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runs/roboolympics-fun-slalom-i00-standard--gri3sut.json

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+{"slug":"roboolympics-fun-slalom-i00-standard--gri3sut","task":"roboolympics-fun-slalom-i00-standard","bench":"roboolympics-fun","mode":"standard","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","effort":"high","state":"success","success":1,"reward":{"success":1,"live_success":1,"replay_success":1,"deterministic":1,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"n_actions":5653,"sim_steps":17415,"calls":870,"rows":863,"resets":4,"reset_budget":50,"sim_startups":1,"elapsed_s":956.3,"video_rendered":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.528,"peak_processes":9,"peak_disk_gb":0.947,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1054,"tokens":{"in":2377750,"cached":2300800,"out":20965,"usd":4.12},"task_text":"# roboolympics slalom — instance i00 — STANDARD MODE (robot as a service)\n\nYou control a simulated Unitree G1 humanoid robot (29 joints, 1.32 m tall, 33 kg; the RoboOlympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, and you reach it only through a\nclient. **Task:** Run the Illinois agility course: up the left side and round the far-left cone, back to the centre cone on the start line, weave up through the four centre cones and back down, up the right side and round the far-right cone, and back over the finish line, without touching a cone.\n\n## The venue\nYou stand at the start facing up the course (+x), 0.6 m to the right of the start cone, the front ends of your feet 0.02 m behind the start line (your pelvis at x = -0.13 m, y = +1.9 m). The cones are orange; the course's outline and its centre line are painted white on a level sports floor that goes on for several metres on every side.\n\nDirections are from the robot at the start: +x is the way you face, +y is to your left, +z is up; the floor is level.\n\n\n## The rules\n**Rule book:** The Illinois Agility Test (Getchell 1979; the standard field test of agility): a course 10 m long and 5 m wide marked by four corner cones, four more cones on its centre line 3.3 m apart; the runner sprints up the left side and round the far-left cone, back to the centre cone on the start line, weaves up through the four centre cones and back down, sprints up the right side and round the far-right cone and back to the finish; a touched or knocked cone voids the trial. Where this task departs from it:\n\n- the start: the test starts lying face down behind the start line; the robot starts standing, the front ends of its feet 0.02 m behind the line, and the clock runs from t = 0 (no starter)\n- the path is judged on the pelvis (which side of each cone it passes), the finish on the torso as in athletics (World Athletics TR 19: the leading point of the torso link's collision mesh on the line, interpolated between 1 ms physics steps)\n- a fallen runner: a robot whose pelvis is below 0.4 m is down; it may get up and go on, but 10.0 s down in a row end the attempt\n- the qualifying time, 60 s, is this benchmark's own round number: adult norms for this test are 15 to 19 s\n\nThe course is 10.0 m long (x from 0 to 10.0 m) and 5.0 m wide, centred on y = 0: its left side line is half that width to the left of the centre line (y > 0), its right side line as far to the right. Corner cones stand where the side lines meet the start line x = 0 (the start cone on the left, the finish cone on the right) and the far line x = 10.0 m (the far-left and the far-right cone). Four centre cones stand on the centre line y = 0, the first on the start line and one every 3.3 m after it. The cones are free (0.09 m base radius, 0.23 m high, 0.25 kg). The clock starts at t = 0. The path, judged on your pelvis, in this order: (1) round the far-left cone: cross the left side line's continuation beyond\n… (15,784 characters left out) …\nroprioception\nEach row (`meta[\"proprio\"][\"now\"]`, `res.proprio`) has, in `spec()[\"proprio_layout\"]` order: the 29 joint positions\n(`*_pos`, rad), their velocities (`*_vel`, rad/s), the motor torques applied (`*_torque`, N m), the joint targets in\nforce (`*_target`, rad), the pelvis IMU and the torso IMU (each: orientation quaternion `qw, qx, qy, qz`, world from\nsensor; angular velocity `gx, gy, gz`, rad/s; acceleration `ax, ay, az`, m/s², gravity included; in the sensor's frame),\n`holding_left`, `holding_right` (1 while that hand grips something), `mode` (0 stand, 1 walk, 2 run, 3 run_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal G1 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\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 7200 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":863,"reset":4},"replay":"roboolympics-fun-slalom-i00-standard--gri3sut/replay.mp4","replay_last":"roboolympics-fun-slalom-i00-standard--gri3sut/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and camera setup, then build a camera-guided controller and tune it through trial runs. I’ll save the driving script and notes as I go.","calls":[{"kind":"shell","label":"date -u","code":"date -u\npwd\nls -la /app\nsed -n '1,240p' /opt/tools/rcb_client.py"}],"out":{"text":"Thu Oct 15 12:11:10 UTC 2026\n/app\ntotal 12\ndrwxr-xr-x  3 root root 4096 Oct 15 05:59 .\ndr-xr-xr-x 20 root root 4096 Oct 15 12:09 ..\ndrwxr-xr-x  2 root root 4096 Oct 15 05:59 output\n\"\"\"eai-standard/2.1 client: your whole interface to the robot (installed at /opt/tools/rcb_client.py, on 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\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                                             episode), \"cameras\" {name: rgb, depth, hw, fovy_deg, pose, mounted},\n                                             \"proprio_layout\" and \"proprio\" (joints, axes, positions), \"imu\", \"links\"\n                                             (masses, centres of mass, the feet's boxes), \"depth\", \"budget\" {\"reset\",\n                                             \"wall_clock_s\"}, \"episode\" (what ends it)\n    r.status()                               GET /status: calls, rows, control_steps, done, reason, elapsed_s\n    r.get_obs(cameras=None, secon\n… (7,997 characters left out) …\nepth: bool = False) -> Result:\n        return self._post(\"/reset\", {\"cameras\": _names(cameras), \"include_depth\": bool(include_depth)}, [], timeout=900)\n\n    def _post(self, path: str, meta: dict, parts: list, timeout: float) -> Result:\n        body = rcb1.encode(meta, parts)\n        if len(body) > MAX_BODY:                     # the service would close the connection on it unread\n            raise ValueError(f\"{path}: {len(body)} bytes, over the protocol's {MAX_BODY}: send fewer rows\")\n        r = requests.post(self.base + path, data=body, headers={\"Content-Type\": \"application/x-rcb1\"},\n                          timeout=(5, timeout))\n        if r.headers.get(\"Content-Type\", \"\").startswith(\"application/x-rcb1\") and r.status_code == 200:\n            return Result(*rcb1.decode(r.content))\n        try:\n            err = r.json()\n        except ValueError:\n            err = {\"error\": r.text[:300]}\n        msg = f\"{r.status_code} {path}: {err.get('error')}\" + (f\" ({err['detail']})\" if err.get(\"detail\") else \"\")\n        if r.status_code == 409:\n            raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\n                              + (f\"; resets_left {err['resets_left']}\" if \"resets_left\" in err else \"\"))\n        if r.status_code in (400, 413):\n            raise ValueError(msg)\n        raise RuntimeError(msg)\n\n\ndef _names(cameras) -> list[str] | None:\n    return None if cameras is None else [cameras] if isinstance(cameras, str) else list(cameras)\n","exit":[0],"pics":[]},"tok":{"in":16499,"cached":8320,"out":97,"think":0,"usd":0.095},"sim":{"submit":0,"reset":0}},{"id":7,"t":14.7,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/output","code":"mkdir -p /app/output\ncat > /app/output/gen.py <<'PY'\n\"\"\"Camera-guided Illinois agility controller; developed against robot sensors only.\"\"\"\nfrom rcb_client import Robot\nimport numpy as np\n\nif __name__ == '__main__':\n    r = Robot()\n    print(r.status())\nPY\ncat > /app/output/NOTES.md <<'TXT'\nIllinois agility: camera-guided control using the supplied robot client.\nWill use venue images to estimate position and IMU orientation for heading.\nNo external solutions, models, or packages downloaded.\nInitial controller under development; no attempts completed yet.\nTXT\npython - <<'PY'\nfrom rcb_client import Robot\nimport json\nr=Robot()\ns=r.spec()\nopen('/app/output/spec.json','w').write(json.dumps(s,indent=2))\nprint(json.dumps(s,indent=2))\no=r.get_obs(video='none')\no.save('/app/output/initial')\nprint(o.meta)\nPY"}],"out":{"text":"Warning: truncated output (original token count: 10332)\nTotal output lines: 1\n\n{\"chunk_id\":\"e9f204\",\"wall_time_seconds\":1.0007816,\"session_id\":55944,\"original_token_count\":9563,\"output\":\"{\\n  \\\"protocol\\\": \\\"eai-standard/2.1\\\",\\n  \\\"control_dt\\\": 0.01,\\n  \\\"max_control_steps\\\": 6000,\\n  \\\"max_chunk_s\\\": 10.0,\\n  \\\"max_watch_s\\\": 30.0,\\n  \\\"max_video_fps\\\": 30,\\n  \\\"max_frames_per_call\\\": 3000,\\n  \\\"proprio_layout\\\": [\\n    \\\"left_hip_pitch_pos\\\",\\n    \\\"left_hip_roll_pos\\\",\\n    \\\"left_hip_yaw_pos\\\",\\n    \\\"left_knee_pos\\\",\\n    \\\"left_ankle_pitch_pos\\\",\\n    \\\"left_ankle_roll_pos\\\",\\n    \\\"right_hip_pitch_pos\\\",\\n    \\\"right_hip_roll_pos\\\",\\n    \\\"right_hip_yaw_pos\\\",\\n    \\\"right_knee_pos\\\",\\n    \\\"right_ankle_pitch_pos\\\",\\n    \\\"right_ankle_roll_pos\\\",\\n    \\\"waist_yaw_pos\\\",\\n    \\\"waist_roll_pos\\\",\\n    \\\"waist_pitch_pos\\\",\\n    \\\"left_shoulder_pitch_pos\\\",\\n    \\\"left_shoulder_roll_pos\\\",\\n    \\\"left_shoulder_yaw_pos\\\",\\n    \\\"left_elbow_pos\\\",\\n    \\\"left_wrist_roll_pos\\\",\\n    \\\"left_wrist_pitch_pos\\\",\\n    \\\"left_wrist_yaw_pos\\\",\\n    \\\"right_shoulder_pitch_pos\\\",\\n    \\\"right_shoulder_roll_pos\\\",\\n    \\\"right_shoulder_yaw_pos\\\",\\n    \\\"right_elbow_pos\\\",\\n    \\\"right_wrist_roll_pos\\\",\\n    \\\"right_wrist_pitch_pos\\\",\\n    \\\"right_wrist_yaw_pos\\\",\\n    \\\"left_hip_pitch_vel\\\",\\n    \\\"left_hip_roll_vel\\\",\\n    \\\"left_hip_yaw_vel\\\",\\n    \\\"left_knee_vel\\\",\\n    \\\"left_ankle_pitch_vel\\\",\\n    \\\"left_ankle_roll_vel\\\",\\n    \\\"right_hip_pitch_vel\\\",\\n    \\\"right_hip_roll_vel\n… (37,105 characters left out) …\n_command_max\\\": [\\n      0.8,\\n      0.5,\\n      1.57\\n    ],\\n    \\\"run_command_range\\\": [\\n      [\\n        0.0,\\n        5.0\\n      ],\\n      [\\n        -0.12,\\n        0.12\\n      ],\\n      [\\n        -0.5,\\n        0.5\\n      ]\\n    ],\\n    \\\"grip\\\": {\\n      \\\"reach_m\\\": 0.035,\\n      \\\"max_relative_speed_m_s\\\": 6.0,\\n      \\\"rule\\\": \\\"a closed grip holds the nearest grippable object whose surface is within reach_m of the palm (a point 4.5 cm beyond the wrist flange along the forearm) and that moves no faster than max_relative_speed_m_s relative to it; opening the grip lets it go\\\"\\n    }\\n  },\\n  \\\"proprio\\\": {\\n    \\\"units\\\": \\\"*_pos, *_target: rad; *_vel: rad/s; *_torque: N m (the motor torque applied); imu_*: orientation quaternion (w, x, y, z; world from sensor), angular velocity (rad/s) and acceleration (m/s^2, gravity included) in the sensor's frame; holding_*: 1 while that hand grips something; mode: 0 stand, 1 walk, 2 run, 3 run_arms, 4 joints / lowcmd, 5 walk_falcon, 6 walk_agile (the G1's); cmd_*: the velocity command in force; time_s: the episode's time\\\"\\n  },\\n  \\\"referee\\\": \\\"once an attempt is over, every response's meta carries the referee's call: meta['outcome'] ('success' or the rule that ended it) and meta['stages_reached'] of meta['stages_total']\\\",\\n  \\\"reset\\\": \\\"POST /reset abandons the running episode and starts a new one from the same starting state, budget.reset times in all; only the last episode is graded, and a success ends the trial\\\"\\n}\"}","exit":[],"pics":[]},"tok":{"in":19554,"cached":16384,"out":258,"think":0,"usd":0.061},"sim":{"submit":0,"reset":0}},{"id":8,"t":20.5,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:55944,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}));\nimage((await tools.view_image({path:\"/app/output/initial/last/venue.jpg\"})).image_url);\n"},{"kind":"look","label":"venue.jpg","code":"/app/output/initial/last/venue.jpg"}],"out":{"text":"Warning: truncated output (original token count: 1175)\nTotal output lines: 2\n\n\n{'calls': 1, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 0, 'resets_left': 50, 'sim_time_s': 0.0, 'time_s': 1.75, 'time_left_s': 7198.3, 'proprio': {'layout': ['left_hip_pitch_pos', 'left_hip_roll_pos', 'left_hip_yaw_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_hip_yaw_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'waist_yaw_pos', 'waist_roll_pos', 'waist_pitch_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pos', 'left_wrist_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pos', 'right_wrist_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_hip_yaw_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_hip_yaw_vel', 'right_knee_vel', 'right_ankle_pitch_vel', 'right_ankle_roll_vel', 'waist_yaw_vel', 'waist_roll_vel', 'waist_pitch_vel', 'left_shoulder_pitch_vel', 'left_shoulder_roll_vel', 'left_shoulder_yaw_vel', 'left_elbow_vel', 'left_wrist_roll_vel', 'left_wrist_pitch_vel', 'left_wrist_yaw_vel', 'right_shoulder_pitch_vel', 'right_shoulder_roll_vel', 'right_shoulder_yaw_v\n… (1,104 characters left out) …\n_torso_qy', 'imu_torso_qz', 'imu_torso_gx', 'imu_torso_gy', 'imu_torso_gz', 'imu_torso_ax', 'imu_torso_ay', 'imu_torso_az', 'holding_left', 'holding_right', 'mode', 'cmd_vx', 'cmd_vy', 'cmd_wz', 'time_s'], 'now': [-0.10000000149011612, 0.0, 0.0, 0.30000001192092896, -0.20000000298023224, 0.0, -0.10000000149011612, 0.0, 0.0, 0.30000001192092896, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.20000000298023224, 0.20000000298023224, 0.0, 1.2799999713897705, 0.0, 0.0, 0.0, 0.20000000298023224, -0.20000000298023224, 0.0, 1.2799999713897705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.10000000149011612, 0.0, 0.0, 0.30000001192092896, -0.20000000298023224, 0.0, -0.10000000149011612, 0.0, 0.0, 0.30000001192092896, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.20000000298023224, 0.20000000298023224, 0.0, 1.2799999713897705, 0.0, 0.0, 0.0, 0.20000000298023224, -0.20000000298023224, 0.0, 1.2799999713897705, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -3.975928979275343e-17, 1.6407259798887312e-17, 1.0399375872381993e-17, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -8.274870002519173e-17, 9.426742828300906e-17, -4.85426310265314e-18, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, 'obs_id': 1, 'seconds': 0.0, 'control_steps_watch': 0, 'ok': True}\n","exit":[0],"pics":["roboolympics-fun-slalom-i00-standard--gri3sut/s008_0.jpg"]},"tok":{"in":34125,"cached":19328,"out":63,"think":0,"usd":0.1704},"sim":{"submit":0,"reset":0}},{"id":9,"t":30.9,"say":"","calls":[{"kind":"shell","label":"ls -la /opt","code":"ls -la /opt\nls -la /opt/tools\npython - <<'PY'\nimport importlib.util\nfor x in ['cv2','scipy','mujoco']:\n print(x,importlib.util.find_spec(x))\nPY\nrg --files /app /opt /tmp/codex-home | head -80"}],"out":{"text":"total 12\ndrwxr-xr-x  3 root root 4096 Oct 15 05:59 .\ndr-xr-xr-x 20 root root 4096 Oct 15 12:09 ..\ndrwxr-xr-x  3 root root 4096 Oct 15 12:11 tools\ntotal 28\ndrwxr-xr-x 3 root root  4096 Oct 15 12:11 .\ndrwxr-xr-x 3 root root  4096 Oct 15 05:59 ..\ndrwxr-xr-x 2 root root  4096 Oct 15 12:11 __pycache__\n-rw-rw-r-- 1 root root  3881 Oct 15 05:57 rcb1.py\n-rw-rw-r-- 1 root root 10816 Oct 15 05:57 rcb_client.py\ncv2 None\nscipy ModuleSpec(name='scipy', loader=<_frozen_importlib_external.SourceFileLoader object at 0x7f423abcec90>, origin='/usr/local/lib/python3.12/site-packages/scipy/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/site-packages/scipy'])\nmujoco None\n/app/output/spec.json\n/tmp/codex-home/memories_1.sqlite-shm\n/tmp/codex-home/memories_1.sqlite\n/tmp/codex-home/logs_2.sqlite-wal\n/tmp/codex-home/logs_2.sqlite-shm\n/tmp/codex-home/logs_2.sqlite\n/tmp/codex-home/installation_id\n/tmp/codex-home/goals_1.sqlite-wal\n/tmp/codex-home/goals_1.sqlite-shm\n/tmp/codex-home/goals_1.sqlite\n/tmp/codex-home/config.toml\n/opt/tools/rcb_client.py\n/opt/tools/rcb1.py\n/tmp/codex-home/thread_history_1.sqlite-wal\n/tmp/codex-home/thread_history_1.sqlite-shm\n/tmp/codex-home/thread_history_1.sqlite\n/tmp/codex-home/queue_1.sqlite\n/tmp/codex-home/models_cache.json\n/tmp/codex-home/memories_1.sqlite-wal\n/tmp/codex-home/queue_1.sqlite-shm\n/tmp/codex-home/queue_1.sqlite-wal\n/tmp/codex-home/state_5.sqlite\n/app/output/initial/proprio.npy\n/app/output/initial/meta.json\n/tmp/codex-home/state_5.sqlite-shm\n/tmp/codex-home/state_5.sqlite-wal\n/app/output/NOTES.md\n/app/output/gen.py\n/opt/tools/__pycache__/rcb_client.cpython-312.pyc\n/tmp/codex-home/thread-writer-locks/01a13f78-f05d-7080-ba01-92af3fb270e3.lock\n/opt/tools/__pycache__/rcb1.cpython-312.pyc\n/app/output/initial/last/head_right.jpg\n/app/output/initial/last/head_left.jpg\n/app/output/initial/last/venue.jpg\n/tmp/codex-home/shell_snapshots/01a13f78-f05d-7080-ba01-92af3fb270e3.1792066255706674353.sh\n/tmp/codex-home/sessions/2026/10/15/rollout-2026-10-15T12-10-55-01a13f78-f05d-7080-ba01-92af3fb270e3.jsonl\n","exit":[0],"pics":[]},"tok":{"in":36265,"cached":33920,"out":187,"think":87,"usd":0.0667},"sim":{"submit":0,"reset":0}},{"id":10,"t":64.6,"say":"The venue camera covers the whole course. I’m checking how precisely it can locate the robot, and how the running policy accelerates and brakes; those will determine safe cone clearances and turn timing.","calls":[{"kind":"robot","label":"writes probe.py","code":"cat > /app/output/probe.py <<'PY'\nfrom rcb_client import Robot\nimport numpy as np, json\nfrom PIL import Image\nr=Robot()\no=r.get_obs(cameras=['venue'],video='none')\nnp.save('/app/output/initial_venue.npy',o.last['venue'])\nfor i in range(6):\n o=r.submit('run',[[2.,0,0,0,0]],dt=.5,interpolate='hold',cameras=['venue'],video='none')\n o.save('/app/output/probe%02d'%i)\n p=dict(zip(r.spec()['proprio_layout'],o.meta['proprio']['now']))\n print(i,o.meta['sim_time_s'],{k:p[k] for k in p if k.startswith('imu_pelvis_q')},o.done,flush=True)\n if o.done: print(o.meta);break\nPY\npython /app/output/probe.py"}],"out":{"text":"0 0.5 {'imu_pelvis_qw': 0.997223436832428, 'imu_pelvis_qx': 0.028353454545140266, 'imu_pelvis_qy': -0.05959315598011017, 'imu_pelvis_qz': -0.034498367458581924} False\n","exit":[],"pics":[]},"tok":{"in":37281,"cached":36096,"out":802,"think":516,"usd":0.088},"sim":{"submit":6,"reset":0}},{"id":11,"t":79.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:76446,chars:\"\",yield_time_ms:1000,max_output_tokens:1500}));\nimage((await tools.view_image({path:\"/app/output/probe05/last/venue.jpg\"})).image_url);\n"},{"kind":"look","label":"venue.jpg","code":"/app/output/probe05/last/venue.jpg"}],"out":{"text":"1 1.0 {'imu_pelvis_qw': 0.9995079636573792, 'imu_pelvis_qx': 0.007019889075309038, 'imu_pelvis_qy': -0.028291547670960426, 'imu_pelvis_qz': -0.01158396527171135} False\n2 1.5 {'imu_pelvis_qw': 0.9986933469772339, 'imu_pelvis_qx': 0.014884617179632187, 'imu_pelvis_qy': 0.04689766466617584, 'imu_pelvis_qz': -0.013808222487568855} False\n3 2.0 {'imu_pelvis_qw': 0.9996683597564697, 'imu_pelvis_qx': 0.005271804518997669, 'imu_pelvis_qy': -0.02302812784910202, 'imu_pelvis_qz': -0.010253849439322948} False\n4 2.5 {'imu_pelvis_qw': 0.9998878240585327, 'imu_pelvis_qx': 0.0025672377087175846, 'imu_pelvis_qy': -0.012603520415723324, 'imu_pelvis_qz': 0.007673073559999466} False\n5 3.0 {'imu_pelvis_qw': 0.9999643564224243, 'imu_pelvis_qx': -0.005293535068631172, 'imu_pelvis_qy': -0.005782803054898977, 'imu_pelvis_qz': 0.0031399009749293327} False\n","exit":[0],"pics":["roboolympics-fun-slalom-i00-standard--gri3sut/s011_0.jpg"]},"tok":{"in":38218,"cached":37248,"out":64,"think":0,"usd":0.0501},"sim":{"submit":0,"reset":0}},{"id":12,"t":92.3,"say":"","calls":[{"kind":"shell","label":"im=Image.open('/app/output/probe05/last/venue.jpg'); im.crop((215,90,247,120)).resize((640,600)).save('/app/ou","code":"python - <<'PY'\nfrom PIL import Image\nim=Image.open('/app/output/probe05/last/venue.jpg'); im.crop((215,90,247,120)).resize((640,600)).save('/app/output/crop.png')\nimport numpy as np\ns=np.load('/app/output/initial_venue.npy');\nf=135/np.tan(np.deg2rad(29));C=np.array([5.004,-10.5,9]);R=np.array([[1,0,0],[0,.6508,.7593],[0,.7593,-.6508]])\nfor p in [[-.13,1.9,.793],[-.13,1.9,1.3],[0,0,0],[10,2.5,0]]:\n q=R@(np.array(p)-C);print(p,[239.5+f*q[0]/q[2],134.5-f*q[1]/q[2]])\nPY"},{"kind":"look","label":"crop.png","code":"/app/output/crop.png"}],"out":{"text":"[-0.13, 1.9, 0.793] [np.float64(154.7662951545649), np.float64(104.15917916620354)]\n[-0.13, 1.9, 1.3] [np.float64(152.8283060939972), np.float64(96.96629455041777)]\n[0, 0, 0] [np.float64(151.37855106193794), np.float64(134.5052830604879)]\n[10, 2.5, 0] [np.float64(316.8620493906044), np.float64(109.3108795549047)]\n","exit":[0],"pics":["roboolympics-fun-slalom-i00-standard--gri3sut/s012_0.jpg"]},"tok":{"in":38897,"cached":38144,"out":314,"think":53,"usd":0.0614},"sim":{"submit":0,"reset":0}},{"id":13,"t":121.4,"say":"","calls":[{"kind":"shell","label":"writes vision.py","code":"cat > /app/output/vision.py <<'PY'\nimport numpy as np\nfrom scipy.ndimage import label\nC=np.array([5.004,-10.5,9.])\nF=135/np.tan(np.deg2rad(29))\nFOR=np.array([0,.7593,-.6508]); UP=np.array([0,.6508,.7593]); RIGHT=np.array([1,0,0])\ndef locate(im,height=1.30):\n a=im.astype(float);R,G,B=a[:,:,0],a[:,:,1],a[:,:,2]\n mask=(B>.65*R)&(G>.65*R)&(np.max(a,axis=2)<180)\n mask[:79]=False;mask[220:]=False;mask[:,:65]=False;mask[:,415:]=False\n labs,n=label(mask)\n counts=np.bincount(labs.ravel());counts[0]=0\n k=counts.argmax(); yy,xx=np.where(labs==k)\n if len(xx)<8:raise ValueError('Robot not found')\n top=yy.min(); u=np.mean(xx[yy<=top+1]);v=top-.3\n ray=FOR+RIGHT*(u-239.5)/F-UP*(v-134.5)/F\n pos=C+(height-C[2])/ray[2]*ray\n return pos[:2],(float(u),float(v)),len(xx)\nif __name__=='__main__':\n from PIL import Image\n for name in ['initial']+['probe%02d'%i for i in range(6)]:\n  im=np.array(Image.open('/app/output/'+name+'/last/venue.jpg'))\n  print(name,locate(im))\nPY\npython /app/output/vision.py"}],"out":{"text":"initial (array([0.02469051, 1.49450485]), (153.6, 100.7), 47)\nprobe00 (array([0.21371656, 1.60140199]), (157.33333333333334, 99.7), 56)\nprobe01 (array([0.69710018, 1.49450485]), (165.2, 100.7), 58)\nprobe02 (array([1.57432428, 1.49450485]), (180.33333333333334, 100.7), 29)\nprobe03 (array([2.48246376, 1.49450485]), (196.0, 100.7), 22)\nprobe04 (array([3.5894724 , 0.97784081]), (214.4, 105.7), 25)\nprobe05 (array([4.53490644, 1.70953532]), (231.5, 98.7), 39)\n","exit":[0],"pics":[]},"tok":{"in":39880,"cached":38784,"out":668,"think":250,"usd":0.0831},"sim":{"submit":0,"reset":0}},{"id":14,"t":138.4,"say":"","calls":[{"kind":"shell","label":"p='/app/output/vision.py'","code":"python - <<'PY'\np='/app/output/vision.py'\ns=open(p).read().replace('from scipy.ndimage import label','from scipy.ndimage import label, binary_closing').replace('mask=(B>.65*R)&(G>.65*R)&(np.max(a,axis=2)<180)','mask=((B>.65*R)&(G>.65*R)&(np.max(a,axis=2)<180)) | (np.max(a,axis=2)<100)').replace('labs,n=label(mask)','mask=binary_closing(mask,iterations=2)\\n labs,n=label(mask)')\nopen(p,'w').write(s)\nPY\npython /app/output/vision.py"}],"out":{"text":"initial (array([-0.12741572,  1.92959736]), (153.0, 96.7), 88)\nprobe00 (array([0.04919928, 1.70953532]), (155.0, 98.7), 100)\nprobe01 (array([0.66068012, 1.60140199]), (165.0, 99.7), 92)\nprobe02 (array([1.55420779, 1.70953532]), (180.66666666666666, 98.7), 93)\nprobe03 (array([2.4384694 , 1.81892642]), (196.0, 97.7), 100)\nprobe04 (array([3.44109055, 1.81892642]), (213.0, 97.7), 78)\nprobe05 (array([4.50268942, 1.81892642]), (231.0, 97.7), 98)\n","exit":[0],"pics":[]},"tok":{"in":40836,"cached":39680,"out":262,"think":80,"usd":0.0643},"sim":{"submit":0,"reset":0}},{"id":15,"t":180.0,"say":"","calls":[{"kind":"robot","label":"writes control.py","code":"cat > /app/output/control.py <<'PY'\nimport numpy as np, json, time\nfrom pathlib import Path\nfrom rcb_client import Robot\nfrom vision import locate\n\ndef wrap(a):return (a+np.pi)%(2*np.pi)-np.pi\nclass Controller:\n def __init__(self,name='trial',reset=False):\n  self.r=Robot();self.spec=self.r.spec();self.dir=Path('/app/output')/name;self.dir.mkdir(exist_ok=True)\n  self.i=0;self.last=None;self.vel=np.zeros(2)\n  o=self.r.reset(cameras=['venue']) if reset else self.r.get_obs(cameras=['venue'],video='none')\n  self.read(o)\n def read(self,o):\n  self.o=o;self.p=dict(zip(self.spec['proprio_layout'],o.meta['proprio']['now']))\n  self.t=self.p['time_s'];q=[self.p['imu_pelvis_q'+x] for x in ['w','x','y','z']];w,x,y,z=q\n  self.yaw=np.arctan2(2*(w*z+x*y),1-2*(y*y+z*z))\n  self.pos,self.pixel,self.npix=locate(o.last['venue'])\n  if self.last and self.t>self.last[0]:\n   vel=(self.pos-self.last[1])/(self.t-self.last[0]);self.vel=.6*vel+.4*self.vel\n  self.last=(self.t,self.pos.copy())\n  from PIL import Image\n  Image.fromarray(o.last['venue']).save(self.dir/f'{self.i:04d}.png')\n  rec={'i':self.i,'t':self.t,'xy':self.pos.tolist(),'yaw':float(self.yaw),'v':self.vel.tolist(),'meta':{k:v for k,v in o.meta.items() if k!='proprio'},'proprio':self.p}\n  with open(self.dir/'log.jsonl','a') as f:f.write(json.dumps(rec)+'\\n')\n  print(f'{self.i:03} t={self.t:.2f} xy={self.pos.round(2)} yaw={self.yaw:.2f} v={self.vel.round(2)} done={o.done}',flush=True)\n  self.i+=1\n  if o.done:print({k:v for k,v in o.meta.items() if k!='proprio'},flush=True)\n def step(self,vx=0,vy=0,wz=0,dt=.2,mode='run'):\n  row=[vx,vy,wz,0,0] if mode=='run' else [vx,vy,wz]+self.spec['start_command']['row']\n  o=self.r.submit(mode,[row],dt=dt,interpolate='hold',cameras=['venue'],video='none')\n  self.read(o);return o.done\nPY\ncat > /app/output/turn_probe.py <<'PY'\nfrom control import *\nc=Controller('turnprobe')\n# Brake then test the standard walking policy's turn.\nfor i in range(10):\n if c.step(0,dt=.2):break\nfor i in range(16):\n if c.step(0,0,1.57,dt=.2,mode='walk'):break\nPY\npython /app/output/turn_probe.py"}],"out":{"text":"000 t=3.00 xy=[4.48 1.93] yaw=0.01 v=[0. 0.] done=False\n","exit":[],"pics":[]},"tok":{"in":41381,"cached":40704,"out":1010,"think":236,"usd":0.098},"sim":{"submit":13,"reset":0}},{"id":16,"t":185.7,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:29955,chars:\"\",yield_time_ms:1000,max_output_tokens:2000}));\n"}],"out":{"text":"001 t=3.20 xy=[4.84 1.93] yaw=0.03 v=[1.07 0.  ] done=False\n002 t=3.40 xy=[5.25 1.93] yaw=0.02 v=[1.67 0.  ] done=False\n003 t=3.60 xy=[5.54 1.82] yaw=0.03 v=[ 1.55 -0.33] done=False\n004 t=3.80 xy=[5.8  1.93] yaw=0.03 v=[1.4 0.2] done=False\n005 t=4.00 xy=[6.01 1.82] yaw=0.06 v=[ 1.17 -0.25] done=False\n006 t=4.20 xy=[6.07 1.93] yaw=0.06 v=[0.66 0.23] done=False\n007 t=4.40 xy=[6.14 2.04] yaw=0.06 v=[0.46 0.43] done=False\n008 t=4.60 xy=[6.08 1.93] yaw=0.07 v=[ 0.02 -0.16] done=False\n009 t=4.80 xy=[6.14 2.15] yaw=0.07 v=[0.2  0.61] done=False\n010 t=5.00 xy=[6.14 2.15] yaw=0.07 v=[0.08 0.24] done=False\n011 t=5.20 xy=[6.11 2.15] yaw=0.05 v=[-0.06  0.1 ] done=False\n012 t=5.40 xy=[6.11 2.15] yaw=0.03 v=[-0.02  0.04] done=False\n013 t=5.60 xy=[6.15 2.15] yaw=0.01 v=[0.11 0.02] done=False\n014 t=5.80 xy=[6.15 2.04] yaw=0.02 v=[ 0.02 -0.33] done=False\n015 t=6.00 xy=[6.14 2.04] yaw=0.14 v=[-0.02 -0.13] done=False\n016 t=6.20 xy=[6.15 2.15] yaw=0.37 v=[0.04 0.29] done=False\n017 t=6.40 xy=[6.17 2.15] yaw=0.64 v=[0.08 0.11] done=False\n018 t=6.60 xy=[6.21 2.04] yaw=0.91 v=[ 0.13 -0.29] done=False\n019 t=6.80 xy=[6.21 2.04] yaw=1.19 v=[ 0.05 -0.12] done=False\n020 t=7.00 xy=[6.17 2.04] yaw=1.48 v=[-0.1  -0.05] done=False\n021 t=7.20 xy=[6.19 2.04] yaw=1.75 v=[ 0.02 -0.02] done=False\n022 t=7.40 xy=[6.27 2.04] yaw=2.04 v=[ 0.25 -0.01] done=False\n023 t=7.60 xy=[6.26 2.04] yaw=2.30 v=[ 0.07 -0.  ] done=False\n024 t=7.80 xy=[6.27 1.93] yaw=2.60 v=[ 0.06 -0.34] done=False\n025 t=8.00 xy=[6.26 2.04] yaw=2.88 v=[-0.01  0.2 ] done=False\n026 t=8.20 xy=[6.24 1.82] yaw=3.12 v=[-0.05 -0.59] done=False\n","exit":[0],"pics":[]},"tok":{"in":42478,"cached":41216,"out":62,"think":21,"usd":0.0569},"sim":{"submit":13,"reset":0}},{"id":17,"t":233.8,"say":"The first probe stayed upright at 2 m/s. Braking took about 1.6 m, and the walking policy made a half-turn in roughly 3.2 seconds including the transition. I’ll use running for the straights and weaving, with walking arcs for the tight turns.","calls":[{"kind":"shell","label":"date -u","code":"date -u\npython - <<'PY'\nimport urllib.request\nu='https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_g1/g1.xml'\ntry:\n b=urllib.request.urlopen(u).read();open('/app/output/g1_public.xml','wb').write(b);print(len(b))\nexcept Exception as e:print(e)\nPY\nsed -n '100,190p' /app/output/g1_public.xml"}],"out":{"text":"Thu Oct 15 12:15:07 UTC 2026\n23446\n                <joint name=\"left_ankle_pitch_joint\" axis=\"0 1 0\" range=\"-0.87267 0.5236\" actuatorfrcrange=\"-50 50\"/>\n                <geom class=\"visual\" mesh=\"left_ankle_pitch_link\"/>\n                <geom class=\"collision\" mesh=\"left_ankle_pitch_link\"/>\n                <body name=\"left_ankle_roll_link\" pos=\"0 0 -0.017558\">\n                  <inertial pos=\"0.026505 0 -0.016425\" quat=\"-0.000481092 0.728482 -0.000618967 0.685065\" mass=\"0.608\"\n                    diaginertia=\"0.00167218 0.0016161 0.000217621\"/>\n                  <joint name=\"left_ankle_roll_joint\" axis=\"1 0 0\" range=\"-0.2618 0.2618\" actuatorfrcrange=\"-50 50\"/>\n                  <geom class=\"visual\" material=\"black\" mesh=\"left_ankle_roll_link\"/>\n                  <geom class=\"foot\" pos=\"-0.05 0.025 -0.03\"/>\n                  <geom class=\"foot\" pos=\"-0.05 -0.025 -0.03\"/>\n                  <geom class=\"foot\" pos=\"0.12 0.03 -0.03\"/>\n                  <geom class=\"foot\" pos=\"0.12 -0.03 -0.03\"/>\n                  <site name=\"left_foot\"/>\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      </body>\n      <body name=\"right_hip_pitch_link\" pos=\"0 -0.064452 -0.1027\">\n        <inertial pos=\"0.002741 -0.047791 -0.02606\" quat=\"0.954862 -0.293964 0.0302556 -0.030122\" mass=\"1.35\"\n          diaginertia=\"0.00181517 0.00153422 0.00116212\"/>\n        <joint name=\"right_hip_pitch_joint\" axis=\"0 1 0\" range=\"-2.5307 2.8798\" actuatorfrcrange=\"-88 \n… (3,718 characters left out) …\n=\"visual\" mesh=\"waist_roll_link\"/>\n          <body name=\"torso_link\">\n            <inertial pos=\"0.00203158 0.000339683 0.184568\" quat=\"0.999803 -6.03319e-05 0.0198256 0.00131986\"\n              mass=\"7.818\" diaginertia=\"0.121847 0.109825 0.0273735\"/>\n            <joint name=\"waist_pitch_joint\" axis=\"0 1 0\" range=\"-0.52 0.52\" actuatorfrcrange=\"-50 50\"/>\n            <geom class=\"visual\" mesh=\"torso_link\"/>\n            <geom class=\"collision\" mesh=\"torso_link\"/>\n            <geom pos=\"0.0039635 0 -0.044\" quat=\"1 0 0 0\" class=\"visual\" material=\"black\" mesh=\"logo_link\"/>\n            <geom pos=\"0.0039635 0 -0.044\" quat=\"1 0 0 0\" class=\"collision\" material=\"black\" mesh=\"logo_link\"/>\n            <geom pos=\"0.0039635 0 -0.044\" quat=\"1 0 0 0\" class=\"visual\" material=\"black\" mesh=\"head_link\"/>\n            <geom pos=\"0.0039635 0 -0.044\" quat=\"1 0 0 0\" class=\"collision\" material=\"black\" mesh=\"head_link\"/>\n            <site name=\"imu_in_torso\" pos=\"-0.03959 -0.00224 0.14792\" size=\"0.01\"/>\n            <body name=\"left_shoulder_pitch_link\" pos=\"0.0039563 0.10022 0.24778\"\n              quat=\"0.990264 0.139201 1.38722e-05 -9.86868e-05\">\n              <inertial pos=\"0 0.035892 -0.011628\" quat=\"0.654152 0.0130458 -0.326267 0.68225\" mass=\"0.718\"\n                diaginertia=\"0.000465864 0.000432842 0.000406394\"/>\n              <joint name=\"left_shoulder_pitch_joint\" axis=\"0 1 0\" range=\"-3.0892 2.6704\" actuatorfrcrange=\"-25 25\"/>\n              <geom class=\"visual\" mesh=\"left_shoulder_pitch_link\"/>\n","exit":[0],"pics":[]},"tok":{"in":43503,"cached":42240,"out":920,"think":725,"usd":0.1009},"sim":{"submit":0,"reset":0}},{"id":18,"t":290.2,"say":"","calls":[{"kind":"shell","label":"sed -n '1,103p' /app/output/g1_public.xml","code":"sed -n '1,103p' /app/output/g1_public.xml\npython - <<'PY'\nimport urllib.request\nu='https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_g1/assets/head_link.STL'\ntry:\n b=urllib.request.urlopen(u).read();open('/app/output/head_link.STL','wb').write(b);print(len(b))\nexcept Exception as e: print(e)\nPY"}],"out":{"text":"<mujoco model=\"g1_29dof_rev_1_0\">\n  <compiler angle=\"radian\" meshdir=\"assets\"/>\n\n  <option integrator=\"implicitfast\"/>\n\n  <default>\n    <default class=\"g1\">\n      <site rgba=\"1 0 0 1\" size=\"0.01\" group=\"5\"/>\n      <joint armature=\"0.01\" frictionloss=\"0.3\"/>\n      <position kp=\"500\" dampratio=\"1\" inheritrange=\"1\"/>\n      <default class=\"visual\">\n        <geom group=\"2\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" density=\"0\" material=\"metal\"/>\n      </default>\n      <default class=\"collision\">\n        <geom group=\"3\" type=\"mesh\"/>\n        <default class=\"foot\">\n          <geom type=\"sphere\" size=\"0.005\" priority=\"1\" friction=\"0.6\" condim=\"3\"/>\n        </default>\n      </default>\n    </default>\n  </default>\n\n  <asset>\n    <material name=\"black\" rgba=\"0.2 0.2 0.2 1\"/>\n    <material name=\"metal\" rgba=\"0.7 0.7 0.7 1\"/>\n\n    <mesh file=\"pelvis.STL\"/>\n    <mesh file=\"pelvis_contour_link.STL\"/>\n    <mesh file=\"left_hip_pitch_link.STL\"/>\n    <mesh file=\"left_hip_roll_link.STL\"/>\n    <mesh file=\"left_hip_yaw_link.STL\"/>\n    <mesh file=\"left_knee_link.STL\"/>\n    <mesh file=\"left_ankle_pitch_link.STL\"/>\n    <mesh file=\"left_ankle_roll_link.STL\"/>\n    <mesh file=\"right_hip_pitch_link.STL\"/>\n    <mesh file=\"right_hip_roll_link.STL\"/>\n    <mesh file=\"right_hip_yaw_link.STL\"/>\n    <mesh file=\"right_knee_link.STL\"/>\n    <mesh file=\"right_ankle_pitch_link.STL\"/>\n    <mesh file=\"right_ankle_roll_link.STL\"/>\n    <mesh name=\"waist_yaw_link\" file=\"waist_yaw_link_rev_1_0.STL\"/>\n    <mesh name=\"waist_rol\n… (2,514 characters left out) …\nnertial pos=\"-0.057709 -0.010981 -0.15078\" quat=\"0.600598 0.15832 0.223482 0.751181\" mass=\"1.702\"\n              diaginertia=\"0.00776166 0.00717575 0.00160139\"/>\n            <joint name=\"left_hip_yaw_joint\" axis=\"0 0 1\" range=\"-2.7576 2.7576\" actuatorfrcrange=\"-88 88\"/>\n            <geom class=\"visual\" mesh=\"left_hip_yaw_link\"/>\n            <geom class=\"collision\" mesh=\"left_hip_yaw_link\"/>\n            <body name=\"left_knee_link\" pos=\"-0.078273 0.0021489 -0.17734\" quat=\"0.996179 0 0.0873386 0\">\n              <inertial pos=\"0.005457 0.003964 -0.12074\" quat=\"0.923418 -0.0327699 0.0158246 0.382067\" mass=\"1.932\"\n                diaginertia=\"0.0113804 0.0112778 0.00146458\"/>\n              <joint name=\"left_knee_joint\" axis=\"0 1 0\" range=\"-0.087267 2.8798\" actuatorfrcrange=\"-139 139\"/>\n              <geom class=\"visual\" mesh=\"left_knee_link\"/>\n              <geom class=\"collision\" mesh=\"left_knee_link\"/>\n              <body name=\"left_ankle_pitch_link\" pos=\"0 -9.4445e-05 -0.30001\">\n                <inertial pos=\"-0.007269 0 0.011137\" quat=\"0.603053 0.369225 0.369225 0.603053\" mass=\"0.074\"\n                  diaginertia=\"1.89e-05 1.40805e-05 6.9195e-06\"/>\n                <joint name=\"left_ankle_pitch_joint\" axis=\"0 1 0\" range=\"-0.87267 0.5236\" actuatorfrcrange=\"-50 50\"/>\n                <geom class=\"visual\" mesh=\"left_ankle_pitch_link\"/>\n                <geom class=\"collision\" mesh=\"left_ankle_pitch_link\"/>\n                <body name=\"left_ankle_roll_link\" pos=\"0 0 -0.017558\">\n932784\n","exit":[0],"pics":[]},"tok":{"in":47063,"cached":43264,"out":1161,"think":1034,"usd":0.1393},"sim":{"submit":0,"reset":0}},{"id":19,"t":318.2,"say":"","calls":[{"kind":"shell","label":"writes kinematics.py","code":"cat > /app/output/kinematics.py <<'PY'\nimport numpy as np, xml.etree.ElementTree as ET\nfrom scipy.spatial.transform import Rotation\nfrom pathlib import Path\nROOT=Path(__file__).parent\nroot=ET.parse(ROOT/'g1_public.xml').getroot().find('worldbody/body')\ndef vals(e,k,default):return np.fromstring(e.get(k,default),sep=' ')\ndef qm(q):return Rotation.from_quat(np.roll(q,-1)).as_matrix()\ndef head_offset(p):\n rot=qm([p['imu_pelvis_q'+q] for q in 'wxyz'])\n poses={}\n def fk(e,pos,r):\n  if e is not root:\n   pos=pos+r@vals(e,'pos','0 0 0');r=r@qm(vals(e,'quat','1 0 0 0'))\n   j=e.find('joint')\n   if j is not None:\n    name=j.get('name').replace('_joint','')\n    r=r@Rotation.from_rotvec(vals(j,'axis','0 0 1')*p[name+'_pos']).as_matrix()\n  poses[e.get('name')]=(pos,r)\n  for child in e.findall('body'):fk(child,pos,r)\n fk(root,np.zeros(3),rot)\n zs=[]\n for side in ['left','right']:\n  pos,r=poses[side+'_ankle_roll_link']\n  for x in [-.05,.12]:\n   for y in [-.03,.03]:zs.append((pos+r@np.array([x,y,-.035]))[2])\n height=-min(zs)\n pos,r=poses['torso_link']\n head=pos+r@np.array([.0039635,0,.486])\n head[2]+=height\n return head,height\nif __name__=='__main__':\n import json\n p=json.load(open(ROOT/'initial/meta.json'))['proprio'];p=dict(zip(p['layout'],p['now']))\n print(head_offset(p))\n a=np.fromfile(ROOT/'head_link.STL',dtype=np.dtype([('n','<f4',(3,)),('v','<f4',(3,3)),('c','<u2')]),offset=84)\n v=a['v'].reshape(-1,3);print(v.min(0),v.max(0))\nPY\npython /app/output/kinematics.py"}],"out":{"text":"(array([0.        , 0.        , 1.31420218]), np.float64(0.7842021826175993))\n[-0.06635622 -0.07777461  0.32479587] [0.07398403 0.07781664 0.5305726 ]\n","exit":[0],"pics":[]},"tok":{"in":50424,"cached":46848,"out":780,"think":210,"usd":0.1216},"sim":{"submit":0,"reset":0}},{"id":20,"t":338.9,"say":"","calls":[{"kind":"shell","label":"p='/app/output/vision.py';s=open(p).read().replace('def locate(im,height=1.30):','def locate(im,height=1.30,p=","code":"python - <<'PY'\np='/app/output/vision.py';s=open(p).read().replace('def locate(im,height=1.30):','def locate(im,height=1.30,p=None):\\n offset=np.zeros(3)\\n if p is not None:\\n  from kinematics import head_offset\\n  offset,_=head_offset(p);height=offset[2]+.009\\n') .replace('return pos[:2],','return pos[:2]-offset[:2],');open(p,'w').write(s)\np='/app/output/control.py';s=open(p).read().replace(\"locate(o.last['venue'])\",\"locate(o.last['venue'],p=self.p)\");open(p,'w').write(s)\nPY\ncat > /app/output/NOTES.md <<'TXT'\nIllinois agility: feedback controller using supplied Robot client only.\nVenue RGB segmentation estimates head position; pelvis IMU supplies heading.\nJoint forward kinematics estimates head height and offset from the pelvis.\nPublic model: google-deepmind/mujoco_menagerie unitree_g1/g1.xml and head_link.STL.\nNo external solutions or pretrained controllers downloaded; no packages installed.\nProbes: running at 2 m/s stable; braking ~1.6 m; walk half-turn ~3.2 s.\nPlan: run straights and weave, slow to walking arcs at five hairpins.\nTXT"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":51335,"cached":50304,"out":479,"think":149,"usd":0.0846},"sim":{"submit":0,"reset":0}},{"id":21,"t":406.1,"say":"","calls":[{"kind":"robot","label":"writes path.py","code":"cat > /app/output/path.py <<'PY'\nimport numpy as np\nfrom scipy.interpolate import CubicSpline\n\ndef course(amplitude=.60, radius=.60):\n segments=[]\n def add(x,y,mode,name):\n  segments.append((np.column_stack([x,y]),mode,name))\n def line(x0,x1,y0,y1,name):\n  x=np.linspace(x0,x1,int(abs(x1-x0)/.025)+2);u=(x-x0)/(x1-x0)\n  y=y0+(y1-y0)*(3*u*u-2*u*u*u)\n  add(x,y,'run',name)\n def turn(cx,cy,start,sign,r,name):\n  a=np.linspace(start,start+sign*np.pi,100)\n  add(cx+r*np.cos(a),cy+r*np.sin(a),'walk',name)\n line(-.13,10.7,1.9,1.9,'left_out')\n turn(10.7,1.9+radius,-np.pi/2,1,radius,'far_left')\n line(10.7,-.8,1.9+2*radius,amplitude,'left_back')\n turn(-.8,0,np.pi/2,1,amplitude,'bottom1')\n x=np.linspace(-.8,10.7,480);y=-amplitude*np.cos(np.pi*np.clip(x,0,9.9)/3.3)\n add(x,y,'run','weave_up')\n turn(10.7,0,np.pi/2,-1,amplitude,'top')\n x=np.linspace(10.7,-.8,480);y=amplitude*np.cos(np.pi*np.clip(x,0,9.9)/3.3)\n add(x,y,'run','weave_down')\n turn(-.8,0,np.pi/2,1,amplitude,'bottom2')\n line(-.8,10.7,-amplitude,-1.9,'right_out')\n turn(10.7,-1.9-radius,np.pi/2,-1,radius,'far_right')\n line(10.7,-.6,-1.9-2*radius,-1.9-2*radius,'finish')\n xy=[];modes=[];names=[]\n for pts,mode,name in segments:\n  xy.extend(pts[:-1]);modes.extend([mode]*(len(pts)-1));names.extend([name]*(len(pts)-1))\n xy=np.array(xy);s=np.r_[0,np.cumsum(np.linalg.norm(np.diff(xy,axis=0),axis=1))]\n dx=np.gradient(xy[:,0],s);dy=np.gradient(xy[:,1],s)\n yaw=np.unwrap(np.arctan2(dy,dx));curv=np.gradient(yaw,s)\n vmax=np.minimum(3.2,.42/np.maximum(abs(curv),.01))\n modes=np.array(modes);names=np.array(names)\n vmax[modes=='walk']=.60\n vmax[names=='finish']=3.2\n # Restrict weaving speed to avoid large fast changes in heading.\n vmax[np.isin(names,['weave_up','weave_down'])]=np.minimum(vmax[np.isin(names,['weave_up','weave_down'])],1.7)\n for i in range(len(s)-2,-1,-1):vmax[i]=min(vmax[i],np.sqrt(vmax[i+1]**2+2*1.1*(s[i+1]-s[i])))\n return dict(xy=xy,s=s,yaw=yaw,k=curv,v=vmax,mode=modes,name=names)\nPY\ncat > /app/output/gen.py <<'PY'\n\"\"\"Illinois agility: RGB venue localization, joint/IMU estimation, path feedback.\nRun python gen.py --reset --name trial02 to start a fresh attempt.\n\"\"\"\nfrom control import Controller,wrap\nfrom path import course\nimport numpy as np, argparse, json\n\ndef drive(c):\n p=course();idx=0\n while not c.o.done and c.t<60:\n  lo=max(0,idx-12);hi=min(len(p['s']),np.searchsorted(p['s'],p['s'][idx]+1.5))\n  idx=lo+np.argmin(np.linalg.norm(p['xy'][lo:hi]-c.pos,axis=1))\n  ref=p['xy'][idx];yaw=p['yaw'][idx];v=p['v'][idx];k=p['k'][idx];mode=p['mode'][idx]\n  # Track position normal to the path; IMU removes noisy camera heading estimates.\n  err=np.dot(c.pos-ref,[-np.sin(yaw),np.cos(yaw)])\n  dyaw=wrap(yaw-c.yaw)\n  w=k*v+2.0*dyaw-1.1*err\n  if mode=='walk':\n   vx=min(.8,v/.78);vy=np.clip(-.8*err,-.35,.35);w=np.clip(w/.90,-1.57,1.57)\n  else:\n   vx=v;vy=np.clip(-.35*err,-.12,.12);w=np.clip(w,-.5,.5)\n   vx*=max(.3,np.cos(dyaw))\n  print('PATH',p['name'][idx],'s',round(p['s'][idx],2),'err',round(err,2),'cmd',np.round([vx,vy,w],2),mode,flush=True)\n  with open(c.dir/'commands.jsonl','a') as f:f.write(json.dumps({'t':c.t,'idx':int(idx),'name':str(p['name'][idx]),'mode':str(mode),'cmd':[float(vx),float(vy),float(w)]})+'\\n')\n  c.step(vx,vy,w,dt=.2,mode=str(mode))\n return c.o.meta\nif __name__=='__main__':\n ap=argparse.ArgumentParser();ap.add_argument('--reset',action='store_true');ap.add_argument('--name',default='trial01');args=ap.parse_args()\n c=Controller(args.name,reset=args.reset)\n drive(c)\nPY\npython /app/output/gen.py --reset --name trial01 > /app/output/trial01_stdout.txt 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":51870,"cached":51200,"out":1921,"think":490,"usd":0.154},"sim":{"submit":17,"reset":1}},{"id":22,"t":413.8,"say":"","calls":[{"kind":"robot","label":"tail -12 /app/output/trial01_stdout.txt","code":"tail -12 /app/output/trial01_stdout.txt"}],"out":{"text":"012 t=2.40 xy=[3.63 2.26] yaw=0.08 v=[2.49 0.35] done=False\nPATH left_out s 3.77 err 0.36 cmd [ 3.19 -0.12 -0.5 ] run\n013 t=2.60 xy=[4.26 2.22] yaw=0.09 v=[2.88 0.01] done=False\nPATH left_out s 4.39 err 0.32 cmd [ 3.19 -0.11 -0.5 ] run\n014 t=2.80 xy=[4.88 2.32] yaw=0.06 v=[3.01 0.33] done=False\nPATH left_out s 5.02 err 0.42 cmd [ 3.19 -0.12 -0.5 ] run\n015 t=3.00 xy=[5.49 2.3 ] yaw=-0.06 v=[3.05 0.05] done=False\nPATH left_out s 5.61 err 0.4 cmd [ 3.19 -0.12 -0.31] run\n016 t=3.20 xy=[6.07 2.35] yaw=-0.07 v=[2.94 0.17] done=False\nPATH left_out s 6.19 err 0.45 cmd [ 3.19 -0.12 -0.36] run\n017 t=3.40 xy=[6.67 2.25] yaw=-0.15 v=[ 2.98 -0.23] done=False\nPATH left_out s 6.79 err 0.35 cmd [ 3.01 -0.12 -0.08] run\n","exit":[0],"pics":[]},"tok":{"in":53848,"cached":51712,"out":58,"think":19,"usd":0.076},"sim":{"submit":23,"reset":0}},{"id":23,"t":422.1,"say":"","calls":[{"kind":"robot","label":"tail -12 /app/output/trial01_stdout.txt","code":"tail -12 /app/output/trial01_stdout.txt\npython - <<'PY'\nimport sys,json\nsys.path.insert(0,'/app/output');from kinematics import head_offset\nl=[json.loads(s) for s in open('/app/output/trial01/log.jsonl')]\nfor r in l[::4]:print(r['t'],r['xy'],head_offset(r['proprio']))\nPY"}],"out":{"text":"035 t=7.00 xy=[11.99  2.15] yaw=-0.88 v=[ 0.05 -0.37] done=False\nPATH far_left s 11.61 err -0.74 cmd [0.77 0.35 1.57] walk\n036 t=7.20 xy=[12.04  2.59] yaw=-0.73 v=[0.17 1.19] done=False\nPATH far_left s 11.82 err -0.74 cmd [0.77 0.35 1.57] walk\n037 t=7.40 xy=[12.18  2.39] yaw=2.68 v=[ 0.49 -0.12] done=False\nPATH far_left s 11.72 err -0.88 cmd [ 0.77  0.35 -0.44] walk\n038 t=7.60 xy=[12.11  2.04] yaw=2.60 v=[-0.01 -1.12] done=False\nPATH far_left s 11.59 err -0.88 cmd [ 0.77  0.35 -0.76] walk\n039 t=7.80 xy=[12.27  2.25] yaw=-3.10 v=[0.47 0.2 ] done=False\nPATH far_left s 11.69 err -0.99 cmd [ 0.77  0.35 -1.57] walk\n040 t=8.00 xy=[12.18  2.13] yaw=2.96 v=[-0.08 -0.3 ] done=False\nPATH far_left s 11.63 err -0.93 cmd [ 0.77  0.35 -1.38] walk\n0.0 [-0.09223871901452618, 1.8921436246900765] (array([0.        , 0.        , 1.31420218]), np.float64(0.7842021826175993))\n0.800000011920929 [0.3745802927929282, 1.8397594158510935] (array([ 3.14421948e-02, -5.84202587e-04,  1.27834340e+00]), np.float64(0.7497127085808378))\n1.600000023841858 [1.6103211413173735, 2.0091749812590702] (array([0.05669106, 0.01349771, 1.23334085]), np.float64(0.707162003547001))\n2.4000000953674316 [3.6312783154350994, 2.2604032217461194] (array([0.26112277, 0.00633197, 1.15275844]), np.float64(0.698221746128635))\n3.200000047683716 [6.068029981265921, 2.3459871544719637] (array([0.04033235, 0.00985164, 1.2389486 ]), np.float64(0.7108570978549043))\n4.0 [8.433630636391227, 2.025516437321411] (array([ 0.04833245, -0.03628508,  1.18455014]), np.float64(0.6585645798836128))\n4.800000190734863 [10.180997836111665, 1.8214027405987856] (array([ 0.0668591 , -0.02217881,  1.16512789]), np.float64(0.6408569801219332))\n5.599999904632568 [11.11593240155303, 1.8716215401026048] (array([0.18700381, 0.01130196, 1.25099834]), np.float64(0.7552841519652673))\n6.400000095367432 [11.78600525352895, 2.327214819470227] (array([0.36964282, 0.35994727, 0.06660792]), np.float64(0.1879854685673094))\n7.199999809265137 [12.037143368631497, 2.59373879107398] (array([ 0.32148439,  0.42115995, -0.07557637]), np.float64(-0.061862932739899304))\n8.0 [12.179323129792834, 2.1270967233965123] (array([0.25532991, 0.44867236, 0.0644733 ]), np.float64(0.18497841638947418))\n","exit":[0],"pics":[]},"tok":{"in":54346,"cached":53632,"out":181,"think":64,"usd":0.0698},"sim":{"submit":40,"reset":0}},{"id":24,"t":443.1,"say":"","calls":[{"kind":"shell","label":"tail -5 /app/output/trial01_stdout.txt","code":"tail -5 /app/output/trial01_stdout.txt\npython - <<'PY'\nfrom rcb_client import Robot\nprint(Robot().status())\nPY"}],"out":{"text":"PATH far_left s 11.86 err -2.83 cmd [ 0.77  0.35 -1.57] walk\n079 t=15.80 xy=[13.45  2.63] yaw=-1.75 v=[-1.51 -0.54] done=False\nPATH far_left s 11.8 err -2.16 cmd [ 0.77  0.35 -1.57] walk\n080 t=15.97 xy=[13.17  2.24] yaw=-1.98 v=[-1.59 -1.62] done=True\n{'calls': 116, 'rows': 112, 'control_steps': 1597, 'done': True, 'reason': 'failed', 'episode': 2, 'control_steps_total': 2417, 'resets_left': 49, 'sim_time_s': 15.97, 'time_s': 420.5, 'time_left_s': 6779.5, 'outcome': 'did not finish: down for too long', 'stages_reached': 0, 'stages_total': 12, 'chunk_id': 116, 'type': 'walk', 'executed_rows': 1, 'control_steps_chunk': 17, 'clipped': [], 'n_clipped': 0, 'ok': True}\n{'calls': 116, 'rows': 112, 'control_steps': 1597, 'done': True, 'reason': 'failed', 'episode': 2, 'control_steps_total': 2417, 'resets_left': 49, 'elapsed_s': 428.3}\n","exit":[0],"pics":[]},"tok":{"in":55686,"cached":54144,"out":376,"think":313,"usd":0.0884},"sim":{"submit":0,"reset":0}},{"id":25,"t":472.5,"say":"The first course attempt fell at the transition into the far-left turn: the robot was still moving too fast when walking took over. I’m moving braking earlier and checking measured speed before each mode switch.","calls":[{"kind":"robot","label":"cp /app/output/gen.py /app/output/gen_v1.py","code":"cp /app/output/gen.py /app/output/gen_v1.py\npython - <<'PY'\np='/app/output/gen.py';s=open(p).read();s=s.replace(\"p=course();idx=0\",\"p=course();idx=0;lastmode='run';stop_started=None\")\ns=s.replace(\"# Track position normal\",'''# Brake early for policy changes, including the running controller's lag.\n  upcoming=np.flatnonzero(p['mode'][idx:]=='walk')\n  if mode=='run' and len(upcoming):\n   d=p['s'][idx+upcoming[0]]-p['s'][idx]\n   v=min(v,max(.15,np.sqrt(2.0*d)-.65))\n  if mode=='walk' and lastmode=='run':\n   if stop_started is None:stop_started=c.t\n   if c.t-stop_started<.6 or np.linalg.norm(c.vel)>.65:\n    c.step(0,0,0,dt=.2,mode='run')\n    continue\n  if mode=='run':stop_started=None\n  lastmode=mode\n  # Track position normal''')\nopen(p,'w').write(s)\np='/app/output/control.py';s=open(p).read().replace('self.i=0;self.last=None;self.vel=np.zeros(2)','self.i=0;self.last=None;self.vel=np.zeros(2);self.history=[]')\ns=s.replace('self.last=(self.t,self.pos.copy())','''self.last=(self.t,self.pos.copy())\n  self.history.append((self.t,self.pos.copy()))\n  self.history=[a for a in self.history if a[0]>=self.t-.81]\n  if len(self.history)>2:\n   ts=np.array([a[0] for a in self.history]);ps=np.array([a[1] for a in self.history]);ts-=ts.mean()\n   self.vel=(ts[:,None]*(ps-ps.mean(0))).sum(0)/(ts@ts)''')\nopen(p,'w').write(s)\nPY\npython /app/output/gen.py --reset --name trial02 > /app/output/trial02_stdout.txt 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":56480,"cached":55552,"out":1060,"think":498,"usd":0.1178},"sim":{"submit":74,"reset":1}},{"id":26,"t":514.1,"say":"","calls":[{"kind":"robot","label":"tail -18 /app/output/trial02_stdout.txt","code":"tail -18 /app/output/trial02_stdout.txt"}],"out":{"text":"066 t=13.20 xy=[10.71  3.19] yaw=-3.11 v=[-0.52  0.33] done=False\nPATH left_back s 12.71 err -0.09 cmd [0.47 0.03 0.44] run\n067 t=13.40 xy=[10.65  3.16] yaw=-2.99 v=[-0.51  0.11] done=False\nPATH left_back s 12.76 err -0.06 cmd [3.17 0.02 0.13] run\n068 t=13.60 xy=[10.41  3.01] yaw=-2.85 v=[-0.67 -0.17] done=False\nPATH left_back s 13.01 err 0.08 cmd [ 3.09 -0.03 -0.27] run\n069 t=13.80 xy=[10.36  3.16] yaw=-2.73 v=[-0.67 -0.19] done=False\nPATH left_back s 13.04 err -0.06 cmd [ 2.98  0.02 -0.34] run\n070 t=14.00 xy=[10.14  3.06] yaw=-2.77 v=[-0.71 -0.13] done=False\nPATH left_back s 13.26 err 0.02 cmd [ 3.04 -0.01 -0.33] run\n071 t=14.20 xy=[9.87 2.9 ] yaw=-2.81 v=[-0.92 -0.23] done=False\nPATH left_back s 13.56 err 0.16 cmd [ 3.11 -0.06 -0.35] run\n072 t=14.40 xy=[9.67 2.91] yaw=-2.81 v=[-0.99 -0.23] done=False\nPATH left_back s 13.76 err 0.13 cmd [ 3.12 -0.05 -0.29] run\n073 t=14.60 xy=[9.42 2.79] yaw=-2.80 v=[-1.18 -0.44] done=False\nPATH left_back s 14.02 err 0.22 cmd [ 3.13 -0.08 -0.39] run\n074 t=14.80 xy=[9.06 2.72] yaw=-2.88 v=[-1.3 -0.4] done=False\nPATH left_back s 14.39 err 0.24 cmd [ 3.18 -0.08 -0.21] run\n","exit":[0],"pics":[]},"tok":{"in":57598,"cached":56320,"out":555,"think":516,"usd":0.0968},"sim":{"submit":16,"reset":0}},{"id":27,"t":520.1,"say":"","calls":[{"kind":"robot","label":"sed -n '43,115p' /app/output/trial02_stdout.txt","code":"sed -n '43,115p' /app/output/trial02_stdout.txt"}],"out":{"text":"021 t=4.20 xy=[8.16 1.98] yaw=-0.15 v=[ 2.1 -0.4] done=False\nPATH left_out s 8.28 err 0.08 cmd [ 1.59 -0.03  0.21] run\n022 t=4.40 xy=[8.51 2.01] yaw=-0.12 v=[ 1.94 -0.29] done=False\nPATH left_out s 8.63 err 0.11 cmd [ 1.43 -0.04  0.13] run\n023 t=4.60 xy=[8.83 1.91] yaw=-0.11 v=[ 1.78 -0.31] done=False\nPATH left_out s 8.96 err 0.01 cmd [ 1.28 -0.    0.21] run\n024 t=4.80 xy=[9.13 1.94] yaw=-0.11 v=[ 1.67 -0.19] done=False\nPATH left_out s 9.26 err 0.04 cmd [ 1.12 -0.01  0.19] run\n025 t=5.00 xy=[9.4  1.91] yaw=-0.10 v=[ 1.55 -0.11] done=False\nPATH left_out s 9.53 err 0.01 cmd [ 0.96 -0.    0.18] run\n026 t=5.20 xy=[9.62 1.91] yaw=-0.09 v=[ 1.39 -0.1 ] done=False\nPATH left_out s 9.76 err 0.01 cmd [ 0.81 -0.    0.17] run\n027 t=5.40 xy=[9.78 1.87] yaw=-0.03 v=[ 1.19 -0.05] done=False\nPATH left_out s 9.91 err -0.03 cmd [0.71 0.01 0.09] run\n028 t=5.60 xy=[9.95 1.82] yaw=-0.02 v=[ 1.01 -0.13] done=False\nPATH left_out s 10.08 err -0.08 cmd [0.57 0.03 0.12] run\n029 t=5.80 xy=[10.1   1.88] yaw=0.01 v=[ 0.86 -0.07] done=False\nPATH left_out s 10.23 err -0.02 cmd [ 0.44  0.01 -0.01] run\n030 t=6.00 xy=[10.23  1.87] yaw=0.04 v=[ 0.77 -0.03] done=False\nPATH left_out s 10.36 err -0.03 cmd [ 0.32  0.01 -0.05] run\n031 t=6.20 xy=[10.35  1.92] yaw=0.02 v=[0.71 0.07] done=False\nPATH left_out s 10.48 err 0.02 cmd [ 0.19 -0.01 -0.07] run\n032 t=6.40 xy=[10.36  1.84] yaw=0.03 v=[0.53 0.03] done=False\nPATH left_out s 10.48 err -0.06 cmd [0.19 0.02 0.01] run\n033 t=6.60 xy=[10.43  1.9 ] yaw=0.03 v=[0.39 0.  \n… (1,448 characters left out) …\n cmd [0.77 0.   1.46] walk\n047 t=9.40 xy=[10.81  1.9 ] yaw=-0.01 v=[ 0.01 -0.04] done=False\nPATH far_left s 10.94 err -0.01 cmd [0.77 0.01 1.57] walk\n048 t=9.60 xy=[10.8   1.85] yaw=0.01 v=[ 0.01 -0.07] done=False\nPATH far_left s 10.93 err -0.06 cmd [0.77 0.05 1.51] walk\n049 t=9.80 xy=[10.85  1.92] yaw=0.13 v=[ 0.06 -0.01] done=False\nPATH far_left s 10.98 err -0.0 cmd [0.77 0.   1.4 ] walk\n050 t=10.00 xy=[10.85  1.87] yaw=0.37 v=[ 0.08 -0.02] done=False\nPATH far_left s 10.96 err -0.04 cmd [0.77 0.04 0.84] walk\n051 t=10.20 xy=[10.96  2.  ] yaw=0.54 v=[0.18 0.11] done=False\nPATH far_left s 11.12 err 0.03 cmd [ 0.77 -0.03  0.93] walk\n052 t=10.40 xy=[11.06  2.05] yaw=0.67 v=[0.32 0.25] done=False\nPATH far_left s 11.23 err 0.03 cmd [ 0.77 -0.02  1.06] walk\n053 t=10.60 xy=[11.09  2.06] yaw=0.88 v=[0.35 0.23] done=False\nPATH far_left s 11.27 err 0.01 cmd [ 0.77 -0.01  0.77] walk\n054 t=10.80 xy=[11.15  2.16] yaw=1.04 v=[0.37 0.32] done=False\nPATH far_left s 11.38 err 0.03 cmd [ 0.77 -0.03  0.81] walk\n055 t=11.00 xy=[11.24  2.29] yaw=1.15 v=[0.33 0.34] done=False\nPATH far_left s 11.55 err 0.02 cmd [ 0.77 -0.01  1.22] walk\n056 t=11.20 xy=[11.24  2.31] yaw=1.33 v=[0.25 0.37] done=False\nPATH far_left s 11.57 err 0.03 cmd [ 0.77 -0.02  0.87] walk\n057 t=11.40 xy=[11.28  2.42] yaw=1.51 v=[0.23 0.44] done=False\nPATH far_left s 11.69 err 0.01 cmd [ 0.77 -0.01  0.91] walk\n058 t=11.60 xy=[11.28  2.55] yaw=1.66 v=[0.14 0.46] done=False\nPATH far_left s 11.82 err 0.02 cmd [ 0.77 -0.02  1.07] walk\n","exit":[0],"pics":[]},"tok":{"in":58801,"cached":57472,"out":63,"think":18,"usd":0.0739},"sim":{"submit":23,"reset":0}},{"id":28,"t":529.3,"say":"","calls":[{"kind":"robot","label":"tail -14 /app/output/trial02_stdout.txt","code":"tail -14 /app/output/trial02_stdout.txt"}],"out":{"text":"105 t=21.00 xy=[-0.72  0.52] yaw=3.12 v=[-0.16 -0.  ] done=False\nPATH left_back s 24.46 err 0.08 cmd [ 0.15 -0.03 -0.04] run\n106 t=21.20 xy=[-0.72  0.52] yaw=3.12 v=[-0.12 -0.02] done=False\nPATH left_back s 24.46 err 0.08 cmd [ 0.15 -0.03 -0.04] run\n107 t=21.40 xy=[-0.74  0.51] yaw=3.10 v=[-0.11 -0.02] done=False\nPATH left_back s 24.48 err 0.09 cmd [ 0.15 -0.03 -0.01] run\n108 t=21.60 xy=[-0.79  0.53] yaw=3.09 v=[-0.12 -0.01] done=False\n109 t=21.80 xy=[-0.77  0.49] yaw=3.09 v=[-0.08 -0.02] done=False\nPATH left_back s 24.51 err 0.11 cmd [ 0.15 -0.04  0.01] run\n110 t=22.00 xy=[-0.86  0.58] yaw=3.09 v=[-0.16  0.06] done=False\n111 t=22.20 xy=[-0.85  0.57] yaw=3.08 v=[-0.15  0.08] done=False\n112 t=22.40 xy=[-0.85  0.54] yaw=3.07 v=[-0.1   0.05] done=False\n113 t=22.60 xy=[-0.88  0.54] yaw=3.06 v=[-0.11  0.02] done=False\nPATH bottom1 s 24.61 err 0.06 cmd [ 0.77 -0.05  1.5 ] walk\n","exit":[0],"pics":[]},"tok":{"in":61317,"cached":58624,"out":163,"think":124,"usd":0.0937},"sim":{"submit":38,"reset":0}},{"id":29,"t":542.7,"say":"","calls":[{"kind":"robot","label":"logs=[json.loads(s) for s in open('/app/output/trial02/log.jsonl')]","code":"python - <<'PY'\nimport json\nfrom PIL import Image, ImageDraw\nlogs=[json.loads(s) for s in open('/app/output/trial02/log.jsonl')]\nim=Image.new('RGB',(900,450),'white');d=ImageDraw.Draw(im)\ndef xy(x,y):return(100+x*55,240-y*45)\nfor x in [0,3.3,6.6,9.9]:\n u,v=xy(x,0);d.ellipse((u-5,v-5,u+5,v+5),fill='orange')\nfor x in [0,10]:\n for y in [-2.5,2.5]:\n  u,v=xy(x,y);d.ellipse((u-5,v-5,u+5,v+5),fill='orange')\nd.line([xy(*r['xy']) for r in logs],fill='blue',width=2)\nim.save('/app/output/trajectory.png')\nPY"},{"kind":"look","label":"trajectory.png","code":"/app/output/trajectory.png"}],"out":{"text":"","exit":[0],"pics":["roboolympics-fun-slalom-i00-standard--gri3sut/s029_0.jpg"]},"tok":{"in":62025,"cached":61184,"out":337,"think":73,"usd":0.0864},"sim":{"submit":17,"reset":0}},{"id":30,"t":551.4,"say":"Earlier braking kept the robot upright through the far-left and first bottom turns. It has begun the upward weave, though the slow approaches are using too much time. This run will help check the cone clearances before I shorten the transitions.","calls":[{"kind":"shell","label":"tail -15 /app/output/trial02_stdout.txt","code":"tail -15 /app/output/trial02_stdout.txt\ndate -u"}],"out":{"text":"PATH weave_up s 31.88 err 0.45 cmd [ 1.66 -0.12 -0.5 ] run\n162 t=32.40 xy=[4.81 0.73] yaw=-0.29 v=[ 1.12 -0.17] done=False\nPATH weave_up s 32.1 err 0.58 cmd [ 1.67 -0.12 -0.5 ] run\n163 t=32.60 xy=[5.11 0.57] yaw=-0.38 v=[ 1.26 -0.27] done=False\nPATH weave_up s 32.4 err 0.57 cmd [ 1.68 -0.12 -0.5 ] run\n164 t=32.80 xy=[5.44 0.37] yaw=-0.46 v=[ 1.4 -0.5] done=False\nPATH weave_up s 32.81 err 0.56 cmd [ 1.7  -0.12 -0.5 ] run\n165 t=33.00 xy=[5.74 0.23] yaw=-0.47 v=[ 1.5  -0.68] done=False\nPATH weave_up s 33.17 err 0.58 cmd [ 1.52 -0.12 -0.32] run\n166 t=33.20 xy=[6.02 0.1 ] yaw=-0.51 v=[ 1.53 -0.8 ] done=False\nPATH weave_up s 33.51 err 0.58 cmd [ 1.24 -0.12  0.04] run\n167 t=33.40 xy=[ 6.31 -0.09] yaw=-0.57 v=[ 1.49 -0.79] done=False\nPATH weave_up s 33.94 err 0.47 cmd [ 0.82 -0.12  0.5 ] run\n168 t=33.45 xy=[ 6.38 -0.09] yaw=-0.58 v=[ 1.43 -0.73] done=True\n{'calls': 285, 'rows': 280, 'control_steps': 3345, 'done': True, 'reason': 'failed', 'episode': 3, 'control_steps_total': 5762, 'resets_left': 48, 'sim_time_s': 33.45, 'time_s': 533.75, 'time_left_s': 6666.3, 'outcome': 'touched a cone', 'stages_reached': 4, 'stages_total': 12, 'chunk_id': 285, 'type': 'run', 'executed_rows': 1, 'control_steps_chunk': 5, 'clipped': [], 'n_clipped': 0, 'ok': True}\nThu Oct 15 12:20:21 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":62942,"cached":61824,"out":149,"think":51,"usd":0.0805},"sim":{"submit":0,"reset":0}},{"id":31,"t":618.4,"say":"","calls":[{"kind":"robot","label":"cp /app/output/gen.py /app/output/gen_v2.py","code":"cp /app/output/gen.py /app/output/gen_v2.py\ncp /app/output/path.py /app/output/path_v2.py\npython - <<'PY'\np='/app/output/path.py';s=open(p).read().replace('amplitude=.60','amplitude=.50').replace(\"vmax[np.isin(names,['weave_up','weave_down'])]=np.minimum(vmax[np.isin(names,['weave_up','weave_down'])],1.7)\",\"vmax[np.isin(names,['weave_up','weave_down'])]=1.20\")\n# make mode switches a little before the curve\ns=s.replace('vmax[modes==\\'walk\\']=.60',\"\"\"for i in np.flatnonzero((modes[1:]=='walk')&(modes[:-1]=='run'))+1:\n  modes[(s>=s[i]-.35)&(s<s[i])]='walk'\n vmax[modes=='walk']=.55\"\"\")\nopen(p,'w').write(s)\np='/app/output/gen.py';s=open(p).read().replace(\"max(.15,np.sqrt(2.0*d)-.65)\",\"max(.45,np.sqrt(2.0*(d+.3))-.65)\").replace(\"if c.t-stop_started<.6 or np.linalg.norm(c.vel)>.65:\",\"if np.linalg.norm(c.vel)>.75:\")\ns=s.replace(\"ref=p['xy'][idx];yaw=p['yaw'][idx];v=p['v'][idx];k=p['k'][idx];mode=p['mode'][idx]\", \"\"\"ref=p['xy'][idx];yaw=p['yaw'][idx];v=p['v'][idx];k=p['k'][idx];mode=p['mode'][idx]\n  if mode=='run':\n   lead=min(len(p['s'])-1,np.searchsorted(p['s'],p['s'][idx]+v*.35))\n   k=p['k'][lead]\n   yaw=p['yaw'][lead]\"\"\")\ns=s.replace(\"vx=min(.8,v/.78);vy=np.clip(-.8*err,-.35,.35);w=np.clip(w/.90,-1.57,1.57)\",\"vx=min(.8,v);vy=np.clip(-.8*err,-.35,.35);w=np.clip(w,-1,1)\")\ns=s.replace(\"c.step(vx,vy,w,dt=.2,mode=str(mode))\",\"c.step(vx,vy,w,dt=.2,mode='walk_falcon' if mode=='walk' else 'run')\")\nopen(p,'w').write(s)\nPY\npython /app/output/gen.py --reset --name trial03 > /app/output/trial03_stdout.txt 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":63782,"cached":62720,"out":1672,"think":1034,"usd":0.1569},"sim":{"submit":15,"reset":1}},{"id":32,"t":625.7,"say":"","calls":[{"kind":"robot","label":"tail -8 /app/output/trial03_stdout.txt","code":"tail -8 /app/output/trial03_stdout.txt"}],"out":{"text":"012 t=2.40 xy=[3.63 2.26] yaw=0.08 v=[2.51 0.36] done=False\nPATH left_out s 3.77 err 0.36 cmd [ 3.08 -0.12 -0.5 ] run\n013 t=2.60 xy=[4.25 2.22] yaw=0.11 v=[2.59 0.32] done=False\nPATH left_out s 4.37 err 0.32 cmd [ 2.92 -0.11 -0.5 ] run\n014 t=2.80 xy=[4.85 2.29] yaw=0.08 v=[2.69 0.3 ] done=False\nPATH left_out s 4.97 err 0.39 cmd [ 2.75 -0.12 -0.5 ] run\n015 t=3.00 xy=[5.43 2.04] yaw=-0.02 v=[ 2.94 -0.2 ] done=False\nPATH left_out s 5.56 err 0.14 cmd [ 2.58 -0.05 -0.12] run\n","exit":[0],"pics":[]},"tok":{"in":65512,"cached":63616,"out":79,"think":40,"usd":0.0865},"sim":{"submit":55,"reset":0}},{"id":33,"t":646.8,"say":"","calls":[{"kind":"robot","label":"tail -18 /app/output/trial03_stdout.txt","code":"tail -18 /app/output/trial03_stdout.txt"}],"out":{"text":"062 t=12.40 xy=[9.31 3.02] yaw=-3.05 v=[-1.21  0.04] done=False\nPATH left_back s 14.12 err -0.02 cmd [3.17 0.01 0.49] run\n063 t=12.60 xy=[8.89 2.94] yaw=-2.94 v=[-1.57 -0.22] done=False\nPATH left_back s 14.55 err -0.02 cmd [3.2  0.01 0.28] run\n064 t=12.80 xy=[8.51 2.85] yaw=-2.87 v=[-1.76 -0.29] done=False\nPATH left_back s 14.93 err 0.01 cmd [ 3.2  -0.    0.14] run\n065 t=13.00 xy=[8.07 2.72] yaw=-2.70 v=[-1.96 -0.42] done=False\nPATH left_back s 15.39 err 0.03 cmd [ 3.16 -0.01 -0.22] run\n066 t=13.20 xy=[7.61 2.61] yaw=-2.79 v=[-2.11 -0.52] done=False\nPATH left_back s 15.85 err 0.03 cmd [ 3.2  -0.01 -0.04] run\n067 t=13.40 xy=[7.02 2.32] yaw=-2.72 v=[-2.32 -0.74] done=False\nPATH left_back s 16.5 err 0.15 cmd [ 3.18 -0.05 -0.31] run\n068 t=13.60 xy=[6.5  2.14] yaw=-2.75 v=[-2.54 -0.91] done=False\nPATH left_back s 17.05 err 0.16 cmd [ 3.19 -0.06 -0.28] run\n069 t=13.80 xy=[5.93 1.93] yaw=-2.82 v=[-2.7  -1.02] done=False\nPATH left_back s 17.65 err 0.19 cmd [ 3.05 -0.07 -0.2 ] run\n070 t=14.00 xy=[5.32 1.71] yaw=-2.83 v=[-2.83 -1.09] done=False\nPATH left_back s 18.31 err 0.2 cmd [ 2.87 -0.07 -0.23] run\n","exit":[0],"pics":[]},"tok":{"in":65904,"cached":65408,"out":363,"think":324,"usd":0.0885},"sim":{"submit":135,"reset":0}},{"id":34,"t":699.3,"say":"","calls":[{"kind":"robot","label":"tail -14 /app/output/trial03_stdout.txt","code":"tail -14 /app/output/trial03_stdout.txt"}],"out":{"text":"199 t=39.80 xy=[7.75 0.19] yaw=2.62 v=[-1.08  0.51] done=False\nPATH weave_down s 42.81 err 0.03 cmd [ 1.17 -0.01  0.5 ] run\n200 t=40.00 xy=[7.52 0.34] yaw=2.65 v=[-1.08  0.55] done=False\nPATH weave_down s 43.09 err -0.01 cmd [1.15 0.01 0.5 ] run\n201 t=40.20 xy=[7.29 0.48] yaw=2.72 v=[-1.1   0.63] done=False\nPATH weave_down s 43.34 err -0.08 cmd [1.14 0.03 0.5 ] run\n202 t=40.40 xy=[7.04 0.53] yaw=2.79 v=[-1.14  0.61] done=False\nPATH weave_down s 43.59 err -0.07 cmd [1.13 0.02 0.5 ] run\n203 t=40.60 xy=[6.85 0.64] yaw=2.85 v=[-1.14  0.54] done=False\nPATH weave_down s 43.79 err -0.15 cmd [1.12 0.05 0.5 ] run\n204 t=40.80 xy=[6.6  0.67] yaw=2.94 v=[-1.14  0.41] done=False\nPATH weave_down s 44.03 err -0.17 cmd [1.11 0.06 0.5 ] run\n205 t=41.00 xy=[6.37 0.7 ] yaw=3.00 v=[-1.14  0.29] done=False\nPATH weave_down s 44.24 err -0.21 cmd [1.1  0.07 0.5 ] run\n","exit":[0],"pics":[]},"tok":{"in":66910,"cached":65792,"out":991,"think":952,"usd":0.1265},"sim":{"submit":78,"reset":0}},{"id":35,"t":729.4,"say":"","calls":[{"kind":"robot","label":"tail -10 /app/output/trial03_stdout.txt","code":"tail -10 /app/output/trial03_stdout.txt"}],"out":{"text":"279 t=55.80 xy=[ 6.77 -1.61] yaw=-0.25 v=[ 2.62 -0.76] done=False\nPATH right_out s 61.01 err -0.09 cmd [2.12 0.03 0.4 ] run\n280 t=56.00 xy=[ 7.23 -1.71] yaw=-0.19 v=[ 2.52 -0.73] done=False\nPATH right_out s 61.49 err -0.11 cmd [1.96 0.04 0.33] run\n281 t=56.20 xy=[ 7.63 -1.8 ] yaw=-0.12 v=[ 2.34 -0.59] done=False\nPATH right_out s 61.9 err -0.14 cmd [1.8  0.05 0.25] run\n282 t=56.40 xy=[ 8.04 -1.81] yaw=-0.08 v=[ 2.18 -0.43] done=False\nPATH right_out s 62.3 err -0.1 cmd [1.63 0.04 0.15] run\n283 t=56.60 xy=[ 8.42 -1.81] yaw=-0.04 v=[ 2.05 -0.25] done=False\nPATH right_out s 62.68 err -0.06 cmd [1.46 0.02 0.04] run\n","exit":[0],"pics":[]},"tok":{"in":68415,"cached":66816,"out":522,"think":483,"usd":0.1089},"sim":{"submit":17,"reset":0}},{"id":36,"t":737.8,"say":"The new run has cleared the upward weave, top turn, downward weave, and second bottom turn without a reported violation. It’s now on the right-side sprint, but looks too slow to finish within 60 seconds. I’ll tighten the turns and increase weave speed.","calls":[{"kind":"shell","label":"last=None","code":"python - <<'PY'\nimport json\nlast=None\nfor l in open('/app/output/trial03/commands.jsonl'):\n r=json.loads(l)\n if r['name']!=last:print(r['t'],r['name'],r['mode']);last=r['name']\nPY\ntail -4 /app/output/trial03_stdout.txt"}],"out":{"text":"0.0 left_out run\n7.0 far_left walk\n11.0 left_back run\n18.399999618530273 bottom1 walk\n22.0 weave_up run\n32.79999923706055 top walk\n36.79999923706055 weave_down run\n48.400001525878906 bottom2 walk\n52.0 right_out run\n59.400001525878906 far_right walk\n299 t=59.80 xy=[10.97 -1.85] yaw=-0.20 v=[ 0.47 -0.06] done=False\nPATH far_right s 65.18 err 0.1 cmd [ 0.55 -0.08 -1.  ] walk\n300 t=60.00 xy=[11.01 -1.95] yaw=-0.39 v=[ 0.51 -0.08] done=True\n{'calls': 586, 'rows': 580, 'control_steps': 6000, 'done': True, 'reason': 'failed', 'episode': 4, 'control_steps_total': 11762, 'resets_left': 47, 'sim_time_s': 60.0, 'time_s': 720.61, 'time_left_s': 6479.4, 'outcome': 'time', 'stages_reached': 10, 'stages_total': 12, 'chunk_id': 586, 'type': 'walk_falcon', 'executed_rows': 1, 'control_steps_chunk': 20, 'clipped': [], 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":69319,"cached":68224,"out":209,"think":42,"usd":0.0896},"sim":{"submit":0,"reset":0}},{"id":37,"t":786.5,"say":"","calls":[{"kind":"shell","label":"L=[json.loads(l) for l in open('/app/output/trial03/log.jsonl')]","code":"python - <<'PY'\nimport json\nL=[json.loads(l) for l in open('/app/output/trial03/log.jsonl')]\nfor r in L[10:36:2]:print(r['t'],round(r['xy'][0],2),round(r['proprio']['cmd_vx'],2),[round(x,2) for x in r['v']])\nPY"}],"out":{"text":"2.0 2.74 3.18 [2.29, 0.18]\n2.4000000953674316 3.63 3.18 [2.51, 0.36]\n2.799999952316284 4.85 2.92 [2.69, 0.3]\n3.200000047683716 5.98 2.58 [2.94, 0.01]\n3.5999999046325684 6.98 2.21 [2.67, 0.05]\n4.0 7.79 1.87 [2.26, -0.35]\n4.400000095367432 8.51 1.56 [1.91, -0.25]\n4.800000190734863 9.14 1.24 [1.7, -0.15]\n5.199999809265137 9.61 0.96 [1.36, -0.28]\n5.599999904632568 9.96 0.63 [1.05, -0.07]\n6.0 10.2 0.45 [0.74, 0.02]\n6.400000095367432 10.47 0.55 [0.63, 0.14]\n6.800000190734863 10.61 0.55 [0.52, 0.15]\n","exit":[0],"pics":[]},"tok":{"in":69931,"cached":69120,"out":902,"think":788,"usd":0.1223},"sim":{"submit":0,"reset":0}},{"id":38,"t":858.3,"say":"","calls":[{"kind":"robot","label":"cp /app/output/gen.py /app/output/gen_v3.py","code":"cp /app/output/gen.py /app/output/gen_v3.py\ncp /app/output/path.py /app/output/path_v3.py\npython - <<'PY'\np='/app/output/path.py';s=open(p).read().replace(']=1.20',']=1.40');open(p,'w').write(s)\np='/app/output/gen.py';s=open(p).read().replace(\"idx=lo+np.argmin\", \"idx=max(idx,lo+np.argmin\").replace(\"p['xy'][lo:hi]-c.pos,axis=1))\", \"p['xy'][lo:hi]-c.pos,axis=1)))\")\ns=s.replace(\"lead=min(len(p['s'])-1,np.searchsorted(p['s'],p['s'][idx]+v*.35))\", \"lead=min(len(p['s'])-1,np.searchsorted(p['s'],p['s'][idx]+v*.55))\")\ns=s.replace(\"upcoming=np.flatnonzero\", \"if mode=='run' and not str(p['name'][idx]).startswith('weave'):v=3.4\\n  upcoming=np.flatnonzero\")\ns=s.replace(\"max(.45,np.sqrt(2.0*(d+.3))-.65)\",\"max(.35,np.sqrt(3.0*d+.36)-.45)\")\nstart=s.index(\"  if mode=='walk' and lastmode=='run':\")\nend=s.index(\"  if mode=='run':stop_started=None\",start)\ns=s[:start]+'''  if mode=='walk':\n   # Complete the half-turn while translating across the line beyond the cone.\n   # This is a compact stepping turn, localized entirely from RGB and IMU.\n   while np.linalg.norm(c.vel)>.70 and not c.o.done:\n    c.step(0,0,0,dt=.2,mode='run')\n   end=idx\n   while end<len(p['s'])-1 and p['mode'][end]=='walk':end+=1\n   arc=idx\n   while abs(p['k'][arc])<.6 and arc<end-1:arc+=1\n   sign=np.sign(p['k'][arc]);startyaw=c.yaw\n   targetyaw=p['yaw'][end];total=sign*wrap(targetyaw-startyaw)\n   if total<0:total+=2*np.pi\n   y0=c.pos[1];target=p['xy'][end];dy=target[1]-y0;prev=c.yaw;angle=0\n   while not c.o.done:\n    angle+=sign*wrap(c.yaw-prev);prev=c.yaw\n    remain=total-angle\n    if remain<.13 and np.linalg.norm(c.pos-target)<.28:break\n    w=sign*np.clip(2.5*remain,.22,1.0) if remain>.04 else 0\n    f=np.clip(angle/max(total,.01),0,1)\n    goal=np.array([target[0],y0+dy*f])\n    world=1.6*(goal-c.pos)+np.array([0,dy/max(total,.01)*abs(w)])\n    cs,sn=np.cos(c.yaw),np.sin(c.yaw)\n    vx=np.clip(cs*world[0]+sn*world[1],-.8,.8)\n    vy=np.clip(-sn*world[0]+cs*world[1],-.5,.5)\n    print('TURN',p['name'][arc],round(remain,2),np.round(target-c.pos,2),flush=True)\n    c.step(vx,vy,w,dt=.2,mode='walk_falcon')\n   idx=end;lastmode='walk';continue\n''' + s[end:]\nopen(p,'w').write(s)\nPY\npython /app/output/gen.py --reset --name trial04 > /app/output/trial04_stdout.txt 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71216,"cached":69760,"out":1695,"think":816,"usd":0.1691},"sim":{"submit":49,"reset":1}},{"id":39,"t":878.7,"say":"","calls":[{"kind":"robot","label":"tail -15 /app/output/trial04_stdout.txt","code":"tail -15 /app/output/trial04_stdout.txt"}],"out":{"text":"TURN far_left 0.19 [0.03 0.1 ]\n043 t=8.60 xy=[10.65  3.12] yaw=3.03 v=[-0.    0.46] done=False\nPATH left_back s 12.76 err -0.02 cmd [3.26 0.01 0.5 ] run\n044 t=8.80 xy=[10.61  3.09] yaw=3.09 v=[0.06 0.62] done=False\nPATH left_back s 12.81 err 0.01 cmd [ 3.31 -0.    0.5 ] run\n045 t=9.00 xy=[10.57  3.15] yaw=3.09 v=[0.06 0.71] done=False\nPATH left_back s 12.84 err -0.05 cmd [3.3  0.02 0.5 ] run\n046 t=9.20 xy=[10.46  3.24] yaw=-3.13 v=[-0.25  0.26] done=False\nPATH left_back s 12.94 err -0.14 cmd [3.34 0.05 0.5 ] run\n047 t=9.40 xy=[10.33  3.19] yaw=-3.03 v=[-0.4   0.15] done=False\nPATH left_back s 13.09 err -0.1 cmd [3.38 0.03 0.5 ] run\n048 t=9.60 xy=[10.08  3.14] yaw=-3.09 v=[-0.66  0.07] done=False\nPATH left_back s 13.34 err -0.06 cmd [3.35 0.02 0.5 ] run\n049 t=9.80 xy=[9.78 3.13] yaw=-3.07 v=[-0.99 -0.07] done=False\nPATH left_back s 13.64 err -0.08 cmd [3.35 0.03 0.5 ] run\n","exit":[0],"pics":[]},"tok":{"in":72969,"cached":71040,"out":371,"think":332,"usd":0.1089},"sim":{"submit":25,"reset":0}},{"id":40,"t":888.6,"say":"","calls":[{"kind":"robot","label":"tail -12 /app/output/trial04_stdout.txt","code":"tail -12 /app/output/trial04_stdout.txt"}],"out":{"text":"068 t=13.60 xy=[-0.01  0.62] yaw=-3.05 v=[-1.86 -0.34] done=False\nPATH left_back s 23.76 err -0.08 cmd [ 0.86  0.03 -0.15] run\n069 t=13.80 xy=[-0.26  0.59] yaw=-3.11 v=[-1.63 -0.34] done=False\nPATH left_back s 24.01 err -0.07 cmd [ 0.53  0.03 -0.03] run\n070 t=14.00 xy=[-0.41  0.49] yaw=-3.07 v=[-1.38 -0.49] done=False\nPATH left_back s 24.16 err 0.02 cmd [ 0.35 -0.01 -0.12] run\n071 t=14.20 xy=[-0.58  0.51] yaw=-3.09 v=[-1.08 -0.17] done=False\n072 t=14.40 xy=[-0.69  0.55] yaw=-3.08 v=[-0.84 -0.11] done=False\n073 t=14.60 xy=[-0.7  0.5] yaw=-3.09 v=[-0.58 -0.06] done=False\nTURN bottom1 3.08 [-0.1 -1. ]\n074 t=14.80 xy=[-0.66  0.42] yaw=-3.01 v=[-0.31 -0.08] done=False\nTURN bottom1 3.0 [-0.14 -0.92]\n","exit":[0],"pics":[]},"tok":{"in":73870,"cached":72832,"out":189,"think":150,"usd":0.0927},"sim":{"submit":45,"reset":0}},{"id":41,"t":906.3,"say":"","calls":[{"kind":"robot","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'TXT'\nIllinois agility controller uses only the supplied Robot client and robot-visible sensors.\nVenue RGB segmentation estimates the robot's head; joint kinematics maps it to pelvis XY.\nPelvis IMU supplies heading; recent camera positions estimate velocity.\nRun mode follows a geometric path with steering preview and braking before mode changes.\nFALCON makes compact stepping half-turns beyond the cones while translating across each line.\nPublic material: google-deepmind/mujoco_menagerie unitree_g1/g1.xml and assets/head_link.STL.\nNo task-specific solutions or additional pretrained policies downloaded; no packages installed.\nInitial failure: switching from running to walking too fast caused a fall.\nSecond failure: delayed weave steering touched a centre cone.\nThird course attempt: 10 of 12 stages clean, but exceeded 60 seconds.\nCurrent tuning: earlier steering preview, faster braking profile, compact turns, faster weave.\nMain driver: gen.py; helpers: control.py, path.py, vision.py, kinematics.py.\nTrial images, commands, proprioception and terminal outcomes are saved in trial directories.\nTXT\ntail -10 /app/output/trial04_stdout.txt"}],"out":{"text":"115 t=23.00 xy=[ 5.84 -0.39] yaw=-0.30 v=[ 1.34 -0.51] done=False\nPATH weave_up s 33.13 err -0.02 cmd [1.33 0.01 0.5 ] run\n116 t=23.20 xy=[ 6.11 -0.44] yaw=-0.22 v=[ 1.37 -0.46] done=False\nPATH weave_up s 33.4 err 0.01 cmd [ 1.32 -0.    0.5 ] run\n117 t=23.40 xy=[ 6.38 -0.51] yaw=-0.17 v=[ 1.37 -0.45] done=False\nPATH weave_up s 33.67 err -0.02 cmd [1.29 0.01 0.5 ] run\n118 t=23.60 xy=[ 6.69 -0.48] yaw=-0.07 v=[ 1.4  -0.27] done=False\nPATH weave_up s 33.98 err 0.02 cmd [ 1.29 -0.01  0.5 ] run\n119 t=23.80 xy=[ 6.94 -0.53] yaw=0.01 v=[ 1.39 -0.15] done=False\nPATH weave_up s 34.22 err -0.05 cmd [1.3  0.02 0.5 ] run\n","exit":[0],"pics":[]},"tok":{"in":74500,"cached":73728,"out":347,"think":62,"usd":0.0988},"sim":{"submit":39,"reset":0}},{"id":42,"t":921.8,"say":"The compact stepping turn saved about two seconds at the far-left cone. The faster weave is also tracking better: the camera estimate shows roughly half a metre of clearance at the centre cones so far. I’m continuing this attempt through the remaining turns and finish.","calls":[{"kind":"robot","label":"tail -14 /app/output/trial04_stdout.txt","code":"tail -14 /app/output/trial04_stdout.txt"}],"out":{"text":"154 t=30.80 xy=[10.42 -0.48] yaw=-3.14 v=[-0.19  0.  ] done=False\nPATH weave_down s 40.03 err -0.02 cmd [ 1.39  0.01 -0.5 ] run\n155 t=31.00 xy=[10.24 -0.49] yaw=3.12 v=[-0.46 -0.01] done=False\nPATH weave_down s 40.2 err -0.01 cmd [ 1.38  0.   -0.5 ] run\n156 t=31.20 xy=[ 9.95 -0.5 ] yaw=3.07 v=[-0.8  -0.03] done=False\nPATH weave_down s 40.48 err -0.0 cmd [ 1.37  0.   -0.5 ] run\n157 t=31.40 xy=[ 9.71 -0.4 ] yaw=3.07 v=[-1.04  0.07] done=False\nPATH weave_down s 40.73 err -0.08 cmd [ 1.34  0.03 -0.5 ] run\n158 t=31.60 xy=[ 9.39 -0.45] yaw=2.96 v=[-1.3   0.07] done=False\nPATH weave_down s 41.07 err 0.0 cmd [ 1.36 -0.   -0.5 ] run\n159 t=31.80 xy=[ 9.17 -0.32] yaw=2.87 v=[-1.35  0.19] done=False\nPATH weave_down s 41.31 err -0.06 cmd [ 1.38  0.02 -0.34] run\n160 t=32.00 xy=[ 8.87 -0.3 ] yaw=2.82 v=[-1.35  0.24] done=False\nPATH weave_down s 41.59 err 0.02 cmd [ 1.39 -0.01 -0.21] run\n","exit":[0],"pics":[]},"tok":{"in":75234,"cached":74368,"out":311,"think":214,"usd":0.0986},"sim":{"submit":55,"reset":0}},{"id":43,"t":943.3,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:19544,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}));\ntext(await tools.exec_command({cmd:\"tail -12 /app/output/trial04_stdout.txt\",\"max_output_tokens\":1500}));\n"},{"kind":"robot","label":"tail -12 /app/output/trial04_stdout.txt","code":"tail -12 /app/output/trial04_stdout.txt"}],"out":{"text":"220 t=44.00 xy=[ 0.47 -0.6 ] yaw=-0.18 v=[ 1.29 -0.18] done=False\nPATH right_out s 54.62 err -0.06 cmd [3.4  0.02 0.03] run\n221 t=44.20 xy=[ 0.86 -0.67] yaw=-0.18 v=[ 1.53 -0.13] done=False\nPATH right_out s 55.02 err -0.09 cmd [3.4  0.03 0.08] run\n222 t=44.40 xy=[ 1.39 -0.76] yaw=-0.10 v=[ 1.89 -0.21] done=False\nPATH right_out s 55.55 err -0.13 cmd [ 3.39  0.05 -0.05] run\n223 t=44.60 xy=[ 1.88 -0.74] yaw=-0.06 v=[ 2.19 -0.18] done=False\nPATH right_out s 56.05 err -0.04 cmd [ 3.38  0.02 -0.22] run\n224 t=44.80 xy=[ 2.39 -0.77] yaw=-0.08 v=[ 2.43 -0.2 ] done=False\nPATH right_out s 56.56 err -0.0 cmd [ 3.38  0.   -0.22] run\n225 t=45.00 xy=[ 2.96 -0.88] yaw=-0.07 v=[ 2.61 -0.21] done=False\nPATH right_out s 57.14 err -0.03 cmd [ 3.38  0.01 -0.2 ] run\n","exit":[0],"pics":[]},"tok":{"in":76073,"cached":75136,"out":315,"think":247,"usd":0.1003},"sim":{"submit":43,"reset":0}},{"id":44,"t":960.9,"say":"","calls":[{"kind":"robot","label":"tail -12 /app/output/trial04_stdout.txt","code":"tail -12 /app/output/trial04_stdout.txt\ndate -u"}],"out":{"text":"251 t=50.20 xy=[10.63 -2.36] yaw=-1.31 v=[ 0.01 -0.46] done=False\nTURN far_right 1.82 [ 0.07 -0.74]\n252 t=50.40 xy=[10.67 -2.43] yaw=-1.46 v=[ 0.02 -0.42] done=False\nTURN far_right 1.67 [ 0.03 -0.67]\n253 t=50.60 xy=[10.62 -2.57] yaw=-1.73 v=[ 0.03 -0.43] done=False\nTURN far_right 1.4 [ 0.08 -0.53]\n254 t=50.80 xy=[10.61 -2.64] yaw=-1.84 v=[-0.01 -0.44] done=False\nTURN far_right 1.29 [ 0.09 -0.46]\n255 t=51.00 xy=[10.63 -2.74] yaw=-2.09 v=[-0.03 -0.48] done=False\nTURN far_right 1.04 [ 0.07 -0.36]\n256 t=51.20 xy=[10.63 -2.76] yaw=-2.28 v=[-0.03 -0.41] done=False\nTURN far_right 0.86 [ 0.07 -0.34]\nThu Oct 15 12:27:10 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":76882,"cached":75904,"out":238,"think":194,"usd":0.0976},"sim":{"submit":14,"reset":0}},{"id":45,"t":966.7,"say":"The robot has crossed behind the far-right cone and is completing its turn for the finish. It’s still upright with no reported violation, at about 51 seconds of robot time.","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:19544,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}));\ntext(await tools.exec_command({cmd:\"tail -10 /app/output/trial04_stdout.txt\",\"max_output_tokens\":2000}));\n"},{"kind":"robot","label":"tail -10 /app/output/trial04_stdout.txt","code":"tail -10 /app/output/trial04_stdout.txt"}],"out":{"text":"279 t=55.80 xy=[ 2.56 -3.2 ] yaw=-3.12 v=[-3.39 -0.11] done=False\nPATH finish s 74.99 err 0.1 cmd [ 3.4  -0.03 -0.15] run\n280 t=56.00 xy=[ 1.91 -3.18] yaw=3.13 v=[-3.35 -0.07] done=False\nPATH finish s 75.64 err 0.08 cmd [ 3.4  -0.03 -0.07] run\n281 t=56.20 xy=[ 1.21 -3.22] yaw=3.14 v=[-3.36 -0.06] done=False\nPATH finish s 76.34 err 0.12 cmd [ 3.4  -0.04 -0.14] run\n282 t=56.40 xy=[ 0.55 -3.17] yaw=3.12 v=[-3.37  0.01] done=False\nPATH finish s 76.99 err 0.07 cmd [ 3.4  -0.02 -0.03] run\n283 t=56.53 xy=[ 0.13 -3.2 ] yaw=3.11 v=[-3.35  0.  ] done=True\n{'calls': 870, 'rows': 863, 'control_steps': 5653, 'done': True, 'reason': 'success', 'episode': 5, 'control_steps_total': 17415, 'resets_left': 0, 'sim_time_s': 56.53, 'time_s': 956.36, 'time_left_s': 6243.6, 'outcome': 'success', 'stages_reached': 12, 'stages_total': 12, 'chunk_id': 870, 'type': 'run', 'executed_rows': 1, 'control_steps_chunk': 13, 'clipped': [], 'n_clipped': 0, 'ok': True}\n","exit":[0,0],"pics":[]},"tok":{"in":77508,"cached":76800,"out":146,"think":35,"usd":0.0912},"sim":{"submit":13,"reset":0}},{"id":46,"t":978.7,"say":"The referee reports success: all 12 stages completed in 56.53 seconds. I’m saving the final result and updating the notes.","calls":[{"kind":"shell","label":"out=Path('/app/output')","code":"python - <<'PY'\nimport json\nfrom pathlib import Path\nout=Path('/app/output')\nlast=json.loads((out/'trial04/log.jsonl').read_text().splitlines()[-1])\n(out/'result.json').write_text(json.dumps(last['meta'],indent=2)+'\\n')\np=out/'NOTES.md'\np.write_text('''SUCCESS: service referee accepted all 12 stages in 56.53 seconds (episode 5).\nFinal graded attempt is trial04; no robot calls or resets were made after success.\nController uses only the supplied Robot client and robot-visible sensors.\nVenue RGB segmentation estimates the head; joint kinematics maps it to pelvis XY.\nPelvis IMU supplies heading; recent camera positions estimate velocity.\nRun mode tracks a geometric path with steering preview and braking before mode changes.\nFALCON makes compact stepping half-turns beyond cones while translating across each line.\nPublic material: google-deepmind/mujoco_menagerie unitree_g1/g1.xml and assets/head_link.STL.\nNo task-specific solutions or additional pretrained policies downloaded; no packages installed.\nInitial failed attempt: switching from running to walking too fast caused a fall.\nNext failed attempt: delayed weave steering touched a centre cone.\nNext attempt: 10 of 12 stages clean, but exceeded 60 seconds.\nFinal changes: faster braking profile, compact turns, steering preview, 1.4 m/s weave command.\nMain driver: gen.py; helpers: control.py, path.py, vision.py, kinematics.py.\nFinal referee response: result.json; sensor images and logs: trial04/.\n''')\nprint(json.dumps({k:last['meta'][k] for k in ['outcome','stages_reached','stages_total','sim_time_s']},indent=2))\nprint('Notes lines:',len(p.read_text().splitlines()))\nPY\npython -m py_compile /app/output/gen.py /app/output/control.py /app/output/path.py /app/output/vision.py /app/output/kinematics.py"}],"out":{"text":"{\n  \"outcome\": \"success\",\n  \"stages_reached\": 12,\n  \"stages_total\": 12,\n  \"sim_time_s\": 56.53\n}\nNotes lines: 15\n","exit":[0],"pics":[]},"tok":{"in":78200,"cached":77312,"out":565,"think":59,"usd":0.1144},"sim":{"submit":0,"reset":0}},{"id":47,"t":999.9,"say":"Success: the referee accepted all 12 stages in **56.53 seconds**, with no cone touches.\n\nSaved [gen.py](/app/output/gen.py), [NOTES.md](/app/output/NOTES.md), and [result.json](/app/output/result.json).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78873,"cached":78080,"out":60,"think":0,"usd":0.089},"sim":{"submit":0,"reset":0}}]}