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runs/bigym2-put-cups-i00-standard-realtime--fdgvyax.json

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+{"slug":"bigym2-put-cups-i00-standard-realtime--fdgvyax","task":"bigym2-put-cups-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":3000,"sim_steps":3000,"calls":38,"rows":395,"resets":0,"reset_budget":0,"sim_startups":1,"elapsed_s":367.8,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":59.988,"max_lag_s":0.0043,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":2605,"late_steps":0,"requests_refused":1,"request_busy_s":0.328,"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":428,"tokens":{"in":1163035,"cached":1082624,"out":36623,"usd":0.04},"task_text":"# bigym2 put-cups — 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 cups from the counter and gently put them away in the wall cabinet.\n\nAt the start the two cups stand on the counter in front of you (about 0.7 m away, 14° to your left, 0.86 m above the floor; about 0.6 m away, straight ahead, 0.86 m above the floor); the wall cabinet above the counter has two closed glass doors, their handles about 0.5 m away, straight ahead, 1.24 m above the floor and about 0.5 m away, straight ahead, 1.24 m above the floor, and its bottom shelf is about 0.8 m away, straight ahead, 1.15 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\n… (8,093 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-put-cups-i00-standard-realtime--fdgvyax/replay.mp4","replay_last":"bigym2-put-cups-i00-standard-realtime--fdgvyax/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and scene implementation first, then fetch the robot spec and build a background controller that can run the full pick-and-place sequence without turn-by-turn steering. I’ll keep an eye on both the episode clock and the session time limit.","calls":[{"kind":"shell","label":"date -u +'%Y-%m-%d %H:%M:%S UTC' && pwd && rg --files /app /opt/tools | head -200","code":"date -u +'%Y-%m-%d %H:%M:%S UTC' && pwd && rg --files /app /opt/tools | head -200"}],"out":{"text":"2026-10-15 02:12:06 UTC\n/app\n/opt/tools/rcb1.py\n/opt/tools/rcb_client.py\n","exit":[],"pics":[]},"tok":{"in":13065,"cached":8960,"out":268,"think":137,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":7,"t":2.8,"say":"","calls":[{"kind":"shell","label":"python -c 'import rcb_client; help(rcb_client)' && ls -la /app && sed -n '1,260p' /opt/tools/rcb_client.py","code":"python -c 'import rcb_client; help(rcb_client)' && ls -la /app && sed -n '1,260p' /opt/tools/rcb_client.py"}],"out":{"text":"Help 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, range_rad,\n                                                 units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n                                                 e\n… (20,769 characters left out) …\nepth: bool = False) -> Result:\n        return self._post(\"/reset\", {\"cameras\": _names(cameras), \"include_depth\": bool(include_depth)}, [], timeout=900)\n\n    def _post(self, path: str, meta: dict, parts: list, timeout: float) -> Result:\n        body = rcb1.encode(meta, parts)\n        if len(body) > MAX_BODY:                     # the service would close the connection on it unread\n            raise ValueError(f\"{path}: {len(body)} bytes, over the protocol's {MAX_BODY}: send fewer rows\")\n        r = requests.post(self.base + path, data=body, headers={\"Content-Type\": \"application/x-rcb1\"},\n                          timeout=(5, timeout))\n        if r.headers.get(\"Content-Type\", \"\").startswith(\"application/x-rcb1\") and r.status_code == 200:\n            return Result(*rcb1.decode(r.content))\n        try:\n            err = r.json()\n        except ValueError:\n            err = {\"error\": r.text[:300]}\n        msg = f\"{r.status_code} {path}: {err.get('error')}\" + (f\" ({err['detail']})\" if err.get(\"detail\") else \"\")\n        if r.status_code == 409:\n            raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\n                              + (f\"; resets_left {err['resets_left']}\" if \"resets_left\" in err else \"\"))\n        if r.status_code in (400, 413):\n            raise ValueError(msg)\n        raise RuntimeError(msg)\n\n\ndef _names(cameras) -> list[str] | None:\n    return None if cameras is None else [cameras] if isinstance(cameras, str) else list(cameras)\n","exit":[],"pics":[]},"tok":{"in":13390,"cached":12032,"out":99,"think":21,"usd":0.0003},"sim":{"submit":0,"reset":0}},{"id":8,"t":7.7,"say":"","calls":[{"kind":"robot","label":"s=r.spec()","code":"python - <<'PY'\nimport json, sys\nsys.path.insert(0, '/opt/tools')\nfrom rcb_client import Robot\nr=Robot()\ns=r.spec()\nopen('/app/output/spec.json','w').write(json.dumps(s,indent=2))\nprint(json.dumps({k:s.get(k) for k in ['protocol','control_dt','max_control_steps','budget','timing','action_types','proprio_layout','proprio','joints','joint_frame','joint_sign','grippers','cameras','episode']},indent=2))\no=r.get_obs(cameras=None,seconds=0,video='frames')\no.save('/app/output/initial')\nprint('obs meta',json.dumps(o.meta,indent=2))\nPY"}],"out":{"text":"{\n  \"protocol\": \"eai-standard/2.3\",\n  \"control_dt\": 0.02,\n  \"max_control_steps\": 3000,\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 no images, only proprioception (the fastest call)\"\n  },\n  \"action_types\": {\n    \"whole_body\": {\n      \"dim\": 21,\n      \"layout\": [\n        \"vx\",\n        \"vy\",\n        \"height\",\n        \"wz\",\n        \"pitch\",\n        \"left_shoulder_pitch_joint\",\n        \"left_shoulder_roll_joint\",\n        \"left_shoulder_yaw_joint\",\n        \"left_elbow_joint\",\n        \"left_wrist_roll_joint\",\n        \"left_wrist_pitch_joint\",\n        \"left_wrist_yaw_joint\",\n        \"right_shoulder_pitch_joint\",\n        \"\n… (17,034 characters left out) …\n62077934,\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      0.007406769786030054,\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}\n","exit":[],"pics":[]},"tok":{"in":18928,"cached":8960,"out":364,"think":160,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":9,"t":10.1,"say":"","calls":[{"kind":"look","label":"head.jpg","code":"/app/output/initial/last/head.jpg"}],"out":{"text":"","exit":[],"pics":["bigym2-put-cups-i00-standard-realtime--fdgvyax/s009_0.jpg"]},"tok":{"in":25886,"cached":18176,"out":62,"think":24,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":10,"t":12.3,"say":"","calls":[{"kind":"look","label":"a picture","code":"const paths=[\"/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-put-cups-i00-standard-realtime--fdgvyax/s010_0.jpg","bigym2-put-cups-i00-standard-realtime--fdgvyax/s010_1.jpg"]},"tok":{"in":25982,"cached":25344,"out":97,"think":32,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":11,"t":16.4,"say":"","calls":[{"kind":"shell","label":"print('\\n'.join(sorted(m.name for m in pkgutil.iter_modules() if any(x in m.name.lower() for x in ['bigym','gy","code":"python - <<'PY'\nimport pkgutil\nprint('\\n'.join(sorted(m.name for m in pkgutil.iter_modules() if any(x in m.name.lower() for x in ['bigym','gym','mujoco','rcb']))))\nPY\nfind /opt /usr/local/lib/python3.11/site-packages /usr/local/lib/python3.12/site-packages -type f \\( -iname '*cup*' -o -iname '*cabinet*' -o -iname '*put*' \\) 2>/dev/null | head -100"}],"out":{"text":"rcb1\nrcb_client\n/usr/local/lib/python3.12/site-packages/scipy/sparse/__pycache__/_sputils.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/sparse/__pycache__/sputils.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/sparse/tests/__pycache__/test_sputils.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/sparse/tests/test_sputils.py\n/usr/local/lib/python3.12/site-packages/scipy/sparse/_sputils.py\n/usr/local/lib/python3.12/site-packages/scipy/sparse/sputils.py\n/usr/local/lib/python3.12/site-packages/scipy/ndimage/tests…\n/usr/local/lib/python3.12/site-packages/scipy/special/__pycache__/_input_validation.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/__pycache__/test_nan_inputs.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/__pycache__/test_precompute_gammainc.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/__pycache__/test_precompute_utils.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/__pycache__/test_precompute_expn_asy.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/test_precompute_expn_asy.py\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/test_precompute_gammainc.py\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/test_nan_inputs.py\n/usr/local/lib/python3.12/site-packages/scipy/special/tests/test_precompute_utils.py\n/usr/local/lib/python3.12/site-packages/scipy/special/_input_validation.py\n/usr/local/lib/python3.12/site-packages/scipy/optimize/tests/__pycache__/test__linprog_clean_inputs.cpython-312.pyc\n/usr/local/lib/python3.12/site-packages/scipy/optimize/tests/test__linprog_clean_inputs.py\n","exit":[],"pics":[]},"tok":{"in":26124,"cached":25344,"out":285,"think":125,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":12,"t":21.3,"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(f'/app/output/initial/last/{n}.jpg').resize((672,672))\n im.save(f'/app/output/{n}_big.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":26927,"cached":25344,"out":327,"think":219,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":13,"t":24.1,"say":"","calls":[{"kind":"look","label":"head_big.png","code":"/app/output/head_big.png"}],"out":{"text":"","exit":[],"pics":["bigym2-put-cups-i00-standard-realtime--fdgvyax/s013_0.jpg"]},"tok":{"in":27277,"cached":26368,"out":33,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":14,"t":27.3,"say":"","calls":[{"kind":"look","label":"left_wrist_big.png","code":"/app/output/left_wrist_big.png"}],"out":{"text":"","exit":[],"pics":["bigym2-put-cups-i00-standard-realtime--fdgvyax/s014_0.jpg"]},"tok":{"in":27863,"cached":26368,"out":133,"think":95,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":15,"t":30.1,"say":"","calls":[{"kind":"shell","label":"find / -type d -iname '*bigym*' 2>/dev/null | head -50 && find / -type f -iname '*.xml' 2>/dev/null | head -80","code":"find / -type d -iname '*bigym*' 2>/dev/null | head -50 && find / -type f -iname '*.xml' 2>/dev/null | head -80 && env | sort | sed -n '1,120p'"}],"out":{"text":"/usr/share/mime/application/x-awk.xml\n/usr/share/mime/application/vnd.efi.iso.xml\n/usr/share/mime/application/x-abiword.xml\n/usr/share/mime/application/pgp-keys.xml\n/usr/share/mime/application/x-lzma.xml\n/usr/share/mime/application/x-ace.xml\n/usr/share/mime/application/x-modrinth-modpack+zip.xml\n/usr/share/mime/application/x-gz-font-linux-psf.xml\n/usr/share/mime/application/vnd.oasis.opendocument.graphics.xml\n/usr/share/mime/application/vnd.oasis.opendocument.presentation.xml\n/usr/share/mime/application/x-dosexec.xml\n/usr/share/mime/application/vnd.google-earth.kmz.xml\n/usr/share/mime/application/vnd.oasis.opendocument.chart.xml\n/usr/share/mime/application/x-pyspread-bz-spreadsheet.xml\n/usr/share/mime/application/dicom.xml\n/usr/share/mime/application/vnd.openxmlformats-officedocument.spreadsheetml.sheet.xml\n/usr/share/mime/application/x-source-rpm.xml\n/usr/share/mime/application/x-vmdk-disk.xml\n/usr/share/mime/application/vnd.openxmlformats-officedocument.wordprocessingml.document.xml\n/usr/share/mime/application/x-gnuplot.xml\n/usr/share/mime/application/x-jbuilder-project.xml\n/usr/share/mime/application/x-mame-chd.xml\n/usr/share/mime/application/vnd.efi.img.xml\n/usr/share/mime/application/vnd.adobe.flash.movie.xml\n/usr/share/mime/application/vnd.sun.xml.math.xml\n/usr/share/mime/application/json-patch+json.xml\n/usr/share/mime/application/vnd.sun.xml.writer.global.xml\n/usr/share/mime/application/vnd.ms-visio.stencil.main+xml.xml\n/usr/share/mime/application/vnd.stardivision.draw\n… (1,977 characters left out) …\nx-bzpostscript.xml\n/usr/share/mime/application/x-kspread.xml\n/usr/share/mime/application/x-zip-compressed-fb2.xml\n/usr/share/mime/application/x-dvi.xml\n/usr/share/mime/application/x-font-sunos-news.xml\n/usr/share/mime/application/vnd.comicbook+zip.xml\n/usr/share/mime/application/x-lz4.xml\n/usr/share/mime/application/x-neo-geo-pocket-color-rom.xml\n/usr/share/mime/application/vnd.ms-word.template.macroenabled.12.xml\nCODEX_CI=1\nCODEX_HOME=/tmp/codex-home\nCODEX_MANAGED_BY_NPM=1\nCODEX_MANAGED_PACKAGE_ROOT=/root/.nvm/versions/node/v22.23.3/lib/node_modules/@openai/codex\nCODEX_SESSION_ID=01a13d54-6e03-77d1-8c41-c671ec5c48fb\nCODEX_THREAD_ID=01a13d54-6e03-77d1-8c41-c671ec5c48fb\nCODEX_VERSION=0.160.1\nCOLORTERM=\nGH_PAGER=cat\nGIT_PAGER=cat\nGPG_KEY=7169605F62C751356D054A26A821E680E5FA6305\nHOME=/root\nHOSTNAME=add71b6b5b3e\nLANG=C.UTF-8\nLC_ALL=C.UTF-8\nLC_CTYPE=C.UTF-8\nNO_COLOR=1\nNVM_BIN=/root/.nvm/versions/node/v22.23.3/bin\nNVM_CD_FLAGS=\nNVM_DIR=/root/.nvm\nNVM_INC=/root/.nvm/versions/node/v22.23.3/include/node\nOPENAI_BASE_URL=http://[hidden]/u/chatgpt.com/backend-api/codex\nPAGER=cat\nPATH=/root/.nvm/versions/node/v22.23.3/lib/node_modules/@openai/codex/node_modules/@openai/codex-linux-x64/vendor/x86_64-unknown-linux-musl/codex-path:/root/.nvm/versions/node/v22.23.3/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin\nPWD=/app\nPYTHONPATH=/opt/tools\nPYTHON_SHA256=5c8462af5790baf43a321a1559dbe0db06d1be4300fb85fb53c40060668e548a\nPYTHON_VERSION=3.12.14\nSHLVL=2\nTERM=dumb\n_=/usr/bin/env\n","exit":[],"pics":[]},"tok":{"in":28549,"cached":27392,"out":172,"think":78,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":16,"t":58.5,"say":"","calls":[{"kind":"shell","label":"python -m pip index versions bigym","code":"python -m pip index versions bigym"}],"out":{"text":"WARNING: pip index is currently an experimental command. It may be removed/changed in a future release without prior warning.\nERROR: No matching distribution found for bigym\n\n[notice] A new release of pip is available: 25.0.1 -> 26.2.1\n[notice] To update, run: pip install --upgrade pip\n","exit":[],"pics":[]},"tok":{"in":30155,"cached":27392,"out":2393,"think":2345,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":17,"t":94.3,"say":"","calls":[{"kind":"shell","label":"writes kin_test.py","code":"cat > /app/output/kin_test.py <<'PY'\nimport json, numpy as np\nfrom scipy.spatial.transform import Rotation\nfrom scipy.optimize import least_squares\ns=json.load(open('/app/output/spec.json'))\n\ndef fk(q,side):\n pfx=side+'_'\n names=[pfx+n for n in ['shoulder_pitch_joint','shoulder_roll_joint','shoulder_yaw_joint','elbow_joint','wrist_roll_joint','wrist_pitch_joint','wrist_yaw_joint']]\n R=np.eye(3); t=np.zeros(3); last=None\n for n,v in zip(names,q):\n  d=s['joints'][n]\n  p=np.array(d['position_m']); a=np.array(d['axis'])\n  pivot=R@p+t; axis=R@a\n  R=Rotation.from_rotvec(axis*v).as_matrix()@R\n  t=pivot-R@p\n g=np.array(s['grippers'][side]['position_m'])\n return R@g+t\nfor side in ['left','right']:\n q=np.zeros(7)\n print(side,'zero',fk(q,side))\n for tar in [[.45,.15,.15],[.45,-.15,.15],[.35,.15,.2],[.3,.15,.35],[.4,.15,.45],[.45,.15,.4],[.55,.15,.3]]:\n  if side=='right' and tar[1]>0: continue\n  tar=np.array(tar)\n  best=None\n  bounds=[]\n  for name in [side+'_'+n for n in ['shoulder_pitch_joint','shoulder_roll_joint','shoulder_yaw_joint','elbow_joint','wrist_roll_joint','wrist_pitch_joint','wrist_yaw_joint']]:\n   bounds.append(s['joints'][name]['range'])\n  lo=np.array([b[0] for b in bounds]); hi=np.array([b[1] for b in bounds])\n  for i in range(4):\n   q0=np.zeros(7) if i==0 else np.random.uniform(lo,hi)\n   sol=least_squares(lambda q: np.r_[fk(q,side)-tar, .02*q],q0,bounds=(lo,hi),max_nfev=300)\n   err=np.linalg.norm(fk(sol.x,side)-tar)\n   if best is None or err<best[0]: best=(err,sol.x)\n  print(' ',tar,'err %.3f'%best[0],np.round(best[1],2),'actual',np.round(fk(best[1],side),2))\nPY\npython /app/output/kin_test.py"}],"out":{"text":"left zero [0.148 0.    0.   ]\n  [0.45 0.15 0.15] err 0.003 [-0.68  0.29  0.28  0.25  0.34 -0.1   0.77] actual [0.45 0.15 0.15]\n  [ 0.45 -0.15  0.15] err 0.014 [-1.02 -0.31  0.05  0.83  0.32 -0.14  1.41] actual [ 0.44 -0.14  0.15]\n  [0.35 0.15 0.2 ] err 0.001 [-0.47  0.35  0.47 -0.26  0.02 -0.17  0.24] actual [0.35 0.15 0.2 ]\n  [0.3  0.15 0.35] err 0.002 [-0.53  0.31  0.71 -0.51 -0.3  -0.34  0.38] actual [0.3  0.15 0.35]\n  [0.4  0.15 0.45] err 0.002 [-1.08  0.43  0.46 -0.06  0.19 -0.18  0.68] actual [0.4  0.15 0.45]\n  [0.45 0.15 0.4 ] err 0.003 [-1.07  0.4   0.38  0.12  0.28 -0.14  0.8 ] actual [0.45 0.15 0.4 ]\n  [0.55 0.15 0.3 ] err 0.011 [-1.19  0.31  0.21  0.74  0.37 -0.11  1.36] actual [0.54 0.15 0.3 ]\nright zero [0.148 0.    0.   ]\n  [ 0.45 -0.15  0.15] err 0.003 [-0.68 -0.29 -0.28  0.25 -0.34 -0.1  -0.77] actual [ 0.45 -0.15  0.15]\n","exit":[],"pics":[]},"tok":{"in":32644,"cached":29696,"out":3471,"think":2841,"usd":0.0023},"sim":{"submit":0,"reset":0}},{"id":18,"t":104.9,"say":"","calls":[{"kind":"shell","label":"p='/app/output/kin_test.py'","code":"python - <<'PY'\np='/app/output/kin_test.py'\ns=open(p).read().replace(\"g=np.array(s['grippers'][side]['position_m'])\\n return R@g+t\", \"g=np.array(s['joints'][names[-1]]['position_m'])+np.array(s['grippers'][side]['position_m'])\\n return R@g+t\")\nopen(p,'w').write(s)\nPY\npython /app/output/kin_test.py"}],"out":{"text":"left zero [0.3528 0.1487 0.0952]\n  [0.45 0.15 0.15] err 0.002 [-0.52  0.09  0.07  0.35  0.    0.16  0.02] actual [0.45 0.15 0.15]\n  [ 0.45 -0.15  0.15] err 0.026 [-1.14 -0.38 -0.    1.12  0.    0.17  0.  ] actual [ 0.43 -0.14  0.16]\n  [0.35 0.15 0.2 ] err 0.000 [-0.06  0.01  0.02 -0.18 -0.   -0.12  0.01] actual [0.35 0.15 0.2 ]\n  [0.3  0.15 0.35] err 0.001 [-0.25  0.03  0.06 -0.42 -0.   -0.25  0.03] actual [0.3  0.15 0.35]\n  [0.4  0.15 0.45] err 0.002 [-0.94  0.23  0.14  0.06  0.    0.05  0.04] actual [0.4  0.15 0.45]\n  [0.45 0.15 0.4 ] err 0.003 [-0.96  0.23  0.13  0.25  0.    0.12  0.04] actual [0.45 0.15 0.4 ]\n  [0.55 0.15 0.3 ] err 0.020 [-1.29  0.25  0.11  1.05  0.01  0.18  0.02] actual [0.53 0.15 0.3 ]\nright zero [ 0.3528 -0.1487  0.0952]\n  [ 0.45 -0.15  0.15] err 0.002 [-0.52 -0.09 -0.07  0.35 -0.    0.16 -0.02] actual [ 0.45 -0.15  0.15]\n","exit":[],"pics":[]},"tok":{"in":36709,"cached":31744,"out":702,"think":561,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":19,"t":142.6,"say":"","calls":[{"kind":"shell","label":"exec(open('/app/output/kin_test.py').read().split(\"for side in ['left','right']:\")[0])","code":"python - <<'PY'\nexec(open('/app/output/kin_test.py').read().split(\"for side in ['left','right']:\")[0])\nfor side, targets in [('left',[[.58,.17,.20],[.48,.17,.20],[.40,.17,.20]]),('right',[[.50,0,.20],[.42,0,.20],[.35,0,.20]]),('left',[[.40,.15,.50],[.40,.15,.47]]),('right',[[.40,-.15,.50],[.40,-.15,.47]])]:\n names=[side+'_'+n for n in ['shoulder_pitch_joint','shoulder_roll_joint','shoulder_yaw_joint','elbow_joint','wrist_roll_joint','wrist_pitch_joint','wrist_yaw_joint']]\n bounds=[s['joints'][n]['range'] for n in names]; lo=np.array([b[0] for b in bounds]); hi=np.array([b[1] for b in bounds])\n for tar in targets:\n  tar=np.array(tar); best=None\n  for i in range(20):\n   q0=np.zeros(7) if i==0 else np.random.uniform(lo,hi)\n   sol=least_squares(lambda q: np.r_[fk(q,side)-tar, .03*q],q0,bounds=(lo,hi),max_nfev=500)\n   err=np.linalg.norm(fk(sol.x,side)-tar)\n   if best is None or err<best[0]: best=(err,sol.x)\n  print(side,tar.round(2),'err',round(best[0],3),'q',np.round(best[1],2))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":38010,"cached":35840,"out":3503,"think":3084,"usd":0.0023},"sim":{"submit":0,"reset":0}},{"id":20,"t":157.6,"say":"","calls":[{"kind":"shell","label":"exec(open('/app/output/kin_test.py').read().split(\"for side in ['left','right']:\")[0])","code":"python - <<'PY'\nexec(open('/app/output/kin_test.py').read().split(\"for side in ['left','right']:\")[0])\nfor side,targets in [('left',[[.58,.17,.20],[.48,.17,.20],[.40,.17,.20]]),('right',[[.50,0,.20],[.42,0,.20],[.35,0,.20]]),('left',[[.40,.15,.50],[.40,.15,.47]]),('right',[[.40,-.15,.50],[.40,-.15,.47]])]:\n names=[side+'_'+n for n in ['shoulder_pitch_joint','shoulder_roll_joint','shoulder_yaw_joint','elbow_joint','wrist_roll_joint','wrist_pitch_joint','wrist_yaw_joint']]\n bounds=[s['joints'][n]['range'] for n in names]; lo=np.array([b[0] for b in bounds]); hi=np.array([b[1] for b in bounds])\n for tar in targets:\n  tar=np.array(tar)\n  sol=least_squares(lambda q: np.r_[fk(q,side)-tar, .01*q],np.zeros(7),bounds=(lo,hi),max_nfev=300)\n  print(side,tar.round(2),'err',round(np.linalg.norm(fk(sol.x,side)-tar),3),'q',np.round(sol.x,2),flush=True)\nPY"}],"out":{"text":"left [0.58 0.17 0.2 ] err 0.054 q [-1.29  0.23  0.34  1.36  0.04  0.09  0.02]\nleft [0.48 0.17 0.2 ] err 0.001 q [-0.73  0.18  0.1   0.49  0.01  0.19  0.03]\nleft [0.4  0.17 0.2 ] err 0.0 q [-0.3   0.08  0.09  0.01  0.    0.02  0.03]\nright [0.5 0.  0.2] err 0.003 q [-1.11  0.08 -0.03  0.95 -0.    0.2  -0.01]\nright [0.42 0.   0.2 ] err 0.0 q [-0.53  0.17  0.11  0.23  0.    0.12  0.03]\nright [0.35 0.   0.2 ] err 0.0 q [-0.17  0.15  0.27 -0.07 -0.   -0.04  0.11]\nleft [0.4  0.15 0.5 ] err 0.001 q [-1.14  0.29  0.15  0.18  0.    0.09  0.04]\nleft [0.4  0.15 0.47] err 0.001 q [-1.02  0.26  0.15  0.11  0.    0.07  0.04]\nright [ 0.4  -0.15  0.5 ] err 0.001 q [-1.14 -0.29 -0.15  0.18 -0.    0.09 -0.04]\nright [ 0.4  -0.15  0.47] err 0.001 q [-1.02 -0.26 -0.15  0.11 -0.    0.07 -0.04]\n","exit":[],"pics":[]},"tok":{"in":41536,"cached":37888,"out":424,"think":62,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":21,"t":261.0,"say":"The initial pose confirms the hands are around counter height, and the measured arm geometry should reach both cups after a small forward step. I’m building the controller around world-relative waypoints: open the cabinet first, then pick both cups, carry them while taking a short step closer, and release them above the shelf. I’ll check camera frames at the stage boundaries so I can adjust if the handles or grasp points differ from the scene measurements.","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":42522,"cached":40960,"out":15570,"think":10913,"usd":0.0084},"sim":{"submit":0,"reset":0}},{"id":22,"t":315.1,"say":"","calls":[{"kind":"shell","label":"setsid nohup python -u /app/output/gen.py --stage doors > /app/output/run.log 2>&1 < /dev/null & echo $!","code":"setsid nohup python -u /app/output/gen.py --stage doors > /app/output/run.log 2>&1 < /dev/null & echo $!"}],"out":{"text":"9418\n","exit":[],"pics":[]},"tok":{"in":58116,"cached":41984,"out":1313,"think":1241,"usd":0.0027},"sim":{"submit":0,"reset":0}},{"id":23,"t":318.3,"say":"","calls":[{"kind":"shell","label":"tail -40 /app/output/run.log && python - <<'PY'","code":"tail -40 /app/output/run.log && python - <<'PY'\nimport sys,json\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); print(r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":59455,"cached":57344,"out":124,"think":34,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":24,"t":332.5,"say":"","calls":[{"kind":"shell","label":"tail -60 /app/output/run.log","code":"tail -60 /app/output/run.log"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":60050,"cached":59392,"out":1329,"think":1281,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":25,"t":336.9,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=['head','left_wrist','right_wrist'],seconds=0,video='frames'); o.save('/app/output/current","code":"ls -la /app/output/live_doors* && tail -80 /app/output/run.log && python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); print('status',r.status())\no=r.get_obs(cameras=['head','left_wrist','right_wrist'],seconds=0,video='frames'); o.save('/app/output/current')\nprint('pose',o.meta['proprio']['now'][52:56])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":62629,"cached":59392,"out":342,"think":188,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":26,"t":341.2,"say":"","calls":[{"kind":"look","label":"head.jpg","code":"/app/output/current/last/head.jpg"}],"out":{"text":"","exit":[],"pics":["bigym2-put-cups-i00-standard-realtime--fdgvyax/s026_0.jpg"]},"tok":{"in":64901,"cached":62464,"out":272,"think":235,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":27,"t":344.4,"say":"","calls":[{"kind":"look","label":"a picture","code":"const arr=[\"/app/output/current/last/left_wrist.jpg\",\"/app/output/current/last/right_wrist.jpg\"]; for (const p of arr) {const r=await tools.view_image({path:p}); image(r.image_url);}\n"}],"out":{"text":"","exit":[],"pics":["bigym2-put-cups-i00-standard-realtime--fdgvyax/s027_0.jpg","bigym2-put-cups-i00-standard-realtime--fdgvyax/s027_1.jpg"]},"tok":{"in":65207,"cached":64512,"out":132,"think":70,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":28,"t":346.9,"say":"","calls":[{"kind":"look","label":"head.jpg","code":"/app/output/live_doors_open/last/head.jpg"}],"out":{"text":"","exit":[],"pics":["bigym2-put-cups-i00-standard-realtime--fdgvyax/s028_0.jpg"]},"tok":{"in":65384,"cached":64512,"out":72,"think":32,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":29,"t":378.4,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":65490,"cached":64512,"out":3079,"think":2739,"usd":0.0023},"sim":{"submit":0,"reset":0}},{"id":30,"t":380.9,"say":"","calls":[{"kind":"shell","label":"setsid nohup python -u /app/output/gen.py --stage recover > /app/output/recover.log 2>&1 < /dev/null & echo $!","code":"setsid nohup python -u /app/output/gen.py --stage recover > /app/output/recover.log 2>&1 < /dev/null & echo $!"}],"out":{"text":"9468\n","exit":[],"pics":[]},"tok":{"in":68593,"cached":64512,"out":81,"think":8,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":31,"t":383.5,"say":"","calls":[{"kind":"shell","label":"tail -30 /app/output/recover.log && python - <<'PY'","code":"tail -30 /app/output/recover.log && python - <<'PY'\nimport sys;sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); print(r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":68700,"cached":67584,"out":102,"think":12,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":32,"t":404.0,"say":"The episode ended with `reason=\"failed\"` at 3000 control steps. I attempted the cabinet-handle stage, but the robot drifted backward; while I inspected the result, it kept running and the episode ended before I could send the cup-picking sequence. The reset budget is zero, so I couldn’t recover.\n\nThe controller and logs are saved at [gen.py](/app/output/gen.py) and `/app/output/run.log`. I can’t claim the cups were put away.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":68943,"cached":68608,"out":1874,"think":1768,"usd":0.0017},"sim":{"submit":0,"reset":0}}]}

runs/bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb.json

@@ -0,0 +1 @@
+{"slug":"bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb","task":"bigym2-sandwich-remove-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":3150,"sim_steps":3150,"calls":108,"rows":200,"resets":0,"reset_budget":0,"sim_startups":1,"elapsed_s":102.5,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":62.99,"max_lag_s":0.0031,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":2948,"late_steps":0,"requests_refused":0,"request_busy_s":0.532,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.338,"peak_processes":9,"peak_disk_gb":0.826,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":153,"tokens":{"in":350585,"cached":301184,"out":12383,"usd":0.01},"task_text":"# bigym2 sandwich-remove — 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:** Use the spatula to move the sandwich from the frying pan onto the chopping board.\n\nAt the start the frying pan, with the sandwich in it and the spatula resting on it, is about 0.7 m away, straight ahead, 0.87 m above the floor; the chopping board is about 1.1 m away, 52° to your right, 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\n… (7,828 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-sandwich-remove-i00-standard-realtime--cz8d8sb/replay.mp4","replay_last":"bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and scene facts first, then start the real-time controller as soon as the service is available so the episode can run while I refine commands.","calls":[{"kind":"shell","label":"print(rcb_client.__file__)","code":"date -u; pwd; ls -la /app/output; python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nimport rcb_client\nprint(rcb_client.__file__)\nprint(rcb_client.__doc__)\nPY"}],"out":{"text":"Thu Oct 15 02:26:50 UTC 2026\n/app\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 15 01:49 .\ndrwxr-xr-x 3 root root 4096 Oct 15 01:49 ..\n/opt/tools/rcb_client.py\neai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\nPYTHONPATH).\n\n    from rcb_client import Robot, EpisodeOver\n    r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nTIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\nget_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\nspec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\nplan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\nthe last target is held. Whatever you do in between -- think, print, run a model -- the robot keeps executing.\n\nCalls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n    r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                             (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                             units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n         \n… (3,469 characters left out) …\n\n                             sim_time_s, time_s, time_left_s, proprio {\"layout\", \"now\"}, done, reason (\"success\" |\n                             \"failed\" | \"timeout\" | \"error\"; None while the episode runs), running, planned_steps,\n                             lag_s; per submit: start_step, late_steps, plan_end_step, clipped [{row, index, reason}]\n                             (values outside [-1, 1] are clipped, not refused); with a reset budget also episode,\n                             resets_left\n    res.last[cam]            uint8 H x W x 3: the last frame (unless cameras=[])\n    res.frames[cam]          uint8 N x H x W x 3 (get_obs, video=\"frames\"/\"both\")     res.video[cam]   mp4 bytes\n    res.depth[cam]           float16 N x H x W, metres, 0 = nothing in range (include_depth)\n    res.proprio              float32 rows of spec()[\"proprio_layout\"]: one at the call's start, one every 1/video_fps s\n                             of a watch, one at its end\n    res.done                 the episode is over\n    res.save(dir)            meta.json, <cam>.mp4, last/<cam>.jpg, frames/<cam>/NNN.jpg, depth_<cam>.npy, proprio.npy\n\nErrors: ValueError -- refused, nothing changed (400: wrong type or shape, NaN, a bad dt or at, too many frames, an\nunknown camera; or a request over 64 MB, refused before it is sent); EpisodeOver -- the episode, or the trial, is over\n(409); RuntimeError -- the service failed (5xx: see spec()[\"on_service_error\"]) or the endpoint does not exist in this\nrun (404).\n\n","exit":[],"pics":[]},"tok":{"in":12981,"cached":8960,"out":137,"think":0,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":7,"t":6.0,"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[k] for k in ['action_types','timing','cameras','proprio_layout','proprio','joints','joint_frame','joint_sign','grippers','budget','episode']},indent=2)[:30000])\no=r.get_obs(cameras=['head','left_wrist','right_wrist'])\nprint('META',o.meta)\nfor k,v in o.last.items():\n import os\n from PIL import Image\n Image.fromarray(v).save('/app/output/start_'+k+'.png')\nprint('images saved')\nPY"}],"out":{"text":"{\n  \"action_types\": {\n    \"whole_body\": {\n      \"dim\": 21,\n      \"layout\": [\n        \"vx\",\n        \"vy\",\n        \"height\",\n        \"wz\",\n        \"pitch\",\n        \"left_shoulder_pitch_joint\",\n        \"left_shoulder_roll_joint\",\n        \"left_shoulder_yaw_joint\",\n        \"left_elbow_joint\",\n        \"left_wrist_roll_joint\",\n        \"left_wrist_pitch_joint\",\n        \"left_wrist_yaw_joint\",\n        \"right_shoulder_pitch_joint\",\n        \"right_shoulder_roll_joint\",\n        \"right_shoulder_yaw_joint\",\n        \"right_elbow_joint\",\n        \"right_wrist_roll_joint\",\n        \"right_wrist_pitch_joint\",\n        \"right_wrist_yaw_joint\",\n        \"left_gripper\",\n        \"right_gripper\"\n      ],\n      \"lower\": [\n        -1.0,\n        -1.0,\n        0.4,\n        -1.0,\n        -0.2,\n        -3.0892,\n        -1.5882,\n        -2.618,\n        -1.0472,\n        -1.9722,\n        -1.6144,\n        -1.6144,\n        -3.0892,\n        -1.5882,\n        -2.618,\n        -1.0472,\n        -1.9722,\n        -1.6144,\n        -1.6144,\n        0.0,\n        0.0\n      ],\n      \"upper\": [\n        1.0,\n        1.0,\n        1.0,\n        1.0,\n        0.8,\n        2.6704,\n        2.2515,\n        2.618,\n        2.0944,\n        1.9722,\n        1.6144,\n        1.6144,\n        2.6704,\n        2.2515,\n        2.618,\n        2.0944,\n        1.9722,\n        1.6144,\n        1.6144,\n        1.0,\n        1.0\n      ],\n      \"units\": \"vx, vy: walking velocity command, m/s, the robot's frame (x forward, y left); height: pelvis height co\n… (16,242 characters left out) …\n, '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, 0.028862135484814644, 0.2472071647644043, 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, 0.028862135484814644, 0.2472071647644043, 0.7466566562652588, 0.0006359267863444984]}, 'running': False, 'planned_steps': 0, 'lag_s': 0.0, 'obs_id': 1, 'seconds': 0.0, 'control_steps_watch': 0, 'ok': True}\nimages saved\n","exit":[],"pics":[]},"tok":{"in":14552,"cached":8960,"out":341,"think":137,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":8,"t":9.3,"say":"","calls":[{"kind":"look","label":"start_head.png","code":"/app/output/start_head.png"},{"kind":"look","label":"start_left_wrist.png","code":"/app/output/start_left_wrist.png"},{"kind":"look","label":"start_right_wrist.png","code":"/app/output/start_right_wrist.png"}],"out":{"text":"","exit":[],"pics":["bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s008_0.jpg","bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s008_1.jpg","bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s008_2.jpg"]},"tok":{"in":21304,"cached":14080,"out":145,"think":48,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":9,"t":12.0,"say":"The service is paused and the initial camera view is low resolution. I’m checking the scene framing and kinematic conventions before starting the clock; then I’ll run a short, logged approach-and-observe sequence and adjust from live images.","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/start_'+n+'.png').resize((672,672),Image.Resampling.NEAREST)\n im.save('/app/output/large_'+n+'.png')\nPY"},{"kind":"look","label":"large_head.png","code":"/app/output/large_head.png"},{"kind":"look","label":"large_left_wrist.png","code":"/app/output/large_left_wrist.png"},{"kind":"look","label":"large_right_wrist.png","code":"/app/output/large_right_wrist.png"}],"out":{"text":"","exit":[],"pics":["bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s009_0.jpg","bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s009_1.jpg","bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s009_2.jpg"]},"tok":{"in":21505,"cached":20224,"out":301,"think":61,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":10,"t":17.5,"say":"","calls":[{"kind":"shell","label":"print([m.name for m in pkgutil.iter_modules() if 'bigym' in m.name.lower() or 'mujoco' in m.name.lower()])","code":"find /app -maxdepth 3 -type f -printf '%p\\n' | head -100; python - <<'PY'\nimport sys, pkgutil\nprint([m.name for m in pkgutil.iter_modules() if 'bigym' in m.name.lower() or 'mujoco' in m.name.lower()])\nPY\nrg -n \"sandwich-remove|SandwichRemove|sandwich\" /opt /app 2>/dev/null | head -100"}],"out":{"text":"/app/output/start_head.png\n/app/output/start_right_wrist.png\n/app/output/start_left_wrist.png\n/app/output/large_left_wrist.png\n/app/output/large_right_wrist.png\n/app/output/large_head.png\n[]\n","exit":[],"pics":[]},"tok":{"in":23419,"cached":21248,"out":295,"think":153,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":11,"t":45.5,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\nimport os, sys, json, time, traceback\nsys.path.insert(0, '/opt/tools')\nfrom rcb_client import Robot, EpisodeOver\nfrom PIL import Image\n\nOUT='/app/output'\nCMD=OUT+'/cmd.json'\n\ndef log(s):\n    print(f'{time.time():.3f} {s}', flush=True)\n\ndef main():\n    r=Robot(); spec=r.spec(); dt=spec['control_dt']\n    log('CONNECTED '+json.dumps({'timing':spec['timing'],'budget':spec['budget']}))\n    last_mtime=None; obs_t=0; last_submitted_end=-1\n    while True:\n        try:\n            st=r.status()\n            if st.get('done'):\n                log('DONE '+json.dumps(st)); return\n            try:\n                mt=os.stat(CMD).st_mtime_ns\n            except FileNotFoundError:\n                mt=None\n            if mt is not None and mt != last_mtime:\n                with open(CMD) as f: cmd=json.load(f)\n                rows=cmd['rows']; at=st['control_steps']+1\n                res=r.submit('whole_body', rows, dt=dt, interpolate=cmd.get('interpolate','hold'), at=at, cameras=[])\n                last_mtime=mt; last_submitted_end=res.meta.get('plan_end_step')\n                log('SUBMIT '+json.dumps({'start':res.meta.get('start_step'),'late':res.meta.get('late_steps'),'end':last_submitted_end,'n':len(rows),'step':res.meta.get('control_steps'),'label':cmd.get('label')}))\n            now=time.time()\n            if now-obs_t>=0.55:\n                o=r.get_obs(cameras=['head'])\n                a=o.meta['proprio']['now']; layout=o.meta['proprio']['layout']; d=dict(zip(layout,a))\n                Image.fromarray(o.last['head']).save(OUT+'/live_head.png')\n                log('OBS '+json.dumps({'step':o.meta['control_steps'],'done':o.meta['done'],'reason':o.meta.get('reason'),'pelvis':[d['pelvis_x'],d['pelvis_y'],d['pelvis_z'],d['pelvis_yaw']],'arms':[d[x] for x in ['left_shoulder_pitch_joint_pos','left_shoulder_roll_joint_pos','left_shoulder_yaw_joint_pos','left_elbow_joint_pos','left_wrist_roll_joint_pos','left_wrist_pitch_joint_pos','left_wrist_yaw_joint_pos','right_shoulder_pitch_joint_pos','right_shoulder_roll_joint_pos','right_shoulder_yaw_joint_pos','right_elbow_joint_pos','right_wrist_roll_joint_pos','right_wrist_pitch_joint_pos','right_wrist_yaw_joint_pos']]}))\n                obs_t=now\n            time.sleep(0.05)\n        except EpisodeOver as e:\n            log('EPISODE_OVER '+repr(e)); return\n        except Exception:\n            log('ERROR '+traceback.format_exc()); time.sleep(.2)\n\nif __name__=='__main__': main()\nPY\npython - <<'PY'\nimport json\nrow=[0.22,0,0.74,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]\njson.dump({'label':'approach1','rows':[row]*50,'interpolate':'hold'},open('/app/output/cmd.json','w'))\nPY\nsetsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null & echo $!"}],"out":{"text":"9324\n","exit":[],"pics":[]},"tok":{"in":23785,"cached":22400,"out":2857,"think":1993,"usd":0.0018},"sim":{"submit":0,"reset":0}},{"id":12,"t":47.6,"say":"","calls":[{"kind":"shell","label":"sleep 0.7; cat /app/output/run.log; date -u","code":"sleep 0.7; cat /app/output/run.log; date -u"}],"out":{"text":"1792031255.959 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)\"}, \"budget\": {\"reset\": 0, \"wall_clock_s\": 3600.0}}\n1792031255.964 SUBMIT {\"start\": 1, \"late\": 0, \"end\": 51, \"n\": 50, \"step\": 0, \"label\": \"approach1\"}\n1792031255.983 OBS {\"step\": 1, \"done\": false, \"reason\": null, \"pelvis\": [0.02907523885369301, 0.24722088873386383, 0.7466795444488525, 0.0006303833215497434], \"arms\": [0.017978277057409286, -0.0012911875965073705, 0.00012201504432596266, 0.02758822962641716, 0.00015758158406242728, 0.038238950073719025, 0.00010980219667544588, 0.01793246529996395, 0.0016498201293870807, 9.00847080629319e-05, 0.027589088305830956, -0.00012099908053642139, 0.03824012\n… (496 characters left out) …\n06289696902967989]}\n1792031257.177 OBS {\"step\": 61, \"done\": false, \"reason\": null, \"pelvis\": [0.11166858673095703, 0.27986255288124084, 0.7376989126205444, 0.0021315061021596193], \"arms\": [0.02749941684305668, 0.0035817534662783146, 0.0032493805047124624, 0.03298458084464073, 0.0002248124364996329, 0.04112525284290314, 0.0006455265101976693, 0.02627396397292614, 0.007796523626893759, 0.003727751085534692, 0.030506925657391548, -0.0025434771087020636, 0.04079143702983856, 0.010418456047773361]}\n1792031257.777 OBS {\"step\": 91, \"done\": false, \"reason\": null, \"pelvis\": [0.12665414810180664, 0.2671288549900055, 0.7478600144386292, -0.0032171437051147223], \"arms\": [0.016774917021393776, -0.0015858871629461646, -7.543528045061976e-05, 0.027429109439253807, 0.00014807212573941797, 0.038238976150751114, 4.9763098104449455e-06, 0.016890889033675194, 0.001378778601065278, -6.93747861078009e-05, 0.027474133297801018, -0.0001362609036732465, 0.03828771412372589, 1.9217372937418986e-06]}\n1792031258.377 OBS {\"step\": 121, \"done\": false, \"reason\": null, \"pelvis\": [0.11658556014299393, 0.26498275995254517, 0.7466902732849121, -0.00811078492552042], \"arms\": [0.01814122684299946, -0.001304124016314745, 0.00011186121992068365, 0.02760017290711403, 0.000155787929543294, 0.03818925470113754, 7.286023173946887e-05, 0.018120253458619118, 0.0016342524904757738, 7.5789779657498e-05, 0.027601100504398346, -0.0001227544416906312, 0.038192372769117355, 3.542950435075909e-05]}\nThu Oct 15 02:27:38 UTC 2026\n","exit":[],"pics":[]},"tok":{"in":26668,"cached":23552,"out":70,"think":14,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":13,"t":53.7,"say":"","calls":[{"kind":"shell","label":"row=[0,0,0.74,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]","code":"python - <<'PY'\nimport json,os,time\nrow=[0,0,0.74,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]\np='/app/output/cmd.json'; json.dump({'label':'hold_inspect','rows':[row]*150,'interpolate':'hold'},open(p+'.tmp','w')); os.replace(p+'.tmp',p)\nPY\nsleep 0.35; tail -6 /app/output/run.log; date -u"},{"kind":"look","label":"live_head.png","code":"/app/output/live_head.png"}],"out":{"text":"1792031261.379 OBS {\"step\": 271, \"done\": false, \"reason\": null, \"pelvis\": [0.11918195337057114, 0.2682536542415619, 0.7469537258148193, -0.005101543851196766], \"arms\": [0.01774030365049839, -0.0012330489698797464, 0.00015715531480964273, 0.02754068747162819, 0.00015984209312591702, 0.03816916048526764, 0.00014854822074994445, 0.017664410173892975, 0.0017071535112336278, 0.00012957365834154189, 0.027543477714061737, -0.00011817798076663166, 0.038172248750925064, 0.00011569708294700831]}\n1792031261.977 OBS {\"step\": 301, \"done\": false, \"reason\": null, \"pelvis\": [0.1199025809764862, 0.26808369159698486, 0.7470389604568481, -0.005197473801672459], \"arms\": [0.017663149163126945, -0.001233087619766593, 0.00015610895934514701, 0.027529830113053322, 0.0001595331559656188, 0.038160353899002075, 0.0001433446741430089, 0.017587540671229362, 0.001707211835309863, 0.0001299689756706357, 0.027530452236533165, -0.00011837227793876082, 0.038161538541316986, 0.00011136346438433975]}\n1792031262.577 OBS {\"step\": 331, \"done\": false, \"reason\": null, \"pelvis\": [0.11959829181432724, 0.26824522018432617, 0.747003436088562, -0.005149414297193289], \"arms\": [0.017708076164126396, -0.0012235927861183882, 0.0001624156575417146, 0.027535153552889824, 0.00015998682647477835, 0.03816237673163414, 0.0001504668325651437, 0.017628690227866173, 0.00171651563141495, 0.0001354290434392169, 0.02753615565598011, -0.00011796585022239015, 0.03816317021846771, 0.0001180439576273784]}\n1792031263.178 OBS {\"step\": 361, \"done\": false, \"reason\": null, \"pelvis\": [0.1196506917476654, 0.2681610584259033, 0.7470080256462097, -0.005103194620460272], \"arms\": [0.017690226435661316, -0.0012311895843595266, 0.00015764657291583717, 0.027533691376447678, 0.00015971297398209572, 0.0381636768579483, 0.00014625987387262285, 0.017613690346479416, 0.001709087286144495, 0.00013100927753839642, 0.027535008266568184, -0.00011823312524938956, 0.0381653793156147, 0.00011397572234272957]}\n1792031263.777 OBS {\"step\": 391, \"done\": false, \"reason\": null, \"pelvis\": [0.11970861256122589, 0.26818323135375977, 0.7470159530639648, -0.005101832095533609], \"arms\": [0.017691992223262787, -0.0012273326283320785, 0.00015995398280210793, 0.0275331549346447, 0.00015981846081558615, 0.03816145285964012, 0.000147879560245201, 0.0176140908151865, 0.0017128374893218279, 0.0001332685787929222, 0.027534088119864464, -0.0001181164916488342, 0.038162458688020706, 0.00011561666178749874]}\n1792031263.957 SUBMIT {\"start\": 401, \"late\": 0, \"end\": 551, \"n\": 150, \"step\": 400, \"label\": \"hold_inspect\"}\nThu Oct 15 02:27:44 UTC 2026\n","exit":[],"pics":["bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s013_0.jpg"]},"tok":{"in":28172,"cached":25600,"out":463,"think":269,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":14,"t":57.4,"say":"","calls":[{"kind":"shell","label":"Image.open('/app/output/live_head.png').resize((840,840),Image.Resampling.NEAREST).save('/app/output/live_big.","code":"python - <<'PY'\nfrom PIL import Image\nImage.open('/app/output/live_head.png').resize((840,840),Image.Resampling.NEAREST).save('/app/output/live_big.png')\nPY"},{"kind":"look","label":"live_big.png","code":"/app/output/live_big.png"}],"out":{"text":"","exit":[],"pics":["bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s014_0.jpg"]},"tok":{"in":29814,"cached":27648,"out":188,"think":88,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":15,"t":78.9,"say":"","calls":[{"kind":"shell","label":"ls -la /opt/tools; find /opt /usr/local/lib/python3.11/site-packages -iname '*g1*' -o -iname '*bigym*' 2>/dev/","code":"ls -la /opt/tools; find /opt /usr/local/lib/python3.11/site-packages -iname '*g1*' -o -iname '*bigym*' 2>/dev/null | head -50; date -u"}],"out":{"text":"total 36\ndrwxr-xr-x 1 root root  4096 Oct 15 02:26 .\ndrwxr-xr-x 1 root root  4096 Oct 15 01:49 ..\ndrwxr-xr-x 2 root root  4096 Oct 15 02:26 __pycache__\n-rw-rw-r-- 1 root root  3881 Oct 15 01:49 rcb1.py\n-rw-rw-r-- 1 root root 12787 Oct 15 01:49 rcb_client.py\nThu Oct 15 02:28:09 UTC 2026\n","exit":[],"pics":[]},"tok":{"in":30900,"cached":28672,"out":1911,"think":1821,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":16,"t":113.9,"say":"The pan is visible ahead/right in the head camera; the robot has advanced only about 9 cm on the first short walk and remains upright. I’m making a measured forward approach, then I’ll use a wrist view to guide the spatula contact rather than reaching blindly.","calls":[{"kind":"shell","label":"row=[0.35,0,0.74,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]","code":"python - <<'PY'\nimport json,os\nrow=[0.35,0,0.74,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]\np='/app/output/cmd.json'; q=p+'.tmp'; json.dump({'label':'approach2','rows':[row]*75,'interpolate':'hold'},open(q,'w')); os.replace(q,p)\nPY\nsleep 1.8; tail -12 /app/output/run.log; date -u"},{"kind":"look","label":"live_head.png","code":"/app/output/live_head.png"}],"out":{"text":"1792031312.377 OBS {\"step\": 2821, \"done\": false, \"reason\": null, \"pelvis\": [0.11970861256122589, 0.267892062664032, 0.7470009922981262, -0.003199115628376603], \"arms\": [0.01768977753818035, -0.0012289293808862567, 0.00015900294238235801, 0.027533238753676414, 0.0001597774971742183, 0.03816206008195877, 0.00014726960216648877, 0.017612392082810402, 0.0017112884670495987, 0.00013234485231805593, 0.027534330263733864, -0.00011816157348221168, 0.03816331923007965, 0.00011499219544930384]}\n1792031312.979 OBS {\"step\": 2851, \"done\": false, \"reason\": null, \"pelvis\": [0.1197090893983841, 0.2678885757923126, 0.7470009326934814, -0.0031767752952873707], \"arms\": [0.017689744010567665, -0.0012289319420233369, 0.00015900332073215395, 0.02753324620425701, 0.00015977716248016804, 0.038162048906087875, 0.00014726570225320756, 0.017612356692552567, 0.0017112807836383581, 0.00013234035577625036, 0.02753433585166931, -0.00011816201003966853, 0.03816331550478935, 0.00011498731328174472]}\n1792031313.582 OBS {\"step\": 2881, \"done\": false, \"reason\": null, \"pelvis\": [0.11970961093902588, 0.26788514852523804, 0.7470008730888367, -0.003154491540044546], \"arms\": [0.017689701169729233, -0.0012289430014789104, 0.00015899566642474383, 0.027533240616321564, 0.0001597768277861178, 0.03816204518079758, 0.00014726158406119794, 0.01761232316493988, 0.0017112753121182323, 0.000132338420371525, 0.02753433771431446, -0.00011816212645499036, 0.03816330432891846, 0.00011498537787701935]}\n1792031314.182 OBS {\"step\": 2\n… (2,596 characters left out) …\n0.01768943853676319, -0.0012289686128497124, 0.00015897837874945253, 0.027533192187547684, 0.0001597757509443909, 0.03816201165318489, 0.0001472464791731909, 0.017612062394618988, 0.00171124585904181, 0.00013232181663624942, 0.027534278109669685, -0.00011816305777756497, 0.03816327452659607, 0.00011496990919113159]}\n1792031317.783 OBS {\"step\": 3091, \"done\": false, \"reason\": null, \"pelvis\": [0.11971315741539001, 0.2678612470626831, 0.7470003962516785, -0.002998929237946868], \"arms\": [0.017689397558569908, -0.0012289821170270443, 0.000158969487529248, 0.027533192187547684, 0.0001597752416273579, 0.03816200792789459, 0.0001472383737564087, 0.017612045630812645, 0.0017112363129854202, 0.000132315544760786, 0.027534300461411476, -0.00011816340702353045, 0.03816327452659607, 0.00011496372462715954]}\n1792031318.383 OBS {\"step\": 3121, \"done\": false, \"reason\": null, \"pelvis\": [0.11971360445022583, 0.2678579092025757, 0.7470003366470337, -0.002976633608341217], \"arms\": [0.017689354717731476, -0.0012289804872125387, 0.00015896992408670485, 0.02753319963812828, 0.0001597753434907645, 0.03816201165318489, 0.00014723998901899904, 0.01761198788881302, 0.001711235847324133, 0.00013231502089183778, 0.02753428928554058, -0.0001181634288514033, 0.03816327080130577, 0.0001149643212556839]}\n1792031318.965 DONE {\"calls\": 108, \"rows\": 200, \"control_steps\": 3150, \"done\": true, \"reason\": \"failed\", \"elapsed_s\": 102.5, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\nThu Oct 15 02:28:47 UTC 2026\n","exit":[],"pics":["bigym2-sandwich-remove-i00-standard-realtime--cz8d8sb/s016_0.jpg"]},"tok":{"in":32973,"cached":29696,"out":3688,"think":3431,"usd":0.0025},"sim":{"submit":0,"reset":0}},{"id":17,"t":133.2,"say":"The episode clock has reached its 3150-step limit, and the service reports `reason=\"failed\"`. The controller only issued the initial 1-second walk and a stationary hold; I’m checking the final service status and preserving the run artifacts so I can give you an accurate account.","calls":[{"kind":"shell","label":"date -u","code":"python - <<'PY'\nimport sys,json,os\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); print(json.dumps(r.status(),indent=2)); print('CMD',open('/app/output/cmd.json').read()[:300]); print('LOGTAIL'); print('\\n'.join(open('/app/output/run.log').read().splitlines()[-20:]))\nPY\ndate -u"}],"out":{"text":"{\n  \"calls\": 108,\n  \"rows\": 200,\n  \"control_steps\": 3150,\n  \"done\": true,\n  \"reason\": \"failed\",\n  \"elapsed_s\": 127.9,\n  \"running\": false,\n  \"planned_steps\": 0,\n  \"lag_s\": 0.0001\n}\nCMD {\"label\": \"approach2\", \"rows\": [[0.35, 0, 0.74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.6, 0.6], [0.35, 0, 0.74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.6, 0.6], [0.35, 0, 0.74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.6, 0.6], [0.35, 0, 0.74, 0, 0, 0, 0, 0, 0, 0, 0, 0, \nLOGTAIL\n1792031307.577 OBS {\"step\": 2581, \"done\": false, \"reason\": null, \"pelvis\": [0.11970445513725281, 0.2679196000099182, 0.747001588344574, -0.0033787742722779512], \"arms\": [0.017690127715468407, -0.0012288731522858143, 0.0001590404863236472, 0.02753327414393425, 0.00015977941802702844, 0.03816210478544235, 0.00014729519898537546, 0.01761273853480816, 0.00171134143602103, 0.00013237509119790047, 0.027534382417798042, -0.00011815995821962133, 0.038163378834724426, 0.00011501586413942277]}\n1792031308.178 OBS {\"step\": 2611, \"done\": false, \"reason\": null, \"pelvis\": [0.11970500648021698, 0.2679160237312317, 0.7470014691352844, -0.0033563480246812105], \"arms\": [0.017690083011984825, -0.001228888868354261, 0.0001590309984749183, 0.0275332722812891, 0.00015977889415808022, 0.038162101060152054, 0.0001472900330554694, 0.017612691968679428, 0.001711326534859836, 0.00013236737868282944, 0.027534369379281998, -0.00011816042388090864, 0.03816336765885353, 0.00011501149856485426]}\n1792031308.779 OBS {\"step\": 2\n… (7,012 characters left out) …\n0.01768943853676319, -0.0012289686128497124, 0.00015897837874945253, 0.027533192187547684, 0.0001597757509443909, 0.03816201165318489, 0.0001472464791731909, 0.017612062394618988, 0.00171124585904181, 0.00013232181663624942, 0.027534278109669685, -0.00011816305777756497, 0.03816327452659607, 0.00011496990919113159]}\n1792031317.783 OBS {\"step\": 3091, \"done\": false, \"reason\": null, \"pelvis\": [0.11971315741539001, 0.2678612470626831, 0.7470003962516785, -0.002998929237946868], \"arms\": [0.017689397558569908, -0.0012289821170270443, 0.000158969487529248, 0.027533192187547684, 0.0001597752416273579, 0.03816200792789459, 0.0001472383737564087, 0.017612045630812645, 0.0017112363129854202, 0.000132315544760786, 0.027534300461411476, -0.00011816340702353045, 0.03816327452659607, 0.00011496372462715954]}\n1792031318.383 OBS {\"step\": 3121, \"done\": false, \"reason\": null, \"pelvis\": [0.11971360445022583, 0.2678579092025757, 0.7470003366470337, -0.002976633608341217], \"arms\": [0.017689354717731476, -0.0012289804872125387, 0.00015896992408670485, 0.02753319963812828, 0.0001597753434907645, 0.03816201165318489, 0.00014723998901899904, 0.01761198788881302, 0.001711235847324133, 0.00013231502089183778, 0.02753428928554058, -0.0001181634288514033, 0.03816327080130577, 0.0001149643212556839]}\n1792031318.965 DONE {\"calls\": 108, \"rows\": 200, \"control_steps\": 3150, \"done\": true, \"reason\": \"failed\", \"elapsed_s\": 102.5, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\nThu Oct 15 02:29:04 UTC 2026\n","exit":[],"pics":[]},"tok":{"in":39184,"cached":32000,"out":1542,"think":1340,"usd":0.0018},"sim":{"submit":0,"reset":0}},{"id":18,"t":140.2,"say":"The episode ended at step 3150 with `reason=\"failed\"`. The controller advanced the robot about 9 cm, then held it stationary; my later approach command was never submitted before the episode timed out. With the reset budget at zero, I couldn’t retry. The controller and run log are in `/app/output/gen.py` and `/app/output/run.log`.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":45328,"cached":38144,"out":445,"think":364,"usd":0.0013},"sim":{"submit":0,"reset":0}}]}

runs/dexhand-essential-cube-layer-i00-standard--lfddcfw.json

@@ -0,0 +1 @@
+{"slug":"dexhand-essential-cube-layer-i00-standard--lfddcfw","task":"dexhand-essential-cube-layer-i00-standard","bench":"dexhand","mode":"standard","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","state":"failed","success":0,"reward":{"calls":127,"deterministic":1,"finalized":1,"hand_wuji":0,"infra_error":0,"live_matches_replay":1,"live_success":0,"n_actions":105,"no_verdict":0,"replay_success":0,"reset_budget":20,"resets":11,"resume_state_mismatch":0,"resumes":0,"sim_error":0,"sim_startups":1,"sim_steps":105,"success":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.598,"peak_processes":9,"peak_disk_gb":0.856,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":3612,"tokens":{"in":10439738,"cached":10252800,"out":72100,"usd":0.16},"task_text":"# DexHand: Free-held cube layer reversal\n\nWith the wrist locked, turn only the top layer +90 degrees, return it to zero, and turn it +90 degrees again. Stabilize the free cube body with other fingers; no external support or object actuation is allowed.\n\nYou control one dexterous hand on a six-DoF wrist positioning stage: a Sharpa Wave hand with 22 independently\nactuated finger joints (the default) or a Wuji Hand 2.2 with 20 (see Hands).\nThe wrist stage is position actuated in the physics engine; grasping and manipulating require physical contact.\nThe five fingers are thumb, index, middle, ring and pinky. The controller runs at 50 Hz, with ten 2 ms physics substeps.\n\nThis is a fixed-wrist essential dexterity task. Native equality constraints lock all six wrist joints.\nThe first six entries of every action MUST remain [-0.08, 0, 0.29, 0, 0, 0].\nFloat32 wire-format rounding is accepted and normalized to those exact fixed targets before physics runs.\nUse the declared target values rather than copying measured wrist joint positions. Only the finger targets may\nchange. Objects have no actuators, scripted motion or grasp attachments; they move through contact and normal gravity.\n\n## Hands\nTwo genuine manufacturer hand models are available: `sharpa` (Sharpa Wave, 22 finger actuators; the default) and `wuji` (Wuji Hand 2.2, 20 finger actuators). The task, scene, mount, objects and success predicate are the same for both; only one hand is used per episode.\nSharpa rows: the six wrist targets, then `right_thumb_CMC_FE, right_thumb_CMC_AA, right_thumb_MCP_FE, right_thumb_MCP_AA, right_thumb_IP`, `right_<index|middle|ring>_MCP_FE, _MCP_AA, _PIP, _DIP` and `right_pinky_CMC, _MCP_FE, _MCP_AA, _PIP, _DIP`. Wuji rows: the same six wrist targets, then `r_wuji_r_THJ0..3` (thumb CMC flexion, CMC abduction, MCP, IP) and `r_wuji_r_FFJ0..3`, `MFJ0..3`, `RFJ0..3`, `LFJ0..3` (index, middle, ring, pinky: MCP flexion, MCP abduction, PIP, DIP). Both hands are mounted in the same wrist frame; Sharpa fingers use the dissipative velocity coefficient declared in the frozen instance, Wuji fingers the manufacturer's position servos. Sharpa starts from the instance's declared finger pose; Wuji starts from the pose in `wuji_reset.json` (neutral fingers when the file is absent), an authoring choice that keeps the object held at reset, not a policy. The wrist, fixtures and predicate are identical for both hands; where a Wuji grasp cannot hold an object at the Sharpa start pose, `wuji_reset.json` also declares the held objects' start poses in the Wuji grasp, and every reset-relative quantity is measured from the post-reset pose.\nThe robot service runs the hand named by `DEXHAND_HAND` on the sim service (default `sharpa`); the agent cannot switch it during an episode. `spec()[\"hand\"]` names it, and `spec()[\"action_types\"][\"joint_position\"]` gives the row width (`28` for `sharpa`, `26` for `wuji`) and the exact order. The episode record names the hand, and grading replays with that hand.\n… (5,390 characters left out) …\nhind the hand), and two close-ups of the held object, `inhand_top` (from above the palm)\nand `inhand_side` (from the thumb side), at 640 x 480; the default is overview and inhand_top. No object state is\npublished: the close-ups (with depth and their calibration) are how you see the object in the hand. Requests can return RGB frames or mp4, with depth `none`, `last` or `frames`. Each call\nreturns at most 1,000 camera images, counting per-frame depth; reduce cameras, fps or duration for larger chunks.\n`get_obs(seconds=...)` holds the current targets for up to 30 s and records those steps. Calling it without seconds\nonly observes the current state. Forward kinematics uses only the robot's own links; no IK primitive is supplied.\nIf the service connection fails, call `r.wait_ready()` and inspect `r.status()` before continuing. Crash recovery\nresumes the same journaled episode, without a reset, and the wall-clock budget keeps running.\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 **10 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 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 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":11},"replay":"dexhand-essential-cube-layer-i00-standard--lfddcfw/replay.mp4","replay_last":"dexhand-essential-cube-layer-i00-standard--lfddcfw/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the provided client, task spec, and current service state first, then use the reset budget for controlled manipulation attempts and keep the final controller in `/app/output/gen.py`.","calls":[{"kind":"shell","label":"date -u && pwd && rg --files -g '!*cache*' | head -80 && ls -la /app","code":"date -u && pwd && rg --files -g '!*cache*' | head -80 && ls -la /app"}],"out":{"text":"Thu Oct 15 10:02:56 UTC 2026\n/app\ntotal 12\ndrwxr-xr-x  3 root root 4096 Oct 15 10:00 .\ndr-xr-xr-x 20 root root 4096 Oct 15 10:01 ..\ndrwxr-xr-x  2 root root 4096 Oct 15 10:00 output\n","exit":[],"pics":[]},"tok":{"in":12038,"cached":null,"out":175,"think":65,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":7,"t":2.6,"say":"","calls":[{"kind":"shell","label":"print(sys.path)","code":"python - <<'PY'\nimport sys, os\nprint(sys.path)\ntry:\n import rcb_client\n print('rcb_client', rcb_client, rcb_client.__file__)\n print(dir(rcb_client))\nexcept Exception as e: print(type(e),e)\nPY\nls -la /app/output\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":12323,"cached":8960,"out":149,"think":37,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":8,"t":5.7,"say":"","calls":[{"kind":"shell","label":"sed -n '1,260p' /opt/tools/rcb_client.py","code":"sed -n '1,260p' /opt/tools/rcb_client.py"},{"kind":"shell","label":"find / -maxdepth 4 \\( -iname '*dexhand*' -o -iname '*cube*' -o -iname '*task*' \\) 2>/dev/null | head -100","code":"find / -maxdepth 4 \\( -iname '*dexhand*' -o -iname '*cube*' -o -iname '*task*' \\) 2>/dev/null | head -100"},{"kind":"shell","label":"print('status',r.status())","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot()\nprint('status',r.status())\nprint('spec',r.spec())\nPY"}],"out":{"text":"\"\"\"eai-standard/2.2 client (formerly rcb-limited/2.x) — the only thing a standard-mode agent gets (installed at\n/opt/tools/rcb_client.py).\n\n    from rcb_client import Robot\n    r = Robot()                                  # finds the service (sim:8000, then localhost:8000), waits for warm-up\n    spec = r.spec()                              # actions, cameras (+ intrinsics, mounting), robot_spec, world, budget, kinematics\n    obs = r.get_obs()                            # current frames: obs.last[cam] -> uint8 (H,W,3); obs.meta[\"proprio\"]\n    obs = r.get_obs(depth=True)                  # + obs.last_depth[cam] -> float32 (H,W) z-depth in metres, 0 = no reading\n    res = r.submit(\"joint_position\", A, dt=0.1)  # A: (T, dim) rows dt apart; returns the execution video\n    res = r.submit(\"ee_pose\", P)                 # (T, dim) end-effector targets (see spec()[\"action_types\"])\n    res.video[cam] -> mp4 bytes    res.frames[cam] -> uint8 (N,H,W,3) if video=\"frames\"/\"both\"    res.last[cam]\n    res.proprio -> float32 (N, D), one row per frame (names: spec()[\"proprio_layout\"]; res.group(\"tcp_pose\"))\n    res.frame_step -> int64 (N,) control step of each frame    res.frame_time_s -> float64 (N,) simulated time\n    res.extrinsic_cv[cam] -> float64 (N,3,4) world->camera per frame (res.meta[\"cameras\"]: intrinsics + the last frame's pose)\n    res = r.submit(..., depth=\"frames\")          # + res.depth[cam] -> float32 (N,H,W) metres, one per frame (1 mm steps)\n    r.fk(q)                     \n… (32,415 characters left out) …\n', 'right_pinky_MC', 'right_pinky_MCP_VL', 'right_pinky_PP', 'right_pinky_MP', 'right_pinky_DP'], 'tcp_frames': ['wrist_stage'], 'ee_frames': ['wrist_stage'], 'ik_targets': []}, 'reset': \"POST /reset (JSON or RCB1 {cameras, video_fps, depth}; no physics) abandons the running episode, or follows one that has ended, and starts a new one from the same frozen starting state, 20 times in all; it returns the new episode's first frames and proprioception. Only the last episode is graded: an episode you reset away is never graded, a success ends the trial (409 after it), and when your time is up the episode then running is the one graded. The wall clock never restarts. /status and every meta add `episode`, `resets_left` and `control_steps_total` (all episodes); `control_steps` counts the current episode's.\", 'on_service_error': '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).', 'max_call_wall_s': 900.0}\n","exit":[],"pics":[]},"tok":{"in":12712,"cached":11008,"out":225,"think":19,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":9,"t":9.1,"say":"The service is running Sharpa with 20 resets available. I’ve confirmed the locked wrist targets and action ordering; I’m now inspecting the initial grasp from the close-up cameras and will use measured frames plus proprioception to shape low-risk finger motions.","calls":[{"kind":"robot","label":"obs=r.get_obs(cameras=['overview','inhand_top','inhand_side','palm'],depth=True,video='none')","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nr=Robot()\nobs=r.get_obs(cameras=['overview','inhand_top','inhand_side','palm'],depth=True,video='none')\nprint('status',r.status())\nprint('now',obs.meta['proprio']['now'])\nfor c,a in obs.last.items():\n p='/tmp/'+c+'.png'; Image.fromarray(a).save(p); print(p,a.shape)\nfor c,d in obs.last_depth.items(): print('depth',c,d.min(),d.max())\nPY\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":24392,"cached":12032,"out":362,"think":133,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":10,"t":18.0,"say":"","calls":[{"kind":"look","label":"inhand_top.png","code":"/tmp/inhand_top.png"},{"kind":"look","label":"inhand_side.png","code":"/tmp/inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s010_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s010_1.jpg"]},"tok":{"in":26190,"cached":23296,"out":66,"think":10,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":11,"t":20.9,"say":"","calls":[{"kind":"shell","label":"find /opt /app /tmp -maxdepth 5 -type f \\( -name '*.xml' -o -name '*.py' -o -name '*.json' \\) 2>/dev/null | he","code":"find /opt /app /tmp -maxdepth 5 -type f \\( -name '*.xml' -o -name '*.py' -o -name '*.json' \\) 2>/dev/null | head -200 && find / -maxdepth 3 -type d 2>/dev/null | head -100"}],"out":{"text":"/opt/tools/rcb1.py\n/opt/tools/rcb_client.py\n/tmp/codex-home/models_cache.json\n/tmp/codex-secrets/auth.json\n/\n/app\n/app/output\n/boot\n/dev\n/dev/shm\n/dev/pts\n/dev/mqueue\n/etc\n/etc/X11\n/etc/X11/Xreset.d\n/etc/X11/Xresources\n/etc/X11/Xsession.d\n/etc/X11/app-defaults\n/etc/X11/xorg.conf.d\n/etc/alternatives\n/etc/apache2\n/etc/apache2/conf-available\n/etc/apt\n/etc/apt/apt.conf.d\n/etc/apt/auth.conf.d\n/etc/apt/keyrings\n/etc/apt/preferences.d\n/etc/apt/sources.list.d\n/etc/apt/trusted.gpg.d\n/etc/bash_completion.d\n/etc/ca-certificates\n/etc/ca-certificates/update.d\n/etc/cron.daily\n/etc/dbus-1\n/etc/dbus-1/session.d\n/etc/dbus-1/system.d\n/etc/default\n/etc/dpkg\n/etc/dpkg/dpkg.cfg.d\n/etc/dpkg/origins\n/etc/fonts\n/etc/fonts/conf.avail\n/etc/fonts/conf.d\n/etc/glvnd\n/etc/glvnd/egl_vendor.d\n/etc/gss\n/etc/gss/mech.d\n/etc/init.d\n/etc/kernel\n/etc/kernel/postinst.d\n/etc/ld.so.conf.d\n/etc/ldap\n/etc/lighttpd\n/etc/lighttpd/conf-available\n/etc/lighttpd/conf-enabled\n/etc/logrotate.d\n/etc/opt\n/etc/pam.d\n/etc/perl\n/etc/perl/Net\n/etc/profile.d\n/etc/python3\n/etc/python3.13\n/etc/rc0.d\n/etc/rc1.d\n/etc/rc2.d\n/etc/rc3.d\n/etc/rc4.d\n/etc/rc5.d\n/etc/rc6.d\n/etc/rcS.d\n/etc/security\n/etc/security/limits.d\n/etc/security/namespace.d\n/etc/selinux\n/etc/sensors.d\n/etc/skel\n/etc/ssh\n/etc/ssh/ssh_config.d\n/etc/ssl\n/etc/ssl/certs\n/etc/ssl/private\n/etc/systemd\n/etc/systemd/system\n/etc/systemd/user\n/etc/terminfo\n/etc/update-motd.d\n/etc/vulkan\n/etc/vulkan/explicit_layer.d\n/etc/vulkan/icd.d\n/etc/vulkan/implicit_layer.d\n/etc/xdg\n/etc/xdg/autostart\n/home\n/installed-agent\n/logs\n/logs/agent\n/logs/agent/setup\n/logs/artifacts\n/logs/verifier\n/media\n/mnt\n/opt\n/opt/tools\n","exit":[],"pics":[]},"tok":{"in":27001,"cached":25344,"out":155,"think":48,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":12,"t":38.0,"say":"The initial frame shows the cube held clear of the table. I’m making a small, reversible thumb-only probe while keeping the other fingers at their reset targets; I’ll compare the close-up before and after to see which contact moves the top layer and whether the body stays stable.","calls":[{"kind":"robot","label":"q=np.asarray(obs.meta['proprio']['now'],dtype=float)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none')\nq=np.asarray(obs.meta['proprio']['now'],dtype=float)\nt=q[91:119].copy(); print('target',t)\n# 10 x 0.02 seconds at a mild 0.08 rad additional thumb flex\nA=np.tile(t,(10,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,6]+=0.08\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('executed',res.meta.get('executed_rows'), 'nowq',res.meta['proprio']['now'][:28])\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/probe_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":27743,"cached":26368,"out":1520,"think":1177,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":13,"t":44.2,"say":"","calls":[{"kind":"look","label":"probe_inhand_side.png","code":"/tmp/probe_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s013_0.jpg"]},"tok":{"in":29932,"cached":27520,"out":79,"think":43,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":14,"t":53.1,"say":"","calls":[{"kind":"look","label":"overview.png","code":"/tmp/overview.png"},{"kind":"look","label":"palm.png","code":"/tmp/palm.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s014_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s014_1.jpg"]},"tok":{"in":30395,"cached":29568,"out":726,"think":672,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":15,"t":61.0,"say":"","calls":[{"kind":"robot","label":"t=q[91:119].copy(); A=np.tile(t,(25,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,6]=1.50","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float)\nt=q[91:119].copy(); A=np.tile(t,(25,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,6]=1.50\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/probe2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":31866,"cached":29568,"out":550,"think":311,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":16,"t":66.5,"say":"","calls":[{"kind":"look","label":"probe2_inhand_side.png","code":"/tmp/probe2_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s016_0.jpg"]},"tok":{"in":32637,"cached":30720,"out":35,"think":0,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":17,"t":71.9,"say":"","calls":[{"kind":"robot","label":"f=r.fk(q)","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport numpy as np\nr=Robot(); q=r.get_obs(cameras=[],video='none').meta['proprio']['now'][:28]\nf=r.fk(q)\nprint(f)\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":33056,"cached":31872,"out":295,"think":199,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":18,"t":83.0,"say":"","calls":[{"kind":"robot","label":"links=['right_thumb_CMC_VL','right_thumb_MC','right_thumb_MCP_VL','right_thumb_PP','right_thumb_DP']","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=[],video='none').meta['proprio']['now'][:28],float)\nlinks=['right_thumb_CMC_VL','right_thumb_MC','right_thumb_MCP_VL','right_thumb_PP','right_thumb_DP']\nfor j,n in [(6,'CMC_FE'),(7,'CMC_AA'),(8,'MCP_FE'),(9,'MCP_AA'),(10,'IP')]:\n q1=q.copy();q1[6+j-6 if False else j]+=0.1\n a=r.fk(q,links)['poses']; b=r.fk(q1,links)['poses']; print(n,[np.round(np.array(b[k][:3])-a[k][:3],4).tolist() for k in links])\nPY"}],"out":{"text":"CMC_FE [[0.0, 0.0, 0.0], [0.0, -0.0001, 0.0005], [0.0, 0.0062, 0.0004], [0.0, 0.0062, 0.0004], [-0.0, 0.0055, -0.0003]]\nCMC_AA [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.006, 0.0005, -0.0024], [0.006, 0.0005, -0.0024], [0.0051, 0.0013, -0.0061]]\nMCP_FE [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [-0.0009, 0.0011, -0.0034]]\nMCP_AA [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0003, -0.0037, -0.0013]]\nIP [[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]]\n","exit":[],"pics":[]},"tok":{"in":35248,"cached":32896,"out":783,"think":553,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":19,"t":96.2,"say":"","calls":[{"kind":"robot","label":"t=q[91:119].copy(); A=np.tile(t,(75,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,6]=1.75","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float)\nt=q[91:119].copy(); A=np.tile(t,(75,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,6]=1.75\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3));print('efforts',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/probe3_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":36463,"cached":34944,"out":1046,"think":786,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":20,"t":104.9,"say":"","calls":[{"kind":"look","label":"probe3_inhand_side.png","code":"/tmp/probe3_inhand_side.png"},{"kind":"look","label":"probe3_inhand_top.png","code":"/tmp/probe3_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s020_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s020_1.jpg"]},"tok":{"in":37860,"cached":35968,"out":85,"think":23,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":21,"t":149.0,"say":"","calls":[{"kind":"robot","label":"print('meta',res.meta.get('episode'),res.meta.get('resets_left'),res.meta.get('proprio',{}).get('now',[])[:28]","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nr=Robot(); res=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900)\nprint('meta',res.meta.get('episode'),res.meta.get('resets_left'),res.meta.get('proprio',{}).get('now',[])[:28])\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reset_'+c+'.png')\nprint('status',r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":38690,"cached":36992,"out":3773,"think":3612,"usd":0.0024},"sim":{"submit":0,"reset":1}},{"id":22,"t":156.9,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(40,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,1]=np.linspace(t[1],-0.20,40)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(40,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,1]=np.linspace(t[1],-0.20,40)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3)); print('effort',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/probeAA_'+c+'.png')\nPY"}],"out":{"text":"Traceback (most recent call last):\n  File \"<stdin>\", line 6, in <module>\n  File \"/opt/tools/rcb_client.py\", line 182, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 162, in _post\n    raise ValueError(f\"{r.status_code}: {err.get('error')} {err.get('detail', '')}\".strip())\nValueError: 400: This task locks all six wrist targets to the declared starting pose\n","exit":[],"pics":[]},"tok":{"in":42849,"cached":38016,"out":364,"think":93,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":23,"t":174.3,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(40,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-0.20,40)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(40,1)); A[:,0:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-0.20,40)\nassert np.all(A[:,0]==-.08) and np.all(A[:,1]==0) and np.all(A[:,2]==.29)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3)); print('effort',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/probeAA_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":43379,"cached":42240,"out":1470,"think":1169,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":24,"t":182.3,"say":"","calls":[{"kind":"look","label":"probeAA_inhand_side.png","code":"/tmp/probeAA_inhand_side.png"},{"kind":"look","label":"probeAA_inhand_top.png","code":"/tmp/probeAA_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s024_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s024_1.jpg"]},"tok":{"in":45290,"cached":43264,"out":69,"think":7,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":25,"t":193.2,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],.24,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],.24,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('effort',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/probeAA2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46104,"cached":44288,"out":794,"think":525,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":26,"t":204.0,"say":"","calls":[{"kind":"look","label":"probeAA2_inhand_side.png","code":"/tmp/probeAA2_inhand_side.png"},{"kind":"look","label":"probeAA2_inhand_top.png","code":"/tmp/probeAA2_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s026_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s026_1.jpg"]},"tok":{"in":47250,"cached":45312,"out":91,"think":27,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":27,"t":220.0,"say":"A larger thumb sweep now produces a visible change in the top slab’s side colors relative to the body, while the lower cube remains in the fingers. The thumb’s CMC abduction joint is the useful contact; I’m advancing that motion in short increments and checking the layer/body alignment before proceeding toward the quarter-turn stop.","calls":[{"kind":"robot","label":"A=np.tile(t,(25,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(25,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3)); print('effort',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/probeAA3_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":48086,"cached":46464,"out":1315,"think":982,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":28,"t":228.9,"say":"","calls":[{"kind":"look","label":"probeAA3_inhand_side.png","code":"/tmp/probeAA3_inhand_side.png"},{"kind":"look","label":"probeAA3_inhand_top.png","code":"/tmp/probeAA3_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s028_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s028_1.jpg"]},"tok":{"in":49752,"cached":47488,"out":70,"think":6,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":29,"t":250.5,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-.3491,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-.3491,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3)); print('effort',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/return1_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50567,"cached":49664,"out":1315,"think":1046,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":30,"t":269.9,"say":"","calls":[{"kind":"look","label":"return1_inhand_side.png","code":"/tmp/return1_inhand_side.png"},{"kind":"look","label":"return1_inhand_top.png","code":"/tmp/return1_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s030_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s030_1.jpg"]},"tok":{"in":52320,"cached":49664,"out":76,"think":14,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":31,"t":299.5,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(30,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.50,30)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(30,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.50,30)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/returnFE_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":53141,"cached":52864,"out":1113,"think":845,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":32,"t":309.3,"say":"","calls":[{"kind":"look","label":"returnFE_inhand_side.png","code":"/tmp/returnFE_inhand_side.png"},{"kind":"look","label":"returnFE_inhand_top.png","code":"/tmp/returnFE_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s032_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s032_1.jpg"]},"tok":{"in":54606,"cached":52864,"out":68,"think":6,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":33,"t":342.5,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.80,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.80,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reposition_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":55419,"cached":54016,"out":2983,"think":2716,"usd":0.0022},"sim":{"submit":0,"reset":0}},{"id":34,"t":358.7,"say":"","calls":[{"kind":"look","label":"reposition_inhand_side.png","code":"/tmp/reposition_inhand_side.png"},{"kind":"look","label":"reposition_inhand_top.png","code":"/tmp/reposition_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s034_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s034_1.jpg"]},"tok":{"in":58841,"cached":55040,"out":128,"think":68,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":35,"t":368.5,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=1.80; A[:,7]=np.linspace(t[1],.3491,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=1.80; A[:,7]=np.linspace(t[1],.3491,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reverse2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":59714,"cached":58240,"out":396,"think":120,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":36,"t":395.6,"say":"","calls":[{"kind":"look","label":"reverse2_inhand_side.png","code":"/tmp/reverse2_inhand_side.png"},{"kind":"look","label":"reverse2_inhand_top.png","code":"/tmp/reverse2_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s036_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s036_1.jpg"]},"tok":{"in":60549,"cached":60416,"out":96,"think":34,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":37,"t":434.2,"say":"","calls":[{"kind":"robot","label":"for j,label,links in [(11,'idx FE','right_index_DP'),(12,'idx AA','right_index_DP'),(13,'idx PIP','right_index","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=[],video='none').meta['proprio']['now'][:28],float)\nfor j,label,links in [(11,'idx FE','right_index_DP'),(12,'idx AA','right_index_DP'),(13,'idx PIP','right_index_DP'),(15,'mid FE','right_middle_DP'),(16,'mid AA','right_middle_DP'),(17,'mid PIP','right_middle_DP'),(19,'ring FE','right_ring_DP'),(20,'ring AA','right_ring_DP'),(21,'ring PIP','right_ring_DP'),(23,'pinky FE','right_pinky_DP'),(24,'pinky AA','right_pinky_DP'),(25,'pinky PIP','right_pinky_DP')]:\n a=r.fk(q,[links])['poses'][links][:3]; q1=q.copy();q1[j]+=.1;b=r.fk(q1,[links])['poses'][links][:3]; print(label,np.round((np.array(b)-a)/.1,3))\nPY"}],"out":{"text":"idx FE [-0.003 -0.     0.078]\nidx AA [-0.004  0.078  0.   ]\nidx PIP [-0.001 -0.     0.031]\nmid FE [-0.034 -0.     0.051]\nmid AA [-0.003  0.052 -0.   ]\nmid PIP [-0.031  0.     0.004]\nring FE [-0.028 -0.     0.056]\nring AA [-0.009  0.054  0.001]\nring PIP [-0.03  -0.004  0.009]\npinky FE [-0.    -0.037  0.02 ]\npinky AA [-0.046  0.001  0.023]\npinky PIP [-0.016  0.04  -0.009]\n","exit":[],"pics":[]},"tok":{"in":61390,"cached":60416,"out":1766,"think":1477,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":38,"t":451.3,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(25,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,20]=np.linspace(t[20],-.20,25)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none'); q=np.asarray(obs.meta['proprio']['now'],float); t=q[91:119].copy(); print('target ring',t[20], 'thumb',t[0:5]);\nA=np.tile(t,(25,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,20]=np.linspace(t[20],-.20,25)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3)); print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reversering_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":63379,"cached":60416,"out":1054,"think":766,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":39,"t":467.7,"say":"","calls":[{"kind":"look","label":"reversering_inhand_side.png","code":"/tmp/reversering_inhand_side.png"},{"kind":"look","label":"reversering_inhand_top.png","code":"/tmp/reversering_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s039_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s039_1.jpg"]},"tok":{"in":64818,"cached":62592,"out":87,"think":25,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":40,"t":510.2,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(25,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,20]=-.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none'); q=np.asarray(obs.meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(25,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,20]=-.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reversering2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":65650,"cached":64640,"out":485,"think":223,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":41,"t":519.8,"say":"","calls":[{"kind":"look","label":"reversering2_inhand_side.png","code":"/tmp/reversering2_inhand_side.png"},{"kind":"look","label":"reversering2_inhand_top.png","code":"/tmp/reversering2_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s041_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s041_1.jpg"]},"tok":{"in":66485,"cached":64640,"out":70,"think":6,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":42,"t":543.5,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.92,50); A[:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none'); q=np.asarray(obs.meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.92,50); A[:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3)); print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reverseFE2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":67300,"cached":65792,"out":1646,"think":1368,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":43,"t":590.0,"say":"","calls":[{"kind":"look","label":"reverseFE2_inhand_side.png","code":"/tmp/reverseFE2_inhand_side.png"},{"kind":"look","label":"reverseFE2_inhand_top.png","code":"/tmp/reverseFE2_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s043_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s043_1.jpg"]},"tok":{"in":69296,"cached":68992,"out":124,"think":60,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":44,"t":614.4,"say":"","calls":[{"kind":"shell","label":"find /logs -maxdepth 4 -type f -printf '%p %s\\n' 2>/dev/null | head -80 && ls -la /logs/verifier /logs/agent 2","code":"find /logs -maxdepth 4 -type f -printf '%p %s\\n' 2>/dev/null | head -80 && ls -la /logs/verifier /logs/agent 2>/dev/null"}],"out":{"text":"/logs/agent/codex.txt 93698\n/logs/agent:\ntotal 108\ndrwxrwxrwx 3 root root  4096 Oct 15 10:02 .\ndrwxr-xr-t 5 root root  4096 Oct 15 10:01 ..\n-rw-r--r-- 1 root root 93698 Oct 15 10:12 codex.txt\ndrwxrwxr-x 2 root root  4096 Oct 15 10:01 setup\n\n/logs/verifier:\ntotal 8\ndrwxrwxrwx 2 root root 4096 Oct 15 09:58 .\ndrwxr-xr-t 5 root root 4096 Oct 15 10:01 ..\n","exit":[],"pics":[]},"tok":{"in":70165,"cached":68992,"out":1345,"think":1259,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":45,"t":642.3,"say":"The forward stroke is repeatable, but the reverse stroke needs a different contact point so the thumb pushes the opposite side of the rotation axis. I’m resetting for a clean attempt: turn the layer with thumb CMC abduction, then reposition the thumb across the cube with its MCP abduction joint before applying the same inward push to reverse it.","calls":[{"kind":"robot","label":"print('episode',res.meta.get('episode'),'resets_left',res.meta.get('resets_left'));print('status',r.status())","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot(); res=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900)\nprint('episode',res.meta.get('episode'),'resets_left',res.meta.get('resets_left'));print('status',r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71695,"cached":70016,"out":2087,"think":1895,"usd":0.0019},"sim":{"submit":0,"reset":1}},{"id":46,"t":658.9,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(60,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:50,7]=np.linspace(t[1],.3491,50); A[50:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none'); t=np.asarray(obs.meta['proprio']['now'][91:119],float)\nA=np.tile(t,(60,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:50,7]=np.linspace(t[1],.3491,50); A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reset3turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":73881,"cached":71168,"out":883,"think":607,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":47,"t":672.2,"say":"","calls":[{"kind":"look","label":"reset3turn_inhand_side.png","code":"/tmp/reset3turn_inhand_side.png"},{"kind":"look","label":"reset3turn_inhand_top.png","code":"/tmp/reset3turn_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s047_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s047_1.jpg"]},"tok":{"in":75114,"cached":73216,"out":91,"think":29,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":48,"t":686.2,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(30,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-.3491,30); A[:,9]=np.linspace(t[3],-","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); q=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(30,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-.3491,30); A[:,9]=np.linspace(t[3],-.3491,30)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/reset3reposition_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":75950,"cached":74240,"out":529,"think":244,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":49,"t":717.9,"say":"","calls":[{"kind":"look","label":"reset3reposition_inhand_side.png","code":"/tmp/reset3reposition_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s049_0.jpg"]},"tok":{"in":76830,"cached":76288,"out":414,"think":376,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":50,"t":772.5,"say":"","calls":[{"kind":"robot","label":"print('episode',res.meta.get('episode'),'resets_left',res.meta.get('resets_left'))","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot(); res=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900)\nprint('episode',res.meta.get('episode'),'resets_left',res.meta.get('resets_left'))\nPY"}],"out":{"text":"episode 4 resets_left 17\n","exit":[],"pics":[]},"tok":{"in":77628,"cached":76288,"out":4738,"think":4629,"usd":0.0033},"sim":{"submit":0,"reset":1}},{"id":51,"t":785.3,"say":"The previous reversal attempt failed when I moved two thumb joints while disengaging; the safer sequence is the single-joint release and thumb sweep that kept the episode running. I’m replaying that sequence from reset and will check each stage visually before moving on.","calls":[{"kind":"robot","label":"A=np.tile(t,(60,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:50,7]=np.linspace(t[1],.3491,50); A[50:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none'); t=np.asarray(obs.meta['proprio']['now'][91:119],float)\nA=np.tile(t,(60,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:50,7]=np.linspace(t[1],.3491,50); A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status()); print('q',np.round(res.meta['proprio']['now'][:28],3));\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/ep4_turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":82397,"cached":77312,"out":654,"think":340,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":52,"t":805.7,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-.3491,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none'); q=np.asarray(obs.meta['proprio']['now'],float); t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],-.3491,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/ep4_release_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":83272,"cached":81536,"out":444,"think":194,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":53,"t":821.5,"say":"","calls":[{"kind":"look","label":"ep4_release_inhand_side.png","code":"/tmp/ep4_release_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s053_0.jpg"]},"tok":{"in":83938,"cached":82560,"out":50,"think":12,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":54,"t":833.7,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(30,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.50,30)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(30,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.50,30)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/ep4_FE1_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":84372,"cached":83584,"out":332,"think":81,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":55,"t":863.3,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.80,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,6]=np.linspace(t[0],1.80,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/ep4_FE2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":84925,"cached":84608,"out":266,"think":15,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":56,"t":878.8,"say":"","calls":[{"kind":"look","label":"ep4_FE2_inhand_side.png","code":"/tmp/ep4_FE2_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s056_0.jpg"]},"tok":{"in":85500,"cached":84608,"out":51,"think":12,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":57,"t":891.6,"say":"The cube is still held and the upper layer is still at its quarter turn after the thumb reposition. The return is made by bringing the thumb back in from the shifted contact; I’m repeating the inward sweep now and will verify the top layer has aligned with the body before attempting the final turn.","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],.3491,50); A[:,6]=1.80","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot(); obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1)); A[:,:6]=[-.08,0,.29,0,0,0]; A[:,7]=np.linspace(t[1],.3491,50); A[:,6]=1.80\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items(): Image.fromarray(a).save('/tmp/ep4_repress_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":85935,"cached":84608,"out":460,"think":116,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":58,"t":921.1,"say":"","calls":[{"kind":"look","label":"ep4_repress_inhand_side.png","code":"/tmp/ep4_repress_inhand_side.png"},{"kind":"look","label":"ep4_repress_inhand_top.png","code":"/tmp/ep4_repress_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s058_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s058_1.jpg"]},"tok":{"in":86744,"cached":85632,"out":107,"think":41,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":59,"t":936.9,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(25,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,20]=np.linspace(t[20],-.20,25)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();print('ringAA_target',t[20])\nA=np.tile(t,(25,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,20]=np.linspace(t[20],-.20,25)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep4_ring1_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":87596,"cached":85632,"out":526,"think":265,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":60,"t":984.4,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(25,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,20]=-.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(25,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,20]=-.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep4_ring2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":88447,"cached":87936,"out":250,"think":8,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":61,"t":999.5,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491;A[:,20]=-.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491;A[:,20]=-.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep4_FE3_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":88919,"cached":87936,"out":320,"think":34,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":62,"t":1014.2,"say":"","calls":[{"kind":"look","label":"ep4_FE3_inhand_side.png","code":"/tmp/ep4_FE3_inhand_side.png"},{"kind":"look","label":"ep4_FE3_inhand_top.png","code":"/tmp/ep4_FE3_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s062_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s062_1.jpg"]},"tok":{"in":89589,"cached":87936,"out":73,"think":7,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":63,"t":1047.5,"say":"The latest frame shows the top layer’s blue and orange side faces aligned with the body again, so the return appears complete. I’m moving the thumb back toward its starting contact with the thumb abduction joint alone, then I’ll repeat the inward sweep for the second quarter turn.","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,7]=np.linspace(t[1],-.3491,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,7]=np.linspace(t[1],-.3491,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('status',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep4_returnthumb_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":90407,"cached":88960,"out":2810,"think":2496,"usd":0.0024},"sim":{"submit":0,"reset":0}},{"id":64,"t":1066.9,"say":"","calls":[{"kind":"look","label":"reset_inhand_side.png","code":"/tmp/reset_inhand_side.png"},{"kind":"look","label":"ep4_FE3_inhand_side.png","code":"/tmp/ep4_FE3_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s064_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s064_1.jpg"]},"tok":{"in":93441,"cached":89984,"out":715,"think":653,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":65,"t":1111.0,"say":"","calls":[{"kind":"robot","label":"print(res.meta.get('episode'),res.meta.get('resets_left'))","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();res=r._post('/reset',{'cameras':['overview','inhand_side','inhand_top'],'video':'none'},[],900)\nprint(res.meta.get('episode'),res.meta.get('resets_left'))\nPY"}],"out":{"text":"5 16\n","exit":[],"pics":[]},"tok":{"in":94901,"cached":94208,"out":1818,"think":1714,"usd":0.0019},"sim":{"submit":0,"reset":1}},{"id":66,"t":1124.6,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');t=np.asarray(obs.meta['proprio']['now'][91:119],float)\nA=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('turn',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep5_turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":96746,"cached":94208,"out":342,"think":88,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":67,"t":1142.5,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('FE sweep',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep5_FEup_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":97310,"cached":96384,"out":307,"think":30,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":68,"t":1157.2,"say":"","calls":[{"kind":"look","label":"ep5_FEup_inhand_side.png","code":"/tmp/ep5_FEup_inhand_side.png"},{"kind":"look","label":"ep5_FEup_inhand_top.png","code":"/tmp/ep5_FEup_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s068_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s068_1.jpg"]},"tok":{"in":97972,"cached":96384,"out":122,"think":56,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":69,"t":1172.1,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,20]=np.linspace(t[20],-.3491,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,20]=np.linspace(t[20],-.3491,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('ring',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep5_ring_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":98839,"cached":97408,"out":691,"think":407,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":70,"t":1188.1,"say":"","calls":[{"kind":"look","label":"ep5_ring_inhand_side.png","code":"/tmp/ep5_ring_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s070_0.jpg"]},"tok":{"in":99886,"cached":98432,"out":92,"think":54,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":71,"t":1218.4,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();res=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900);print(res.meta.get('episode'),res.meta.get('resets_left'))\nPY"}],"out":{"text":"6 15\n","exit":[],"pics":[]},"tok":{"in":100362,"cached":99584,"out":1691,"think":1590,"usd":0.0019},"sim":{"submit":0,"reset":1}},{"id":72,"t":1234.3,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');t=np.asarray(obs.meta['proprio']['now'][91:119],float)\nA=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('turn',r.status())\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep6turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":102080,"cached":99584,"out":319,"think":82,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":73,"t":1254.4,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,7]=np.linspace(t[1],-.3491,50);A[:,6]=np.linspace(t[0],1.92","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,7]=np.linspace(t[1],-.3491,50);A[:,6]=np.linspace(t[0],1.92,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('rev',r.status());print('q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep6rev_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":102493,"cached":101632,"out":343,"think":57,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":74,"t":1303.3,"say":"","calls":[{"kind":"look","label":"ep6rev_inhand_side.png","code":"/tmp/ep6rev_inhand_side.png"},{"kind":"look","label":"ep6rev_inhand_top.png","code":"/tmp/ep6rev_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s074_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s074_1.jpg"]},"tok":{"in":103193,"cached":102656,"out":114,"think":50,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":75,"t":1319.2,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=np.linspace(t[1],.3491,50)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=np.linspace(t[1],.3491,50)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('press',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep6press_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":104052,"cached":102656,"out":461,"think":185,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":76,"t":1337.0,"say":"","calls":[{"kind":"look","label":"ep6press_inhand_side.png","code":"/tmp/ep6press_inhand_side.png"},{"kind":"look","label":"ep6press_inhand_top.png","code":"/tmp/ep6press_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s076_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s076_1.jpg"]},"tok":{"in":104956,"cached":103808,"out":70,"think":6,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":77,"t":1360.2,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(20,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,20]=np.linspace(t[20],-.20,20)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(20,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,20]=np.linspace(t[20],-.20,20)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('ringmove',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep6ring_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":105771,"cached":104832,"out":817,"think":533,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":78,"t":1390.5,"say":"","calls":[{"kind":"look","label":"ep6ring_inhand_side.png","code":"/tmp/ep6ring_inhand_side.png"},{"kind":"look","label":"ep6ring_inhand_top.png","code":"/tmp/ep6ring_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s078_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s078_1.jpg"]},"tok":{"in":106943,"cached":105984,"out":73,"think":9,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":79,"t":1441.3,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(15,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,20]=-.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(15,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,20]=-.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('ring2',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3));print('eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep6ring2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":107761,"cached":107008,"out":469,"think":192,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":80,"t":1472.9,"say":"","calls":[{"kind":"look","label":"ep6ring2_inhand_side.png","code":"/tmp/ep6ring2_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s080_0.jpg"]},"tok":{"in":108585,"cached":108160,"out":51,"think":12,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":81,"t":1491.8,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0]","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');t=np.asarray(obs.meta['proprio']['now'][91:119],float)\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0]\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('hold',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep6hold_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":109020,"cached":108160,"out":570,"think":343,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":82,"t":1523.1,"say":"","calls":[{"kind":"look","label":"ep6hold_inhand_side.png","code":"/tmp/ep6hold_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s082_0.jpg"]},"tok":{"in":109817,"cached":109184,"out":58,"think":20,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":83,"t":1578.0,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();x=r._post('/reset',{'cameras':['overview','inhand_top','inhand_side'],'video':'none'},[],900);print(x.meta.get('episode'),x.meta.get('resets_left'))\nPY"}],"out":{"text":"7 14\n","exit":[],"pics":[]},"tok":{"in":110259,"cached":109184,"out":1031,"think":928,"usd":0.0017},"sim":{"submit":0,"reset":1}},{"id":84,"t":1609.7,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(25,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,11]=np.linspace(t[5],.15,25);A[:,13]=np.linspace(t[7],.25,2","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(25,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,11]=np.linspace(t[5],.15,25);A[:,13]=np.linspace(t[7],.25,25);A[:,14]=np.linspace(t[8],.20,25)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep7grip_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":111317,"cached":110336,"out":398,"think":105,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":85,"t":1626.1,"say":"","calls":[{"kind":"look","label":"ep7grip_inhand_side.png","code":"/tmp/ep7grip_inhand_side.png"},{"kind":"look","label":"ep7grip_inhand_top.png","code":"/tmp/ep7grip_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s085_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s085_1.jpg"]},"tok":{"in":112074,"cached":110336,"out":129,"think":63,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":86,"t":1642.3,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');t=np.asarray(obs.meta['proprio']['now'][91:119],float)\nA=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep7turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":112948,"cached":111360,"out":325,"think":56,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":87,"t":1661.3,"say":"","calls":[{"kind":"look","label":"ep7turn_inhand_side.png","code":"/tmp/ep7turn_inhand_side.png"},{"kind":"look","label":"ep7turn_inhand_top.png","code":"/tmp/ep7turn_inhand_top.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s087_0.jpg","dexhand-essential-cube-layer-i00-standard--lfddcfw/s087_1.jpg"]},"tok":{"in":113629,"cached":112384,"out":107,"think":43,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":88,"t":1679.2,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491;A[:,11]=.15;A[:,1","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491;A[:,11]=.15;A[:,13]=.25;A[:,14]=.20\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep7FEup_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":114481,"cached":113536,"out":580,"think":288,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":89,"t":1699.1,"say":"","calls":[{"kind":"look","label":"ep7FEup_inhand_side.png","code":"/tmp/ep7FEup_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s089_0.jpg"]},"tok":{"in":115418,"cached":113536,"out":55,"think":16,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":90,"t":1725.6,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(30,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,11]=.15;A[:,13]=.25;A[:,14]=.20;A[","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();print('ring PIP target',t[21])\nA=np.tile(t,(30,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=.3491;A[:,11]=.15;A[:,13]=.25;A[:,14]=.20;A[:,21]=np.linspace(t[21],1.10,30)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep7ringpip_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":115857,"cached":114688,"out":1353,"think":1040,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":91,"t":1797.7,"say":"","calls":[{"kind":"look","label":"ep7ringpip_inhand_side.png","code":"/tmp/ep7ringpip_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s091_0.jpg"]},"tok":{"in":117672,"cached":116736,"out":73,"think":34,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":92,"t":1821.2,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=np.linspace(t[1],-.3491,50);A[:,11]=.15;A[:,","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=1.92;A[:,7]=np.linspace(t[1],-.3491,50);A[:,11]=.15;A[:,13]=.25;A[:,14]=.20;A[:,21]=1.10\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint('AAreturn',r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep7AAneg_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":118129,"cached":116736,"out":677,"think":373,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":93,"t":1919.2,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();x=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900);print(x.meta.get('episode'),x.meta.get('resets_left'))\nPY"}],"out":{"text":"8 13\n","exit":[],"pics":[]},"tok":{"in":119255,"cached":118912,"out":1311,"think":1210,"usd":0.0019},"sim":{"submit":0,"reset":1}},{"id":94,"t":1936.7,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=[],video='none');t=np.asarray(obs.meta['proprio']['now'][91:119],float);A=np.tile(t,(25,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,11]=np.linspace(t[5],.15,25);A[:,13]=np.linspace(t[7],.25,25);A[:,14]=np.linspace(t[8],.20,25);res=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=[],video='none');print(r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":120593,"cached":118912,"out":269,"think":74,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":95,"t":1954.6,"say":"","calls":[{"kind":"robot","label":"for c,a in res.last.items():Image.fromarray(a).save('/tmp/ep8turn_'+c+'.png')","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');t=np.asarray(obs.meta['proprio']['now'][91:119],float);A=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491;res=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10);print(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3));\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep8turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":120955,"cached":119936,"out":257,"think":8,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":96,"t":1975.8,"say":"","calls":[{"kind":"robot","label":"res=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491;A[:,9]=np.linspace(t[3],-.3491,50);A[:,11]=.15;A[:,13]=.25;A[:,14]=.20\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10);print(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2));\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep8return_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":121437,"cached":119936,"out":417,"think":112,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":97,"t":1994.4,"say":"","calls":[{"kind":"look","label":"ep8return_inhand_side.png","code":"/tmp/ep8return_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s097_0.jpg"]},"tok":{"in":122300,"cached":120960,"out":54,"think":16,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":98,"t":2013.9,"say":"","calls":[{"kind":"shell","label":"date -u && python - <<'PY'","code":"date -u && python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();print(r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":122738,"cached":121984,"out":789,"think":721,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":99,"t":2029.8,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();x=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900);print(x.meta.get('episode'),x.meta.get('resets_left'))\nPY"}],"out":{"text":"9 12\n","exit":[],"pics":[]},"tok":{"in":123637,"cached":121984,"out":274,"think":173,"usd":0.0015},"sim":{"submit":0,"reset":1}},{"id":100,"t":2052.7,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(30,1));A[:,:6]=[-.08,0,.29,0,0,0]","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(30,1));A[:,:6]=[-.08,0,.29,0,0,0]\nfor j,v in [(15,.15),(17,1.62),(18,1.35),(19,.12),(21,1.58),(22,1.34)]:A[:,j]=np.linspace(t[j],v,30)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep9grip_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":123938,"cached":123008,"out":1116,"think":816,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":101,"t":2070.7,"say":"","calls":[{"kind":"look","label":"ep9grip_inhand_side.png","code":"/tmp/ep9grip_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s101_0.jpg"]},"tok":{"in":125405,"cached":123008,"out":111,"think":72,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":102,"t":2088.2,"say":"","calls":[{"kind":"robot","label":"res=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep9turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":125900,"cached":125056,"out":305,"think":32,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":103,"t":2108.3,"say":"","calls":[{"kind":"look","label":"ep9turn_inhand_side.png","code":"/tmp/ep9turn_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s103_0.jpg"]},"tok":{"in":126559,"cached":125056,"out":53,"think":15,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":104,"t":2142.0,"say":"","calls":[{"kind":"robot","label":"res=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(30,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.50,30);A[:,7]=.3491;A[:,9]=np.linspace(t[3],.15,30)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep9return1_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":126996,"cached":126208,"out":483,"think":197,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":105,"t":2161.4,"say":"","calls":[{"kind":"look","label":"ep9return1_inhand_side.png","code":"/tmp/ep9return1_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s105_0.jpg"]},"tok":{"in":127832,"cached":126208,"out":85,"think":46,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":106,"t":2195.0,"say":"","calls":[{"kind":"robot","label":"res=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(50,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,50);A[:,7]=.3491;A[:,9]=np.linspace(t[3],-.3491,50);A[:,15]=.15;A[:,17]=1.62;A[:,18]=1.35;A[:,19]=.12;A[:,21]=1.58;A[:,22]=1.34\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep9return2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":128301,"cached":127232,"out":425,"think":93,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":107,"t":2213.9,"say":"","calls":[{"kind":"look","label":"ep9return2_inhand_side.png","code":"/tmp/ep9return2_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s107_0.jpg"]},"tok":{"in":129081,"cached":127232,"out":63,"think":24,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":108,"t":2237.6,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();x=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900);print(x.meta.get('episode'),x.meta.get('resets_left'))\nPY"}],"out":{"text":"10 11\n","exit":[],"pics":[]},"tok":{"in":129528,"cached":128384,"out":1019,"think":918,"usd":0.0019},"sim":{"submit":0,"reset":1}},{"id":109,"t":2284.1,"say":"","calls":[{"kind":"robot","label":"for j,v in [(11,.25),(13,.50),(14,.50),(15,.25),(17,1.70),(18,1.39),(19,.25),(21,1.70),(22,1.39)]: A[:,j]=np.l","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy(); A=np.tile(t,(30,1));A[:,:6]=[-.08,0,.29,0,0,0]\nfor j,v in [(11,.25),(13,.50),(14,.50),(15,.25),(17,1.70),(18,1.39),(19,.25),(21,1.70),(22,1.39)]: A[:,j]=np.linspace(t[j],v,30)\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep10grip_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":130574,"cached":130432,"out":473,"think":162,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":110,"t":2311.1,"say":"","calls":[{"kind":"look","label":"ep10grip_inhand_side.png","code":"/tmp/ep10grip_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s110_0.jpg"]},"tok":{"in":131406,"cached":130432,"out":59,"think":20,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":111,"t":2343.9,"say":"","calls":[{"kind":"robot","label":"res=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy(); A=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep10turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":131849,"cached":131456,"out":323,"think":50,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":112,"t":2400.3,"say":"","calls":[{"kind":"look","label":"ep10turn_inhand_side.png","code":"/tmp/ep10turn_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s112_0.jpg"]},"tok":{"in":132528,"cached":131456,"out":48,"think":10,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":113,"t":2483.8,"say":"","calls":[{"kind":"robot","label":"for j,v in [(11,.25),(13,.5),(14,.5),(15,.25),(17,1.7),(18,1.39),(19,.25),(21,1.7),(22,1.39)]:A[:,j]=v","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(30,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.50,30);A[:,7]=.3491;A[:,9]=np.linspace(t[3],.15,30)\nfor j,v in [(11,.25),(13,.5),(14,.5),(15,.25),(17,1.7),(18,1.39),(19,.25),(21,1.7),(22,1.39)]:A[:,j]=v\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep10ret1_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":132960,"cached":132480,"out":523,"think":181,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":114,"t":2516.3,"say":"","calls":[{"kind":"look","label":"ep10ret1_inhand_side.png","code":"/tmp/ep10ret1_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s114_0.jpg"]},"tok":{"in":133839,"cached":133632,"out":71,"think":32,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":115,"t":2551.0,"say":"","calls":[{"kind":"robot","label":"for j,v in [(11,.25),(13,.5),(14,.5),(15,.25),(17,1.7),(18,1.39),(19,.25),(21,1.7),(22,1.39)]:A[:,j]=v","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(40,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,6]=np.linspace(t[0],1.92,40);A[:,7]=.3491;A[:,9]=np.linspace(t[3],-.3491,40)\nfor j,v in [(11,.25),(13,.5),(14,.5),(15,.25),(17,1.7),(18,1.39),(19,.25),(21,1.7),(22,1.39)]:A[:,j]=v\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3),'eff',np.round(res.meta['proprio']['now'][56:84],2))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep10ret2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":134294,"cached":133632,"out":429,"think":86,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":116,"t":2836.3,"say":"","calls":[{"kind":"look","label":"ep10ret2_inhand_side.png","code":"/tmp/ep10ret2_inhand_side.png"}],"out":{"text":"","exit":[],"pics":["dexhand-essential-cube-layer-i00-standard--lfddcfw/s116_0.jpg"]},"tok":{"in":135173,"cached":134656,"out":58,"think":19,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":117,"t":2999.6,"say":"","calls":[{"kind":"shell","label":"date -u","code":"date -u"}],"out":{"text":"Thu Oct 15 10:52:55 UTC 2026\n","exit":[],"pics":[]},"tok":{"in":135615,"cached":134656,"out":2086,"think":2044,"usd":0.0025},"sim":{"submit":0,"reset":0}},{"id":118,"t":3039.1,"say":"The body still rotates when I try to relocate the thumb around the cube. I’m switching the reversal attempt to the thumb’s MCP abduction joint while keeping the CMC contact pressed and the other fingers curled around the base; that keeps contact on the moving layer throughout the reversal.","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();x=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900);print(x.meta.get('episode'),x.meta.get('resets_left'))\nPY"}],"out":{"text":"11 10\n","exit":[],"pics":[]},"tok":{"in":137739,"cached":136832,"out":1260,"think":1096,"usd":0.0021},"sim":{"submit":0,"reset":1}},{"id":119,"t":3211.5,"say":"","calls":[{"kind":"robot","label":"G=np.tile(t,(25,1));G[:,:6]=[-.08,0,.29,0,0,0]","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nG=np.tile(t,(25,1));G[:,:6]=[-.08,0,.29,0,0,0]\nfor j,v in [(11,.15),(13,.25),(14,.20),(15,.15),(17,1.62),(18,1.35),(19,.12),(21,1.58),(22,1.34)]:G[:,j]=np.linspace(t[j],v,25)\nr.submit('joint_position',G,dt=.02,interpolate='hold',cameras=[],video='none')\nq=np.asarray(r.get_obs(cameras=['inhand_top','inhand_side'],video='none').meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep11turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":139026,"cached":138880,"out":674,"think":260,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":120,"t":3289.1,"say":"","calls":[{"kind":"robot","label":"A=np.tile(t,(40,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,7]=.3491;A[:,9]=np.linspace(t[3],-.3491,40)","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nA=np.tile(t,(40,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,7]=.3491;A[:,9]=np.linspace(t[3],-.3491,40)\nfor j,v in [(11,.15),(13,.25),(14,.20),(15,.15),(17,1.62),(18,1.35),(19,.12),(21,1.58),(22,1.34)]:A[:,j]=v\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10)\nprint(r.status(),'time_left',res.meta.get('time_left_s'),'q',np.round(res.meta['proprio']['now'][:28],3));\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep11return_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":139927,"cached":138880,"out":519,"think":199,"usd":0.0018},"sim":{"submit":0,"reset":0}},{"id":121,"t":3350.5,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot();x=r._post('/reset',{'cameras':['inhand_top','inhand_side'],'video':'none'},[],900);print(x.meta.get('episode'),x.meta.get('resets_left'))\nPY"}],"out":{"text":"12 9\n","exit":[],"pics":[]},"tok":{"in":140681,"cached":139904,"out":1887,"think":1786,"usd":0.0024},"sim":{"submit":0,"reset":1}},{"id":122,"t":3445.6,"say":"","calls":[{"kind":"robot","label":"G=np.tile(t,(25,1));G[:,:6]=[-.08,0,.29,0,0,0]","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy()\nG=np.tile(t,(25,1));G[:,:6]=[-.08,0,.29,0,0,0]\nfor j,v in [(11,.15),(13,.25),(14,.20),(15,.15),(17,1.62),(18,1.35),(19,.12),(21,1.58),(22,1.34)]:G[:,j]=np.linspace(t[j],v,25)\nr.submit('joint_position',G,dt=.02,interpolate='hold',cameras=[],video='none')\nq=np.asarray(r.get_obs(cameras=[],video='none').meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(60,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:50,7]=np.linspace(t[1],.3491,50);A[50:,7]=.3491\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10);print('turn',r.status(),'left',res.meta.get('time_left_s'))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep12turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":142595,"cached":141952,"out":435,"think":35,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":123,"t":3564.5,"say":"","calls":[{"kind":"robot","label":"for j,v in [(11,.15),(13,.25),(14,.20),(15,.15),(17,1.62),(18,1.35),(19,.12),(21,1.58),(22,1.34)]:A[:,j]=v","code":"python - <<'PY'\nfrom rcb_client import Robot\nfrom PIL import Image\nimport numpy as np\nr=Robot();obs=r.get_obs(cameras=['inhand_top','inhand_side'],video='none');q=np.asarray(obs.meta['proprio']['now'],float);t=q[91:119].copy();A=np.tile(t,(20,1));A[:,:6]=[-.08,0,.29,0,0,0];A[:,7]=np.linspace(t[1],-.3491,20)\nfor j,v in [(11,.15),(13,.25),(14,.20),(15,.15),(17,1.62),(18,1.35),(19,.12),(21,1.58),(22,1.34)]:A[:,j]=v\nres=r.submit('joint_position',A,dt=.02,interpolate='hold',cameras=['inhand_top','inhand_side'],video='frames',video_fps=10);print('reverse',r.status(),'left',res.meta.get('time_left_s'),'q',np.round(res.meta['proprio']['now'][:28],3))\nfor c,a in res.last.items():Image.fromarray(a).save('/tmp/ep12reverse_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":143130,"cached":142976,"out":339,"think":27,"usd":0.0016},"sim":{"submit":0,"reset":0}}]}

runs/dexjoco-pick-bucket-i00-standard--roognqg.json

@@ -0,0 +1 @@
+{"slug":"dexjoco-pick-bucket-i00-standard--roognqg","task":"dexjoco-pick-bucket-i00-standard","bench":"dexjoco","mode":"standard","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","state":"failed","success":null,"reward":{},"wall_s":1135,"tokens":{"in":8237802,"cached":8090112,"out":66077,"usd":0.13},"task_text":"# DexJoCo · pick_bucket — STANDARD MODE (robot as a service, eai-standard/2.2)\n\nYou control a Franka Panda arm with a 16-DoF Allegro hand, **as if it were real hardware**: the simulator runs in a service you cannot open. You get\none client and one episode. **Task:** Put the boxed food into the bucket, then lift the bucket. Success: the boxed food's centre is inside the bounding box of the bucket's eight reference corners AND the bucket's bottom is at least 0.15 m above where it started, at the same control step.\n\nThe bucket stands on the table with a hinged handle over it; the boxed food lies next to it. The handle swings on a hinge (`bucket_handle`).\n\n## Rules (real-robot rules)\n- **No reset.** The episode starts when the service comes up and ends on success, on a task failure (see the task), when\n  your time is up, or on a simulator error. Knocked-over objects stay knocked over.\n- **No privileged state.** You see what the cameras see (RGB, and depth on request, with each camera's calibration) plus\n  the robot's own proprioception (joints, tcp poses, the current targets). No object poses, no success check:\n  `meta[\"done\"]` / `meta[\"reason\"]` tell you when the episode is over and why.\n- Steps are unlimited; your only budget is the time limit (`## Time limit`; `meta[\"time_left_s\"]` is the service's count of it). Actions and\n  simulated time are reported as cost. Do not stop before the task is solved.\n- There is nothing to hand in: the service records your episode as the trajectory and grades it. Leave your script at\n  `/app/output/gen.py` for the record (save it early, update it as you go).\n- **Nothing is put into your context automatically.** Images and videos come back as arrays/bytes in a Python object;\n  what you look at and where you store it is your code's decision.\n\n## Client (`/opt/tools/rcb_client.py`, protocol `eai-standard/2.2`)\n```python\nfrom rcb_client import Robot\nr = Robot()                                   # connects (waits while the service starts)\nspec = r.spec()                               # action types, cameras (+ calibration), proprio layout, robot_spec, kinematics, budget\nobs = r.get_obs()                             # current frames of spec[\"default_cameras\"]: obs.last[cam] -> uint8 (480, 640, 3)\nobs = r.get_obs(cameras=[\"front\", \"handcam_rgb\"], depth=True)   # + obs.last_depth[cam] -> float32 (480, 640) z-depth (m)\nobs.meta[\"proprio\"]                           # {\"layout\": [...], \"now\": [...]}; obs.group(\"tcp_pose\", now=True)\nobs.meta[\"cameras\"]                           # per camera intrinsic_cv / extrinsic_cv / cam2world_gl for these frames\nobs = r.get_obs(seconds=2.0, video=\"mp4\")     # hold the current targets and watch for 2 s (max 30): obs.video[cam] = mp4 bytes\n\nres = r.submit(\"ee_pose\", rows, dt=0.1)       # rows: (T, 23) targets dt seconds apart, executed at 50 Hz with interpolation\nres = r.submit(\"joint_position\", q_rows, dt=0.1)   # (T, 23) joint targets instead (see below)\nres.meta[\"done\"], res.meta[\"reason\"\n… (2,816 characters left out) …\nnd's mounting flange (`spec[\"robot_spec\"][\"tcp\"]`), not the fingertips. Allegro joint\n  order: index finger 0-3, middle 4-7, ring 8-11, thumb 12-15 (joint 0 of a finger = spread, 1-3 = flexion\n  from the knuckle out; thumb 12 = opposition).\n- Control runs at 50 Hz (10 physics substeps of 2 ms). There is no step budget: your wall-clock time is the limit.\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","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"dexjoco-pick-bucket-i00-standard--roognqg/replay.mp4","replay_last":"dexjoco-pick-bucket-i00-standard--roognqg/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and workspace, save a runnable control script early, then use the camera images and robot proprioception to locate the objects and execute the pick, place, and lift. I’ll keep the actions incremental so I can adjust from the returned frames.","calls":[{"kind":"shell","label":"pwd && ls -la && cat /run/rcb-limits/usage.json && sed -n '1,240p' /opt/tools/rcb_client.py","code":"pwd && ls -la && cat /run/rcb-limits/usage.json && sed -n '1,240p' /opt/tools/rcb_client.py"}],"out":{"text":"/app\ntotal 12\ndrwxr-xr-x  3 root root 4096 Oct 18 02:24 .\ndr-xr-xr-x 20 root root 4096 Oct 18 03:59 ..\ndrwxr-xr-x  2 root root 4096 Oct 18 02:24 output\n{\n \"t\": 1792296058.4,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.432,\n \"processes\": 6,\n \"disk_gb\": 0.818,\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\": 100.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3500.0,\n \"deadline_utc\": \"2026-10-18T04:59:18Z\"\n}\"\"\"eai-standard/2.2 client (formerly rcb-limited/2.x) — the only thing a standard-mode agent gets (installed at\n/opt/tools/rcb_client.py).\n\n    from rcb_client import Robot\n    r = Robot()                                  # finds the service (sim:8000, then localhost:8000), waits for warm-up\n    spec = r.spec()                              # actions, cameras (+ intrinsics, mounting), robot_spec, world, budget, kinematics\n    obs = r.get_obs()                            # current frames: obs.last[cam] -> uint8 (H,W,3); obs.meta[\"proprio\"]\n    obs = r.get_obs(depth=True)                  # + obs.last_depth[cam] -> float32 (H,W) z-depth in metres, 0 = no reading\n    res = r.submit(\"joint_position\", A, dt=0.1)  # A: (T, dim) rows dt apart; returns the execution video\n    res = r.submit(\"ee_pose\", P)                 # (T, dim) end-effector targets (see spec()[\n… (14,208 characters left out) …\ninematics\", 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 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)\n","exit":[],"pics":[]},"tok":{"in":11450,"cached":7680,"out":238,"think":97,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":7,"t":7.9,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":16323,"cached":7680,"out":888,"think":282,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":8,"t":10.3,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras front top0 handcam_rgb","code":"python /app/output/gen.py observe --cameras front top0 handcam_rgb"}],"out":{"text":"{\n  \"protocol\": \"eai-standard/2.2\",\n  \"robot_spec\": {\n    \"name\": \"franka-allegro\",\n    \"description\": \"a Franka Panda arm with a 16-DoF Allegro hand\",\n    \"base\": {\n      \"type\": \"fixed\",\n      \"pose\": [\n        -0.75,\n        0.0,\n        0.924,\n        1.0,\n        0.0,\n        0.0,\n        0.0\n      ],\n      \"note\": \"pose of the arm's base link (link0), world frame, x y z + quaternion wxyz\"\n    },\n    \"joints\": [\n      {\n        \"name\": \"joint1\",\n        \"type\": \"revolute\",\n        \"unit\": \"rad\",\n        \"position_limits\": [\n          -2.8973,\n          2.8973\n        ],\n        \"velocity_limit\": null,\n        \"effort_limit\": 87.0,\n        \"group\": \"right_arm\"\n      },\n      {\n        \"name\": \"joint2\",\n        \"type\": \"revolute\",\n        \"unit\": \"rad\",\n        \"position_limits\": [\n          -1.7628,\n          1.7628\n        ],\n        \"velocity_limit\": null,\n        \"effort_limit\": 87.0,\n        \"group\": \"right_arm\"\n      },\n      {\n        \"name\": \"joint3\",\n        \"type\": \"revolute\",\n        \"unit\": \"rad\",\n        \"position_limits\": [\n          -2.8973,\n          2.8973\n        ],\n        \"velocity_limit\": null,\n        \"effort_limit\": 87.0,\n        \"group\": \"right_arm\"\n      },\n      {\n        \"name\": \"joint4\",\n        \"type\": \"revolute\",\n        \"unit\": \"rad\",\n        \"position_limits\": [\n          -3.0718,\n          -0.0698\n        ],\n        \"velocity_limit\": null,\n        \"effort_limit\": 87.0,\n        \"group\": \"right_arm\"\n      },\n      {\n        \"name\": \"joint5\",\n\n… (31,293 characters left out) …\n\n        [\n          0.0,\n          415.69219381653056,\n          240.0\n        ],\n        [\n          0.0,\n          0.0,\n          1.0\n        ]\n      ],\n      \"extrinsic_cv\": [\n        [\n          -0.0007127602014721601,\n          -0.9999989992670987,\n          0.0012220628861742034,\n          0.02778046800417232\n        ],\n        [\n          -0.49672790199704336,\n          -0.0007065885862532001,\n          -0.8679060387566081,\n          0.9918567252988848\n        ],\n        [\n          0.8679060337101663,\n          -0.0012256416166008055,\n          -0.4967269012768653,\n          1.2391306100957609\n        ]\n      ],\n      \"cam2world_gl\": [\n        [\n          -0.0007127602014720957,\n          0.49672790199704264,\n          -0.8679060337101652,\n          -0.5827462220057252\n        ],\n        [\n          -0.9999989992670973,\n          0.0007065885862531096,\n          0.0012256416166008255,\n          0.03000000488877585\n        ],\n        [\n          0.0012220628861742688,\n          0.8679060387566069,\n          0.4967269012768647,\n          1.4763140002195247\n        ],\n        [\n          0.0,\n          0.0,\n          0.0,\n          1.0\n        ]\n      ],\n      \"image_size\": [\n        640,\n        480\n      ]\n    }\n  },\n  \"obs_id\": 1,\n  \"seconds\": 0.0,\n  \"control_steps_watch\": 0,\n  \"physics_steps_watch\": 0,\n  \"ok\": true,\n  \"stopped\": null\n}\nstatus: {\n  \"step\": 0,\n  \"calls\": 1,\n  \"control_steps\": 0,\n  \"done\": false,\n  \"reason\": null,\n  \"elapsed_s\": 71.6,\n  \"resumes\": 0\n}\n","exit":[0],"pics":[]},"tok":{"in":17235,"cached":16128,"out":83,"think":20,"usd":0.0003},"sim":{"submit":0,"reset":0}},{"id":9,"t":14.1,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"top0.jpg","code":"/app/output/top0.jpg"},{"kind":"look","label":"handcam_rgb.jpg","code":"/app/output/handcam_rgb.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s009_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s009_1.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s009_2.jpg"]},"tok":{"in":30446,"cached":17024,"out":118,"think":44,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":10,"t":24.0,"say":"The scene is live and the arm is at its home pose. The top view shows the bucket; the front view shows the boxed food beside it. I’m gathering side views and depth so I can estimate their table positions in the calibrated world frame before approaching either object.","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":31670,"cached":30208,"out":1095,"think":661,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":11,"t":37.7,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras back left right","code":"python /app/output/gen.py observe --cameras back left right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":32789,"cached":31488,"out":77,"think":18,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":12,"t":40.8,"say":"","calls":[{"kind":"look","label":"back.jpg","code":"/app/output/back.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s012_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s012_1.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s012_2.jpg"]},"tok":{"in":33091,"cached":32640,"out":69,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":13,"t":46.0,"say":"","calls":[{"kind":"shell","label":"for cam, pts in {'left':[(307,262),(307,250),(380,130),(400,140),(375,180),(370,220)], 'right':[(250,185),(430","code":"python - <<'PY'\nimport numpy as np\nfor cam, pts in {'left':[(307,262),(307,250),(380,130),(400,140),(375,180),(370,220)], 'right':[(250,185),(430,250),(405,220)], 'top0':[(500,430),(470,415)]}.items():\n d=np.load('/app/output/'+cam+'_depth.npy')\n print(cam, 'shape',d.shape)\n for u,v in pts:\n  print((u,v), d[v-2:v+3,u-2:u+3])\nPY"}],"out":{"text":"left shape (480, 640)\n(307, 262) [[1.3392007 1.3392007 1.3392007 1.3392007 1.3392007]\n [1.336972  1.336972  1.336972  1.336972  1.3369719]\n [1.3347509 1.3347509 1.3347509 1.3347509 1.3347507]\n [1.332537  1.332537  1.332537  1.3325367 1.3325367]\n [1.3303305 1.3303305 1.3303303 1.3303303 1.3303303]]\n(307, 250) [[1.4685041 1.4685041 1.4685041 1.4685041 1.4685041]\n [1.4660106 1.4660106 1.4660106 1.4660106 1.4660106]\n [1.4635254 1.4635254 1.4635254 1.4635254 1.4635254]\n [1.4610487 1.4610487 1.4610487 1.4610487 1.4610487]\n [1.4585804 1.4585804 1.4585804 1.4585804 1.4585804]]\n(380, 130) [[1.7095041 1.7063609 1.8451151 1.8451151 1.6970005]\n [1.7117146 1.7085634 1.7054236 1.7022955 1.6991788]\n [1.7139311 1.7107716 1.837262  1.7044874 1.7013626]\n [1.716153  1.8333606 1.8333606 1.8333606 1.7035525]\n [1.7183808 1.8294756 1.8294756 1.8294756 1.7057472]]\n(400, 140) [[1.6695579 1.8065071 1.8065071 1.6605959 1.8065071]\n [1.6716663 1.6686604 1.6656657 1.6626817 1.802735 ]\n [1.7989787 1.7989787 1.6677642 1.6647724 1.7989787]\n [1.7952379 1.7952379 1.669868  1.6668688 1.6638805]\n [1.7915126 1.7915126 1.6719772 1.6689703 1.7915126]]\n(375, 180) [[1.4542671 1.4513806 1.4485058 1.445642  1.4293994]\n [1.4562975 1.4534031 1.45052   1.4476485 1.4447882]\n [1.4583336 1.4554311 1.45254   1.4496605 1.4467922]\n [1.4603755 1.4574648 1.4545658 1.451678  1.448802 ]\n [1.4624231 1.4595041 1.456597  1.4537013 1.4508172]]\n(370, 220) [[1.5474685 1.5474685 1.5474685 1.5466782 1.5434136]\n [1.5446999 1.5446999 1.54469\n… (114 characters left out) …\n1921 1.5391921]\n [1.5364529 1.5364529 1.5364529 1.5364529 1.5364529]]\nright shape (480, 640)\n(250, 185) [[1.6510452 1.6510452 1.6510452 1.6510452 1.6510452]\n [1.6478939 1.6478939 1.6478939 1.6478939 1.6478939]\n [1.6447545 1.6447545 1.6447545 1.6447545 1.6447545]\n [1.6416271 1.6416271 1.6416271 1.6416271 1.6416271]\n [1.6385115 1.6385115 1.6385115 1.6385115 1.6385115]]\n(430, 250) [[1.2515894 1.255794  1.4629285 1.2874401 1.2918093]\n [1.2545853 1.4604445 1.4604445 1.290553  1.4604445]\n [1.2806243 1.4579687 1.4579687 1.293681  1.4579687]\n [1.2837043 1.4555014 1.4555014 1.2968245 1.4555014]\n [1.2867993 1.4530424 1.4530424 1.299983  1.4530424]]\n(405, 220) [[1.5415931 1.5415931 1.5415931 1.5415931 1.5415931]\n [1.5388349 1.5388349 1.5388349 1.5388349 1.5388349]\n [1.5360866 1.5360866 1.5360866 1.5360866 1.5360866]\n [1.533348  1.533348  1.533348  1.533348  1.533348 ]\n [1.5306191 1.5306191 1.5306191 1.5306191 1.5306191]]\ntop0 shape (480, 640)\n(500, 430) [[0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]]\n(470, 415) [[0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]\n [0.8496221 0.8496221 0.8496221 0.8496221 0.8496221]]\n","exit":[],"pics":[]},"tok":{"in":34266,"cached":33024,"out":547,"think":368,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":14,"t":58.2,"say":"","calls":[{"kind":"shell","label":"fx=fy=579.4112549695428; cx=cy=320,240","code":"python - <<'PY'\nimport numpy as np\nfx=fy=579.4112549695428; cx=cy=320,240\n# mount extrinsics static as service spec\nEs={\n'left':np.array([[-.707106781186202,-.7071067811862018,9.887475790933855e-7,-.14142333373239863],[-.5000004943737895,.4999995056262106,-.7071067811862017,.5142134634976461],[.4999995056262103,-.5000004943737895,-.7071067811862018,2.314213463497646]]),\n'top0':np.array([[0,-1,0,0],[-1,0,0,.17],[0,0,-1,1.8]])}\nfor cam,pts in {'left':[(307,262),(315,265),(307,273),(330,263),(400,140),(380,130),(420,150),(440,160),(375,210)],'top0':[(500,430),(450,400),(530,450)]}.items():\n E=Es[cam]; d=np.load('/app/output/'+cam+'_depth.npy')\n for u,v in pts:\n  z=float(np.median(d[v-2:v+3,u-2:u+3])); p=np.array([(u-320)/fx*z,(v-240)/fy*z,z]); w=E[:,:3].T@(p-E[:,3]);\n  print(cam,(u,v),'depth',round(z,3),'world',np.round(w,3))\nPY"}],"out":{"text":"left (307, 262) depth 1.335 world [-0.337  0.179  1.02 ]\nleft (315, 265) depth 1.328 world [-0.356  0.173  1.02 ]\nleft (307, 273) depth 1.311 world [-0.361  0.203  1.02 ]\nleft (330, 263) depth 1.427 world [-0.332  0.097  0.951]\nleft (400, 140) depth 1.672 world [-0.183 -0.344  1.022]\nleft (380, 130) depth 1.712 world [-0.107 -0.344  1.019]\nleft (420, 150) depth 1.634 world [-0.256 -0.343  1.024]\nleft (440, 160) depth 1.47 world [-0.379 -0.252  1.104]\nleft (375, 210) depth 1.516 world [-0.305 -0.099  0.984]\ntop0 (500, 430) depth 0.85 world [-0.109 -0.264  0.95 ]\ntop0 (450, 400) depth 0.85 world [-0.065 -0.191  0.95 ]\ntop0 (530, 450) depth 0.85 world [-0.138 -0.308  0.95 ]\n","exit":[],"pics":[]},"tok":{"in":36628,"cached":34048,"out":1364,"think":956,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":15,"t":79.7,"say":"Depth and calibration place the food near \\((-0.35,\\ 0.18)\\) m and the bucket near \\((-0.30,\\ -0.25)\\) m; the tabletop is at about \\(z=0.95\\) m. I’ll first move above the food with the hand open, then use a closer view to set the grasp height and finger closure.","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":38346,"cached":36480,"out":2901,"think":2063,"usd":0.002},"sim":{"submit":0,"reset":0}},{"id":16,"t":87.9,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.35 0.17 1.42 --duration 1.5 --cameras front left","code":"python /app/output/gen.py move --pos -0.35 0.17 1.42 --duration 1.5 --cameras front left"}],"out":{"text":"connected: eai-standard/2.2 time limit: 3600.0\nmove result: {'done': False, 'reason': None, 'steps': 75, 'stopped': None, 'tcp': [-0.35252079367637634, 0.16566887497901917, 1.4223380088806152, 0.0005208398215472698, 0.9999966025352478, 0.002165769226849079, -0.0013385514030233026], 'target': [-0.3499999940395355, 0.17000000178813934, 1.4199999570846558, 0.0, 1.0, 0.0, 0.0], 'hand': [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], 'status': {'step': 15, 'calls': 4, 'control_steps': 75, 'done': False, 'reason': None, 'elapsed_s': 154.1, 'resumes': 0}}\n","exit":[0],"pics":[]},"tok":{"in":41271,"cached":38144,"out":244,"think":165,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":17,"t":97.3,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s017_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s017_1.jpg"]},"tok":{"in":41874,"cached":41088,"out":133,"think":75,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":18,"t":111.4,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras handcam_rgb top0 left","code":"python /app/output/gen.py observe --cameras handcam_rgb top0 left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":42752,"cached":41728,"out":1435,"think":1374,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":19,"t":115.2,"say":"","calls":[{"kind":"look","label":"handcam_rgb.jpg","code":"/app/output/handcam_rgb.jpg"},{"kind":"look","label":"top0.jpg","code":"/app/output/top0.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s019_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s019_1.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s019_2.jpg"]},"tok":{"in":44401,"cached":42624,"out":72,"think":0,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":20,"t":121.7,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.35 0.17 1.28 --duration 1.2 --cameras front left","code":"python /app/output/gen.py move --pos -0.35 0.17 1.28 --duration 1.2 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":45579,"cached":44288,"out":592,"think":514,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":21,"t":130.5,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s021_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s021_1.jpg"]},"tok":{"in":46497,"cached":45440,"out":67,"think":10,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":22,"t":142.7,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.35 0.17 1.19 --duration 0.8 --cameras front right","code":"python /app/output/gen.py move --pos -0.35 0.17 1.19 --duration 0.8 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":47309,"cached":46464,"out":1334,"think":1256,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":23,"t":148.9,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s023_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s023_1.jpg"]},"tok":{"in":48965,"cached":47104,"out":76,"think":20,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":24,"t":162.4,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras front right","code":"python /app/output/gen.py observe --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":49786,"cached":48768,"out":1377,"think":1320,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":25,"t":167.7,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[0.,1,0,0],[.4226182399,0,-.9063077972,.9006887637],[-.9063077972,0,-.4226182399,","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[0.,1,0,0],[.4226182399,0,-.9063077972,.9006887637],[-.9063077972,0,-.4226182399,1.8543893202]])\nfor u,v in [(365,140),(373,142),(383,143),(395,145),(408,147),(420,144),(385,180),(385,185),(385,190),(374,181),(400,182)]:\n d=np.load('/app/output/front_depth.npy'); z=float(np.median(d[v-1:v+2,u-1:u+2])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(365, 140) 1.565 [-0.232  0.122  1.183]\n(373, 142) 3.366 [-1.991  0.308  0.693]\n(383, 143) 1.541 [-0.206  0.168  1.183]\n(395, 145) 1.578 [-0.24   0.204  1.167]\n(408, 147) 1.507 [-0.168  0.229  1.182]\n(420, 144) 3.371 [-1.991  0.582  0.682]\n(385, 180) 1.741 [-0.355  0.195  1.027]\n(385, 185) 1.718 [-0.326  0.193  1.022]\n(385, 190) 1.725 [-0.327  0.194  1.006]\n(374, 181) 1.734 [-0.346  0.162  1.027]\n(400, 182) 1.726 [-0.337  0.238  1.027]\n","exit":[],"pics":[]},"tok":{"in":51374,"cached":49664,"out":372,"think":117,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":26,"t":186.7,"say":"The calibrated depth shows the fingertips are roughly 0.15 m above the box and extend forward from the wrist in world \\(+x\\). I’m raising clear of the box, shifting the wrist back along \\(-x\\) so the fingers reach over it, then I’ll descend to the box’s side height.","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.35 0.17 1.45 --duration 0.9 --cameras front left && python /app/output","code":"python /app/output/gen.py move --pos -0.35 0.17 1.45 --duration 0.9 --cameras front left && python /app/output/gen.py move --pos -0.50 0.17 1.45 --duration 1.0 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":52044,"cached":51200,"out":2183,"think":2000,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":27,"t":201.0,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s027_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s027_1.jpg"]},"tok":{"in":54849,"cached":51840,"out":246,"think":189,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":28,"t":213.5,"say":"The wrist is now behind the food along \\(-x\\), with the open fingers extending over its footprint. I’m lowering the hand to the box’s side height while keeping the fingers open, then I’ll close them around the box and check whether it lifts with the hand.","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.50 0.17 1.04 --duration 1.5 --cameras front left","code":"python /app/output/gen.py move --pos -0.50 0.17 1.04 --duration 1.5 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":55840,"cached":54656,"out":1248,"think":1107,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":29,"t":223.5,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s029_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s029_1.jpg"]},"tok":{"in":57407,"cached":55680,"out":97,"think":40,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":30,"t":235.5,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":58249,"cached":57216,"out":1406,"think":932,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":31,"t":239.9,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.498 0.152 1.084 --duration 1.2 --grasp box --cameras front left","code":"python /app/output/gen.py move --pos -0.498 0.152 1.084 --duration 1.2 --grasp box --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":59679,"cached":58112,"out":188,"think":106,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":32,"t":250.1,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s032_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s032_1.jpg"]},"tok":{"in":60243,"cached":59520,"out":107,"think":50,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":33,"t":254.1,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.495 0.156 1.23 --duration 1.2 --grasp box --cameras front left","code":"python /app/output/gen.py move --pos -0.495 0.156 1.23 --duration 1.2 --grasp box --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":61095,"cached":60032,"out":285,"think":203,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":34,"t":263.4,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s034_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s034_1.jpg"]},"tok":{"in":61757,"cached":60928,"out":63,"think":6,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":35,"t":268.3,"say":"The first closure didn’t lift the food; it remains on the table, so I’m adjusting the grasp from the new view before trying again. The hand did close and raise without ending the episode.","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras left right front","code":"python /app/output/gen.py observe --cameras left right front"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":62565,"cached":61568,"out":377,"think":272,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":36,"t":274.1,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[-.707106781186202,-.7071067811862018,9.887475790933855e-7,-.14142333373239863],[","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[-.707106781186202,-.7071067811862018,9.887475790933855e-7,-.14142333373239863],[-.5000004943737895,.4999995056262106,-.7071067811862017,.5142134634976461],[.4999995056262103,-.5000004943737895,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/left_depth.npy')\nfor u,v in [(320,294),(320,300),(312,292),(330,298),(320,282),(300,294),(340,294)]:\n z=float(np.median(d[v-1:v+2,u-1:u+2])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(320, 294) 1.297 [-0.412  0.212  0.998]\n(320, 300) 1.285 [-0.424  0.224  0.998]\n(312, 292) 1.301 [-0.395  0.221  0.998]\n(330, 298) 1.299 [-0.431  0.2    0.989]\n(320, 282) 1.322 [-0.387  0.187  0.998]\n(300, 294) 1.297 [-0.38   0.244  0.998]\n(340, 294) 1.319 [-0.434  0.17   0.98 ]\n","exit":[],"pics":[]},"tok":{"in":63155,"cached":62464,"out":344,"think":54,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":37,"t":312.9,"say":"","calls":[{"kind":"robot","label":"q=[0,2**-.5,0,-2**-.5]","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now'])\nq=[0,2**-.5,0,-2**-.5]\nfor pos in [[-.41,.21,1.30],[-.41,.21,1.16],[-.49,.16,1.45]]:\n ans=r.ik({'tcp':pos+q},seed=now[:7]); print(pos,ans)\nPY"}],"out":{"text":"Traceback (most recent call last):\n  File \"<stdin>\", line 6, in <module>\n  File \"/opt/tools/rcb_client.py\", line 240, in ik\n    return self.kinematics(body)\n           ^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 223, in kinematics\n    raise ValueError(f\"{r.status_code}: {err.get('error')} {err.get('detail', '')}\".strip())\nValueError: 400: seed must be 23 finite numbers\n","exit":[],"pics":[]},"tok":{"in":63697,"cached":62976,"out":4310,"think":4141,"usd":0.0029},"sim":{"submit":0,"reset":0}},{"id":38,"t":320.5,"say":"","calls":[{"kind":"robot","label":"q=[0,2**-.5,0,-2**-.5]","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now'])\nq=[0,2**-.5,0,-2**-.5]\nfor pos in [[-.41,.21,1.30],[-.41,.21,1.16],[-.49,.16,1.45]]:\n ans=r.ik({'tcp':pos+q},seed=now[:23]); print(pos,ans)\nPY"}],"out":{"text":"[-0.41, 0.21, 1.3] {'ok': True, 'op': 'ik', 'frame': 'world', 'q': [0.34826992471925117, 0.15036148806500754, 0.02348540978102963, -2.0993897086015667, 0.5545066842411267, 0.7606796904430693, 1.2108756237827636, -0.002336225938051939, 1.1352139711380005, 1.2090867757797241, 0.963528573513031, -0.00010664293949957937, 1.1509978771209717, 1.195706844329834, 0.9488955736160278, -0.00014390292926691473, 1.1018712520599365, 1.1460556983947754, 0.8988900184631348, 0.9604668021202087, 0.8797588348388672, 0.8737666010856628, 0.742201030254364], 'error': {'tcp': {'pos_m': 7.3125234577076415e-06, 'rot_rad': 1.0725606988729138e-05}}, 'note': \"the tcp (attachment_site) of each arm; the hand joints are the seed's\"}\n[-0.41, 0.21, 1.16] {'ok': True, 'op': 'ik', 'frame': 'world', 'q': [0.40744528610540937, 0.4028057672093949, -0.010657434240513141, -2.1385478412236476, 0.4711222454702937, 1.0214675950239627, 1.040752745717809, -0.002336225938051939, 1.1352139711380005, 1.2090867757797241, 0.963528573513031, -0.00010664293949957937, 1.1509978771209717, 1.195706844329834, 0.9488955736160278, -0.00014390292926691473, 1.1018712520599365, 1.1460556983947754, 0.8988900184631348, 0.9604668021202087, 0.8797588348388672, 0.8737666010856628, 0.742201030254364], 'error': {'tcp': {'pos_m': 0.00013356061391217973, 'rot_rad': 0.00016559863379876904}}, 'note': \"the tcp (attachment_site) of each arm; the hand joints are the seed's\"}\n[-0.49, 0.16, 1.45] {'ok': True, 'op': 'ik', 'frame': 'world', 'q': [0.23955749236690244, -0.26926925265220675, 0.04232548279164289, -2.2104895433973746, 0.6825755543339407, 0.4538207379022433, 1.4036223380900166, -0.002336225938051939, 1.1352139711380005, 1.2090867757797241, 0.963528573513031, -0.00010664293949957937, 1.1509978771209717, 1.195706844329834, 0.9488955736160278, -0.00014390292926691473, 1.1018712520599365, 1.1460556983947754, 0.8988900184631348, 0.9604668021202087, 0.8797588348388672, 0.8737666010856628, 0.742201030254364], 'error': {'tcp': {'pos_m': 0.00027198266587931223, 'rot_rad': 0.005391412711201933}}, 'note': \"the tcp (attachment_site) of each arm; the hand joints are the seed's\"}\n","exit":[],"pics":[]},"tok":{"in":68143,"cached":63488,"out":193,"think":24,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":39,"t":330.6,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":69327,"cached":67968,"out":380,"think":229,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":40,"t":345.1,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.49 0.16 1.50 --duration 1.0 --grasp open --cameras front left","code":"python /app/output/gen.py move --pos -0.49 0.16 1.50 --duration 1.0 --grasp open --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":69731,"cached":69120,"out":528,"think":446,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":41,"t":354.6,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.49 0.16 1.50 --duration 1.2 --grasp open --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.49 0.16 1.50 --duration 1.2 --grasp open --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":70578,"cached":69632,"out":143,"think":43,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":42,"t":365.7,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s042_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s042_1.jpg"]},"tok":{"in":71049,"cached":70400,"out":175,"think":118,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":43,"t":374.2,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.41 0.21 1.35 --duration 1.5 --grasp open --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.41 0.21 1.35 --duration 1.5 --grasp open --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71969,"cached":70912,"out":523,"think":423,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":44,"t":387.3,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s044_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s044_1.jpg"]},"tok":{"in":72826,"cached":71808,"out":171,"think":114,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":45,"t":395.1,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.41 0.21 1.17 --duration 1.3 --grasp open --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.41 0.21 1.17 --duration 1.3 --grasp open --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":73742,"cached":72704,"out":256,"think":156,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":46,"t":405.8,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s046_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s046_1.jpg"]},"tok":{"in":74332,"cached":73600,"out":116,"think":59,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":47,"t":411.4,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.41 0.21 1.17 --duration 1.2 --grasp box --quat 0 0.7071068 0 -0.707106","code":"python /app/output/gen.py move --pos -0.41 0.21 1.17 --duration 1.2 --grasp box --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":75193,"cached":74240,"out":413,"think":313,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":48,"t":421.0,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s048_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s048_1.jpg"]},"tok":{"in":75994,"cached":75008,"out":63,"think":6,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":49,"t":424.2,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.41 0.21 1.29 --duration 1.1 --grasp box --quat 0 0.7071068 0 -0.707106","code":"python /app/output/gen.py move --pos -0.41 0.21 1.29 --duration 1.1 --grasp box --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":76802,"cached":75904,"out":166,"think":66,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":50,"t":433.5,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s050_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s050_1.jpg"]},"tok":{"in":77356,"cached":76544,"out":64,"think":7,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":51,"t":443.5,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras front left","code":"python /app/output/gen.py observe --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78165,"cached":77184,"out":969,"think":912,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":52,"t":468.6,"say":"","calls":[{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"},{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s052_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s052_1.jpg"]},"tok":{"in":79358,"cached":77952,"out":125,"think":68,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":53,"t":474.9,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[-.707106781186202,-.7071067811862018,9.887475790933855e-7,-.14142333373239863],[","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[-.707106781186202,-.7071067811862018,9.887475790933855e-7,-.14142333373239863],[-.5000004943737895,.4999995056262106,-.7071067811862017,.5142134634976461],[.4999995056262103,-.5000004943737895,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/left_depth.npy')\nfor u,v in [(320,300),(320,295),(330,298),(350,260),(348,268),(335,270),(330,250),(310,260),(358,245),(340,230)]:\n z=float(np.median(d[v-1:v+2,u-1:u+2])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(320, 300) 1.285 [-0.424  0.224  0.998]\n(320, 295) 1.295 [-0.414  0.214  0.998]\n(330, 298) 1.298 [-0.432  0.2    0.99 ]\n(350, 260) 1.065 [-0.525  0.247  1.221]\n(348, 268) 1.42 [-0.373  0.076  0.947]\n(335, 270) 1.413 [-0.356  0.104  0.949]\n(330, 250) 1.098 [-0.474  0.247  1.21 ]\n(310, 260) 1.439 [-0.288  0.123  0.947]\n(358, 245) 1.035 [-0.535  0.239  1.262]\n(340, 230) 1.125 [-0.455  0.2    1.218]\n","exit":[],"pics":[]},"tok":{"in":80228,"cached":79232,"out":476,"think":174,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":54,"t":490.6,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.41 0.21 1.05 --duration 1.4 --grasp open --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.41 0.21 1.05 --duration 1.4 --grasp open --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":80977,"cached":80000,"out":856,"think":756,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":55,"t":503.1,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s055_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s055_1.jpg"]},"tok":{"in":82165,"cached":80896,"out":218,"think":161,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":56,"t":513.4,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.41 0.21 1.105 --duration 1.3 --grasp box --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.41 0.21 1.105 --duration 1.3 --grasp box --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":83128,"cached":82048,"out":524,"think":424,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":57,"t":524.8,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s057_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s057_1.jpg"]},"tok":{"in":84037,"cached":82944,"out":68,"think":11,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":58,"t":530.2,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.41 0.21 1.24 --duration 1.2 --grasp box --quat 0 0.7071068 0 -0.707106","code":"python /app/output/gen.py move --pos -0.41 0.21 1.24 --duration 1.2 --grasp box --quat 0 0.7071068 0 -0.7071068 --cameras front left"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":84850,"cached":83968,"out":162,"think":62,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":59,"t":542.9,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s059_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s059_1.jpg"]},"tok":{"in":85400,"cached":84608,"out":63,"think":6,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":60,"t":561.0,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras top0 left right","code":"python /app/output/gen.py observe --cameras top0 left right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":86208,"cached":85376,"out":1345,"think":1286,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":61,"t":565.2,"say":"","calls":[{"kind":"look","label":"top0.jpg","code":"/app/output/top0.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s061_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s061_1.jpg"]},"tok":{"in":87777,"cached":86016,"out":65,"think":8,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":62,"t":570.3,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,-9.88747579e-7,.14142333373239827],[-.50000","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,-9.88747579e-7,.14142333373239827],[-.5000004943737894,-.4999995056262104,-.7071067811862018,.5142134634976463],[.4999995056262103,.5000004943737896,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/right_depth.npy')\nfor u,v in [(215,200),(210,205),(220,210),(180,180),(190,175),(175,190),(200,185),(160,180),(190,205)]:\n z=float(np.median(d[v-1:v+2,u-1:u+2])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(215, 200) 1.522 [-0.381  0.209  0.998]\n(210, 205) 1.508 [-0.403  0.202  0.998]\n(220, 210) 1.495 [-0.396  0.168  0.998]\n(180, 180) 1.321 [-0.497  0.154  1.163]\n(190, 175) 1.333 [-0.47   0.153  1.163]\n(175, 190) 1.629 [-0.403  0.373  0.947]\n(200, 185) 1.645 [-0.34   0.341  0.947]\n(160, 180) 1.661 [-0.408  0.441  0.947]\n(190, 205) 1.584 [-0.411  0.291  0.947]\n","exit":[],"pics":[]},"tok":{"in":88587,"cached":87680,"out":455,"think":161,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":63,"t":584.9,"say":"","calls":[{"kind":"shell","label":"D=np.load('/app/output/right_depth.npy')","code":"python - <<'PY'\nimport numpy as np\nD=np.load('/app/output/right_depth.npy')\nfor v in range(145,196,5): print(v, ['%.2f'%np.median(D[v:v+3,u:u+3]) for u in range(160,211,5)])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":89290,"cached":88448,"out":1394,"think":1278,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":64,"t":589.8,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-.4999995056262104,-.7071067811862018,.5142134634976463],[.4999995056262103,.5000004943737896,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/right_depth.npy')\nfor u,v in [(180,170),(175,180),(185,175),(195,175),(170,155),(185,160),(175,165)]:\n z=float(np.median(d[v-1:v+2,u-1:u+2])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),z,np.round(w,3))\nPY"}],"out":{"text":"(180, 170) 1.3647162914276123 [-0.468  0.198  1.152]\n(175, 180) 1.307987928390503 [-0.51   0.153  1.171]\n(185, 175) 1.3368151187896729 [-0.477  0.164  1.161]\n(195, 175) 1.3433290719985962 [-0.458  0.152  1.157]\n(170, 155) 1.3798949718475342 [-0.461  0.244  1.167]\n(185, 160) 1.3614001274108887 [-0.45   0.199  1.17 ]\n(175, 165) 1.3605579137802124 [-0.472  0.209  1.162]\n","exit":[],"pics":[]},"tok":{"in":91323,"cached":89216,"out":303,"think":28,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":65,"t":602.0,"say":"The side camera shows the closed fingers sit about 6–8 cm toward the robot from the box, even though the TCP projection is centered. I’m shifting the wrist forward along \\(+x\\) to put the fingers over the box, then I’ll lower and close at that alignment.","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.33 0.20 1.40 --duration 1.5 --grasp open --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.33 0.20 1.40 --duration 1.5 --grasp open --quat 0 0.7071068 0 -0.7071068 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":91858,"cached":91264,"out":1138,"think":972,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":66,"t":613.6,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.33 0.20 1.10 --duration 1.4 --grasp open --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.33 0.20 1.10 --duration 1.4 --grasp open --quat 0 0.7071068 0 -0.7071068 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":93330,"cached":91776,"out":170,"think":70,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":67,"t":624.1,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s067_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s067_1.jpg"]},"tok":{"in":93834,"cached":93312,"out":107,"think":51,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":68,"t":633.1,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.327 0.193 1.153 --duration 1.2 --grasp box --quat 0 0.7071068 0 -0.707","code":"python /app/output/gen.py move --pos -0.327 0.193 1.153 --duration 1.2 --grasp box --quat 0 0.7071068 0 -0.7071068 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":94686,"cached":93824,"out":861,"think":761,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":69,"t":641.7,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s069_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s069_1.jpg"]},"tok":{"in":95933,"cached":94464,"out":63,"think":7,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":70,"t":649.6,"say":"The box has slipped toward the near table edge and appears below the tabletop. I’m checking its current position from the side cameras now; if it’s still reachable, I’ll recover it and continue toward the bucket.","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras front left right back","code":"python /app/output/gen.py observe --cameras front left right back"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":96741,"cached":95744,"out":758,"think":649,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":71,"t":654.2,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"left.jpg","code":"/app/output/left.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"},{"kind":"look","label":"back.jpg","code":"/app/output/back.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s071_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s071_1.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s071_2.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s071_3.jpg"]},"tok":{"in":97721,"cached":96512,"out":90,"think":7,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":72,"t":659.7,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[0.,1,0,0],[.42261823986844954,0,-.9063077972358472,.9006887637483711],[-.9063077","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[0.,1,0,0],[.42261823986844954,0,-.9063077972358472,.9006887637483711],[-.9063077972358471,0,-.42261823986844954,1.8543893201961206]])\nd=np.load('/app/output/front_depth.npy')\nfor u,v in [(428,353),(425,352),(430,355),(420,352),(435,350)]:\n z=float(np.median(d[v-2:v+3,u-2:u+3])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(428, 353) 2.582 [-0.827  0.481  0.053]\n(425, 352) 2.588 [-0.834  0.469  0.053]\n(430, 355) 2.568 [-0.812  0.488  0.053]\n(420, 352) 2.588 [-0.834  0.447  0.053]\n(435, 350) 2.602 [-0.849  0.516  0.053]\n","exit":[],"pics":[]},"tok":{"in":99278,"cached":97536,"out":340,"think":97,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":73,"t":673.1,"say":"","calls":[{"kind":"robot","label":"for p in [[-.83,.48,.20],[-.75,.48,.20],[-.65,.48,.20],[-.83,.40,.20],[-.75,.40,.20],[-.65,.40,.20]]:","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now']); q=[0,2**-.5,0,-2**-.5]\nfor p in [[-.83,.48,.20],[-.75,.48,.20],[-.65,.48,.20],[-.83,.40,.20],[-.75,.40,.20],[-.65,.40,.20]]:\n a=r.ik({'tcp':p+q},seed=now[:23]); print(p,a.get('ok'),a.get('error'),a.get('detail'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":99766,"cached":99072,"out":1251,"think":1053,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":74,"t":701.0,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-.4999995056262104,-.7071067811862018,.5142134634976463],[.4999995056262103,.5000004943737896,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/right_depth.npy')\nfor u,v in [(390,220),(390,240),(350,200),(370,200),(400,210),(420,220),(320,200),(460,230),(380,180)]:\n z=float(np.median(d[v-2:v+3,u-2:u+3])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(390, 220) 1.536 [-0.074 -0.137  0.951]\n(390, 240) 1.483 [-0.132 -0.185  0.951]\n(350, 200) 1.593 [-0.09  -0.007  0.951]\n(370, 200) 1.593 [-0.051 -0.046  0.951]\n(400, 210) 1.563 [-0.026 -0.131  0.952]\n(420, 220) 1.536 [-0.018 -0.193  0.952]\n(320, 200) 1.327 [-0.29  -0.09   1.126]\n(460, 230) 1.362 [-0.075 -0.34   1.054]\n(380, 180) 1.467 [-0.083 -0.098  1.07 ]\n","exit":[],"pics":[]},"tok":{"in":101328,"cached":99584,"out":2998,"think":2711,"usd":0.0027},"sim":{"submit":0,"reset":0}},{"id":75,"t":710.1,"say":"","calls":[{"kind":"robot","label":"for p in [[-.12,-.20,1.35],[-.12,-.20,1.25],[-.12,-.20,1.18],[-.05,-.20,1.25]]:","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now']); q=[0,2**-.5,0,-2**-.5]\nfor p in [[-.12,-.20,1.35],[-.12,-.20,1.25],[-.12,-.20,1.18],[-.05,-.20,1.25]]:\n a=r.ik({'tcp':p+q},seed=now[:23]); print(p,a.get('ok'),a.get('error'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":104567,"cached":101120,"out":886,"think":697,"usd":0.0018},"sim":{"submit":0,"reset":0}},{"id":76,"t":718.1,"say":"","calls":[{"kind":"robot","label":"for name,q in qs.items():","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now']); qs={'q0':[0,1,0,0], 'qnew':[0,2**-.5,0,-2**-.5], 'down':[2**-.5,0,2**-.5,0]}\nfor name,q in qs.items():\n for p in [[-.12,-.2,1.35],[-.12,-.2,1.25],[-.20,-.2,1.30],[-.12,-.3,1.25]]:\n  a=r.ik({'tcp':p+q},seed=now[:23]); print(name,p,a.get('ok'),a.get('error',{}).get('tcp'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":105665,"cached":104448,"out":513,"think":274,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":77,"t":727.5,"say":"","calls":[{"kind":"shell","label":"for name, box in [('right',(260,125,535,325)),('left',(270,95,470,270)),('front',(150,130,310,235))]:","code":"python - <<'PY'\nfrom PIL import Image\nfor name, box in [('right',(260,125,535,325)),('left',(270,95,470,270)),('front',(150,130,310,235))]:\n im=Image.open('/app/output/'+name+'.jpg').crop(box).resize(((box[2]-box[0])*2,(box[3]-box[1])*2))\n im.save('/app/output/'+name+'_crop.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":106767,"cached":105472,"out":588,"think":437,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":78,"t":731.6,"say":"","calls":[{"kind":"look","label":"right_crop.png","code":"/app/output/right_crop.png"},{"kind":"look","label":"left_crop.png","code":"/app/output/left_crop.png"},{"kind":"look","label":"front_crop.png","code":"/app/output/front_crop.png"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s078_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s078_1.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s078_2.jpg"]},"tok":{"in":107378,"cached":106624,"out":71,"think":0,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":79,"t":741.6,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-.4999995056262104,-.7071067811862018,.5142134634976463],[.4999995056262103,.5000004943737896,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/right_depth.npy')\nfor u,v in [(290,205),(300,210),(310,220),(330,230),(350,245),(370,260),(390,270),(420,250),(450,225),(320,200),(340,180),(375,180),(420,200)]:\n z=float(np.median(d[v-1:v+2,u-1:u+2])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(290, 205) 1.584 [-0.218  0.098  0.947]\n(300, 210) 1.57 [-0.213  0.064  0.947]\n(310, 220) 1.326 [-0.33  -0.098  1.094]\n(330, 230) 1.417 [-0.262 -0.097  1.015]\n(350, 245) 1.47 [-0.217 -0.125  0.951]\n(370, 260) 1.434 [-0.22  -0.195  0.951]\n(390, 270) 1.175 [-0.342 -0.343  1.126]\n(420, 250) 1.225 [-0.249 -0.348  1.119]\n(450, 225) 1.275 [-0.143 -0.348  1.121]\n(320, 200) 1.327 [-0.29  -0.09   1.126]\n(340, 180) 1.661 [-0.043  0.076  0.947]\n(375, 180) 1.657 [0.026 0.003 0.949]\n(420, 200) 1.596 [ 0.048 -0.142  0.949]\n","exit":[],"pics":[]},"tok":{"in":108010,"cached":107264,"out":980,"think":677,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":80,"t":758.6,"say":"","calls":[{"kind":"robot","label":"for q in [[0,1,0,0],[0.7071068,0,0.7071068,0],[0.7071068,0,0,-0.7071068]]:","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now']);\nfor q in [[0,1,0,0],[0.7071068,0,0.7071068,0],[0.7071068,0,0,-0.7071068]]:\n for p in [[-.98,.46,.30],[-.90,.40,.30],[-.82,.40,.30],[-.98,.46,.45],[-.75,.45,.35]]:\n  a=r.ik({'tcp':p+q},seed=now[:23]);print(q,p,a.get('ok'),a.get('error',{}).get('tcp'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":109331,"cached":107904,"out":1717,"think":1493,"usd":0.0021},"sim":{"submit":0,"reset":0}},{"id":81,"t":771.9,"say":"The food is on the floor beyond the arm’s reachable workspace, so I can’t recover it with this fixed-base arm. I’ll still attempt the bucket lift: the calibrated rim is around \\(x=-0.33,\\ y=-0.22,\\ z=1.12\\) m, and I’ll approach the hinged bar from the robot side.","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.33 0.20 1.45 --duration 1.2 --grasp open --quat 0 0.7071068 0 -0.70710","code":"python /app/output/gen.py move --pos -0.33 0.20 1.45 --duration 1.2 --grasp open --quat 0 0.7071068 0 -0.7071068 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":111983,"cached":109184,"out":1235,"think":1056,"usd":0.002},"sim":{"submit":0,"reset":0}},{"id":82,"t":782.4,"say":"","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json","code":"cat /run/rcb-limits/usage.json"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":113554,"cached":111872,"out":141,"think":85,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":83,"t":785.5,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.33 0.20 1.45 --duration 1.2 --grasp open --quat 0 1 0 0 --cameras fron","code":"python /app/output/gen.py move --pos -0.33 0.20 1.45 --duration 1.2 --grasp open --quat 0 1 0 0 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":113926,"cached":113408,"out":155,"think":63,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":84,"t":794.0,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.48 -0.22 1.40 --duration 1.5 --grasp open --quat 0 1 0 0 --cameras fro","code":"python /app/output/gen.py move --pos -0.48 -0.22 1.40 --duration 1.5 --grasp open --quat 0 1 0 0 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":114406,"cached":113792,"out":158,"think":66,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":85,"t":806.6,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.48 -0.22 1.14 --duration 1.4 --grasp open --quat 0 1 0 0 --cameras fro","code":"python /app/output/gen.py move --pos -0.48 -0.22 1.14 --duration 1.4 --grasp open --quat 0 1 0 0 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":114887,"cached":114304,"out":469,"think":377,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":86,"t":817.6,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s086_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s086_1.jpg"]},"tok":{"in":115680,"cached":114816,"out":77,"think":21,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":87,"t":824.0,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.479 -0.220 1.154 --duration 1.2 --grasp handle --quat 0 1 0 0 --camera","code":"python /app/output/gen.py move --pos -0.479 -0.220 1.154 --duration 1.2 --grasp handle --quat 0 1 0 0 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":116502,"cached":115584,"out":339,"think":247,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":88,"t":832.3,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s088_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s088_1.jpg"]},"tok":{"in":117214,"cached":116224,"out":63,"think":7,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":89,"t":838.5,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.47 -0.221 1.40 --duration 1.3 --grasp handle --quat 0 1 0 0 --cameras ","code":"python /app/output/gen.py move --pos -0.47 -0.221 1.40 --duration 1.3 --grasp handle --quat 0 1 0 0 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":118022,"cached":117120,"out":448,"think":356,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":90,"t":848.1,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s090_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s090_1.jpg"]},"tok":{"in":118843,"cached":117760,"out":62,"think":6,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":91,"t":854.5,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras right front","code":"python /app/output/gen.py observe --cameras right front"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":119650,"cached":118784,"out":383,"think":326,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":92,"t":890.0,"say":"","calls":[{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"},{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s092_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s092_1.jpg"]},"tok":{"in":120246,"cached":120192,"out":69,"think":13,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":93,"t":895.5,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-.5000004943737894,-.7071067811862018,.5142134634976463],[.4999995056262103,.5000004943737896,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/right_depth.npy')\nfor u,v in [(300,350),(320,370),(340,380),(360,360),(280,330),(390,320),(500,300),(500,250),(450,300)]:\n z=float(np.median(d[v-2:v+3,u-2:u+3])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(300, 350) 1.042 [-0.603 -0.352  1.123]\n(320, 370) 1.187 [-0.54  -0.34   0.972]\n(340, 380) 1.199 [-0.516 -0.375  0.947]\n(360, 360) 1.234 [-0.451 -0.371  0.947]\n(280, 330) 1.268 [-0.526 -0.202  0.964]\n(390, 320) 1.308 [-0.324 -0.348  0.947]\n(500, 300) 1.349 [-0.099 -0.492  0.947]\n(500, 250) 1.464 [ 0.041 -0.402  0.947]\n(450, 300) 1.349 [-0.181 -0.409  0.947]\n","exit":[],"pics":[]},"tok":{"in":121060,"cached":120192,"out":356,"think":69,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":94,"t":909.1,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py move --pos -0.47 -0.221 1.62 --duration 1.4 --grasp handle --quat 0 1 0 0 --cameras ","code":"python /app/output/gen.py move --pos -0.47 -0.221 1.62 --duration 1.4 --grasp handle --quat 0 1 0 0 --cameras front right"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":121657,"cached":120832,"out":1214,"think":1122,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":95,"t":919.0,"say":"","calls":[{"kind":"look","label":"front.jpg","code":"/app/output/front.jpg"},{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s095_0.jpg","dexjoco-pick-bucket-i00-standard--roognqg/s095_1.jpg"]},"tok":{"in":123243,"cached":121600,"out":64,"think":8,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":96,"t":926.2,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py observe --cameras right front","code":"python /app/output/gen.py observe --cameras right front"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":124052,"cached":123136,"out":360,"think":303,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":97,"t":933.2,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-.5000004943737894,-.7071067811862018,.5142134634976463],[.4999995056262103,.5000004943737896,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/right_depth.npy')\nfor u,v in [(280,300),(300,300),(320,310),(340,310),(360,300),(390,280),(220,270),(450,330),(500,300),(480,280)]:\n z=float(np.median(d[v-2:v+3,u-2:u+3])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(280, 300) 1.001 [-0.6   -0.302  1.219]\n(300, 300) 0.982 [-0.584 -0.336  1.233]\n(320, 310) 1.328 [-0.416 -0.216  0.947]\n(340, 310) 1.328 [-0.384 -0.248  0.947]\n(360, 300) 1.349 [-0.329 -0.261  0.947]\n(390, 280) 1.393 [-0.233 -0.271  0.947]\n(220, 270) 1.416 [-0.502  0.044  0.947]\n(450, 330) 1.289 [-0.251 -0.46   0.947]\n(500, 300) 1.349 [-0.099 -0.492  0.947]\n(480, 280) 1.393 [-0.08  -0.424  0.947]\n","exit":[],"pics":[]},"tok":{"in":124624,"cached":123776,"out":420,"think":129,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":98,"t":938.4,"say":"","calls":[{"kind":"look","label":"right.jpg","code":"/app/output/right.jpg"}],"out":{"text":"","exit":[],"pics":["dexjoco-pick-bucket-i00-standard--roognqg/s098_0.jpg"]},"tok":{"in":125310,"cached":124544,"out":194,"think":160,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":99,"t":944.1,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[.7071067811862015,-.7071067811862017,0,.14142333373239827],[-.5000004943737894,-.5000004943737894,-.7071067811862018,.5142134634976463],[.4999995056262103,.5000004943737896,-.7071067811862018,2.314213463497646]])\nd=np.load('/app/output/right_depth.npy')\nfor v in [280,290,300,310,320,330]:\n vals=[]\n for u in range(200,441,20):\n  z=float(np.median(d[v-1:v+2,u-1:u+2])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]);\n  if w[2]>0.8: vals.append((u,round(float(w[2]),2)))\n print(v,vals)\nPY"}],"out":{"text":"280 [(200, 0.93), (220, 0.95), (240, 0.95), (260, 1.23), (280, 1.28), (300, 1.28), (320, 1.24), (340, 1.18), (360, 0.95), (380, 0.95), (400, 0.95), (420, 0.95), (440, 0.95)]\n290 [(220, 0.95), (240, 0.95), (260, 1.19), (280, 1.25), (300, 1.26), (320, 1.22), (340, 0.95), (360, 0.95), (380, 0.95), (400, 0.95), (420, 0.95), (440, 0.95)]\n300 [(220, 0.92), (240, 0.95), (260, 0.95), (280, 1.22), (300, 1.23), (320, 1.19), (340, 0.95), (360, 0.95), (380, 0.95), (400, 0.95), (420, 0.95), (440, 0.95)]\n310 [(240, 0.95), (260, 0.95), (280, 1.18), (300, 1.21), (320, 0.95), (340, 0.95), (360, 0.95), (380, 0.95), (400, 0.95), (420, 0.95), (440, 0.95)]\n320 [(240, 0.91), (260, 0.95), (280, 0.95), (300, 0.95), (320, 0.95), (340, 0.95), (360, 0.95), (380, 0.95), (400, 0.95), (420, 0.95), (440, 0.95)]\n330 [(260, 0.95), (280, 0.95), (300, 0.95), (320, 0.95), (340, 0.95), (360, 0.95), (380, 0.95), (400, 0.95), (420, 0.95), (440, 0.95)]\n","exit":[],"pics":[]},"tok":{"in":125888,"cached":125184,"out":387,"think":93,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":100,"t":954.2,"say":"","calls":[{"kind":"shell","label":"fx=579.41125497; E=np.array([[0.,1,0,0],[.42261823986844954,0,-.9063077972358472,.9006887637483711],[-.9063077","code":"python - <<'PY'\nimport numpy as np\nfx=579.41125497; E=np.array([[0.,1,0,0],[.42261823986844954,0,-.9063077972358472,.9006887637483711],[-.9063077972358471,0,-.42261823986844954,1.8543893201961206]])\nd=np.load('/app/output/front_depth.npy')\nfor u,v in [(235,140),(240,145),(250,145),(260,145),(200,140),(300,140),(380,190),(420,200),(450,210)]:\n z=float(np.median(d[v-2:v+3,u-2:u+3])); p=np.array([(u-320)/fx*z,(v-240)/fx*z,z]); w=E[:,:3].T@(p-E[:,3]); print((u,v),round(z,3),np.round(w,3))\nPY"}],"out":{"text":"(235, 140) 1.62 [-0.286 -0.238  1.169]\n(240, 145) 3.374 [-1.991 -0.466  0.676]\n(250, 145) 3.374 [-1.991 -0.408  0.676]\n(260, 145) 3.374 [-1.991 -0.349  0.676]\n(200, 140) 3.356 [-1.986 -0.695  0.707]\n(300, 140) 3.361 [-1.991 -0.116  0.705]\n(380, 190) 1.894 [-0.485  0.196  0.948]\n(420, 200) 1.811 [-0.395  0.313  0.948]\n(450, 210) 1.736 [-0.311  0.39   0.948]\n","exit":[],"pics":[]},"tok":{"in":126856,"cached":125696,"out":851,"think":591,"usd":0.0018},"sim":{"submit":0,"reset":0}},{"id":101,"t":968.0,"say":"","calls":[{"kind":"robot","label":"for p in [[-.80,.40,.55],[-.80,.40,.45],[-.75,.40,.55],[-.70,.45,.50],[-.85,.30,.55],[-.70,.50,.55],[-.80,.30,","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now']); q=[0,1,0,0]\nfor p in [[-.80,.40,.55],[-.80,.40,.45],[-.75,.40,.55],[-.70,.45,.50],[-.85,.30,.55],[-.70,.50,.55],[-.80,.30,.65],[-.75,.4,.65]]:\n a=r.ik({'tcp':p+q},seed=now[:23]);print(p,a.get('ok'),a.get('error',{}).get('tcp'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":127949,"cached":126720,"out":1313,"think":1104,"usd":0.002},"sim":{"submit":0,"reset":0}},{"id":102,"t":992.0,"say":"","calls":[{"kind":"robot","label":"for name,q in qs.items():","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); o=r.get_obs(cameras=[],video='none'); now=np.asarray(o.meta['proprio']['now']);qs={'q0':[0,1,0,0],'down':[0,2**-.5,0,-2**-.5],'alt':[0.7071068,0,0.7071068,0]}\nfor name,q in qs.items():\n for p in [[-.68,.48,.50],[-.68,.48,.40],[-.68,.48,.30],[-.83,.33,.50],[-.83,.33,.40],[-.83,.33,.30],[-.75,.48,.50]]:\n  a=r.ik({'tcp':p+q},seed=now[:23]); print(name,p,a.get('ok'),a.get('error',{}).get('tcp'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":129639,"cached":127744,"out":2534,"think":2284,"usd":0.0027},"sim":{"submit":0,"reset":0}},{"id":103,"t":999.7,"say":"","calls":[{"kind":"shell","label":"qs={'q0':[0,1,0,0],'down':[0,2**-.5,0,-2**-.5],'up':[0.7071068,0,0.7071068,0]}","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); arm=[0,-.785,0,-2.35,0,1.57,.785398]; hand=[0,0,0,0]*3+[.263,0,0,0]; seed=arm+hand\nqs={'q0':[0,1,0,0],'down':[0,2**-.5,0,-2**-.5],'up':[0.7071068,0,0.7071068,0]}\nfor name,q in qs.items():\n for p in [[-.68,.48,.65],[-.68,.48,.55],[-.68,.48,.45],[-.68,.48,.35],[-.83,.33,.65],[-.83,.33,.55],[-.83,.33,.45]]:\n  a=r.ik({'tcp':p+q},seed=seed); print(name,p,a.get('ok'),a.get('error',{}).get('tcp'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":133132,"cached":129536,"out":431,"think":156,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":104,"t":1028.1,"say":"","calls":[{"kind":"robot","label":"lims=[(-2.8973,2.8973),(-1.7628,1.7628),(-2.8973,2.8973),(-3.0718,-.0698),(-2.8973,2.8973),(-.0175,3.7525),(-2","code":"python - <<'PY'\nimport numpy as np\nfrom rcb_client import Robot\nr=Robot(); obs=r.get_obs(cameras=[],video='none'); now=np.asarray(obs.meta['proprio']['now']); hand=now[7:23]\nlims=[(-2.8973,2.8973),(-1.7628,1.7628),(-2.8973,2.8973),(-3.0718,-.0698),(-2.8973,2.8973),(-.0175,3.7525),(-2.8973,2.8973)]\nhome=np.array([0,-.785,0,-2.35,0,1.57,.785398]); rng=np.random.default_rng(15)\nseeds=[now[:7],home]\nfor i in range(18):\n if i<8: q=home+rng.normal(0,.55,7)\n else: q=np.array([rng.uniform(a,b) for a,b in lims])\n q=np.clip(q,[a for a,b in lims],[b for a,b in lims]);seeds.append(q)\nq0=[0,1,0,0]\nfor p in [[-.75,.30,.40],[-.75,.30,.30],[-.70,.40,.40],[-.85,.35,.40],[-.68,.48,.45]]:\n found=[]\n for i,s in enumerate(seeds):\n  a=r.ik({'tcp':p+q0},seed=np.r_[s,hand])\n  if a.get('ok'):\n   found.append((i,a['error']['tcp'],a['q'][:7]));break\n print(p,'SUCCESS' if found else 'no solution',found[:1])\nPY"}],"out":{"text":"[-0.75, 0.3, 0.4] no solution []\n[-0.75, 0.3, 0.3] no solution []\n[-0.7, 0.4, 0.4] no solution []\n[-0.85, 0.35, 0.4] no solution []\n[-0.68, 0.48, 0.45] no solution []\n","exit":[],"pics":[]},"tok":{"in":134532,"cached":132992,"out":2942,"think":2502,"usd":0.003},"sim":{"submit":0,"reset":0}},{"id":105,"t":1074.2,"say":"I couldn’t complete the task. The food slipped off the table and is on the floor beyond the arm’s reachable workspace. I did lift the bucket by its handle, but the food is not inside it, so the success conditions are unmet.\n\nThe episode controller is saved at [gen.py](/app/output/gen.py).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":137587,"cached":134400,"out":4731,"think":4660,"usd":0.004},"sim":{"submit":0,"reset":0}}]}