Add files using upload-large-folder tool

runs/behavior-canning-food-i00-privileged--j8p5dic.json

@@ -0,0 +1 @@
+{"slug":"behavior-canning-food-i00-privileged--j8p5dic","task":"behavior-canning-food-i00-privileged","bench":"behavior","mode":"privileged","run":"antigravity_cli-gemini_4_argon-high","agent":"antigravity_sub:AntigravitySubscription","model":"gemini-4-argon","effort":"high","state":"failed","success":0,"reward":{"success":0,"deterministic":0,"missing_trajectory":1,"grader_error":0,"infra_error":0,"agent_sessions":0,"agent_resets":0,"agent_sim_steps":0,"agent_records":0,"agent_replays":0,"agent_cost_self_reported":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":1,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.0,"peak_processes":0.0,"peak_disk_gb":0.0,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":217,"tokens":{"in":2444711,"cached":2108493,"out":10497,"usd":0},"task_text":"","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":null,"replay_last":null,"steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"reads rcb_behavior.py","code":"/opt/tools/rcb_behavior.py"},{"kind":"shell","label":"reads problem0.bddl","code":"/behavior-src/bddl3/bddl/activity_definitions/canning_food/problem0.bddl"},{"kind":"shell","label":"reads usage.json","code":"/run/rcb-limits/usage.json"}],"out":{"text":"File Path: `file:///opt/tools/rcb_behavior.py`\nTotal Lines: 2136\nTotal Bytes: 135677\nShowing lines 1 to 800\nContent truncated: showing bytes 0-46080 of 55550. To see more, call this tool again with the same line range and ContentOffset=46080.\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"\n2: rcb_behavior.py — task-local tooling for BEHAVIOR-1K (OmniGibson 3.9.2, the 2026 BEHAVIOR Challenge version):\n3: frozen challenge instance / thin primitives + privileged state / action recording / fresh-process deterministic replay.\n4: Same shape as the robosuite example's rcb_traj.py so agents and verifiers share one mental model.\n5: \n6: Concepts\n7: --------\n8: instance   : a 2026 BEHAVIOR Challenge task instance (task name + instance id, e.g. picking_up_trash / 301) loaded through\n9:              the official evaluator (omnigibson.eval.evaluator.Evaluator): scene template + task-relevant object states +\n10:              robot start pose, settled for 25 physics steps. The frozen initial state is what Evaluator.reset() yields right\n11:              after load_task_instance(); its sha1 over og.sim.dump_state(serialized=True) is stored in instance.json and\n12:              checked whenever the instance is loaded again (dataset / simulator drift => mismatch).\n13: trajectory : the (T, A) low-le\n… (49,636 characters left out) …\nnd \n37:             (real ?diced__steak.n.01_1)\n38:             (real ?diced__pineapple.n.01_1)\n39:             (exists\n40:                 (?bowl.n.01 - bowl.n.01)\n41:                 (and \n42:                     (filled ?bowl.n.01 ?diced__steak.n.01_1)\n43:                     (not\n44:                         (contains ?bowl.n.01 ?diced__pineapple.n.01_1)\n45:                     )\n46:                 )\n47:             )\n48:             (exists\n49:                 (?bowl.n.01 - bowl.n.01)\n50:                 (and \n51:                     (filled ?bowl.n.01 ?diced__pineapple.n.01_1)\n52:                     (not\n53:                         (contains ?bowl.n.01 ?diced__steak.n.01_1)\n54:                     )\n55:                 )\n56:             )\n57:             (forall \n58:                 (?bowl.n.01 - bowl.n.01) \n59:                 (and\n60:                     (inside ?bowl.n.01 ?cabinet.n.01_1)\n61:                 )\n62:             ) \n63:             (not \n64:                 (open ?electric_refrigerator.n.01_1)\n65:             )\n66:             (not\n67:                 (open ?cabinet.n.01_1)\n68:             )\n69:         )\n70:     )\n71: )\nThe above content shows the entire, complete file contents of the requested file.\nEncountered error in step execution: declaring permissions: cortex tool view_file: convert tool call for permissions: model output error: invalid tool call error (invalid_args) failed to read file: stat /run/rcb-limits/usage.json: no such file or directory","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":9.0,"say":"","calls":[{"kind":"shell","label":"reads rcb_behavior.py","code":"/opt/tools/rcb_behavior.py"},{"kind":"shell","label":"reads rcb_behavior.py","code":"/opt/tools/rcb_behavior.py"},{"kind":"shell","label":"reads instance.json","code":"/app/instance.json"}],"out":{"text":"File Path: `file:///opt/tools/rcb_behavior.py`\nTotal Lines: 2136\nTotal Bytes: 135677\nShowing lines 801 to 1600\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n801: \n802: \n803: def _pose7(T) -> list[float]:\n804:     return [float(v) for v in T[:3, 3]] + [float(v) for v in _xyzw_of_R(T[:3, :3])]\n805: \n806: \n807: def _rotvec(R) -> np.ndarray:\n808:     \"\"\"Axis * angle of the rotation R (the log map).\"\"\"\n809:     c = max(-1.0, min(1.0, (float(np.trace(R)) - 1.0) / 2.0)); a = math.acos(c)\n810:     if a < 1e-9:\n811:         return np.zeros(3)\n812:     if a > math.pi - 1e-6:                           # near pi: the axis from the diagonal\n813:         ax = np.sqrt(np.maximum((np.diag(R) + 1.0) / 2.0, 0.0))\n814:         i = int(np.argmax(ax)); ax[(i + 1) % 3] = math.copysign(ax[(i + 1) % 3], R[i, (i + 1) % 3]); ax[(i + 2) % 3] = math.copysign(ax[(i + 2) % 3], R[i, (i + 2) % 3])\n815:         return ax / np.linalg.norm(ax) * a\n816:     return np.array([R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]]) * (a / (2.0 * math.sin(a)))\n817: \n818: \n819: def _np(x) -> np.ndarray:\n820:     return np.asarray(x.cpu() if hasattr(x, \"cpu\") else x)\n821: \n822: \n823: def _clean_depth(z) -> np.ndarray:\n824:     \"\"\"float32 (H, W) z-depth in metres; no reading (nothing rendered, not finite, <= 0, beyond DEPTH\n… (89,730 characters left out) …\n     -0.0,\n78:     -0.0,\n79:     0.2209,\n80:     0.9753\n81:    ]\n82:   },\n83:   \"electric_refrigerator.n.01_1\": {\n84:    \"category\": \"fridge\",\n85:    \"position\": [\n86:     7.8186,\n87:     -1.9659,\n88:     0.9844\n89:    ],\n90:    \"orientation_xyzw\": [\n91:     0.0007,\n92:     0.0078,\n93:     0.6906,\n94:     0.7232\n95:    ]\n96:   },\n97:   \"carving_knife.n.01_1\": {\n98:    \"category\": \"carving_knife\",\n99:    \"position\": [\n100:     6.8168,\n101:     -1.728,\n102:     0.9135\n103:    ],\n104:    \"orientation_xyzw\": [\n105:     0.0,\n106:     -0.0002,\n107:     0.1594,\n108:     0.9872\n109:    ]\n110:   },\n111:   \"pineapple.n.02_1\": {\n112:    \"category\": \"pineapple\",\n113:    \"position\": [\n114:     7.7078,\n115:     -1.9758,\n116:     1.3318\n117:    ],\n118:    \"orientation_xyzw\": [\n119:     0.0227,\n120:     0.0064,\n121:     -0.3845,\n122:     0.9228\n123:    ]\n124:   },\n125:   \"countertop.n.01_1\": {\n126:    \"category\": \"countertop\",\n127:    \"position\": [\n128:     6.0295,\n129:     -1.9837,\n130:     0.8695\n131:    ],\n132:    \"orientation_xyzw\": [\n133:     0.0,\n134:     0.0,\n135:     0.6691,\n136:     0.7431\n137:    ]\n138:   },\n139:   \"bowl.n.01_2\": {\n140:    \"category\": \"bowl\",\n141:    \"position\": [\n142:     9.1264,\n143:     -1.8518,\n144:     0.9206\n145:    ],\n146:    \"orientation_xyzw\": [\n147:     -0.0,\n148:     0.0,\n149:     -0.291,\n150:     0.9567\n151:    ]\n152:   }\n153:  },\n154:  \"omnigibson_version\": \"3.9.2\"\n155: }\nThe above content shows the entire, complete file contents of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":14.0,"say":"","calls":[{"kind":"shell","label":"Checking directory contents and GPU status","code":"ls -la /app /opt/tools && nvidia-smi"}],"out":{"text":"The command exited with code 0.\nOutput:\n/app:\r\ntotal 4\r\ndrwxr-xr-x 1 root root   35 Oct 15 19:37 .\r\ndr-xr-xr-x 1 root root  159 Oct 15 23:33 ..\r\n-rw-rw-r-- 1 root root 2619 Oct 15 19:36 instance.json\r\ndrwxr-xr-x 2 root root   10 Sep 20 09:18 output\r\n\r\n/opt/tools:\r\ntotal 140\r\ndrwxr-xr-x 2 root root     75 Oct 15 19:37 .\r\ndrwxr-xr-x 1 root root     46 Oct 15 23:33 ..\r\n-rw-rw-r-- 1 root root   3122 Oct 15 19:36 r1pro_primitives_eval.yaml\r\n-rw-rw-r-- 1 root root 135677 Oct 15 19:36 rcb_behavior.py\r\nThu Oct 15 23:34:30 2026       \r\n+-----------------------------------------------------------------------------------------+\r\n| NVIDIA-SMI 610.43.02              KMD Version: 610.43.02     CUDA UMD Version: 13.3     |\r\n+-----------------------------------------+------------------------+----------------------+\r\n| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |\r\n| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |\r\n|                                         |                        |               MIG M. |\r\n|=========================================+========================+======================|\r\n|   0  NVIDIA L40                     On  |   00000000:C1:00.0 Off |                    0 |\r\n| N/A   34C    P8             36W /  300W |       0MiB /  46068MiB |      0%      Default |\r\n|                                         |                        |                  N/A |\r\n+-----------------------------------------+------------------------+----------------------+\r\n\r\n+-----------------------------------------------------------------------------------------+\r\n| Processes:                                                                              |\r\n|  GPU   GI   CI              PID   Type   Process name                        GPU Memory |\r\n|        ID   ID                                                               Usage      |\r\n|=========================================================================================|\r\n|  No running processes found                                                             |\r\n+-----------------------------------------------------------------------------------------+","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":27.0,"say":"","calls":[{"kind":"edit","label":"sim_server.py","code":"/tmp/sim_server.py\n\nimport os\nos.environ[\"RCB_TEXTURE_BUDGET\"] = \"0.1\"\nos.environ[\"OMNIGIBSON_HEADLESS\"] = \"1\"\nos.environ[\"PYTORCH_CUDA_ALLOC_CONF\"] = \"expandable_segments:True\"\n\nimport sys\nimport io\nimport json\nimport time\nimport math\nimport traceback\nfrom http.server import BaseHTTPRequestHandler, HTTPServer\nimport numpy as np\n\nsys.path.insert(0, \"/opt/tools\")\nfrom rcb_behavior import Session, PrimitiveError\n\nprint(\"Starting Session...\", flush=True)\ns = Session(\"canning_food\", instance=\"/app/instance.json\", cameras=\"tiny\")\np = s.primitives()\ncheckpoints = {}\naction_checkpoints = {}\n\nG = {\n    \"s\": s,\n    \"p\": p,\n    \"np\": np,\n    \"math\": math,\n    \"th\": s.th,\n    \"og\": s.og,\n    \"checkpoints\": checkpoints,\n    \"action_checkpoints\": action_checkpoints,\n    \"PrimitiveError\": PrimitiveError,\n    **p,\n}\n\nclass Handler(BaseHTTPRequestHandler):\n    def log_message(self, format, *args):\n        pass\n\n    def do_POST(self):\n        length = int(self.headers.get(\"Content-Length\", 0))\n        body = self.rfile.read(length).decode(\"utf-8\")\n        req = json.loads(body)\n        code = req.get(\"code\", \"\")\n        buf = io.StringIO()\n        old_stdout, old_stderr = sys.stdout, sys.stderr\n        sys.stdout = sys.stderr = buf\n        ok = True\n        err = None\n        t0 = time.time()\n        try:\n            exec(code, G, G)\n        except BaseException as exc:\n            ok = False\n            err = traceback.format_exc()\n        finally:\n            sys.stdout, sys.stderr = old_stdout, old_stderr\n        resp = {\n            \"ok\": ok,\n            \"output\": buf.getvalue(),\n            \"error\": err,\n            \"elapsed_s\": round(time.time() - t0, 2),\n        }\n        data = json.dumps(resp).encode(\"utf-8\")\n        self.send_response(200)\n        self.send_header(\"Content-Type\", \"application/json\")\n        self.send_header(\"Content-Length\", str(len(data)))\n        self.end_headers()\n        self.wfile.write(data)\n\nprint(\"READY ON PORT 18888\", flush=True)\nHTTPServer((\"127.0.0.1\", 18888), Handler).serve_forever()\n"},{"kind":"edit","label":"sim_client.py","code":"/tmp/sim_client.py\n\nimport sys\nimport json\nimport urllib.request\n\ncode = sys.stdin.read() if len(sys.argv) == 1 else open(sys.argv[1]).read()\nreq = urllib.request.Request(\n    \"http://localhost:18888/\",\n    data=json.dumps({\"code\": code}).encode(\"utf-8\"),\n    headers={\"Content-Type\": \"application/json\"},\n    method=\"POST\",\n)\nwith urllib.request.urlopen(req, timeout=600) as resp:\n    res = json.loads(resp.read().decode(\"utf-8\"))\nif res.get(\"output\"):\n    print(res[\"output\"], end=\"\")\nif not res.get(\"ok\"):\n    print(\"ERROR:\\n\" + str(res.get(\"error\")), file=sys.stderr)\n    sys.exit(1)\nprint(f\"\\n[elapsed: {res.get('elapsed_s')}s]\")\n"}],"out":{"text":"Created file file:///tmp/sim_server.py with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.\nCreated file file:///tmp/sim_client.py with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":48.0,"say":"","calls":[{"kind":"shell","label":"Starting persistent simulation server in background","code":"python /tmp/sim_server.py > /tmp/sim_server.log 2>&1"}],"out":{"text":"Tool is running as a background task with task id: e0b82923-0576-44f3-a16f-8a86cc28199c/task-15\nTask Description: python /tmp/sim_server.py > /tmp/sim_server.log 2>&1\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e0b82923-0576-44f3-a16f-8a86cc28199c/.system_generated/tasks/task-15.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":58.0,"say":"","calls":[{"kind":"shell","label":"reads r1pro_primitives_eval.yaml","code":"/opt/tools/r1pro_primitives_eval.yaml"},{"kind":"shell","label":"reads transition_rules.py","code":"/behavior-src/OmniGibson/omnigibson/transition_rules.py"}],"out":{"text":"File Path: `file:///opt/tools/r1pro_primitives_eval.yaml`\nTotal Lines: 123\nTotal Bytes: 3122\nShowing lines 1 to 123\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: # Robot config for the rcb BEHAVIOR tasks = OmniGibson 3.9.2 eval/r1pro.yaml (2026 challenge default) with the controller block\n2: # swapped for the primitives-compatible one below. Loaded by rcb_behavior.Session; the verifier uses its own copy under tests/.\n3: model: r1pro\n4: name: robot_r1\n5: eval:\n6:   camera_sensor_names:\n7:     left_wrist: robot_r1:left_realsense_link:Camera:0\n8:     right_wrist: robot_r1:right_realsense_link:Camera:0\n9:     head: robot_r1:zed_link:Camera:0\n10: action_normalize: false\n11: self_collisions: true\n12: obs_modalities:\n13:   - proprio\n14:   - rgb\n15: proprio_obs:\n16:   - base_qvel\n17:   - arm_left_qpos\n18:   - arm_left_qvel\n19:   - eef_left_pos\n20:   - eef_left_quat\n21:   - gripper_left_qpos\n22:   - gripper_left_qvel\n23:   - arm_right_qpos\n24:   - arm_right_qvel\n25:   - eef_right_pos\n26:   - eef_right_quat\n27:   - gripper_right_qpos\n28:   - gripper_right_qvel\n29:   - trunk_qpos\n30:   - trunk_qvel\n31: grasping_mode: assisted\n32: sensor_config:\n33:   VisionSensor:\n34:     sensor_kwargs:\n35:       image_height: 1080\n36:       image_width: 1080\n37: controller_config:\n38:   # Primitives-compati\n… (36,189 characters left out) …\nrgs:\n778:             object_candidates (dict): Dictionary mapping corresponding keys from @cls.candidate_filters to list of individual\n779:                 object instances where the filter is satisfied\n780:             container (StatefulObject): Relevant container object for computing information\n781:             global_info (dict): Output of @self._compute_global_rule_info(); global information which may be\n782:                 relevant for computing container information\n783: \n784:         Returns:\n785:             dict: Keyword-mapped container information\n786:         \"\"\"\n787:         del object_candidates\n788:         obj_collision_points = global_info[\"obj_collision_points\"]\n789: \n790:         # Check each object's collision points\n791:         in_volume_objs = []\n792:         for obj, collision_points in zip(self.scene.objects, obj_collision_points):\n793:             # Check if any of the collision points is in volume\n794:             points_in_volume = container.states[ContainedParticles].link.check_points_in_volume(collision_points)\n795:             # If any point is in volume, include this object\n796:             if th.any(points_in_volume):\n797:                 in_volume_objs.append(obj)\n798: \n799:         # Remove the container itself\n800:         if container in in_volume_objs:\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":65.0,"say":"","calls":[{"kind":"shell","label":"reads transition_rules.py","code":"/behavior-src/OmniGibson/omnigibson/transition_rules.py"},{"kind":"shell","label":"reads slicer_active.py","code":"/behavior-src/OmniGibson/omnigibson/object_states/slicer_active.py"},{"kind":"shell","label":"reads filled.py","code":"/behavior-src/OmniGibson/omnigibson/object_states/filled.py"}],"out":{"text":"File Path: `file:///behavior-src/OmniGibson/omnigibson/transition_rules.py`\nTotal Lines: 2614\nTotal Bytes: 111332\nShowing lines 801 to 1600\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n801:             in_volume_objs.remove(container)\n802: \n803:         return dict(in_volume_objs=in_volume_objs)\n804: \n805:     @classproperty\n806:     def _do_not_register_classes(cls):\n807:         # Don't register this class since it's an abstract template\n808:         classes = super()._do_not_register_classes\n809:         classes.add(\"WasherDryerRule\")\n810:         return classes\n811: \n812: \n813: class WasherRule(WasherDryerRule):\n814:     \"\"\"\n815:     Transition rule to apply to cloth washers.\n816:     1. remove \"dirty\" particles from the washer if the necessary solvent is present.\n817:     2. wet the objects inside by making them either Saturated with or Covered by water.\n818:     \"\"\"\n819: \n820:     cleaning_conditions = None\n821: \n822:     @classmethod\n823:     def register_cleaning_conditions(cls, conditions):\n824:         \"\"\"\n825:         Register cleaning conditions for this rule.\n826: \n827:         Args:\n828:             conditions (dict): ictionary mapping the system name (str) to None or list of system names (str). None\n829:                 represents \"never\", empty list represents \"alway\n… (51,540 characters left out) …\n.obj.scene.is_physical_particle_system(\n41:             system_name=system.name\n42:         ), \"Can only set Filled state with a valid PhysicalParticleSystem!\"\n43: \n44:         # First, check our current state\n45:         current_state = self.get_value(system)\n46: \n47:         # Only do something if we're changing state\n48:         if current_state != new_value:\n49:             contained_particles_state = self.obj.states[ContainedParticles]\n50:             if new_value:\n51:                 # Going from False --> True, sample volume with particles\n52:                 system.generate_particles_from_link(\n53:                     obj=self.obj,\n54:                     link=contained_particles_state.link,\n55:                     check_contact=True,\n56:                     max_samples=(\n57:                         m.N_MAX_MACRO_PARTICLE_SAMPLES\n58:                         if isinstance(system, MacroParticleSystem)\n59:                         else m.N_MAX_MICRO_PARTICLE_SAMPLES\n60:                     ),\n61:                 )\n62:             else:\n63:                 # Cannot set False\n64:                 raise NotImplementedError(f\"{self.__class__.__name__} does not support set_value(system, False)\")\n65: \n66:         return True\n67: \n68:     @classmethod\n69:     def get_dependencies(cls):\n70:         deps = super().get_dependencies()\n71:         deps.add(ContainedParticles)\n72:         return deps\n73: \nThe above content shows the entire, complete file contents of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":70.0,"say":"","calls":[{"kind":"shell","label":"reads simulator.py","code":"/behavior-src/OmniGibson/omnigibson/simulator.py"},{"kind":"shell","label":"reads manipulation_robot.py","code":"/behavior-src/OmniGibson/omnigibson/robots/manipulation_robot.py"}],"out":{"text":"File Path: `file:///behavior-src/OmniGibson/omnigibson/simulator.py`\nTotal Lines: 2076\nTotal Bytes: 91351\nShowing lines 450 to 650\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n450:             self._in_sim_lifecycle = 0\n451:             self._deferred_usd_guard_error = None\n452:             self._usd_guard_enabled = False\n453:             self._usd_guard_listener = None\n454: \n455:             # Create the SimulationContext instance (composition instead of inheritance)\n456:             self._sim_context = lazy.isaacsim.core.api.SimulationContext(\n457:                 physics_dt=physics_dt,\n458:                 rendering_dt=rendering_dt,\n459:                 backend=\"torch\",\n460:                 device=device,\n461:             )\n462: \n463:             # Store other references to variables that will be initialized later\n464:             self._scenes = []\n465:             # The callback will be called right *before* the physics step\n466:             self._pre_physics_step_callback = self._physics_context._physx_interface.subscribe_physics_on_step_events(\n467:                 lambda _: self._on_pre_physics_step(),\n468:                 pre_step=True,\n469:                 order=0,\n470:             )\n471:             # The callback will be called right *after* the physics step\n472:         \n… (9,175 characters left out) …\n             settings.set_int(\"/rtx/raytracing/showLights\", 1)\n637:             settings.set_float(\"/rtx/sceneDb/ambientLightIntensity\", 1.0)\n638:             settings.set_bool(\"/app/renderer/skipMaterialLoading\", False)\n639:             settings.set_bool(\"/rtx/flow/enabled\", True)\n640: \n641:             # Below settings are for improving performance: we use the USD / Fabric only for poses.\n642:             settings.set_bool(\"/physics/updateToUsd\", False)\n643:             settings.set_bool(\"/physics/updateParticlesToUsd\", True)\n644:             settings.set_bool(\n645:                 \"/physics/updateVelocitiesToUsd\", gm.ENABLE_HQ_RENDERING\n646:             )  # Needed for isosurface HQ rendering\n647:             settings.set_bool(\"/physics/updateForceSensorsToUsd\", False)\n648:             settings.set_bool(\"/physics/updateResidualsToUsd\", False)\n649:             settings.set_bool(\"/physics/outputVelocitiesLocalSpace\", False)\n650:             settings.set_bool(\"/physics/fabricUpdateTransformations\", True)\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.\nEncountered error in step execution: declaring permissions: cortex tool view_file: convert tool call for permissions: model output error: invalid tool call error (invalid_args) failed to read file: stat /behavior-src/OmniGibson/omnigibson/robots/manipulation_robot.py: no such file or directory","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":100.0,"say":"","calls":[{"kind":"shell","label":"reads sim_server.log","code":"/tmp/sim_server.log"}],"out":{"text":"File Path: `file:///tmp/sim_server.log`\nTotal Lines: 2768\nTotal Bytes: 684655\nShowing lines 1 to 800\nContent truncated: showing bytes 0-46080 of 179395. To see more, call this tool again with the same line range and ContentOffset=46080.\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: Starting Session...\n2: Warp DeprecationWarning: The namespace `warp.torch` will soon be removed from the public API. It can still be accessed from `warp._src.torch` but might be changed or removed without notice.\n3: [rcb] texture streaming budget capped at 0.1 of GPU memory (RCB_TEXTURE_BUDGET)\n4: Warp 1.12.1 initialized:\n5:    CUDA Toolkit 12.9, Driver 13.3\n6:    Devices:\n7:      \"cpu\"      : \"x86_64\"\n8:      \"cuda:0\"   : \"NVIDIA L40\" (44 GiB, sm_89, mempool enabled)\n9:    Kernel cache:\n10:      /root/.cache/warp/1.12.1\n11: [rcb] building evaluator for canning_food (instance 301, cameras=tiny); ~3 min ...\n12: \u001b[0m[00:00:13.165] [INFO] [omnigibson.eval.evaluator] Setting timeout to be 1.5x the average length of human demos: 34463\u001b[0m\n13: \u001b[0m[00:00:13.165] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... -----\u001b[0m\n14: Starting kit application with the following args:  ['/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isa\n… (44,713 characters left out) …\nrb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n227: 2026-10-15T23:35:19Z [4,526ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n228: 2026-10-15T23:35:19Z [4,526ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n229: 2026-10-15T23:35:19Z [4,526ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n230: 2026-10-15T23:35:19Z [4,527ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in \nThe above content was truncated because individual lines are very long. Only a portion of the content is shown.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":104.0,"say":"","calls":[{"kind":"shell","label":"reads sim_server.log","code":"/tmp/sim_server.log"}],"out":{"text":"File Path: `file:///tmp/sim_server.log`\nTotal Lines: 2768\nTotal Bytes: 684655\nShowing lines 2500 to 2768\nContent truncated: showing bytes 0-46080 of 61501. To see more, call this tool again with the same line range and ContentOffset=46080.\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n2500: 2026-10-15T23:35:23Z [8,583ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2501: 2026-10-15T23:35:23Z [8,583ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2502: 2026-10-15T23:35:23Z [8,587ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2503: 2026-10-15T23:35:23Z [8,587ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify i\n… (44,724 characters left out) …\ne at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2670: 2026-10-15T23:35:23Z [8,755ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2671: 2026-10-15T23:35:23Z [8,755ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2672: 2026-10-15T23:35:23Z [8,755ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2673: 2026-10-15T23:35:23Z [8,755ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2674: 2026-10-15T23:35:23Z \nThe above content was truncated because individual lines are very long. Only a portion of the content is shown.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":109.0,"say":"","calls":[{"kind":"shell","label":"reads sim_server.log","code":"/tmp/sim_server.log"}],"out":{"text":"File Path: `file:///tmp/sim_server.log`\nTotal Lines: 2768\nTotal Bytes: 684655\nShowing lines 2675 to 2768\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n2675: 2026-10-15T23:35:23Z [8,755ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2676: 2026-10-15T23:35:23Z [8,755ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2677: 2026-10-15T23:35:23Z [8,755ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but can be modified. A reboot or logging out and back in may also resolve the issue.\n2678: [8.795s] [ext: omni.kit.menu.common-2.0.1] startup\n2679: 2026-10-15T23:35:23Z [8,759ms] [Warning] [carb] Failed to create an inotify instance. Your system may be at the limit of inotify instances. The limit is listed in `/proc/sys/fs/inotify/max_user_watches` but c\n… (13,251 characters left out) …\n._libs.tslibs.period, pandas._libs.tslibs.vectorized, pandas._libs.ops_dispatch, pandas._libs.missing, pandas._libs.hashtable, pandas._libs.algos, pandas._libs.interval, pandas._libs.lib, pyarrow._compute, pandas._libs.ops, pandas._libs.hashing, pandas._libs.arrays, pandas._libs.tslib, pandas._libs.sparse, pandas._libs.internals, pandas._libs.indexing, pandas._libs.index, pandas._libs.writers, pandas._libs.join, pandas._libs.window.aggregations, pandas._libs.window.indexers, pandas._libs.reshape, pandas._libs.groupby, pandas._libs.json, pandas._libs.parsers, pandas._libs.testing, pyarrow._acero, pyarrow._fs, pyarrow._csv, pyarrow._json, pyarrow._substrait, pyarrow._dataset, pyarrow._dataset_orc, pyarrow._parquet, pyarrow._azurefs, pyarrow._hdfs, pyarrow._gcsfs, pyarrow._s3fs, pyarrow._parquet_encryption, pyarrow._dataset_parquet_encryption, pyarrow._dataset_parquet, charset_normalizer.md, requests.packages.charset_normalizer.md, requests.packages.chardet.md, multidict._multidict, yarl._quoting_c, propcache._helpers_c, aiohttp._http_writer, aiohttp._http_parser, aiohttp._websocket.mask, aiohttp._websocket.reader_c, frozenlist._frozenlist, omni.mdl.pymdlsdk._pymdlsdk, osqp._osqp, scipy.io.matlab._mio_utils, scipy.io.matlab._streams, scipy.io.matlab._mio5_utils, PIL._imagingft (total: 277)\n2768: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":113.0,"say":"","calls":[{"kind":"shell","label":"reads simulator.py","code":"/behavior-src/OmniGibson/omnigibson/simulator.py"}],"out":{"text":"File Path: `file:///behavior-src/OmniGibson/omnigibson/simulator.py`\nTotal Lines: 2076\nTotal Bytes: 91351\nShowing lines 230 to 390\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n230:         ), \"The EXP_PATH variable is not set. Are you in an Isaac Sim installed environment?\"\n231:         exp_path = os.environ[\"EXP_PATH\"]\n232:         kit_file = Path(__file__).parent / kit_file_name\n233:         kit_file_target = Path(exp_path) / kit_file_name\n234:         icon_file = Path(__file__).parents[2] / \"docs\" / \"assets\" / \"OmniGibson_logo.png\"\n235:         icon_file_target = Path(exp_path) / \"OmniGibson_logo.png\"\n236: \n237:         try:\n238:             shutil.copyfile(kit_file, kit_file_target)\n239:             shutil.copyfile(icon_file, icon_file_target)\n240:         except Exception as e:\n241:             raise e from ValueError(f\"Failed to copy {kit_file_name} or {icon_file.name} to Isaac Sim apps directory.\")\n242: \n243:         # Set the MDL search path so that our OmniGibsonVrayMtl can be found.\n244:         os.environ[\"MDL_USER_PATH\"] = str((Path(__file__).parent / \"materials\").resolve())\n245: \n246:         launch_context = nullcontext if gm.DEBUG else SuppressLogsUntilError if gm.NO_OMNI_LOGS else suppress_omni_log\n247: \n248:         # Prepare the directories where Omniverse will sto\n… (5,872 characters left out) …\napp\n368: \n369: \n370: def _launch_simulator(*args, **kwargs):\n371:     if not og.app:\n372:         og.app = _launch_app()\n373: \n374:     class Simulator(Serializable):\n375:         \"\"\"\n376:         Simulator class for directly interfacing with the physx physics engine.\n377: \n378:         NOTE: This is a monolithic class.\n379:             All created Simulator() instances will reference the same underlying Simulator object\n380: \n381:         Args:\n382:             gravity (float): gravity on z direction.\n383:             physics_dt (None or float): dt between physics steps. If None, will use default value\n384:                 1 / gm.DEFAULT_PHYSICS_FREQ\n385:             rendering_dt (None or float): dt between rendering steps. Note: rendering means rendering a frame of the\n386:                 current application and not only rendering a frame to the viewports/ cameras. So UI elements of\n387:                 Isaac Sim will be refreshed with this dt as well if running non-headless. If None, will use default\n388:                 value 1 / gm.DEFAULT_RENDERING_FREQ\n389:             sim_step_dt (None or float): dt between self.step() calls. This is the amount of simulation time that\n390:                 passes every time step() is called. Note: This must be a multiple of @rendering_dt. If None, will\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":119.0,"say":"","calls":[{"kind":"shell","label":"Checking environment variables and inotify limits","code":"env && cat /proc/sys/fs/inotify/max_user_instances /proc/sys/fs/inotify/max_user_watches"}],"out":{"text":"The command exited with code 0.\nOutput:\nNVIDIA_VISIBLE_DEVICES=all\r\nANTIGRAVITY_LS_ADDRESS=localhost:33131\r\nAGY_CLI_DISABLE_AUTO_UPDATE=1\r\nXDG_CONFIG_DIRS=/opt/vkclamp/conf:/etc/xdg\r\nPYTHONUNBUFFERED=1\r\nOMNIGIBSON_APPDATA_PATH=/cache/appdata\r\nOMNIGIBSON_DATA_PATH=/data\r\nGEMINI_API_KEY=\r\nDEV_MODE=\r\nPWD=/app\r\nNVIDIA_DRIVER_CAPABILITIES=all\r\ncontainer=podman\r\nHOME=/root\r\nANTIGRAVITY_AGENTAPI_EXE=/root/.local/bin/agy\r\nANTIGRAVITY_CSRF_TOKEN=726b9390-8cc6-447a-ac73-88533e7eaae4\r\nANTIGRAVITY_CONVERSATION_ID=e0b82923-0576-44f3-a16f-8a86cc28199c\r\nVK_DRIVER_FILES=/etc/vulkan/icd.d/nvidia_icd.json\r\nPYTHONPATH=/opt/tools\r\nTERM=dumb\r\nGIT_PAGER=cat\r\nOMNIGIBSON_HEADLESS=1\r\nGEMINI_CLI_TRUST_WORKSPACE=true\r\nANTIGRAVITY_SOURCE_METADATA={\"tool\":{\"conversationId\":\"e0b82923-0576-44f3-a16f-8a86cc28199c\", \"stepIndex\":36, \"toolCall\":{\"id\":\"call_566319\", \"name\":\"run_command\", \"argumentsJson\":\"{\\\"CommandLine\\\":\\\"env \\\\u0026\\\\u0026 cat /proc/sys/fs/inotify/max_user_instances /proc/sys/fs/inotify/max_user_watches\\\",\\\"Cwd\\\":\\\"/app\\\",\\\"WaitMsBeforeAsync\\\":5000,\\\"toolAction\\\":\\\"Checking environment variables and inotify limits\\\",\\\"toolSummary\\\":\\\"Check env and inotify limits\\\"}\", \"thinkingSignature\":\"EtEKCs4KAWkUfRM167odky/shSNYniKttyLZERINj0cD+L57jt2zFNn3Mq/0PTIhCHDBUg4EidPjdevyqTZqi1ARh7HYbGHNbltKLkqYsnYKrvFvvqmAD157FR0uv66oW1371SXDgHHh+smfbDcQG6x09M2lPnGGZZWbevImePF08je0YY85U7lQuW+jVlfBzBiOuG50dtc6EHt2cNuf1deoFxkXlZwRngEimIzh6WxVPx4uaUnDDfCNqJEers8wqSW42nuHWlw21feCGaq2IjsicALasm38z2+h/1C1i6Y6h648csEzlK\n… (490 characters left out) …\nPyLc9FE+IUlUrmOqN45X6Dx2InL2M62zUcpVUvhU7N+XX7rMU3otxN3qUNr7d9gJhh/5dr/bDE3dQ1Zfo38rilQyYBJdHVACbW4AS/cUCM2zfdanuTS5HnSajgaCGymc3M7xgbupH7ZQEn8OuO+59maFNLBUN+49pPeyNFT/K0MNlTg080IpAtPJ8MTTKrb8Zaw6KDmclYS5kCrJvzv6EtH5fW4BXZyrutHPREbs0ESv+Uh+7xo8VuALkI1TlA1gsrUxsfhQX6oq2tVU7kOewcdb3tBANb4AwYOCv8FjK/gPVqBXWIYcTYENXA9g4gOOqzozphcNpV6tGw8qVIreKfiU0K0jNrx4/6uqsuINc2ehjPNvZmxc6nPnL5CO/1+o6mlHrXEVywv7aV9i3SdfW7OnC+i2R+QuJYyf1zzdF+4Yh4+rHnxzpWweHxVVxAoCOuN5lFmw4GGYP2SzGqBR5cWYUdET1jlKTtrTmGvIMn0ZKOb8IV0GttWGrZdJFR/x5UGOx/XKInkLeRH4NVz08rfQJA2vr4AfMBXfudpawi5reSmt5HRCP+T7//VpDThOdx9mShRY3/FitzE9DI/FZz2U5vrjfbyMWdjBBWjjfG67NI2jjTmVESO8um4aM/FgatESWruxSIqQGdjoalW7gUWB9/NwWDKbC4qorB+RwLpE4w0+lcYVpe+AKlVScpovuzdrj7d2Kn8SSJEvgmWjlput/uBv1Zpyp0kW1wl/AfS4NJNEVf0QyuQaVuriN7vT21Sa1JaAyp5QBsjoaLqeXesyNa76BnepipsXa0elDL83viig3hN1+jeWyCnRHopMBDXV9XGSPoshBGXAv9N0CdY2h8fpxEC7qiZVUAWwO+JhkiHz7DSCpJncWmPl8Ud35QyXW00ywTph+Prf9u+9Q7PyI+h4e10FCByLAHabv++zfnrThbdT26PPafpSmDyDVMhvZNnST6iiQdhjYktLeLYK+zSRH1+uWQlldo1PWBvtvkk08VYvnkT2jLA=\"}}}\r\nSHLVL=2\r\nPAGER=cat\r\nANTIGRAVITY_AGENT=1\r\nANTIGRAVITY_TRAJECTORY_ID=b7a01d05-bbb5-4cc8-bda6-61944ea106e9\r\nOMP_NUM_THREADS=8\r\nANTIGRAVITY_LS_VERSION=cli-1.3.2\r\nANTIGRAVITY_PROJECT_ID=default-cli-project\r\nPATH=/root/.gemini/antigravity-cli/bin:/opt/conda/envs/behavior/bin:/opt/conda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin\r\nRCB_TEXTURE_BUDGET=0.1\r\nMKL_NUM_THREADS=8\r\nANTIGRAVITY_APP_DATA_DIR=/root/.gemini/antigravity-cli\r\n_=/usr/bin/env\r\n128\r\n1048576","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":128.0,"say":"","calls":[{"kind":"shell","label":"Checking inotify usage and Kit log","code":"ls -l /proc/*/fd/* 2>/dev/null | grep inotify | wc -l && ps aux && cat /cache/appdata/local/logs/Kit/OmniGibson/3.9/kit_20261015_233514.log | tail -n 100"}],"out":{"text":"The command exited with code 0.\nOutput:\n<truncated 72 lines>\n2026-10-15T23:35:26Z [11,610ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  ::OmniSurface::OmniImage  <--->  ::OmniSurface::OmniImage  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/mdl/OmniSurface/OmniImage.mdl)\r\n2026-10-15T23:35:26Z [11,610ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  .::OmniSurfaceLite  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::OmniSurfaceLite  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/OmniSurfaceLite.mdl)\r\n2026-10-15T23:35:26Z [11,610ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  .::OmniSurface  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::OmniSurface  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/OmniSurface.mdl)\r\n2026-10-15T23:35:26Z [11,610ms] [Info] [simulation_app.simulation_app] SimulationApp._wait_for_viewport: Waiting for viewport... frame 34\r\n2026-10-15T23:35:26Z [11,611ms] [Info] [omni.usd] UsdContext::createViewportImpl - engine type: 'rtx', tick rate: 120 , flags: 0 , device: 0\r\n2026-10-15T23:35:26Z [11,632ms] [Info] [simulation_app.simulation_app] SimulationApp._wait_for_viewport: Waiting for viewport... frame 35\r\n2026-10-15T23:35:26Z [11,633ms] [Info] [omni.usd] UsdContex\n… (5,177 characters left out) …\nda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/SimPBR_Model.mdl)\r\n2026-10-15T23:35:27Z [13,158ms] [Info] [omni.usd] Status (secondary thread): in _OpenAsset at line 360 of /builds/omniverse/usd-resolver/source/library/OmniUsdResolver_Ar2.cpp -- OmniUsdResolver: Opening filesystem asset 'file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/SimPBR_Model.mdl' for read\r\n\r\n2026-10-15T23:35:27Z [13,162ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] DONE  .::baking_annotations  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::baking_annotations  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl)\r\n2026-10-15T23:35:27Z [13,163ms] [Info] [omni.usd] Status (secondary thread): in _OpenAsset at line 360 of /builds/omniverse/usd-resolver/source/library/OmniUsdResolver_Ar2.cpp -- OmniUsdResolver: Opening filesystem asset 'file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl' for read\r\n\r\n2026-10-15T23:35:27Z [13,166ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  .::baking_annotations  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::baking_annotations  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl)","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":136.0,"say":"","calls":[{"kind":"shell","label":"Checking running processes and inotify fds","code":"ps aux && for p in /proc/[0-9]*; do c=$(ls -l $p/fd/* 2>/dev/null | grep -c inotify); if [ \"$c\" -gt 0 ]; then echo \"$p: $c ($(cat $p/comm 2>/dev/null))\"; fi; done"}],"out":{"text":"The command exited with code 0.\nOutput:\nUSER         PID %CPU %MEM    VSZ   RSS TTY      STAT START   TIME COMMAND\r\nroot           1  0.0  0.0   2800  1936 ?        Ss   23:33   0:00 sh -c sleep i\r\nroot          54  0.0  0.0   2696  1500 ?        S    23:33   0:00 sleep infinit\r\nroot         284  0.0  0.0   4324  3372 ?        Ss   23:34   0:00 bash -c set -\r\nroot         285  2.2  0.0 6115968 288572 ?      Sl   23:34   0:03 /root/.local/\r\nroot         286  0.0  0.0   2724  1612 ?        S    23:34   0:00 tee /logs/age\r\nroot        1263  0.0  0.0   4324  3492 pts/0    Ss+  23:36   0:00 bash -c ps au\r\nroot        1264  0.0  0.0   7892  4116 pts/0    R+   23:36   0:00 ps aux","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":143.0,"say":"","calls":[{"kind":"shell","label":"Viewing end of Kit log","code":"tail -n 60 /cache/appdata/local/logs/Kit/OmniGibson/3.9/kit_20261015_233514.log"}],"out":{"text":"The command exited with code 0.\nOutput:\n<truncated 23 lines>\n2026-10-15T23:35:26Z [11,610ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  ::OmniSurface::OmniImage  <--->  ::OmniSurface::OmniImage  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/mdl/OmniSurface/OmniImage.mdl)\r\n2026-10-15T23:35:26Z [11,610ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  .::OmniSurfaceLite  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::OmniSurfaceLite  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/OmniSurfaceLite.mdl)\r\n2026-10-15T23:35:26Z [11,610ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  .::OmniSurface  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::OmniSurface  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/OmniSurface.mdl)\r\n2026-10-15T23:35:26Z [11,610ms] [Info] [simulation_app.simulation_app] SimulationApp._wait_for_viewport: Waiting for viewport... frame 34\r\n2026-10-15T23:35:26Z [11,611ms] [Info] [omni.usd] UsdContext::createViewportImpl - engine type: 'rtx', tick rate: 120 , flags: 0 , device: 0\r\n2026-10-15T23:35:26Z [11,632ms] [Info] [simulation_app.simulation_app] SimulationApp._wait_for_viewport: Waiting for viewport... frame 35\r\n2026-10-15T23:35:26Z [11,633ms] [Info] [omni.usd] UsdContex\n… (5,177 characters left out) …\nda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/SimPBR_Model.mdl)\r\n2026-10-15T23:35:27Z [13,158ms] [Info] [omni.usd] Status (secondary thread): in _OpenAsset at line 360 of /builds/omniverse/usd-resolver/source/library/OmniUsdResolver_Ar2.cpp -- OmniUsdResolver: Opening filesystem asset 'file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/SimPBR_Model.mdl' for read\r\n\r\n2026-10-15T23:35:27Z [13,162ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] DONE  .::baking_annotations  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::baking_annotations  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl)\r\n2026-10-15T23:35:27Z [13,163ms] [Info] [omni.usd] Status (secondary thread): in _OpenAsset at line 360 of /builds/omniverse/usd-resolver/source/library/OmniUsdResolver_Ar2.cpp -- OmniUsdResolver: Opening filesystem asset 'file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl' for read\r\n\r\n2026-10-15T23:35:27Z [13,166ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  .::baking_annotations  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::baking_annotations  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl)","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":19,"t":152.0,"say":"","calls":[{"kind":"shell","label":"Checking Kit logs and vkclamp directory","code":"ls -la /cache/appdata/local/logs/Kit/OmniGibson/3.9/ /opt/vkclamp/ /opt/vkclamp/conf/"}],"out":{"text":"The command exited with code 0.\nOutput:\n/cache/appdata/local/logs/Kit/OmniGibson/3.9/:\r\ntotal 1756\r\ndrwxr-xr-x 2 root root      45 Oct 15 23:35 .\r\ndrwxr-xr-x 3 root root      25 Oct 15 23:35 ..\r\n-rw-r--r-- 1 root root 1795398 Oct 15 23:35 kit_20261015_233514.log\r\n\r\n/opt/vkclamp/:\r\ntotal 20\r\ndrwxr-xr-x 3 root root    51 Oct 14 19:52 .\r\ndrwxr-xr-x 1 root root    63 Oct 15 23:33 ..\r\ndrwxr-xr-x 3 root root    28 Oct 14 19:52 conf\r\n-rwxr-xr-x 1 root root 17096 Oct 14 19:52 libvkclamp.so\r\n\r\n/opt/vkclamp/conf/:\r\ntotal 0\r\ndrwxr-xr-x 3 root root 28 Oct 14 19:52 .\r\ndrwxr-xr-x 3 root root 51 Oct 14 19:52 ..\r\ndrwxr-xr-x 3 root root 38 Oct 14 19:52 vulkan","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":159.0,"say":"","calls":[{"kind":"shell","label":"Viewing last 20 lines of Kit log","code":"tail -n 20 /cache/appdata/local/logs/Kit/OmniGibson/3.9/kit_20261015_233514.log"}],"out":{"text":"The command exited with code 0.\nOutput:\n2026-10-15T23:35:26Z [11,763ms] [Info] [rtx.neuraylib.plugin] FileWatcher: Started watching: 'mdl::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::OmniSurfacePresets'\r\n2026-10-15T23:35:26Z [11,777ms] [Info] [simulation_app.simulation_app] SimulationApp._wait_for_viewport: Waiting for viewport... frame 41\r\n2026-10-15T23:35:26Z [11,777ms] [Info] [omni.usd] UsdContext::createViewportImpl - engine type: 'rtx', tick rate: 120 , flags: 0 , device: 0\r\n2026-10-15T23:35:27Z [12,374ms] [Info] [carb] Initializing plugin: rtx.postprocessing.plugin (interfaces: [rtx::postprocessing::AlphaZeroMask v3.0],[rtx::postprocessing::ChromaticAberration v1.0],[rtx::postprocessing::DLSS v2.2],[rtx::postprocessing::DepthSensor v1.0],[rtx::postprocessing::Downsample v0.1],[rtx::postprocessing::Downsample2x v0.1],[rtx::postprocessing::Fullscreen v0.1],[rtx::postprocessing::Fxaa v1.0],[rtx::postprocessing::Histogram v1.0],[rtx::postprocessing::LensFlare v1.0],[rtx::postprocessing::MotionBlur v2.0],[rtx::postprocessing::NuRecVolumeCompositing v1.0],[rtx::postprocessing::Outline v0.2],[rtx::postprocessing::Postprocessing v5.0],[rtx::postprocessing::RegisterCompositing v0.0],[rtx::postprocessing::RegisteredCompositing v4.0],[rtx::postprocessing::TemporalAA v2.0],[rtx::postprocessing::TileCompositing v0.1],[rtx::postprocessing::Tonemapping v1.1],[rtx::postprocessing::TvNoise v1.0],[rtx::postprocessing::\n… (2,229 characters left out) …\nda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/SimPBR_Model.mdl)\r\n2026-10-15T23:35:27Z [13,158ms] [Info] [omni.usd] Status (secondary thread): in _OpenAsset at line 360 of /builds/omniverse/usd-resolver/source/library/OmniUsdResolver_Ar2.cpp -- OmniUsdResolver: Opening filesystem asset 'file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/SimPBR_Model.mdl' for read\r\n\r\n2026-10-15T23:35:27Z [13,162ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] DONE  .::baking_annotations  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::baking_annotations  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl)\r\n2026-10-15T23:35:27Z [13,163ms] [Info] [omni.usd] Status (secondary thread): in _OpenAsset at line 360 of /builds/omniverse/usd-resolver/source/library/OmniUsdResolver_Ar2.cpp -- OmniUsdResolver: Opening filesystem asset 'file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl' for read\r\n\r\n2026-10-15T23:35:27Z [13,166ms] [Info] [rtx.neuraylib.plugin] [EntityResolver] CACHED  .::baking_annotations  <--->  ::Z73file_3A::opt::conda::envs::behavior::lib::Z0Dpython3_2E11::ZC9site_2Dpackages::isaacsim::kit::mdl::core::Base::baking_annotations  (file:/opt/conda/envs/behavior/lib/python3.11/site-packages/isaacsim/kit/mdl/core/Base/baking_annotations.mdl)","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":21,"t":166.0,"say":"","calls":[{"kind":"shell","label":"Testing how many inotify instances can be created","code":"python -c '\nimport ctypes\nlibc = ctypes.CDLL(\"libc.so.6\", use_errno=True)\nfds = []\nfor i in range(200):\n    fd = libc.inotify_init1(0)\n    if fd < 0:\n        print(f\"Failed at {i}, errno={ctypes.get_errno()}\")\n        break\n    fds.append(fd)\nprint(f\"Created {len(fds)} inotify instances\")\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nFailed at 6, errno=24\r\nCreated 6 inotify instances","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":22,"t":178.0,"say":"","calls":[{"kind":"shell","label":"Checking gcc and ulimits","code":"which gcc g++ && ulimit -a"}],"out":{"text":"The command exited with code 0.\nOutput:\n/usr/bin/gcc\r\n/usr/bin/g++\r\nreal-time non-blocking time  (microseconds, -R) unlimited\r\ncore file size              (blocks, -c) unlimited\r\ndata seg size               (kbytes, -d) unlimited\r\nscheduling priority                 (-e) 0\r\nfile size                   (blocks, -f) unlimited\r\npending signals                     (-i) 4125291\r\nmax locked memory           (kbytes, -l) unlimited\r\nmax memory size             (kbytes, -m) 1055744000\r\nopen files                          (-n) 8192\r\npipe size                (512 bytes, -p) 8\r\nPOSIX message queues         (bytes, -q) 819200\r\nreal-time priority                  (-r) 0\r\nstack size                  (kbytes, -s) 8192\r\ncpu time                   (seconds, -t) unlimited\r\nmax user processes                  (-u) 4125291\r\nvirtual memory              (kbytes, -v) unlimited\r\nfile locks                          (-x) unlimited","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":23,"t":201.0,"say":"This request was blocked by Gemini's filters. They can occasionally trigger by mistake on safe coding, security, or biology-related queries. Please try rephrasing your prompt. You can [send feedback](https://ai.google.dev/gemini-api/docs/troubleshooting#file-bug) or read more about [our policies here](https://policies.google.com/terms/generative-ai/use-policy).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}

runs/behavior-halve-an-egg-i00-standard--cnjgzav.json

@@ -0,0 +1 @@
+{"slug":"behavior-halve-an-egg-i00-standard--cnjgzav","task":"behavior-halve-an-egg-i00-standard","bench":"behavior","mode":"standard","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"live_matches_replay":1,"finalized":1,"missing_log":0,"n_actions":2087,"sim_steps":2087,"physics_steps":8348,"steps":1790,"elapsed_s":627.4,"video_rendered":1,"gpu_lost":0,"replay_error":0,"instance_ok":1,"task_failure":1,"q_score":0.0,"sim_startups":1,"resumes":0,"resume_state_mismatch":0,"resume_max_tcp_dev_m":0.0,"resume_max_joint_dev":0.0,"gave_up":0,"infra_error":0,"grader_error":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.186,"peak_processes":10,"peak_disk_gb":0.263,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1308,"tokens":{"in":2055137,"cached":1994377,"out":19724,"usd":1.28},"task_text":"# BEHAVIOR-1K · halve_an_egg — STANDARD MODE (robot as a service, eai-standard/2.2)\n\nYou drive an **R1Pro** mobile bimanual robot around a house **as if it were real hardware**: the simulator (BEHAVIOR-1K\nv3.9.2, the 2026 BEHAVIOR Challenge stack) runs in a service you cannot open. You get one client and one episode.\n**Task:** Halve the egg. A hard-boiled egg is inside the kitchen refrigerator; a chopping board with a carving knife on it and a plate lie on the countertop, and there is a sink in the kitchen. Cut the egg in half, put both halves on the plate and put the carving knife into the sink. Success means all of the following hold at the same time: (1) both egg halves exist (the egg has been cut); (2) both halves are on top of the plate; (3) the carving knife is inside the sink. How the simulator judges them: inside(A, B): the centre of A's axis-aligned bounding box lies within B's bounding box and within B's interior (container) volume. ontop(A, B): A touches B and B is directly below A (and not above it). real(A): A exists in the simulation. What the BDDL problem declares future (halves, diced pieces, cooked food, a dish) does not exist at the start: the simulator's transition rules create it. A sliceable object touching the blade of an active slicer (a knife, an axe; after a cut the blade rests for 2 s) is replaced by its two halves, so the whole one is no longer real; a diceable half touching the blade turns into diced pieces (particles); and a recipe's ingredients, heated together in their container or vessel on or in an active heat source, turn into the cooked food or the dish. The service checks the goal and the episode ends the moment it holds.\n\n## Rules (real-robot rules)\n- **No reset.** The episode starts when the service comes up and ends on success, when the robot has fallen over, when\n  your time is up, or on a simulator error. Whatever you knock over or push away stays where it ends up.\n- **A fall ends the episode as a failure** (`meta[\"reason\"]` \"failure: the robot fell over\"): the robot has fallen over\n  when its base has been tilted more than 41.4° from upright, or more than 3 cm below the floor, for 10 s of simulated\n  time in a row (OmniGibson's own Falling rule; tilted means the z of the base's up axis is below 0.75, which the\n  proprioception gives as cos(rx)·cos(ry) of `base_footprint_rx_joint` and `base_footprint_ry_joint`).\n- **No privileged state.** You see what the robot's cameras see (RGB; depth on request) plus its own proprioception\n  (joints, base pose, end-effector and fingertip poses, gripper openings). No object poses, no map, no success predicate.\n- There is no step budget; your wall-clock budget is 4 h (14400 s; `meta[\"time_left_s\"]`). Actions and simulated time\n  are reported as cost. Only a runaway guard bounds the episode: it ends at 200,000 control steps (1.85 h of simulated\n  time; `spec[\"max_control_steps\"]`, reason `step_guard`).\n- **A malformed request is refused with a 400 and nothing is executed**\n… (4,344 characters left out) …\nns **xyzw**, gripper\n  1 = open, 0 = closed (switched at the start of the row). Each row is solved by cuRobo inverse kinematics for both end\n  effectors together (the trunk may bend too; no collision checking) and driven to in joint space; `dt` is ignored and the\n  base stands still. If no IK solution exists nothing moves, and `meta[\"plan\"]` says so. The pose is the end-effector frame\n  of the proprio `*_eef_*` entries, so an observed pose is a valid target. At most 50 rows per submit.\n\n### Optional inputs (eai-standard/2.2; nothing changes unless you ask)\n- **Depth**: `depth=True` on `get_obs` / `submit` adds `res.last_depth[cam]`, float32 (224, 224) z-depth in metres (0 = no\n  reading), pixel-aligned with the RGB; `depth=\"frames\"` also returns `res.depth[cam]` (N, 224, 224), one per frame.\n- **Per frame**: `res.frame_step`, `res.frame_time_s` and `res.extrinsic_cv[cam]` (N, 3, 4; world -> camera, OpenCV\n  axes). While the robot moves, a frame shows the scene 2 control steps before its `frame_step`; its `extrinsic_cv` is the\n  pose it was rendered with. Intrinsics `spec[\"cameras\"][cam][\"intrinsic_cv\"]`, mounting `spec[\"cameras\"][cam][\"mount\"]`\n  (parent link + fixed `link_T_cam_cv`).\n- **Robot**: `spec[\"robot_spec\"]`: joint names and real limits, gripper stroke and open/close rule, drive gains, the\n  end-effector frame vs the fingertip centre (TCP, 1.88 cm further along the fingers), the base's per-step and speed\n  limits; `spec[\"world\"]`: frame, units, quaternion order, camera axes.\n- **Proprioception**: named columns `spec[\"proprio_layout\"]`, groups `spec[\"proprio_groups\"]` (joint_pos, joint_vel,\n  joint_effort, gripper_opening, tcp_pose, eef_pose, base_pose, ...): `res.group(\"tcp_pose\")` per frame,\n  `res.group(\"tcp_pose\", now=True)` now.\n- **Kinematics** (stateless: no physics, no time): `r.fk(q)`, `r.ik({\"left_tcp\": pose}, seed=q)`; q =\n  `spec[\"kinematics\"][\"joint_names\"]` (trunk + both arms, all proprio columns); poses in the robot's base frame, or in the\n  world frame with `base_pose=` the 7 base proprio columns.\n\nFor scale: the 2026 challenge's human teleoperators needed 213 s on average (6,377 control steps) for this task, and the simulator runs at ~7-11 control steps/s. Budget your time, drive before you reach, and check `meta[\"done\"]`.\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 8 cores for your container; the cap only slows you down.\n","replay":"behavior-halve-an-egg-i00-standard--cnjgzav/replay.mp4","replay_last":"behavior-halve-an-egg-i00-standard--cnjgzav/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"ls -la /app /app/* /opt/tools /logs/agent/sessions/projects/-app/memory/ 2>&1 | head -50; cat /run/rcb-limits/","code":"ls -la /app /app/* /opt/tools /logs/agent/sessions/projects/-app/memory/ 2>&1 | head -50; cat /run/rcb-limits/usage.json"},{"kind":"shell","label":"wc -l /opt/tools/rcb_client.py; sed -n 1,200p /opt/tools/rcb_client.py","code":"wc -l /opt/tools/rcb_client.py; sed -n 1,200p /opt/tools/rcb_client.py"}],"out":{"text":"/app:\ntotal 12\ndrwxr-xr-x 3 root root 4096 Oct 11 01:13 .\ndrwxr-xr-x 1 root root 4096 Oct 11 03:53 ..\ndrwxr-xr-x 2 root root 4096 Oct 11 01:13 output\n\n/app/output:\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 11 01:13 .\ndrwxr-xr-x 3 root root 4096 Oct 11 01:13 ..\n\n/logs/agent/sessions/projects/-app/memory/:\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 11 03:53 .\ndrwxr-xr-x 3 root root 4096 Oct 11 03:53 ..\n\n/opt/tools:\ntotal 28\ndrwxr-xr-x 2 root root  4096 Oct 11 01:13 .\ndrwxr-xr-x 1 root root  4096 Oct 11 01:13 ..\n-rw-rw-r-- 1 root root  3881 Oct 11 01:13 rcb1.py\n-rw-rw-r-- 1 root root 16333 Oct 11 01:13 rcb_client.py\n{\n \"t\": 1791690802.24,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.093,\n \"processes\": 5,\n \"disk_gb\": 0.239,\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}\n\n[stdout]\n/app:\ntotal 12\ndrwxr-xr-x 3 root root 4096 Oct 11 01:13 .\ndrwxr-xr-x 1 root root 4096 Oct 11 03:53 ..\ndrwxr-xr-x 2 root root 4096 Oct 11 01:13 output\n\n/app/output:\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 11 01:13 .\ndrwxr-xr-x 3 root root 4096 Oct 11 01:13 ..\n\n/logs/agent/sessions/projects/-app/memory/:\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 11 03:53 .\ndrwxr-xr-x 3 root root 4096 Oct 11 03:53 ..\n\n/opt/tools:\ntotal 28\ndrwxr-xr-x 2 root root  4096 Oct 11 01:13 .\ndrwxr-xr-x 1 root root  4096 Oct 11 01:13 ..\n-rw-rw-r-- \n… (26,855 characters left out) …\n: float(dt)}), **self._common(cameras, video_fps, depth, include_depth)}\n        res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n        if res.stopped:\n            print(f\"[rcb_client] the service stopped this call early ({res.stopped}): {res.meta.get('executed_rows')} of {len(a)} rows \"\n                  \"executed; meta['proprio']['now'] is where the robot is\", file=sys.stderr)\n        return res\n\n    def get_obs(self, cameras=None, seconds: float = 0.0, video_fps: int | None = None, depth=None, include_depth: bool = False,\n                video: str = \"frames\") -> Result:\n        \"\"\"Current frames (seconds=0, free) or hold the last command and watch for `seconds` (returns the video).\n        depth: None | True (= \"last\": the last frame's depth) | \"frames\" (one depth map per frame).\"\"\"\n        meta = {\"seconds\": float(seconds), \"video\": video, **self._common(cameras, video_fps, depth, include_depth)}\n        res = self._post(\"/observe\", meta, [], timeout=600)\n        if res.stopped:\n            print(f\"[rcb_client] the service stopped this watch early ({res.stopped}) after {res.meta.get('control_steps_watch')} control \"\n                  \"steps\", file=sys.stderr)\n        return res\n\n    def status(self) -> dict:\n        r = requests.get(self.base + \"/status\", timeout=(5, 60))\n        if r.status_code == 409: raise EpisodeOver(_over(r))   # the service gave up for good (wait_ready() ends here too)\n        r.raise_for_status(); return r.json()","exit":[],"pics":[]},"tok":{"in":25877,"cached":18236,"out":245,"think":null,"usd":0.0468},"sim":{"submit":0,"reset":0}},{"id":3,"t":6.2,"say":"","calls":[{"kind":"shell","label":"sed -n 200,238p /opt/tools/rcb_client.py; python3 -c \"import numpy, PIL, cv2; print('ok')\"; nproc; free -g","code":"sed -n 200,238p /opt/tools/rcb_client.py; python3 -c \"import numpy, PIL, cv2; print('ok')\"; nproc; free -g"}],"out":{"text":"r.raise_for_status(); return r.json()\n\n    def wait_ready(self, timeout: float = 3600.0) -> dict:\n        \"\"\"After a connection error: wait until the service answers GET /status again (it resumes the same episode after a\n        crash), then return the status. Raises RuntimeError after `timeout` seconds, and EpisodeOver at once when the\n        service answers that it gave up on the episode.\"\"\"\n        t0 = time.time(); last = None\n        while time.time() - t0 < timeout:\n            try:\n                return self.status()\n            except requests.exceptions.RequestException as e:\n                last = e\n            time.sleep(5)\n        raise RuntimeError(f\"sim service did not come back within {timeout:.0f} s: {last}\")\n\n    def kinematics(self, body: dict) -> dict:\n        \"\"\"POST /kinematics (stateless: never moves the robot, never advances time). Raises ValueError on a bad request.\"\"\"\n        r = requests.post(self.base + \"/kinematics\", json=body, timeout=(5, 120))\n        if r.status_code >= 400:\n            try: err = r.json()\n            except Exception: err = {\"error\": r.text[:300]}\n            raise ValueError(f\"{r.status_code}: {err.get('error')} {err.get('detail', '')}\".strip())\n        return r.json()\n\n    def fk(self, q, links=None, base_pose=None) -> dict:\n        \"\"\"Forward kinematics: q in spec()['kinematics']['joint_names'] order -> {\"ok\", \"frame\", \"poses\": {link: [x,y,z, quat]}}\n        (quaternion order spec()['world']['quaternion_order']; a mobile r\n… (2,569 characters left out) …\nse_pose=None) -> dict:\n        \"\"\"Forward kinematics: q in spec()['kinematics']['joint_names'] order -> {\"ok\", \"frame\", \"poses\": {link: [x,y,z, quat]}}\n        (quaternion order spec()['world']['quaternion_order']; a mobile robot answers in its base frame unless base_pose is given).\"\"\"\n        body = {\"op\": \"fk\", \"q\": [float(v) for v in np.asarray(q).reshape(-1)]}\n        if links is not None: body[\"links\"] = list(links)\n        if base_pose is not None: body[\"base_pose\"] = [float(v) for v in base_pose]\n        return self.kinematics(body)\n\n    def ik(self, targets: dict, seed=None, base_pose=None, **opts) -> dict:\n        \"\"\"Inverse kinematics: {frame: [x,y,z, quat]} (frames from spec()['kinematics']['ik_targets']) and an optional seed q ->\n        {\"ok\", \"q\", \"error\": {frame: {\"pos_m\", \"rot_rad\"}}}. opts: tol_pos_m, tol_rot_rad, max_iters.\"\"\"\n        body = {\"op\": \"ik\", \"targets\": {k: [float(v) for v in p] for k, p in targets.items()}, **opts}\n        if seed is not None: body[\"seed\"] = [float(v) for v in np.asarray(seed).reshape(-1)]\n        if base_pose is not None: body[\"base_pose\"] = [float(v) for v in base_pose]\n        return self.kinematics(body)\nTraceback (most recent call last):\n  File \"<string>\", line 1, in <module>\nModuleNotFoundError: No module named 'cv2'\n48\n               total        used        free      shared  buff/cache   available\nMem:             181          76          13           0          93         105\nSwap:              0           0           0","exit":[],"pics":[]},"tok":{"in":32310,"cached":25875,"out":103,"think":null,"usd":0.0394},"sim":{"submit":0,"reset":0}},{"id":4,"t":9.3,"say":"","calls":[{"kind":"shell","label":"mkdir -p /app/runs /app/scripts; cd /app/scripts; cat > connect.py <<'EOF'","code":"mkdir -p /app/runs /app/scripts; cd /app/scripts; cat > connect.py <<'EOF'\nimport sys, json, time\nsys.path.insert(0, \"/opt/tools\")\nfrom rcb_client import Robot\nt=time.time()\nr = Robot()\nprint(\"connected\", time.time()-t)\njson.dump(r.spec(), open(\"/app/runs/spec.json\",\"w\"), indent=1)\nprint(r.status())\nEOF\npython3 connect.py 2>&1 | tail -5"}],"out":{"text":"Command did not complete within its 600s timeout and was moved to the background (ID: bwlegakqi). Output is being written to: /tmp/claude-0/-app/0d1a9af6-90d3-49cd-8b08-9c3f3316c253/tasks/bwlegakqi.output. You will be notified when it completes. If it is still running after 10m in the background, it will be stopped and you will be notified. To check interim output, use Read on that file path.\nSession cwd remains /app; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":33490,"cached":32308,"out":324,"think":null,"usd":0.0188},"sim":{"submit":0,"reset":0}},{"id":5,"t":612.7,"say":"","calls":[{"kind":"shell","label":"sleep 240; cat /tmp/claude-0/-app/0d1a9af6-90d3-49cd-8b08-9c3f3316c253/tasks/bwlegakqi.output","code":"sleep 240; cat /tmp/claude-0/-app/0d1a9af6-90d3-49cd-8b08-9c3f3316c253/tasks/bwlegakqi.output"}],"out":{"text":"[rcb_client] still waiting for the sim service to start (481 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (541 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (601 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\nconnected 626.8819515705109\n{'step': 0, 'calls': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 1.7, 'resumes': 0}\n\n[exited with code 0]\n\n[stdout]\n[rcb_client] still waiting for the sim service to start (481 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (541 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (601 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\nconnected 626.8819515705109\n{'step': 0, 'calls': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 1.7, 'resumes': 0}\n\n[exited with code 0]","exit":[],"pics":[]},"tok":{"in":34025,"cached":33488,"out":133,"think":null,"usd":0.012},"sim":{"submit":0,"reset":0}},{"id":6,"t":854.3,"say":"","calls":[{"kind":"shell","label":"for k,v in s.items():","code":"cd /app/runs; python3 -c \"\nimport json; s=json.load(open('spec.json'))\nfor k,v in s.items():\n    t=json.dumps(v); print('==',k, len(t)); print(t[:1500])\n\""}],"out":{"text":"== protocol 18\n\"eai-standard/2.2\"\n== protocol_compat 58\n[\"rcb-limited/2.0\", \"rcb-limited/2.1\", \"eai-standard/2.1\"]\n== simulator 44\n\"behavior-1k 3.9.2 (OmniGibson / Isaac Sim)\"\n== robot 7\n\"r1pro\"\n== task_text 276\n\"Halve the egg. A hard-boiled egg is inside the kitchen refrigerator; a chopping board with a carving knife on it and a plate lie on the countertop, and there is a sink in the kitchen. Cut the egg in half, put both halves on the plate and put the carving knife into the sink.\"\n== control_hz 2\n30\n== physics_substeps 1\n4\n== max_chunk_s 4\n10.0\n== max_watch_s 4\n30.0\n== max_control_steps 6\n200000\n== cameras 1408\n{\"robot_r1:left_realsense_link:Camera:0\": {\"rgb\": true, \"depth\": true, \"mounted\": \"left wrist\", \"resolution\": [224, 224], \"calibration_in_obs\": true, \"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"mount\": {\"type\": \"link\", \"parent_link\": \"left_realsense_link\", \"link_T_cam_cv\": [[0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, \"depth_range_m\": [0.0010000000474974513, 65.535]}, \"robot_r1:right_realsense_link:Camera:0\": {\"rgb\": true, \"depth\": true, \"mounted\": \"right wrist\", \"resolution\": [224, 224], \"calibration_in_obs\": true, \"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"mount\": {\"type\": \"link\", \"parent_link\": \"right_realsense_link\", \"link_T_cam_cv\": [[0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0\n… (20,927 characters left out) …\nink\", \"left_realsense_link\", \"right_gripper_link\", \"right_realsense_link\", \"left_eef_link\", \"right_eef_link\", \"zed_link\", \"left_tcp\", \"right_tcp\"], \"tcp_frames\": [\"left_tcp\", \"right_tcp\"], \"ee_frames\": [\"left_eef_link\", \"right_eef_link\"], \"ik_targets\": [\"left_eef_link\", \"right_eef_link\", \"left_tcp\", \"right_tcp\"], \"ik\": {\"solver\": \"damped least squares from the seed (the targeted arms' joints first, then with the trunk), then cuRobo's multi-seed IK (the ee_pose action's solver) started from the seed, refined the same way\", \"moves\": \"the trunk and the arm of each targeted frame; the other arm keeps its seed values\n== depth 173\n{\"modes\": [\"none\", \"last\", \"frames\"], \"default\": \"none\", \"kind\": \"z-depth\", \"unit\": \"m\", \"invalid\": 0, \"max_m\": 65.535, \"frames_encoding\": \"uint16 mm, zlib\", \"noise\": \"off\"}\n== on_service_error 642\n\"a connection error means the service crashed: it restarts and resumes the SAME episode (never a reset) in the state after the last call it completed, which you may not have received. Wait until GET /status answers again (rcb_client: Robot.wait_ready(); resuming replays the episode so far, which can take minutes in a long episode, and the wall clock keeps running), then check calls and control_steps before you continue. A 500 means the simulator failed: the episode is over (reason \\\"error\\\"). A call that runs longer than max_call_wall_s seconds stops at the next control step and returns what it executed (meta.stopped, executed_rows).\"\n== max_call_wall_s 5\n900.0","exit":[],"pics":[]},"tok":{"in":35126,"cached":34023,"out":121,"think":null,"usd":0.0147},"sim":{"submit":0,"reset":0}},{"id":7,"t":855.9,"say":"","calls":[{"kind":"shell","label":"print(json.dumps(s['action_types'],indent=0)[1400:])","code":"cd /app/runs; python3 -c \"\nimport json; s=json.load(open('spec.json'))\nprint(json.dumps(s['action_types'],indent=0)[1400:])\nprint(json.dumps(s['robot_spec'],indent=0))\nprint(json.dumps(s['kinematics'],indent=0)[1500:])\n\""}],"out":{"text":"06280518,\n0.3490999639034271\n],\n\"arm_left_4\": [\n-2.3561956882476807,\n2.3561956882476807\n],\n\"arm_left_5\": [\n-1.0471980571746826,\n1.0471980571746826\n],\n\"arm_left_6\": [\n-1.5707999467849731,\n1.5707999467849731\n],\n\"arm_right_0\": [\n-4.4506001472473145,\n1.309000015258789\n],\n\"arm_right_1\": [\n-3.1415998935699463,\n0.1745000034570694\n],\n\"arm_right_2\": [\n-2.3561956882476807,\n2.3561956882476807\n],\n\"arm_right_3\": [\n-2.0943996906280518,\n0.3490999639034271\n],\n\"arm_right_4\": [\n-2.3561956882476807,\n2.3561956882476807\n],\n\"arm_right_5\": [\n-1.0471980571746826,\n1.0471980571746826\n],\n\"arm_right_6\": [\n-1.5707999467849731,\n1.5707999467849731\n],\n\"gripper_left_0\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_left_1\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_right_0\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_right_1\": [\n0.0,\n0.07000000074505806\n]\n},\n\"semantics\": \"streamed at the 30 Hz control rate; rows `dt` apart (a multiple of 1/30 s); trunk and arm joints hold or linearly interpolate between rows, the base entries and the grippers switch at the row; out-of-limit values are clipped and reported\"\n},\n\"ee_pose\": {\n\"dim\": 16,\n\"layout\": [\n\"l_x\",\n\"l_y\",\n\"l_z\",\n\"l_qx\",\n\"l_qy\",\n\"l_qz\",\n\"l_qw\",\n\"left_gripper\",\n\"r_x\",\n\"r_y\",\n\"r_z\",\n\"r_qx\",\n\"r_qy\",\n\"r_qz\",\n\"r_qw\",\n\"right_gripper\"\n],\n\"frame\": \"OmniGibson world frame, metres, +z up (the floor is z = 0)\",\n\"quaternion\": \"xyzw, unit norm\",\n\"semantics\": \"each row: cuRobo inverse kinematics for both end effectors together (trunk + both arms; no collision checking), then the trun\n… (33,975 characters left out) …\netween the two fingertips, 1.88 cm along +z of left_eef_link, same orientation; the proprio tcp_pose group\"\n},\n\"right_eef_link\": {\n\"parent_link\": \"right_eef_link\",\n\"link_T_frame\": [\n[\n1.0,\n0.0,\n0.0,\n0.0\n],\n[\n0.0,\n1.0,\n0.0,\n0.0\n],\n[\n0.0,\n0.0,\n1.0,\n0.0\n],\n[\n0.0,\n0.0,\n0.0,\n1.0\n]\n],\n\"definition\": \"the right end-effector frame (right_eef_link): the frame of the ee_pose action and of the proprio right_eef_* pose; z along the fingers (approach), y along the finger travel; it lies between the finger pads, where assisted grasping holds objects\"\n},\n\"right_tcp\": {\n\"parent_link\": \"right_eef_link\",\n\"link_T_frame\": [\n[\n1.0,\n0.0,\n0.0,\n0.0\n],\n[\n0.0,\n1.0,\n0.0,\n0.0\n],\n[\n0.0,\n0.0,\n1.0,\n0.018770694732666016\n],\n[\n0.0,\n0.0,\n0.0,\n1.0\n]\n],\n\"definition\": \"the right fingertip centre (TCP): midway between the two fingertips, 1.88 cm along +z of right_eef_link, same orientation; the proprio tcp_pose group\"\n}\n}\n}\nts seed values\",\n\"seed_default\": \"the robot's reset configuration\",\n\"tol_pos_m\": 0.001,\n\"tol_rot_rad\": 0.01,\n\"max_iters\": 200,\n\"collision_checking\": \"none\",\n\"joint_limits\": \"enforced\"\n},\n\"stateless\": true,\n\"note\": \"q = trunk + both arms (joint_names, all proprio columns of measured positions). Poses are in the base frame (base_link, see robot_spec.base) unless the request gives base_pose (x y z qx qy qz qw: the 7 base proprio columns); then they are in the world frame. The model is the simulator's own articulation (its joint frames), so FK of the measured joints gives the measured link poses.\"\n}","exit":[],"pics":[]},"tok":{"in":41014,"cached":35124,"out":156,"think":null,"usd":0.0396},"sim":{"submit":0,"reset":0}},{"id":8,"t":857.4,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/scripts && cat > /app/scripts/rb.py <<'EOF'","code":"mkdir -p /app/scripts && cat > /app/scripts/rb.py <<'EOF'\nimport sys, json, time, os\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np\nfrom rcb_client import Robot\nfrom PIL import Image\nr = Robot(timeout=60)\nS = r.spec()\nL = S[\"proprio_layout\"]\nIDX = {n:i for i,n in enumerate(L)}\nCAMS = S[\"default_cameras\"]\nHEAD, LW, RW = \"robot_r1:zed_link:Camera:0\", \"robot_r1:left_realsense_link:Camera:0\", \"robot_r1:right_realsense_link:Camera:0\"\nKJ = S[\"kinematics\"][\"joint_names\"]\n\ndef P(now, name): return now[IDX[name]]\ndef pv(now, names): return np.array([now[IDX[n]] for n in names])\ndef now_of(res): return np.asarray(res.meta[\"proprio\"][\"now\"], dtype=float)\ndef base_pose(now): return pv(now, [\"base_x\",\"base_y\",\"base_z\",\"base_qx\",\"base_qy\",\"base_qz\",\"base_qw\"])\ndef kq(now): return pv(now, KJ)\ndef yaw_of(q):\n    x,y,z,w = q; return np.arctan2(2*(w*z+x*y), 1-2*(y*y+z*z))\ndef cur_cmd(now):\n    \"\"\"25-vector of current joint targets (base zeros)\"\"\"\n    a = np.zeros(25)\n    a[3:7] = pv(now, [\"torso_joint1\",\"torso_joint2\",\"torso_joint3\",\"torso_joint4\"])\n    a[7:14] = pv(now, [f\"left_arm_joint{i}\" for i in range(1,8)])\n    a[14:16] = pv(now, [\"left_gripper_finger_joint1\",\"left_gripper_finger_joint2\"])\n    a[16:23] = pv(now, [f\"right_arm_joint{i}\" for i in range(1,8)])\n    a[23:25] = pv(now, [\"right_gripper_finger_joint1\",\"right_gripper_finger_joint2\"])\n    return a\ndef save_imgs(res, tag, depth=False):\n    d = f\"/app/runs/img/{tag}\"; os.makedirs(d, exist_ok=True)\n    for cam, im in res.last.items():\n        short = cam.split(\":\")[1].split(\"_\")[0]\n        Image.fromarray(np.ascontiguousarray(im)).resize((448,448)).save(f\"{d}/{short}.png\")\n    return d\ndef summary(res):\n    n = now_of(res)\n    bp = base_pose(n)\n    print(\"base xy yaw\", bp[:3].round(3), round(float(yaw_of(bp[3:])),3), \"tilt z\", round(float(np.cos(P(n,'base_footprint_rx_joint'))*np.cos(P(n,'base_footprint_ry_joint'))),3))\n    print(\"L eef\", pv(n,[f\"left_eef_{c}\" for c in \"x y z qx qy qz qw\".split()]).round(3))\n    print(\"R eef\", pv(n,[f\"right_eef_{c}\" for c in \"x y z qx qy qz qw\".split()]).round(3))\n    gi = S[\"proprio_groups\"][\"gripper_opening\"][0]\n    print(\"grip open\", n[gi:gi+2].round(4), \"done\", res.meta.get(\"done\"), res.meta.get(\"reason\"), \"time_left\", res.meta.get(\"time_left_s\"))\nEOF\ncd /app/scripts && python3 -c \"\nfrom rb import *\no = r.get_obs(depth=True)\nprint(json.dumps({k:v for k,v in o.meta.items() if k not in ('proprio','cameras')})[:2000])\nsummary(o)\nsave_imgs(o,'000')\nnp.save('/app/runs/img/000/now.npy', now_of(o))\nfor c,dd in o.last_depth.items(): np.save(f'/app/runs/img/000/depth_{c.split(\\\":\\\")[1]}.npy', dd)\nimport pickle; pickle.dump(o.meta['cameras'], open('/app/runs/img/000/cams.pkl','wb'))\nprint(cur_cmd(now_of(o)).round(3))\n\""}],"out":{"text":"{\"step\": 0, \"calls\": 1, \"control_steps\": 0, \"physics_steps\": 0, \"sim_time_s\": 0.0, \"time_s\": 232.35, \"time_left_s\": 14167.6, \"done\": false, \"reason\": null, \"obs_id\": 1, \"seconds\": 0.0, \"control_steps_watch\": 0, \"physics_steps_watch\": 0, \"ok\": true, \"stopped\": null}\nbase xy yaw [5.314e+00 1.512e+00 5.000e-03] -0.39 tilt z 1.0\nL eef [ 5.521e+00  1.699e+00  4.440e-01 -1.940e-01 -9.810e-01 -5.000e-03\n  2.300e-02]\nR eef [ 5.329e+00  1.233e+00  4.440e-01 -1.940e-01 -9.810e-01 -5.000e-03\n  2.300e-02]\ngrip open [0.1 0.1] done False None time_left 14167.6\n[ 0.     0.     0.     1.024 -1.446 -0.47  -0.     0.     0.     0.\n  0.    -0.    -0.     0.     0.05   0.05   0.     0.    -0.     0.\n -0.     0.     0.     0.05   0.05 ]\n\n[stdout]\n{\"step\": 0, \"calls\": 1, \"control_steps\": 0, \"physics_steps\": 0, \"sim_time_s\": 0.0, \"time_s\": 232.35, \"time_left_s\": 14167.6, \"done\": false, \"reason\": null, \"obs_id\": 1, \"seconds\": 0.0, \"control_steps_watch\": 0, \"physics_steps_watch\": 0, \"ok\": true, \"stopped\": null}\nbase xy yaw [5.314e+00 1.512e+00 5.000e-03] -0.39 tilt z 1.0\nL eef [ 5.521e+00  1.699e+00  4.440e-01 -1.940e-01 -9.810e-01 -5.000e-03\n  2.300e-02]\nR eef [ 5.329e+00  1.233e+00  4.440e-01 -1.940e-01 -9.810e-01 -5.000e-03\n  2.300e-02]\ngrip open [0.1 0.1] done False None time_left 14167.6\n[ 0.     0.     0.     1.024 -1.446 -0.47  -0.     0.     0.     0.\n  0.    -0.    -0.     0.     0.05   0.05   0.     0.    -0.     0.\n -0.     0.     0.     0.05   0.05 ]","exit":[],"pics":[]},"tok":{"in":50355,"cached":41012,"out":1535,"think":null,"usd":0.0856},"sim":{"submit":0,"reset":0}},{"id":9,"t":870.4,"say":"","calls":[{"kind":"look","label":"zed.png","code":"/app/runs/img/000/zed.png"},{"kind":"look","label":"left.png","code":"/app/runs/img/000/left.png"},{"kind":"look","label":"right.png","code":"/app/runs/img/000/right.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s009_0.jpg","behavior-halve-an-egg-i00-standard--cnjgzav/s009_0.jpg","behavior-halve-an-egg-i00-standard--cnjgzav/s009_0.jpg"]},"tok":{"in":52369,"cached":50353,"out":255,"think":null,"usd":0.0252},"sim":{"submit":0,"reset":0}},{"id":10,"t":877.0,"say":"","calls":[{"kind":"shell","label":"python3 -c \"","code":"python3 -c \"\nimport pickle,json; c=pickle.load(open('/app/runs/img/000/cams.pkl','rb')); print(json.dumps(c)[:1500])\""}],"out":{"text":"{\"robot_r1:zed_link:Camera:0\": {\"intrinsic_cv\": [[95.2, 0.0, 112.0], [0.0, 95.2, 112.0], [0.0, 0.0, 1.0]], \"extrinsic_cv\": [[-0.3804502826672178, -0.924801374449529, 1.5319776204544047e-05, 3.419700587476467], [-0.3571244442021363, 0.14690069460644145, -0.9224328253468979, 3.0580438277139645], [0.8530648942324078, -0.35094530021131004, -0.3861575876346909, -3.6854593198200853]], \"cam2world_gl\": [[-0.380450282667218, 0.357124444202136, -0.853064894232408, 5.537064222320959], [-0.9248013744495295, -0.14690069460644153, 0.3509453002113101, 1.4199204136651473], [1.5319776204712366e-05, 0.9224328253468977, 0.3861575876346912, 1.3976195387176327], [0.0, 0.0, 0.0, 1.0]], \"image_size\": [224, 224]}, \"robot_r1:left_realsense_link:Camera:0\": {\"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"extrinsic_cv\": [[-0.3802836099620782, -0.9248628984895941, 0.003604856673646316, 3.6719636080482934], [-0.8180712859951086, 0.33818633845379314, 0.46517670998613597, 3.7539002401706134], [-0.4314437935867421, 0.17395004880897258, -0.8852105023636112, 2.5600099638623877]], \"cam2world_gl\": [[-0.38028360996207794, 0.8180712859951087, 0.431443793586742, 5.5718459839203485], [-0.9248628984895935, -0.3381863384537932, -0.17395004880897258, 1.6812312703784165], [0.003604856673646334, -0.465176709986136, 0.8852105023636111, 0.5066838403098822], [0.0, 0.0, 0.0, 0.9999999999999998]], \"image_size\": [224, 224]}, \"robot_r1:right_realsense_link:Camera:0\": {\"in\n… (11 characters left out) …\n{\"robot_r1:zed_link:Camera:0\": {\"intrinsic_cv\": [[95.2, 0.0, 112.0], [0.0, 95.2, 112.0], [0.0, 0.0, 1.0]], \"extrinsic_cv\": [[-0.3804502826672178, -0.924801374449529, 1.5319776204544047e-05, 3.419700587476467], [-0.3571244442021363, 0.14690069460644145, -0.9224328253468979, 3.0580438277139645], [0.8530648942324078, -0.35094530021131004, -0.3861575876346909, -3.6854593198200853]], \"cam2world_gl\": [[-0.380450282667218, 0.357124444202136, -0.853064894232408, 5.537064222320959], [-0.9248013744495295, -0.14690069460644153, 0.3509453002113101, 1.4199204136651473], [1.5319776204712366e-05, 0.9224328253468977, 0.3861575876346912, 1.3976195387176327], [0.0, 0.0, 0.0, 1.0]], \"image_size\": [224, 224]}, \"robot_r1:left_realsense_link:Camera:0\": {\"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"extrinsic_cv\": [[-0.3802836099620782, -0.9248628984895941, 0.003604856673646316, 3.6719636080482934], [-0.8180712859951086, 0.33818633845379314, 0.46517670998613597, 3.7539002401706134], [-0.4314437935867421, 0.17395004880897258, -0.8852105023636112, 2.5600099638623877]], \"cam2world_gl\": [[-0.38028360996207794, 0.8180712859951087, 0.431443793586742, 5.5718459839203485], [-0.9248628984895935, -0.3381863384537932, -0.17395004880897258, 1.6812312703784165], [0.003604856673646334, -0.465176709986136, 0.8852105023636111, 0.5066838403098822], [0.0, 0.0, 0.0, 0.9999999999999998]], \"image_size\": [224, 224]}, \"robot_r1:right_realsense_link:Camera:0\": {\"in","exit":[],"pics":[]},"tok":{"in":53512,"cached":52367,"out":575,"think":null,"usd":0.0277},"sim":{"submit":0,"reset":0}},{"id":11,"t":880.2,"say":"","calls":[{"kind":"robot","label":"writes pc.py","code":"cat > /app/scripts/pc.py <<'EOF'\nimport numpy as np, os\nfrom PIL import Image\ndef unproject(depth, rgb, K, E, maxd=6.0):\n    H,W = depth.shape\n    v,u = np.mgrid[0:H,0:W]\n    z = depth; m = (z>0.05)&(z<maxd)\n    x = (u-K[0][2])/K[0][0]*z; y=(v-K[1][2])/K[1][1]*z\n    pc = np.stack([x[m],y[m],z[m]],1)\n    E = np.asarray(E); R=E[:,:3]; t=E[:,3]\n    pw = (pc - t) @ R    # R^T (pc - t)\n    return pw, rgb[m]\ndef accumulate(res, cam, store=\"/app/runs/map.npz\", maxd=6.0):\n    K = res.meta[\"cameras\"][cam][\"intrinsic_cv\"]; E = res.meta[\"cameras\"][cam][\"extrinsic_cv\"]\n    pw, col = unproject(res.last_depth[cam], res.last[cam], K, E, maxd)\n    if os.path.exists(store):\n        d = np.load(store); pw = np.concatenate([d[\"p\"], pw]); col = np.concatenate([d[\"c\"], col])\n    np.savez(store, p=pw.astype(np.float32), c=col.astype(np.uint8))\n    return len(pw)\ndef topdown(store=\"/app/runs/map.npz\", out=\"/app/runs/topdown.png\", res_m=0.02, zmax=2.2, bounds=None, marks=()):\n    d = np.load(store); p=d[\"p\"]; c=d[\"c\"]\n    k = p[:,2]<zmax; p=p[k]; c=c[k]\n    if bounds is None: x0,x1,y0,y1 = p[:,0].min(),p[:,0].max(),p[:,1].min(),p[:,1].max()\n    else: x0,x1,y0,y1 = bounds\n    W = int((x1-x0)/res_m)+1; H=int((y1-y0)/res_m)+1\n    img = np.full((H,W,3),40,np.uint8); zb = np.full((H,W),-9.0)\n    ix = ((p[:,0]-x0)/res_m).astype(int); iy = ((y1-p[:,1])/res_m).astype(int)\n    k = (ix>=0)&(ix<W)&(iy>=0)&(iy<H)\n    order = np.argsort(p[k,2])\n    ix,iy,z,cc = ix[k][order], iy[k][order], p[k,2][order], c[k][order]\n    img[iy,ix]=cc; zb[iy,ix]=z\n    # height image\n    hz = np.clip((zb+0.1)/2.0,0,1); hi = (np.stack([hz, 1-np.abs(hz-0.5)*2, 1-hz],-1)*255).astype(np.uint8); hi[zb<-5]=0\n    for (mx,my,col) in marks:\n        jx=int((mx-x0)/res_m); jy=int((y1-my)/res_m)\n        img[max(jy-3,0):jy+4, max(jx-3,0):jx+4]=col; hi[max(jy-3,0):jy+4, max(jx-3,0):jx+4]=col\n    # grid every 1 m\n    for gx in np.arange(np.ceil(x0), x1, 1.0):\n        j=int((gx-x0)/res_m); img[:,j]=(255,255,0); hi[:,j]=(255,255,0)\n    for gy in np.arange(np.ceil(y0), y1, 1.0):\n        j=int((y1-gy)/res_m); img[j,:]=(0,255,255); hi[j,:]=(0,255,255)\n    Image.fromarray(np.concatenate([img,hi],1)).save(out)\n    return (x0,x1,y0,y1)\nEOF\ncat > /app/scripts/scan.py <<'EOF'\nfrom rb import *\nfrom pc import *\nimport sys\nn = int(sys.argv[1]) if len(sys.argv)>1 else 8\nstep = 2*np.pi/n\no = r.get_obs(depth=True)\naccumulate(o, HEAD)\nfor i in range(n-1):\n    rows = 10; per = step/(rows*3)\n    A = np.tile(cur_cmd(now_of(o)), (rows,1)); A[:,2] = per\n    A = np.vstack([A, np.tile(cur_cmd(now_of(o)),(3,1))])\n    o = r.submit(\"joint_position\", A, dt=0.1, depth=True, video=\"none\")\n    accumulate(o, HEAD)\n    save_imgs(o, f\"scan{i+1}\")\n    summary(o)\nprint(topdown())\nEOF\ncd /app/scripts && python3 scan.py 8"}],"out":{"text":"base xy yaw [5.314e+00 1.511e+00 5.000e-03] 0.361 tilt z 1.0\nL eef [ 5.338e+00  1.790e+00  4.440e-01  1.790e-01 -9.840e-01  4.000e-03\n  2.300e-02]\nR eef [ 5.516e+00  1.318e+00  4.440e-01  1.790e-01 -9.840e-01  4.000e-03\n  2.300e-02]\ngrip open [0.1 0.1] done False None time_left 14117.4\nbase xy yaw [5.315e+00 1.511e+00 5.000e-03] 1.112 tilt z 1.0\nL eef [ 5.142  1.731  0.444  0.527 -0.849  0.013  0.02 ]\nR eef [ 5.594  1.508  0.444  0.527 -0.849  0.013  0.02 ]\ngrip open [0.1 0.1] done False None time_left 14112.9\nbase xy yaw [5.315e+00 1.511e+00 5.000e-03] 1.863 tilt z 1.0\nL eef [ 5.039  1.555  0.444  0.802 -0.597  0.019  0.014]\nR eef [ 5.522  1.7    0.444  0.802 -0.597  0.019  0.014]\ngrip open [0.1 0.1] done False None time_left 14108.3\nbase xy yaw [5.315e+00 1.512e+00 5.000e-03] 2.613 tilt z 1.0\nL eef [ 5.084  1.355  0.444  0.965 -0.261  0.023  0.006]\nR eef [ 5.338  1.791  0.444  0.965 -0.261  0.023  0.006]\ngrip open [0.1 0.1] done False None time_left 14103.8\nbase xy yaw [5.315e+00 1.513e+00 5.000e-03] -2.919 tilt z 1.0\nL eef [ 5.253e+00  1.240e+00  4.440e-01 -9.940e-01 -1.110e-01 -2.400e-02\n  3.000e-03]\nR eef [ 5.142e+00  1.732e+00  4.440e-01 -9.940e-01 -1.110e-01 -2.400e-02\n  3.000e-03]\ngrip open [0.1 0.1] done False None time_left 14099.1\nbase xy yaw [5.315e+00 1.513e+00 5.000e-03] -2.168 tilt z 1.0\nL eef [ 5.455  1.271  0.444 -0.884 -0.468 -0.021  0.011]\nR eef [ 5.038  1.555  0.444 -0.884 -0.468 -0.021  0.011]\ngrip open [0.1 0.1] done False None time_left 14094.6\nbase xy \n… (639 characters left out) …\n1e+00 5.000e-03] 1.112 tilt z 1.0\nL eef [ 5.142  1.731  0.444  0.527 -0.849  0.013  0.02 ]\nR eef [ 5.594  1.508  0.444  0.527 -0.849  0.013  0.02 ]\ngrip open [0.1 0.1] done False None time_left 14112.9\nbase xy yaw [5.315e+00 1.511e+00 5.000e-03] 1.863 tilt z 1.0\nL eef [ 5.039  1.555  0.444  0.802 -0.597  0.019  0.014]\nR eef [ 5.522  1.7    0.444  0.802 -0.597  0.019  0.014]\ngrip open [0.1 0.1] done False None time_left 14108.3\nbase xy yaw [5.315e+00 1.512e+00 5.000e-03] 2.613 tilt z 1.0\nL eef [ 5.084  1.355  0.444  0.965 -0.261  0.023  0.006]\nR eef [ 5.338  1.791  0.444  0.965 -0.261  0.023  0.006]\ngrip open [0.1 0.1] done False None time_left 14103.8\nbase xy yaw [5.315e+00 1.513e+00 5.000e-03] -2.919 tilt z 1.0\nL eef [ 5.253e+00  1.240e+00  4.440e-01 -9.940e-01 -1.110e-01 -2.400e-02\n  3.000e-03]\nR eef [ 5.142e+00  1.732e+00  4.440e-01 -9.940e-01 -1.110e-01 -2.400e-02\n  3.000e-03]\ngrip open [0.1 0.1] done False None time_left 14099.1\nbase xy yaw [5.315e+00 1.513e+00 5.000e-03] -2.168 tilt z 1.0\nL eef [ 5.455  1.271  0.444 -0.884 -0.468 -0.021  0.011]\nR eef [ 5.038  1.555  0.444 -0.884 -0.468 -0.021  0.011]\ngrip open [0.1 0.1] done False None time_left 14094.6\nbase xy yaw [5.314e+00 1.513e+00 5.000e-03] -1.417 tilt z 1.0\nL eef [ 5.582  1.432  0.444 -0.651 -0.759 -0.015  0.018]\nR eef [ 5.083  1.355  0.444 -0.651 -0.759 -0.015  0.018]\ngrip open [0.1 0.1] done False None time_left 14090.1\n(np.float32(-1.0960643), np.float32(14.30795), np.float32(-2.406426), np.float32(4.8215966))","exit":[],"pics":[]},"tok":{"in":54899,"cached":53510,"out":1881,"think":null,"usd":0.0553},"sim":{"submit":7,"reset":0}},{"id":12,"t":948.7,"say":"Connected (scene took ~10 min to load). I've scanned 360° with head depth to build a top-down map of the room.","calls":[{"kind":"look","label":"topdown.png","code":"/app/runs/topdown.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s012_0.jpg"]},"tok":{"in":57967,"cached":54897,"out":156,"think":null,"usd":0.0294},"sim":{"submit":0,"reset":0}},{"id":13,"t":951.8,"say":"","calls":[{"kind":"shell","label":"ims=[Image.open(f'{d}/zed.png').resize((300,300)) for d in ['000','scan1','scan2','scan3','scan4','scan5','sca","code":"cd /app/runs/img && python3 -c \"\nfrom PIL import Image\nims=[Image.open(f'{d}/zed.png').resize((300,300)) for d in ['000','scan1','scan2','scan3','scan4','scan5','scan6','scan7']]\nM=Image.new('RGB',(1200,600))\nfor i,im in enumerate(ims): M.paste(im,((i%4)*300,(i//4)*300))\nM.save('scan_montage.png')\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":58894,"cached":57965,"out":395,"think":null,"usd":0.0241},"sim":{"submit":0,"reset":0}},{"id":14,"t":954.4,"say":"","calls":[{"kind":"look","label":"scan_montage.png","code":"/app/runs/img/scan_montage.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s014_0.jpg"]},"tok":{"in":59360,"cached":58892,"out":62,"think":null,"usd":0.0154},"sim":{"submit":0,"reset":0}},{"id":15,"t":962.2,"say":"","calls":[{"kind":"shell","label":"print(topdown(out='/app/runs/td2.png', res_m=0.025, zmax=1.6, bounds=(2,10,-3,4), marks=[(5.31,1.51,(255,0,255","code":"cd /app/scripts && python3 -c \"\nfrom pc import *\nprint(topdown(out='/app/runs/td2.png', res_m=0.025, zmax=1.6, bounds=(2,10,-3,4), marks=[(5.31,1.51,(255,0,255))]))\n\""}],"out":{"text":"(2, 10, -3, 4)\n\n[stdout]\n(2, 10, -3, 4)","exit":[],"pics":[]},"tok":{"in":60411,"cached":59358,"out":826,"think":null,"usd":0.0337},"sim":{"submit":0,"reset":0}},{"id":16,"t":964.5,"say":"","calls":[{"kind":"look","label":"td2.png","code":"/app/runs/td2.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s016_0.jpg"]},"tok":{"in":61310,"cached":60409,"out":57,"think":null,"usd":0.0177},"sim":{"submit":0,"reset":0}},{"id":17,"t":972.2,"say":"","calls":[{"kind":"shell","label":"topdown(out='/app/runs/td3.png', res_m=0.02, zmax=1.6, bounds=(2.5,9,-3,2), marks=[(5.31,1.51,(255,0,255)),(4,","code":"python3 -c \"\nfrom pc import *\nfrom PIL import Image\ntopdown(out='/app/runs/td3.png', res_m=0.02, zmax=1.6, bounds=(2.5,9,-3,2), marks=[(5.31,1.51,(255,0,255)),(4,-1,(255,0,0)),(6,-1,(0,255,0))])\nim=Image.open('/app/runs/td3.png'); w=im.size[0]//2\nim.crop((0,0,w,im.size[1])).resize((w*2,im.size[1]*2)).save('/app/runs/td3a.png')\n\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":61663,"cached":61308,"out":799,"think":null,"usd":0.03},"sim":{"submit":0,"reset":0}},{"id":18,"t":975.3,"say":"","calls":[{"kind":"look","label":"td3a.png","code":"/app/runs/td3a.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s018_0.jpg"]},"tok":{"in":62535,"cached":61661,"out":58,"think":null,"usd":0.0179},"sim":{"submit":0,"reset":0}},{"id":19,"t":988.8,"say":"","calls":[{"kind":"robot","label":"cat >> /app/scripts/rb.py <<'EOF'","code":"cat >> /app/scripts/rb.py <<'EOF'\n\nCMDF = \"/app/runs/cmd.npy\"\ndef get_hold():\n    if os.path.exists(CMDF): return np.load(CMDF)\n    o = r.get_obs(); return cur_cmd(now_of(o))\ndef set_hold(a):\n    a = np.array(a, dtype=float); a[:3] = 0; np.save(CMDF, a)\ndef run(A, dt=0.1, depth=False, video=\"none\", tag=None, **kw):\n    A = np.atleast_2d(np.asarray(A, dtype=float))\n    res = r.submit(\"joint_position\", A, dt=dt, depth=depth, video=video, **kw)\n    set_hold(A[-1])\n    if tag: save_imgs(res, tag)\n    if res.meta.get(\"clipped\"): print(\"CLIPPED\", res.meta[\"clipped\"])\n    if res.meta.get(\"done\"): print(\"DONE!!\", res.meta.get(\"reason\"))\n    return res\ndef wrap(a): return (a+np.pi)%(2*np.pi)-np.pi\ndef get_now():\n    return now_of(r.get_obs(cameras=[HEAD]))\ndef goto(x, y, yaw=None, vmax=0.35, wmax=0.6, tol=0.015, ytol=0.02, maxit=12, depth=False):\n    hold = get_hold(); res=None\n    for it in range(maxit):\n        n = get_now() if res is None else now_of(res)\n        bp = base_pose(n); cy = yaw_of(bp[3:])\n        ex, ey = x-bp[0], y-bp[1]; eyaw = 0.0 if yaw is None else wrap(yaw-cy)\n        dist = np.hypot(ex,ey)\n        if dist < tol and abs(eyaw) < ytol: break\n        # robot-frame error\n        c, s = np.cos(cy), np.sin(cy)\n        rx, ry = c*ex+s*ey, -s*ex+c*ey\n        T = max(dist/vmax, abs(eyaw)/wmax, 0.2); T = min(T, 3.0)\n        nsteps = int(np.ceil(T*30))\n        frac = min(1.0, 3.0/T) if T>=3.0 else 1.0\n        dx, dy, dyaw = rx*frac/nsteps, ry*frac/nsteps, eyaw*frac/nsteps\n        # if rotating a lot while translating, rotate first\n        if abs(eyaw) > 0.3 and dist > 0.05:\n            dx = dy = 0.0\n        A = np.tile(hold, (nsteps,1)); A[:,0]=dx; A[:,1]=dy; A[:,2]=dyaw\n        A = np.vstack([A, np.tile(hold,(6,1))])\n        res = r.submit(\"joint_position\", A, dt=1/30, depth=depth, video=\"none\")\n        if res.meta.get(\"done\"): print(\"DONE\", res.meta.get(\"reason\")); break\n    n = now_of(res) if res is not None else get_now()\n    bp = base_pose(n); print(\"goto ->\", bp[:2].round(3), round(float(yaw_of(bp[3:])),3))\n    return res\nEOF\npython3 -c \"\nfrom rb import *\nset_hold(cur_cmd(get_now()))\nres = goto(5.0, -0.5, -np.pi/2, depth=True)\nsummary(res)\nfrom pc import *\no = r.get_obs(depth=True); save_imgs(o,'p1')\n\""}],"out":{"text":"goto -> [ 4.996 -0.5  ] -1.571\nbase xy yaw [ 4.996 -0.5    0.005] -1.571 tilt z 1.0\nL eef [ 5.248 -0.498  0.556  0.662  0.662 -0.249  0.249]\nR eef [ 4.744 -0.497  0.556  0.662  0.662 -0.249  0.249]\ngrip open [0.1 0.1] done False None time_left 14025.0\n\n[stdout]\ngoto -> [ 4.996 -0.5  ] -1.571\nbase xy yaw [ 4.996 -0.5    0.005] -1.571 tilt z 1.0\nL eef [ 5.248 -0.498  0.556  0.662  0.662 -0.249  0.249]\nR eef [ 4.744 -0.497  0.556  0.662  0.662 -0.249  0.249]\ngrip open [0.1 0.1] done False None time_left 14025.0","exit":[],"pics":[]},"tok":{"in":63068,"cached":62533,"out":2313,"think":null,"usd":0.0614},"sim":{"submit":2,"reset":0}},{"id":20,"t":1013.7,"say":"","calls":[{"kind":"look","label":"zed.png","code":"/app/runs/img/p1/zed.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s020_0.jpg"]},"tok":{"in":65566,"cached":63066,"out":195,"think":null,"usd":0.029},"sim":{"submit":0,"reset":0}},{"id":21,"t":1016.0,"say":"","calls":[{"kind":"shell","label":"n=get_now(); print(cur_cmd(n).round(3)); print(get_hold().round(3))","code":"python3 -c \"\nfrom rb import *\nn=get_now(); print(cur_cmd(n).round(3)); print(get_hold().round(3))\nprint(pv(n,['base_footprint_rx_joint','base_footprint_ry_joint','base_footprint_z_joint']))\n\""}],"out":{"text":"[ 0.     0.     0.     0.256 -1.446 -0.47  -0.     0.     0.     0.\n  0.    -0.    -0.    -0.     0.05   0.05   0.     0.     0.    -0.\n -0.    -0.    -0.     0.05   0.05 ]\n[ 0.     0.     0.     1.024 -1.446 -0.47  -0.     0.     0.     0.\n  0.    -0.    -0.    -0.     0.05   0.05   0.     0.    -0.     0.\n -0.    -0.    -0.     0.05   0.05 ]\n[1.61747361e-04 1.12827611e-05 5.28539298e-03]\n\n[stdout]\n[ 0.     0.     0.     0.256 -1.446 -0.47  -0.     0.     0.     0.\n  0.    -0.    -0.    -0.     0.05   0.05   0.     0.     0.    -0.\n -0.    -0.    -0.     0.05   0.05 ]\n[ 0.     0.     0.     1.024 -1.446 -0.47  -0.     0.     0.     0.\n  0.    -0.    -0.    -0.     0.05   0.05   0.     0.    -0.     0.\n -0.    -0.    -0.     0.05   0.05 ]\n[1.61747361e-04 1.12827611e-05 5.28539298e-03]","exit":[],"pics":[]},"tok":{"in":66060,"cached":65564,"out":256,"think":null,"usd":0.0207},"sim":{"submit":0,"reset":0}},{"id":22,"t":1028.0,"say":"","calls":[{"kind":"robot","label":"h=get_hold(); n=get_now(); a=cur_cmd(n)","code":"python3 -c \"\nfrom rb import *\nh=get_hold(); n=get_now(); a=cur_cmd(n)\nA=np.array([a + (h-a)*f for f in np.linspace(0,1,11)])\nres=run(A, dt=0.2)\ntj=[IDX['torso_joint%d'%i] for i in range(1,5)]\nprint(res.proprio[:, tj].round(3)[::3])\nprint(res.group('joint_effort')[::3, :4].round(1))\n\""}],"out":{"text":"[[ 0.256 -1.446 -0.47  -0.   ]\n [ 0.79  -1.446 -0.47  -0.   ]\n [ 0.376 -1.446 -0.47  -0.   ]\n [ 0.984 -1.446 -0.47  -0.   ]\n [ 0.886 -1.446 -0.47  -0.   ]]\n[[ 7.300e+00 -2.180e+01  2.800e+00  0.000e+00]\n [-1.002e+02 -6.340e+01  3.230e+01 -0.000e+00]\n [ 9.990e+01  5.210e+01 -3.000e+01 -0.000e+00]\n [-1.001e+02 -6.030e+01  3.190e+01  1.000e-01]\n [ 9.990e+01  5.320e+01 -3.030e+01 -0.000e+00]]\n\n[stdout]\n[[ 0.256 -1.446 -0.47  -0.   ]\n [ 0.79  -1.446 -0.47  -0.   ]\n [ 0.376 -1.446 -0.47  -0.   ]\n [ 0.984 -1.446 -0.47  -0.   ]\n [ 0.886 -1.446 -0.47  -0.   ]]\n[[ 7.300e+00 -2.180e+01  2.800e+00  0.000e+00]\n [-1.002e+02 -6.340e+01  3.230e+01 -0.000e+00]\n [ 9.990e+01  5.210e+01 -3.000e+01 -0.000e+00]\n [-1.001e+02 -6.030e+01  3.190e+01  1.000e-01]\n [ 9.990e+01  5.320e+01 -3.030e+01 -0.000e+00]]","exit":[],"pics":[]},"tok":{"in":66573,"cached":66058,"out":1145,"think":null,"usd":0.0387},"sim":{"submit":1,"reset":0}},{"id":23,"t":1039.9,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(seconds=2.0, video='frames', cameras=[HEAD])","code":"python3 -c \"\nfrom rb import *\nres=r.get_obs(seconds=2.0, video='frames', cameras=[HEAD])\ntj=IDX['torso_joint1']\nprint(len(res.proprio), res.frame_time_s[:5])\nprint(res.proprio[:, tj].round(3))\nprint(res.group('joint_effort')[:, 0].round(0))\nprint(res.proprio[:, IDX['base_footprint_rx_joint']].round(4), res.proprio[:, IDX['base_footprint_ry_joint']].round(4))\n\""}],"out":{"text":"12 [15.13333333 15.33333333 15.53333333 15.73333333 15.93333333]\n[0.886 1.15  1.171 0.95  0.912 1.095 1.065 0.972 1.052 1.024 1.024 1.024]\n[ 100. -100. -100.  100.  100. -100. -100.  100. -100. -100.    0.    0.]\n[0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002\n 0.0002 0.0002] [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.]\n\n[stdout]\n12 [15.13333333 15.33333333 15.53333333 15.73333333 15.93333333]\n[0.886 1.15  1.171 0.95  0.912 1.095 1.065 0.972 1.052 1.024 1.024 1.024]\n[ 100. -100. -100.  100.  100. -100. -100.  100. -100. -100.    0.    0.]\n[0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002\n 0.0002 0.0002] [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.]","exit":[],"pics":[]},"tok":{"in":68087,"cached":66571,"out":430,"think":null,"usd":0.0295},"sim":{"submit":0,"reset":0}},{"id":24,"t":1055.7,"say":"","calls":[{"kind":"robot","label":"src = open('rb.py').read()","code":"python3 - <<'EOF'\nimport re\nsrc = open('rb.py').read()\ni = src.index(\"def goto(\")\nsrc = src[:i] + '''def _mj(nsteps):\n    t = np.linspace(0,1,nsteps+1); s = 10*t**3-15*t**4+6*t**5\n    return np.diff(s)\ndef base_move(dx, dy, dyaw, vmax=0.35, wmax=0.5, amax=0.4, aw=0.6, settle=15, depth=False):\n    \"\"\"move by (dx,dy) in robot frame and dyaw with min-jerk profile\"\"\"\n    hold = get_hold()\n    D = np.hypot(dx,dy)\n    T = max(1.875*D/vmax, np.sqrt(5.77*D/amax), 1.875*abs(dyaw)/wmax, np.sqrt(5.77*abs(dyaw)/aw), 0.3)\n    nsteps = int(np.ceil(T*30)); inc = _mj(nsteps)\n    A = np.tile(hold, (nsteps+settle,1)); A[:,:3]=0\n    A[:nsteps,0]=dx*inc; A[:nsteps,1]=dy*inc; A[:nsteps,2]=dyaw*inc\n    res = None\n    for k in range(0, len(A), 290):\n        res = r.submit(\"joint_position\", A[k:k+290], dt=1/30, depth=depth, video=\"none\")\n        if res.meta.get(\"done\"): print(\"DONE\", res.meta.get(\"reason\"))\n    return res\ndef goto(x, y, yaw=None, tol=0.015, ytol=0.015, maxit=6, depth=False, **kw):\n    res=None\n    for it in range(maxit):\n        n = get_now() if res is None else now_of(res)\n        bp = base_pose(n); cy = yaw_of(bp[3:])\n        ex, ey = x-bp[0], y-bp[1]; eyaw = 0.0 if yaw is None else wrap(yaw-cy)\n        dist = np.hypot(ex,ey)\n        if dist < tol and abs(eyaw) < ytol: break\n        c, s = np.cos(cy), np.sin(cy)\n        rx, ry = c*ex+s*ey, -s*ex+c*ey\n        if abs(eyaw) > 0.15 and dist > 0.05:\n            res = base_move(0,0,eyaw, depth=depth, **kw); continue\n        res = base_move(rx, ry, eyaw, depth=depth, **kw)\n    n = now_of(res) if res is not None else get_now()\n    bp = base_pose(n); print(\"goto ->\", bp[:2].round(3), round(float(yaw_of(bp[3:])),3), \"torso1\", round(float(P(n,'torso_joint1')),3))\n    return res\n'''\nopen('rb.py','w').write(src)\nEOF\npython3 -c \"\nfrom rb import *\no=r.get_obs(depth=True); save_imgs(o,'p1'); summary(o)\n\""}],"out":{"text":"base xy yaw [ 4.996 -0.5    0.005] -1.571 tilt z 1.0\nL eef [ 5.248 -0.621  0.444 -0.707 -0.707 -0.017  0.017]\nR eef [ 4.744 -0.62   0.444 -0.707 -0.707 -0.017  0.017]\ngrip open [0.1 0.1] done False None time_left 13972.9\n\n[stdout]\nbase xy yaw [ 4.996 -0.5    0.005] -1.571 tilt z 1.0\nL eef [ 5.248 -0.621  0.444 -0.707 -0.707 -0.017  0.017]\nR eef [ 4.744 -0.62   0.444 -0.707 -0.707 -0.017  0.017]\ngrip open [0.1 0.1] done False None time_left 13972.9","exit":[],"pics":[]},"tok":{"in":68769,"cached":68085,"out":1665,"think":null,"usd":0.0503},"sim":{"submit":0,"reset":0}},{"id":25,"t":1064.6,"say":"","calls":[{"kind":"look","label":"zed.png","code":"/app/runs/img/p1/zed.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s025_0.jpg"]},"tok":{"in":70591,"cached":68767,"out":62,"think":null,"usd":0.0241},"sim":{"submit":0,"reset":0}},{"id":26,"t":1068.0,"say":"","calls":[{"kind":"robot","label":"writes scan2.py","code":"cat > /app/scripts/scan2.py <<'EOF'\nfrom rb import *\nfrom pc import *\nimport sys\ntag = sys.argv[1]; n = int(sys.argv[2])\nstore = f\"/app/runs/map_{tag}.npz\"\nif os.path.exists(store): os.remove(store)\nims=[]\nfor i in range(n):\n    if i>0: base_move(0,0,2*np.pi/n, settle=20)\n    o = r.get_obs(depth=True)\n    accumulate(o, HEAD, store); accumulate(o, HEAD)\n    np.save(f\"/app/runs/img/{tag}_{i}_depth.npy\", o.last_depth[HEAD])\n    import pickle; pickle.dump(o.meta[\"cameras\"], open(f\"/app/runs/img/{tag}_{i}_cams.pkl\",\"wb\"))\n    Image.fromarray(o.last[HEAD]).save(f\"/app/runs/img/{tag}_{i}_rgb.png\")\n    n_ = now_of(o); print(i, \"yaw\", round(float(yaw_of(base_pose(n_)[3:])),3), \"torso1\", round(float(P(n_,'torso_joint1')),3))\n    ims.append(Image.fromarray(o.last[HEAD]).resize((300,300)))\nM=Image.new('RGB',(300*4,300*((n+3)//4)))\nfor i,im in enumerate(ims): M.paste(im,((i%4)*300,(i//4)*300))\nM.save(f\"/app/runs/img/{tag}_montage.png\")\nEOF\npython3 scan2.py s2 8"}],"out":{"text":"0 yaw -1.571 torso1 1.024\n1 yaw -0.835 torso1 1.024\n2 yaw -0.098 torso1 1.024\n3 yaw 0.639 torso1 1.024\n4 yaw 1.376 torso1 1.024\n5 yaw 2.113 torso1 1.024\n6 yaw 2.85 torso1 1.024\n7 yaw -2.697 torso1 1.024\n\n[stdout]\n0 yaw -1.571 torso1 1.024\n1 yaw -0.835 torso1 1.024\n2 yaw -0.098 torso1 1.024\n3 yaw 0.639 torso1 1.024\n4 yaw 1.376 torso1 1.024\n5 yaw 2.113 torso1 1.024\n6 yaw 2.85 torso1 1.024\n7 yaw -2.697 torso1 1.024","exit":[],"pics":[]},"tok":{"in":70952,"cached":70589,"out":858,"think":null,"usd":0.0331},"sim":{"submit":7,"reset":0}},{"id":27,"t":1162.2,"say":"","calls":[{"kind":"look","label":"s2_montage.png","code":"/app/runs/img/s2_montage.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s027_0.jpg"]},"tok":{"in":71982,"cached":70950,"out":106,"think":null,"usd":0.0215},"sim":{"submit":0,"reset":0}},{"id":28,"t":1167.6,"say":"","calls":[{"kind":"shell","label":"cat >> /app/scripts/pc.py <<'EOF'","code":"cat >> /app/scripts/pc.py <<'EOF'\nimport pickle\ndef pix2world(tag, i, u, v, cam=\"robot_r1:zed_link:Camera:0\", win=2):\n    d = np.load(f\"/app/runs/img/{tag}_{i}_depth.npy\"); C = pickle.load(open(f\"/app/runs/img/{tag}_{i}_cams.pkl\",\"rb\"))[cam]\n    K = np.array(C[\"intrinsic_cv\"]); E = np.array(C[\"extrinsic_cv\"])\n    z = np.median(d[v-win:v+win+1, u-win:u+win+1])\n    pc = np.array([(u-K[0,2])/K[0,0]*z, (v-K[1,2])/K[1,1]*z, z])\n    return (pc - E[:,3]) @ E[:,:3]\nEOF\npython3 -c \"\nfrom pc import *\nfor (i,u,v) in [(1,52,75),(1,56,120),(1,150,120),(2,140,90),(2,150,110),(2,190,105),(0,60,110)]:\n    print(i,u,v, pix2world('s2',i,u,v).round(2))\n\""}],"out":{"text":"1 52 75 [ 8.12 -1.61  1.33]\n1 56 120 [ 8.24 -1.47  0.01]\n1 150 120 [ 5.49 -1.69  0.89]\n2 140 90 [ 7.99 -1.62  0.91]\n2 150 110 [ 7.22 -1.62  0.58]\n2 190 105 [ 6.61 -1.96  0.9 ]\n0 60 110 [ 5.78 -2.08  0.87]\n\n[stdout]\n1 52 75 [ 8.12 -1.61  1.33]\n1 56 120 [ 8.24 -1.47  0.01]\n1 150 120 [ 5.49 -1.69  0.89]\n2 140 90 [ 7.99 -1.62  0.91]\n2 150 110 [ 7.22 -1.62  0.58]\n2 190 105 [ 6.61 -1.96  0.9 ]\n0 60 110 [ 5.78 -2.08  0.87]","exit":[],"pics":[]},"tok":{"in":73120,"cached":71980,"out":814,"think":null,"usd":0.0364},"sim":{"submit":0,"reset":0}},{"id":29,"t":1174.3,"say":"","calls":[{"kind":"robot","label":"goto(6.8,-0.8,0.0)","code":"python3 -c \"\nfrom rb import *\ngoto(6.8,-0.8,0.0)\no=r.get_obs(depth=True); save_imgs(o,'p2')\nimport pickle\nnp.save('/app/runs/img/p2_0_depth.npy', o.last_depth[HEAD]); pickle.dump(o.meta['cameras'], open('/app/runs/img/p2_0_cams.pkl','wb'))\n\""}],"out":{"text":"Exit code 1\nTraceback (most recent call last):\n  File \"<string>\", line 3, in <module>\n  File \"/app/scripts/rb.py\", line 89, in goto\n    res = base_move(0,0,eyaw, depth=depth, **kw); continue\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/app/scripts/rb.py\", line 75, in base_move\n    res = r.submit(\"joint_position\", A[k:k+290], dt=1/30, depth=depth, video=\"none\")\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 180, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 156, in _post\n    raise EpisodeOver(_over(r) if r.headers.get(\"Content-Type\", \"\").startswith(\"application/json\") else \"episode finished\")\nrcb_client.EpisodeOver: failure: the robot fell over\nDONE failure: the robot fell over\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":74125,"cached":73118,"out":460,"think":null,"usd":0.0289},"sim":{"submit":6,"reset":0}},{"id":30,"t":1269.8,"say":"","calls":[{"kind":"shell","label":"\" ; curl -s http://sim:8000/status || curl -s http://localhost:8000/status","code":"python3 -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nimport requests\nr=Robot(timeout=30)\n\" ; curl -s http://sim:8000/status || curl -s http://localhost:8000/status"}],"out":{"text":"{\"step\": 1790, \"calls\": 41, \"control_steps\": 2087, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 634.8, \"resumes\": 0}\n\n[stdout]\n{\"step\": 1790, \"calls\": 41, \"control_steps\": 2087, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 634.8, \"resumes\": 0}","exit":[],"pics":[]},"tok":{"in":75139,"cached":74123,"out":639,"think":null,"usd":0.0327},"sim":{"submit":0,"reset":0}},{"id":31,"t":1272.5,"say":"","calls":[{"kind":"robot","label":"try:","code":"python3 -c \"\nfrom rb import *\ntry:\n    o=r.get_obs(); summary(o); save_imgs(o,'final')\nexcept Exception as e: print('ERR', e)\n\" 2>&1 | tail -3"}],"out":{"text":"L eef [ 5.204 -0.25   0.144 -0.632  0.581 -0.058  0.511]\nR eef [ 5.544 -0.349  0.503 -0.631  0.581 -0.058  0.51 ]\ngrip open [0.1 0.1] done True failure: the robot fell over time_left 13762.8\n\n[stdout]\nL eef [ 5.204 -0.25   0.144 -0.632  0.581 -0.058  0.511]\nR eef [ 5.544 -0.349  0.503 -0.631  0.581 -0.058  0.51 ]\ngrip open [0.1 0.1] done True failure: the robot fell over time_left 13762.8","exit":[],"pics":[]},"tok":{"in":75864,"cached":75137,"out":187,"think":null,"usd":0.0224},"sim":{"submit":0,"reset":0}},{"id":32,"t":1275.6,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(); n=now_of(o); summary(o)","code":"python3 -c \"\nfrom rb import *\no=r.get_obs(); n=now_of(o); summary(o)\nprint('rx ry z', pv(n,['base_footprint_rx_joint','base_footprint_ry_joint','base_footprint_z_joint']))\nprint('torso', pv(n,['torso_joint%d'%i for i in range(1,5)]))\n\" 2>&1 | tail -4"},{"kind":"look","label":"zed.png","code":"/app/runs/img/final/zed.png"}],"out":{"text":"R eef [ 5.544 -0.349  0.503 -0.631  0.581 -0.058  0.51 ]\ngrip open [0.1 0.1] done True failure: the robot fell over time_left 13760.4\nrx ry z [-1.35871112 -3.08918142  0.38153982]\ntorso [ 1.63703167e+00 -1.44594944e+00 -8.50388169e-01 -5.40939764e-05]\n\n[stdout]\nR eef [ 5.544 -0.349  0.503 -0.631  0.581 -0.058  0.51 ]\ngrip open [0.1 0.1] done True failure: the robot fell over time_left 13760.4\nrx ry z [-1.35871112 -3.08918142  0.38153982]\ntorso [ 1.63703167e+00 -1.44594944e+00 -8.50388169e-01 -5.40939764e-05]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-halve-an-egg-i00-standard--cnjgzav/s032_0.jpg"]},"tok":{"in":76180,"cached":75862,"out":237,"think":null,"usd":0.0215},"sim":{"submit":0,"reset":0}},{"id":33,"t":1284.5,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/output && { echo '\"\"\"halve_an_egg episode record: helper library (rb.py), point-cloud mapping (p","code":"mkdir -p /app/output && { echo '\"\"\"halve_an_egg episode record: helper library (rb.py), point-cloud mapping (pc.py), scan scripts and the driving code\nthat was run. The episode ended in failure (the robot fell over during an in-place base rotation at control step ~2087).\"\"\"'; for f in rb.py pc.py scan.py scan2.py; do echo; echo \"# ===================== $f =====================\"; cat /app/scripts/$f; done; cat <<'EOF'\n\n# ===================== commands run (in order) =====================\n# 1. Robot(); save spec                              -> connected after ~627 s of sim start-up\n# 2. get_obs(depth=True)                             -> start pose (5.31, 1.51), yaw -0.39, kitchen\n# 3. scan.py 8                                       -> 360 deg head-depth scan, top-down map\n# 4. goto(5.0, -0.5, -pi/2)  (constant-velocity base) -> arrived; torso_joint1 oscillated (effort-limited at 100 N m)\n# 5. ramp the trunk back to the hold pose; switched goto to min-jerk base profiles\n# 6. scan2.py s2 8                                   -> sink at ~(5.6,-2.1), stainless fridge at ~(8.1,-1.6)\n# 7. goto(6.8, -0.8, 0.0): in-place rotation of +2.7 rad (peak 0.5 rad/s) -> robot fell over, episode over\nEOF\n} > /app/output/gen.py; python3 -c \"import ast;ast.parse(open('/app/output/gen.py').read())\" && echo ok"}],"out":{"text":"ok\n\n[stdout]\nok","exit":[],"pics":[]},"tok":{"in":76901,"cached":76178,"out":1181,"think":null,"usd":0.0425},"sim":{"submit":0,"reset":0}},{"id":34,"t":1295.8,"say":"","calls":[{"kind":"shell","label":"writes r1pro-base-motion-tipping.md","code":"cat > /logs/agent/sessions/projects/-app/memory/r1pro-base-motion-tipping.md <<'EOF'\n---\nname: r1pro-base-motion-tipping\ndescription: BEHAVIOR-1K R1Pro robot-as-a-service: base motion can tip the robot over (episode lost); weak torso drive oscillates\nmetadata:\n  type: feedback\n---\nIn the eai-standard BEHAVIOR-1K R1Pro service (halve_an_egg, 2026-10-11) the robot fell over during an in-place\nbase rotation of +2.7 rad (min-jerk profile, peak 0.5 rad/s, trunk in the reset crouch [1.024,-1.446,-0.47,0]),\nending the only episode as a failure ~10 min into the session. Earlier 0.785 rad turns at the same speed were fine.\ntorso_joint1 is effort-limited (100 N m): a constant-velocity base start/stop made it oscillate (±100 N m saturating)\nand sag from 1.024 to 0.256 rad; it took ~2 s to settle.\n\n**Why:** there is no reset; one fall ends the episode.\n**How to apply:** move the base slowly (≤0.2 m/s, ≤0.25 rad/s) in short chunks (≤2 s), check\ncos(rx)*cos(ry) and torso_joint1 after EVERY chunk and stop/hold when it drifts; consider a more upright trunk pose\nbefore driving; turn in ≤45° steps with settle time; test any new motion primitive with a tiny amplitude first.\nUseful facts: head-depth back-projection (extrinsic_cv world->cam) gives a good top-down map; scene start pose\n(5.31,1.51) yaw -0.39; sink ~(5.6,-2.1) under the south window, stainless fridge ~(8.1,-1.6), counter top z≈0.9.\nEOF\necho \"- [R1Pro base motion tipping](r1pro-base-motion-tipping.md) — robot fell over on an in-place turn; drive slowly, check tilt every chunk\" > /logs/agent/sessions/projects/-app/memory/MEMORY.md"}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":78113,"cached":76899,"out":778,"think":null,"usd":0.037},"sim":{"submit":0,"reset":0}},{"id":35,"t":1303.9,"say":"The task failed. About 10 minutes into the episode the robot fell over, before it had touched the egg. That ended the only episode: the service reports `done: true, reason: \"failure: the robot fell over\"` and rejects any further action. The egg was never cut, nothing went onto the plate and the knife didn't go into the sink.\n\n**What happened:**\n1. **Start-up:** the simulator took about 10.5 minutes to start. The robot began in the kitchen at (5.31, 1.51).\n2. **Mapping:** I turned the robot in place a full circle, saving head-camera depth images, and built a top-down map from them. From that I found the island, the sink under the south window at about (5.6, −2.1), and a stainless fridge at about (8.1, −1.6). The countertop is about 0.9 m high. The chopping board, knife and plate weren't in view yet.\n3. **First warning sign:** on the first drive the robot started and stopped at full speed. The upper-body (torso) joint couldn't hold steady under that: it hit its strength limit, swung back and forth, sagged from 1.02 to 0.26 rad, and took about 2 s to settle. I changed the driving code to speed up and slow down gradually, and a second full-circle scan in 45° steps then went fine.\n4. **The fall:** the next move was one long turn in place of +2.7 rad (about 155°) at a top speed of 0.5 rad/s. During that chunk the robot tipped completely over. The likely cause is that same weak torso joint swaying in its crouched pose under a long fast turn. I can't confirm it, because I asked for that chunk without video or per-frame joint data and didn't check the tilt after each chunk.\n\n**What I should have done:** drive more slowly in short chunks, check the tilt and the torso joint after every chunk, break long turns into small steps with pauses, and try any new move at a small size first.\n\nFiles:\n- `/app/output/gen.py` is the record: the helper code, the mapping and scan scripts, and the list of commands in the order I ran them.\n- I saved these lessons and the kitchen layout to memory, so a future run can start from them.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78930,"cached":78111,"out":717,"think":null,"usd":0.0341},"sim":{"submit":0,"reset":0}}]}

runs/bigym2-dishwasher-load-plates-i00-standard--sfwahbz.json

@@ -0,0 +1 @@
+{"slug":"bigym2-dishwasher-load-plates-i00-standard--sfwahbz","task":"bigym2-dishwasher-load-plates-i00-standard","bench":"bigym2","mode":"standard","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"n_actions":846,"sim_steps":846,"calls":41,"rows":846,"resets":0,"reset_budget":0,"sim_startups":1,"elapsed_s":331.1,"video_rendered":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.145,"peak_processes":8,"peak_disk_gb":0.239,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":353,"tokens":{"in":1335078,"cached":1281429,"out":29857,"usd":1.28},"task_text":"# bigym2 dishwasher-load-plates — instance i00 — STANDARD MODE (robot as a service)\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. 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:** Take the plates from the dish rack and gently slot them into the dishwasher's lower rack.\n\nAt the start the two plates stand in a dish rack on the counter, about 0.7 m away, straight ahead, 0.98 m above the floor; the dishwasher's door is open and its lower rack is pulled out, about 0.7 m away, 66° to your left, 0.35 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- **One episode, no reset.** The episode starts when the service comes up, from a fixed starting state; what ends it is under Success below. `spec()[\"budget\"][\"reset\"]` is authoritative: it is 0 here, so the one episode is the run. Once it has ended, the run is over and `submit` raises `EpisodeOver`.\n- **Time moves only inside calls.** `submit` runs your commands and `get_obs(seconds=s)` stands still for s seconds; both use up the episode's control steps. Between calls the robot waits, frozen, while you think; `get_obs()` with no seconds is free.\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 the episode, replays it in a fresh simulator and grades the replay. Keep the script that drives the robot at `/app/output/gen.py` for the record: save it early and keep it current.\n- Wall-clock budget: the time limit (`## Time limit`). It ends without warning, and ending your session earlier ends the run the same way, so do not stop early: while the episode runs, the run can still pass.\n\n## Success\nThe episode succeeds when the following has held for **1 s (50 control steps in a row)**: each of the two plates stands on edge in the dishwasher's lower rack: its face toward your left or right (its axis within 20 degrees of the robot's left or right at the start), touching the lower rack, held by neither gripper; both plates at once. *Held* means that a finger of the gripper touches the object (BiGym's `is_gripper_holding_object\n… (6,915 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-dishwasher-load-plates-i00-standard--sfwahbz/replay.mp4","replay_last":"bigym2-dishwasher-load-plates-i00-standard--sfwahbz/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json; ls /app /app/output /opt/tools; pip list 2>/dev/null | grep -i -E \"mujoco|bigy","code":"cat /run/rcb-limits/usage.json; ls /app /app/output /opt/tools; pip list 2>/dev/null | grep -i -E \"mujoco|bigym|numpy|torch|onnx\"; find / -iname \"*bigym*\" -maxdepth 6 2>/dev/null | head"},{"kind":"shell","label":"s=r.spec()","code":"cd /opt/tools && python -c \"\nfrom rcb_client import Robot\nimport json\nr=Robot()\ns=r.spec()\nprint(json.dumps({k:v for k,v in s.items() if k not in ('joints',)},indent=0)[:6000])\nprint(r.status())\n\""}],"out":{"text":"{\n \"t\": 1792230307.13,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.092,\n \"processes\": 5,\n \"disk_gb\": 0.001,\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\": 105.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3495.0,\n \"deadline_utc\": \"2026-10-17T10:43:22Z\"\n}/app:\noutput\n\n/app/output:\n\n/opt/tools:\nrcb1.py\nrcb_client.py\nnumpy              2.5.3\n\n[stdout]\n{\n \"t\": 1792230307.13,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.092,\n \"processes\": 5,\n \"disk_gb\": 0.001,\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\": 105.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3495.0,\n \"deadline_utc\": \"2026-10-17T10:43:22Z\"\n}/app:\noutput\n\n/app/output:\n\n/opt/tools:\nrcb1.py\nrcb_client.py\nnumpy              2.5.3\n{\n\"protocol\": \"eai-standard/2.1\",\n\"control_dt\": 0.02,\n\"max_control_steps\": 3150,\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_p\n… (10,407 characters left out) …\n: {\n\"head\": {\n\"rgb\": true,\n\"depth\": false,\n\"mounted\": \"head\",\n\"hw\": [\n84,\n84\n],\n\"fovy_deg\": 60.0,\n\"pose_t0\": {\n\"frame\": \"the robot at t = 0: origin on the floor under the pelvis, x the way it faces, y left, z up\",\n\"position_m\": [\n0.1325,\n0.002,\n1.1547\n],\n\"forward\": [\n0.4567,\n-0.0048,\n-0.8896\n],\n\"up\": [\n0.8896,\n0.004,\n0.4566\n],\n\"right\": [\n0.0014,\n-1.0,\n0.0061\n]\n},\n\"mount\": {\n\"frame\": \"each camera's pose in its link's frame\",\n\"link\": \"torso_link\",\n\"position_m\": [\n0.12,\n0.0,\n0.37\n],\n\"forward\": [\n0.4969,\n-0.0,\n-0.8678\n],\n\"up\": [\n0.8678,\n0.0008,\n0.4969\n],\n\"right\": [\n0.0007,\n-1.0,\n0.0004\n],\n\"fovy_deg\": 60.0\n}\n},\n\"left_wrist\": {\n\"rgb\": true,\n\"depth\": false,\n\"mounted\": \"wrist\",\n\"hw\": [\n84,\n84\n],\n\"fovy_deg\": 60.0,\n\"pose_t0\": {\n\"frame\": \"the robot at t = 0: origin on the floor under the pelvis, x the way it faces, y left, z up\",\n\"position_m\": [\n0.3259,\n0.1505,\n0.8452\n],\n\"forward\": [\n0.675,\n-0.001,\n-0.7378\n],\n\"up\": [\n0.7377,\n0.0094,\n0.675\n],\n\"right\": [\n0.0063,\n-1.0,\n0.0071\n]\n},\n\"mount\": {\n\"frame\": \"each camera's pose in its link's frame\",\n\"link\": \"left_wrist_yaw_link\",\n\"position_m\": [\n0.12,\n0.0,\n0.04\n],\n\"forward\": [\n0.7643,\n-0.0,\n-0.6448\n],\n\"up\": [\n0.6448,\n0.0008,\n0.7643\n],\n\"right\": [\n0.0005,\n-1.0,\n0.0006\n],\n\"fovy_deg\": 60.0\n}\n},\n\"right_wrist\": {\n\"rgb\": true,\n\"depth\": false,\n\"mounted\": \"wrist\",\n\"hw\": [\n84,\n84\n],\n\"fovy_deg\": 60.0,\n\"pose_t0\": {\n\"frame\": \"the r\n{'calls': 0, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 0.0}\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":26837,"cached":18236,"out":368,"think":null,"usd":0.054},"sim":{"submit":0,"reset":0}},{"id":3,"t":6.2,"say":"","calls":[{"kind":"robot","label":"s=r.spec()","code":"cd /opt/tools && python -c \"\nfrom rcb_client import Robot\nimport json\nr=Robot()\ns=r.spec()\njson.dump(s,open('/app/spec.json','w'),indent=1)\nfor k in ['joints','grippers','joint_frame','joint_sign']:\n  print(k, json.dumps(s.get(k),indent=0)[:5000])\nprint([k for k in s])\no=r.get_obs()\nprint(o.meta)\n\""}],"out":{"text":"joints {\n\"waist_yaw_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n0.0,\n0.0,\n1.0\n],\n\"position_m\": [\n0.0,\n0.0,\n0.0\n],\n\"range\": [\n-2.618,\n2.618\n],\n\"link\": \"waist_yaw_link\"\n},\n\"waist_roll_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n1.0,\n0.0,\n0.0\n],\n\"position_m\": [\n-0.004,\n0.0,\n0.044\n],\n\"range\": [\n-0.52,\n0.52\n],\n\"link\": \"waist_roll_link\"\n},\n\"waist_pitch_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n0.0,\n1.0,\n0.0\n],\n\"position_m\": [\n-0.004,\n0.0,\n0.044\n],\n\"range\": [\n-0.52,\n0.52\n],\n\"link\": \"torso_link\"\n},\n\"left_shoulder_pitch_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n0.0002,\n0.9612,\n0.2757\n],\n\"position_m\": [\n-0.0,\n0.1002,\n0.2918\n],\n\"range\": [\n-3.0892,\n2.6704\n],\n\"link\": \"left_shoulder_pitch_link\"\n},\n\"left_shoulder_roll_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n1.0,\n-0.0002,\n-0.0001\n],\n\"position_m\": [\n0.0,\n0.1406,\n0.289\n],\n\"range\": [\n-1.5882,\n2.2515\n],\n\"link\": \"left_shoulder_roll_link\"\n},\n\"left_shoulder_yaw_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n0.0001,\n-0.0001,\n1.0\n],\n\"position_m\": [\n-0.0,\n0.1468,\n0.1858\n],\n\"range\": [\n-2.618,\n2.618\n],\n\"link\": \"left_shoulder_yaw_link\"\n},\n\"left_elbow_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n0.0002,\n1.0,\n0.0001\n],\n\"position_m\": [\n0.0158,\n0.1468,\n0.1052\n],\n\"range\": [\n-1.0472,\n2.0944\n],\n\"link\": \"left_elbow_link\"\n},\n\"left_wrist_roll_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n1.0,\n-0.0002,\n-0.0001\n],\n\"position_m\": [\n0.1158,\n0.1487,\n0.0952\n],\n\"range\": [\n-1.9722,\n1.9722\n],\n\"link\": \"left_wrist_roll_link\"\n},\n\"left_wrist_pitch_joint\": {\n\"type\": \"hinge\",\n\"axis\": [\n0.0002,\n1.0,\n0.0001\n],\n\"position_m\": [\n0.1538,\n\n… (12,439 characters left out) …\nvel', 'left_gripper_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, -0.07113786786794662, -0.6027928590774536, 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, -0.07113786786794662, -0.6027928590774536, 0.7466566562652588, 0.0006359267863444984]}, 'obs_id': 1, 'seconds': 0.0, 'control_steps_watch': 0, 'ok': True}\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":30827,"cached":26835,"out":348,"think":null,"usd":0.0323},"sim":{"submit":0,"reset":0}},{"id":4,"t":23.4,"say":"","calls":[{"kind":"robot","label":"pip install pillow -q 2>&1 | tail -1; python -c \"","code":"pip install pillow -q 2>&1 | tail -1; python -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot()\no=r.get_obs()\nfor c,im in o.last.items():\n    Image.fromarray(np.asarray(im)).resize((336,336),Image.NEAREST).save(f'/app/{c}.png'); print(c, np.asarray(im).shape)\n\""}],"out":{"text":"[notice] To update, run: pip install --upgrade pip\nhead (84, 84, 3)\nleft_wrist (84, 84, 3)\nright_wrist (84, 84, 3)\n\n[stdout]\n[notice] To update, run: pip install --upgrade pip\nhead (84, 84, 3)\nleft_wrist (84, 84, 3)\nright_wrist (84, 84, 3)","exit":[],"pics":[]},"tok":{"in":35586,"cached":30825,"out":1110,"think":null,"usd":0.0522},"sim":{"submit":0,"reset":0}},{"id":5,"t":29.2,"say":"","calls":[{"kind":"look","label":"head.png","code":"/app/head.png"},{"kind":"look","label":"right_wrist.png","code":"/app/right_wrist.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s005_0.jpg","bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s005_0.jpg"]},"tok":{"in":36780,"cached":35584,"out":107,"think":null,"usd":0.0152},"sim":{"submit":0,"reset":0}},{"id":6,"t":42.0,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/output && cat > /app/output/kin.py <<'EOF'","code":"mkdir -p /app/output && cat > /app/output/kin.py <<'EOF'\nimport json, numpy as np\nS = json.load(open('/app/spec.json'))\nJ = S['joints']\nARM = ['shoulder_pitch','shoulder_roll','shoulder_yaw','elbow','wrist_roll','wrist_pitch','wrist_yaw']\nWAIST = ['waist_yaw_joint','waist_roll_joint','waist_pitch_joint']\ndef rot(w, th):\n    w = np.asarray(w, float); w = w/np.linalg.norm(w)\n    K = np.array([[0,-w[2],w[1]],[w[2],0,-w[0]],[-w[1],w[0],0]])\n    return np.eye(3)+np.sin(th)*K+(1-np.cos(th))*K@K\ndef chain(side):\n    return WAIST + [f'{side}_{a}_joint' for a in ARM]\ndef fk(side, q_arm, q_waist=(0,0,0), p0=None):\n    \"\"\"returns (R, p) of wrist_yaw_link frame-ish: R maps link vectors to pelvis frame, p gripper point in pelvis frame\"\"\"\n    names = chain(side); qs = list(q_waist)+list(q_arm)\n    R = np.eye(3); t = np.zeros(3)\n    for n, th in zip(names, qs):\n        w = np.array(J[n]['axis']); c = np.array(J[n]['position_m'])\n        Ri = rot(w, th); ti = c - Ri@c\n        t = R@ti + t; R = R@Ri\n    if p0 is None:\n        p0 = np.array(J[f'{side}_wrist_yaw_joint']['position_m']) + np.array(S['grippers'][side]['position_m'])\n    return R, R@p0 + t\ndef cam(side, q_arm, q_waist=(0,0,0)):\n    m = S['cameras'][f'{side}_wrist']['mount']\n    p0 = np.array(J[f'{side}_wrist_yaw_joint']['position_m']) + np.array(m['position_m'])\n    R, p = fk(side, q_arm, q_waist, p0)\n    return p, R@np.array(m['forward']), R@np.array(m['up'])\ndef ik(side, target_p, target_R=None, q0=None, q_waist=(0,0,0), wrot=0.3, iters=200, lim=None):\n    lo = np.array([J[f'{side}_{a}_joint']['range'][0] for a in ARM])\n    hi = np.array([J[f'{side}_{a}_joint']['range'][1] for a in ARM])\n    if side=='right':  # BiGym action bounds\n        lo[1] = max(lo[1], -1.5882); hi[1] = min(hi[1], 2.2515)\n    q = np.zeros(7) if q0 is None else np.array(q0, float)\n    def err(q):\n        R, p = fk(side, q, q_waist)\n        e = list(p - target_p)\n        if target_R is not None:\n            E = R.T@target_R if False else target_R.T@R\n            # use axis columns difference\n            e += list(wrot*(R - target_R).ravel())\n        return np.array(e)\n    for it in range(iters):\n        e = err(q)\n        Jm = np.zeros((len(e), 7)); h = 1e-5\n        for k in range(7):\n            dq = q.copy(); dq[k] += h\n            Jm[:, k] = (err(dq)-e)/h\n        lam = 1e-3\n        step = -np.linalg.solve(Jm.T@Jm + lam*np.eye(7) + 1e-4*np.eye(7), Jm.T@e)\n        q = np.clip(q + np.clip(step, -0.3, 0.3), lo+0.01, hi-0.01)\n        if np.linalg.norm(step) < 1e-7: break\n    R, p = fk(side, q, q_waist)\n    return q, np.linalg.norm(p-target_p), R\nEOF\ncd /app/output && python -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom kin import *\nimport json\nfrom rcb_client import Robot\nr=Robot(); now=np.array(r.get_obs().meta['proprio']['now'])\nqw=now[0:3]; ql=now[3:10]; qr=now[12:19]\nz=now[23]\nfor side,q in (('left',ql),('right',qr)):\n  p,f,u=cam(side,q,qw); print(side,'cam',p+[0,0,z],f,u, 'spec',S['cameras'][side+'_wrist']['pose_t0']['position_m'],S['cameras'][side+'_wrist']['pose_t0']['forward'])\n  print(' grip',fk(side,q,qw)[1]+[0,0,z])\n\"\n"}],"out":{"text":"left cam [0.32662907 0.15082204 0.84236371] [ 0.66976673 -0.00298499 -0.74251272] [0.74249005 0.01151579 0.66969999] spec [0.3259, 0.1505, 0.8452] [0.675, -0.001, -0.7378]\n grip [0.34894447 0.15054702 0.79893621]\nright cam [ 0.32684705 -0.14930327  0.84495743] [ 0.66980358 -0.0082987  -0.74243911] [0.74247698 0.0026332  0.66980831] spec [0.3261, -0.1495, 0.8469] [0.6751, -0.006, -0.7377]\n grip [ 0.34916445 -0.14971788  0.80153208]\n\n[stdout]\nleft cam [0.32662907 0.15082204 0.84236371] [ 0.66976673 -0.00298499 -0.74251272] [0.74249005 0.01151579 0.66969999] spec [0.3259, 0.1505, 0.8452] [0.675, -0.001, -0.7378]\n grip [0.34894447 0.15054702 0.79893621]\nright cam [ 0.32684705 -0.14930327  0.84495743] [ 0.66980358 -0.0082987  -0.74243911] [0.74247698 0.0026332  0.66980831] spec [0.3261, -0.1495, 0.8469] [0.6751, -0.006, -0.7377]\n grip [ 0.34916445 -0.14971788  0.80153208]","exit":[],"pics":[]},"tok":{"in":37265,"cached":36778,"out":2769,"think":null,"usd":0.0652},"sim":{"submit":0,"reset":0}},{"id":7,"t":60.9,"say":"","calls":[{"kind":"robot","label":"writes drv.py","code":"cat > /app/output/drv.py <<'EOF'\nimport sys, os, json, numpy as np\nsys.path.insert(0, '/opt/tools'); sys.path.insert(0, '/app/output')\nfrom rcb_client import Robot\nfrom PIL import Image\nfrom kin import *\nST = '/app/output/last_row.json'; LOG = '/app/output/rows_log.npy'\nr = Robot()\ndef last():\n    if os.path.exists(ST): return np.array(json.load(open(ST)))\n    return np.array([0,0,0.74,0,0]+[0]*14+[0.6,0.6], float)\ndef proprio():\n    return np.array(r.get_obs().meta['proprio']['now'])\ndef send(A, save_imgs=True, tag='x'):\n    A = np.atleast_2d(np.asarray(A, float))\n    res = r.submit(\"whole_body\", A, dt=0.02, video=\"frames\" if False else \"mp4\")\n    json.dump(list(A[-1]), open(ST, 'w'))\n    old = np.load(LOG) if os.path.exists(LOG) else np.zeros((0, 21))\n    np.save(LOG, np.vstack([old, A]))\n    if save_imgs: snap(res.last, tag)\n    m = res.meta\n    print('steps', m['control_steps'], 'done', m['done'], m['reason'], 'clipped', m.get('clipped'), 'tleft', m.get('time_left_s'))\n    return res\ndef snap(last=None, tag='x'):\n    if last is None: last = r.get_obs().last\n    for c, im in last.items():\n        Image.fromarray(np.asarray(im)).resize((252, 252), Image.NEAREST).save(f'/app/img_{tag}_{c}.png')\ndef move(target, T=1.0, hold=0.0, tag='x'):\n    \"\"\"linear interp from last row to target row over T s, then hold\"\"\"\n    a = last(); b = np.asarray(target, float)\n    n = max(1, int(round(T/0.02)))\n    A = [a + (b-a)*(k+1)/n for k in range(n)] + [b]*int(round(hold/0.02))\n    return send(np.array(A), tag=tag)\ndef pr():\n    p = proprio()\n    print('waist', p[0:3].round(3), 'L', p[3:10].round(2), 'R', p[12:19].round(2), 'fing', p[10:12].round(3), p[19:21].round(3))\n    print('pelvis', p[21:25].round(3), 'grip', p[50:52].round(2))\n    return p\nEOF\ncd /app/output && python -c \"\nfrom drv import *\np=proprio(); qw=p[0:3]\nqr,e,R=ik('right',np.array([0.35,-0.12,0.5]),np.eye(3),q_waist=qw); print(qr.round(2),e)\nqlr,e,R=ik('left',np.array([0.35,0.12,0.5]),np.eye(3),q_waist=qw); print(qlr.round(2),e)\nrow=last(); row[12:19]=qr; row[5:12]=qlr\nmove(row,T=1.5,hold=0.5,tag='look')\npr()\n\""}],"out":{"text":"[-1.77 -0.61 -0.1   0.18  1.9   1.44 -1.6 ] 1.1688286462946329e-08\n[-1.79  0.59  0.07  0.2  -1.89  1.43  1.6 ] 1.2342622868847998e-08\nsteps 100 done False None clipped [] tleft 3530.7\nwaist [ 0.004 -0.     0.161] L [-1.76  0.59  0.07  0.2  -1.89  1.45  1.6 ] R [-1.73 -0.6  -0.1   0.19  1.9   1.46 -1.6 ] fing [-0.002 -0.002] [-0.002 -0.002]\npelvis [-0.08  -0.596  0.751  0.   ] grip [0.6 0.6]\n\n[stdout]\n[-1.77 -0.61 -0.1   0.18  1.9   1.44 -1.6 ] 1.1688286462946329e-08\n[-1.79  0.59  0.07  0.2  -1.89  1.43  1.6 ] 1.2342622868847998e-08\nsteps 100 done False None clipped [] tleft 3530.7\nwaist [ 0.004 -0.     0.161] L [-1.76  0.59  0.07  0.2  -1.89  1.45  1.6 ] R [-1.73 -0.6  -0.1   0.19  1.9   1.46 -1.6 ] fing [-0.002 -0.002] [-0.002 -0.002]\npelvis [-0.08  -0.596  0.751  0.   ] grip [0.6 0.6]","exit":[],"pics":[]},"tok":{"in":40385,"cached":37263,"out":1552,"think":null,"usd":0.0541},"sim":{"submit":1,"reset":0}},{"id":8,"t":74.1,"say":"","calls":[{"kind":"look","label":"img_look_right_wrist.png","code":"/app/img_look_right_wrist.png"},{"kind":"look","label":"img_look_left_wrist.png","code":"/app/img_look_left_wrist.png"},{"kind":"look","label":"img_look_head.png","code":"/app/img_look_head.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s008_0.jpg","bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s008_0.jpg","bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s008_0.jpg"]},"tok":{"in":42229,"cached":40383,"out":275,"think":null,"usd":0.0228},"sim":{"submit":0,"reset":0}},{"id":9,"t":100.8,"say":"","calls":[{"kind":"robot","label":"p=proprio(); qw=p[0:3]","code":"python -c \"\nfrom drv import *\np=proprio(); qw=p[0:3]\nd=np.array([0.3,1,0]); d/=np.linalg.norm(d); a=np.radians(20)\nx=np.cos(a)*d+np.array([0,0,-np.sin(a)]); z0=np.array([0,0,1]); y=np.cross(z0,x); y/=np.linalg.norm(y); z=np.cross(x,y)\nRt=np.stack([x,y,z],1)\nql,e,R=ik('left',np.array([0.2,0.3,0.35]),Rt,q0=[0,0.5,0,0.5,0,0,0],q_waist=qw); print(ql.round(2),e)\nqr,e,R=ik('right',np.array([0.3,-0.2,0.0]),None,q0=[0,0,0,0,0,0,0],q_waist=qw); \nrow=last(); row[5:12]=ql; row[12:19]=[0,0,0,0,0,0,0]\nmove(row,T=1.5,hold=0.5,tag='dw')\npr()\n\""}],"out":{"text":"[ 2.46  1.21  2.61 -1.04 -1.96 -0.54  1.6 ] 0.06181287249768571\nsteps 200 done False None clipped [] tleft 3496.6\nwaist [-0.005 -0.121  0.113] L [ 2.46  1.23  2.6  -1.05 -1.97 -0.52  1.6 ] R [0.01 0.   0.   0.03 0.   0.04 0.  ] fing [-0.002 -0.002] [-0.002 -0.002]\npelvis [-0.034 -0.629  0.749 -0.09 ] grip [0.6 0.6]\n\n[stdout]\n[ 2.46  1.21  2.61 -1.04 -1.96 -0.54  1.6 ] 0.06181287249768571\nsteps 200 done False None clipped [] tleft 3496.6\nwaist [-0.005 -0.121  0.113] L [ 2.46  1.23  2.6  -1.05 -1.97 -0.52  1.6 ] R [0.01 0.   0.   0.03 0.   0.04 0.  ] fing [-0.002 -0.002] [-0.002 -0.002]\npelvis [-0.034 -0.629  0.749 -0.09 ] grip [0.6 0.6]","exit":[],"pics":[]},"tok":{"in":42867,"cached":42227,"out":2686,"think":null,"usd":0.0654},"sim":{"submit":1,"reset":0}},{"id":10,"t":107.8,"say":"","calls":[{"kind":"look","label":"img_dw_left_wrist.png","code":"/app/img_dw_left_wrist.png"},{"kind":"look","label":"img_dw_head.png","code":"/app/img_dw_head.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s010_0.jpg","bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s010_0.jpg"]},"tok":{"in":45787,"cached":42865,"out":148,"think":null,"usd":0.0261},"sim":{"submit":0,"reset":0}},{"id":11,"t":197.3,"say":"","calls":[{"kind":"robot","label":"row=last(); row[5:19]=0; row[0]=0.2;","code":"python -c \"\nfrom drv import *\nrow=last(); row[5:19]=0; row[0]=0.2; \nA=[row.copy()]*40; row2=row.copy(); row2[0]=0; A+= [row2]*40\nsend(np.array(A),tag='walk')\npr()\n\""}],"out":{"text":"steps 280 done False None clipped [] tleft 3402.5\nwaist [-0.    -0.013  0.058] L [ 0.02 -0.   -0.    0.03  0.    0.04 -0.  ] R [ 0.02  0.   -0.    0.03 -0.    0.04 -0.  ] fing [-0.002 -0.002] [-0.002 -0.002]\npelvis [-0.018 -0.609  0.746 -0.055] grip [0.6 0.6]\n\n[stdout]\nsteps 280 done False None clipped [] tleft 3402.5\nwaist [-0.    -0.013  0.058] L [ 0.02 -0.   -0.    0.03  0.    0.04 -0.  ] R [ 0.02  0.   -0.    0.03 -0.    0.04 -0.  ] fing [-0.002 -0.002] [-0.002 -0.002]\npelvis [-0.018 -0.609  0.746 -0.055] grip [0.6 0.6]","exit":[],"pics":[]},"tok":{"in":46187,"cached":45785,"out":8248,"think":null,"usd":0.1761},"sim":{"submit":1,"reset":0}},{"id":12,"t":202.7,"say":"","calls":[{"kind":"robot","label":"cat >> /app/output/drv.py <<'EOF'","code":"cat >> /app/output/drv.py <<'EOF'\ndef goto(xt, yt, yawt, tol=0.03, ytol=0.05, maxit=25, chunk=0.4, vmax=0.25):\n    for it in range(maxit):\n        p = proprio(); x, y, yaw = p[21], p[22], p[24]\n        dx, dy = xt-x, yt-y; dyaw = (yawt-yaw+np.pi) % (2*np.pi) - np.pi\n        fx = np.cos(yaw)*dx + np.sin(yaw)*dy; fy = -np.sin(yaw)*dx + np.cos(yaw)*dy\n        print(f'  goto it{it} pos {x:.3f} {y:.3f} {yaw:.3f} err {fx:.3f} {fy:.3f} {dyaw:.3f}')\n        if abs(fx) < tol and abs(fy) < tol and abs(dyaw) < ytol: break\n        vx = np.clip(1.5*fx, -vmax, vmax); vy = np.clip(1.5*fy, -vmax, vmax); wz = np.clip(1.5*dyaw, -0.5, 0.5)\n        if abs(fx) < tol: vx = 0\n        elif abs(vx) < 0.07: vx = 0.07*np.sign(vx)\n        if abs(fy) < tol: vy = 0\n        elif abs(vy) < 0.07: vy = 0.07*np.sign(vy)\n        if abs(dyaw) < ytol: wz = 0\n        elif abs(wz) < 0.15: wz = 0.15*np.sign(wz)\n        row = last(); row[0], row[1], row[3] = vx, vy, wz\n        send(np.array([row]*int(chunk/0.02)), save_imgs=False)\n    row = last(); row[0] = row[1] = row[3] = 0\n    send(np.array([row]*15), save_imgs=False)\n    return pr()\nEOF\npython -c \"\nfrom drv import *\ngoto(0.05,-0.603,0.0)\n\""}],"out":{"text":"goto it0 pos -0.018 -0.609 -0.055 err 0.067 0.010 0.055\nsteps 300 done False None clipped [] tleft 3393.7\n  goto it1 pos 0.014 -0.588 -0.022 err 0.036 -0.014 0.022\nsteps 320 done False None clipped [] tleft 3393.3\n  goto it2 pos 0.021 -0.595 0.000 err 0.029 -0.008 -0.000\nsteps 335 done False None clipped [] tleft 3392.8\nwaist [-0.003 -0.011  0.072] L [ 0.02 -0.    0.    0.03  0.    0.04 -0.  ] R [ 0.02  0.    0.01  0.02 -0.    0.01  0.01] fing [-0.002 -0.002] [-0.003 -0.002]\npelvis [ 0.017 -0.584  0.744  0.003] grip [0.6 0.6]\n\n[stdout]\n  goto it0 pos -0.018 -0.609 -0.055 err 0.067 0.010 0.055\nsteps 300 done False None clipped [] tleft 3393.7\n  goto it1 pos 0.014 -0.588 -0.022 err 0.036 -0.014 0.022\nsteps 320 done False None clipped [] tleft 3393.3\n  goto it2 pos 0.021 -0.595 0.000 err 0.029 -0.008 -0.000\nsteps 335 done False None clipped [] tleft 3392.8\nwaist [-0.003 -0.011  0.072] L [ 0.02 -0.    0.    0.03  0.    0.04 -0.  ] R [ 0.02  0.    0.01  0.02 -0.    0.01  0.01] fing [-0.002 -0.002] [-0.003 -0.002]\npelvis [ 0.017 -0.584  0.744  0.003] grip [0.6 0.6]","exit":[],"pics":[]},"tok":{"in":54671,"cached":46185,"out":916,"think":null,"usd":0.07},"sim":{"submit":3,"reset":0}},{"id":13,"t":214.0,"say":"","calls":[{"kind":"robot","label":"p=proprio(); qw=p[0:3]","code":"python -c \"\nfrom drv import *\np=proprio(); qw=p[0:3]\nql,e1,_=ik('left',np.array([0.33,0.09,0.30]),np.eye(3),q0=[-0.5,0.2,0,0.5,0,0,0],q_waist=qw)\nqr,e2,_=ik('right',np.array([0.33,-0.09,0.30]),np.eye(3),q0=[-0.5,-0.2,0,0.5,0,0,0],q_waist=qw)\nprint(ql.round(2),e1,qr.round(2),e2)\nrow=last(); row[5:12]=ql; row[12:19]=qr; row[19:21]=0\nmove(row,T=1.5,hold=0.4,tag='pre')\npr()\n\""}],"out":{"text":"[-0.82  0.02  0.16 -0.87 -1.26  1.6   1.34] 4.942998856619633e-09 [-0.8  -0.02 -0.19 -0.89  1.21  1.6  -1.25] 6.645016793169057e-09\nsteps 430 done False None clipped [] tleft 3384.2\nwaist [ 0.007 -0.004  0.094] L [-0.79  0.02  0.16 -0.86 -1.26  1.62  1.34] R [-0.77 -0.01 -0.19 -0.88  1.21  1.62 -1.25] fing [0.025 0.024] [0.024 0.025]\npelvis [ 0.017 -0.6    0.753 -0.023] grip [0. 0.]\n\n[stdout]\n[-0.82  0.02  0.16 -0.87 -1.26  1.6   1.34] 4.942998856619633e-09 [-0.8  -0.02 -0.19 -0.89  1.21  1.6  -1.25] 6.645016793169057e-09\nsteps 430 done False None clipped [] tleft 3384.2\nwaist [ 0.007 -0.004  0.094] L [-0.79  0.02  0.16 -0.86 -1.26  1.62  1.34] R [-0.77 -0.01 -0.19 -0.88  1.21  1.62 -1.25] fing [0.025 0.024] [0.024 0.025]\npelvis [ 0.017 -0.6    0.753 -0.023] grip [0. 0.]","exit":[],"pics":[]},"tok":{"in":55935,"cached":54669,"out":648,"think":null,"usd":0.0302},"sim":{"submit":1,"reset":0}},{"id":14,"t":220.3,"say":"","calls":[{"kind":"shell","label":"ims=[Image.open(f'/app/img_pre_{c}.png') for c in ['left_wrist','head','right_wrist']]","code":"cd /app && python -c \"\nfrom PIL import Image\nims=[Image.open(f'/app/img_pre_{c}.png') for c in ['left_wrist','head','right_wrist']]\nW=Image.new('RGB',(756,252)); [W.paste(im,(252*i,0)) for i,im in enumerate(ims)]; W.save('/app/cat.png')\""},{"kind":"look","label":"cat.png","code":"/app/cat.png"}],"out":{"text":"(Bash completed with no output)\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s014_0.jpg"]},"tok":{"in":56865,"cached":55933,"out":291,"think":null,"usd":0.0217},"sim":{"submit":0,"reset":0}},{"id":15,"t":227.8,"say":"","calls":[{"kind":"shell","label":"cat >> /app/output/drv.py <<'EOF'","code":"cat >> /app/output/drv.py <<'EOF'\ndef ray(side, u, v, p=None):\n    \"\"\"pixel (u right, v down; 84x84) -> (origin, dir) in pelvis frame (z rel pelvis)\"\"\"\n    if p is None: p = proprio()\n    q = p[3:10] if side == 'left' else p[12:19]\n    o, f, up = cam(side, q, p[0:3]); rt = np.cross(f, up)\n    fpx = 42/np.tan(np.radians(30))\n    d = f + (u-41.5)/fpx*rt - (v-41.5)/fpx*up\n    return o, d/np.linalg.norm(d)\ndef at_x(side, u, v, x, p=None):\n    o, d = ray(side, u, v, p); t = (x-o[0])/d[0]; return o+t*d\nEOF\ncd /app/output && python -c \"\nfrom drv import *\np=proprio()\nfor side,u,v in [('left',32,20),('left',32,40),('right',29,20),('right',29,40),('left',75,30)]:\n  for x in (0.55,0.61,0.67): print(side,u,v,x,at_x(side,u,v,x,p).round(3))\n\""}],"out":{"text":"left 32 20 0.55 [0.55  0.131 0.201]\nleft 32 20 0.61 [0.61  0.141 0.17 ]\nleft 32 20 0.67 [0.67  0.151 0.14 ]\nleft 32 40 0.55 [0.55  0.142 0.105]\nleft 32 40 0.61 [0.61  0.154 0.05 ]\nleft 32 40 0.67 [ 0.67   0.167 -0.005]\nright 29 20 0.55 [ 0.55  -0.046  0.2  ]\nright 29 20 0.61 [ 0.61  -0.034  0.169]\nright 29 20 0.67 [ 0.67  -0.023  0.138]\nright 29 40 0.55 [ 0.55  -0.034  0.104]\nright 29 40 0.61 [ 0.61  -0.02   0.049]\nright 29 40 0.67 [ 0.67  -0.006 -0.006]\nleft 75 30 0.55 [ 0.55  -0.033  0.157]\nleft 75 30 0.61 [ 0.61  -0.065  0.115]\nleft 75 30 0.67 [ 0.67  -0.096  0.074]\n\n[stdout]\nleft 32 20 0.55 [0.55  0.131 0.201]\nleft 32 20 0.61 [0.61  0.141 0.17 ]\nleft 32 20 0.67 [0.67  0.151 0.14 ]\nleft 32 40 0.55 [0.55  0.142 0.105]\nleft 32 40 0.61 [0.61  0.154 0.05 ]\nleft 32 40 0.67 [ 0.67   0.167 -0.005]\nright 29 20 0.55 [ 0.55  -0.046  0.2  ]\nright 29 20 0.61 [ 0.61  -0.034  0.169]\nright 29 20 0.67 [ 0.67  -0.023  0.138]\nright 29 40 0.55 [ 0.55  -0.034  0.104]\nright 29 40 0.61 [ 0.61  -0.02   0.049]\nright 29 40 0.67 [ 0.67  -0.006 -0.006]\nleft 75 30 0.55 [ 0.55  -0.033  0.157]\nleft 75 30 0.61 [ 0.61  -0.065  0.115]\nleft 75 30 0.67 [ 0.67  -0.096  0.074]","exit":[],"pics":[]},"tok":{"in":57519,"cached":56863,"out":891,"think":null,"usd":0.0325},"sim":{"submit":0,"reset":0}},{"id":16,"t":241.2,"say":"","calls":[{"kind":"robot","label":"p=proprio(); qw=p[0:3]","code":"python -c \"\nfrom drv import *\np=proprio(); qw=p[0:3]\nql,e1,_=ik('left',np.array([0.33,-0.01,0.30]),np.eye(3),q0=p[3:10],q_waist=qw)\nqr,e2,_=ik('right',np.array([0.33,-0.19,0.30]),np.eye(3),q0=p[12:19],q_waist=qw)\nprint(ql.round(2),e1,qr.round(2),e2)\nrow=last(); row[5:12]=ql; row[12:19]=qr\nmove(row,T=1.0,hold=0.3,tag='pre2')\np=pr(); np.save('/app/p_pre2.npy',p)\n\"; cd /app && python -c \"\nfrom PIL import Image\nims=[Image.open(f'/app/img_pre2_{c}.png') for c in ['left_wrist','head','right_wrist']]\nW=Image.new('RGB',(756,252)); [W.paste(im,(252*i,0)) for i,im in enumerate(ims)]; W.save('/app/cat.png')\""},{"kind":"look","label":"cat.png","code":"/app/cat.png"}],"out":{"text":"[-0.91 -0.19 -0.4  -0.61 -0.83  1.27  1.45] 7.726667118370849e-10 [-0.65 -0.44 -0.68 -0.87  1.4   1.58 -0.79] 3.7069836359751373e-09\nsteps 495 done False None clipped [] tleft 3356.9\nwaist [ 0.022 -0.042  0.104] L [-0.87 -0.15 -0.41 -0.6  -0.83  1.29  1.45] R [-0.62 -0.42 -0.68 -0.87  1.4   1.61 -0.79] fing [0.025 0.024] [0.024 0.025]\npelvis [ 0.014 -0.594  0.751 -0.017] grip [0. 0.]\n\n[stdout]\n[-0.91 -0.19 -0.4  -0.61 -0.83  1.27  1.45] 7.726667118370849e-10 [-0.65 -0.44 -0.68 -0.87  1.4   1.58 -0.79] 3.7069836359751373e-09\nsteps 495 done False None clipped [] tleft 3356.9\nwaist [ 0.022 -0.042  0.104] L [-0.87 -0.15 -0.41 -0.6  -0.83  1.29  1.45] R [-0.62 -0.42 -0.68 -0.87  1.4   1.61 -0.79] fing [0.025 0.024] [0.024 0.025]\npelvis [ 0.014 -0.594  0.751 -0.017] grip [0. 0.]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s016_0.jpg"]},"tok":{"in":58862,"cached":57517,"out":1231,"think":null,"usd":0.0428},"sim":{"submit":1,"reset":0}},{"id":17,"t":252.5,"say":"","calls":[{"kind":"shell","label":"p=np.load('/app/p_pre2.npy')","code":"cd /app/output && python -c \"\nfrom drv import *\np=np.load('/app/p_pre2.npy')\nfor side,u,v in [('left',13,30),('left',63,30),('right',8,30),('right',4,30)]:\n  for x in (0.57,0.61,0.65): print(side,u,v,x,at_x(side,u,v,x,p).round(3))\n\""}],"out":{"text":"left 13 30 0.57 [0.57  0.148 0.141]\nleft 13 30 0.61 [0.61  0.169 0.114]\nleft 13 30 0.65 [0.65  0.191 0.086]\nleft 63 30 0.57 [ 0.57  -0.066  0.143]\nleft 63 30 0.61 [ 0.61  -0.078  0.116]\nleft 63 30 0.65 [ 0.65  -0.09   0.089]\nright 8 30 0.57 [ 0.57  -0.032  0.141]\nright 8 30 0.61 [ 0.61  -0.011  0.112]\nright 8 30 0.65 [0.65  0.011 0.083]\nright 4 30 0.57 [ 0.57  -0.015  0.14 ]\nright 4 30 0.61 [0.61  0.01  0.111]\nright 4 30 0.65 [0.65  0.034 0.082]\n\n[stdout]\nleft 13 30 0.57 [0.57  0.148 0.141]\nleft 13 30 0.61 [0.61  0.169 0.114]\nleft 13 30 0.65 [0.65  0.191 0.086]\nleft 63 30 0.57 [ 0.57  -0.066  0.143]\nleft 63 30 0.61 [ 0.61  -0.078  0.116]\nleft 63 30 0.65 [ 0.65  -0.09   0.089]\nright 8 30 0.57 [ 0.57  -0.032  0.141]\nright 8 30 0.61 [ 0.61  -0.011  0.112]\nright 8 30 0.65 [0.65  0.011 0.083]\nright 4 30 0.57 [ 0.57  -0.015  0.14 ]\nright 4 30 0.61 [0.61  0.01  0.111]\nright 4 30 0.65 [0.65  0.034 0.082]","exit":[],"pics":[]},"tok":{"in":60740,"cached":58860,"out":659,"think":null,"usd":0.0344},"sim":{"submit":0,"reset":0}},{"id":18,"t":262.9,"say":"","calls":[{"kind":"robot","label":"cat >> /app/output/drv.py <<'EOF'","code":"cat >> /app/output/drv.py <<'EOF'\ndef cat(tag):\n    ims=[Image.open(f'/app/img_{tag}_{c}.png') for c in ['left_wrist','head','right_wrist']]\n    W=Image.new('RGB',(756,252)); [W.paste(im,(252*i,0)) for i,im in enumerate(ims)]; W.save('/app/cat.png')\ndef hands(pl, pr_, Rl=np.eye(3), Rr=np.eye(3), T=1.0, hold=0.3, tag='h', grip=None, extra=None):\n    p = proprio(); qw = p[0:3]; row = last()\n    if pl is not None:\n        ql, e1, _ = ik('left', np.array(pl), Rl, q0=row[5:12], q_waist=qw); row[5:12] = ql; print('ikL', round(e1, 4))\n    if pr_ is not None:\n        qr, e2, _ = ik('right', np.array(pr_), Rr, q0=row[12:19], q_waist=qw); row[12:19] = qr; print('ikR', round(e2, 4))\n    if grip is not None: row[19:21] = grip\n    if extra:\n        for k, v in extra.items(): row[k] = v\n    res = move(row, T=T, hold=hold, tag=tag); cat(tag); return res\nEOF\ncd /app/output && python -c \"\nfrom drv import *\nhands([0.40,0.16,0.28],[0.40,-0.04,0.28],tag='al')\np=pr(); np.save('/app/p_al.npy',p)\n\""},{"kind":"look","label":"cat.png","code":"/app/cat.png"}],"out":{"text":"ikL 0.0\nikR 0.0\nsteps 560 done False None clipped [] tleft 3333.7\nwaist [0.006 0.007 0.094] L [-0.69  0.47  0.04 -0.54 -0.86  1.11  0.63] R [-0.77 -0.09  0.2  -0.49  0.63  1.08 -0.89] fing [0.025 0.024] [0.025 0.024]\npelvis [ 0.002 -0.601  0.75  -0.015] grip [0. 0.]\n\n[stdout]\nikL 0.0\nikR 0.0\nsteps 560 done False None clipped [] tleft 3333.7\nwaist [0.006 0.007 0.094] L [-0.69  0.47  0.04 -0.54 -0.86  1.11  0.63] R [-0.77 -0.09  0.2  -0.49  0.63  1.08 -0.89] fing [0.025 0.024] [0.025 0.024]\npelvis [ 0.002 -0.601  0.75  -0.015] grip [0. 0.]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s018_0.jpg"]},"tok":{"in":61760,"cached":60738,"out":1368,"think":null,"usd":0.0446},"sim":{"submit":1,"reset":0}},{"id":19,"t":276.5,"say":"","calls":[{"kind":"robot","label":"hands([0.47,0.14,0.27],[0.47,-0.02,0.27],tag='a2')","code":"python -c \"\nfrom drv import *\nhands([0.47,0.14,0.27],[0.47,-0.02,0.27],tag='a2')\np=pr(); np.save('/app/p_a2.npy',p)\n\""},{"kind":"look","label":"cat.png","code":"/app/cat.png"}],"out":{"text":"ikL 0.0\nikR 0.0\nsteps 625 done False None clipped [] tleft 3323.5\nwaist [0.002 0.006 0.092] L [-0.82  0.4  -0.09 -0.01 -0.6   0.75  0.4 ] R [-1.   -0.04  0.28  0.18  0.44  0.69 -0.68] fing [0.025 0.024] [0.024 0.025]\npelvis [-0.004 -0.604  0.749 -0.025] grip [0. 0.]\n\n[stdout]\nikL 0.0\nikR 0.0\nsteps 625 done False None clipped [] tleft 3323.5\nwaist [0.002 0.006 0.092] L [-0.82  0.4  -0.09 -0.01 -0.6   0.75  0.4 ] R [-1.   -0.04  0.28  0.18  0.44  0.69 -0.68] fing [0.025 0.024] [0.024 0.025]\npelvis [-0.004 -0.604  0.749 -0.025] grip [0. 0.]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s019_0.jpg"]},"tok":{"in":63631,"cached":61758,"out":814,"think":null,"usd":0.038},"sim":{"submit":1,"reset":0}},{"id":20,"t":283.3,"say":"","calls":[{"kind":"shell","label":"p=np.load('/app/p_a2.npy'); pz=p[23]","code":"python -c \"\nfrom drv import *\np=np.load('/app/p_a2.npy'); pz=p[23]\no,d=ray('left',42,62,p)\nfor zw in (0.84,0.86,0.88,0.90):\n  t=(zw-pz-o[2])/d[2]; print(zw,(o+t*d).round(3))\nprint('cam',o.round(3),d.round(3))\no,d=ray('left',42,0,p)\nfor x in (0.55,0.6,0.65): t=(x-o[0])/d[0]; print('top',x,(o+t*d+[0,0,pz]).round(3))\n\""}],"out":{"text":"0.84 [0.549 0.139 0.091]\n0.86 [0.538 0.139 0.111]\n0.88 [0.527 0.139 0.131]\n0.9 [0.516 0.139 0.151]\ncam [0.445 0.139 0.281] [ 0.478 -0.002 -0.878]\ntop 0.55 [0.55  0.139 1.   ]\ntop 0.6 [0.6   0.138 0.986]\ntop 0.65 [0.65  0.138 0.971]\n\n[stdout]\n0.84 [0.549 0.139 0.091]\n0.86 [0.538 0.139 0.111]\n0.88 [0.527 0.139 0.131]\n0.9 [0.516 0.139 0.151]\ncam [0.445 0.139 0.281] [ 0.478 -0.002 -0.878]\ntop 0.55 [0.55  0.139 1.   ]\ntop 0.6 [0.6   0.138 0.986]\ntop 0.65 [0.65  0.138 0.971]","exit":[],"pics":[]},"tok":{"in":64941,"cached":63629,"out":566,"think":null,"usd":0.0306},"sim":{"submit":0,"reset":0}},{"id":21,"t":293.7,"say":"","calls":[{"kind":"robot","label":"hands([0.49,0.14,0.27],[0.49,-0.025,0.27],T=0.6,hold=0.2,tag='a3')","code":"python -c \"\nfrom drv import *\nhands([0.49,0.14,0.27],[0.49,-0.025,0.27],T=0.6,hold=0.2,tag='a3')\nrow=last(); row[19:21]=1.0; move(row,T=0.6,hold=0.4,tag='g1'); cat('g1')\npr()\n\""},{"kind":"look","label":"cat.png","code":"/app/cat.png"}],"out":{"text":"ikL 0.0\nikR 0.0\nsteps 665 done False None clipped [] tleft 3306.5\nsteps 715 done False None clipped [] tleft 3305.6\nwaist [0.001 0.007 0.093] L [-0.9   0.39 -0.11  0.17 -0.55  0.66  0.34] R [-1.07 -0.04  0.26  0.37  0.43  0.58 -0.6 ] fing [-0.016 -0.016] [-0.016 -0.016]\npelvis [-0.007 -0.604  0.749 -0.024] grip [0.9 0.9]\n\n[stdout]\nikL 0.0\nikR 0.0\nsteps 665 done False None clipped [] tleft 3306.5\nsteps 715 done False None clipped [] tleft 3305.6\nwaist [0.001 0.007 0.093] L [-0.9   0.39 -0.11  0.17 -0.55  0.66  0.34] R [-1.07 -0.04  0.26  0.37  0.43  0.58 -0.6 ] fing [-0.016 -0.016] [-0.016 -0.016]\npelvis [-0.007 -0.604  0.749 -0.024] grip [0.9 0.9]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s021_0.jpg"]},"tok":{"in":65694,"cached":64939,"out":925,"think":null,"usd":0.0353},"sim":{"submit":2,"reset":0}},{"id":22,"t":299.8,"say":"","calls":[{"kind":"robot","label":"hands([0.49,0.14,0.43],[0.49,-0.025,0.43],T=1.2,hold=0.3,tag='l1')","code":"python -c \"\nfrom drv import *\nhands([0.49,0.14,0.43],[0.49,-0.025,0.43],T=1.2,hold=0.3,tag='l1')\npr()\n\""},{"kind":"look","label":"cat.png","code":"/app/cat.png"}],"out":{"text":"ikL 0.0\nikR 0.0\nsteps 790 done False None clipped [] tleft 3300.0\nwaist [-0.008 -0.007  0.171] L [-1.53  0.52 -0.08  0.5  -0.72  1.08  0.37] R [-1.72 -0.12  0.07  0.75  0.58  0.94 -0.6 ] fing [-0.017 -0.017] [-0.017 -0.017]\npelvis [-0.015 -0.604  0.749 -0.029] grip [0.9 0.9]\n\n[stdout]\nikL 0.0\nikR 0.0\nsteps 790 done False None clipped [] tleft 3300.0\nwaist [-0.008 -0.007  0.171] L [-1.53  0.52 -0.08  0.5  -0.72  1.08  0.37] R [-1.72 -0.12  0.07  0.75  0.58  0.94 -0.6 ] fing [-0.017 -0.017] [-0.017 -0.017]\npelvis [-0.015 -0.604  0.749 -0.029] grip [0.9 0.9]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s022_0.jpg"]},"tok":{"in":67150,"cached":65692,"out":347,"think":null,"usd":0.0274},"sim":{"submit":1,"reset":0}},{"id":23,"t":328.6,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'EOF'\n# Record of the episode: the rows actually sent were produced interactively by drv.py helpers\n# (closed-loop walking on pelvis proprio, IK from kin.py, camera checks) and logged to rows_log.npy.\n# Replaying them in order reproduces the command stream.\nimport sys, numpy as np\nsys.path.insert(0, '/opt/tools')\nfrom rcb_client import Robot\nA = np.load('/app/output/rows_log.npy')\nr = Robot()\nfor i in range(0, len(A), 400):\n    res = r.submit(\"whole_body\", A[i:i+400], dt=0.02)\n    if res.meta['done']: print(res.meta['reason']); break\nEOF\npython -c \"\nfrom drv import *\nhands([0.30,0.15,0.36],[0.30,-0.03,0.36],T=1.0,hold=0.2,tag='c1')\npr()\n\""},{"kind":"look","label":"cat.png","code":"/app/cat.png"}],"out":{"text":"ikL 0.0222\nikR 0.0279\nsteps 846 done True failed clipped [] tleft 3268.9\nwaist [-0.075  0.109  0.509] L [ 0.25  1.83  0.95 -1.05 -1.96  0.13  1.06] R [-2.59 -0.88  2.02 -0.94  1.95 -0.67 -1.58] fing [-0.011 -0.017] [-0.02 -0.02]\npelvis [ 0.02  -0.593  0.757  0.022] grip [0.9 1. ]\n\n[stdout]\nikL 0.0222\nikR 0.0279\nsteps 846 done True failed clipped [] tleft 3268.9\nwaist [-0.075  0.109  0.509] L [ 0.25  1.83  0.95 -1.05 -1.96  0.13  1.06] R [-2.59 -0.88  2.02 -0.94  1.95 -0.67 -1.58] fing [-0.011 -0.017] [-0.02 -0.02]\npelvis [ 0.02  -0.593  0.757  0.022] grip [0.9 1. ]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["bigym2-dishwasher-load-plates-i00-standard--sfwahbz/s023_0.jpg"]},"tok":{"in":68008,"cached":67148,"out":2673,"think":null,"usd":0.0712},"sim":{"submit":1,"reset":0}},{"id":24,"t":335.8,"say":"","calls":[{"kind":"shell","label":"cd /opt/tools && python -c \"","code":"cd /opt/tools && python -c \"\nfrom rcb_client import Robot\nr=Robot(); print(r.status()); print(r.spec()['budget'])\""}],"out":{"text":"{'calls': 41, 'rows': 846, 'control_steps': 846, 'done': True, 'reason': 'failed', 'elapsed_s': 334.1}\n{'reset': 0, 'wall_clock_s': 3600.0}\nShell cwd was reset to /app\n\n[stdout]\n{'calls': 41, 'rows': 846, 'control_steps': 846, 'done': True, 'reason': 'failed', 'elapsed_s': 334.1}\n{'reset': 0, 'wall_clock_s': 3600.0}\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":71195,"cached":68006,"out":177,"think":null,"usd":0.0331},"sim":{"submit":0,"reset":0}},{"id":25,"t":338.1,"say":"","calls":[{"kind":"shell","label":"cd /app/output && sed -i '1i # NOTE: this episode ended in failure at control step 846 (a plate fell to the fl","code":"cd /app/output && sed -i '1i # NOTE: this episode ended in failure at control step 846 (a plate fell to the floor after a bad IK solution).' gen.py && head -3 gen.py"}],"out":{"text":"# NOTE: this episode ended in failure at control step 846 (a plate fell to the floor after a bad IK solution).\n# Record of the episode: the rows actually sent were produced interactively by drv.py helpers\n# (closed-loop walking on pelvis proprio, IK from kin.py, camera checks) and logged to rows_log.npy.\n\n[stdout]\n# NOTE: this episode ended in failure at control step 846 (a plate fell to the floor after a bad IK solution).\n# Record of the episode: the rows actually sent were produced interactively by drv.py helpers\n# (closed-loop walking on pelvis proprio, IK from kin.py, camera checks) and logged to rows_log.npy.","exit":[],"pics":[]},"tok":{"in":71520,"cached":71193,"out":150,"think":null,"usd":0.0189},"sim":{"submit":0,"reset":0}},{"id":26,"t":345.3,"say":"The run failed. A plate hit the floor at control step 846, about 17 s into the robot's 63 s, and the service ended the episode with `reason = \"failed\"`. The reset budget is 0, so there's no way to retry; `/status` confirms `done: True`.\n\n**What worked:**\n- **Arm model:** I built forward and inverse kinematics from the arm data in `spec()` (`/app/output/kin.py`). Checked against the wrist cameras' starting poses, it was accurate to about 3 mm.\n- **Walking:** a closed-loop walker that steers on the measured pelvis position stepped the robot about 9 cm toward the counter.\n- **Finding the plates:** using the wrist cameras, I found both plates standing on edge in the dish rack, faces toward left and right. They were about 0.54 m ahead of the pelvis, roughly 16 cm apart sideways.\n- **Grasp:** both grippers went over the plates' front rims and closed. The finger positions showed something held between them, and both plates came 15 cm up out of the rack cleanly.\n\n**What failed:** next I pulled both hands back toward the body to carry the plates. The inverse-kinematics solver started from the previous arm pose, landed on a poor solution (2–3 cm off target), and I sent it without checking. The arms swung wildly, the right plate dropped to the floor, and the episode ended. The mistakes were sending a move whose IK error was over a few millimetres, and not limiting how far the joints could jump in one move.\n\n**Files in `/app/output`:**\n- `gen.py` replays the exact command rows sent; a note at the top records that the episode failed.\n- `rows_log.npy` holds those rows.\n- `drv.py` and `kin.py` are the helpers that generated them.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71837,"cached":71518,"out":590,"think":null,"usd":0.0277},"sim":{"submit":0,"reset":0}}]}

runs/dexhand-stool-brace-insert-i00-privileged--7kypvj7.json

@@ -0,0 +1 @@
+{"slug":"dexhand-stool-brace-insert-i00-privileged--7kypvj7","task":"dexhand-stool-brace-insert-i00-privileged","bench":"dexhand","mode":"privileged","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","effort":"high","state":"success","success":1,"reward":{"deterministic":1,"hand_wuji":0,"infra_error":0,"n_actions":3522,"sim_steps":3522,"stages_completed":4,"success":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":1.56,"peak_processes":11,"peak_disk_gb":0.834,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":821,"tokens":{"in":3309366,"cached":3221760,"out":17318,"usd":4.96},"task_text":"# DexHand: Assemble a wooden stool cross brace\n\nAssemble the cross brace of a pine stool dry frame. The lower side frame lies flat on the table with its four bores facing up and three rails already standing seated in three of them. The loose cross brace (a 0.26 m pine rail with an 8 mm dowel exposed 15 mm at each end) lies on the table, and the opposite side frame lies upside down beside the lower frame. Pick up the brace, seat one of its dowels in the empty bore of the lower frame, then lift the opposite side frame and lower it onto all four upper dowels so that both brace dowels end up seated in their legs. Ordered stages: (1) brace lifted: no brace-table contact, brace centre raised at least 0.05 m and its lowest bounding-box corner at least 0.02 m above the table top; (2) one brace dowel seated in a lower-frame bore; (3) opposite side frame lifted (the same lift test); (4) assembled: each of the eight bores holds exactly one seated dowel and every rail, the brace included, has one dowel seated in each side frame. A dowel is seated in a bore when its tip is 12 mm to 19 mm past the bore entry along the bore axis (12 mm is 80% of the exposed dowel), its tip is within 1.6 mm of the bore axis and the dowel axis is within 0.105 rad of the bore axis. Success: after stage 4 the assembled condition holds with no hand contact on any frame or rail and every part's centre-of-mass speed at most 0.02 m/s and angular speed at most 0.2 rad/s for 50 consecutive controls (1 s); the episode then ends. A single seated brace dowel or any partial assembly never counts. The episode ends immediately with failure, checked after every 2 ms physics substep, when the lower frame moves more than 0.03 m or tilts more than 10 degrees; a pre-seated rail is pulled to less than 8 mm in its bore or tilts more than 10 degrees; the brace touches the table after stage 1, or its centre drops below 0.09 m above the table top after stage 1; the brace tilts more than 20 degrees after stage 2; the opposite side frame touches the table after stage 3 or tilts more than 20 degrees from its upside-down carrying orientation after stage 3; any part with no contact at all (not held, not supported) has its centre of mass falling faster than 0.2 m/s (a drop); any part touches the floor, has its centre below the table top (z < 0.74 m) or leaves the workspace box x in [0.23, 1.23] m, y in [-0.73, 1.03] m, z in [0.70, 1.60] m; or the physics becomes unstable. Later actions cannot undo a failure. Only robot actuator targets are allowed: no object teleports, grasp welds, scripted object motion or direct object forces. All parts are free rigid pine bodies; the bores are hollow contact geometry of the source size (4.1 mm radius for the 4.0 mm dowels: 0.1 mm radial clearance, no entry chamfer); glue, screws, the seat and load capacity are not modelled. The episode allows at most 6000 controls at 50 Hz; reaching that limit without success is a failure.\n\nYou control one dexterous hand mounted on a six-D\n… (4,498 characters left out) …\nons, \"/app/output/trajectory.npz\")\n```\nRead `/opt/tools/task.json`, `scene.py`, `checker.py` and `runtime.py` for the complete geometry, failure checks and\npredicate. The world frame has z up; lengths are in metres and angles in radians. The table top is at\nz = 0.74 m; the lower side frame is centred at `task.json` `lower_frame_pos`, the opposite side frame at\n`upper_frame_pos` (upside down) and the brace at `brace_pos` (lying along x). Bore entries and dowel tips are MuJoCo sites\n(`<frame>_leg_<m|p>_b<k>_entry`, `<rail>_tip_<m|p>`).\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 the whole trial, all its processes together (every simulator you start included): at most **8 GiB of memory**, **512 processes** and **10 GiB** of new files under `/app`, `/tmp` and `/root`; the task 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 2 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 a simulator takes to start counts. When it is up you are stopped without warning and only what is in `/app/output/` at that moment is graded, so save a deliverable as soon as you have one and overwrite it whenever you have a better one. 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":"dexhand-stool-brace-insert-i00-privileged--7kypvj7/replay.mp4","replay_last":"dexhand-stool-brace-insert-i00-privileged--7kypvj7/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the scene and hand geometry, then test physical grasp and insertion motions and save the best trajectory as I go.","calls":[{"kind":"shell","label":"ls -la /app && cat /opt/tools/task.json","code":"ls -la /app && cat /opt/tools/task.json"},{"kind":"shell","label":"cat /opt/tools/runtime.py","code":"cat /opt/tools/runtime.py"},{"kind":"shell","label":"cat /opt/tools/checker.py","code":"cat /opt/tools/checker.py"},{"kind":"shell","label":"cat /opt/tools/scene.py","code":"cat /opt/tools/scene.py"}],"out":{"text":"Warning: truncated output (original token count: 12202)\nTotal output lines: 4\n\n{\"chunk_id\":\"25a328\",\"wall_time_seconds\":0.000004899,\"exit_code\":0,\"original_token_count\":1536,\"output\":\"total 12\\ndrwxr-xr-x  3 root root 4096 Oct 17 09:31 .\\ndr-xr-xr-x 20 root root 4096 Oct 17 12:12 ..\\ndrwxr-xr-x  2 root root 4096 Oct 17 09:31 output\\n{\\n  \\\"schema_version\\\": 1,\\n  \\\"id\\\": \\\"stool_brace_insert\\\",\\n  \\\"title\\\": \\\"Assemble a wooden stool cross brace\\\",\\n  \\\"category\\\": \\\"furniture_assembly\\\",\\n  \\\"description\\\": \\\"With one dexterous hand (Sharpa Wave by default, or Wuji Hand 2.2) on a six-axis wrist stage, pick up the loose cross brace of an ODDVAR-style pine stool dry frame, stand it in the empty bore of the lower side frame, then lift the opposite side frame onto all four upper dowels so both brace dowels are seated in their legs; drops, knocked rails or a displaced frame fail at once.\\\",\\n  \\\"difficulty\\\": \\\"hard\\\",\\n  \\\"mechanism\\\": \\\"free rigid pine parts, real hollow dowel bores (contact geometry, no welds)\\\",\\n  \\\"instruction\\\": \\\"Assemble the cross brace of a pine stool dry frame. The lower side frame lies flat on the table with its four bores facing up and three rails already standing seated in three of them. The loose cross brace (a 0.26 m pine rail with an 8 mm dowel exposed 15 mm at each end) lies on the table, and the opposite side frame lies upside down beside the lower frame. Pick up the brace, seat one of its dowels in the empty bore of the lower frame, then lift \n… (37,106 characters left out) …\n=\\\"15\\\" if i < 3 else \\\"1\\\",\\n                armature=\\\".02\\\",\\n            ),\\n        )\\n        actuator.insert(\\n            i,\\n            ET.Element(\\n                \\\"position\\\",\\n                name=\\\"wrist_\\\" + name + \\\"_act\\\",\\n                joint=\\\"wrist_\\\" + name,\\n                kp=\\\"2500\\\" if i < 3 else \\\"120\\\",\\n                kv=\\\"80\\\" if i < 3 else \\\"8\\\",\\n                inheritrange=\\\"1\\\",\\n                forcerange=\\\"-80 80\\\" if i < 3 else \\\"-10 10\\\",\\n            ),\\n        )\\n    for a in actuator:\\n        if a.tag == \\\"general\\\":\\n            bias = [float(v) for v in a.get(\\\"biasprm\\\", \\\"0 0 0\\\").split()]\\n            bias[2] = -0.9\\n            a.set(\\\"biasprm\\\", \\\" \\\".join(map(str, bias)))\\n    for g in hand_body.iter(\\\"geom\\\"):\\n        if \\\"fingertip_collision\\\" in g.get(\\\"name\\\", \\\"\\\"):\\n            g.set(\\\"friction\\\", \\\"1.5 .005 .0001\\\")\\n    if hand_id != \\\"sharpa\\\":\\n        sibling = folder.parent / \\\"wuji_v2_2\\\"\\n        hands.replace_wave_hands(root, hand_id, folder=sibling if (sibling / \\\"mjcf/right.xml\\\").is_file() else None)\\n    add_stool(root, config)\\n    visual = node(root, \\\"visual\\\")\\n    node(visual, \\\"global\\\", offwidth=1280, offheight=720)\\n    node(visual, \\\"quality\\\", shadowsize=4096, offsamples=4)\\n    node(visual, \\\"headlight\\\", ambient=(0.38, 0.38, 0.38), diffuse=(0.45, 0.45, 0.45), specular=(0.1, 0.1, 0.1))\\n    xml = ET.tostring(root, encoding=\\\"unicode\\\")\\n    return mujoco.MjModel.from_xml_string(xml), xml\\n\"}","exit":[],"pics":[]},"tok":{"in":12442,"cached":null,"out":138,"think":0,"usd":0.1313},"sim":{"submit":0,"reset":0}},{"id":7,"t":8.2,"say":"","calls":[{"kind":"shell","label":"sed -n '65,210p' /opt/tools/checker.py && cat /opt/tools/hands.py","code":"sed -n '65,210p' /opt/tools/checker.py && cat /opt/tools/hands.py"},{"kind":"robot","label":"s=Session()","code":"python - <<'PY'\nfrom rcb_dexhand import Session\nfrom PIL import Image\ns=Session()\nprint(s.actuator_names)\nprint(s.model.actuator_ctrlrange)\nprint(s.status())\nopen('/app/model.xml','w').write(s.xml)\nImage.fromarray(s.render_frame()).save('/app/start.png')\nfor i in range(s.model.nbody):\n n=s.model.body(i).name\n if s.owner.get(i)=='hand': print(i,n,s.data.xpos[i].round(4))\nPY"}],"out":{"text":"                for k in range(len(config[\"rail_stations\"])):\n                    self.bores.append((frame, model.site(f\"{frame}_leg_{leg}_b{k}_entry\").id))\n        # Dowel ends: (rail, sign, tip site id); the outward dowel axis is sign * rail z.\n        self.ends = []\n        for name in RAILS:\n            for sign, tag in ((-1, \"m\"), (1, \"p\")):\n                self.ends.append((name, sign, model.site(f\"{name}_tip_{tag}\").id))\n        ws = config[\"workspace\"]\n        self.ws_lo = np.asarray(ws[\"min\"], dtype=float)\n        self.ws_hi = np.asarray(ws[\"max\"], dtype=float)\n        rail_half = config[\"rail_length\"] / 2 + config[\"dowel_exposed\"]\n        frame_half = (config[\"leg_length\"] / 2, config[\"half_spacing\"] + config[\"leg_width\"] / 2, config[\"leg_width\"] / 2)\n        self.half_extent = {name: np.array([0.015, 0.015, rail_half]) for name in RAILS}\n        self.half_extent.update({name: np.array(frame_half) for name in FRAMES})\n\n    # ------------------------------------------------------------------ geometry\n    def interfaces(self, data):\n        \"\"\"Depth/lateral/axis of every (dowel end, bore) pair -> arrays of shape (8 ends, 8 bores).\"\"\"\n        n_end, n_bore = len(self.ends), len(self.bores)\n        depth = np.zeros((n_end, n_bore))\n        lateral = np.zeros((n_end, n_bore))\n        axis = np.zeros((n_end, n_bore))\n        for j, (_frame, sid) in enumerate(self.bores):\n            entry = data.site_xpos[sid]\n            inward = -data.site_xmat[sid].reshape(3, 3)[:, 2]\n\n… (27,451 characters left out) …\nh_m': -0.275, 'lateral_m': 0.0, 'axis_rad': 3.1416, 'seated': False}, 'rail_3_m': {'bore': 'lower_frame:3', 'depth_m': 0.015, 'lateral_m': 0.0, 'axis_rad': 0.0, 'seated': True}, 'rail_3_p': {'bore': 'lower_frame:3', 'depth_m': -0.275, 'lateral_m': 0.0, 'axis_rad': 3.1416, 'seated': False}}, 'success': False, 'failure': None, 'failure_detail': None, 'steps': 0, 'done': False, 'total_stages': 4, 'reason': '', 'failed': False, 'hand': 'sharpa'}\n1 wrist_stage [ 0.55 -0.1   1.15]\n2 right_hand_C_MC [ 0.55 -0.1   1.15]\n3 right_thumb_CMC_VL [ 0.5714 -0.074   1.14  ]\n4 right_thumb_MC [ 0.5714 -0.074   1.145 ]\n5 right_thumb_MCP_VL [ 0.6131 -0.0238  1.1346]\n6 right_thumb_PP [ 0.6131 -0.0238  1.1346]\n7 right_thumb_DP [0.6407 0.0038 1.1346]\n8 right_index_MCP_VL [ 0.6459 -0.0697  1.149 ]\n9 right_index_PP [ 0.6459 -0.0697  1.149 ]\n10 right_index_MP [ 0.6929 -0.0697  1.149 ]\n11 right_index_DP [ 0.7244 -0.0697  1.149 ]\n12 right_middle_MCP_VL [ 0.6489 -0.09    1.15  ]\n13 right_middle_PP [ 0.6489 -0.09    1.15  ]\n14 right_middle_MP [ 0.6959 -0.09    1.15  ]\n15 right_middle_DP [ 0.7274 -0.09    1.15  ]\n16 right_ring_MCP_VL [ 0.6429 -0.1103  1.1485]\n17 right_ring_PP [ 0.6429 -0.1103  1.1485]\n18 right_ring_MP [ 0.6899 -0.1103  1.1485]\n19 right_ring_DP [ 0.7214 -0.1103  1.1485]\n20 right_pinky_MC [ 0.6369 -0.1263  1.1386]\n21 right_pinky_MCP_VL [ 0.6369 -0.1311  1.147 ]\n22 right_pinky_PP [ 0.6369 -0.1311  1.147 ]\n23 right_pinky_MP [ 0.6839 -0.1311  1.147 ]\n24 right_pinky_DP [ 0.7154 -0.1311  1.147 ]\n","exit":[0,0],"pics":[]},"tok":{"in":24693,"cached":12288,"out":210,"think":24,"usd":0.1468},"sim":{"submit":0,"reset":0}},{"id":8,"t":15.1,"say":"","calls":[{"kind":"look","label":"start.png","code":"/app/start.png"},{"kind":"shell","label":"sed -n '1,260p' /opt/dexhand/hand/right_hand.xml","code":"sed -n '1,260p' /opt/dexhand/hand/right_hand.xml"}],"out":{"text":"<mujoco model=\"right_sharpa_wave\">\n  <compiler angle=\"radian\" meshdir=\"assets/right/\"/>\n\n  <option impratio=\"10\" integrator=\"implicitfast\" cone=\"elliptic\"/>\n\n  <default>\n    <default class=\"sharpa\">\n      <site size=\"0.0025 0.005 0.005\" group=\"5\" rgba=\"1 0 0 1\"/>\n      <general biastype=\"affine\" biasprm=\"0 -1\"/>\n      <default class=\"visual\">\n        <geom type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"2\" density=\"0\" material=\"silver\"/>\n        <default class=\"elastomer_visual\">\n          <geom material=\"green\"/>\n        </default>\n      </default>\n      <default class=\"collision\">\n        <geom type=\"mesh\" group=\"3\" density=\"0\" solref=\"0.01\" rgba=\"0.2 0.6 0.2 0.25\"/>\n        <default class=\"elastomer_collision\">\n          <geom solref=\"0.06 0.9\"/>\n        </default>\n      </default>\n      <default class=\"CMC_joint\">\n        <joint actuatorfrcrange=\"-3.3 3.3\" armature=\"0.00451\" damping=\"4.2e-05\" frictionloss=\"0.132\"/>\n      </default>\n      <default class=\"PCMC_joint\">\n        <joint actuatorfrcrange=\"-0.5285 0.5285\" armature=\"0.000136\" damping=\"4.2e-05\" frictionloss=\"0.012\"/>\n      </default>\n      <default class=\"MCP_joint\">\n        <joint actuatorfrcrange=\"-1.864 1.864\" armature=\"0.00129\" damping=\"2.38e-05\" frictionloss=\"0.07456\"/>\n      </default>\n      <default class=\"PIP_joint\">\n        <joint actuatorfrcrange=\"-0.638 0.638\" armature=\"0.000415\" damping=\"4.06e-06\" frictionloss=\"0.01276\"/>\n      </default>\n      <default class=\"DIP_joint\">\n        <joint actuatorfrcrange=\n… (16,031 characters left out) …\n1.77435e-07 1.09965e-07\"/>\n        <joint name=\"right_ring_MCP_FE\" class=\"MCP_joint\" pos=\"0 0 0\" axis=\"0 0 -1\" range=\"-0.174533 1.5708\"/>\n        <geom class=\"visual\" mesh=\"right_MCP_VL_visual\"/>\n        <geom name=\"right_ring_MCP_VL_fit\" size=\"0.0125535 0.0057\" pos=\"0.00165159 -0.00045 1.0897e-10\" type=\"cylinder\"\n          group=\"3\" rgba=\"0.2 0.6 0.2 0.35\"/>\n        <body name=\"right_ring_PP\" quat=\"0.707105 -0.707108 0 0\">\n          <inertial pos=\"0.027 0.00055 -0.00068\" quat=\"0.502719 -0.479286 0.512565 -0.504813\" mass=\"0.04741\"\n            diaginertia=\"1.14061e-05 1.10467e-05 2.15425e-06\"/>\n          <joint name=\"right_ring_MCP_AA\" class=\"MCP_joint\" pos=\"0 0 0\" axis=\"0 0 -1\" range=\"-0.3491 0.3491\"/>\n          <geom class=\"visual\" mesh=\"right_PP_visual\"/>\n          <geom name=\"right_ring_PP_fit\" size=\"0.00970157 0.0172474\" pos=\"0.0305371 -8.5591e-06 0.000140714\"\n            quat=\"0.707107 0 0.707107 0\" type=\"capsule\" group=\"3\" rgba=\"0.2 0.6 0.2 0.35\"/>\n          <body name=\"right_ring_MP\" pos=\"0.047 0 0\" quat=\"0.707105 0.707108 0 0\">\n            <inertial pos=\"0.01212 0.00116 0.00058\" quat=\"0.0266408 0.732558 0.0189273 0.67992\" mass=\"0.01824\"\n              diaginertia=\"2.00683e-06 1.9229e-06 5.68878e-07\"/>\n            <joint name=\"right_ring_PIP\" class=\"PIP_joint\" pos=\"0 0 0\" axis=\"0 0 -1\" range=\"0 1.7453\"/>\n            <geom class=\"visual\" mesh=\"right_MP_visual\"/>\n            <geom name=\"right_ring_MP_fit\" size=\"0.0104481 0.0147236\" pos=\"0.0147146 0.00118535 -4.70523e-07\"\n","exit":[0],"pics":["dexhand-stool-brace-insert-i00-privileged--7kypvj7/s008_0.jpg"]},"tok":{"in":34578,"cached":24576,"out":60,"think":0,"usd":0.1276},"sim":{"submit":0,"reset":0}},{"id":9,"t":38.2,"say":"The bore clearance is only 0.1 mm, so alignment will need careful control. I’ll establish a secure grasp first and rotate the brace upright before inserting it.","calls":[{"kind":"robot","label":"writes lab.py","code":"cat > /app/lab.py <<'PY'\nimport numpy as np, mujoco, time, json\nfrom rcb_dexhand import Session\nfrom scipy.spatial.transform import Rotation as R\nfrom PIL import Image\ns=Session()\nnp.set_printoptions(precision=5,suppress=True)\ndef pose(name):\n b=s.model.body(name).id\n return s.data.xpos[b].copy(),s.data.xmat[b].reshape(3,3).copy()\ndef info():\n print('step',s.steps,'stage',s.checker.stage,'failure',s.failure,s.failure_detail)\n for n in ['brace','upper_frame']:\n  p,r=pose(n);print(n,p,R.from_matrix(r).as_euler('xyz'))\n print('wrist',s.data.qpos[s.qadr][:6]);print('contacts',s.checker.contacts(s.data))\ndef go(a,n=50):\n a=np.array(a);old=s.hold_action()\n for i in range(n):\n  t=(i+1)/n;t=t*t*(3-2*t)\n  s.step(old+(a-old)*t)\n  if s.done:break\n return s.status()['reason']\ndef move(p=None,ang=None,f=None,n=50):\n a=s.hold_action()\n if p is not None:a[:3]=np.array(p)-np.array(s.config['stage_origin'])\n if ang is not None:a[3:6]=ang\n if f is not None:a[6:]=f\n return go(a,n)\ndef hold(n=20):\n for _ in range(n):\n  s.step(s.hold_action())\n  if s.done:break\n\ndef pic(name='view',camera='overview'):\n Image.fromarray(s.render_frame(camera)).save('/app/'+name+'.png')\ndef contacts(part='brace'):\n for c in s.data.contact:\n  a,b=c.geom1,c.geom2\n  if part in [s.checker.geom_owner[a],s.checker.geom_owner[b]]:\n   force=np.zeros(6);mujoco.mj_contactForce(s.model,s.data,c.efc_address if False else list(s.data.contact).index(c),force)\n   print(s.model.geom(a).name,s.model.geom(b).name,c.dist,c.pos)\ndef save(name):\n s.save_trajectory(s.actions,'/app/'+name+'.npz')\nprint('ready',flush=True)\nimport sys\nfor line in sys.stdin:\n try:exec(line)\n except Exception as e:\n  import traceback;traceback.print_exc()\n print('READY',flush=True)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/lab.py"}],"out":{"text":"ready\n","exit":[],"pics":[]},"tok":{"in":42608,"cached":34432,"out":1153,"think":485,"usd":0.1738},"sim":{"submit":0,"reset":0}},{"id":10,"t":59.3,"say":"","calls":[{"kind":"shell","label":"types into the running program: exec(\"d=mujoco.MjData(s.model)\\nfor v in [0,.5,1,1.5]:\\n d.qpos[:]=s.data.qpos\\n f=np.zero","code":"exec(\"d=mujoco.MjData(s.model)\\nfor v in [0,.5,1,1.5]:\\n d.qpos[:]=s.data.qpos\\n f=np.zeros(22); f[[5,9,13,18]]=v;f[[7,11,15,20]]=1;f[[8,12,16,21]]=.6;f[0]=1;f[2]=.4;f[4]=.5\\n d.qpos[s.qadr[6:]]=f;mujoco.mj_forward(s.model,d)\\n print('v',v)\\n for name in ['thumb','index','middle','ring','pinky']:\\n  g=s.model.geom('right_'+name+'_fingertip_collision').id; print(name,d.geom_xpos[g]-d.xpos[1])\")\n"}],"out":{"text":"Script failed\nWall time 0.0 seconds\nOutput:\n\nScript error:\nwrite_stdin failed: stdin is closed for this session; rerun exec_command with tty=true to keep stdin open","exit":[],"pics":[]},"tok":{"in":43819,"cached":42496,"out":228,"think":0,"usd":0.0671},"sim":{"submit":0,"reset":0}},{"id":11,"t":63.7,"say":"","calls":[{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python -u /app/lab.py","code":"OPENBLAS_NUM_THREADS=1 python -u /app/lab.py"}],"out":{"text":"ready\r\n","exit":[],"pics":[]},"tok":{"in":44096,"cached":43648,"out":52,"think":0,"usd":0.0507},"sim":{"submit":0,"reset":0}},{"id":12,"t":73.6,"say":"","calls":[{"kind":"shell","label":"types into the running program: exec(\"d=mujoco.MjData(s.model)\\nfor v in [0,.5,1,1.5]:\\n d.qpos[:]=s.data.qpos\\n f=np.zero","code":"exec(\"d=mujoco.MjData(s.model)\\nfor v in [0,.5,1,1.5]:\\n d.qpos[:]=s.data.qpos\\n f=np.zeros(22); f[[5,9,13,18]]=v;f[[7,11,15,20]]=1;f[[8,12,16,21]]=.6;f[0]=1;f[2]=.4;f[4]=.5\\n d.qpos[s.qadr[6:]]=f;mujoco.mj_forward(s.model,d)\\n print('v',v)\\n for name in ['thumb','index','middle','ring','pinky']:\\n  g=s.model.geom('right_'+name+'_fingertip_collision').id; print(name,d.geom_xpos[g]-d.xpos[1])\")\n"}],"out":{"text":"exec(\"d=mujoco.MjData(s.model)\\nfor v in [0,.5,1,1.5]:\\n d.qpos[:]=s.data.qpos\\n f=np.zeros(22); f[[5,9,13,18]]=v;f[[7,11,15,20]]=1;f[[8,12,16,21]]=.6;f[0]=1;f[2]=.4;f[4]=.5\\n d.qpos[s.qadr[6:]]=f;mujoco.mj_forward(s.model,d)\\n print('v',v)\\n for name in ['thumb','index','middle','ring','pinky']:\\n  g=s.model.geom('right_'+name+'_fingertip_collision').id; print(name,d.geom_xpos[g]-d.xpos[1])\")\r\nv 0\r\nthumb [ 0.11318  0.0465  -0.07681]\r\nindex [ 0.16038  0.0303  -0.04145]\r\nmiddle [ 0.16338  0.01    -0.04045]\r\nring [ 0.15738 -0.0103  -0.04195]\r\npinky [ 0.15138 -0.0311  -0.04345]\r\nv 0.5\r\nthumb [ 0.11318  0.0465  -0.07681]\r\nindex [ 0.1331   0.0303  -0.06741]\r\nmiddle [ 0.1361   0.01    -0.06641]\r\nring [ 0.1301  -0.0103  -0.06791]\r\npinky [ 0.1241  -0.0311  -0.06941]\r\nv 1\r\nthumb [ 0.11318  0.0465  -0.07681]\r\nindex [ 0.0967   0.0303  -0.07711]\r\nmiddle [ 0.0997   0.01    -0.07611]\r\nring [ 0.0937  -0.0103  -0.07761]\r\npinky [ 0.0877  -0.0311  -0.07911]\r\nv 1.5\r\nthumb [ 0.11318  0.0465  -0.07681]\r\nindex [ 0.06012  0.0303  -0.06818]\r\nmiddle [ 0.06312  0.01    -0.06718]\r\nring [ 0.05712 -0.0103  -0.06868]\r\npinky [ 0.05112 -0.0311  -0.07018]\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":44209,"cached":44032,"out":228,"think":0,"usd":0.0572},"sim":{"submit":0,"reset":0}},{"id":13,"t":97.9,"say":"","calls":[{"kind":"shell","label":"types into the running program: exec(\"from scipy.optimize import least_squares\\nd=mujoco.MjData(s.model); d.qpos[:]=s.data","code":"exec(\"from scipy.optimize import least_squares\\nd=mujoco.MjData(s.model); d.qpos[:]=s.data.qpos\\ngids=[s.model.geom('right_'+n+'_fingertip_collision').id for n in ['thumb','index','middle','ring','pinky']]\\nf=np.zeros(22)\\nfor ids,g,y in zip([list(range(5)),list(range(5,9)),list(range(9,13)),list(range(13,17)),list(range(17,22))],gids,[.045,.0303,.01,-.0103,-.0311]):\\n target=np.array([.106 if g==gids[0] else .154,y,-.065])\\n def fun(q):\\n  d.qpos[s.qadr[6+np.array(ids)]]=q;mujoco.mj_forward(s.model,d)\\n  return np.r_[(d.geom_xpos[g]-d.xpos[1]-target)*100, .03*q]\\n sol=least_squares(fun,np.ones(len(ids))*.1,bounds=s.model.actuator_ctrlrange[6+np.array(ids)].T,max_nfev=100)\\n f[ids]=sol.x\\n print(ids,sol.x,fun(sol.x)[:3])\\nprint(f)\\nfc=f.copy()\")\n"}],"out":{"text":"exec(\"from scipy.optimize import least_squares\\nd=mujoco.MjData(s.model); d.qpos[:]=s.data.qpos\\ngids=[s.model.geom('right_'+n+'_fingertip_collision').id for n in ['thumb','index','middle','ring','pinky']]\\nf=np.zeros(22)\\nfor ids,g,y in zip([list(range(5)),list(range(5,9)),list(range(9,13)),list(range(13,17)),list(range(17,22))],gids,[.045,.0303,.01,-.0103,-.0311]):\\n target=np.array([.106 if g==gids[0] else .154,y,-.065])\\n def fun(q):\\n  d.qpos[s.qadr[6+np.array(ids)]]=q;mujoco.mj_forward(s.model,d)\\n  return np.r_[(d.geom_xpos[g]-d.xpos[1]-target)*100, .03*q]\\n sol=least_squares(fun,np.ones(len(ids))*.1,bounds=s.model.actuator_ctrlrange[6+np.array(ids)].T,max_nfev=100)\\n f[ids]=sol.x\\n print(ids,sol.x,fun(sol.x)[:3])\\nprint(f)\\nfc=f.copy()\")\r\n[0, 1, 2, 3, 4] [ 0.37148  0.0996   1.00293 -0.34399  0.36129] [ 0.00021  0.00009 -0.00007]\r\n[5, 6, 7, 8] [0.48247 0.00002 0.66146 0.24109] [ 0.0002   0.      -0.00014]\r\n[9, 10, 11, 12] [0.48243 0.00002 0.72362 0.26657] [ 0.0002   0.      -0.00016]\r\n[13, 14, 15, 16] [0.50625 0.00002 0.56576 0.19997] [ 0.00018  0.      -0.00011]\r\n[17, 18, 19, 20, 21] [0.01541 0.59098 0.00917 0.30426 0.09363] [0.00005 0.      0.00003]\r\n[ 0.37148  0.0996   1.00293 -0.34399  0.36129  0.48247  0.00002  0.66146\r\n  0.24109  0.48243  0.00002  0.72362  0.26657  0.50625  0.00002  0.56576\r\n  0.19997  0.01541  0.59098  0.00917  0.30426  0.09363]\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":45145,"cached":44160,"out":702,"think":368,"usd":0.0891},"sim":{"submit":0,"reset":0}},{"id":14,"t":108.4,"say":"","calls":[{"kind":"robot","label":"types into the running program: s.reset(); fo=fc.copy(); fo[[5,9,13,18]]-=.2; move([.57,-.46,.95],[0,0,np.pi/2],fo,80); mo","code":"s.reset(); fo=fc.copy(); fo[[5,9,13,18]]-=.2; move([.57,-.46,.95],[0,0,np.pi/2],fo,80); move([.57,-.46,.825],n=100); info(); pic('approach')\n"}],"out":{"text":"s.reset(); fo=fc.copy(); fo[[5,9,13,18]]-=.2; move([.57,-.46,.95],[0,0,np.pi/2],fo,80); move([.57,-.46,.825],n=100); info(); pic('approach')\r\n","exit":[],"pics":[]},"tok":{"in":46617,"cached":45056,"out":275,"think":166,"usd":0.0744},"sim":{"submit":0,"reset":0}},{"id":15,"t":114.1,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:63470,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1200}));\n"}],"out":{"text":"step 180 stage 0 failure None None\r\nbrace [ 0.57051 -0.31734  0.75494] [-2.18865  1.56921 -2.24974]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [ 0.01955 -0.36104 -0.32691  0.00395  0.00426  1.57355]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'table'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":47016,"cached":46464,"out":40,"think":0,"usd":0.054},"sim":{"submit":0,"reset":0}},{"id":16,"t":124.4,"say":"","calls":[{"kind":"look","label":"approach.png","code":"/app/approach.png"},{"kind":"shell","label":"types into the running program: move([.5705,-.4473,.825],n=30); fg=fc.copy(); fg[[5,9,13,18]]+=.12; move(f=fg,n=60); hold(","code":"move([.5705,-.4473,.825],n=30); fg=fc.copy(); fg[[5,9,13,18]]+=.12; move(f=fg,n=60); hold(25); info(); pic('grip'); snapgr=s.snapshot()\n"}],"out":{"text":"move([.5705,-.4473,.825],n=30); fg=fc.copy(); fg[[5,9,13,18]]+=.12; move(f=fg,n=60); hold(25); info(); pic('grip'); snapgr=s.snapshot()\r\n","exit":[],"pics":["dexhand-stool-brace-insert-i00-privileged--7kypvj7/s016_0.jpg"]},"tok":{"in":47318,"cached":46848,"out":168,"think":49,"usd":0.0599},"sim":{"submit":0,"reset":0}},{"id":17,"t":128.9,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:63470,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1200}));\nimage((await tools.view_image({path:\"/app/grip.png\"})));\n"},{"kind":"look","label":"grip.png","code":"/app/grip.png"}],"out":{"text":"step 295 stage 0 failure None None\r\nbrace [ 0.57034 -0.31788  0.75481] [-1.64261  1.55959 -1.72422]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [ 0.02032 -0.34526 -0.32575  0.00948 -0.00404  1.57226]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'table'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nREADY\r\n","exit":[],"pics":["dexhand-stool-brace-insert-i00-privileged--7kypvj7/s017_0.jpg"]},"tok":{"in":47966,"cached":47232,"out":78,"think":20,"usd":0.0585},"sim":{"submit":0,"reset":0}},{"id":18,"t":147.2,"say":"","calls":[{"kind":"shell","label":"types into the running program: move([.5705,-.4473,.850],n=45); info(); print('axis',pose('brace')[1][:,2]); pic('smalllif","code":"move([.5705,-.4473,.850],n=45); info(); print('axis',pose('brace')[1][:,2]); pic('smalllift'); snaplift=s.snapshot()\n"}],"out":{"text":"move([.5705,-.4473,.850],n=45); info(); print('axis',pose('brace')[1][:,2]); pic('smalllift'); snaplift=s.snapshot()\r\n","exit":[],"pics":[]},"tok":{"in":48673,"cached":47744,"out":329,"think":246,"usd":0.0735},"sim":{"submit":0,"reset":0}},{"id":19,"t":154.8,"say":"","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json","code":"cat /run/rcb-limits/usage.json"},{"kind":"shell","label":"types into the running program: print('fingeractual',s.data.qpos[s.qadr][6:]); exec(\"for i,c in enumerate(s.data.contact):","code":"print('fingeractual',s.data.qpos[s.qadr][6:]); exec(\"for i,c in enumerate(s.data.contact):\\n if 'brace' in [s.checker.geom_owner[c.geom1],s.checker.geom_owner[c.geom2]]:\\n  ff=np.zeros(6);mujoco.mj_contactForce(s.model,s.data,i,ff);print(s.model.geom(c.geom1).name,s.model.geom(c.geom2).name,ff[:3])\")\n"}],"out":{"text":"{\n \"t\": 1792239373.83,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.871,\n \"processes\": 8,\n \"disk_gb\": 0.826,\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\": 10.0,\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\": 255.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3345.0,\n \"deadline_utc\": \"2026-10-17T13:11:58Z\"\n}\nstep 340 stage 0 failure None None\r\nbrace [ 0.56835 -0.32391  0.76786] [-2.88419  1.47081 -3.04276]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [ 0.02052 -0.34729 -0.30574 -0.00784 -0.00101  1.57078]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\naxis [ 0.98265 -0.15839 -0.09654]\r\nREADY\r\nprint('fingeractual',s.data.qpos[s.qadr][6:]); exec(\"for i,c in enumerate(s.data.contact):\\n if 'brace' in [s.checker.geom_owner[c.geom1],s.checker.geom_owner[c.geom2]]:\\n  ff=np.zeros(6);mujoco.mj_contactForce(s.model,s.data,i,ff);print(s.model.geom(c.geom1).name,s.model.geom(c.geom2).name,ff[:3])\")\r\nfingeractual [ 0.37376  0.06546  0.99832 -0.35413  0.35207  0.53552  0.01126  0.55101\r\n  0.2366   0.58293  0.00016  0.67731  0.262    0.61043 -0.00019  0.51202\r\n  0.19583  0.01447  0.6944   0.00148  0.24033  0.09009]\r\nright_thumb_fingertip_collision brace_pine [4.25855 2.62952 1.59672]\r\nright_index_MP_fit brace_pine [1.96951 0.97068 0.58507]\r\nright_index_MP_fit brace_pine [1.96951 0.94126 0.60684]\r\nright_ring_MP_fit brace_pine [0.12263 0.12147 0.01665]\r\nright_ring_MP_fit brace_pine [0.12263 0.12262 0.00003]\r\nREADY\r\n","exit":[0],"pics":[]},"tok":{"in":49102,"cached":48384,"out":196,"think":25,"usd":0.0654},"sim":{"submit":0,"reset":0}},{"id":20,"t":165.0,"say":"The first grasp lifted the brace off the table, but it slipped and rotated slightly. I’m adjusting the finger closure to make the grip stable enough for the upright rotation.","calls":[{"kind":"shell","label":"types into the running program: snap0=s.snapshot(); fg2=fg.copy();fg2[[5,9,13,18]]+=.15;fg2[[7,11,15,20]]+=.35;fg2[[8,12,1","code":"snap0=s.snapshot(); fg2=fg.copy();fg2[[5,9,13,18]]+=.15;fg2[[7,11,15,20]]+=.35;fg2[[8,12,16,21]]+=.4; move(f=fg2,n=50); hold(30); info(); print('axis',pose('brace')[1][:,2]); snaptight=s.snapshot()\n"}],"out":{"text":"snap0=s.snapshot(); fg2=fg.copy();fg2[[5,9,13,18]]+=.15;fg2[[7,11,15,20]]+=.35;fg2[[8,12,16,21]]+=.4; move(f=fg2,n=50); hold(30); info(); print('axis',pose('brace')[1][:,2]); snaptight=s.snapshot()\r\n","exit":[],"pics":[]},"tok":{"in":50214,"cached":49024,"out":317,"think":144,"usd":0.0768},"sim":{"submit":0,"reset":0}},{"id":21,"t":181.6,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('tips',[(s.model.geom(g).name,s.data.geom_xpos[g].round(4)) for g in gids]); print('","code":"print('tips',[(s.model.geom(g).name,s.data.geom_xpos[g].round(4)) for g in gids]); print('brace',pose('brace'))\n"}],"out":{"text":"step 420 stage 0 failure None None\r\nbrace [ 0.56163 -0.34277  0.76714] [-2.05783  1.40243 -2.517  ]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [ 0.02051 -0.34727 -0.30562 -0.00761 -0.00116  1.57086]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'table'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\naxis [ 0.89105 -0.44707 -0.07842]\r\nREADY\r\nprint('tips',[(s.model.geom(g).name,s.data.geom_xpos[g].round(4)) for g in gids]); print('brace',pose('brace'))\r\ntips [('right_thumb_fingertip_collision', array([ 0.5179, -0.3449,  0.7761])), ('right_index_fingertip_collision', array([ 0.5423, -0.307 ,  0.7707])), ('right_middle_fingertip_collision', array([ 0.5615, -0.3156,  0.7691])), ('right_ring_fingertip_collision', array([ 0.5808, -0.3246,  0.7649])), ('right_pinky_fingertip_collision', array([ 0.6008, -0.3242,  0.7605]))]\r\nbrace (array([ 0.56163, -0.34277,  0.76714]), array([[-0.13593,  0.43307,  0.89105],\r\n       [-0.09799,  0.88911, -0.44707],\r\n       [-0.98586, -0.14809, -0.07842]]))\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":50680,"cached":50048,"out":291,"think":212,"usd":0.0709},"sim":{"submit":0,"reset":0}},{"id":22,"t":198.2,"say":"","calls":[{"kind":"shell","label":"types into the running program: exec(\"d=mujoco.MjData(s.model);d.qpos[:]=s.data.qpos;d.qpos[s.qadr[:6]]=0\\nids=np.arange(5","code":"exec(\"d=mujoco.MjData(s.model);d.qpos[:]=s.data.qpos;d.qpos[s.qadr[:6]]=0\\nids=np.arange(5);g=gids[0]\\nfor yy in [.03,.015,0]:\\n target=np.array([.105,yy,-.065])\\n def fun(q):\\n  d.qpos[s.qadr[6:11]]=q;mujoco.mj_forward(s.model,d)\\n  return np.r_[(d.geom_xpos[g]-d.xpos[1]-target)*100,.01*q]\\n sol=least_squares(fun,fc[:5],bounds=s.model.actuator_ctrlrange[6:11].T,max_nfev=100)\\n print(yy,sol.x,fun(sol.x)[:3])\\n if yy==.015:ft=sol.x.copy()\")\n"}],"out":{"text":"exec(\"d=mujoco.MjData(s.model);d.qpos[:]=s.data.qpos;d.qpos[s.qadr[:6]]=0\\nids=np.arange(5);g=gids[0]\\nfor yy in [.03,.015,0]:\\n target=np.array([.105,yy,-.065])\\n def fun(q):\\n  d.qpos[s.qadr[6:11]]=q;mujoco.mj_forward(s.model,d)\\n  return np.r_[(d.geom_xpos[g]-d.xpos[1]-target)*100,.01*q]\\n sol=least_squares(fun,fc[:5],bounds=s.model.actuator_ctrlrange[6:11].T,max_nfev=100)\\n print(yy,sol.x,fun(sol.x)[:3])\\n if yy==.015:ft=sol.x.copy()\")\r\n0.03 [ 0.52956  0.13445  1.08331 -0.3491   0.36731] [ 0.00002  0.00001 -0.     ]\r\n0.015 [ 0.82625  0.12089  1.07743 -0.3491   0.33914] [0.00002 0.00002 0.     ]\r\n0 [ 1.19402  0.06556  1.00101 -0.3491   0.30259] [ 0.00002  0.00002 -0.     ]\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":51548,"cached":50560,"out":466,"think":230,"usd":0.0837},"sim":{"submit":0,"reset":0}},{"id":23,"t":218.9,"say":"","calls":[{"kind":"robot","label":"writes helpers.py","code":"cat > /app/helpers.py <<'PY'\ndef fingerik(targets,init=None):\n from scipy.optimize import least_squares\n d=mujoco.MjData(s.model);d.qpos[:]=s.data.qpos;d.qpos[s.qadr[:6]]=0\n f=np.zeros(22) if init is None else init.copy()\n groups=[list(range(5)),list(range(5,9)),list(range(9,13)),list(range(13,17)),list(range(17,22))]\n for ids,g,target in zip(groups,gids,targets):\n  if target is None:continue\n  ids=np.array(ids)\n  def fun(q):\n   d.qpos[s.qadr[6+ids]]=q;mujoco.mj_forward(s.model,d)\n   return np.r_[(d.geom_xpos[g]-d.xpos[1]-target)*100,.01*q]\n  sol=least_squares(fun,np.clip(f[ids],*s.model.actuator_ctrlrange[6+ids].T),bounds=s.model.actuator_ctrlrange[6+ids].T,max_nfev=120)\n  f[ids]=sol.x\n return f\n\ndef carry(part,p,r,n=100,gain=.3):\n p0,r0=pose(part)\n rv=R.from_matrix(r@r0.T).as_rotvec()\n for i in range(n):\n  t=(i+1)/n;t=t*t*(3-2*t)\n  pd=p0+(p-p0)*t;rd=R.from_rotvec(rv*t).as_matrix()@r0\n  pp,rr=pose(part)\n  wp,wr=pose('wrist_stage')\n  # correct target with measured body position and orientation\n  dr=R.from_rotvec(R.from_matrix(rd@rr.T).as_rotvec()*gain).as_matrix()\n  a=s.hold_action();cr=R.from_euler('XYZ',a[3:6]).as_matrix()\n  a[3:6]=R.from_matrix(dr@cr).as_euler('XYZ')\n  a[:3]+= gain*(pd-pp)+(dr-np.eye(3))@(wp-pp)\n  a=np.clip(a,*s.model.actuator_ctrlrange.T)\n  s.step(a)\n  if s.done:break\nPY"},{"kind":"robot","label":"types into the running program: exec(open('/app/helpers.py').read()); fnew=fc.copy();fnew[:5]=ft; fop=fingerik([[.085,.015","code":"exec(open('/app/helpers.py').read()); fnew=fc.copy();fnew[:5]=ft; fop=fingerik([[.085,.015,-.065],None,None,None,None],fnew);fop[[5,9,13,18]]-=.2;s.reset();move([.57,-.46,.95],[0,0,np.pi/2],fop,70);move([.57,-.46,.825],n=85);info(); snappre=s.snapshot()\n"}],"out":{"text":"exec(open('/app/helpers.py').read()); fnew=fc.copy();fnew[:5]=ft; fop=fingerik([[.085,.015,-.065],None,None,None,None],fnew);fop[[5,9,13,18]]-=.2;s.reset();move([.57,-.46,.95],[0,0,np.pi/2],fop,70);move([.57,-.46,.825],n=85);info(); snappre=s.snapshot()\r\n","exit":[0],"pics":[]},"tok":{"in":52425,"cached":51456,"out":812,"think":138,"usd":0.1017},"sim":{"submit":0,"reset":0}},{"id":24,"t":225.7,"say":"","calls":[{"kind":"shell","label":"types into the running program: fcl=fnew.copy();fcl[[5,9,13,18]]+=.12;move(f=fcl,n=70);hold(25);move([.57,-.46,.85],n=50);","code":"fcl=fnew.copy();fcl[[5,9,13,18]]+=.12;move(f=fcl,n=70);hold(25);move([.57,-.46,.85],n=50);info();print('axis',pose('brace')[1][:,2]);pic('grip2');snap2=s.snapshot()\n"}],"out":{"text":"step 155 stage 0 failure None None\r\n/app/lab.py:46: UserWarning: Gimbal lock detected. Setting third angle to zero since it is not possible to uniquely determine all angles.\r\n  try:exec(line)\r\nbrace [ 0.57    -0.33     0.75497] [-0.      1.5708  0.    ]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [ 0.02    -0.36    -0.33006 -0.007   -0.00071  1.5708 ]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'table'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nREADY\r\nfcl=fnew.copy();fcl[[5,9,13,18]]+=.12;move(f=fcl,n=70);hold(25);move([.57,-.46,.85],n=50);info();print('axis',pose('brace')[1][:,2]);pic('grip2');snap2=s.snapshot()\r\n","exit":[],"pics":[]},"tok":{"in":53438,"cached":52352,"out":136,"think":20,"usd":0.07},"sim":{"submit":0,"reset":0}},{"id":25,"t":231.8,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('stability test');hold(40); info(); print('axis',pose('brace')[1][:,2])","code":"print('stability test');hold(40); info(); print('axis',pose('brace')[1][:,2])\n"}],"out":{"text":"step 300 stage 0 failure None None\r\nbrace [ 0.56871 -0.33714  0.77053] [-2.69235  1.52491 -2.75819]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [ 0.02    -0.36    -0.30578 -0.00801 -0.00065  1.5708 ]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\naxis [ 0.99695 -0.06615 -0.04132]\r\nREADY\r\nprint('stability test');hold(40); info(); print('axis',pose('brace')[1][:,2])\r\nstability test\r\nstep 340 stage 0 failure None None\r\nbrace [ 0.5683  -0.33714  0.77034] [-2.90456  1.51459 -2.99355]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [ 0.02    -0.36    -0.30571 -0.00811 -0.00066  1.5708 ]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\naxis [ 0.99452 -0.0891  -0.05461]\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":53947,"cached":53376,"out":80,"think":11,"usd":0.0631},"sim":{"submit":0,"reset":0}},{"id":26,"t":261.8,"say":"","calls":[{"kind":"robot","label":"def euler_near(rot,prev):","code":"cat >> /app/helpers.py <<'PY'\ndef euler_near(rot,prev):\n e=R.from_matrix(rot).as_euler('XYZ')\n opts=[e,np.array([e[0]+np.pi,np.pi-e[1],e[2]+np.pi])]\n choices=[]\n for ee in opts:\n  ee+=np.round((prev-ee)/(2*np.pi))*2*np.pi\n  if np.max(abs(ee))<=3.14:choices.append(ee)\n return min(choices,key=lambda x:np.linalg.norm(x-prev)) if choices else e\n\ndef servo(part,pd,rd,gain=.22):\n pp,rr=pose(part);wp,wr=pose('wrist_stage')\n dr=R.from_rotvec(R.from_matrix(rd@rr.T).as_rotvec()*gain).as_matrix()\n a=s.hold_action();cr=R.from_euler('XYZ',a[3:6]).as_matrix()\n a[3:6]=euler_near(dr@cr,a[3:6]);a[:3]+=gain*(pd-pp)+(dr-np.eye(3))@(wp-pp)\n s.step(np.clip(a,*s.model.actuator_ctrlrange.T))\n\ndef upright(n=200):\n p0,r0=pose('brace');rv=R.from_matrix(r0.T).as_rotvec()\n for i in range(n):\n  t=(i+1)/n;t=t*t*(3-2*t)\n  rd=R.from_rotvec(rv*t).as_matrix()@r0\n  pd=p0.copy();pd[2]=.747+np.abs(rd[2])@np.array([.015,.015,.145])+.035*max(0,(t-.4)/.6)\n  servo('brace',pd,rd)\n  if s.done:break\nPY"},{"kind":"shell","label":"types into the running program: exec(open('/app/helpers.py').read()); snapbeforeup=s.snapshot(); upright(250);info();print","code":"exec(open('/app/helpers.py').read()); snapbeforeup=s.snapshot(); upright(250);info();print('axis',pose('brace')[1][:,2]);pic('up');snapup=s.snapshot();save('up')\n"}],"out":{"text":"exec(open('/app/helpers.py').read()); snapbeforeup=s.snapshot(); upright(250);info();print('axis',pose('brace')[1][:,2]);pic('up');snapup=s.snapshot();save('up')\r\n","exit":[0],"pics":[]},"tok":{"in":54566,"cached":53888,"out":1023,"think":516,"usd":0.1118},"sim":{"submit":0,"reset":0}},{"id":27,"t":267.5,"say":"","calls":[{"kind":"shell","label":"sleep 1","code":"sleep 1"},{"kind":"shell","label":"types into the running program: print('result')","code":"print('result')\n"}],"out":{"text":"step 590 stage 1 failure None None\r\nbrace [ 0.56832 -0.33714  0.92706] [-0.00017  0.00016 -0.00009]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [-0.06592 -0.35521 -0.21143 -2.37207 -1.47182 -0.68086]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\naxis [0.00016 0.00017 1.     ]\r\nREADY\r\nprint('result')\r\nresult\r\nREADY\r\n","exit":[0],"pics":[]},"tok":{"in":55728,"cached":54400,"out":102,"think":29,"usd":0.0728},"sim":{"submit":0,"reset":0}},{"id":28,"t":276.9,"say":"","calls":[{"kind":"look","label":"up.png","code":"/app/up.png"},{"kind":"shell","label":"types into the running program: carry('brace',np.array([.585,-.145,.95]),np.eye(3),220,.12);info();print('target bore',s.d","code":"carry('brace',np.array([.585,-.145,.95]),np.eye(3),220,.12);info();print('target bore',s.data.site_xpos[s.model.site('lower_frame_leg_m_b0_entry').id]);snapabove=s.snapshot();save('above');pic('above')\n"}],"out":{"text":"carry('brace',np.array([.585,-.145,.95]),np.eye(3),220,.12);info();print('target bore',s.data.site_xpos[s.model.site('lower_frame_leg_m_b0_entry').id]);snapabove=s.snapshot();save('above');pic('above')\r\n","exit":[],"pics":["dexhand-stool-brace-insert-i00-privileged--7kypvj7/s028_0.jpg"]},"tok":{"in":56151,"cached":55680,"out":202,"think":81,"usd":0.0705},"sim":{"submit":0,"reset":0}},{"id":29,"t":282.9,"say":"The brace is now upright and has passed the lift stage. The grip is holding during motion; I’m moving the lower dowel above the empty bore for insertion.","calls":[{"kind":"shell","label":"def carry(part,p,r,n=100,gain=.15):","code":"cat >> /app/helpers.py <<'PY'\ndef carry(part,p,r,n=100,gain=.15):\n p0,r0=pose(part);rv=R.from_matrix(r@r0.T).as_rotvec()\n for i in range(n):\n  t=(i+1)/n;t=t*t*(3-2*t)\n  servo(part,p0+(p-p0)*t,R.from_rotvec(rv*t).as_matrix()@r0,gain)\n  if s.done:break\nPY"},{"kind":"shell","label":"types into the running program: exec(open('/app/helpers.py').read());print(s.features()['ends']['brace_m'])","code":"exec(open('/app/helpers.py').read());print(s.features()['ends']['brace_m'])\n"}],"out":{"text":"step 810 stage 1 failure None None\r\nbrace [ 0.58491 -0.14604  0.94988] [ 0.00002 -0.       0.00004]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [-0.04922 -0.16418 -0.18869 -2.37881 -1.47228 -0.68821]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\ntarget bore [ 0.585   -0.145    0.76998]\r\nREADY\r\nexec(open('/app/helpers.py').read());print(s.features()['ends']['brace_m'])\r\n{'bore': 'lower_frame:0', 'depth_m': -0.0349, 'lateral_m': 0.00104, 'axis_rad': 0.0, 'seated': False}\r\nREADY\r\n","exit":[0],"pics":[]},"tok":{"in":56838,"cached":56064,"out":258,"think":35,"usd":0.0767},"sim":{"submit":0,"reset":0}},{"id":30,"t":296.3,"say":"","calls":[{"kind":"shell","label":"types into the running program: carry('brace',np.array([.585,-.145,.95]),np.eye(3),80,.15);carry('brace',np.array([.585,-.","code":"carry('brace',np.array([.585,-.145,.95]),np.eye(3),80,.15);carry('brace',np.array([.585,-.145,.901]),np.eye(3),250,.12);info();print(s.features()['ends']['brace_m']);pic('insert');snapinsert=s.snapshot();save('insert')\n"}],"out":{"text":"carry('brace',np.array([.585,-.145,.95]),np.eye(3),80,.15);carry('brace',np.array([.585,-.145,.901]),np.eye(3),250,.12);info();print(s.features()['ends']['brace_m']);pic('insert');snapinsert=s.snapshot();save('insert')\r\n","exit":[],"pics":[]},"tok":{"in":57480,"cached":56704,"out":251,"think":136,"usd":0.077},"sim":{"submit":0,"reset":0}},{"id":31,"t":317.9,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('insert result')","code":"print('insert result')\n"}],"out":{"text":"step 1140 stage 2 failure None None\r\nbrace [ 0.585   -0.145    0.90121] [-0.  0. -0.]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [-0.04909 -0.16316 -0.23736 -2.37992 -1.47253 -0.68932]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'rail_2'), ('brace', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\n{'bore': 'lower_frame:0', 'depth_m': 0.01377, 'lateral_m': 0.0, 'axis_rad': 0.0, 'seated': True}\r\nREADY\r\nprint('insert result')\r\ninsert result\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":57862,"cached":57344,"out":565,"think":516,"usd":0.0908},"sim":{"submit":0,"reset":0}},{"id":32,"t":326.1,"say":"","calls":[{"kind":"shell","label":"types into the running program: carry('brace',np.array([.585,-.145,.8999]),np.eye(3),80,.10);snapprelease=s.snapshot();mov","code":"carry('brace',np.array([.585,-.145,.8999]),np.eye(3),80,.10);snapprelease=s.snapshot();move(f=fop,n=80);hold(25);info();print(s.features()['ends']['brace_m']);pic('release');snaprelease=s.snapshot();save('release')\n"}],"out":{"text":"carry('brace',np.array([.585,-.145,.8999]),np.eye(3),80,.10);snapprelease=s.snapshot();move(f=fop,n=80);hold(25);info();print(s.features()['ends']['brace_m']);pic('release');snaprelease=s.snapshot();save('release')\r\n","exit":[],"pics":[]},"tok":{"in":58740,"cached":57728,"out":198,"think":88,"usd":0.0777},"sim":{"submit":0,"reset":0}},{"id":33,"t":332.5,"say":"The lower brace dowel is seated, and stage 2 has passed. I’m releasing the brace, then moving to the opposite frame’s crossrail to lift it onto the four upper dowels.","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json","code":"cat /run/rcb-limits/usage.json"},{"kind":"shell","label":"types into the running program: print('release done')","code":"print('release done')\n"}],"out":{"text":"{\n \"t\": 1792239553.83,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.881,\n \"processes\": 8,\n \"disk_gb\": 0.83,\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\": 10.0,\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\": 435.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3165.0,\n \"deadline_utc\": \"2026-10-17T13:11:58Z\"\n}\nstep 1325 stage 2 failure None None\r\nbrace [ 0.58501 -0.1449   0.89997] [ 0.00005 -0.00004  0.05336]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [-0.04908 -0.16316 -0.23809 -2.37938 -1.47183 -0.6913 ]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'brace'), ('lower_frame', 'rail_2'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\n{'bore': 'lower_frame:0', 'depth_m': 0.01501, 'lateral_m': 0.0001, 'axis_rad': 0.0001, 'seated': True}\r\nREADY\r\nprint('release done')\r\nrelease done\r\nREADY\r\n","exit":[0],"pics":[]},"tok":{"in":59065,"cached":58624,"out":156,"think":34,"usd":0.0708},"sim":{"submit":0,"reset":0}},{"id":34,"t":348.9,"say":"","calls":[{"kind":"shell","label":"writes exporter.py","code":"cat > /app/exporter.py <<'PY'\nimport base64,zlib,textwrap\nfrom pathlib import Path\nimport numpy as np\n\ndef export(s):\n actions=np.asarray(s.actions,dtype='<f8')\n payload=base64.b85encode(zlib.compress(actions.tobytes(),9)).decode()\n script='''\"\"\"Recreate the recorded actuator-only stool assembly trajectory.\n\nAll rows were authored using physical simulation and position target control.\nThe payload contains only the motor targets; no object state is replayed.\n\"\"\"\nfrom pathlib import Path\nimport base64, zlib\nimport numpy as np\n\n'''\n script+='HAND = '+repr(s.hand)+'\\nSHAPE = '+repr(actions.shape)+'\\nDATA = (\\n'\n script+=''.join('    '+repr(line)+'\\n' for line in textwrap.wrap(payload,100))\n script+=')\\n\\ndef main():\\n    actions = np.frombuffer(zlib.decompress(base64.b85decode(DATA)), dtype=\"<f8\").reshape(SHAPE).copy()\\n    target = Path(__file__).with_name(\"trajectory.npz\")\\n    np.savez_compressed(target, actions=actions, hand=np.array(HAND), task=np.array(\"stool_brace_insert\"))\\n\\nif __name__ == \"__main__\":\\n    main()\\n'\n Path('/app/output/gen.py').write_text(script)\n exec(compile(script,'/app/output/gen.py','exec'),{'__name__':'__main__','__file__':'/app/output/gen.py'})\n print('exported',actions.shape)\nPY"},{"kind":"shell","label":"types into the running program: exec(open('/app/exporter.py').read());export(s);move([.42,-.4,.95],n=90);move([.42,-.4,1.2","code":"exec(open('/app/exporter.py').read());export(s);move([.42,-.4,.95],n=90);move([.42,-.4,1.2],n=100);move([.455,.5,1.2],[0,0,0],fop,180);move([.455,.5,.825],n=140);info();pic('frameapproach');snapframepre=s.snapshot()\n"}],"out":{"text":"exec(open('/app/exporter.py').read());export(s);move([.42,-.4,.95],n=90);move([.42,-.4,1.2],n=100);move([.455,.5,1.2],[0,0,0],fop,180);move([.455,.5,.825],n=140);info();pic('frameapproach');snapframepre=s.snapshot()\r\nexported (1325, 28)\r\n","exit":[0],"pics":[]},"tok":{"in":59820,"cached":58880,"out":592,"think":85,"usd":0.0979},"sim":{"submit":0,"reset":0}},{"id":35,"t":378.9,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('frame preparation status')","code":"print('frame preparation status')\n"}],"out":{"text":"step 1835 stage 2 failure None None\r\nbrace [ 0.58501 -0.1449   0.89997] [ 0.00005 -0.00004  0.05339]\r\nupper_frame [0.61    0.5     0.75499] [3.14159 0.      0.     ]\r\nwrist [-0.095    0.6     -0.33005 -0.0007   0.00701  0.     ]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'brace'), ('lower_frame', 'rail_2'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nREADY\r\nprint('frame preparation status')\r\nframe preparation status\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":60608,"cached":59648,"out":566,"think":516,"usd":0.0975},"sim":{"submit":0,"reset":0}},{"id":36,"t":384.7,"say":"","calls":[{"kind":"look","label":"frameapproach.png","code":"/app/frameapproach.png"},{"kind":"shell","label":"types into the running program: move(f=fcl,n=80);hold(30);info();snapframegrip=s.snapshot();carry('upper_frame',np.array([","code":"move(f=fcl,n=80);hold(30);info();snapframegrip=s.snapshot();carry('upper_frame',np.array([.61,.5,.795]),R.from_euler('x',np.pi).as_matrix(),150,.12);info();pic('framelift');snapframelow=s.snapshot()\n"}],"out":{"text":"move(f=fcl,n=80);hold(30);info();snapframegrip=s.snapshot();carry('upper_frame',np.array([.61,.5,.795]),R.from_euler('x',np.pi).as_matrix(),150,.12);info();pic('framelift');snapframelow=s.snapshot()\r\n","exit":[],"pics":["dexhand-stool-brace-insert-i00-privileged--7kypvj7/s036_0.jpg"]},"tok":{"in":61461,"cached":60416,"out":125,"think":0,"usd":0.0771},"sim":{"submit":0,"reset":0}},{"id":37,"t":390.3,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('grasp progress')","code":"print('grasp progress')\n"}],"out":{"text":"step 1945 stage 2 failure None None\r\nbrace [ 0.58501 -0.1449   0.89997] [ 0.00005 -0.00004  0.05339]\r\nupper_frame [0.60908 0.5     0.75496] [-3.14141  0.00003  0.00032]\r\nwrist [-0.0926   0.59986 -0.32592 -0.00245 -0.00834  0.00052]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('upper_frame', 'table'), ('lower_frame', 'brace'), ('lower_frame', 'rail_2'), ('upper_frame', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nprint('grasp progress')\r\n","exit":[],"pics":[]},"tok":{"in":62076,"cached":61312,"out":82,"think":32,"usd":0.0731},"sim":{"submit":0,"reset":0}},{"id":38,"t":395.5,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('frame control')","code":"print('frame control')\n"}],"out":{"text":"step 2095 stage 2 failure None None\r\nbrace [ 0.58501 -0.1449   0.89997] [ 0.00005 -0.00004  0.05339]\r\nupper_frame [0.60997 0.5     0.79452] [-3.14159  0.0009  -0.00012]\r\nwrist [-0.10442  0.59596 -0.31725 -0.05711 -0.27559  0.03736]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('lower_frame', 'brace'), ('lower_frame', 'rail_2'), ('upper_frame', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nREADY\r\ngrasp progress\r\nREADY\r\nprint('frame control')\r\nframe control\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":62444,"cached":61952,"out":86,"think":37,"usd":0.0712},"sim":{"submit":0,"reset":0}},{"id":39,"t":401.7,"say":"","calls":[{"kind":"shell","label":"types into the running program: carry('upper_frame',np.array([.61,.5,1.12]),R.from_euler('x',np.pi).as_matrix(),350,.12);i","code":"carry('upper_frame',np.array([.61,.5,1.12]),R.from_euler('x',np.pi).as_matrix(),350,.12);info();pic('framehigh');snapframehigh=s.snapshot();save('framehigh');export(s)\n"}],"out":{"text":"carry('upper_frame',np.array([.61,.5,1.12]),R.from_euler('x',np.pi).as_matrix(),350,.12);info();pic('framehigh');snapframehigh=s.snapshot();save('framehigh');export(s)\r\n","exit":[],"pics":[]},"tok":{"in":62828,"cached":62336,"out":141,"think":44,"usd":0.0743},"sim":{"submit":0,"reset":0}},{"id":40,"t":411.0,"say":"","calls":[{"kind":"look","label":"framelift.png","code":"/app/framelift.png"},{"kind":"shell","label":"ls -lh /app/output","code":"ls -lh /app/output"}],"out":{"text":"total 152K\n-rw-r--r-- 1 root root 85K Oct 17 12:19 gen.py\n-rw-r--r-- 1 root root 63K Oct 17 12:19 trajectory.npz\n","exit":[0],"pics":["dexhand-stool-brace-insert-i00-privileged--7kypvj7/s040_0.jpg"]},"tok":{"in":63082,"cached":62720,"out":141,"think":91,"usd":0.0734},"sim":{"submit":0,"reset":0}},{"id":41,"t":419.8,"say":"The opposite frame is off the table and level. I’m raising it above the standing rails before translating it over the four dowels.","calls":[{"kind":"shell","label":"types into the running program: print('high status')","code":"print('high status')\n"}],"out":{"text":"step 2445 stage 3 failure None None\r\nbrace [ 0.58501 -0.1449   0.89997] [ 0.00005 -0.00004  0.05339]\r\nupper_frame [0.61    0.5     1.11928] [-3.14159  0.00003  0.00005]\r\nwrist [-0.10457  0.59572  0.00608 -0.05685 -0.28542  0.03868]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('lower_frame', 'brace'), ('lower_frame', 'rail_2'), ('upper_frame', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nexported (2445, 28)\r\nREADY\r\nprint('high status')\r\nhigh status\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":63691,"cached":62976,"out":197,"think":114,"usd":0.08},"sim":{"submit":0,"reset":0}},{"id":42,"t":425.3,"say":"","calls":[{"kind":"shell","label":"types into the running program: carry('upper_frame',np.array([.61,0,1.12]),R.from_euler('x',np.pi).as_matrix(),450,.12);ca","code":"carry('upper_frame',np.array([.61,0,1.12]),R.from_euler('x',np.pi).as_matrix(),450,.12);carry('upper_frame',np.array([.61,0,1.12]),R.from_euler('x',np.pi).as_matrix(),80,.12);info();pic('frameabove');snapframeabove=s.snapshot();save('frameabove')\n"}],"out":{"text":"carry('upper_frame',np.array([.61,0,1.12]),R.from_euler('x',np.pi).as_matrix(),450,.12);carry('upper_frame',np.array([.61,0,1.12]),R.from_euler('x',np.pi).as_matrix(),80,.12);info();pic('frameabove');snapframeabove=s.snapshot();save('frameabove')\r\n","exit":[],"pics":[]},"tok":{"in":64187,"cached":63488,"out":127,"think":0,"usd":0.0768},"sim":{"submit":0,"reset":0}},{"id":43,"t":434.0,"say":"","calls":[{"kind":"shell","label":"types into the running program: exec(\"for nm in ['brace','rail_1','rail_2','rail_3']:\\n print(nm,'tip',s.data.site_xpos[s.","code":"exec(\"for nm in ['brace','rail_1','rail_2','rail_3']:\\n print(nm,'tip',s.data.site_xpos[s.model.site(nm+'_tip_p').id], 'axis',pose(nm)[1][:,2])\\nfor leg in ['m','p']:\\n for k in [0,1]:print('upper',leg,k,s.data.site_xpos[s.model.site(f'upper_frame_leg_{leg}_b{k}_entry').id])\")\n"}],"out":{"text":"exec(\"for nm in ['brace','rail_1','rail_2','rail_3']:\\n print(nm,'tip',s.data.site_xpos[s.model.site(nm+'_tip_p').id], 'axis',pose(nm)[1][:,2])\\nfor leg in ['m','p']:\\n for k in [0,1]:print('upper',leg,k,s.data.site_xpos[s.model.site(f'upper_frame_leg_{leg}_b{k}_entry').id])\")\r\n","exit":[],"pics":[]},"tok":{"in":64459,"cached":64000,"out":233,"think":83,"usd":0.0802},"sim":{"submit":0,"reset":0}},{"id":44,"t":449.7,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('motion query')","code":"print('motion query')\n"}],"out":{"text":"step 2975 stage 3 failure None None\r\nbrace [ 0.58501 -0.1449   0.89997] [ 0.00005 -0.00004  0.05339]\r\nupper_frame [0.61    0.00002 1.12   ] [ 3.14159 -0.      -0.     ]\r\nwrist [-0.10459  0.09564  0.00642 -0.05493 -0.28871  0.03908]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('lower_frame', 'brace'), ('lower_frame', 'rail_2'), ('upper_frame', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\nREADY\r\nbrace tip [ 0.58501 -0.14491  1.04497] axis [-0.00004 -0.00005  1.     ]\r\nrail_1 tip [0.58502 0.14499 1.04497] axis [ 0.00007 -0.00003  1.     ]\r\nrail_2 tip [ 0.78504 -0.14498  1.04496] axis [0.00007 0.00003 1.     ]\r\nrail_3 tip [0.78502 0.145   1.04496] axis [ 0.00007 -0.00003  1.     ]\r\nupper m 0 [0.585   0.14502 1.105  ]\r\nupper m 1 [0.785   0.14502 1.105  ]\r\nupper p 0 [ 0.585   -0.14498  1.105  ]\r\nupper p 1 [ 0.785   -0.14498  1.105  ]\r\nREADY\r\nprint('motion query')\r\nmotion query\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":64857,"cached":64256,"out":369,"think":320,"usd":0.0887},"sim":{"submit":0,"reset":0}},{"id":45,"t":455.3,"say":"","calls":[{"kind":"shell","label":"types into the running program: carry('upper_frame',np.array([.61002,.00002,1.047]),R.from_euler('x',np.pi).as_matrix(),35","code":"carry('upper_frame',np.array([.61002,.00002,1.047]),R.from_euler('x',np.pi).as_matrix(),350,.10);info();print(s.features()['ends']);pic('assembledheld');snapassembledheld=s.snapshot();save('assembledheld');export(s)\n"}],"out":{"text":"carry('upper_frame',np.array([.61002,.00002,1.047]),R.from_euler('x',np.pi).as_matrix(),350,.10);info();print(s.features()['ends']);pic('assembledheld');snapassembledheld=s.snapshot();save('assembledheld');export(s)\r\n","exit":[],"pics":[]},"tok":{"in":65774,"cached":64640,"out":103,"think":0,"usd":0.0811},"sim":{"submit":0,"reset":0}},{"id":46,"t":488.5,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('assembly status')","code":"print('assembly status')\n"}],"out":{"text":"step 3325 stage 4 failure None None\r\nbrace [ 0.58501 -0.1449   0.89997] [ 0.00005 -0.00004  0.05341]\r\nupper_frame [0.61002 0.00002 1.04725] [ 3.14159 -0.00001 -0.00002]\r\nwrist [-0.10457  0.09565 -0.06631 -0.05496 -0.28863  0.03895]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('lower_frame', 'brace'), ('lower_frame', 'rail_2'), ('upper_frame', 'hand'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\n{'brace_m': {'bore': 'lower_frame:0', 'depth_m': 0.01501, 'lateral_m': 0.0001, 'axis_rad': 0.0001, 'seated': True}, 'brace_p': {'bore': 'upper_frame:2', 'depth_m': 0.01272, 'lateral_m': 7e-05, 'axis_rad': 0.0001, 'seated': True}, 'rail_1_m': {'bore': 'lower_frame:2', 'depth_m': 0.01501, 'lateral_m': 0.0, 'axis_rad': 0.0001, 'seated': True}, 'rail_1_p': {'bore': 'upper_frame:0', 'depth_m': 0.01272, 'lateral_m': 3e-05, 'axis_rad': 0.0001, 'seated': True}, 'rail_2_m': {'bore': 'lower_frame:1', 'depth_m': 0.01501, 'lateral_m': 0.0, 'axis_rad': 0.0001, 'seated': True}, 'rail_2_p': {'bore': 'upper_frame:3', 'depth_m': 0.01271, 'lateral_m': 2e-05, 'axis_rad': 0.0001, 'seated': True}, 'rail_3_m': {'bore': 'lower_frame:3', 'depth_m': 0.01501, 'lateral_m': 0.0, 'axis_rad': 0.0001, 'seated': True}, 'rail_3_p': {'bore': 'upper_frame:1', 'depth_m': 0.01271, 'lateral_m': 1e-05, 'axis_rad': 0.0001, 'seated': True}}\r\nexported (3325, 28)\r\nREADY\r\nprint('assembly status')\r\nassembly status\r\nREADY\r\n","exit":[],"pics":[]},"tok":{"in":65999,"cached":65664,"out":276,"think":227,"usd":0.0828},"sim":{"submit":0,"reset":0}},{"id":47,"t":512.1,"say":"All eight dowels now meet the seating test, and stage 4 has passed. I’m lowering the frame into contact with the rail shoulders, releasing the grip, and checking the required one-second settling period.","calls":[{"kind":"shell","label":"types into the running program: carry('upper_frame',np.array([.61002,.00002,1.0449]),R.from_euler('x',np.pi).as_matrix(),1","code":"carry('upper_frame',np.array([.61002,.00002,1.0449]),R.from_euler('x',np.pi).as_matrix(),100,.08);snapfinalpre=s.snapshot();move(f=fop,n=100);hold(100);info();print(s.status());pic('final');save('final');export(s)\n"}],"out":{"text":"carry('upper_frame',np.array([.61002,.00002,1.0449]),R.from_euler('x',np.pi).as_matrix(),100,.08);snapfinalpre=s.snapshot();move(f=fop,n=100);hold(100);info();print(s.status());pic('final');save('final');export(s)\r\n","exit":[],"pics":[]},"tok":{"in":66991,"cached":66816,"out":171,"think":8,"usd":0.0771},"sim":{"submit":0,"reset":0}},{"id":48,"t":521.1,"say":"","calls":[{"kind":"shell","label":"ls -la /opt/tools && rg --files /app /opt/tools | head -60","code":"ls -la /opt/tools && rg --files /app /opt/tools | head -60"}],"out":{"text":"total 136\ndrwxr-xr-x 5 root root  4096 Oct 17 12:13 .\ndrwxr-xr-x 4 root root  4096 Oct 17 09:31 ..\n-rw-rw-r-- 1 root root   135 May 26  2016 Dockerfile\ndrwxr-xr-x 2 root root  4096 Oct 17 12:13 __pycache__\ndrwxrwxr-x 2 root root  4096 Oct 17 08:35 assets\n-rw-rw-r-- 1 root root  6601 Mar  5  2016 catalog.json\n-rw-rw-r-- 1 root root 16193 Jan 21  2016 checker.py\n-rw-rw-r-- 1 root root  1300 Sep  7  2010 docker-compose.yaml\n-rw-rw-r-- 1 root root   107 Sep 16  2001 grading.json\n-rw-rw-r-- 1 root root 19435 Sep  5  2013 hands.py\n-rw-rw-r-- 1 root root  5997 Mar  6  2002 instance.json\n-rw-rw-r-- 1 root root    94 Oct 25  2005 rcb_dexhand.py\ndrwxrwxr-x 2 root root  4096 Oct 17 08:35 rcb_monitor\n-rw-rw-r-- 1 root root 10633 Sep 19  2010 replay.py\n-rw-rw-r-- 1 root root  8599 Oct 27  2003 runtime.py\n-rw-rw-r-- 1 root root 15422 Aug 13  2012 scene.py\n-rw-rw-r-- 1 root root  5997 Mar  7  2011 task.json\n/opt/tools/task.json\n/opt/tools/scene.py\n/opt/tools/runtime.py\n/opt/tools/replay.py\n/opt/tools/rcb_monitor/selftest.py\n/opt/tools/rcb_monitor/rcb_limits.py\n/opt/tools/rcb_monitor/monitor.py\n/opt/tools/rcb_monitor/limits.json\n/opt/tools/rcb_dexhand.py\n/opt/tools/instance.json\n/opt/tools/hands.py\n/opt/tools/grading.json\n/opt/tools/docker-compose.yaml\n/opt/tools/checker.py\n/opt/tools/catalog.json\n/opt/tools/assets/pine-grain.png\n/opt/tools/assets/manifest.json\n/opt/tools/Dockerfile\n/app/up.png\n/app/up.npz\n/app/start.png\n/app/smalllift.png\n/app/release.png\n/app/release.npz\n/opt/tools/__pycache__/scene.cpython-312.pyc\n/opt/tools/__pycache__/runtime.cpython-312.pyc\n/opt/tools/__pycache__/rcb_dexhand.cpython-312.pyc\n/opt/tools/__pycache__/hands.cpython-312.pyc\n/opt/tools/__pycache__/checker.cpython-312.pyc\n/app/framehigh.npz\n/app/frameapproach.png\n/app/frameabove.png\n/app/frameabove.npz\n/app/exporter.py\n/app/assembledheld.png\n/app/assembledheld.npz\n/app/approach.png\n/app/above.png\n/app/above.npz\n/app/helpers.py\n/app/grip2.png\n/app/grip.png\n/app/framelift.png\n/app/framehigh.png\n/app/insert.png\n/app/insert.npz\n/app/lab.py\n/app/model.xml\n/app/output/trajectory.npz\n/app/output/gen.py\n","exit":[0],"pics":[]},"tok":{"in":67292,"cached":66816,"out":69,"think":22,"usd":0.075},"sim":{"submit":0,"reset":0}},{"id":49,"t":544.2,"say":"","calls":[{"kind":"shell","label":"types into the running program: print('hash',s.state_sha());np.savez('/app/fingerposes.npz',fop=fop,fcl=fcl)","code":"print('hash',s.state_sha());np.savez('/app/fingerposes.npz',fop=fop,fcl=fcl)\n"},{"kind":"shell","label":"cat /opt/tools/replay.py","code":"cat /opt/tools/replay.py"}],"out":{"text":"step 3522 stage 4 failure None None\r\nbrace [ 0.58501 -0.14491  0.89994] [ 0.00013 -0.00014  0.05535]\r\nupper_frame [0.6101  0.00003 1.04493] [ 3.14159 -0.00009 -0.00004]\r\nwrist [-0.10457  0.09565 -0.06624 -0.05477 -0.2963   0.03856]\r\ncontacts {('rail_3', 'lower_frame'), ('lower_frame', 'rail_3'), ('brace', 'lower_frame'), ('upper_frame', 'rail_1'), ('rail_1', 'lower_frame'), ('rail_2', 'lower_frame'), ('lower_frame', 'brace'), ('rail_3', 'upper_frame'), ('lower_frame', 'rail_2'), ('upper_frame', 'rail_3'), ('rail_1', 'upper_frame'), ('upper_frame', 'rail_2'), ('brace', 'upper_frame'), ('upper_frame', 'brace'), ('rail_2', 'upper_frame'), ('lower_frame', 'rail_1'), ('lower_frame', 'table')}\r\n{'stage': 4, 'stage_name': 'assembled', 'brace_lifted': False, 'brace_lower_seated': True, 'brace_seated_ends': 2, 'frame_lifted': True, 'assembled': True, 'seated_interfaces': 8, 'hand_contact_parts': [], 'max_linear_speed_m_s': 5.517776186734176e-05, 'max_angular_speed_rad_s': 0.00032191483417148066, 'released_hold_steps': 50, 'brace_pos': [0.58501, -0.14491, 0.89994], 'upper_frame_pos': [0.6101, 3e-05, 1.04493], 'lower_frame_shift_m': 4.12158690958654e-05, 'ends': {'brace_m': {'bore': 'lower_frame:0', 'depth_m': 0.01502, 'lateral_m': 0.00011, 'axis_rad': 0.0002, 'seated': True}, 'brace_p': {'bore': 'upper_frame:2', 'depth_m': 0.01501, 'lateral_m': 0.00012, 'axis_rad': 0.0001, 'seated': True}, 'rail_1_m': {'bore': 'lower_frame:2', 'depth_m': 0.01502, 'lateral_m': 1e-05, 'axis_rad': 0.0002,\n… (10,067 characters left out) …\nult=TASK, choices=[TASK])\n    parser.add_argument(\"--trusted-service\", action=\"store_true\")\n    parser.add_argument(\"--out\")\n    parser.add_argument(\"--video\")\n    parser.add_argument(\"--camera\", default=\"overview\")\n    parser.add_argument(\"--fps\", type=int, choices=[5, 10, 25, 50])\n    parser.add_argument(\"--width\", type=int, default=960)\n    parser.add_argument(\"--height\", type=int, default=544)\n    parser.add_argument(\"--hand\", help=\"hand recorded by the trusted service; must equal the archive's hand\")\n    args = parser.parse_args()\n    try:\n        fps = args.fps if args.fps is not None else (5 if args.trusted_service else 10)\n        result = replay(args.traj, args.video, args.camera, fps, args.trusted_service, args.hand, args.width,\n                        args.height)\n    except BadTrajectory as error:\n        # Only archive-read and row-validation problems are the submitter's; scene/runtime errors stay infra errors.\n        result = {\n            \"success\": False,\n            \"bad_trajectory\": 1,\n            \"reason\": \"bad_trajectory\",\n            \"error\": f\"{type(error).__name__}: {error}\"[:500],\n            \"hand\": args.hand,\n            \"n_actions\": 0,\n            \"steps\": 0,\n            \"stage\": 0,\n            \"state_sha\": \"\",\n        }\n    if args.out:\n        Path(args.out).write_text(json.dumps(result, indent=2) + \"\\n\")\n    print(json.dumps({k: v for k, v in result.items() if k not in (\"timeline\", \"verdict\")}, indent=2))\n\n\nif __name__ == \"__main__\":\n    main()\n","exit":[0],"pics":[]},"tok":{"in":68207,"cached":67200,"out":610,"think":516,"usd":0.1078},"sim":{"submit":0,"reset":0}},{"id":50,"t":560.6,"say":"","calls":[{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /opt/tools/replay.py --traj /app/output/trajectory.npz --out /app/replay1.json","code":"OPENBLAS_NUM_THREADS=1 python /opt/tools/replay.py --traj /app/output/trajectory.npz --out /app/replay1.json"},{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /opt/tools/replay.py --traj /app/output/trajectory.npz --out /app/replay2.json","code":"OPENBLAS_NUM_THREADS=1 python /opt/tools/replay.py --traj /app/output/trajectory.npz --out /app/replay2.json"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":72727,"cached":68096,"out":444,"think":296,"usd":0.1366},"sim":{"submit":0,"reset":0}},{"id":51,"t":568.0,"say":"The assembly succeeded after 3,522 controls: all eight dowels are seated, the hand has no contact with any part, and the assembly passed the settling test. I’ve saved the trajectory and am checking it in two fresh replay processes.","calls":[{"kind":"robot","label":"writes build_gen.py","code":"cat > /app/build_gen.py <<'PY'\nfrom pathlib import Path\nimport numpy as np\nposes=np.load('/app/fingerposes.npz')\nheader='''\"\"\"Generate the stool cross-brace assembly using actuator targets only.\n\nThe controller uses measured part poses for slow wrist feedback while the\nfingers maintain physical grasps. No object state, forces or constraints are\nmodified. Run with the benchmark's rcb_dexhand package installed.\n\"\"\"\nfrom pathlib import Path\nimport argparse\nimport numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom rcb_dexhand import Session\n\ns = Session(\"stool_brace_insert\", hand=\"sharpa\")\n\ndef pose(name):\n    b = s.model.body(name).id\n    return s.data.xpos[b].copy(), s.data.xmat[b].reshape(3, 3).copy()\n\ndef go(a, n=50):\n    a = np.array(a)\n    old = s.hold_action()\n    for i in range(n):\n        t = (i + 1) / n\n        t = t * t * (3 - 2 * t)\n        s.step(old + (a - old) * t)\n        if s.done:\n            break\n\ndef move(p=None, ang=None, f=None, n=50):\n    a = s.hold_action()\n    if p is not None:\n        a[:3] = np.array(p) - np.array(s.config[\"stage_origin\"])\n    if ang is not None:\n        a[3:6] = ang\n    if f is not None:\n        a[6:] = f\n    go(a, n)\n\ndef hold(n=20):\n    for _ in range(n):\n        s.step(s.hold_action())\n        if s.done:\n            break\n\n'''\n# Preserve the exact arithmetic used during trajectory authoring.\nhelper=Path('/app/helpers.py').read_text()\nstart=helper.index('def carry(')\nstop=helper.index('def euler_near')\ninitial=helper[start:stop].replace('def carry(', 'def carry_initial(',1)\nrest=helper[stop:]\nsource=header+initial+rest\nsource+='\\n# Finger targets obtained by fingertip inverse kinematics and grasp trials.\\n'\nsource+='F_OPEN = np.array('+repr(poses['fop'].tolist())+')\\n'\nsource+='F_GRIP = np.array('+repr(poses['fcl'].tolist())+')\\n'\nsource+='''\n\ndef main(path):\n    # Grasp the loose rail across its width, then stand it upright.\n    move([.57, -.46, .95], [0, 0, np.pi / 2], F_OPEN, 70)\n    move([.57, -.46, .825], n=85)\n    move(f=F_GRIP, n=70)\n    hold(25)\n    move([.57, -.46, .85], n=50)\n    hold(40)\n    upright(250)\n\n    # Align the lower dowel, insert it, and release the standing brace.\n    carry_initial('brace', np.array([.585, -.145, .95]), np.eye(3), 220, .12)\n    carry('brace', np.array([.585, -.145, .95]), np.eye(3), 80, .15)\n    carry('brace', np.array([.585, -.145, .901]), np.eye(3), 250, .12)\n    carry('brace', np.array([.585, -.145, .8999]), np.eye(3), 80, .10)\n    move(f=F_OPEN, n=80)\n    hold(25)\n\n    # Retract and approach the opposite frame's factory crossrail.\n    move([.42, -.4, .95], n=90)\n    move([.42, -.4, 1.2], n=100)\n    move([.455, .5, 1.2], [0, 0, 0], F_OPEN, 180)\n    move([.455, .5, .825], n=140)\n    move(f=F_GRIP, n=80)\n    hold(30)\n\n    # Maintain the upside-down frame orientation throughout the lift.\n    frame_rotation = R.from_euler('x', np.pi).as_matrix()\n    carry('upper_frame', np.array([.61, .5, .795]), frame_rotation, 150, .12)\n    carry('upper_frame', np.array([.61, .5, 1.12]), frame_rotation, 350, .12)\n    carry('upper_frame', np.array([.61, 0, 1.12]), frame_rotation, 450, .12)\n    carry('upper_frame', np.array([.61, 0, 1.12]), frame_rotation, 80, .12)\n\n    # Insert all four upper dowels, transfer the weight, then open the hand.\n    carry('upper_frame', np.array([.61002, .00002, 1.047]), frame_rotation, 350, .10)\n    carry('upper_frame', np.array([.61002, .00002, 1.0449]), frame_rotation, 100, .08)\n    move(f=F_OPEN, n=100)\n    hold(100)\n    if not s.success:\n        raise RuntimeError(str(s.status()))\n    s.save_trajectory(s.actions, path)\n    print(f\"Saved {len(s.actions)} controls; state hash {s.state_sha()}\")\n\nif __name__ == '__main__':\n    parser = argparse.ArgumentParser()\n    parser.add_argument('--output', default=str(Path(__file__).with_name('trajectory.npz')))\n    main(parser.parse_args().output)\n'''\nPath('/app/gen_program.py').write_text(source)\nPY\npython /app/build_gen.py\nOPENBLAS_NUM_THREADS=1 python /app/gen_program.py --output /app/generated.npz"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":73284,"cached":72576,"out":1512,"think":50,"usd":0.1553},"sim":{"submit":0,"reset":0}},{"id":52,"t":610.9,"say":"","calls":[{"kind":"look","label":"final.png","code":"/app/final.png"},{"kind":"shell","label":"cat /run/rcb-limits/usage.json && ls -l /app/replay1.json /app/replay2.json /app/generated.npz","code":"cat /run/rcb-limits/usage.json && ls -l /app/replay1.json /app/replay2.json /app/generated.npz"}],"out":{"text":"{\n \"t\": 1792239828.85,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 1.55,\n \"processes\": 11,\n \"disk_gb\": 0.833,\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\": 10.0,\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\": 710.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 2890.0,\n \"deadline_utc\": \"2026-10-17T13:11:58Z\"\n}ls: cannot access '/app/replay1.json': No such file or directory\nls: cannot access '/app/replay2.json': No such file or directory\nls: cannot access '/app/generated.npz': No such file or directory\n","exit":[2],"pics":["dexhand-stool-brace-insert-i00-privileged--7kypvj7/s052_0.jpg"]},"tok":{"in":74854,"cached":73088,"out":460,"think":384,"usd":0.1137},"sim":{"submit":0,"reset":0}},{"id":53,"t":618.0,"say":"","calls":[{"kind":"shell","label":"types into the running program: s.close(); sys.exit(0)","code":"s.close(); sys.exit(0)\n"},{"kind":"shell","label":"sed -n '1,230p' /app/gen_program.py","code":"sed -n '1,230p' /app/gen_program.py"}],"out":{"text":"s.close(); sys.exit(0)\r\n\n\"\"\"Generate the stool cross-brace assembly using actuator targets only.\n\nThe controller uses measured part poses for slow wrist feedback while the\nfingers maintain physical grasps. No object state, forces or constraints are\nmodified. Run with the benchmark's rcb_dexhand package installed.\n\"\"\"\nfrom pathlib import Path\nimport argparse\nimport numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom rcb_dexhand import Session\n\ns = Session(\"stool_brace_insert\", hand=\"sharpa\")\n\ndef pose(name):\n    b = s.model.body(name).id\n    return s.data.xpos[b].copy(), s.data.xmat[b].reshape(3, 3).copy()\n\ndef go(a, n=50):\n    a = np.array(a)\n    old = s.hold_action()\n    for i in range(n):\n        t = (i + 1) / n\n        t = t * t * (3 - 2 * t)\n        s.step(old + (a - old) * t)\n        if s.done:\n            break\n\ndef move(p=None, ang=None, f=None, n=50):\n    a = s.hold_action()\n    if p is not None:\n        a[:3] = np.array(p) - np.array(s.config[\"stage_origin\"])\n    if ang is not None:\n        a[3:6] = ang\n    if f is not None:\n        a[6:] = f\n    go(a, n)\n\ndef hold(n=20):\n    for _ in range(n):\n        s.step(s.hold_action())\n        if s.done:\n            break\n\ndef carry_initial(part,p,r,n=100,gain=.3):\n p0,r0=pose(part)\n rv=R.from_matrix(r@r0.T).as_rotvec()\n for i in range(n):\n  t=(i+1)/n;t=t*t*(3-2*t)\n  pd=p0+(p-p0)*t;rd=R.from_rotvec(rv*t).as_matrix()@r0\n  pp,rr=pose(part)\n  wp,wr=pose('wrist_stage')\n  # correct target with measured body position \n… (3,057 characters left out) …\n, .901]), np.eye(3), 250, .12)\n    carry('brace', np.array([.585, -.145, .8999]), np.eye(3), 80, .10)\n    move(f=F_OPEN, n=80)\n    hold(25)\n\n    # Retract and approach the opposite frame's factory crossrail.\n    move([.42, -.4, .95], n=90)\n    move([.42, -.4, 1.2], n=100)\n    move([.455, .5, 1.2], [0, 0, 0], F_OPEN, 180)\n    move([.455, .5, .825], n=140)\n    move(f=F_GRIP, n=80)\n    hold(30)\n\n    # Maintain the upside-down frame orientation throughout the lift.\n    frame_rotation = R.from_euler('x', np.pi).as_matrix()\n    carry('upper_frame', np.array([.61, .5, .795]), frame_rotation, 150, .12)\n    carry('upper_frame', np.array([.61, .5, 1.12]), frame_rotation, 350, .12)\n    carry('upper_frame', np.array([.61, 0, 1.12]), frame_rotation, 450, .12)\n    carry('upper_frame', np.array([.61, 0, 1.12]), frame_rotation, 80, .12)\n\n    # Insert all four upper dowels, transfer the weight, then open the hand.\n    carry('upper_frame', np.array([.61002, .00002, 1.047]), frame_rotation, 350, .10)\n    carry('upper_frame', np.array([.61002, .00002, 1.0449]), frame_rotation, 100, .08)\n    move(f=F_OPEN, n=100)\n    hold(100)\n    if not s.success:\n        raise RuntimeError(str(s.status()))\n    s.save_trajectory(s.actions, path)\n    print(f\"Saved {len(s.actions)} controls; state hash {s.state_sha()}\")\n\nif __name__ == '__main__':\n    parser = argparse.ArgumentParser()\n    parser.add_argument('--output', default=str(Path(__file__).with_name('trajectory.npz')))\n    main(parser.parse_args().output)\n","exit":[0,0],"pics":[]},"tok":{"in":76012,"cached":74752,"out":186,"think":106,"usd":0.0967},"sim":{"submit":0,"reset":0}},{"id":54,"t":629.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await Promise.allSettled([\ntools.write_stdin({session_id:47590,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:16844,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:25193,chars:\"\",yield_time_ms:1000,max_output_tokens:1200})\n]);for (let i=0;i<r.length;i++)text({i,...r[i]});\n"},{"kind":"shell","label":"waits for the running program's output","code":"const r = await Promise.allSettled([\ntools.write_stdin({session_id:47590,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:16844,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:25193,chars:\"\",yield_time_ms:1000,max_output_tokens:1200})\n]);for (let i=0;i<r.length;i++)text({i,...r[i]});\n"},{"kind":"shell","label":"waits for the running program's output","code":"const r = await Promise.allSettled([\ntools.write_stdin({session_id:47590,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:16844,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:25193,chars:\"\",yield_time_ms:1000,max_output_tokens:1200})\n]);for (let i=0;i<r.length;i++)text({i,...r[i]});\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78664,"cached":75904,"out":414,"think":291,"usd":0.1242},"sim":{"submit":0,"reset":0}},{"id":55,"t":655.4,"say":"","calls":[{"kind":"shell","label":"waits 20 s","code":"{\"duration_ms\": 20000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":79234,"cached":78592,"out":537,"think":516,"usd":0.1119},"sim":{"submit":0,"reset":0}},{"id":56,"t":679.1,"say":"","calls":[{"kind":"shell","label":"ls -lh /app/replay1.json /app/replay2.json /app/generated.npz; ps -eo pid,etime,time,args | rg 'replay.py|gen_","code":"ls -lh /app/replay1.json /app/replay2.json /app/generated.npz; ps -eo pid,etime,time,args | rg 'replay.py|gen_program.py'"}],"out":{"text":"ls: cannot access '/app/generated.npz': No such file or directory\n-rw-r--r-- 1 root root 7.1K Oct 17 12:24 /app/replay1.json\n-rw-r--r-- 1 root root 7.1K Oct 17 12:24 /app/replay2.json\n/bin/bash: line 1: ps: command not found\n","exit":[1],"pics":[]},"tok":{"in":79794,"cached":79104,"out":66,"think":0,"usd":0.0893},"sim":{"submit":0,"reset":0}},{"id":57,"t":683.4,"say":"","calls":[{"kind":"shell","label":"for p in ['/app/replay1.json','/app/replay2.json']:","code":"python - <<'PY'\nimport json\nfor p in ['/app/replay1.json','/app/replay2.json']:\n x=json.load(open(p));print(p,{k:x[k] for k in ['success','reason','steps','state_sha']})\nPY"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"python - <<'PY'\\nimport json\\nfor p in ['/app/replay1.json','/app/replay2.json']:\\n x=json.load(open(p));print(p,{k:x[k] for k in ['success','reason','steps','state_sha']})\\nPY\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:25193,chars:\"\",yield_time_ms:1000,max_output_tokens:2500}));\n"}],"out":{"text":"/app/replay1.json {'success': True, 'reason': 'success', 'steps': 3522, 'state_sha': '49c913ba62feb4762890e1926bdc4acc3aa5007b6d00d571f28eb8cef79f400e'}\n/app/replay2.json {'success': True, 'reason': 'success', 'steps': 3522, 'state_sha': '49c913ba62feb4762890e1926bdc4acc3aa5007b6d00d571f28eb8cef79f400e'}\n","exit":[0],"pics":[]},"tok":{"in":80003,"cached":79744,"out":126,"think":10,"usd":0.0886},"sim":{"submit":0,"reset":0}},{"id":58,"t":708.4,"say":"Both fresh replays succeeded with identical final state hashes. I’m checking that the generator script reproduces the saved motor targets exactly before finalizing the files.","calls":[{"kind":"shell","label":"waits 20 s","code":"{\"duration_ms\": 20000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":80352,"cached":79872,"out":580,"think":521,"usd":0.1137},"sim":{"submit":0,"reset":0}},{"id":59,"t":734.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:25193,chars:\"\",yield_time_ms:1000,max_output_tokens:2500}));\ntext(await tools.exec_command({cmd:\"ls -lh /app/generated.npz\",\"max_output_tokens\":500}));\n"},{"kind":"shell","label":"ls -lh /app/generated.npz","code":"ls -lh /app/generated.npz"}],"out":{"text":"Saved 3522 controls; state hash 49c913ba62feb4762890e1926bdc4acc3aa5007b6d00d571f28eb8cef79f400e\n\n-rw-r--r-- 1 root root 149K Oct 17 12:25 /app/generated.npz\n","exit":[0,0],"pics":[]},"tok":{"in":80955,"cached":80256,"out":62,"think":0,"usd":0.0903},"sim":{"submit":0,"reset":0}},{"id":60,"t":741.5,"say":"","calls":[{"kind":"shell","label":"old=Path('/app/output/trajectory.npz')","code":"python - <<'PY'\nfrom pathlib import Path\nimport numpy as np, hashlib, json\nold=Path('/app/output/trajectory.npz')\nnew=Path('/app/generated.npz')\nwith np.load(old) as a,np.load(new) as b:\n assert set(a.files)==set(b.files)\n for k in a.files:\n  assert np.array_equal(a[k],b[k]),k\n print('Exact match:',a['actions'].shape,'hand:',str(a['hand']))\nr1=json.loads(Path('/app/replay1.json').read_text());r2=json.loads(Path('/app/replay2.json').read_text())\nassert r1['success'] and r2['success'] and r1['state_sha']==r2['state_sha']\nPath('/app/output/gen.py').write_text(Path('/app/gen_program.py').read_text())\nold.write_bytes(new.read_bytes())\nprint('Trajectory bytes:',old.stat().st_size)\nprint('State hash:',r1['state_sha'])\nprint('Generator bytes:',Path('/app/output/gen.py').stat().st_size)\nPY"}],"out":{"text":"Exact match: (3522, 28) hand: sharpa\nTrajectory bytes: 151673\nState hash: 49c913ba62feb4762890e1926bdc4acc3aa5007b6d00d571f28eb8cef79f400e\nGenerator bytes: 6032\n","exit":[0],"pics":[]},"tok":{"in":81177,"cached":80896,"out":268,"think":0,"usd":0.0971},"sim":{"submit":0,"reset":0}},{"id":61,"t":745.5,"say":"Saved [trajectory.npz](/app/output/trajectory.npz) and [gen.py](/app/output/gen.py).\n\nVerified success in two fresh replays with identical state hashes: 3,522 controls, all eight dowels seated, hand released, and settling test passed.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":81570,"cached":81152,"out":61,"think":0,"usd":0.0884},"sim":{"submit":0,"reset":0}}]}