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runs/bigym2-stack-blocks-i00-standard-realtime--99jxcbv.json

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+{"slug":"bigym2-stack-blocks-i00-standard-realtime--99jxcbv","task":"bigym2-stack-blocks-i00-standard-realtime","bench":"bigym2","mode":"standard-realtime","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"graded_by_live":1,"replays":0,"live_rule":1,"live_verdict_error":0,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"instance_mismatch":0,"n_actions":7475,"sim_steps":7475,"calls":1245,"rows":2482,"resets":0,"reset_budget":0,"sim_startups":1,"elapsed_s":1107.6,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":149.489,"max_lag_s":0.0103,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":0,"late_steps":0,"requests_refused":1,"request_busy_s":2.702,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.12,"peak_processes":9,"peak_disk_gb":0.891,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1179,"tokens":{"in":2555303,"cached":2478464,"out":38293,"usd":5.16},"task_text":"# bigym2 stack-blocks — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree G1 humanoid robot with two-finger grippers (BiGym 2.0, MuJoCo) **as if it were real\nhardware**: the simulator runs in a service you cannot open, and you reach it only through a client. Like real hardware,\nit does not wait for you: once the episode is running, the robot moves in real time while you think. NVIDIA's GR00T\nwhole-body controller, a learned policy that runs inside every control step, drives the legs and waist and keeps the\nrobot balanced: you command where it walks, how high its pelvis is, how far its torso leans forward, its arm joints and its grippers.\n**Task:** Move the blocks to the other table and stack them on the green pad.\n\nAt the start the three blocks lie on the table in front of you (about 0.5 m away, 10° to your left, 0.72 m above the floor; about 0.6 m away, 27° to your left, 0.72 m above the floor; about 0.5 m away, 13° to your right, 0.72 m above the floor); the green pad is on a second table beyond it, about 1.4 m away, straight ahead, 0.70 m above the floor. (Distances are from your pelvis along the floor, directions from the way you face,\nheights above the floor; measured on this scene.)\n\n## Rules (real-robot rules)\n- **Time does not stop.** The episode starts paused, on a fixed starting state, the robot standing still. Its clock starts at your first `submit` (or `get_obs(seconds=s)`) and from then on the robot runs at 50 Hz in real time, one control step every 0.02 s of wall-clock time, whether or not you send anything, until the episode ends. Between your commands it executes what you planned, then holds your last command with zero walking and turning velocity (it stands still where it is); nothing pauses for you, not your thinking, not your tool calls.\n- **You are far too slow to steer it turn by turn.** One turn of yours takes seconds. Drive it with a program: a controller of your own (Python in your container, with numpy and the client) that runs a loop, reads the robot and sends commands, started in the background (`setsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null &`: `setsid` matters, a plain `nohup ... &` is killed when your shell command returns) so that your session is free while it runs.\n- **One episode, no reset.** `spec()[\"budget\"][\"reset\"]` is authoritative: it is 0 here, so the one episode is the run.\n- **No privileged state, no score.** You see what the robot's three cameras see (RGB, 84×84: `head`, `left_wrist`, `right_wrist`) and its own proprioception (below). Not where any object is now (only the start sentence above), not the success check: the service judges the episode and only tells you that it ended and why (`meta[\"done\"]`, `meta[\"reason\"]`). `spec()` gives the robot's facts: the action slots and their bounds, each camera's field of view and its pose at the start.\n- There is nothing to hand in: the service records every control \n… (8,639 characters left out) …\nsitive): 25 values; then their velocities (`*_vel`, per second) in the same order; then `left_gripper_state` and `right_gripper_state` (0 open .. 1 closed); then the pelvis pose again as the base controller tracks it (`pelvis_x`, `pelvis_y`, `pelvis_z`, `pelvis_yaw`). This is BiGym's own low-dimensional observation, the one its learned policies receive.\n\n## External material\nYou may install packages you need (pip, apt), and you may read anything installed in your container, the simulator's and this benchmark's own source code included. Please solve the task yourself: do not search the web for, or download, a ready-made solution to it, such as published or reference solutions, recorded demonstrations, or policies trained for it. This is an honour rule; trials are reviewed. The network reaches your model's API and the package registries (PyPI, Debian / Ubuntu archives) only.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 3600 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","replay":"bigym2-stack-blocks-i00-standard-realtime--99jxcbv/replay.mp4","replay_last":"bigym2-stack-blocks-i00-standard-realtime--99jxcbv/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the robot geometry and camera views while the episode is paused, then build a controller that handles reaching, transport, and stacking in real time.","calls":[{"kind":"shell","label":"ls -la /app && sed -n '1,260p' /opt/tools/rcb_client.py","code":"ls -la /app && sed -n '1,260p' /opt/tools/rcb_client.py"}],"out":{"text":"total 12\ndrwxr-xr-x 3 root root 4096 Oct 15 01:35 .\ndrwxr-xr-x 1 root root 4096 Oct 18 06:17 ..\ndrwxr-xr-x 2 root root 4096 Oct 15 01:35 output\n\"\"\"eai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\nPYTHONPATH).\n\n    from rcb_client import Robot, EpisodeOver\n    r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nTIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\nget_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\nspec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\nplan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\nthe last target is held. Whatever you do in between -- think, print, run a model -- the robot keeps executing.\n\nCalls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n    r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                             (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                             units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n                \n… (9,931 characters left out) …\nepth: bool = False) -> Result:\n        return self._post(\"/reset\", {\"cameras\": _names(cameras), \"include_depth\": bool(include_depth)}, [], timeout=900)\n\n    def _post(self, path: str, meta: dict, parts: list, timeout: float) -> Result:\n        body = rcb1.encode(meta, parts)\n        if len(body) > MAX_BODY:                     # the service would close the connection on it unread\n            raise ValueError(f\"{path}: {len(body)} bytes, over the protocol's {MAX_BODY}: send fewer rows\")\n        r = requests.post(self.base + path, data=body, headers={\"Content-Type\": \"application/x-rcb1\"},\n                          timeout=(5, timeout))\n        if r.headers.get(\"Content-Type\", \"\").startswith(\"application/x-rcb1\") and r.status_code == 200:\n            return Result(*rcb1.decode(r.content))\n        try:\n            err = r.json()\n        except ValueError:\n            err = {\"error\": r.text[:300]}\n        msg = f\"{r.status_code} {path}: {err.get('error')}\" + (f\" ({err['detail']})\" if err.get(\"detail\") else \"\")\n        if r.status_code == 409:\n            raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\n                              + (f\"; resets_left {err['resets_left']}\" if \"resets_left\" in err else \"\"))\n        if r.status_code in (400, 413):\n            raise ValueError(msg)\n        raise RuntimeError(msg)\n\n\ndef _names(cameras) -> list[str] | None:\n    return None if cameras is None else [cameras] if isinstance(cameras, str) else list(cameras)\n","exit":[0],"pics":[]},"tok":{"in":13852,"cached":8320,"out":87,"think":0,"usd":0.068},"sim":{"submit":0,"reset":0}},{"id":7,"t":5.5,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport json\nr=Robot(); s=r.spec();open('/app/output/spec.json','w').write(json.dumps(s,indent=2));print(json.dumps(s,indent=2));o=r.get_obs();o.save('/app/output/initial'); print(o.meta)\nPY"}],"out":{"text":"{\n  \"protocol\": \"eai-standard/2.3\",\n  \"control_dt\": 0.02,\n  \"max_control_steps\": 8750,\n  \"max_chunk_s\": 10.0,\n  \"max_watch_s\": 30.0,\n  \"max_video_fps\": 30,\n  \"max_frames_per_call\": 3000,\n  \"proprio_layout\": [\n    \"waist_yaw_joint_pos\",\n    \"waist_roll_joint_pos\",\n    \"waist_pitch_joint_pos\",\n    \"left_shoulder_pitch_joint_pos\",\n    \"left_shoulder_roll_joint_pos\",\n    \"left_shoulder_yaw_joint_pos\",\n    \"left_elbow_joint_pos\",\n    \"left_wrist_roll_joint_pos\",\n    \"left_wrist_pitch_joint_pos\",\n    \"left_wrist_yaw_joint_pos\",\n    \"left_dex1_finger_joint_1_pos\",\n    \"left_dex1_finger_joint_2_pos\",\n    \"right_shoulder_pitch_joint_pos\",\n    \"right_shoulder_roll_joint_pos\",\n    \"right_shoulder_yaw_joint_pos\",\n    \"right_elbow_joint_pos\",\n    \"right_wrist_roll_joint_pos\",\n    \"right_wrist_pitch_joint_pos\",\n    \"right_wrist_yaw_joint_pos\",\n    \"right_dex1_finger_joint_1_pos\",\n    \"right_dex1_finger_joint_2_pos\",\n    \"pelvis_x_pos\",\n    \"pelvis_y_pos\",\n    \"pelvis_z_pos\",\n    \"pelvis_rz_pos\",\n    \"waist_yaw_joint_vel\",\n    \"waist_roll_joint_vel\",\n    \"waist_pitch_joint_vel\",\n    \"left_shoulder_pitch_joint_vel\",\n    \"left_shoulder_roll_joint_vel\",\n    \"left_shoulder_yaw_joint_vel\",\n    \"left_elbow_joint_vel\",\n    \"left_wrist_roll_joint_vel\",\n    \"left_wrist_pitch_joint_vel\",\n    \"left_wrist_yaw_joint_vel\",\n    \"left_dex1_finger_joint_1_vel\",\n    \"left_dex1_finger_joint_2_vel\",\n    \"right_shoulder_pitch_joint_vel\",\n    \"right_shoulder_roll_joint_vel\",\n    \"right_shoulder_yaw_joint_vel\",\n \n… (17,227 characters left out) …\ner_state', 'right_gripper_state', 'pelvis_x', 'pelvis_y', 'pelvis_z', 'pelvis_yaw'], 'now': [0.0006931065581738949, -0.008607914671301842, 0.052924711257219315, 0.018007270991802216, -0.0012927815550938249, 0.00012124567729188129, 0.027592025697231293, 0.00015754812920931727, 0.038240522146224976, 0.00010931242286460474, -0.0022025585640221834, -0.002197445137426257, 0.017962340265512466, 0.0016481225611642003, 8.877052459865808e-05, 0.027593016624450684, -0.00012106383655918762, 0.03824184834957123, 7.304122118512169e-05, -0.0022016149014234543, -0.002198386238887906, 0.10886213183403015, -0.002792837331071496, 0.7466566562652588, 0.0006359267863444984, 0.0001791202084859833, 0.00037348014302551746, -0.008617452345788479, -0.001960956258699298, 0.00012753819464705884, 0.00013187374861445278, -0.0005554772214964032, 2.359979816901614e-06, -9.256009798264131e-05, 5.625517951557413e-05, -6.8564463617803995e-06, 6.558841505466262e-06, -0.002018118277192116, 6.310629396466538e-05, -1.204328964377055e-05, -0.0005174006801098585, 3.3117773909907555e-06, -0.00010383006883785129, 4.789714239450404e-06, 4.181198619335191e-06, -3.7377849366748706e-06, 0.009970681741833687, 0.0006600090418942273, 0.001078908215276897, -0.00031071907142177224, 0.6000000238418579, 0.6000000238418579, 0.10886213183403015, -0.002792837331071496, 0.7466566562652588, 0.0006359267863444984]}, 'running': False, 'planned_steps': 0, 'lag_s': 0.0, 'obs_id': 1, 'seconds': 0.0, 'control_steps_watch': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":17279,"cached":13696,"out":104,"think":0,"usd":0.0547},"sim":{"submit":0,"reset":0}},{"id":8,"t":10.5,"say":"","calls":[{"kind":"shell","label":"cams=['head','left_wrist','right_wrist']; out=Image.new('RGB',(756,252))","code":"python - <<'PY'\nfrom PIL import Image\ncams=['head','left_wrist','right_wrist']; out=Image.new('RGB',(756,252))\nfor i,c in enumerate(cams):out.paste(Image.open('/app/output/initial/last/'+c+'.jpg').resize((252,252)),(252*i,0))\nout.save('/app/output/initial.png')\nPY"},{"kind":"look","label":"initial.png","code":"/app/output/initial.png"}],"out":{"text":"","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s008_0.jpg"]},"tok":{"in":25010,"cached":17152,"out":132,"think":0,"usd":0.1023},"sim":{"submit":0,"reset":0}},{"id":9,"t":15.6,"say":"","calls":[{"kind":"shell","label":"ls -la /opt && find / -iname '*g1*xml' -o -iname '*bigym*' 2>/dev/null | head -50","code":"ls -la /opt && find / -iname '*g1*xml' -o -iname '*bigym*' 2>/dev/null | head -50"}],"out":{"text":"total 16\ndrwxr-xr-x 1 root root 4096 Oct 15 01:35 .\ndrwxr-xr-x 1 root root 4096 Oct 18 06:17 ..\ndrwxr-xr-x 1 root root 4096 Oct 18 06:18 tools\n/usr/share/mime/application/x-sg1000-rom.xml\n","exit":[0],"pics":[]},"tok":{"in":25429,"cached":24832,"out":88,"think":26,"usd":0.0352},"sim":{"submit":0,"reset":0}},{"id":10,"t":33.3,"say":"The initial views show all three blocks clearly. I’m using the supplied joint geometry to build inverse kinematics and camera-based position estimates, so the controller can correct for base drift during each grasp.","calls":[{"kind":"shell","label":"print(scipy.__version__,cv2.__version__)","code":"python - <<'PY'\nimport scipy,cv2\nprint(scipy.__version__,cv2.__version__)\nPY\ncat /run/rcb-limits/usage.json"}],"out":{"text":"Traceback (most recent call last):\n  File \"<stdin>\", line 1, in <module>\nModuleNotFoundError: No module named 'cv2'\n{\n \"t\": 1792304308.63,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.046,\n \"processes\": 7,\n \"disk_gb\": 0.822,\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 0.0,\n  \"max_memory_gb\": 8.0,\n  \"max_processes\": 512,\n  \"max_disk_gb\": 20.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null,\n \"elapsed_s\": 155.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3445.0,\n \"deadline_utc\": \"2026-10-18T07:15:53Z\"\n}","exit":[0],"pics":[]},"tok":{"in":25656,"cached":25216,"out":630,"think":516,"usd":0.0611},"sim":{"submit":0,"reset":0}},{"id":11,"t":37.7,"say":"","calls":[{"kind":"shell","label":"pip install opencv-python-headless -q","code":"pip install opencv-python-headless -q"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":26613,"cached":25600,"out":79,"think":35,"usd":0.0397},"sim":{"submit":0,"reset":0}},{"id":12,"t":70.9,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:44953,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\ntext(await tools.exec_command({cmd:\"python - <<'PY'\\nimport numpy as np,json\\nfrom scipy.spatial.transform import Rotation as R\\ns=json.load(open('/app/output/spec.json'));p=json.load(open('/app/output/initial/meta.json'))['proprio']['now']\\nfor c in s['cameras']:\\n m=s['cameras'][c]['mount'];t=s['cameras'][c]['pose_t0']; a=np.array([m['forward'],m['right'],m['up']]).T;b=np.array([t['forward'],t['right'],t['up']]).T\\n print(c, R.from_matrix(b@a.T).as_rotvec())\\nPY\",\"max_output_tokens\":2000}));\n"},{"kind":"shell","label":"s=json.load(open('/app/output/spec.json'));p=json.load(open('/app/output/initial/meta.json'))['proprio']['now'","code":"python - <<'PY'\nimport numpy as np,json\nfrom scipy.spatial.transform import Rotation as R\ns=json.load(open('/app/output/spec.json'));p=json.load(open('/app/output/initial/meta.json'))['proprio']['now']\nfor c in s['cameras']:\n m=s['cameras'][c]['mount'];t=s['cameras'][c]['pose_t0']; a=np.array([m['forward'],m['right'],m['up']]).T;b=np.array([t['forward'],t['right'],t['up']]).T\n print(c, R.from_matrix(b@a.T).as_rotvec())\nPY"}],"out":{"text":"WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.\n\n[notice] A new release of pip is available: 25.0.1 -> 26.2.1\n[notice] To update, run: pip install --upgrade pip\n\nhead [-0.00574648  0.04577756  0.00053743]\nleft_wrist [-0.00691456  0.12899006  0.0052679 ]\nright_wrist [-0.00421914  0.12888088 -0.00425823]\n","exit":[0,0],"pics":[]},"tok":{"in":26749,"cached":26496,"out":1232,"think":1034,"usd":0.0906},"sim":{"submit":0,"reset":0}},{"id":13,"t":117.1,"say":"","calls":[{"kind":"shell","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\n\"\"\"Real-time, camera/proprioception-only controller for the recorded episode.\"\"\"\nimport os, json, time, math, traceback\nfrom pathlib import Path\nimport numpy as np\nfrom scipy.optimize import least_squares\nfrom scipy.spatial.transform import Rotation\nimport cv2\nfrom rcb_client import Robot, EpisodeOver\nOUT=Path('/app/output')\nS=json.load(open(OUT/'spec.json'))\nP0=np.array(json.load(open(OUT/'initial/meta.json'))['proprio']['now'])\nLAY=S['proprio_layout']; ACT=S['action_types']['whole_body']\n\ndef rot(axis,q):\n    a=np.asarray(axis,float);a=a/np.linalg.norm(a)\n    K=np.array([[0,-a[2],a[1]],[a[2],0,-a[0]],[-a[1],a[0],0]])\n    return np.eye(3)+np.sin(q)*K+(1-np.cos(q))*(K@K)\ndef rz(q):return rot([0,0,1],q)\ndef ry(q):return rot([0,1,0],q)\ndef wrap(q):return (q+np.pi)%(2*np.pi)-np.pi\n\nclass Kinematics:\n    def __init__(self):\n        self.chains={}\n        for side in ['left','right']:\n            names=ACT['layout'][5:12] if side=='left' else ACT['layout'][12:19]\n            self.chains[side]=[(np.array(S['joints'][n]['axis']),np.array(S['joints'][n]['position_m'])) for n in names]\n        self.waists=[(np.array(S['joints'][n]['axis']),np.array(S['joints'][n]['position_m'])) for n in LAY[:3] if False]\n        self.waists=[(np.array(S['joints'][n[:-4]]['axis']),np.array(S['joints'][n[:-4]]['position_m'])) for n in LAY[:3]]\n        # Calibrate the unobserved neutral pelvis tilt using the provided initial head pose.\n        h=S['cameras']['head'];m=h['mount'];t=h['pose_t0']\n        C0=np.array([t['forward'],t['right'],t['up']]).T\n        Cm=np.array([m['forward'],m['right'],m['up']]).T\n        W,_=self.chain(self.waists,P0[:3])\n        self.base_correction=rz(-P0[24])@C0@np.linalg.inv(Cm)@W.T\n        self.cam_local={}\n        for cam,c in S['cameras'].items():\n            T,x=self.link(P0,cam)\n            pose=c['pose_t0'];world=np.array(pose['position_m'])+np.array([P0[21],P0[22],0])\n            C=rz(P0[24])@np.array([pose['forward'],pose['right'],pose['up']]).T\n            self.cam_local[cam]=(T.T@(world-x),T.T@C)\n    def chain(self,chain,q):\n        R=np.eye(3);t=np.zeros(3)\n        for (a,p),v in zip(chain,q):\n            A=rot(a,v);t=t+R@(p-A@p);R=R@A\n        return R,t\n    def base(self,p):return rz(p[24])@self.base_correction,np.array(p[21:24])\n    def link(self,p,cam):\n        B,b=self.base(p);W,w=self.chain(self.waists,p[:3])\n        if cam=='head':return B@W,b+B@(w+W@np.array([-.004,0,.044]))\n        side=cam.split('_')[0];st=3 if side=='left' else 12\n        A,a=self.chain(self.chains[side],p[st:st+7]);zero=self.chains[side][-1][1]\n        return B@W@A,b+B@(w+W@(a+A@zero))\n    def camera(self,p,cam):\n        R,t=self.link(p,cam);v,C=self.cam_local[cam]\n        return t+R@v,R@C\n    def hand(self,p,side,q=None):\n        pp=p.copy()\n        if q is not None:pp[3 if side=='left' else 12:(3 if side=='left' else 12)+7]=q\n        R,t=self.link(pp,side+'_wrist')\n        return t+R@np.array(S['grippers'][side]['position_m']),R\n    def ik(self,p,side,target,orientation,q0=None):\n        st=3 if side=='left' else 12;ac=5 if side=='left' else 12\n        if q0 is None:q0=p[st:st+7].copy()\n        lo=np.array(ACT['lower'][ac:ac+7])+.001; hi=np.array(ACT['upper'][ac:ac+7])-.001\n        def residual(q):\n            h,R=self.hand(p,side,q)\n            e=Rotation.from_matrix(orientation.T@R).as_rotvec()\n            return np.r_[(h-target)*10,e*.8,(q-q0)*.015]\n        opt=least_squares(residual,np.clip(q0,lo,hi),bounds=(lo,hi),max_nfev=45,ftol=.0001,xtol=.0001,gtol=.0001)\n        return opt.x,float(np.linalg.norm(self.hand(p,side,opt.x)[0]-target))\n\nK=Kinematics()\n\ndef red_mask(im):\n    a=im.astype(float);return ((a[:,:,0]>65)&(a[:,:,0]>a[:,:,1]*1.6+15)&(a[:,:,0]>a[:,:,2]*1.5+15)).astype('uint8')\ndef components(mask):\n    n,lab,stats,cents=cv2.connectedComponentsWithStats(mask)\n    return [(cents[i],stats[i],lab==i) for i in range(1,n) if stats[i,4]>=4]\ndef ray(p,cam,uv):\n    x,C=K.camera(p,cam);f=42/np.tan(np.pi/6)\n    d=C@np.array([1,(uv[0]-41.5)/f,-(uv[1]-41.5)/f]);return x,d/np.linalg.norm(d)\ndef project(p,cam,points):\n    x,C=K.camera(p,cam);local=(np.array(points)-x)@C\n    return np.c_[41.5+72.746*local[...,1]/local[...,0],41.5-72.746*local[...,2]/local[...,0]]\ndef detect_plane(p,images,z=.725):\n    detections=[]\n    for cam,im in images.items():\n        for uv,stat,mask in components(red_mask(im)):\n            x,d=ray(p,cam,uv)\n            if d[2]<-.05:\n                v=x+(z-x[2])/d[2]*d\n                detections.append(dict(cam=cam,uv=uv.tolist(),pos=v.tolist(),area=int(stat[4])))\n    return detections\n\nif __name__=='__main__':\n    print('Controller prepared; use --run to start the single episode.',flush=True)\nPY\npython /app/output/gen.py"}],"out":{"text":"Controller prepared; use --run to start the single episode.\n","exit":[0],"pics":[]},"tok":{"in":28259,"cached":26624,"out":1940,"think":216,"usd":0.14},"sim":{"submit":0,"reset":0}},{"id":14,"t":124.1,"say":"","calls":[{"kind":"robot","label":"for h in [.74,.68,.62]:","code":"PYTHONPATH=/app/output:/opt/tools python - <<'PY'\nfrom gen import *\nr=Robot();o=r.get_obs();np.savez(OUT/'initial.npz',**o.last);print(detect_plane(P0,o.last,.725))\nfor h in [.74,.68,.62]:\n for pitch in [0,.2,.35]:\n  p=P0.copy();p[23]=h;p[2]=pitch\n  for ang in [0,.5,1.57]:\n   t=np.array([.60,.085,.725]);q,e=K.ik(p,'left',t,ry(ang));print('height,pitch,angle',h,pitch,ang,'err',round(e,4),'q',np.round(q,2))\nPY"}],"out":{"text":"[{'cam': 'head', 'uv': [7.3604651162790695, 23.96511627906977], 'pos': [0.6093837746151411, 0.2550495752901947, 0.725], 'area': 86}, {'cam': 'head', 'uv': [56.46835443037975, 24.645569620253166], 'pos': [0.6055087202983072, -0.11568012888445059, 0.7249999999999999], 'area': 79}, {'cam': 'head', 'uv': [29.733333333333334, 27.4], 'pos': [0.5781940241107684, 0.08390274790822462, 0.7250000000000001], 'area': 75}, {'cam': 'left_wrist', 'uv': [6.901360544217687, 21.367346938775512], 'pos': [0.6246382532300936, 0.2512777956488106, 0.725], 'area': 294}, {'cam': 'left_wrist', 'uv': [57.54430379746835, 27.810126582278482], 'pos': [0.595617900459473, 0.1044412040775611, 0.725], 'area': 79}, {'cam': 'left_wrist', 'uv': [74.75132275132275, 24.523809523809526], 'pos': [0.6118682100586343, 0.05285567532513173, 0.725], 'area': 189}, {'cam': 'right_wrist', 'uv': [28.745406824146983, 25.22047244094488], 'pos': [0.6093701093774484, -0.11701750202355918, 0.725], 'area': 381}]\nheight,pitch,angle 0.74 0 0 err 0.0567 q [-0.87 -0.05  0.45  1.4   0.3  -0.16  0.05]\nheight,pitch,angle 0.74 0 0.5 err 0.0529 q [-0.94 -0.03  0.4   1.4   0.2   0.05  0.06]\nheight,pitch,angle 0.74 0 1.57 err 0.0629 q [-1.09 -0.    0.56  1.4   0.25  0.47  0.06]\nheight,pitch,angle 0.74 0.2 0 err 0.0217 q [-0.96 -0.06  0.65  1.41  0.5  -0.4   0.08]\nheight,pitch,angle 0.74 0.2 0.5 err 0.0087 q [-1.08 -0.04  0.61  1.4   0.39 -0.05  0.1 ]\nheight,pitch,angle 0.74 0.2 1.57 err 0.0311 q [-1.33  0.04  0.65  1.39  0.28  0.69  0.1 ]\nhei\n… (334 characters left out) …\n -0.23  0.07]\nheight,pitch,angle 0.68 0 0.5 err 0.0229 q [-1.06 -0.04  0.64  1.4   0.41  0.09  0.07]\nheight,pitch,angle 0.68 0 1.57 err 0.0433 q [-1.23  0.04  0.44  1.4   0.08  0.64  0.1 ]\nheight,pitch,angle 0.68 0.2 0 err 0.0044 q [-0.96 -0.06  0.44  1.39  0.33 -0.59  0.15]\nheight,pitch,angle 0.68 0.2 0.5 err 0.0 q [-0.88 -0.04  0.11  0.65 -0.04  0.5   0.19]\nheight,pitch,angle 0.68 0.2 1.57 err 0.0211 q [-1.51  0.09  0.74  1.39  0.31  0.93  0.15]\nheight,pitch,angle 0.68 0.35 0 err 0.0001 q [-0.74 -0.05  0.04  0.77  0.07 -0.39  0.2 ]\nheight,pitch,angle 0.68 0.35 0.5 err 0.0 q [-0.81 -0.06  0.08  0.18 -0.01  0.76  0.2 ]\nheight,pitch,angle 0.68 0.35 1.57 err 0.0116 q [-1.71  0.16  0.68  1.39  0.16  1.16  0.25]\nheight,pitch,angle 0.62 0 0 err 0.0092 q [-1.   -0.06  0.55  1.39  0.39 -0.34  0.11]\nheight,pitch,angle 0.62 0 0.5 err 0.001 q [-1.2   0.01  0.27  1.36  0.    0.28  0.16]\nheight,pitch,angle 0.62 0 1.57 err 0.0333 q [-1.39  0.09  0.41  1.4  -0.01  0.82  0.15]\nheight,pitch,angle 0.62 0.2 0 err 0.0 q [-0.74 -0.05  0.04  0.65  0.04 -0.13  0.19]\nheight,pitch,angle 0.62 0.2 0.5 err 0.0 q [-0.93 -0.05  0.13  0.3  -0.04  0.89  0.21]\nheight,pitch,angle 0.62 0.2 1.57 err 0.0175 q [-1.67  0.16  0.6   1.39  0.08  1.12  0.24]\nheight,pitch,angle 0.62 0.35 0 err 0.0 q [-0.66 -0.07  0.02  0.19  0.09  0.1   0.18]\nheight,pitch,angle 0.62 0.35 0.5 err 0.0 q [-0.94 -0.08  0.12 -0.09  0.01  1.13  0.21]\nheight,pitch,angle 0.62 0.35 1.57 err 0.0103 q [-1.88  0.21  0.81  1.39  0.16  1.34  0.38]\n","exit":[0],"pics":[]},"tok":{"in":30266,"cached":28160,"out":238,"think":37,"usd":0.0611},"sim":{"submit":0,"reset":0}},{"id":15,"t":138.6,"say":"","calls":[{"kind":"shell","label":"im=np.load('/app/output/initial.npz')['head'];Image.fromarray(im).resize((840,840),Image.Resampling.NEAREST).s","code":"python - <<'PY'\nfrom PIL import Image\nimport numpy as np\nim=np.load('/app/output/initial.npz')['head'];Image.fromarray(im).resize((840,840),Image.Resampling.NEAREST).save('/app/output/headbig.png')\nPY"},{"kind":"look","label":"headbig.png","code":"/app/output/headbig.png"}],"out":{"text":"","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s015_0.jpg"]},"tok":{"in":32555,"cached":30208,"out":353,"think":252,"usd":0.0713},"sim":{"submit":0,"reset":0}},{"id":16,"t":143.5,"say":"","calls":[{"kind":"shell","label":"for uv in [[42,52],[0,0],[84,0],[42,0]]:","code":"PYTHONPATH=/app/output:/opt/tools python - <<'PY'\nfrom gen import *\nfor uv in [[42,52],[0,0],[84,0],[42,0]]:\n x,d=ray(P0,'head',uv);print(uv,x+(.7-x[2])/d[2]*d)\nprint('hands',K.hand(P0,'left')[0],K.hand(P0,'right')[0]);print(K.base_correction)\nPY"}],"out":{"text":"[42, 52] [ 0.39760074 -0.00653145  0.7       ]\n[0, 0] [0.93345868 0.40782323 0.7       ]\n[84, 0] [ 0.94298387 -0.42681646  0.7       ]\n[42, 0] [ 0.93819461 -0.00716017  0.7       ]\nhands [0.45741053 0.14760674 0.80184449] [ 0.45762723 -0.15267016  0.80357706]\n[[ 9.99963017e-01  5.84706724e-04 -7.18493265e-03]\n [-6.33254308e-04  1.00001490e+00 -2.87666467e-03]\n [ 7.10230066e-03  2.87974818e-03  9.99931789e-01]]\n","exit":[0],"pics":[]},"tok":{"in":33841,"cached":32512,"out":168,"think":37,"usd":0.0542},"sim":{"submit":0,"reset":0}},{"id":17,"t":180.0,"say":"The reach calculations favor a shallow squat and a modest forward lean, with the grippers approaching the blocks from the side. I’m also adding visual checks for grasping and release, and a route around the source table.","calls":[{"kind":"shell","label":"im=np.load(OUT/'initial.npz')['head']","code":"PYTHONPATH=/app/output:/opt/tools python - <<'PY'\nfrom gen import *\nim=np.load(OUT/'initial.npz')['head']\nfor uv,stat,mask in components(red_mask(im)):\n for th in [150,200,220,240]:\n  m=mask&(im[:,:,0]>th);v,u=np.nonzero(m);xx,d=ray(P0,'head',[u.mean(),v.mean()]);p=xx+(.75-xx[2])/d[2]*d\n  print('mask',uv,'th',th,'pix',len(u),'center',np.round(p,4))\nPY"}],"out":{"text":"mask [ 7.36046512 23.96511628] th 150 pix 44 center [0.6037 0.2525 0.75  ]\nmask [ 7.36046512 23.96511628] th 200 pix 37 center [0.6079 0.2531 0.75  ]\nmask [ 7.36046512 23.96511628] th 220 pix 35 center [0.608  0.2545 0.75  ]\nmask [ 7.36046512 23.96511628] th 240 pix 28 center [0.6068 0.2522 0.75  ]\nmask [56.46835443 24.64556962] th 150 pix 46 center [ 0.6003 -0.1143  0.75  ]\nmask [56.46835443 24.64556962] th 200 pix 39 center [ 0.6038 -0.1154  0.75  ]\nmask [56.46835443 24.64556962] th 220 pix 38 center [ 0.6042 -0.116   0.75  ]\nmask [56.46835443 24.64556962] th 240 pix 28 center [ 0.6015 -0.1129  0.75  ]\nmask [29.73333333 27.4       ] th 150 pix 50 center [0.5715 0.0813 0.75  ]\nmask [29.73333333 27.4       ] th 200 pix 41 center [0.5773 0.0833 0.75  ]\nmask [29.73333333 27.4       ] th 220 pix 39 center [0.5779 0.0847 0.75  ]\nmask [29.73333333 27.4       ] th 240 pix 29 center [0.5791 0.0816 0.75  ]\n","exit":[0],"pics":[]},"tok":{"in":34311,"cached":33664,"out":1254,"think":1034,"usd":0.1028},"sim":{"submit":0,"reset":0}},{"id":18,"t":303.9,"say":"","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json","code":"cat /run/rcb-limits/usage.json"}],"out":{"text":"{\n \"t\": 1792304578.64,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.049,\n \"processes\": 7,\n \"disk_gb\": 0.883,\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 0.0,\n  \"max_memory_gb\": 8.0,\n  \"max_processes\": 512,\n  \"max_disk_gb\": 20.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null,\n \"elapsed_s\": 425.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3175.0,\n \"deadline_utc\": \"2026-10-18T07:15:53Z\"\n}","exit":[0],"pics":[]},"tok":{"in":36095,"cached":34176,"out":3954,"think":3915,"usd":0.2511},"sim":{"submit":0,"reset":0}},{"id":19,"t":310.1,"say":"","calls":[{"kind":"shell","label":"pip index versions bigym 2>/dev/null && pip index versions unitree-mujoco 2>/dev/null","code":"pip index versions bigym 2>/dev/null && pip index versions unitree-mujoco 2>/dev/null"}],"out":{"text":"","exit":[1],"pics":[]},"tok":{"in":40336,"cached":35968,"out":184,"think":125,"usd":0.0888},"sim":{"submit":0,"reset":0}},{"id":20,"t":318.3,"say":"","calls":[{"kind":"shell","label":"im=np.load('/app/output/initial.npz')['right_wrist'];Image.fromarray(im).resize((840,840),Image.Resampling.NEA","code":"python - <<'PY'\nfrom PIL import Image\nimport numpy as np\nim=np.load('/app/output/initial.npz')['right_wrist'];Image.fromarray(im).resize((840,840),Image.Resampling.NEAREST).save('/app/output/wristbig.png')\nPY"},{"kind":"look","label":"wristbig.png","code":"/app/output/wristbig.png"}],"out":{"text":"","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s020_0.jpg"]},"tok":{"in":40576,"cached":40192,"out":244,"think":139,"usd":0.0562},"sim":{"submit":0,"reset":0}},{"id":21,"t":351.2,"say":"","calls":[{"kind":"shell","label":"writes fit_initial.py","code":"cat > /app/output/fit_initial.py <<'PY'\nfrom gen import *\nfrom scipy.optimize import differential_evolution, minimize\nims=dict(np.load(OUT/'initial.npz')); scale=4\ncorners=np.array([[x,y,z] for x in [-.5,.5] for y in [-.5,.5] for z in [-.5,.5]])\ndef render_cube(params,cam,top=False):\n x,y,z,d,yaw=params\n pts=corners*d@rz(yaw).T+np.array([x,y,z])\n if top:pts=pts[corners[:,2]>0]\n pp=project(P0,cam,pts)\n hull=cv2.convexHull(np.round((pp+.5)*scale).astype('int32'))\n out=np.zeros((84*scale,84*scale),np.uint8);cv2.fillConvexPoly(out,hull,255)\n return out.reshape(84,scale,84,scale).mean((1,3))/255\n\ndef fit(pos,cams):\n masks={};valids={};tops={}\n for cam in cams:\n  im=ims[cam].astype(float);u,v=project(P0,cam,[pos])[0]\n  roi=np.zeros((84,84));roi[max(0,int(v)-22):min(84,int(v)+23),max(0,int(u)-22):min(84,int(u)+23)]=1\n  if cam=='head':roi[:]=0;roi[max(0,int(v)-8):min(84,int(v)+9),max(0,int(u)-8):min(84,int(u)+9)]=1\n  # Opaque robot fingers are black or white. Exclude them from background constraints.\n  valid=roi*((im.max(2)>105)&((im.max(2)<210)|(im[:,:,0]>im[:,:,1]*1.5)))\n  masks[cam]=np.clip((im[:,:,0]-np.maximum(im[:,:,1],im[:,:,2]))/95,0,1)*roi\n  valids[cam]=valid\n def fun(p):\n  return sum(np.sum((render_cube(p,c)-masks[c])**2*valids[c])/(8 if c=='head' else 30) for c in cams)\n bounds=[(pos[0]-.025,pos[0]+.025),(pos[1]-.025,pos[1]+.025),(.71,.74),(.04,.065),(-.6,.6)]\n res=differential_evolution(fun,bounds,popsize=12,maxiter=130,tol=.0005,workers=1,polish=False,seed=3)\n print(cams,res.x,'loss',res.fun,flush=True)\n return res.x\nif __name__=='__main__':\n out=[]\n for p,c in [([.604,-.115,.725],['head','right_wrist']),([.578,.084,.725],['head','left_wrist']),([.608,.254,.725],['head','left_wrist'])]:out.append(fit(p,c))\n np.save(OUT/'blocks_initial.npy',out)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/fit_initial.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":41751,"cached":40448,"out":1256,"think":516,"usd":0.1163},"sim":{"submit":0,"reset":0}},{"id":22,"t":363.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:66661,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\n"}],"out":{"text":"['head', 'right_wrist'] [ 0.60577046 -0.11294557  0.72401536  0.05077287  0.11462723] loss 0.2901874711449677\n","exit":[],"pics":[]},"tok":{"in":43066,"cached":41472,"out":370,"think":328,"usd":0.0759},"sim":{"submit":0,"reset":0}},{"id":23,"t":439.9,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:66661,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\n"}],"out":{"text":"['head', 'left_wrist'] [0.57859667 0.08298019 0.7265036  0.04927107 0.09193047] loss 1.62736072757964\n['head', 'left_wrist'] [ 0.61198526  0.25446856  0.72437806  0.05020118 -0.19715292] loss 1.5680282995729455\n","exit":[0],"pics":[]},"tok":{"in":43546,"cached":42880,"out":2112,"think":2070,"usd":0.1551},"sim":{"submit":0,"reset":0}},{"id":24,"t":521.9,"say":"","calls":[{"kind":"robot","label":"class Controller:","code":"cat >> /app/output/gen.py <<'PY'\n\nclass Controller:\n    def __init__(self):\n        self.r=Robot();self.res=self.r.get_obs();self.p=np.array(self.res.meta['proprio']['now'])\n        self.images=self.res.last;self.image_p=self.p.copy();self.last_image_t=0\n        self.cmd=np.array([0,0,.74,0,0]+[0]*14+[.6,.6],float)\n        self.bias={'left':np.zeros(7),'right':np.zeros(7)}\n        self.qsolve={'left':self.p[3:10].copy(),'right':self.p[12:19].copy()}\n        self.height=.74;self.pitch=0.;self.grip={'left':.6,'right':.6}\n        self.targets={side:K.hand(self.p,side)[0] for side in ['left','right']}\n        self.orient={side:rz(self.p[24]) for side in ['left','right']}\n        self.relative=False;self.walk_goal=None;self.held={};self.state='ready';self.start=None;self.n=0\n        self.log=open(OUT/'telemetry.jsonl','w',buffering=1)\n        self.blocks=np.load(OUT/'blocks_initial.npy')\n        self.block_size=float(np.median(self.blocks[:,3]));self.table_z=.7\n        self.pad=np.array([P0[21]+1.4,P0[22],.705]);self.stack_count=0\n        self.last_snapshot=-10;self.relative_targets={'left':np.array([.28,.21,.96]),'right':np.array([.28,-.21,.96])}\n    def set_state(self,s):\n        self.state=s;print(f'{self.elapsed():6.2f} {s}',flush=True)\n        self.snapshot(s)\n    def elapsed(self):return 0. if self.start is None else time.monotonic()-self.start\n    def snapshot(self,label=''):\n        if not self.images:return\n        out=np.zeros((252,756,3),np.uint8)\n        for i,c in enumerate(['head','left_wrist','right_wrist']):\n            if c in self.images:out[:,252*i:252*(i+1)]=cv2.resize(self.images[c],(252,252),interpolation=cv2.INTER_NEAREST)\n        cv2.putText(out,self.state[:65],(5,246),cv2.FONT_HERSHEY_SIMPLEX,.45,(0,255,255),1)\n        cv2.imwrite(str(OUT/'latest.jpg'),cv2.cvtColor(out,cv2.COLOR_RGB2BGR))\n        if label:cv2.imwrite(str(OUT/f'view_{self.n:05d}_{label.replace(\" \",\"_\")[:50]}.jpg'),cv2.cvtColor(out,cv2.COLOR_RGB2BGR))\n    def tick(self):\n        t=time.monotonic()\n        if self.start is None:self.start=t\n        p=self.p;cmd=self.cmd.copy();cmd[:5]=[0,0,self.height,0,self.pitch]\n        if self.walk_goal is not None:\n            goal=np.array(self.walk_goal);err=goal[:2]-p[21:23];vel=err*1.6-.25*p[46:48]\n            norm=np.linalg.norm(vel)\n            if norm>.38:vel*=.38/norm\n            if np.linalg.norm(err)<.022:vel[:]=0\n            elif np.linalg.norm(vel)<.065:vel=err/np.linalg.norm(err)*.065\n            local=rz(p[24]).T@np.r_[vel,0]\n            cmd[0:2]=local[:2];angle=wrap(goal[2]-p[24]);cmd[3]=np.clip(1.8*angle-.25*p[49],-.65,.65) if abs(angle)>.035 else 0\n        ikerrs={}\n        for side,ps,ac,gc in [('left',3,5,19),('right',12,12,20)]:\n            if self.relative:\n                local=self.relative_targets[side];target=np.r_[p[21:23],0]+rz(p[24])@local\n                R=rz(p[24])\n            else:target=self.targets[side];R=self.orient[side]\n            # Slow integral correction removes static servo deflectio\n… (7,398 characters left out) …\nrz(self.p[24]) for s in ['left','right']});self.relative=True;self.hold(.4)\n    def to_destination(self):\n        self.walk(self.p[21],-.92,0,7)\n        self.walk(2.04,-.92,0,10)\n        self.walk(2.04,-.92,np.pi,6)\n        self.walk(2.00,0,np.pi,7)\n    def to_source(self):\n        self.walk(2.04,-.92,np.pi,7)\n        self.walk(.15,-.92,0,12)\n        self.walk(.15,0,0,7)\n    def find_pad(self):\n        e=self.top_estimate(self.pad,self.pad[2],green=True)\n        if e is not None:self.pad[:2]=e[:2]\n        print('pad',self.pad,'visible',e is not None,flush=True)\n    def place(self,side):\n        self.set_state('prepare place '+side);self.freeze_world();self.height=.68;self.pitch=.18\n        self.hold(1.0)\n        if self.stack_count==0:self.find_pad()\n        size=self.block_size;top=self.pad[2]+self.stack_count*size\n        expected=self.pad.copy();expected[2]=top\n        if self.stack_count:\n            e=self.top_estimate(expected,top)\n            if e is not None:self.pad[:2]=e[:2]\n        R=rz(self.p[24]);off=np.array(self.held[side]['offset']);center=np.array([*self.pad[:2],top+size/2+.006]);goal=center-R@off\n        self.move({side:goal+np.array([0,0,.11])},1.4,{side:R})\n        self.set_state('lower block '+side);self.move({side:goal},1.4);self.hold(.35)\n        self.set_state('release block '+side);self.grip[side]=0;self.hold(.65)\n        self.held.pop(side,None);self.stack_count+=1\n        self.move({side:goal-R[:,0]*.09+np.array([0,0,.065])},1.2)\n        self.hold(.4)\n        self.set_state('block released '+str(self.stack_count))\n    def run(self):\n        try:\n            self.grip={'left':0,'right':0};self.relative=True\n            self.walk(.15,0,0,3)\n            self.pick({'left':self.blocks[1],'right':self.blocks[0]})\n            if not self.held:raise RuntimeError('No block grasped after retry')\n            self.to_destination()\n            for side in list(self.held):self.place(side)\n            self.height=.74;self.pitch=0;self.relative=True;self.hold(1.0)\n            self.to_source();self.pick({'left':self.blocks[2]})\n            if not self.held:raise RuntimeError('Third grasp failed')\n            self.to_destination()\n            for side in list(self.held):self.place(side)\n            self.set_state('await stacking verdict');self.relative=True;self.height=.74;self.pitch=0\n            while True:self.tick()\n        except EpisodeOver as e:\n            print('EPISODE OVER',e,flush=True)\n            try:(OUT/'final_status.json').write_text(json.dumps(self.r.status(),indent=2))\n            except Exception:pass\n        except Exception:\n            traceback.print_exc();self.walk_goal=None;self.set_state('controller exception safe hold')\n            try:\n                while True:self.tick()\n            except EpisodeOver as e:print('EPISODE OVER',e,flush=True)\n        finally:self.snapshot('final')\n\nif __name__=='__main__' and '--run' in __import__('sys').argv:\n    Controller().run()\nPY\npython -m py_compile /app/output/gen.py"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":45817,"cached":43392,"out":4207,"think":57,"usd":0.278},"sim":{"submit":0,"reset":0}},{"id":25,"t":539.7,"say":"The initial camera fit puts the blocks at about 5 cm per side. The controller is now saved, with streaming control, grasp checks, and a two-block first trip. I’m checking reach limits and timing before starting the single live episode.","calls":[{"kind":"shell","label":"p=P0.copy();p[21]=.15;p[23]=.68;p[2]=.18;p[0:2]=0","code":"PYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom gen import *\np=P0.copy();p[21]=.15;p[23]=.68;p[2]=.18;p[0:2]=0\nblocks=np.load(OUT/'blocks_initial.npy')\nfor i,s in [(1,'left'),(0,'right'),(2,'left')]:\n b=blocks[i];target=b[:3]+[0,0,.007]\n st=time.monotonic();q,e=K.ik(p,s,target,rz(b[4]));dt=time.monotonic()-st\n h,R=K.hand(p,s,q)\n print(i,s,'err',e,'rot_err',Rotation.from_matrix(rz(b[4]).T@R).as_rotvec(),'q',np.round(q,3),'ms',dt*1000)\np[21]=2.;p[24]=np.pi\nfor z in [.737,.787,.837]:\n for s in ['left','right']:\n  q,e=K.ik(p,s,np.array([1.51,0,z]),rz(np.pi)); print('place',s,z,e,np.round(q,3))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50080,"cached":45696,"out":781,"think":422,"usd":0.1286},"sim":{"submit":0,"reset":0}},{"id":26,"t":549.4,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:3843,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2500}));\n"}],"out":{"text":"1 left err 4.072751819080888e-05 rot_err [ 4.93051116e-05  1.11858902e-03 -4.06622490e-04] q [-0.466 -0.144 -0.018  0.656  0.133 -0.372  0.325] ms 61.03875709231943\n0 right err 7.910081085665737e-05 rot_err [ 1.84723249e-05  2.01847051e-03 -9.03157185e-05] q [-0.617 -0.02  -0.074  0.904  0.007 -0.48   0.028] ms 62.825320987030864\n2 left err 0.00563060801598132 rot_err [-0.01497857  0.09925255  0.05894245] q [-0.821  0.391  0.655  1.386  0.139 -0.553 -0.581] ms 123.08705400209874\nplace left 0.737 0.010984394876781807 [-1.071 -0.261  0.518  1.391  0.494 -0.415  0.31 ]\nplace right 0.737 0.010286523995353347 [-1.066  0.249 -0.509  1.396 -0.49  -0.428 -0.309]\nplace left 0.787 0.0006384759925723769 [-1.081 -0.245  0.087  1.325  0.138 -0.46   0.454]\nplace right 0.787 0.00034083966982268463 [-1.044  0.233 -0.049  1.258 -0.117 -0.427 -0.445]\nplace left 0.837 3.918100174884221e-05 [-0.913 -0.27  -0.027  0.651  0.122  0.059  0.423]\nplace right 0.837 3.786481716110891e-05 [-0.899  0.259  0.03   0.624 -0.122  0.075 -0.411]\n","exit":[0],"pics":[]},"tok":{"in":50920,"cached":49920,"out":69,"think":27,"usd":0.0634},"sim":{"submit":0,"reset":0}},{"id":27,"t":560.2,"say":"","calls":[{"kind":"shell","label":"p=P0.copy();p[21]=2.;p[23]=.64;p[2]=.24;p[0:2]=0;p[24]=np.pi","code":"PYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom gen import *\np=P0.copy();p[21]=2.;p[23]=.64;p[2]=.24;p[0:2]=0;p[24]=np.pi\nfor s in ['left','right']:\n for z in [.737,.787,.837]:\n  q,e=K.ik(p,s,np.array([1.51,0,z]),rz(np.pi));h,R=K.hand(p,s,q); print(s,z,e,np.linalg.norm(Rotation.from_matrix(rz(np.pi).T@R).as_rotvec()),np.round(q,3))\np[21]=.15;p[24]=0;b=np.load(OUT/'blocks_initial.npy')[2]\nq,e=K.ik(p,'left',b[:3]+[0,0,.007],rz(b[4]));print('third',e,np.round(q,3))\nPY"}],"out":{"text":"left 0.737 0.00011978115912650078 0.0027354229633389272 [-0.96  -0.25  -0.013  1.042  0.131 -0.343  0.462]\nleft 0.787 2.8674800234227245e-05 0.0005513451899368204 [-0.867 -0.281 -0.056  0.519  0.155  0.097  0.419]\nleft 0.837 1.654921800502856e-05 0.0004999291478383904 [-0.926 -0.301 -0.054  0.258  0.164  0.411  0.404]\nright 0.737 0.00010492223335641435 0.0022466343434683384 [-0.934  0.241  0.016  0.991 -0.135 -0.314 -0.445]\nright 0.787 2.67871099325118e-05 0.0005109383421400939 [-0.855  0.271  0.057  0.495 -0.156  0.112 -0.406]\nright 0.837 1.565639639091213e-05 0.0004992340106761982 [-0.918  0.29   0.054  0.238 -0.164  0.424 -0.391]\nthird 5.772553599436456e-05 [-0.616  0.434  0.312  0.779 -0.293 -0.269 -0.571]\n","exit":[0],"pics":[]},"tok":{"in":51602,"cached":50816,"out":479,"think":229,"usd":0.0826},"sim":{"submit":0,"reset":0}},{"id":28,"t":631.5,"say":"","calls":[{"kind":"shell","label":"p='/app/output/gen.py'","code":"python - <<'PY'\np='/app/output/gen.py'\ns=open(p).read().replace(\"self.height=.68;self.pitch=.18\",\"self.height=.64;self.pitch=.24\").replace(\"-.92\",\"-1.00\")\nstart=s.index('    def run(self):\\n',s.index('class Controller:'))\nend=s.index(\"        except EpisodeOver as e:\",start)\ns=s[:start]+'''    def run(self):\n        try:\n            self.grip={'left':0,'right':0};self.relative=True\n            self.walk(.15,0,0,3)\n            pending=[0,1,2]\n            while pending:\n                if 0 in pending:\n                    chosen={'right':0}\n                    if 1 in pending:chosen['left']=1\n                    elif 2 in pending:chosen['left']=2\n                elif len(pending)>1:chosen={'left':2,'right':1}\n                else:chosen={'left':pending[0]}\n                self.pick({s:self.blocks[i] for s,i in chosen.items()})\n                if not self.held:\n                    self.set_state('retry pickup mission')\n                    continue\n                carried={s:chosen[s] for s in self.held}\n                self.to_destination()\n                for side in list(self.held):\n                    self.place(side)\n                    pending.remove(carried[side])\n                self.height=.74;self.pitch=0;self.relative=True;self.hold(1.0)\n                if pending:self.to_source()\n            self.set_state('await stacking verdict');self.relative=True;self.height=.74;self.pitch=0\n            while True:self.tick()\n''' +s[end:]\nopen(p,'w').write(s)\nPY\npython -m py_compile /app/output/gen.py"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":52540,"cached":51456,"out":2503,"think":2070,"usd":0.1874},"sim":{"submit":0,"reset":0}},{"id":29,"t":648.1,"say":"","calls":[{"kind":"shell","label":"p=P0.copy();p[21]=.15;p[24]=0;p[:3]=[0,0,.05]","code":"PYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom gen import *\np=P0.copy();p[21]=.15;p[24]=0;p[:3]=[0,0,.05]\nq,e=K.ik(p,'left',np.array([.43,.21,.96]),np.eye(3));print('carry',np.round(q,3),e)\np[23]=.64;p[2]=.24\nb=np.load(OUT/'blocks_initial.npy')[1]\nfor d in [[-.08,0,.09],[-.075,0,.007],[0,0,.007],[0,0,.157]]:\n qq,e=K.ik(p,'left',b[:3]+d,rz(b[4]),q);print('pick',d,'q',np.round(qq,3),'delta',np.round(qq-q,3),'err',e);q=qq\np[23]=.74;p[2]=.05\nq,e=K.ik(p,'left',np.array([.43,.21,.96]),np.eye(3),q);print('carry2',np.round(q,3),e)\nPY"}],"out":{"text":"carry [ 0.205  0.328  0.4   -0.966 -0.578  0.775  0.033] 4.0650337456312485e-05\npick [-0.08, 0, 0.09] q [-0.144  0.053 -0.446 -0.788 -0.005  0.682  0.583] delta [-0.349 -0.275 -0.847  0.178  0.573 -0.094  0.551] err 2.0251665432679387e-05\npick [-0.075, 0, 0.007] q [-0.045  0.089 -0.447 -0.242  0.002  0.033  0.559] delta [ 0.099  0.036 -0.     0.546  0.007 -0.648 -0.024] err 1.9144526548795957e-05\npick [0, 0, 0.007] q [-0.407  0.048 -0.306  0.134 -0.092  0.004  0.5  ] delta [-0.363 -0.041  0.141  0.376 -0.094 -0.029 -0.06 ] err 1.2935837823559628e-05\npick [0, 0, 0.157] q [-0.756  0.049 -0.144 -0.57  -0.275  1.032  0.638] delta [-3.480e-01  1.000e-03  1.610e-01 -7.040e-01 -1.830e-01  1.028e+00\n  1.380e-01] err 3.171545229506986e-05\ncarry2 [ 0.14   0.277  0.459 -1.013 -0.551  0.899 -0.017] 2.525065225714155e-05\n","exit":[0],"pics":[]},"tok":{"in":55099,"cached":52480,"out":568,"think":270,"usd":0.1071},"sim":{"submit":0,"reset":0}},{"id":30,"t":776.0,"say":"","calls":[{"kind":"shell","label":"p='/app/output/gen.py';s=open(p).read()","code":"python - <<'PY'\np='/app/output/gen.py';s=open(p).read()\ns=s.replace(\"self.last_snapshot=-10;self.relative_targets\", \"self.calibration_blocks=[];self.last_snapshot=-10;self.relative_targets\")\ns=s.replace(\"self.images=self.res.last;self.image_p=self.p.copy();self.last_image_t=time.monotonic()\", \"self.images=self.res.last;self.image_p=self.p.copy();self.last_image_t=time.monotonic()\\n            if self.calibration_blocks:self.calibrate_source()\")\nmarker='    def locate_block(self,b):\\n'\nmethod='''    def calibrate_source(self):\n        if 'head' not in self.images:return\n        im=self.images['head'];p=self.image_p\n        uv=[]\n        for center,stat,m in components(red_mask(im)):\n            top=m&(im[:,:,0]>max(175,float(im[:,:,0][m].max())*.83))\n            if top.sum()<7:continue\n            vv,uu=np.nonzero(top);uv.append(np.array([uu.mean(),vv.mean()]))\n        if not uv:return\n        points=[];pixels=[];used=set()\n        for b in self.calibration_blocks:\n            point=np.array([b[0],b[1],self.table_z+b[3]])\n            expected=project(p,'head',[point])[0]\n            distances=[np.linalg.norm(u-expected) if i not in used else 1e4 for i,u in enumerate(uv)]\n            j=int(np.argmin(distances))\n            if distances[j]>18:continue\n            used.add(j);points.append(point);pixels.append(uv[j])\n        if not points:return\n        points=np.array(points);pixels=np.array(pixels)\n        x,C=K.camera(p,'head');origin=p[21:24];yaw=rz(p[24]);old=K.base_correction.copy()\n        initial=Rotation.from_matrix(old).as_euler('xyz')[:2]\n        def error(v):\n            new=ry(v[1])@rot([1,0,0],v[0]);D=yaw@new@old.T@yaw.T\n            xx=origin+D@(x-origin);CC=D@C\n            loc=(points-xx)@CC\n            pred=np.c_[41.5+72.746*loc[:,1]/loc[:,0],41.5-72.746*loc[:,2]/loc[:,0]]\n            return (pred-pixels).ravel()\n        fit=least_squares(error,np.clip(initial,[-.14,-.18],[.14,.18]),bounds=([-.14,-.18],[.14,.18]),loss='soft_l1',max_nfev=15)\n        if np.sqrt(np.mean(error(fit.x)**2))<2.5:\n            angles=.4*initial+.6*fit.x\n            K.base_correction=ry(angles[1])@rot([1,0,0],angles[0])\n''' +marker\ns=s.replace(marker,method)\ns=s.replace(\"self.set_state('prepare grasp '+','.join(assignments));self.freeze_world();self.height=.64;self.pitch=.24\", \"self.calibration_blocks=[b for b in assignments.values()]\\n        self.set_state('prepare grasp '+','.join(assignments));self.freeze_world();self.height=.64;self.pitch=.24\")\ns=s.replace(\"self.set_state('close fingers')\", \"self.calibration_blocks=[]\\n        self.set_state('close fingers')\")\ns=s.replace(\"'held':list(self.held),'done'\", \"'held':list(self.held),'base_tilt':Rotation.from_matrix(K.base_correction).as_euler('xyz').tolist(),'done'\")\nopen(p,'w').write(s)\nPY\npython -m py_compile /app/output/gen.py\nPYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom gen import *\nc=Controller();c.calibration_blocks=list(c.blocks);print('before',Rotation.from_matrix(K.base_correction).as_euler('xyz'))\nfor i in range(4):c.calibrate_source()\nprint('after',Rotation.from_matrix(K.base_correction).as_euler('xyz'))\nprint('status',c.r.status())\nPY"}],"out":{"text":"before [ 0.00288055 -0.007143   -0.00061933]\nafter [ 7.28782243e-03 -1.08701341e-02 -4.33680869e-19]\nstatus {'calls': 3, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 770.8, 'running': False, 'planned_steps': 0, 'lag_s': 0.0}\n","exit":[0],"pics":[]},"tok":{"in":56216,"cached":55040,"out":3977,"think":2990,"usd":0.2656},"sim":{"submit":0,"reset":0}},{"id":31,"t":806.3,"say":"","calls":[{"kind":"shell","label":"ims=dict(np.load(OUT/'initial.npz'))","code":"PYTHONPATH=/app/output:/opt/tools python - <<'PY'\nfrom gen import *\nims=dict(np.load(OUT/'initial.npz'))\nfor s in ['left','right']:\n h,R=K.hand(P0,s);print(s,'handworld',h)\n for cam in ims:\n  pp=project(P0,cam,[h])[0];print(cam,pp)\n  cv2.circle(ims[cam],tuple(np.round(pp).astype(int)),2,(0,255,0),1)\nout=np.concatenate([cv2.resize(ims[c],(336,336),interpolation=cv2.INTER_NEAREST) for c in ['head','left_wrist','right_wrist']],axis=1)\ncv2.imwrite(str(OUT/'projections.png'),cv2.cvtColor(out,cv2.COLOR_RGB2BGR))\nPY"},{"kind":"look","label":"projections.png","code":"/app/output/projections.png"}],"out":{"text":"left handworld [0.45741053 0.14760674 0.80184449]\nhead [14.98669326 35.8784774 ]\nleft_wrist [41.41837167 60.80360519]\nright_wrist [-426.01747378   62.42705627]\nright handworld [ 0.45762723 -0.15267016  0.80357706]\nhead [68.03066381 35.94440638]\nleft_wrist [513.08825338  63.75880207]\nright_wrist [41.64654139 60.76182173]\n","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s031_0.jpg"]},"tok":{"in":60363,"cached":56064,"out":839,"think":604,"usd":0.141},"sim":{"submit":0,"reset":0}},{"id":32,"t":855.3,"say":"","calls":[{"kind":"shell","label":"p=P0.copy();p[21]=2;p[24]=np.pi;p[23]=.64;p[2]=.24","code":"PYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom gen import *\np=P0.copy();p[21]=2;p[24]=np.pi;p[23]=.64;p[2]=.24\nfor z in [.90,.94,.98]:\n for x in [.24,.28,.32]:\n  t=np.array([2-x,-.24,z]);q,e=K.ik(p,'left',t,rz(np.pi));print(x,z,round(e,5),np.round(q,2))\nPY"}],"out":{"text":"0.24 0.9 0.00017 [ 1.46  1.03  0.77 -1.05 -1.08 -0.57  0.3 ]\n0.28 0.9 7e-05 [ 0.62  0.86  0.87 -1.05 -1.33  0.31  0.33]\n0.32 0.9 5e-05 [ 0.19  0.89  0.72 -0.92 -1.31  0.59  0.41]\n0.24 0.94 0.00022 [ 2.36  1.13  1.19 -1.05 -1.11 -1.24  0.37]\n0.28 0.94 8e-05 [ 0.6   1.    1.21 -1.03 -1.7   0.45  0.43]\n0.32 0.94 6e-05 [ 0.19  1.11  0.91 -0.87 -1.63  0.6   0.55]\n0.24 0.98 0.0016 [ 1.14  0.83  1.73 -1.05 -1.97  0.24  0.13]\n0.28 0.98 0.00015 [ 0.8   1.16  1.55 -0.94 -1.97  0.4   0.47]\n0.32 0.98 6e-05 [ 0.1   1.27  1.07 -0.77 -1.9   0.71  0.66]\n","exit":[],"pics":[]},"tok":{"in":61830,"cached":60288,"out":1652,"think":1490,"usd":0.1583},"sim":{"submit":0,"reset":0}},{"id":33,"t":887.8,"say":"","calls":[{"kind":"shell","label":"p='/app/output/gen.py';s=open(p).read()","code":"python - <<'PY'\np='/app/output/gen.py';s=open(p).read()\ns=s.replace(\"goals={s:np.array(b[:3])+np.array([-.08,0,.09]) for s,b in assignments.items()}\\n        self.move(goals,1.8)\", \"goals={s:np.array(b[:3])+np.array([-.08,0,.09]) for s,b in assignments.items()}\\n        for s,sign in [('left',1),('right',-1)]:\\n            if s not in assignments:goals[s]=np.r_[self.p[21:23],0]+rz(self.p[24])@np.array([.35,sign*.24,.89])\\n        self.move(goals,1.8)\")\ns=s.replace(\"self.set_state('prepare place '+side);self.freeze_world();self.height=.64;self.pitch=.24\\n        self.hold(1.0)\", \"self.set_state('prepare place '+side);self.freeze_world();self.height=.64;self.pitch=.24\\n        parking={s:np.r_[self.p[21:23],0]+rz(self.p[24])@np.array([.35,sign*.24,.90]) for s,sign in [('left',1),('right',-1)]}\\n        self.move(parking,1.6)\\n        self.hold(.4)\")\ns=s.replace(\"self.move({side:goal-R[:,0]*.09+np.array([0,0,.065])},1.2)\\n        self.hold(.4)\", \"self.move({side:goal-R[:,0]*.09+np.array([0,0,.085])},1.2)\\n        self.move({side:parking[side]},1.0)\\n        self.hold(.4)\")\nopen(p,'w').write(s)\nPY\npython -m py_compile /app/output/gen.py"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":63960,"cached":61696,"out":1069,"think":614,"usd":0.1378},"sim":{"submit":0,"reset":0}},{"id":34,"t":936.7,"say":"","calls":[{"kind":"shell","label":"p='/app/output/gen.py';s=open(p).read()","code":"python - <<'PY'\np='/app/output/gen.py';s=open(p).read()\ns=s.replace(\"        self.set_state('close fingers')\\n        for s in assignments\", \"        self.set_state('settle grasp')\\n        self.settle(list(assignments),1.2)\\n        self.set_state('close fingers')\\n        for s in assignments\")\ns=s.replace(\"    def top_estimate(self,expected\", \"    def settle(self,sides,seconds):\\n        end=time.monotonic()+seconds\\n        while time.monotonic()<end:\\n            errors=[np.linalg.norm(K.hand(self.p,s)[0]-self.targets[s]) for s in sides]\\n            if max(errors)<.010:break\\n            self.tick()\\n    def top_estimate(self,expected\")\ns=s.replace(\"self.set_state('lower block '+side);self.move({side:goal},1.4);self.hold(.35)\", \"self.set_state('lower block '+side);self.move({side:goal},1.4);self.settle([side],1.2);self.hold(.35)\")\nopen(p,'w').write(s)\nPY\npython -m py_compile /app/output/gen.py\ncat /run/rcb-limits/usage.json"}],"out":{"text":"{\n \"t\": 1792305208.66,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.053,\n \"processes\": 7,\n \"disk_gb\": 0.886,\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 0.0,\n  \"max_memory_gb\": 8.0,\n  \"max_processes\": 512,\n  \"max_disk_gb\": 20.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null,\n \"elapsed_s\": 1055.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 2545.0,\n \"deadline_utc\": \"2026-10-18T07:15:53Z\"\n}","exit":[0],"pics":[]},"tok":{"in":65086,"cached":63872,"out":1344,"think":1034,"usd":0.1432},"sim":{"submit":0,"reset":0}},{"id":35,"t":958.2,"say":"","calls":[{"kind":"shell","label":"p='/app/output/gen.py';s=open(p).read().replace(\"        t=time.monotonic()\\n        if self.start is None:sel","code":"python - <<'PY'\np='/app/output/gen.py';s=open(p).read().replace(\"        t=time.monotonic()\\n        if self.start is None:self.start=t\", \"        t=time.monotonic()\\n        inject=OUT/'inject.py'\\n        if inject.exists():\\n            code=inject.read_text();inject.unlink();exec(code,globals(),{'self':self})\\n        if self.start is None:self.start=t\")\nopen(p,'w').write(s)\nPY\npython -m py_compile /app/output/gen.py"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":66720,"cached":65024,"out":745,"think":595,"usd":0.1192},"sim":{"submit":0,"reset":0}},{"id":36,"t":962.3,"say":"The controller is ready. I’m starting the live episode now and will monitor the camera views, grasp checks, and service verdict while it runs.","calls":[{"kind":"shell","label":"setsid nohup env OPENBLAS_NUM_THREADS=1 OMP_NUM_THREADS=1 python -u /app/output/gen.py --run > /app/output/run","code":"setsid nohup env OPENBLAS_NUM_THREADS=1 OMP_NUM_THREADS=1 python -u /app/output/gen.py --run > /app/output/run.log 2>&1 < /dev/null &"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":67521,"cached":66688,"out":112,"think":0,"usd":0.0806},"sim":{"submit":0,"reset":0}},{"id":37,"t":966.1,"say":"","calls":[{"kind":"shell","label":"tail -20 /app/output/run.log && cat /app/output/progress.json","code":"tail -20 /app/output/run.log && cat /app/output/progress.json"},{"kind":"look","label":"latest.jpg","code":"/app/output/latest.jpg"}],"out":{"text":"Controller prepared; use --run to start the single episode.\n  0.00 walk 0.15 0.00 0.00\nwalk end [ 0.142 -0.005  0.752 -0.009]\n  0.99 prepare grasp right,left\n{\"t\": 1.6789023970486596, \"step\": 77, \"state\": \"prepare grasp right,left\", \"p\": [-0.004820687230676413, -0.009929523803293705, 0.16288916766643524, -0.0013791403034701943, 0.33810779452323914, 0.34749269485473633, -0.8580095767974854, -0.46749019622802734, 0.6953063011169434, 0.060622647404670715, 0.024439096450805664, 0.024522148072719574, -0.006924114190042019, -0.3847302496433258, -0.4055090844631195, -0.7668038606643677, 0.49663305282592773, 0.6708233952522278, -0.012003935873508453, 0.024518579244613647, 0.024446560069918633, 0.1017816811800003, 0.0034032841213047504, 0.6286045908927917, -0.0011781221255660057, 0.029916448518633842, -0.019875850528478622, -0.07280626893043518, -1.0470340251922607, 0.3357985317707062, 0.9370201230049133, -1.080781102180481, -0.6306276321411133, 0.6244406700134277, 0.8667874932289124, -0.005842514801770449, 0.0016541538061574101, -1.0678110122680664, -0.7885118722915649, -0.9689749479293823, -0.9774584770202637, 0.6613413691520691, 0.6254809498786926, -0.8208406567573547, 0.0010689613409340382, -0.005872664973139763, 0.03296319767832756, 0.00047883388469927013, -0.005939124152064323, 0.0022192909382283688, 0.0, 0.0, 0.1017816811800003, 0.0034032841213047504, 0.6286045908927917, -0.0011781221255660057], \"cmd\": [0.0, 0.0, 0.64, 0.0, 0.24, -0.18382122357343922, 0.3435056140254144, 0.479649578050061, -1.0165631405663136, -0.6866689932574752, 0.8797804287925033, 0.29049905993588243, -0.19065548441176813, -0.4255960688406035, -0.5320492229138203, -0.8612563605358647, 0.7189397010838898, 0.8532650595788693, -0.22434048505940699, 0.0, 0.0], \"ik_error\": {\"left\": 2.756063681815776e-05, \"right\": 8.232019910639315e-06}, \"held\": [], \"base_tilt\": [-0.026720634067762254, -0.019553258061401513, -1.734723475976807e-18], \"done\": false, \"reason\": null}","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s037_0.jpg"]},"tok":{"in":67692,"cached":67456,"out":68,"think":0,"usd":0.0732},"sim":{"submit":0,"reset":0}},{"id":38,"t":970.9,"say":"","calls":[{"kind":"shell","label":"waits 4 s","code":"{\"duration_ms\": 4000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":68961,"cached":67584,"out":58,"think":37,"usd":0.0843},"sim":{"submit":0,"reset":0}},{"id":39,"t":979.9,"say":"","calls":[{"kind":"shell","label":"p=json.load(open('/app/output/progress.json'));print({k:p[k] for k in ['t','state','ik_error','held','base_til","code":"tail -15 /app/output/run.log && python - <<'PY'\nimport json\np=json.load(open('/app/output/progress.json'));print({k:p[k] for k in ['t','state','ik_error','held','base_tilt']});print('base',p['p'][21:25],'fingers',p['p'][10:12],p['p'][19:21])\nPY"},{"kind":"look","label":"latest.jpg","code":"/app/output/latest.jpg"}],"out":{"text":"Controller prepared; use --run to start the single episode.\n  0.00 walk 0.15 0.00 0.00\nwalk end [ 0.142 -0.005  0.752 -0.009]\n  0.99 prepare grasp right,left\n  3.64 align grasp\n  5.21 advance fingers\n  6.80 settle grasp\n  8.01 close fingers\ngrasp right fingers [0.00343199 0.00768761] offset [0.00936402 0.00126498 0.00517776] holding True\ngrasp left fingers [-0.01515071 -0.01553661] offset [-0.035      -0.02       -0.01750212] holding True\n  8.86 lift grasp\ngrasp retry ['left']\nheld after pick ['right', 'left']\n 15.83 raise for transport\n{'t': 16.00711972103454, 'state': 'raise for transport', 'ik_error': {'left': 2.068446226321042e-06, 'right': 4.201264410903036e-06}, 'held': ['right', 'left'], 'base_tilt': [-0.04363274414409282, -0.06305938538397982, 0.0]}\nbase [0.08006031066179276, -0.0229714997112751, 0.6431675553321838, -0.037168148905038834] fingers [0.02511063776910305, -0.006634625606238842] [-0.0025302653666585684, 0.013673131354153156]\n","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s039_0.jpg"]},"tok":{"in":69042,"cached":68864,"out":134,"think":0,"usd":0.0773},"sim":{"submit":0,"reset":0}},{"id":40,"t":990.6,"say":"","calls":[{"kind":"shell","label":"waits 5 s","code":"{\"duration_ms\": 5000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":69854,"cached":68992,"out":307,"think":286,"usd":0.093},"sim":{"submit":0,"reset":0}},{"id":41,"t":1001.5,"say":"","calls":[{"kind":"shell","label":"p=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][21:25],p['ik_error'],p['p'][10:1","code":"tail -12 /app/output/run.log && python - <<'PY'\nimport json\np=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][21:25],p['ik_error'],p['p'][10:12],p['p'][19:21])\nPY"},{"kind":"look","label":"latest.jpg","code":"/app/output/latest.jpg"}],"out":{"text":"grasp left fingers [-0.01515071 -0.01553661] offset [-0.035      -0.02       -0.01750212] holding True\n  8.86 lift grasp\ngrasp retry ['left']\nheld after pick ['right', 'left']\n 15.83 raise for transport\n 18.37 walk 0.12 -1.00 0.00\nwalk end [ 0.133 -0.986  0.737 -0.04 ]\n 23.18 walk 2.04 -1.00 0.00\nwalk end [ 2.093 -0.998  0.739  0.019]\n 29.55 walk 2.04 -1.00 3.14\nwalk end [ 2.028 -0.983  0.736  3.104]\n 35.93 walk 2.00 0.00 3.14\n37.70352917199489 walk 2.00 0.00 3.14 [1.970928430557251, -0.5802827477455139, 0.7375898957252502, 3.1052160263061523] {'left': 5.210520520073056e-06, 'right': 1.8385009222017317e-06} [0.025141512975096703, -0.007060398813337088] [-0.010045239701867104, 0.02125617116689682]\n","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s041_0.jpg"]},"tok":{"in":70184,"cached":69760,"out":117,"think":0,"usd":0.0799},"sim":{"submit":0,"reset":0}},{"id":42,"t":1007.3,"say":"","calls":[{"kind":"shell","label":"waits 4 s","code":"{\"duration_ms\": 4500}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":70933,"cached":70016,"out":120,"think":99,"usd":0.0852},"sim":{"submit":0,"reset":0}},{"id":43,"t":1015.5,"say":"","calls":[{"kind":"shell","label":"p=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][21:25],p['ik_error'],p['base_til","code":"tail -16 /app/output/run.log && python - <<'PY'\nimport json\np=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][21:25],p['ik_error'],p['base_tilt'])\nPY"},{"kind":"look","label":"latest.jpg","code":"/app/output/latest.jpg"}],"out":{"text":"  8.86 lift grasp\ngrasp retry ['left']\nheld after pick ['right', 'left']\n 15.83 raise for transport\n 18.37 walk 0.12 -1.00 0.00\nwalk end [ 0.133 -0.986  0.737 -0.04 ]\n 23.18 walk 2.04 -1.00 0.00\nwalk end [ 2.093 -0.998  0.739  0.019]\n 29.55 walk 2.04 -1.00 3.14\nwalk end [ 2.028 -0.983  0.736  3.104]\n 35.93 walk 2.00 0.00 3.14\nwalk end [1.993 0.005 0.736 3.097]\n 40.86 prepare place right\npad [ 1.56073436 -0.03906308  0.705     ] visible True\n 44.95 lower block right\n 48.21 release block right\n51.72763285506517 release block right [2.013723373413086, -0.001368982600979507, 0.6345435380935669, 3.135573625564575] {'left': 5.156465690957473e-07, 'right': 1.214654336198215e-06} [-0.04363274414409282, -0.06305938538397982, 0.0]\n","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s043_0.jpg"]},"tok":{"in":71076,"cached":70784,"out":107,"think":0,"usd":0.0791},"sim":{"submit":0,"reset":0}},{"id":44,"t":1024.6,"say":"Both blocks survived the first transport. The robot has reached the destination table and begun placement; I’m checking the release positions before it returns for the third block.","calls":[{"kind":"shell","label":"p=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][10:12],p['p'][19:21]);print(p['p","code":"python - <<'PY'\nimport json\np=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][10:12],p['p'][19:21]);print(p['p'][21:25])\nPY\ntail -10 /app/output/run.log"},{"kind":"look","label":"latest.jpg","code":"/app/output/latest.jpg"}],"out":{"text":"61.9968631779775 release block left [0.024658773094415665, 0.02429339289665222] [0.024505754932761192, 0.024479875341057777]\n[2.0101490020751953, 0.0034930601250380278, 0.6345040798187256, 3.1281471252441406]\n 35.93 walk 2.00 0.00 3.14\nwalk end [1.993 0.005 0.736 3.097]\n 40.86 prepare place right\npad [ 1.56073436 -0.03906308  0.705     ] visible True\n 44.95 lower block right\n 48.21 release block right\n 52.17 block released 1\n 52.18 prepare place left\n 56.27 lower block left\n 59.52 release block left\n","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s044_0.jpg"]},"tok":{"in":71820,"cached":70912,"out":316,"think":161,"usd":0.0958},"sim":{"submit":0,"reset":0}},{"id":45,"t":1042.3,"say":"","calls":[{"kind":"shell","label":"ls /app/output/view* | tail -20","code":"ls /app/output/view* | tail -20"}],"out":{"text":"/app/output/view_00043_advance_fingers.jpg\n/app/output/view_00055_settle_grasp.jpg\n/app/output/view_00065_close_fingers.jpg\n/app/output/view_00072_lift_grasp.jpg\n/app/output/view_00130_raise_for_transport.jpg\n/app/output/view_00151_walk_0.12_-1.00_0.00.jpg\n/app/output/view_00191_walk_2.04_-1.00_0.00.jpg\n/app/output/view_00244_walk_2.04_-1.00_3.14.jpg\n/app/output/view_00297_walk_2.00_0.00_3.14.jpg\n/app/output/view_00338_prepare_place_right.jpg\n/app/output/view_00372_lower_block_right.jpg\n/app/output/view_00399_release_block_right.jpg\n/app/output/view_00432_block_released_1.jpg\n/app/output/view_00432_prepare_place_left.jpg\n/app/output/view_00466_lower_block_left.jpg\n/app/output/view_00493_release_block_left.jpg\n/app/output/view_00526_block_released_2.jpg\n/app/output/view_00535_walk_2.04_-1.00_3.14.jpg\n/app/output/view_00578_walk_0.15_-1.00_0.00.jpg\n/app/output/view_00649_walk_0.15_0.00_0.00.jpg\n","exit":[0],"pics":[]},"tok":{"in":72633,"cached":71552,"out":493,"think":455,"usd":0.107},"sim":{"submit":0,"reset":0}},{"id":46,"t":1046.9,"say":"","calls":[{"kind":"look","label":"view_00399_release_block_right.jpg","code":"/app/output/view_00399_release_block_right.jpg"},{"kind":"look","label":"view_00493_release_block_left.jpg","code":"/app/output/view_00493_release_block_left.jpg"}],"out":{"text":"","exit":[],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s046_0.jpg","bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s046_1.jpg"]},"tok":{"in":73480,"cached":72448,"out":60,"think":0,"usd":0.0858},"sim":{"submit":0,"reset":0}},{"id":47,"t":1055.0,"say":"","calls":[{"kind":"shell","label":"rows=[json.loads(l) for l in open(OUT/'telemetry.jsonl')]","code":"PYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom gen import *\nrows=[json.loads(l) for l in open(OUT/'telemetry.jsonl')]\nfor rr in rows:\n if rr['state']=='release block right':\n  p=np.array(rr['p']);K.base_correction=Rotation.from_euler('xyz',rr['base_tilt']).as_matrix();h,R=K.hand(p,'right');print('t',rr['t'],'hand',h,'pix',project(p,'head',[h]),'padpix',project(p,'head',[[1.5607,-.039,.705]]),'cmdq',rr['cmd'][12:19]);break\nprint(rows[-1]['t'],rows[-1]['state'])\nPY"}],"out":{"text":"t 48.226023431052454 hand [1.54245371 0.12586027 0.75533431] pix [[60.21891446 12.92230726]] padpix [[30.01408947 19.89649953]] cmdq [-1.0610825432285806, 0.5998200825091841, -0.9321973496941348, 1.4040506965778976, -0.9616827838472958, -0.7289851684724352, -0.4654858424659704]\n91.7039507899899 lift grasp\n","exit":[0],"pics":[]},"tok":{"in":74025,"cached":73344,"out":267,"think":64,"usd":0.0935},"sim":{"submit":0,"reset":0}},{"id":48,"t":1063.1,"say":"","calls":[{"kind":"shell","label":"r=[json.loads(l) for l in open('/app/output/telemetry.jsonl')]","code":"python - <<'PY'\nimport json\nr=[json.loads(l) for l in open('/app/output/telemetry.jsonl')]\nfor x in r:\n if x['state']=='release block right':\n  print(x['ik_error']);print('qmeas',x['p'][12:19]);print('qcmd',x['cmd'][12:19]);break\nprint(r[-1]['t'],r[-1]['state'])\nPY\ntail -14 /app/output/run.log"}],"out":{"text":"{'left': 1.907965494517778e-06, 'right': 1.0818285167100935e-05}\nqmeas [-0.9245489239692688, 0.16025690734386444, -0.931900143623352, 1.3789488077163696, -0.9384317398071289, -0.7599602341651917, -0.46295565366744995]\nqcmd [-1.0610825432285806, 0.5998200825091841, -0.9321973496941348, 1.4040506965778976, -0.9616827838472958, -0.7289851684724352, -0.4654858424659704]\n99.27727972203866 raise for transport\n 69.75 walk 0.15 -1.00 0.00\nwalk end [ 0.148 -0.988  0.737 -0.03 ]\n 78.28 walk 0.15 0.00 0.00\nwalk end [ 0.157 -0.013  0.74   0.011]\n 83.21 prepare grasp left\n 85.86 align grasp\n 87.43 advance fingers\n 88.99 settle grasp\n 90.20 close fingers\ngrasp left fingers [-0.01997941 -0.02049605] offset [-0.01467811  0.02       -0.01181166] holding False\n 91.04 lift grasp\ngrasp retry ['left']\nheld after pick []\n 98.02 raise for transport\n","exit":[0],"pics":[]},"tok":{"in":74489,"cached":73856,"out":185,"think":47,"usd":0.0894},"sim":{"submit":0,"reset":0}},{"id":49,"t":1112.4,"say":"","calls":[{"kind":"shell","label":"writes inject.py","code":"cat > /app/output/inject.py <<'PY'\ndef quick_pick(c, b):\n    c.calibration_blocks=[]\n    c.freeze_world();c.height=.64;c.pitch=.24;c.grip['left']=0\n    pos=np.array(b[:3]);pos[2]=.725\n    c.set_state('recovery approach')\n    c.move({'left':pos+[-.06 if c.p[24]<1 else .06,0,.06]},.8)\n    c.hold(.3)\n    estimate=c.top_estimate(pos+[0,0,.025],.75)\n    if estimate is not None:pos[:2]=estimate[:2]\n    c.move({'left':pos+[0,0,.008]},1.0,{ 'left':rz(c.p[24])})\n    c.settle(['left'],.5);c.grip['left']=1;c.hold(.6)\n    h,R=K.hand(c.p,'left');off=np.clip(R.T@(pos-h),[-.04,-.03,-.03],[.04,.03,.03])\n    c.held['left']={'block':list(b),'offset':off.tolist()}\n    print('recovery grasp',c.p[10:12],off,flush=True)\n    c.move({'left':c.targets['left']+[0,0,.15]},.8)\n    c.height=.74;c.pitch=0;c.relative=True;c.hold(1.2)\n\ndef quick_place(c,level):\n    c.freeze_world();c.height=.64;c.pitch=.24\n    c.set_state('recovery place '+str(level));c.hold(.6)\n    c.find_pad();R=rz(c.p[24]);off=np.array(c.held['left']['offset'])\n    pos=np.r_[c.pad[:2],.705+.05*level+.025+.004]\n    target=pos-R@off\n    c.move({'left':target+[0,0,.08]},.8,{'left':R})\n    c.move({'left':target},.8);c.settle(['left'],.6)\n    print('place error',K.hand(c.p,'left')[0]-target,flush=True)\n    c.grip['left']=0;c.hold(.5)\n    c.move({'left':target-R[:,0]*.11+[0,0,.10]},.8)\n    c.held.pop('left',None);c.height=.74;c.pitch=0;c.relative=True;c.hold(.7)\n\ndef recover(c):\n    c.set_state('recovery align source');c.held={};c.calibration_blocks=[]\n    c.height=.74;c.pitch=0;c.relative=True;c.walk(.23,.10,0,4)\n    quick_pick(c,c.blocks[2])\n    c.to_destination()\n    c.walk(1.97,.18,np.pi,3)\n    quick_place(c,0)\n    for level in [1,2]:\n        c.set_state('recovery locate remaining')\n        # Red objects on the destination tabletop, excluding the central stack.\n        choices=[]\n        for uv,stat,m in components(red_mask(c.images['head'])):\n            top=m&(c.images['head'][:,:,0]>180)\n            if top.sum()<3:continue\n            v,u=np.nonzero(top);x,d=ray(c.image_p,'head',[u.mean(),v.mean()]);pt=x+(.75-x[2])/d[2]*d\n            if np.linalg.norm(pt[:2]-c.pad[:2])>.09:choices.append(pt)\n        if not choices:\n            guessed=np.array([1.55,.22 if level==1 else -.24,.725]);choices=[guessed]\n        pos=min(choices,key=lambda v:abs(v[1]-c.p[22]));pos[2]=.725\n        c.walk(1.97,float(pos[1]+.18),np.pi,3)\n        quick_pick(c,[*pos,.05,0])\n        c.walk(1.97,float(c.pad[1]+.18),np.pi,3)\n        quick_place(c,level)\n    c.set_state('recovery wait verdict')\n    while True:c.tick()\nrecover(self)\nPY"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":75107,"cached":74368,"out":2012,"think":1034,"usd":0.1824},"sim":{"submit":0,"reset":0}},{"id":50,"t":1122.8,"say":"","calls":[{"kind":"shell","label":"p=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][21:25],p['p'][10:12])","code":"tail -15 /app/output/run.log && python - <<'PY'\nimport json\np=json.load(open('/app/output/progress.json'));print(p['t'],p['state'],p['p'][21:25],p['p'][10:12])\nPY"},{"kind":"look","label":"latest.jpg","code":"/app/output/latest.jpg"}],"out":{"text":"123.60 settle grasp\n124.69 close fingers\ngrasp left fingers [-0.01998021 -0.02001117] offset [-0.00017092  0.00618958 -0.00301257] holding False\n125.53 lift grasp\ngrasp retry ['left']\nheld after pick ['left']\n132.50 raise for transport\n135.04 walk 0.16 -1.00 0.00\nwalk end [ 0.172 -1.01   0.739 -0.027]\n139.85 walk 2.04 -1.00 0.00\nwalk end [ 2.082 -0.991  0.738 -0.   ]\n146.22 walk 2.04 -1.00 3.14\n148.62 recovery align source\n148.63 walk 0.23 0.10 0.00\nEPISODE OVER 409 /submit: episode finished; reason failed\n149.29001162806526 walk 0.23 0.10 0.00 [1.9238945245742798, -1.0074859857559204, 0.7326439619064331, -1.328157663345337] [-0.019836075603961945, -0.020137373358011246]\n","exit":[0],"pics":["bigym2-stack-blocks-i00-standard-realtime--99jxcbv/s050_0.jpg"]},"tok":{"in":77177,"cached":75008,"out":113,"think":7,"usd":0.1023},"sim":{"submit":0,"reset":0}},{"id":51,"t":1141.2,"say":"The episode has ended with a failure verdict. The first two releases missed the pad, and a block was lost during the later transport. I’m saving the final service status and controller record.","calls":[{"kind":"shell","label":"ls -l /app/output/gen.py /app/output/run.log /app/output/final_status.json","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport json\nr=Robot();s=r.status();print(json.dumps(s,indent=2));open('/app/output/final_status.json','w').write(json.dumps(s,indent=2))\nPY\nls -l /app/output/gen.py /app/output/run.log /app/output/final_status.json"}],"out":{"text":"{\n  \"calls\": 1245,\n  \"rows\": 2482,\n  \"control_steps\": 7475,\n  \"done\": true,\n  \"reason\": \"failed\",\n  \"elapsed_s\": 1137.5,\n  \"running\": false,\n  \"planned_steps\": 0,\n  \"lag_s\": 0.0001\n}\n-rw-r--r-- 1 root root   182 Oct 18 06:36 /app/output/final_status.json\n-rw-r--r-- 1 root root 21154 Oct 18 06:33 /app/output/gen.py\n-rw-r--r-- 1 root root  2496 Oct 18 06:36 /app/output/run.log\n","exit":[0],"pics":[]},"tok":{"in":77875,"cached":77056,"out":656,"think":498,"usd":0.118},"sim":{"submit":0,"reset":0}},{"id":52,"t":1159.7,"say":"","calls":[{"kind":"shell","label":"# Record of the live intervention, consumed by tick() at episode t=148.62 s.","code":"cat >> /app/output/gen.py <<'PY'\n\n# Record of the live intervention, consumed by tick() at episode t=148.62 s.\n# The service ended the episode during this walk; its planned continuation\n# (regrasping and replacing the blocks) never executed.\ndef recorded_recovery_prefix(self):\n    self.set_state('recovery align source')\n    self.held = {}\n    self.calibration_blocks = []\n    self.height = .74\n    self.pitch = 0\n    self.relative = True\n    self.walk(.23, .10, 0, 4)\nPY\npython -m py_compile /app/output/gen.py"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":78753,"cached":77824,"out":449,"think":274,"usd":0.1096},"sim":{"submit":0,"reset":0}},{"id":53,"t":1164.8,"say":"The episode ended with `reason: failed` after 149.5 seconds. The blocks were not successfully stacked.\n\nSaved the [controller](/app/output/gen.py), [run log](/app/output/run.log), and [final status](/app/output/final_status.json).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":79258,"cached":78592,"out":61,"think":0,"usd":0.0883},"sim":{"submit":0,"reset":0}}]}