |\n",
      "|    ent_coef_loss   | -0.359   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 66368    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 568      |\n",
      "|    ep_rew_mean     | -18.9    |\n",
      "| time/              |          |\n",
      "|    episodes        | 160      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 867      |\n",
      "|    total_timesteps | 72377    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.81     |\n",
      "|    critic_loss     | 0.066    |\n",
      "|    ent_coef        | 0.0498   |\n",
      "|    ent_coef_loss   | -0.202   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 70376    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 607      |\n",
      "|    ep_rew_mean     | -18.6    |\n",
      "| time/              |          |\n",
      "|    episodes        | 164      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 913      |\n",
      "|    total_timesteps | 76385    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.84     |\n",
      "|    critic_loss     | 0.0264   |\n",
      "|    ent_coef        | 0.0485   |\n",
      "|    ent_coef_loss   | -0.161   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 74384    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 647      |\n",
      "|    ep_rew_mean     | -18.2    |\n",
      "| time/              |          |\n",
      "|    episodes        | 168      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 960      |\n",
      "|    total_timesteps | 80393    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.71     |\n",
      "|    critic_loss     | 0.0306   |\n",
      "|    ent_coef        | 0.052    |\n",
      "|    ent_coef_loss   | 0.568    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 78392    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 687      |\n",
      "|    ep_rew_mean     | -18.1    |\n",
      "| time/              |          |\n",
      "|    episodes        | 172      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 1007     |\n",
      "|    total_timesteps | 84401    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.89     |\n",
      "|    critic_loss     | 0.026    |\n",
      "|    ent_coef        | 0.0501   |\n",
      "|    ent_coef_loss   | 0.599    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 82400    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 726      |\n",
      "|    ep_rew_mean     | -17.8    |\n",
      "| time/              |          |\n",
      "|    episodes        | 176      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 1053     |\n",
      "|    total_timesteps | 88409    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.83     |\n",
      "|    critic_loss     | 0.0504   |\n",
      "|    ent_coef        | 0.047    |\n",
      "|    ent_coef_loss   | -0.809   |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 86408    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 766      |\n",
      "|    ep_rew_mean     | -17.4    |\n",
      "| time/              |          |\n",
      "|    episodes        | 180      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 1101     |\n",
      "|    total_timesteps | 92417    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 4.76     |\n",
      "|    critic_loss     | 0.023    |\n",
      "|    ent_coef        | 0.0465   |\n",
      "|    ent_coef_loss   | 0.402    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 90416    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 806      |\n",
      "|    ep_rew_mean     | -17.2    |\n",
      "| time/              |          |\n",
      "|    episodes        | 184      |\n",
      "|    fps             | 83       |\n",
      "|    time_elapsed    | 1148     |\n",
      "|    total_timesteps | 96425    |\n",
      "| train/             |          |\n",
      "|    actor_loss      | 3.91     |\n",
      "|    critic_loss     | 0.0295   |\n",
      "|    ent_coef        | 0.0408   |\n",
      "|    ent_coef_loss   | 0.217    |\n",
      "|    learning_rate   | 0.0003   |\n",
      "|    n_updates       | 94424    |\n",
      "---------------------------------\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n",
      "learn duration:  1191.2948949337006\n"
     ]
    }
   ],
   "source": [
    "import time\n",
    "timer_start_time = time.time()\n",
    "model.learn(total_timesteps=1e5)\n",
    "print(\"learn duration: \", time.time() - timer_start_time)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "8c4852fe",
   "metadata": {},
   "outputs": [],
   "source": [
    "model.save(\"trained_agents/sac_agent_dummy_rand\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "59a95826",
   "metadata": {},
   "source": [
    "### ... or loading model"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "db5d4378",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "== CURRENT SYSTEM INFO ==\n",
      "- OS: Linux-6.5.0-41-generic-x86_64-with-glibc2.35 # 41~22.04.2-Ubuntu SMP PREEMPT_DYNAMIC Mon Jun  3 11:32:55 UTC 2\n",
      "- Python: 3.10.12\n",
      "- Stable-Baselines3: 2.3.2\n",
      "- PyTorch: 2.3.1+cu121\n",
      "- GPU Enabled: False\n",
      "- Numpy: 1.26.4\n",
      "- Cloudpickle: 3.0.0\n",
      "- Gymnasium: 0.29.1\n",
      "\n",
      "== SAVED MODEL SYSTEM INFO ==\n",
      "- OS: Linux-6.5.0-35-generic-x86_64-with-glibc2.35 # 35~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue May  7 09:00:52 UTC 2\n",
      "- Python: 3.10.12\n",
      "- Stable-Baselines3: 2.3.2\n",
      "- PyTorch: 2.3.1+cu121\n",
      "- GPU Enabled: False\n",
      "- Numpy: 1.26.4\n",
      "- Cloudpickle: 3.0.0\n",
      "- Gymnasium: 0.29.1\n",
      "\n",
      "Wrapping the env with a `Monitor` wrapper\n",
      "Wrapping the env in a DummyVecEnv.\n"
     ]
    }
   ],
   "source": [
    "#model = SAC.load(\"trained_agents/sac_agent_dummy_rand.zip\", dummyEnv, print_system_info=True)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5615fb30",
   "metadata": {},
   "source": [
    "### 6 Evaluate performance of policy with inference"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "67c66bb6",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "LOG_SOLVER        | info    | CVODE linear multistep method CV_BDF\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order CV_ITER_NEWTON\n",
      "LOG_SOLVER        | info    | CVODE use equidistant time grid YES\n",
      "LOG_SOLVER        | info    | CVODE Using relative error tolerance 1.000000e-06\n",
      "LOG_SOLVER        | info    | CVODE Using dense internal linear solver SUNLinSol_Dense.\n",
      "LOG_SOLVER        | info    | CVODE Use internal dense numeric jacobian method.\n",
      "LOG_SOLVER        | info    | CVODE uses internal root finding method NO\n",
      "LOG_SOLVER        | info    | CVODE maximum absolut step size 0\n",
      "LOG_SOLVER        | info    | CVODE initial step size is set automatically\n",
      "LOG_SOLVER        | info    | CVODE maximum integration order 5\n",
      "LOG_SOLVER        | info    | CVODE maximum number of nonlinear convergence failures permitted during one step 10\n",
      "LOG_SOLVER        | info    | CVODE BDF stability limit detection algorithm OFF\n"
     ]
    }
   ],
   "source": [
    "# resetting the environment and setting random initial and target values\n",
    "observation, info = dummyEnv.reset()\n",
    "# capturing trajectories here\n",
    "obs_array = []\n",
    "act_array = []\n",
    "obs_array.append(observation[\"observation\"])\n",
    "\n",
    "num_steps = int((config.stop_time - config.start_time) / config.sim_step_size)\n",
    "for _ in range(num_steps):\n",
    "    action, _state = model.predict(observation, deterministic=True) \n",
    "    observation, reward, terminated, truncated, info = dummyEnv.step(action)\n",
    "\n",
    "    if terminated or truncated:\n",
    "        observation, info = dummyEnv.reset()\n",
    "    obs_array.append(observation[\"observation\"])\n",
    "    act_array.append(action)\n",
    "\n",
    "obs_array = np.array(obs_array).flatten()\n",
    "obs_array = obs_array.reshape(-1, 2)  \n",
    "act_array = np.array(act_array).flatten()\n",
    "act_array = act_array.reshape(-1, 2) "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "42713211-7a10-4222-88cb-ec8db733f6cd",
   "metadata": {},
   "outputs": [],
   "source": [
    "# storing setpoint trajectory used at inference\n",
    "y1_setpoints = []\n",
    "y2_setpoints = []\n",
    "\n",
    "for t in np.arange(config.start_time, config.stop_time, config.sim_step_size):\n",
    "    y1_setpoints.append(dummyEnv.setpoint_trajectory(dummyEnv.y_start, dummyEnv.y_stop, t)[0])\n",
    "    y2_setpoints.append(dummyEnv.setpoint_trajectory(dummyEnv.y_start, dummyEnv.y_stop, t)[1])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "11c7c11a",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 2 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.subplot(2, 1, 1)\n",
    "plt.plot(obs_array[:, 0], label='y1', color=\"b\")\n",
    "plt.plot(y1_setpoints, label='y1_set', color=\"b\", linestyle='--')\n",
    "plt.plot(obs_array[:, 1], label='y2', color=\"r\")\n",
    "plt.plot(y2_setpoints, label='y2_set', color=\"r\", linestyle='--')\n",
    "plt.legend()\n",
    "\n",
    "plt.subplot(2, 1, 2)\n",
    "plt.plot(act_array[:, 0], label='u1', color=\"b\")\n",
    "plt.plot(act_array[:, 1], label='u2', color=\"r\")\n",
    "plt.legend()\n",
    "\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "4872f6f5",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "514ba3ba",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.12"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}