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runs/bigym2-flip-cutlery-i00-privileged--swzeyvf/replay.mp4

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runs/bigym2-flip-cutlery-i00-standard-realtime--beftxex.json

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+{"slug":"bigym2-flip-cutlery-i00-standard-realtime--beftxex","task":"bigym2-flip-cutlery-i00-standard-realtime","bench":"bigym2","mode":"standard-realtime","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","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":1950,"sim_steps":1950,"calls":4,"rows":71,"resets":0,"reset_budget":0,"sim_startups":1,"elapsed_s":125.6,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":38.989,"max_lag_s":0.0017,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":1879,"late_steps":0,"requests_refused":0,"request_busy_s":0.363,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.313,"peak_processes":9,"peak_disk_gb":0.829,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":212,"tokens":{"in":664628,"cached":617984,"out":15014,"usd":0.02},"task_text":"# bigym2 flip-cutlery — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree G1 humanoid robot with two-finger grippers (BiGym 2.0, MuJoCo) **as if it were real\nhardware**: the simulator runs in a service you cannot open, and you reach it only through a client. Like real hardware,\nit does not wait for you: once the episode is running, the robot moves in real time while you think. NVIDIA's GR00T\nwhole-body controller, a learned policy that runs inside every control step, drives the legs and waist and keeps the\nrobot balanced: you command where it walks, how high its pelvis is, how far its torso leans forward, its arm joints and its grippers.\n**Task:** Take the spoon from the mug, flip it, and place it back.\n\nAt the start the mug, with the spoon standing in it, is on the counter in front of you, about 0.6 m away, straight ahead, 0.86 m above the floor. (Distances are from your pelvis along the floor, directions from the way you face,\nheights above the floor; measured on this scene.)\n\n## Rules (real-robot rules)\n- **Time does not stop.** The episode starts paused, on a fixed starting state, the robot standing still. Its clock starts at your first `submit` (or `get_obs(seconds=s)`) and from then on the robot runs at 50 Hz in real time, one control step every 0.02 s of wall-clock time, whether or not you send anything, until the episode ends. Between your commands it executes what you planned, then holds your last command with zero walking and turning velocity (it stands still where it is); nothing pauses for you, not your thinking, not your tool calls.\n- **You are far too slow to steer it turn by turn.** One turn of yours takes seconds. Drive it with a program: a controller of your own (Python in your container, with numpy and the client) that runs a loop, reads the robot and sends commands, started in the background (`setsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null &`: `setsid` matters, a plain `nohup ... &` is killed when your shell command returns) so that your session is free while it runs.\n- **One episode, no reset.** `spec()[\"budget\"][\"reset\"]` is authoritative: it is 0 here, so the one episode is the run.\n- **No privileged state, no score.** You see what the robot's three cameras see (RGB, 84×84: `head`, `left_wrist`, `right_wrist`) and its own proprioception (below). Not where any object is now (only the start sentence above), not the success check: the service judges the episode and only tells you that it ended and why (`meta[\"done\"]`, `meta[\"reason\"]`). `spec()` gives the robot's facts: the action slots and their bounds, each camera's field of view and its pose at the start.\n- There is nothing to hand in: the service records every control step it ran, replays the episode in a fresh simulator and grades the replay. Keep the controller at `/app/output/gen.py` for the record: save it early and keep it current.\n- Wall-clock budget: the time limit (`## Ti\n… (7,860 characters left out) …\nother benchmark's examples (`joint_position`, bounds [-1, 1], `imu`,\n`links`, `depth`): for this task `spec()` is authoritative.\n\n## Proprioception\nEach row (`meta[\"proprio\"][\"now\"]`, `res.proprio`) has, in `spec()[\"proprio_layout\"]` order: the positions (`*_pos`) of the 3 waist joints (they show the lean you command), each arm's 7 joints (rad) and its gripper's 2 finger joints (slides, m), and the pelvis (`pelvis_x_pos`, `pelvis_y_pos`, `pelvis_z_pos` in m and `pelvis_rz_pos`, its heading, in rad: the room's frame, z up, heading 0 along the room's +x axis and counter-clockwise positive): 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 `date` now, and again before you decide that time is short; work out the time left from those readings, never from a guess. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"bigym2-flip-cutlery-i00-standard-realtime--beftxex/replay.mp4","replay_last":"bigym2-flip-cutlery-i00-standard-realtime--beftxex/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and scene facts first, then save a controller before starting the episode. I’ll keep the first timed call for when the control loop is ready so the robot doesn’t spend its episode waiting.","calls":[{"kind":"shell","label":"date -u && pwd && ls -la /app && python -c 'import sys; sys.path.insert(0,\"/opt/tools\"); import rcb_client; he","code":"date -u && pwd && ls -la /app && python -c 'import sys; sys.path.insert(0,\"/opt/tools\"); import rcb_client; help(rcb_client)'"}],"out":{"text":"Thu Oct 15 02:05:58 UTC 2026\n/app\ntotal 12\ndrwxr-xr-x 3 root root 4096 Oct 10 22:12 .\ndrwxr-xr-x 1 root root 4096 Oct 15 02:05 ..\ndrwxr-xr-x 2 root root 4096 Oct 10 22:12 output\nHelp on module rcb_client:\n\nNAME\n    rcb_client\n\nDESCRIPTION\n    eai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\n    PYTHONPATH).\n\n        from rcb_client import Robot, EpisodeOver\n        r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\n    TIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\n    get_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\n    spec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\n    plan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\n    the last target is held. Whatever you do in between -- think, print, run a model -- the robot keeps executing.\n\n    Calls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n        r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                                 (\"joint_position\": dim, layout (actuator order), lower/upper,\n… (8,016 characters left out) …\n-----------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\n    class Robot(builtins.object)\n     |  Robot(base: 'str | None' = None, timeout: 'float' = 600.0)\n     |\n     |  Methods defined here:\n     |\n     |  __init__(self, base: 'str | None' = None, timeout: 'float' = 600.0)\n     |      Initialize self.  See help(type(self)) for accurate signature.\n     |\n     |  get_obs(self, cameras=None, seconds: 'float' = 0.0, video_fps: 'int' = 10, include_depth: 'bool' = False, video: 'str' = 'frames') -> 'Result'\n     |\n     |  reset(self, cameras=None, include_depth: 'bool' = False) -> 'Result'\n     |\n     |  spec(self) -> 'dict'\n     |\n     |  status(self) -> 'dict'\n     |\n     |  submit(self, action_type: 'str', actions, dt: 'float | None' = None, interpolate: 'str' = 'linear', at: 'int | None' = None, cameras=None, video_fps: 'int' = 10, video: 'str' = 'none', include_depth: 'bool' = False, note: 'str' = '') -> 'Result'\n     |\n     |  ----------------------------------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\nDATA\n    MAX_BODY = 67108864\n    PROTOCOLS = ('eai-standard/2.', 'rcb-limited/2.')\n\nFILE\n    /opt/tools/rcb_client.py\n\n\n","exit":[],"pics":[]},"tok":{"in":12992,"cached":8960,"out":261,"think":124,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":7,"t":4.3,"say":"","calls":[{"kind":"robot","label":"s=r.spec()","code":"python - <<'PY'\nimport sys, json\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot()\ns=r.spec()\nprint(json.dumps({k:s.get(k) for k in ['episode','budget','timing','control_dt','max_control_steps','action_types','proprio_layout','joints','grippers','joint_frame','joint_sign','cameras']},indent=2))\no=r.get_obs(seconds=0,video='frames')\nprint('META',json.dumps(o.meta,indent=2))\no.save('/app/output/initial')\nprint('saved initial')\nPY"}],"out":{"text":"{\n  \"episode\": \"one episode, no reset: it succeeds when this has held for 1 s (50 control steps): the spoon is the other way round: the end that points up out of the mug at the start now points down (within 50 degrees of straight down), the spoon touching the mug, neither the spoon nor the mug held by a gripper (held = a finger of the gripper touching the object); a fall (pelvis tilted beyond ~53 degrees or below 0.30 m) fails it without ending it; it ends at the success, a failure, the pelvis 10 m from the scene's origin, a simulator error, or after 1950 control steps\",\n  \"budget\": {\n    \"reset\": 0,\n    \"wall_clock_s\": 3600.0\n  },\n  \"timing\": {\n    \"realtime\": true,\n    \"slowdown\": 1.0,\n    \"control_dt\": 0.02,\n    \"wall_s_per_control_step\": 0.02,\n    \"clock\": \"an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends\",\n    \"submit\": \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\",\n    \"observe\": \"seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan\",\n    \"max_ahead_steps\": 500,\n    \"no_images\": \"cameras = [] returns\n… (16,616 characters left out) …\n  -0.0022025431971997023,\n      -0.0021974605042487383,\n      0.018061626702547073,\n      0.0016466043889522552,\n      8.687448280397803e-05,\n      0.027607474476099014,\n      -0.00012114347919123247,\n      0.03825142979621887,\n      7.266191823873669e-05,\n      -0.0022015750873833895,\n      -0.0021984258200973272,\n      0.16808150708675385,\n      -0.0027043025474995375,\n      0.7465458512306213,\n      0.00036821793764829636,\n      -6.572867278009653e-05,\n      0.00010140358790522441,\n      -0.006467680912464857,\n      -0.0019367675995454192,\n      0.00010704886517487466,\n      0.00012161012273281813,\n      -0.0004496919282246381,\n      1.8622165498527465e-06,\n      -4.4868880650028586e-05,\n      4.2756360926432535e-05,\n      -6.667818070127396e-06,\n      6.362079147947952e-06,\n      -0.0019474586006253958,\n      4.0871804230846465e-05,\n      -4.322036329540424e-05,\n      -0.00044652557699009776,\n      1.7529574733998743e-06,\n      -5.4237028962234035e-05,\n      -1.5915053154458292e-05,\n      5.4091483434604015e-06,\n      -4.944605279888492e-06,\n      0.007406769320368767,\n      0.000491553742904216,\n      0.0007636592490598559,\n      -0.0005869435262866318,\n      0.6000000238418579,\n      0.6000000238418579,\n      0.16808150708675385,\n      -0.0027043025474995375,\n      0.7465458512306213,\n      0.00036821793764829636\n    ]\n  },\n  \"running\": false,\n  \"planned_steps\": 0,\n  \"lag_s\": 0.0,\n  \"obs_id\": 1,\n  \"seconds\": 0.0,\n  \"control_steps_watch\": 0,\n  \"ok\": true\n}\nsaved initial\n","exit":[],"pics":[]},"tok":{"in":15767,"cached":12032,"out":252,"think":64,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":8,"t":7.0,"say":"","calls":[{"kind":"shell","label":"find /app/output/initial -maxdepth 3 -type f -printf '%p %s\\n'","code":"find /app/output/initial -maxdepth 3 -type f -printf '%p %s\\n'"}],"out":{"text":"/app/output/initial/frames/head/000.jpg 3225\n/app/output/initial/frames/left_wrist/000.jpg 2062\n/app/output/initial/frames/right_wrist/000.jpg 2031\n/app/output/initial/proprio.npy 352\n/app/output/initial/meta.json 3420\n/app/output/initial/last/left_wrist.jpg 2362\n/app/output/initial/last/right_wrist.jpg 2335\n/app/output/initial/last/head.jpg 3788\n","exit":[],"pics":[]},"tok":{"in":22489,"cached":15104,"out":94,"think":24,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":9,"t":9.5,"say":"","calls":[{"kind":"look","label":"a picture","code":"const paths=[\"/app/output/initial/last/head.jpg\",\"/app/output/initial/last/left_wrist.jpg\",\"/app/output/initial/last/right_wrist.jpg\"]; for (const p of paths){ const r=await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":["bigym2-flip-cutlery-i00-standard-realtime--beftxex/s009_0.jpg","bigym2-flip-cutlery-i00-standard-realtime--beftxex/s009_1.jpg","bigym2-flip-cutlery-i00-standard-realtime--beftxex/s009_2.jpg"]},"tok":{"in":22714,"cached":22272,"out":72,"think":0,"usd":0.0003},"sim":{"submit":0,"reset":0}},{"id":10,"t":17.7,"say":"","calls":[{"kind":"shell","label":"for cam in ['head','left_wrist','right_wrist']:","code":"python - <<'PY'\nfrom PIL import Image\nfor cam in ['head','left_wrist','right_wrist']:\n im=Image.open(f'/app/output/initial/last/{cam}.jpg').resize((672,672))\n im.save(f'/app/output/initial/{cam}_up.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":22842,"cached":22272,"out":597,"think":481,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":11,"t":19.5,"say":"","calls":[{"kind":"look","label":"head_up.png","code":"/app/output/initial/head_up.png"}],"out":{"text":"","exit":[],"pics":["bigym2-flip-cutlery-i00-standard-realtime--beftxex/s011_0.jpg"]},"tok":{"in":23462,"cached":22272,"out":35,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":12,"t":23.1,"say":"The starting head view shows the counter edge but the mug is mostly above the frame, so I’m checking the installed scene metadata and preparing to use wrist views during approach. The controller will use the supplied joint geometry and measured pelvis pose for arm placement.","calls":[{"kind":"shell","label":"print('\\n'.join(sorted(m.name for m in pkgutil.iter_modules() if 'gym' in m.name.lower() or 'bi'==m.name.lower","code":"find /opt /app -maxdepth 4 \\( -iname '*bigym*' -o -iname '*flip*cutlery*' \\) -print 2>/dev/null | head -80 && find /app/output -maxdepth 1 -type f -ls && python - <<'PY'\nimport sys, pkgutil\nprint('\\n'.join(sorted(m.name for m in pkgutil.iter_modules() if 'gym' in m.name.lower() or 'bi'==m.name.lower())))\nPY"}],"out":{"text":"\n","exit":[],"pics":[]},"tok":{"in":24050,"cached":23296,"out":322,"think":109,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":13,"t":49.1,"say":"","calls":[{"kind":"shell","label":"ls -la /opt /opt/tools && find /app /opt -maxdepth 3 -type f | head -100","code":"ls -la /opt /opt/tools && find /app /opt -maxdepth 3 -type f | head -100"}],"out":{"text":"/opt:\ntotal 16\ndrwxr-xr-x 1 root root 4096 Oct 10 22:12 .\ndrwxr-xr-x 1 root root 4096 Oct 15 02:05 ..\ndrwxr-xr-x 1 root root 4096 Oct 15 02:05 tools\n\n/opt/tools:\ntotal 36\ndrwxr-xr-x 1 root root  4096 Oct 15 02:05 .\ndrwxr-xr-x 1 root root  4096 Oct 10 22:12 ..\ndrwxr-xr-x 2 root root  4096 Oct 15 02:05 __pycache__\n-rw-rw-r-- 1 root root  3881 Oct 10 22:12 rcb1.py\n-rw-rw-r-- 1 root root 12787 Oct 10 22:12 rcb_client.py\n/app/output/initial/proprio.npy\n/app/output/initial/right_wrist_up.png\n/app/output/initial/meta.json\n/app/output/initial/head_up.png\n/app/output/initial/left_wrist_up.png\n/opt/tools/rcb1.py\n/opt/tools/rcb_client.py\n/opt/tools/__pycache__/rcb_client.cpython-312.pyc\n/opt/tools/__pycache__/rcb1.cpython-312.pyc\n","exit":[],"pics":[]},"tok":{"in":24395,"cached":23296,"out":1782,"think":1709,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":14,"t":88.4,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":26494,"cached":23296,"out":3634,"think":2512,"usd":0.0024},"sim":{"submit":0,"reset":0}},{"id":15,"t":90.8,"say":"","calls":[{"kind":"shell","label":"setsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null & echo $!","code":"setsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null & echo $!"}],"out":{"text":"9320\n","exit":[],"pics":[]},"tok":{"in":30152,"cached":25472,"out":118,"think":42,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":16,"t":93.3,"say":"","calls":[{"kind":"shell","label":"cat /app/output/run.log; cat /app/output/gen_state.json 2>/dev/null || true; find /app/output/stages/approach ","code":"cat /app/output/run.log; cat /app/output/gen_state.json 2>/dev/null || true; find /app/output/stages/approach -maxdepth 3 -type f -printf '%p %s\\n' 2>/dev/null"}],"out":{"text":"Warning: truncated output (original token count: 1734)\nTotal output lines: 221\n\n{\n  \"stage\": \"approach\",\n  \"meta\": {\n    \"calls\": 3,\n    \"rows\": 71,\n    \"control_steps\": 72,\n    \"done\": false,\n    \"reason\": null,\n    \"sim_time_s\": 1.44,\n    \"time_s\": 88.03,\n    \"time_left_s\": 3512.0,\n    \"proprio\": {\n      \"layout\": [\n        \"waist_yaw_joint_pos\",\n        \"waist_roll_joint_pos\",\n        \"waist_pitch_joint_pos\",\n        \"left_shoulder_pitch_joint_pos\",\n        \"left_shoulder_roll_joint_pos\",\n        \"left_shoulder_yaw_joint_pos\",\n        \"left_elbow_joint_pos\",\n        \"left_wrist_roll_joint_pos\",\n        \"left_wrist_pitch_joint_pos\",\n        \"left_wrist_yaw_joint_pos\",\n        \"left_dex1_finger_joint_1_pos\",\n        \"left_dex1_finger_joint_2_pos\",\n        \"right_shoulder_pitch_joint_pos\",\n        \"right_shoulder_roll_joint_pos\",\n        \"right_shoulder_yaw_joint_pos\",\n        \"right_elbow_joint_pos\",\n        \"right_wrist_roll_joint_pos\",\n        \"right_wrist_pitch_joint_pos\",\n        \"right_wrist_yaw_joint_pos\",\n        \"right_dex1_finger_joint_1_pos\",\n        \"right_dex1_finger_joint_2_pos\",\n        \"pelvis_x_pos\",\n        \"pelvis_y_pos\",\n        \"pelvis_z_pos\",\n        \"pelvis_rz_pos\",\n        \"waist_yaw_joint_vel\",\n        \"waist_roll_joint_vel\",\n        \"waist_pitch_joint_vel\",\n        \"left_shoulder_pitch_joint_vel\",\n        \"left_shoulder_roll_joint_vel\",\n        \"left_shoulder_yaw_joint_vel\",\n        \"left_elbow_joint_vel\",\n        \"left_wrist_roll_joint_vel\",\n       \n… (3,106 characters left out) …\n   0.7388436794281006,\n    -0.021648189052939415\n  ]\n}/app/output/stages/approach/frames/head/002.jpg 3038\n/app/output/stages/approach/frames/head/000.jpg 3223\n/app/output/stages/approach/frames/head/001.jpg 3222\n/app/output/stages/approach/frames/head/006.jpg 3199\n/app/output/stages/approach/frames/head/003.jpg 3189\n/app/output/stages/approach/frames/head/004.jpg 3115\n/app/output/stages/approach/frames/head/005.jpg 3293\n/app/output/stages/approach/frames/left_wrist/002.jpg 2181\n/app/output/stages/approach/frames/left_wrist/000.jpg 2086\n/app/output/stages/approach/frames/left_wrist/001.jpg 2215\n/app/output/stages/approach/frames/left_wrist/006.jpg 2245\n/app/output/stages/approach/frames/left_wrist/003.jpg 2207\n/app/output/stages/approach/frames/left_wrist/004.jpg 2157\n/app/output/stages/approach/frames/left_wrist/005.jpg 2279\n/app/output/stages/approach/frames/right_wrist/002.jpg 2165\n/app/output/stages/approach/frames/right_wrist/000.jpg 2046\n/app/output/stages/approach/frames/right_wrist/001.jpg 2153\n/app/output/stages/approach/frames/right_wrist/006.jpg 2234\n/app/output/stages/approach/frames/right_wrist/003.jpg 2145\n/app/output/stages/approach/frames/right_wrist/004.jpg 2311\n/app/output/stages/approach/frames/right_wrist/005.jpg 2165\n/app/output/stages/approach/proprio.npy 1696\n/app/output/stages/approach/meta.json 3357\n/app/output/stages/approach/last/left_wrist.jpg 2614\n/app/output/stages/approach/last/right_wrist.jpg 2603\n/app/output/stages/approach/last/head.jpg 3748\n","exit":[],"pics":[]},"tok":{"in":30296,"cached":29568,"out":129,"think":29,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":17,"t":98.4,"say":"","calls":[{"kind":"look","label":"a picture","code":"const paths=[\"/app/output/stages/approach/last/head.jpg\",\"/app/output/stages/approach/last/left_wrist.jpg\",\"/app/output/stages/approach/last/right_wrist.jpg\"]; for (const p of paths){ const r=await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":["bigym2-flip-cutlery-i00-standard-realtime--beftxex/s017_0.jpg","bigym2-flip-cutlery-i00-standard-realtime--beftxex/s017_1.jpg","bigym2-flip-cutlery-i00-standard-realtime--beftxex/s017_2.jpg"]},"tok":{"in":32519,"cached":29568,"out":264,"think":181,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":18,"t":101.5,"say":"","calls":[{"kind":"shell","label":"for cam in ['head','left_wrist','right_wrist']:","code":"python - <<'PY'\nfrom PIL import Image\nfor cam in ['head','left_wrist','right_wrist']:\n p=f'/app/output/stages/approach/last/{cam}.jpg'\n Image.open(p).resize((672,672)).save(f'/app/output/stages/approach/{cam}_up.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":32839,"cached":31616,"out":161,"think":40,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":19,"t":104.0,"say":"","calls":[{"kind":"look","label":"head_up.png","code":"/app/output/stages/approach/head_up.png"}],"out":{"text":"","exit":[],"pics":["bigym2-flip-cutlery-i00-standard-realtime--beftxex/s019_0.jpg"]},"tok":{"in":33023,"cached":32640,"out":38,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":20,"t":107.1,"say":"","calls":[{"kind":"look","label":"left_wrist_up.png","code":"/app/output/stages/approach/left_wrist_up.png"}],"out":{"text":"","exit":[],"pics":["bigym2-flip-cutlery-i00-standard-realtime--beftxex/s020_0.jpg"]},"tok":{"in":33614,"cached":32640,"out":127,"think":84,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":21,"t":150.2,"say":"","calls":[{"kind":"shell","label":"try: import scipy; print('scipy',scipy.__version__)","code":"python - <<'PY'\nimport json, numpy as np\ntry: import scipy; print('scipy',scipy.__version__)\nexcept Exception as e: print('no scipy',e)\ns=json.load(open('/app/output/spec.json'))\n\ndef rotvec(v,ang):\n n=np.linalg.norm(v); v=v/n\n K=np.array([[0,-v[2],v[1]],[v[2],0,-v[0]],[-v[1],v[0],0]])\n return np.eye(3)*np.cos(ang)+(1-np.cos(ang))*np.outer(v,v)+np.sin(ang)*K\n\ndef fk(side,q):\n names=['shoulder_pitch','shoulder_roll','shoulder_yaw','elbow','wrist_roll','wrist_pitch','wrist_yaw']\n pre='left_' if side=='left' else 'right_'\n os=[np.array(s['joints'][pre+n+'_joint']['position_m']) for n in names]\n aa=[np.array(s['joints'][pre+n+'_joint']['axis']) for n in names]\n p=os[0].copy(); R=np.eye(3)\n for i in range(7):\n  if i: p=p+R@(os[i]-os[i-1])\n  axis=R@aa[i]; R=rotvec(axis,q[i])@R\n return p+R@np.array([.148,0,0])\nfor side in ['left','right']:\n print(side)\n for q in [np.zeros(7), np.array([-.7,0,0,0,0,0,0]),np.array([-.7,0,0,1.5,0,0,0]),np.array([-1.2,0,0,1.5,0,0,0])]: print(q, fk(side,q))\n from scipy.optimize import least_squares\n target=np.array([.42,0,.25])\n lo=np.array([s['action_types']['whole_body']['lower'][i] for i in range(5+(0 if side=='left' else 7),12+(0 if side=='left' else 7))])\n hi=np.array([s['action_types']['whole_body']['upper'][i] for i in range(5+(0 if side=='left' else 7),12+(0 if side=='left' else 7))])\n # solver with multiple starts, arm target at y=0 global pelvis frame\n best=None\n for j in range(20):\n  q0=np.random.uniform(lo*.4,hi*.4)\n  z=least_squares(lambda q: np.r_[fk(side,q)-target, .025*q],q0,bounds=(lo,hi),max_nfev=300)\n  err=np.linalg.norm(fk(side,z.x)-target)\n  if best is None or err<best[0]: best=err,z.x\n print('solution err',best[0],np.round(best[1],3),np.round(fk(side,best[1]),3))\nPY"}],"out":{"text":"scipy 1.18.1\nleft\n[0. 0. 0. 0. 0. 0. 0.] [0.3528 0.1487 0.0952]\n[-0.7  0.   0.   0.   0.   0.   0. ] [0.40019463 0.07290726 0.35940931]\n[-0.7  0.   0.   1.5  0.   0.   0. ] [ 0.35546841  0.10997006 -0.09653168]\n[-1.2  0.   0.   1.5  0.   0.   0. ] [0.49220193 0.05026441 0.11152679]\nsolution err 0.002701306038673133 [-0.589 -0.159 -0.109  0.171 -0.002  0.094 -0.032] [0.418 0.001 0.249]\nright\n[0. 0. 0. 0. 0. 0. 0.] [ 0.3528 -0.1487  0.0952]\n[-0.7  0.   0.   0.   0.   0.   0. ] [ 0.40019463 -0.07290726  0.35940931]\n[-0.7  0.   0.   1.5  0.   0.   0. ] [ 0.35546841 -0.10997006 -0.09653168]\n[-1.2  0.   0.   1.5  0.   0.   0. ] [ 0.49220193 -0.05026441  0.11152679]\nsolution err 0.0027013253974459664 [-0.589  0.159  0.109  0.171  0.002  0.094  0.032] [ 0.418 -0.001  0.249]\n","exit":[],"pics":[]},"tok":{"in":34294,"cached":32640,"out":3917,"think":3193,"usd":0.0025},"sim":{"submit":0,"reset":0}},{"id":22,"t":160.9,"say":"The 1.4-second approach moved the pelvis about 5 cm, and the counter and mug are now visible from the head camera. The spoon is still near the top edge of that view. I’ll move another short distance, then use the wrist camera and a model based on the published joint frames to place one gripper near the exposed spoon shaft.","calls":[{"kind":"shell","label":"base=np.zeros(21,dtype=float); base[2]=.74; base[19:21]=.6","code":"python - <<'PY'\nimport json,numpy as np,os\nbase=np.zeros(21,dtype=float); base[2]=.74; base[19:21]=.6\nwalk=base.copy(); walk[0]=.30\npayload={'name':'approach2','dt':.02,'interpolate':'hold','observe':1.22,'rows':np.vstack([np.tile(walk,(60,1)),base]).tolist()}\ntmp='/app/output/gen_cmd.tmp'; open(tmp,'w').write(json.dumps(payload)); os.replace(tmp,'/app/output/gen_cmd.json')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":38739,"cached":33792,"out":730,"think":476,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":23,"t":165.7,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/gen_state.json')); m=s.get('meta',{}); p=s.get('proprio') or []","code":"sleep 1.6; python - <<'PY'\nimport json\ns=json.load(open('/app/output/gen_state.json')); m=s.get('meta',{}); p=s.get('proprio') or []\nprint(s['stage'], m.get('control_steps'), m.get('sim_time_s'), m.get('done'), m.get('reason'))\nprint('pelvis x/y/z/yaw',p[52:56] if len(p)>55 else p[21:25])\nprint('image files:', s.get('images'))\nPY\ncat /app/output/run.log"}],"out":{"text":"episode_done None None None None\npelvis x/y/z/yaw []\nimage files: None\n","exit":[],"pics":[]},"tok":{"in":39492,"cached":38016,"out":189,"think":17,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":24,"t":170.8,"say":"","calls":[{"kind":"shell","label":"cat /app/output/gen_state.json && cat /app/output/run.log && python - <<'PY'","code":"cat /app/output/gen_state.json && cat /app/output/run.log && python - <<'PY'\nimport sys,json; sys.path.insert(0,'/opt/tools'); from rcb_client import Robot\nr=Robot(); print('STATUS',r.status())\nPY"}],"out":{"text":"{\n  \"stage\": \"episode_done\",\n  \"status\": {\n    \"calls\": 3,\n    \"rows\": 71,\n    \"control_steps\": 1950,\n    \"done\": true,\n    \"reason\": \"failed\",\n    \"elapsed_s\": 125.6,\n    \"running\": false,\n    \"planned_steps\": 0,\n    \"lag_s\": 0.0001\n  }\n}STATUS {'calls': 3, 'rows': 71, 'control_steps': 1950, 'done': True, 'reason': 'failed', 'elapsed_s': 166.5, 'running': False, 'planned_steps': 0, 'lag_s': 0.0001}\n","exit":[],"pics":[]},"tok":{"in":39724,"cached":39040,"out":232,"think":128,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":25,"t":186.4,"say":"The controller did not pick up the next phase in time. The service reports the one episode ended at control step 1950 with `reason=\"failed\"`; the reset budget is zero, so the run cannot be recovered. I’m checking the final record before I close this out.","calls":[{"kind":"robot","label":"print(r.status())","code":"date -u && ps -p 9320 -o pid=,stat=,cmd= && python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot()\nprint(r.status())\ntry:\n o=r.get_obs(seconds=0,cameras=['head','left_wrist','right_wrist'],video='frames')\n print('OBS',o.meta)\n o.save('/app/output/final')\nexcept Exception as e: print(type(e).__name__,str(e))\nPY"}],"out":{"text":"Thu Oct 15 02:09:05 UTC 2026\n/bin/bash: line 1: ps: command not found\n","exit":[],"pics":[]},"tok":{"in":40130,"cached":39040,"out":1339,"think":1103,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":26,"t":192.0,"say":"","calls":[{"kind":"robot","label":"print('STATUS',r.status())","code":"python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot()\nprint('STATUS',r.status())\ntry:\n o=r.get_obs(seconds=0,cameras=['head','left_wrist','right_wrist'],video='frames')\n print('OBS',o.meta)\n o.save('/app/output/final')\nexcept Exception as e: print(type(e).__name__,str(e))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":41520,"cached":40064,"out":267,"think":113,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":27,"t":198.1,"say":"The spoon was not flipped. The episode ended unsuccessfully at control step 1950 with `reason=\"failed\"`; the final pelvis height was 0.747 m, so the robot had not fallen. The controller sent only the initial approach before the episode timed out, and the reset budget is zero.\n\nI saved the controller at [gen.py](/app/output/gen.py) and the run record at [gen_state.json](/app/output/gen_state.json).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":43081,"cached":41088,"out":454,"think":354,"usd":0.0008},"sim":{"submit":0,"reset":0}}]}

runs/bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct.json

@@ -0,0 +1 @@
+{"slug":"bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct","task":"bigym2-saucepan-to-hob-i00-standard-realtime","bench":"bigym2","mode":"standard-realtime","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","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":4650,"sim_steps":4650,"calls":961,"rows":4483,"resets":0,"reset_budget":0,"sim_startups":1,"elapsed_s":174.2,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":92.993,"max_lag_s":0.0085,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":1416,"late_steps":0,"requests_refused":0,"request_busy_s":1.082,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.146,"peak_processes":10,"peak_disk_gb":0.827,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":214,"tokens":{"in":655278,"cached":571392,"out":16065,"usd":0.02},"task_text":"# bigym2 saucepan-to-hob — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree G1 humanoid robot with two-finger grippers (BiGym 2.0, MuJoCo) **as if it were real\nhardware**: the simulator runs in a service you cannot open, and you reach it only through a client. Like real hardware,\nit does not wait for you: once the episode is running, the robot moves in real time while you think. NVIDIA's GR00T\nwhole-body controller, a learned policy that runs inside every control step, drives the legs and waist and keeps the\nrobot balanced: you command where it walks, how high its pelvis is, how far its torso leans forward, its arm joints and its grippers.\n**Task:** Take the saucepan out of the cabinet and gently set it on the hob.\n\nAt the start the saucepan is inside the closed cabinet under the counter, about 0.6 m away, 12° to your left, 0.48 m above the floor; the cabinet door's handle is about 0.5 m away, 30° to your left, 0.67 m above the floor; the hob is on the counter top, about 0.7 m away, straight ahead, 0.85 m above the floor. (Distances are from your pelvis along the floor, directions from the way you face,\nheights above the floor; measured on this scene.)\n\n## Rules (real-robot rules)\n- **Time does not stop.** The episode starts paused, on a fixed starting state, the robot standing still. Its clock starts at your first `submit` (or `get_obs(seconds=s)`) and from then on the robot runs at 50 Hz in real time, one control step every 0.02 s of wall-clock time, whether or not you send anything, until the episode ends. Between your commands it executes what you planned, then holds your last command with zero walking and turning velocity (it stands still where it is); nothing pauses for you, not your thinking, not your tool calls.\n- **You are far too slow to steer it turn by turn.** One turn of yours takes seconds. Drive it with a program: a controller of your own (Python in your container, with numpy and the client) that runs a loop, reads the robot and sends commands, started in the background (`setsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null &`: `setsid` matters, a plain `nohup ... &` is killed when your shell command returns) so that your session is free while it runs.\n- **One episode, no reset.** `spec()[\"budget\"][\"reset\"]` is authoritative: it is 0 here, so the one episode is the run.\n- **No privileged state, no score.** You see what the robot's three cameras see (RGB, 84×84: `head`, `left_wrist`, `right_wrist`) and its own proprioception (below). Not where any object is now (only the start sentence above), not the success check: the service judges the episode and only tells you that it ended and why (`meta[\"done\"]`, `meta[\"reason\"]`). `spec()` gives the robot's facts: the action slots and their bounds, each camera's field of view and its pose at the start.\n- There is nothing to hand in: the service records every control step it ran, replays the episode in \n… (7,940 characters left out) …\nother benchmark's examples (`joint_position`, bounds [-1, 1], `imu`,\n`links`, `depth`): for this task `spec()` is authoritative.\n\n## Proprioception\nEach row (`meta[\"proprio\"][\"now\"]`, `res.proprio`) has, in `spec()[\"proprio_layout\"]` order: the positions (`*_pos`) of the 3 waist joints (they show the lean you command), each arm's 7 joints (rad) and its gripper's 2 finger joints (slides, m), and the pelvis (`pelvis_x_pos`, `pelvis_y_pos`, `pelvis_z_pos` in m and `pelvis_rz_pos`, its heading, in rad: the room's frame, z up, heading 0 along the room's +x axis and counter-clockwise positive): 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 `date` now, and again before you decide that time is short; work out the time left from those readings, never from a guess. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/replay.mp4","replay_last":"bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and scene specification first, then build and launch a background controller that uses the camera views and proprioception for the cabinet and hob approach. I’ll keep the controller saved at `/app/output/gen.py` and monitor the live run.","calls":[{"kind":"shell","label":"date -u","code":"date -u"},{"kind":"shell","label":"ls -la /app && ls -la /app/output 2>/dev/null || true","code":"ls -la /app && ls -la /app/output 2>/dev/null || true"},{"kind":"shell","label":"python -c 'import rcb_client; help(rcb_client)'","code":"python -c 'import rcb_client; help(rcb_client)'"},{"kind":"shell","label":"find /app -maxdepth 3 -type f | head -80","code":"find /app -maxdepth 3 -type f | head -80"}],"out":{"text":"Thu Oct 15 02:32:19 UTC 2026\n\ntotal 12\ndrwxr-xr-x 3 root root 4096 Oct  9 03:07 .\ndrwxr-xr-x 1 root root 4096 Oct 15 02:32 ..\ndrwxr-xr-x 2 root root 4096 Oct  9 03:07 output\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct  9 03:07 .\ndrwxr-xr-x 3 root root 4096 Oct  9 03:07 ..\n\nHelp on module rcb_client:\n\nNAME\n    rcb_client\n\nDESCRIPTION\n    eai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\n    PYTHONPATH).\n\n        from rcb_client import Robot, EpisodeOver\n        r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\n    TIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\n    get_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\n    spec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\n    plan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\n    the last target is held. Whatever you do in between -- think, print, run a model -- the robot keeps executing.\n\n    Calls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n        r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                  \n… (8,108 characters left out) …\n-----------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\n    class Robot(builtins.object)\n     |  Robot(base: 'str | None' = None, timeout: 'float' = 600.0)\n     |\n     |  Methods defined here:\n     |\n     |  __init__(self, base: 'str | None' = None, timeout: 'float' = 600.0)\n     |      Initialize self.  See help(type(self)) for accurate signature.\n     |\n     |  get_obs(self, cameras=None, seconds: 'float' = 0.0, video_fps: 'int' = 10, include_depth: 'bool' = False, video: 'str' = 'frames') -> 'Result'\n     |\n     |  reset(self, cameras=None, include_depth: 'bool' = False) -> 'Result'\n     |\n     |  spec(self) -> 'dict'\n     |\n     |  status(self) -> 'dict'\n     |\n     |  submit(self, action_type: 'str', actions, dt: 'float | None' = None, interpolate: 'str' = 'linear', at: 'int | None' = None, cameras=None, video_fps: 'int' = 10, video: 'str' = 'none', include_depth: 'bool' = False, note: 'str' = '') -> 'Result'\n     |\n     |  ----------------------------------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\nDATA\n    MAX_BODY = 67108864\n    PROTOCOLS = ('eai-standard/2.', 'rcb-limited/2.')\n\nFILE\n    /opt/tools/rcb_client.py\n\n\n","exit":[],"pics":[]},"tok":{"in":13020,"cached":8960,"out":312,"think":50,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":7,"t":5.7,"say":"","calls":[{"kind":"robot","label":"s=r.spec()","code":"python - <<'PY'\nimport sys, json, numpy as np\nfrom rcb_client import Robot\nr=Robot()\ns=r.spec()\nprint('SPEC',json.dumps(s,indent=2)[:25000])\no=r.get_obs(video='frames')\nprint('META',json.dumps(o.meta,indent=2))\nprint('PROPRIO',o.proprio)\nfor k,v in o.last.items():\n from PIL import Image\n Image.fromarray(v).save('/app/output/start_'+k+'.png')\n print(k,v.shape)\nPY"}],"out":{"text":"SPEC {\n  \"protocol\": \"eai-standard/2.3\",\n  \"control_dt\": 0.02,\n  \"max_control_steps\": 4650,\n  \"max_chunk_s\": 10.0,\n  \"max_watch_s\": 30.0,\n  \"max_video_fps\": 30,\n  \"max_frames_per_call\": 3000,\n  \"proprio_layout\": [\n    \"waist_yaw_joint_pos\",\n    \"waist_roll_joint_pos\",\n    \"waist_pitch_joint_pos\",\n    \"left_shoulder_pitch_joint_pos\",\n    \"left_shoulder_roll_joint_pos\",\n    \"left_shoulder_yaw_joint_pos\",\n    \"left_elbow_joint_pos\",\n    \"left_wrist_roll_joint_pos\",\n    \"left_wrist_pitch_joint_pos\",\n    \"left_wrist_yaw_joint_pos\",\n    \"left_dex1_finger_joint_1_pos\",\n    \"left_dex1_finger_joint_2_pos\",\n    \"right_shoulder_pitch_joint_pos\",\n    \"right_shoulder_roll_joint_pos\",\n    \"right_shoulder_yaw_joint_pos\",\n    \"right_elbow_joint_pos\",\n    \"right_wrist_roll_joint_pos\",\n    \"right_wrist_pitch_joint_pos\",\n    \"right_wrist_yaw_joint_pos\",\n    \"right_dex1_finger_joint_1_pos\",\n    \"right_dex1_finger_joint_2_pos\",\n    \"pelvis_x_pos\",\n    \"pelvis_y_pos\",\n    \"pelvis_z_pos\",\n    \"pelvis_rz_pos\",\n    \"waist_yaw_joint_vel\",\n    \"waist_roll_joint_vel\",\n    \"waist_pitch_joint_vel\",\n    \"left_shoulder_pitch_joint_vel\",\n    \"left_shoulder_roll_joint_vel\",\n    \"left_shoulder_yaw_joint_vel\",\n    \"left_elbow_joint_vel\",\n    \"left_wrist_roll_joint_vel\",\n    \"left_wrist_pitch_joint_vel\",\n    \"left_wrist_yaw_joint_vel\",\n    \"left_dex1_finger_joint_1_vel\",\n    \"left_dex1_finger_joint_2_vel\",\n    \"right_shoulder_pitch_joint_vel\",\n    \"right_shoulder_roll_joint_vel\",\n    \"right_shoulder_yaw_joint_ve\n… (18,822 characters left out) …\n053154458292e-05,\n      5.4091483434604015e-06,\n      -4.944605279888492e-06,\n      0.007406769320368767,\n      0.000491553742904216,\n      0.0007636592490598559,\n      -0.0005869435262866318,\n      0.6000000238418579,\n      0.6000000238418579,\n      0.16808150708675385,\n      -0.0027043025474995375,\n      0.7465458512306213,\n      0.00036821793764829636\n    ]\n  },\n  \"running\": false,\n  \"planned_steps\": 0,\n  \"lag_s\": 0.0,\n  \"obs_id\": 1,\n  \"seconds\": 0.0,\n  \"control_steps_watch\": 0,\n  \"ok\": true\n}\nPROPRIO [[ 6.72527996e-04 -8.68648198e-03  5.43138087e-02  1.81050114e-02\n  -1.29413407e-03  1.21106561e-04  2.76061241e-02  1.57593517e-04\n   3.82497646e-02  1.09876812e-04 -2.20254320e-03 -2.19746050e-03\n   1.80616267e-02  1.64660439e-03  8.68744828e-05  2.76074745e-02\n  -1.21143479e-04  3.82514298e-02  7.26619182e-05 -2.20157509e-03\n  -2.19842582e-03  1.68081507e-01 -2.70430255e-03  7.46545851e-01\n   3.68217938e-04 -6.57286728e-05  1.01403588e-04 -6.46768091e-03\n  -1.93676760e-03  1.07048865e-04  1.21610123e-04 -4.49691928e-04\n   1.86221655e-06 -4.48688807e-05  4.27563609e-05 -6.66781807e-06\n   6.36207915e-06 -1.94745860e-03  4.08718042e-05 -4.32203633e-05\n  -4.46525577e-04  1.75295747e-06 -5.42370290e-05 -1.59150532e-05\n   5.40914834e-06 -4.94460528e-06  7.40676932e-03  4.91553743e-04\n   7.63659249e-04 -5.86943526e-04  6.00000024e-01  6.00000024e-01\n   1.68081507e-01 -2.70430255e-03  7.46545851e-01  3.68217938e-04]]\nhead (84, 84, 3)\nleft_wrist (84, 84, 3)\nright_wrist (84, 84, 3)\n","exit":[],"pics":[]},"tok":{"in":15894,"cached":12032,"out":283,"think":113,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":8,"t":8.8,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/start_head.png\",\"/app/output/start_left_wrist.png\",\"/app/output/start_right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":["bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s008_0.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s008_1.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s008_2.jpg"]},"tok":{"in":23604,"cached":15104,"out":83,"think":17,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":9,"t":16.7,"say":"The initial observation confirms the robot is upright and the service is still paused. I’m checking the installed scene and robot descriptions for the arm geometry and cabinet layout, then I’ll use short, observable control phases so the first live motion gives us useful camera feedback.","calls":[{"kind":"shell","label":"print('bigym',bigym.__file__)","code":"python - <<'PY'\nimport bigym,inspect,os\nprint('bigym',bigym.__file__)\nPY"},{"kind":"shell","label":"for p in site.getsitepackages():","code":"python - <<'PY'\nimport site,glob,os\nfor p in site.getsitepackages():\n for pat in ['bigym*','*g1*']:\n  for x in glob.glob(p+'/'+pat): print(x)\nPY"},{"kind":"shell","label":"find /opt -maxdepth 5 -type f \\( -iname '*.xml' -o -iname '*.mjcf' -o -iname '*.urdf' \\) 2>/dev/null | head -1","code":"find /opt -maxdepth 5 -type f \\( -iname '*.xml' -o -iname '*.mjcf' -o -iname '*.urdf' \\) 2>/dev/null | head -100"},{"kind":"shell","label":"for n in ['head','left_wrist','right_wrist']:","code":"python - <<'PY'\nfrom PIL import Image\nfor n in ['head','left_wrist','right_wrist']:\n im=Image.open('/app/output/start_'+n+'.png')\n im.resize((672,672),Image.Resampling.NEAREST).save('/app/output/up_'+n+'.png')\nPY"}],"out":{"text":"Traceback (most recent call last):\n  File \"<stdin>\", line 1, in <module>\nModuleNotFoundError: No module named 'bigym'\n","exit":[],"pics":[]},"tok":{"in":23743,"cached":null,"out":951,"think":542,"usd":0.0028},"sim":{"submit":0,"reset":0}},{"id":10,"t":21.4,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/up_head.png\",\"/app/output/up_left_wrist.png\",\"/app/output/up_right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":["bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s010_0.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s010_1.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s010_2.jpg"]},"tok":{"in":24750,"cached":23296,"out":121,"think":55,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":11,"t":23.8,"say":"","calls":[{"kind":"shell","label":"find / -maxdepth 4 -type d \\( -iname '*bigym*' -o -iname '*benchmark*' \\) 2>/dev/null | head -100; ls -la /opt","code":"find / -maxdepth 4 -type d \\( -iname '*bigym*' -o -iname '*benchmark*' \\) 2>/dev/null | head -100; ls -la /opt; ls -la /opt/tools"}],"out":{"text":"total 16\ndrwxr-xr-x 1 root root 4096 Oct  9 03:07 .\ndrwxr-xr-x 1 root root 4096 Oct 15 02:32 ..\ndrwxr-xr-x 1 root root 4096 Oct 15 02:32 tools\ntotal 36\ndrwxr-xr-x 1 root root  4096 Oct 15 02:32 .\ndrwxr-xr-x 1 root root  4096 Oct  9 03:07 ..\ndrwxr-xr-x 2 root root  4096 Oct 15 02:32 __pycache__\n-rw-rw-r-- 1 root root  3881 Oct  9 03:06 rcb1.py\n-rw-rw-r-- 1 root root 12787 Oct  9 03:06 rcb_client.py\n","exit":[],"pics":[]},"tok":{"in":26484,"cached":23296,"out":138,"think":41,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":12,"t":78.5,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r);\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":26841,"cached":25472,"out":5165,"think":3778,"usd":0.003},"sim":{"submit":0,"reset":0}},{"id":13,"t":86.9,"say":"","calls":[{"kind":"shell","label":"writes command.json","code":"cat > /app/output/command.json <<'EOF'\n{\"name\":\"approach cabinet, short walk\",\"duration_s\":1.40,\"action\":[0.12,0.06,0.74,0.0,0.0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]}\nEOF\n: > /app/output/controller.log\nsetsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null & echo $! > /app/output/controller.pid\nsleep 2\ncat /app/output/controller.log\ncat /app/output/run.log"}],"out":{"text":"1792031625.003 connected {\"timing\": {\"realtime\": true, \"slowdown\": 1.0, \"control_dt\": 0.02, \"wall_s_per_control_step\": 0.02, \"clock\": \"an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends\", \"submit\": \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\", \"observe\": \"seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan\", \"max_ahead_steps\": 500, \"no_images\": \"cameras = [] returns no images, only proprioception (the fastest call)\"}, \"max_steps\": 4650}\n1792031625.005 command=approach cabinet, short walk duration=1.40s at=0 ends=70 action=[0.12, 0.06, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031625.042 vision {\"step\": 1, \"pelvis\": [0.168, -0.003, 0.747, 0.0], \"reason\": null}\n1792031625.660 tick {\"step\": 33, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.221, -0.003, 0.744, 0.008], \"grippers\": [0.6, 0.6], \"command\": \"approach cabinet, short walk\"}\n1792031626.084 vision {\"step\": 54, \"pelvis\": [0.214, 0.018, 0.74, -0.019], \"reason\": null}\n1792031626.359 tick {\"step\": 68, \"lat\n… (258 characters left out) …\nck\": \"an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends\", \"submit\": \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\", \"observe\": \"seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan\", \"max_ahead_steps\": 500, \"no_images\": \"cameras = [] returns no images, only proprioception (the fastest call)\"}, \"max_steps\": 4650}\n1792031625.005 command=approach cabinet, short walk duration=1.40s at=0 ends=70 action=[0.12, 0.06, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031625.042 vision {\"step\": 1, \"pelvis\": [0.168, -0.003, 0.747, 0.0], \"reason\": null}\n1792031625.660 tick {\"step\": 33, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.221, -0.003, 0.744, 0.008], \"grippers\": [0.6, 0.6], \"command\": \"approach cabinet, short walk\"}\n1792031626.084 vision {\"step\": 54, \"pelvis\": [0.214, 0.018, 0.74, -0.019], \"reason\": null}\n1792031626.359 tick {\"step\": 68, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.221, 0.01, 0.743, -0.007], \"grippers\": [0.7, 0.6], \"command\": \"approach cabinet, short walk\"}\n","exit":[],"pics":[]},"tok":{"in":32030,"cached":26624,"out":641,"think":440,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":14,"t":91.7,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/frames/head.png\",\"/app/output/frames/left_wrist.png\",\"/app/output/frames/right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":["bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s014_0.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s014_1.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s014_2.jpg"]},"tok":{"in":33916,"cached":31744,"out":146,"think":76,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":15,"t":94.3,"say":"","calls":[{"kind":"shell","label":"for n in ['head','left_wrist','right_wrist']:","code":"python - <<'PY'\nfrom PIL import Image\nfor n in ['head','left_wrist','right_wrist']:\n im=Image.open('/app/output/frames/'+n+'.png')\n im.resize((672,672),Image.Resampling.NEAREST).save('/app/output/frames/up_'+n+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":34118,"cached":24320,"out":149,"think":30,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":16,"t":96.2,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/frames/up_head.png\",\"/app/output/frames/up_left_wrist.png\",\"/app/output/frames/up_right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":["bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s016_0.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s016_1.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s016_2.jpg"]},"tok":{"in":34290,"cached":33792,"out":70,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":17,"t":108.4,"say":"The first short walk kept balance, but the measured displacement was only about 5 cm. The cabinet face is now visible ahead; I’m increasing the approach speed in a second short phase and will judge the next step from the measured pelvis pose and camera frame.","calls":[{"kind":"shell","label":"writes command.json","code":"cat > /app/output/command.json <<'EOF'\n{\"name\":\"approach cabinet, measured correction\",\"duration_s\":1.80,\"action\":[0.25,0.15,0.74,0.0,0.0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]}\nEOF\nsleep 2\n tail -20 /app/output/controller.log"}],"out":{"text":"    main()\n  File \"/app/output/gen.py\", line 47, in main\n    d, a = load_command()\n           ^^^^^^^^^^^^^^\n  File \"/app/output/gen.py\", line 26, in load_command\n    d = json.load(f)\n        ^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/__init__.py\", line 293, in load\n    return loads(fp.read(),\n           ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/__init__.py\", line 346, in loads\n    return _default_decoder.decode(s)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 338, in decode\n    obj, end = self.raw_decode(s, idx=_w(s, 0).end())\n               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 356, in raw_decode\n    raise JSONDecodeError(\"Expecting value\", s, err.value) from None\njson.decoder.JSONDecodeError: Expecting value: line 1 column 1 (char 0)\n\n","exit":[],"pics":[]},"tok":{"in":35973,"cached":32768,"out":1082,"think":872,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":18,"t":117.5,"say":"","calls":[{"kind":"shell","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot(); print(r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":37326,"cached":33792,"out":481,"think":410,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":19,"t":133.7,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r);\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":37892,"cached":37248,"out":1432,"think":1355,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":20,"t":137.2,"say":"","calls":[{"kind":"shell","label":"p='/app/output/command.json'; t=p+'.tmp'","code":"python - <<'PY'\nimport json,os\np='/app/output/command.json'; t=p+'.tmp'\nd={'name':'safe stand','duration_s':60.0,'action':[0,0,0.74,0,0]+[0.0]*14+[0.6,0.6]}\nwith open(t,'w') as f: json.dump(d,f)\nos.replace(t,p)\nPY\nsetsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null & echo $! > /app/output/controller.pid\nsleep 1\n tail -15 /app/output/controller.log"}],"out":{"text":"           ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/__init__.py\", line 346, in loads\n    return _default_decoder.decode(s)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 338, in decode\n    obj, end = self.raw_decode(s, idx=_w(s, 0).end())\n               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 356, in raw_decode\n    raise JSONDecodeError(\"Expecting value\", s, err.value) from None\njson.decoder.JSONDecodeError: Expecting value: line 1 column 1 (char 0)\n\n1792031675.351 connected {\"timing\": {\"realtime\": true, \"slowdown\": 1.0, \"control_dt\": 0.02, \"wall_s_per_control_step\": 0.02, \"clock\": \"an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends\", \"submit\": \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\", \"observe\": \"seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan\", \"max_ahead_steps\": 500, \"no_images\": \"cameras = [] returns no images, only proprioception (the fastest call)\"}, \"max_steps\": 4650}\n1792031675.364 command=safe stand duration=60.00s at=2518 ends=5518 action=[0.0, 0.0, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031675.418 vision {\"step\": 2519, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"reason\": null}\n1792031676.045 tick {\"step\": 2552, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"grippers\": [0.6, 0.6], \"command\": \"safe stand\"}\n","exit":[],"pics":[]},"tok":{"in":39348,"cached":37248,"out":222,"think":35,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":21,"t":145.0,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/frames/head.png\",\"/app/output/frames/left_wrist.png\",\"/app/output/frames/right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":["bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s021_0.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s021_1.jpg","bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/s021_2.jpg"]},"tok":{"in":40239,"cached":39296,"out":527,"think":457,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":22,"t":160.4,"say":"I recovered the streamer after an atomicity issue while replacing its command file; it is now sending short chunks again and the robot is standing safely. The run has already consumed about half of its 93-second simulator allowance, so I’m prioritizing the cabinet interaction and will keep checking the actual step count.","calls":[{"kind":"shell","label":"p='/app/output/command.json'; t=p+'.tmp'","code":"python - <<'PY'\nimport json,os\np='/app/output/command.json'; t=p+'.tmp'\nd={'name':'close distance to cabinet','duration_s':2.0,'action':[0.35,0.18,0.74,0,0]+[0.0]*14+[0.6,0.6]}\nwith open(t,'w') as f: json.dump(d,f)\nos.replace(t,p)\nPY\nsleep 2.4\ntail -10 /app/output/controller.log\npython - <<'PY'\nfrom rcb_client import Robot\nr=Robot();print('STATUS',r.status())\nPY"}],"out":{"text":"1792031697.705 tick {\"step\": 3635, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"grippers\": [0.6, 0.6], \"command\": \"safe stand\"}\n1792031698.404 tick {\"step\": 3670, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"grippers\": [0.6, 0.6], \"command\": \"safe stand\"}\n1792031698.575 vision {\"step\": 3678, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"reason\": null}\n1792031699.067 command=close distance to cabinet duration=2.00s at=3703 ends=3803 action=[0.35, 0.18, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031699.149 tick {\"step\": 3707, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.205, 0.014, 0.749, -0.041], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031699.620 vision {\"step\": 3730, \"pelvis\": [0.22, 0.05, 0.737, -0.054], \"reason\": null}\n1792031699.903 tick {\"step\": 3745, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.222, 0.048, 0.741, -0.011], \"grippers\": [0.7, 0.6], \"command\": \"close distance to cabinet\"}\n1792031700.605 tick {\"step\": 3780, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.218, 0.071, 0.74, -0.051], \"grippers\": [0.7, 0.6], \"command\": \"close distance to cabinet\"}\n1792031700.696 vision {\"step\": 3784, \"pelvis\": [0.219, 0.089, 0.743, -0.048], \"reason\": null}\n1792031701.327 tick {\"step\": 3816, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.196, 0.087, 0.739, -0.133], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\nSTATUS {'calls': 713, 'rows': 3323, 'control_steps': 3836, 'done': False, 'reason': None, 'elapsed_s': 157.9, 'running': True, 'planned_steps': 2, 'lag_s': 0.0001}\n","exit":[],"pics":[]},"tok":{"in":40822,"cached":39296,"out":1388,"think":1132,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":23,"t":183.8,"say":"","calls":[{"kind":"shell","label":"p='/app/output/command.json';t=p+'.tmp'; d={'name':'squat and open left hand at cabinet handle','duration_s':0","code":"python - <<'PY'\nimport json,os\np='/app/output/command.json';t=p+'.tmp'; d={'name':'squat and open left hand at cabinet handle','duration_s':0.90,'action':[0,0,0.58,0,0]+[0.0]*14+[0.0,0.6]}\nwith open(t,'w') as f: json.dump(d,f)\nos.replace(t,p)\nPY\nsleep 0.95\ntail -6 /app/output/controller.log"}],"out":{"text":"1792031716.104 tick {\"step\": 4555, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031716.454 vision {\"step\": 4572, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031716.808 tick {\"step\": 4590, \"late\": 0, \"lag\": 0.0014, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.507 tick {\"step\": 4625, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.533 vision {\"step\": 4626, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031718.010 DONE {\"calls\": 961, \"rows\": 4483, \"control_steps\": 4650, \"done\": true, \"reason\": \"failed\", \"elapsed_s\": 174.2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":43009,"cached":40320,"out":1692,"think":1532,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":24,"t":194.5,"say":"The simulator has reached its 4,650-step limit before the cabinet interaction began. The service reports `reason: \"failed\"` and there is no reset budget, so this episode cannot continue; I’m checking the final status and streamer shutdown for the record.","calls":[{"kind":"shell","label":"date -u","code":"date -u"},{"kind":"shell","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot(); print(r.status())\nPY"},{"kind":"shell","label":"cat /app/output/controller.log | tail -12; ps -p $(cat /app/output/controller.pid) -o pid=,stat=,cmd= 2>/dev/n","code":"cat /app/output/controller.log | tail -12; ps -p $(cat /app/output/controller.pid) -o pid=,stat=,cmd= 2>/dev/null || true"}],"out":{"text":"Thu Oct 15 02:35:33 UTC 2026\n\n1792031713.368 tick {\"step\": 4418, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031714.067 tick {\"step\": 4453, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031714.350 vision {\"step\": 4467, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031714.757 tick {\"step\": 4488, \"late\": 0, \"lag\": 0.0002, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031715.375 vision {\"step\": 4518, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031715.440 tick {\"step\": 4522, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031716.104 tick {\"step\": 4555, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031716.454 vision {\"step\": 4572, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031716.808 tick {\"step\": 4590, \"late\": 0, \"lag\": 0.0014, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.507 tick {\"step\": 4625, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.533 vision {\"step\": 4626, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031718.010 DONE {\"calls\": 961, \"rows\": 4483, \"control_steps\": 4650, \"done\": true, \"reason\": \"failed\", \"elapsed_s\": 174.2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":45108,"cached":42368,"out":888,"think":637,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":25,"t":200.5,"say":"The episode ended at 4,650 control steps with `reason: \"failed\"`. The saucepan was not moved to the hob.\n\nI lost time recovering the background streamer after a command-file write error, and the next cabinet command arrived too late. The final pelvis pose was about `[0.198, 0.098, 0.747]` m; the robot remained standing. The episode has no reset budget. The controller is saved at [gen.py](/app/output/gen.py).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46871,"cached":44416,"out":294,"think":187,"usd":0.0008},"sim":{"submit":0,"reset":0}}]}