Datasets:

MLL-Lab
/

embodied-exam-data

+ {"slug":"ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc","task":"ambench-cabinet-pick-place-fahexa-i00-privileged","bench":"ambench","mode":"privileged","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","effort":"high","state":"success","success":1,"reward":{"success":1,"all_success":1,"deterministic":1,"state_identical":1,"determinism_checked":1,"instance_ok":1,"n_actions":3673,"replays":2,"sim_steps":3313,"sim_time_s":27.6083,"timed_out":0,"replay_wall_s":188.6,"replay_timeout_s":2418.2,"grader_error":0,"infra_error":0,"replay_retries":0,"replay_gpu_fault":0,"agent_sessions":1,"agent_resets":0,"agent_sim_steps":0,"agent_records":0,"agent_replays":0,"agent_cost_self_reported":1,"video_rendered":1,"video_episode_success":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":1.406,"peak_memory_gb":3.272,"peak_processes":12,"peak_disk_gb":0.83,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0,"session_log_tampered":0,"session_log_from_monitor":0},"wall_s":536,"tokens":{"in":1441704,"cached":1378688,"out":6953,"usd":2.36},"task_text":"# AM-Bench · Cabinet Pick and Place — frozen instance i00\n\nYou control a simulated **aerial manipulator**: a fully actuated hexarotor (six tilted rotors, so it can hold any attitude\nwhile hovering) carrying a small arm (four joints: three pitch joints and a roll joint) with a two-finger gripper, in\nAM-Bench on Isaac Lab / Isaac Sim 5.1 (PhysX), via Python. **Task:** A tall wooden cabinet stands ahead of the hovering aerial manipulator, and a small soda can stands inside one of its shelf compartments, behind a closed sliding door. Get the can onto the top of the cabinet: AM-Bench counts success when the can's centre is less than 5 cm above a fixed height just below the cabinet's top surface (there is no horizontal condition) while the can moves slower than 0.1 m/s.\n\nThis is a *fixed scene instance*: the scene and the robot start the same way after every reset, and you may reset and\nretry as many times as you want. Your deliverable is **one replayable trajectory** of the robot's low-level actions, not a\ngeneral policy.\n\n## Scene\nThe ground is the world's z = 0 plane; there is no wall. Ahead of the robot stands an immovable cabinet with light-wood panels and metal handles, about 1.2 m wide, 0.6 m deep and 1.68 m tall, its front facing the robot and its top a flat board. From the bottom up: a solid base; a drawer with a horizontal bar handle; a compartment closed by two hinged doors with vertical handles, which are locked; the can's compartment, about 27 cm tall, whose right half (as seen from the robot) is closed by a fixed panel and whose left half is closed by a sliding door with a vertical bar handle; and a top compartment closed by a front panel with a horizontal bar handle. The sliding door slides sideways to the robot's right, in front of the fixed panel, over 0.6 m of travel; it has no spring (it stays where it is left) and its motion is resisted by damping and friction. The bottom drawer and the top front panel are not jointed: they are loose parts held in place only by gravity and contact. The can (4 cm in diameter, 6.4 cm tall, 5 g, with a soda label) stands upright on the floor of the sliding-door compartment, a little in from the front and hidden behind the closed sliding door; its exact spot varies by a few centimetres between instances, and nothing else varies. Nothing moves by itself. The robot starts hovering level and motionless, facing the cabinet, with its arm at its zero joint configuration (end effector a little ahead of and above the airframe) and the gripper closed.\n\nExactly (privileged information, also readable through the tooling): One environment; its origin is the world origin. Robot at every reset: base_link at (0, 0, 1.0) m with orientation (1, 0, 0, 0) wxyz (body +x is the world +x direction), zero velocity; arm_link1_pitch_joint = arm_link2_pitch_joint = arm_link3_pitch_joint = arm_link4_roll_joint = 0 rad; arm_lfinger_joint = arm_rfinger_joint = 0.001 m (their lower limit: gripper closed, gripper_width 0.002 m). By t\n… (9,824 characters left out) …\nssion takes ~2 GiB\n of memory and ~1.2 GiB of GPU memory, one with cameras ~14 GiB and ~4.6 GiB (its render worker included): run at most\n two Sessions with cameras at once. Do not call `s.close()` before writing every output.\n\n## External material\nYou may install packages you need (pip, apt), and you may read anything installed in your container, the simulator's and this benchmark's own source code included. Please solve the task yourself: do not search the web for, or download, a ready-made solution to it, such as published or reference solutions, recorded demonstrations, or policies trained for it. This is an honour rule; trials are reviewed. The network reaches your model's API and the package registries (PyPI, Debian / Ubuntu archives) only.\n\n## Resource limits\nLimits for the whole trial, all its processes together (every simulator you start included): at most **16 GiB of GPU memory**, **28 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`. GPU memory counts what a process reserves (JAX, for example, reserves most of the card unless told not to). 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`. When enforcement is on and GPU memory goes above 1.5 times its limit, the monitor also kills the process holding the most of it at once, to protect the machine; that alone does not fail the trial. CPU is capped at 8 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 3600 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time a simulator takes to start counts. When it is up you are stopped without warning and only what is in `/app/output/` at that moment is graded, so save a deliverable as soon as you have one and overwrite it whenever you have a better one. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc/replay.mp4","replay_last":"ambench-cabinet-pick-place-fahexa-i00-privileged--zvvkvgc/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the controller and gripper geometry, then use a persistent simulator session to build and test a trajectory. I’ll save a successful attempt as soon as one works and check it in fresh processes.","calls":[{"kind":"shell","label":"ls -la /app && cat /run/rcb-limits/usage.json && rg --files /opt/ambench | head -60","code":"ls -la /app && cat /run/rcb-limits/usage.json && rg --files /opt/ambench | head -60"},{"kind":"shell","label":"sed -n '1,260p' /opt/tools/rcb_ambench.py","code":"sed -n '1,260p' /opt/tools/rcb_ambench.py"}],"out":{"text":"total 16\ndrwxr-xr-x 1 root root 4096 Oct 18 23:41 .\ndrwxr-xr-x 1 root root 4096 Oct 18 23:42 ..\n-rw-rw-r-- 1 root root 252 Jan 24 2011 instance.json\ndrwxr-xr-x 2 root root 4096 Oct 15 18:05 output\n{\n \"t\": 1792366939.64,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.047,\n \"processes\": 6,\n \"disk_gb\": 0.822,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 16.0,\n \"max_memory_gb\": 28.0,\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\": 65.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3535.0,\n \"deadline_utc\": \"2026-10-19T00:41:14Z\"\n}/opt/ambench/LICENSE\n/opt/ambench/THIRD_PARTY_NOTICES.md\n/opt/ambench/ext/pyroki/src/pyroki/costs/_pose_cost_numerical_jac.py\n/opt/ambench/ext/pyroki/src/pyroki/costs/_pose_cost_analytic_jac.py\n/opt/ambench/ext/pyroki/src/pyroki/costs/__init__.py\n/opt/ambench/ext/pyroki/src/pyroki/costs/_costs.py\n/opt/ambench/ext/pyroki/src/pyroki/_robot.py\n/opt/ambench/ext/pyroki/src/pyroki/utils.py\n/opt/ambench/ext/pyroki/src/pyroki/_robot_urdf_parser.py\n/opt/ambench/ext/pyroki/src/pyroki/collision/_geometry.py\n/opt/ambench/ext/pyroki/src/pyroki/collision/_utils.py\n/opt/ambench/ext/pyroki/src/pyroki/collision/_geometry_pairs.py\n/opt/ambench/ext/pyroki/src/pyroki/collision/_robot_collision.py\n/opt/ambench/ext/pyroki/src/pyroki/collision/_collision.py\n/opt/ambench/ext/pyroki/src/pyroki/collision/__init__.py\n/opt/ambench/ext/p\n… (15,347 characters left out) …\nshape(-1)] if seed is not None else []) + [self.home, (self.lo + self.hi) / 2.0]\n for s0 in seeds:\n q = np.clip(s0, self.lo, self.hi)\n for _ in range(int(max_iters)):\n T, P, Ax, owner = self._fk(q, base_T)\n es, Js, errs = [], [], {}\n for f, Tt in targets.items():\n ep = Tt[:3, 3] - T[f][:3, 3]; er = rotvec(Tt[:3, :3] @ T[f][:3, :3].T)\n errs[f] = (float(np.linalg.norm(ep)), float(np.linalg.norm(er)))\n J = np.zeros((6, self.n)); pf = T[f][:3, 3]\n for k in range(owner[f]):\n J[:3, k] = np.cross(Ax[k], pf - P[k]); J[3:, k] = Ax[k]\n es += [ep, er]; Js.append(J)\n score = max(max(e[0] / tol_p, e[1] / tol_r) for e in errs.values())\n if best is None or score < best[0]:\n best = (score, q.copy(), errs)\n if score <= 1.0:\n return q, True, errs\n e = np.concatenate(es); Jm = np.vstack(Js)\n dq = Jm.T @ np.linalg.solve(Jm @ Jm.T + lam * lam * np.eye(len(e)), e)\n m = float(np.max(np.abs(dq)))\n q = np.clip(q + (dq * (max_step / m) if m > max_step else dq), self.lo, self.hi)\n return best[1], False, best[2]\n\n\ndef sync_phases(env, torch) -> None:\n \"\"\"SYNC, continued. Synchronizing around the IK solve alone left another race (measured on CabinetPickPlace: fresh\n","exit":[0,0],"pics":[]},"tok":{"in":14021,"cached":8320,"out":139,"think":0,"usd":0.0723},"sim":{"submit":0,"reset":0}},{"id":7,"t":10.9,"say":"","calls":[{"kind":"shell","label":"rg -n 'def (state|proprio|objects|reset|step|save_trajectory)|class Session' /opt/tools/rcb_ambench.py; rg --f","code":"rg -n 'def (state|proprio|objects|reset|step|save_trajectory)|class Session' /opt/tools/rcb_ambench.py; rg --files /opt/ambench | rg '(cabinet|fahexa|urdf|gripper)' | head -70"},{"kind":"shell","label":"s=Session(instance='/app/instance.json')","code":"mkdir -p /app/output; cat > /app/server.py <<'PY'\nfrom rcb_ambench import Session\nimport numpy as np, json, os, time, traceback\ns=Session(instance='/app/instance.json')\nprint('READY',json.dumps(s.proprio()),json.dumps(s.state()),flush=True)\nwhile True:\n if os.path.exists('/app/cmd.py'):\n os.rename('/app/cmd.py','/app/running.py')\n try: exec(compile(open('/app/running.py').read(),'/app/running.py','exec'),globals())\n except Exception: traceback.print_exc()\n os.remove('/app/running.py')\n print('COMMAND DONE',flush=True)\n time.sleep(.1)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/server.py > /app/server.log 2>&1"}],"out":{"text":"515:class Session:\n605: def reset(self) -> None:\n661: def step(self, row) -> bool:\n727: def save_trajectory(self, actions, path=\"/app/output/trajectory.npz\", meta: dict | None = None) -> None:\n736: def state_sha(self) -> str:\n748: def state(self) -> dict[str, Any]:\n754: def objects(self) -> dict[str, dict]:\n770: def proprio(self) -> dict[str, Any]:\n806: def proprio_layout(self) -> list[str]:\n817: def proprio_row(self) -> np.ndarray:\n/opt/ambench/ext/pyroki/src/pyroki/_robot_urdf_parser.py\n/opt/ambench/ext/pyroki/src/pyroki/viewer/_batched_urdf.py\n/opt/ambench/ext/pyroki/examples/retarget_helpers/hand/shadowhand_urdf.zip\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/hexa_scorpion.urdf\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/quad_scorpion.urdf\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/omni_scorpion.urdf\n/opt/ambench/source/ambench/ambench/assets/objects/cabinet.usd\n/opt/ambench/source/ambench/ambench/assets/objects/configuration/cabinet_sensor.usd\n/opt/ambench/source/ambench/ambench/assets/objects/configuration/cabinet_physics.usd\n/opt/ambench/source/ambench/ambench/assets/objects/configuration/cabinet_base.usd\n/opt/ambench/source/ambench/ambench/assets/objects/configuration/cabinet_robot.usd\n/opt/ambench/source/ambench/ambench/assets/objects/cabinet_can/materials/soda.png\n/opt/ambench/source/ambench/ambench/assets/objects/cabinet_can/can.usd\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpi\n… (176 characters left out) …\n/urdf/meshes/hexa_scorpion/v2_arm_link1_pitch.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_link3_pitch_rotate.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_link3_pitch.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_prop_arm_cw.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_link2_pitch.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_gripper_long_fingertip.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_base.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_link4_roll_rotate.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_link1_pitch_rotate.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_link4_roll.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_prop_arm_ccw.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_gripper.stl\n/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_arm_gripper_rotate.stl\n/opt/ambench/source/ambench/ambench/tasks/cabinet_pick_place/__init__.py\n/opt/ambench/source/ambench/ambench/tasks/cabinet_pick_place/cabinet_pick_place_env.py\n/opt/ambench/source/ambench/ambench/tasks/cabinet_pick_place/cabinet_pick_place_env_cfg.py\n","exit":[0],"pics":[]},"tok":{"in":20429,"cached":null,"out":342,"think":39,"usd":0.2214},"sim":{"submit":0,"reset":0}},{"id":8,"t":16.5,"say":"","calls":[{"kind":"shell","label":"sed -n '748,807p' /opt/tools/rcb_ambench.py; rg -n 'ee_link|lfinger|rfinger|gripper' /opt/ambench/source/amben","code":"sed -n '748,807p' /opt/tools/rcb_ambench.py; rg -n 'ee_link|lfinger|rfinger|gripper' /opt/ambench/source/ambench/ambench/assets/robots/urdf/hexa_scorpion.urdf; rg -n 'command|quat|gripper' /opt/ambench/source/ambench/ambench/tasks/cabinet_pick_place/cabinet_pick_place_env.py"},{"kind":"shell","label":"rg --files /opt/ambench/source/ambench/ambench | rg '(action|ik|controller|pipeline)'","code":"rg --files /opt/ambench/source/ambench/ambench | rg '(action|ik|controller|pipeline)'"}],"out":{"text":" def state(self) -> dict[str, Any]:\n \"\"\"Privileged observation of the task (AM-Bench's own `policy` observation: robot, end effector, task objects and\n goal positions, relative to the environment's origin).\"\"\"\n obs = self.obs[\"policy\"][0] if isinstance(self.obs.get(\"policy\"), list) else self.obs.get(\"policy\")\n return {k: _np(v).reshape(-1).tolist() for k, v in (obs.items() if isinstance(obs, dict) else [])}\n\n def objects(self) -> dict[str, dict]:\n \"\"\"Every articulation (but the robot) and rigid object of the scene: root pose (wxyz) and velocities, joint state.\"\"\"\n out, o = {}, _np(self.env.scene.env_origins[0])\n sc = self.env.scene\n for group in (sc.articulations, sc.rigid_objects):\n for name, obj in group.items():\n if name == \"robot\":\n continue\n rs = _np(obj.data.root_state_w[0])\n ent = {\"position\": (rs[:3] - o).tolist(), \"orientation_wxyz\": rs[3:7].tolist(), \"velocity\": rs[7:10].tolist(),\n \"angular_velocity\": rs[10:13].tolist()}\n if getattr(obj.data, \"joint_pos\", None) is not None:\n ent[\"joint_pos\"] = _np(obj.data.joint_pos[0]).tolist(); ent[\"joint_names\"] = list(obj.joint_names)\n out[name] = ent\n return out\n\n def proprio(self) -> dict[str, Any]:\n \"\"\"The robot's own state: base and end-effector poses (world, relative to the env origin; wxyz) and velocit\n… (3,685 characters left out) …\nr_link\"/>\n69: gripper_state = self.robot.data.joint_pos[:, self.gripper_joint_ids]\n76: ee_quat = ee_state[:, 3:7]\n80: base_quat = base_state[:, 3:7]\n83: gripper_widths = torch.sum(gripper_state, dim=1)\n104: \"ee_quat\": ee_quat[env_idx],\n108: \"base_quat\": base_quat[env_idx],\n111: \"gripper_width\": gripper_widths[env_idx : env_idx + 1],\n\n/opt/ambench/source/ambench/ambench/controllers/pid_6dof_ctrl.py\n/opt/ambench/source/ambench/ambench/controllers/controller_cfg.py\n/opt/ambench/source/ambench/ambench/controllers/pid_4dof_ctrl.py\n/opt/ambench/source/ambench/ambench/controllers/pid_joint_ctrl.py\n/opt/ambench/source/ambench/ambench/controllers/teleop_target.py\n/opt/ambench/source/ambench/ambench/controllers/control_pipeline.py\n/opt/ambench/source/ambench/ambench/controllers/l1_adaptive_ctrl.py\n/opt/ambench/source/ambench/ambench/controllers/pyroki_ik_ctrl.py\n/opt/ambench/source/ambench/ambench/controllers/pyroki_ctrl/floating_base_ik.py\n/opt/ambench/source/ambench/ambench/controllers/pyroki_ctrl/__init__.py\n/opt/ambench/source/ambench/ambench/controllers/__init__.py\n/opt/ambench/source/ambench/ambench/controllers/utils/__init__.py\n/opt/ambench/source/ambench/ambench/controllers/wholebody_mpc_ctrl.py\n/opt/ambench/source/ambench/ambench/controllers/utils/control_allocation.py\n/opt/ambench/source/ambench/ambench/controllers/utils/mpc_utils.py\n/opt/ambench/source/ambench/ambench/controllers/utils/control_utils.py\n","exit":[0,0],"pics":[]},"tok":{"in":21934,"cached":20224,"out":167,"think":0,"usd":0.0457},"sim":{"submit":0,"reset":0}},{"id":9,"t":19.5,"say":"","calls":[{"kind":"shell","label":"sed -n '382,500p' /opt/ambench/source/ambench/ambench/assets/robots/urdf/hexa_scorpion.urdf; sed -n '1,260p' /","code":"sed -n '382,500p' /opt/ambench/source/ambench/ambench/assets/robots/urdf/hexa_scorpion.urdf; sed -n '1,260p' /opt/ambench/source/ambench/ambench/controllers/teleop_target.py; tail -15 /app/server.log"}],"out":{"text":" <link name=\"ee_link\">\n <inertial>\n <mass value=\"0.2\"/>\n <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>\n <inertia ixx=\"0.0001\" iyy=\"0.0001\" izz=\"0.0001\" ixy=\"0\" ixz=\"0\" iyz=\"0\"/>\n </inertial>\n <visual>\n <origin xyz=\"0.01 0 0\" rpy=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"meshes/hexa_scorpion/v2_arm_gripper_rotate.stl\" scale=\"0.001 0.001 0.001\"/>\n </geometry>\n </visual>\n <collision>\n <origin xyz=\"0.01 0 0\" rpy=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"meshes/hexa_scorpion/v2_arm_gripper_rotate.stl\" scale=\"0.001 0.001 0.001\"/>\n </geometry>\n </collision>\n </link>\n\n <joint name=\"ee_fixed\" type=\"fixed\">\n \n <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>\n <parent link=\"arm_link4_roll_link\"/>\n <child link=\"ee_link\"/>\n </joint>\n\n \n \n \n\n <link name=\"manipulation_lfinger_link\">\n <inertial>\n <origin xyz=\"0 0 0\"/>\n <mass value=\"0.01\"/>\n <inertia ixx=\"1e-6\" iyy=\"1e-6\" izz=\"1e-6\" ixy=\"0\" ixz=\"0\" iyz=\"0\"/>\n </inertial>\n\n <visual>\n <origin xyz=\"0 0 0\" rpy=\"3.1415 0 0\"/>\n <geometry>\n <mesh filename\n… (5,346 characters left out) …\nrn torch.cat(\n [\n self._target_pos_w - self._env.scene.env_origins,\n self._target_quat_w,\n reading[:, _GRIPPER_SLICE],\n ],\n dim=-1,\n )\n[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.\n[INFO][AppLauncher]: Using device: cuda:0\n[INFO][AppLauncher]: Loading experience file: /opt/IsaacLab/apps/isaaclab.python.headless.kit\n[Info] [carb] Logging to file: /opt/venv/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20261018_234232.log\n2026-10-18T23:42:32Z [429ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX\n2026-10-18T23:42:33Z [1,094ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.\n2026-10-18T23:42:33Z [1,666ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.\n2026-10-18T23:42:33Z [1,705ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.\n","exit":[0],"pics":[]},"tok":{"in":24254,"cached":21760,"out":97,"think":0,"usd":0.0515},"sim":{"submit":0,"reset":0}},{"id":10,"t":28.2,"say":"","calls":[{"kind":"shell","label":"cat /opt/ambench/source/ambench/ambench/controllers/pyroki_ik_ctrl.py | head -230; rg -n 'gripper|ee_cmd|quat'","code":"cat /opt/ambench/source/ambench/ambench/controllers/pyroki_ik_ctrl.py | head -230; rg -n 'gripper|ee_cmd|quat' /opt/ambench/source/ambench/ambench/tasks/base/base_env.py"},{"kind":"shell","label":"p='/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/'","code":"python - <<'PY'\nimport trimesh, numpy as np\np='/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/'\nfor n in ['v2_gripper_long_fingertip.stl','v2_arm_gripper_rotate.stl','v2_drone_base.stl']:\n m=trimesh.load(p+n)\n print(n,m.bounds*.001)\nPY\n tail -8 /app/server.log"}],"out":{"text":"# Copyright (c) 2026, The AM-Bench Contributors.\n#\n# SPDX-License-Identifier: Apache-2.0\n\n\"\"\"Pyroki IK Controller for joint-space control via inverse kinematics.\n\nThis controller uses Pyroki to solve inverse kinematics (IK) for desired end-effector poses,\nreturning joint angles that can be used for position control.\n\"\"\"\n\nfrom __future__ import annotations\n\nimport logging\nfrom dataclasses import dataclass, field\nfrom pathlib import Path\n\nimport numpy as np\nimport pyroki as pk\nimport torch\nimport yourdfpy\n\nfrom ambench.controllers.pyroki_ctrl import solve_floating_base_ik\n\nlogger = logging.getLogger(__name__)\n\n\n@dataclass\nclass PyrokiIKControllerConfig:\n \"\"\"Configuration for Pyroki IK Controller.\n\n Attributes:\n urdf_path: Path to the robot URDF file.\n target_link_name: Name of the end-effector link to control. If None, uses last link.\n fix_base_position: Tuple of 3 bools (x, y, z) - True means fixed, False means free.\n Default: (False, False, False) - all free.\n fix_base_orientation: Tuple of 3 bools (roll, pitch, yaw) - True means fixed, False means free.\n Default: (True, True, False) - fix roll/pitch, free yaw.\n initial_base_position: Initial base position (x, y, z) in meters. Default: (0.0, 0.0, 0.0).\n initial_base_orientation: Initial base orientation as quaternion (w, x, y, z).\n Default: (1.0, 0.0, 0.0, 0.0) - identity.\n enable_collisi\n… (9,287 characters left out) …\nio.gripper_joint_ids\n103: def gripper_targets(self) -> torch.Tensor:\n104: return self.robot_io.gripper_targets\n158: \"\"\"Place an object in the configured tool frame and close the gripper.\"\"\"\n164: gripper = self.cfg.robot_profile.robot.gripper\n165: width_converter = None if gripper is None else gripper.joint_position_from_object_width\n167: limits = self.robot.data.soft_joint_pos_limits[0, self.gripper_joint_ids, :]\n169: (len(env_ids), len(self.gripper_joint_ids)),\n176: joint_pos[:, self.gripper_joint_ids] = grasp_joint_pos\n177: joint_vel[:, self.gripper_joint_ids] = 0.0\n181: self.robot_io.gripper_targets[env_ids] = self.robot_io.compute_gripper_targets(close_action)\n188: root_state[:, 3:7] = self.robot_io.link_to_command_quat(ee_state[env_ids, 3:7])\n\nv2_gripper_long_fingertip.stl [[-6.00000000e-03 -1.89989805e-10 -1.30000000e-02]\n [ 1.14000000e-01 2.10000000e-02 1.30000010e-02]]\nv2_arm_gripper_rotate.stl [[-3.87430163e-10 -6.60000000e-02 -3.90000000e-02]\n [ 8.54999924e-02 6.60000000e-02 2.25000000e-02]]\nv2_drone_base.stl [[-0.12199999 -0.0975 -0.104 ]\n [ 0.105 0.0975 0.005 ]]\n| Active Event Terms in Mode: 'reset' |\n+---------+---------------------------+\n| Index | Name |\n+---------+---------------------------+\n| 0 | randomize_can_pose |\n+---------+---------------------------+\n\n[INFO]: Completed setting up the environment...\n","exit":[0,0],"pics":[]},"tok":{"in":26888,"cached":24064,"out":384,"think":177,"usd":0.0715},"sim":{"submit":0,"reset":0}},{"id":11,"t":32.3,"say":"The fingers extend about 19 cm beyond the end-effector link and close sideways, which should let them reach both the door handle and the can. I’m starting with a sideways handle push, then a straight grasp through the opening.","calls":[{"kind":"shell","label":"rg -n 'link_to_command_quat|command_to_link|ee_frame|quat_offset' /opt/ambench/source/ambench/ambench -g '*.py","code":"rg -n 'link_to_command_quat|command_to_link|ee_frame|quat_offset' /opt/ambench/source/ambench/ambench -g '*.py'; tail -5 /app/server.log"}],"out":{"text":"/opt/ambench/source/ambench/ambench/tasks/base/base_env.py:188: root_state[:, 3:7] = self.robot_io.link_to_command_quat(ee_state[env_ids, 3:7])\n/opt/ambench/source/ambench/ambench/robots/omni_hexa.py:249: command_to_link_quat_wxyz=EE_CMD_ORIENTATION_OFFSET_WXYZ,\n/opt/ambench/source/ambench/ambench/robots/ua_quad.py:183: command_to_link_quat_wxyz=EE_CMD_ORIENTATION_OFFSET_WXYZ,\n/opt/ambench/source/ambench/ambench/robots/robot_cfg.py:131: command_to_link_quat_wxyz: tuple[float, float, float, float] | None = None\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:103: command_to_link_quat = None if frame is None else frame.command_to_link_quat_wxyz\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:104: self._command_to_link_quat_wxyz = (\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:106: if command_to_link_quat is None\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:107: else torch.tensor(command_to_link_quat, device=self.device, dtype=torch.float32)\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:109: self._link_to_command_quat_wxyz = (\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:111: if self._command_to_link_quat_wxyz is None\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:112: else math_utils.quat_conjugate(self._command_to_link_quat_wxyz)\n/opt/ambench/source/ambench/ambench/robots/robot_io.py:161: def command_to_link_quat(self, quat_cm\n… (890 characters left out) …\nntrol_pipeline.py:167: target_quat=self.env.robot_io.command_to_link_quat(self.ee_cmd_quat_w),\n/opt/ambench/source/ambench/ambench/utils/debug_viz/tracking_viz.py:30: \"ee_frame\": sim_utils.UsdFileCfg(\n| 0 | randomize_can_pose |\n+---------+---------------------------+\n\n[INFO]: Completed setting up the environment...\nREADY {\"base_pose\": [0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0], \"base_vel\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"ee_pose\": [0.22699981927871704, 4.673640141561464e-09, 1.1237499713897705, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09], \"ee_vel\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"gripper_width\": 0.0020000000949949026, \"arm_joint_pos\": [0.0, 0.0, 0.0, 0.0], \"arm_joint_vel\": [0.0, 0.0, 0.0, 0.0], \"command\": [0.22699981927871704, 4.673640141561464e-09, 1.1237499713897705, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, 1.0]} {\"ee_pos\": [0.22699981927871704, 4.673640141561464e-09, 1.1237499713897705], \"ee_quat\": [0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09], \"ee_lin_vel\": [0.0, 0.0, 0.0], \"ee_ang_vel\": [0.0, 0.0, 0.0], \"base_pos\": [0.0, 0.0, 1.0], \"base_quat\": [1.0, 0.0, 0.0, 0.0], \"base_lin_vel\": [0.0, 0.0, 0.0], \"base_ang_vel\": [0.0, 0.0, 0.0], \"gripper_width\": [0.0020000000949949026], \"pulling_door_pos\": [2.4000000953674316, -1.1175870895385742e-08, 1.0800001621246338], \"can_pos\": [2.2559618949890137, 0.3016679286956787, 1.1699999570846558], \"arm_joint_pos\": [0.0, 0.0, 0.0, 0.0], \"arm_joint_vel\": [0.0, 0.0, 0.0, 0.0]}\n","exit":[0],"pics":[]},"tok":{"in":30700,"cached":26752,"out":138,"think":12,"usd":0.0731},"sim":{"submit":0,"reset":0}},{"id":12,"t":44.9,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\nfrom rcb_ambench import Session\nimport numpy as np, json\n\ndef report(s,label):\n print(label,json.dumps({'status':s.status(),'proprio':s.proprio(),'objects':s.objects()}),flush=True)\n\ndef move(s,xyz,n=240,grip=-1,hold=60,quat=None):\n a=s.hold_action().copy()\n b=np.array([*xyz,*(a[3:7] if quat is None else quat),grip],dtype=float)\n for t in range(1,n+1):\n u=t/n; u=u*u*(3-2*u)\n c=a*(1-u)+b*u; c[3:7]/=np.linalg.norm(c[3:7]); c[7]=grip\n if s.step(c): return True\n for _ in range(hold):\n if s.step(b): return True\n return False\n\ndef generate(s):\n move(s,[1.82,.55,1.23],500,hold=120)\n report(s,'approach')\n\nif __name__=='__main__':\n s=Session(instance='/app/instance.json')\n generate(s)\n s.save_trajectory(s.actions(),'/app/output/trajectory.npz')\nPY\ncat > /app/cmd.py <<'PY'\nexec(open('/app/output/gen.py').read().split(\"if __name__\")[0])\ngenerate(s)\nPY"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":32387,"cached":30464,"out":477,"think":108,"usd":0.0735},"sim":{"submit":0,"reset":0}},{"id":13,"t":51.7,"say":"","calls":[{"kind":"shell","label":"m=trimesh.load('/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_gripper_long_fi","code":"python - <<'PY'\nimport trimesh,numpy as np\nm=trimesh.load('/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_gripper_long_fingertip.stl')\nv=m.vertices*.001\nfor a,b in [(-.01,.02),(.02,.05),(.05,.08),(.08,.10),(.10,.12)]:\n w=v[(v[:,0]>=a)&(v[:,0]<b)]\n print(a,b,w.min(0),w.max(0))\nPY\n tail -3 /app/server.log; cat /run/rcb-limits/usage.json"}],"out":{"text":"-0.01 0.02 [-6.00000000e-03 -1.89989805e-10 -1.30000000e-02] [0.019 0.021 0.013]\nTraceback (most recent call last):\n File \"<stdin>\", line 6, in <module>\n File \"/opt/venv/lib/python3.11/site-packages/numpy/core/_methods.py\", line 45, in _amin\n return umr_minimum(a, axis, None, out, keepdims, initial, where)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\nValueError: zero-size array to reduction operation minimum which has no identity\n2026-10-18 23:43:06.086 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 2 variables each: pose_cost_with_base\n2026-10-18 23:43:06.103 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: smoothness_cost_constant\n2026-10-18 23:43:06.130 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n{\n \"t\": 1792366989.64,\n \"measured\": true,\n \"gpu_memory_gb\": 0.664,\n \"memory_gb\": 1.628,\n \"processes\": 9,\n \"disk_gb\": 0.822,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 16.0,\n \"max_memory_gb\": 28.0,\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\": 115.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3485.0,\n \"deadline_utc\": \"2026-10-19T00:41:14Z\"\n}","exit":[0],"pics":[]},"tok":{"in":32920,"cached":32256,"out":298,"think":116,"usd":0.0538},"sim":{"submit":0,"reset":0}},{"id":14,"t":57.1,"say":"","calls":[{"kind":"shell","label":"m=trimesh.load('/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_gripper_long_fi","code":"python - <<'PY'\nimport trimesh,numpy as np\nm=trimesh.load('/opt/ambench/source/ambench/ambench/assets/robots/urdf/meshes/hexa_scorpion/v2_gripper_long_fingertip.stl')\nv=m.vertices*.001\nfor x in np.unique(np.round(v[:,0],4)):\n w=v[np.abs(v[:,0]-x)<.000051]\n print(x,np.round(w[:,1:].min(0),4),np.round(w[:,1:].max(0),4))\nPY"}],"out":{"text":"-0.006 [-0. -0.013] [0.012 0.013]\n-0.004 [-0. -0.0066] [0.012 0.0066]\n-0.0036 [-0. -0.0077] [0.012 0.0077]\n-0.003 [-0. -0.0086] [0.012 0.0086]\n-0.0022 [-0. -0.0094] [0.012 0.0094]\n-0.0011 [-0. -0.0098] [0.012 0.0098]\n0.0 [-0. -0.01] [0.012 0.01 ]\n0.0011 [-0. -0.0098] [0.012 0.0098]\n0.0022 [-0. -0.0094] [0.012 0.0094]\n0.003 [-0. -0.0086] [0.012 0.0086]\n0.0036 [-0. -0.0077] [0.012 0.0077]\n0.004 [-0. -0.0066] [0.012 0.0066]\n0.007 [ 0.004 -0.013] [0.012 0.013]\n0.0084 [ 0.004 -0.006] [0.009 0.006]\n0.0086 [ 0.004 -0.0068] [0.009 0.0068]\n0.0092 [ 0.004 -0.0074] [0.009 0.0074]\n0.01 [ 0.004 -0.0076] [0.009 0.0076]\n0.0108 [ 0.004 -0.0074] [0.009 0.0074]\n0.0114 [ 0.004 -0.0068] [0.009 0.0068]\n0.0116 [ 0.004 -0.006] [0.009 0.006]\n0.014 [-0. -0.013] [0.021 0.013]\n0.019 [ 0.021 -0.013] [0.021 0.013]\n0.114 [-0. -0.013] [0.006 0.013]\n","exit":[0],"pics":[]},"tok":{"in":33805,"cached":32768,"out":196,"think":43,"usd":0.0529},"sim":{"submit":0,"reset":0}},{"id":15,"t":61.8,"say":"","calls":[{"kind":"shell","label":"tail -6 /app/server.log","code":"tail -6 /app/server.log"}],"out":{"text":"2026-10-18 23:43:05.665 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: smoothness_cost_se3_const\n2026-10-18 23:43:05.701 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: limit_cost\n2026-10-18 23:43:05.723 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: rest_cost_arm\n2026-10-18 23:43:06.086 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 2 variables each: pose_cost_with_base\n2026-10-18 23:43:06.103 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: smoothness_cost_constant\n2026-10-18 23:43:06.130 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n","exit":[0],"pics":[]},"tok":{"in":34641,"cached":33664,"out":77,"think":42,"usd":0.0473},"sim":{"submit":0,"reset":0}},{"id":16,"t":64.3,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":35067,"cached":34432,"out":38,"think":17,"usd":0.0427},"sim":{"submit":0,"reset":0}},{"id":17,"t":111.3,"say":"","calls":[{"kind":"shell","label":"tail -3 /app/server.log; date -u +%T","code":"tail -3 /app/server.log; date -u +%T"}],"out":{"text":"2026-10-18 23:43:06.130 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\napproach {\"status\": {\"success\": false, \"done\": false, \"end_reason\": null, \"control_steps\": 620, \"sim_time_s\": 5.1667, \"episode_length_s\": 60.0, \"resets\": 1, \"state_sha\": \"2eebb7e50b84c833cdaaf8e8b675a09239ac51fd7c7d181495f7e6a2053ff018\"}, \"proprio\": {\"base_pose\": [1.4001331329345703, 0.5499969124794006, 0.9254732131958008, 0.999987781047821, 6.228507118066773e-05, 0.004926803521811962, -1.928408346429933e-05], \"base_vel\": [0.0006559003377333283, 5.6976477935677394e-06, 0.00035063386894762516, 4.036726022604853e-05, 0.0003816363459918648, -1.3050585948803928e-05], \"ee_pose\": [1.8211324214935303, 0.5499429106712341, 1.2261651754379272, 0.999981701374054, 6.238916103029624e-05, 0.006052006967365742, -1.927618359331973e-05], \"ee_vel\": [-0.00013451291306409985, -1.2997347766940948e-05, 0.009010350331664085, 3.956537329941057e-05, -0.020278774201869965, -1.5623061699443497e-05], \"gripper_width\": 0.0020001218654215336, \"arm_joint_pos\": [0.9374969601631165, 0.7107818126678467, -0.2244652360677719, -4.1765680691696616e-08], \"arm_joint_vel\": [-0.008965411223471165, 0.011516992934048176, -0.00017800893692765385, 8.819114327707211e-09], \"command\": [1.8200000524520874, 0.550000011920929, 1.2300000190734863, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, -1.0]}, \"objects\": {\"pulling_door\": {\"position\": [2.4000000953674316, -1.1175870895385742e-08, 1.0799999237060547], \"orientation_wxyz\": [1.0, 4.2288032631176975e-08, -1.8367849463629682e-07, 7.715936334307116e-09], \"velocity\": [4.183064902463229e-06, 7.74945362991275e-07, -1.923494892253075e-06], \"angular_velocity\": [4.432196419656975e-06, 5.860751571162837e-06, 1.2863365554949269e-06], \"joint_pos\": [-3.3450202607809842e-09], \"joint_names\": [\"pull_door_slide\"]}, \"can\": {\"position\": [2.2559635639190674, 0.3016682267189026, 1.1422381401062012], \"orientation_wxyz\": [0.9999999403953552, -4.746818376588635e-06, 2.4448741896776482e-05, 7.25521331901291e-08], \"velocity\": [-1.3642833437188528e-05, -1.999814594455529e-05, -6.391724582499592e-06], \"angular_velocity\": [0.0006310549797490239, -0.0004184749850537628, -7.524029570049606e-06]}}}\nCOMMAND DONE\n23:44:11\n","exit":[0],"pics":[]},"tok":{"in":35128,"cached":34944,"out":40,"think":0,"usd":0.0388},"sim":{"submit":0,"reset":0}},{"id":18,"t":117.2,"say":"The approach is stable and the can has settled at z ≈ 1.142 m. The arm extends far enough to keep the airframe clear of the cabinet. I’m now pushing the handle sideways to expose the can.","calls":[{"kind":"shell","label":"writes cmd.py","code":"cat > /app/cmd.py <<'PY'\nmove(s,[1.82,-.08,1.23],480,hold=120)\nreport(s,'door_push')\nnp.save('/app/output/prefix.npy',s.actions())\nPY"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":36245,"cached":34944,"out":255,"think":112,"usd":0.0607},"sim":{"submit":0,"reset":0}},{"id":19,"t":130.6,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":36557,"cached":36096,"out":457,"think":436,"usd":0.0636},"sim":{"submit":0,"reset":0}},{"id":20,"t":177.9,"say":"","calls":[{"kind":"shell","label":"tail -3 /app/server.log; date -u +%T","code":"tail -3 /app/server.log; date -u +%T"}],"out":{"text":"COMMAND DONE\ndoor_push {\"status\": {\"success\": false, \"done\": false, \"end_reason\": null, \"control_steps\": 1220, \"sim_time_s\": 10.1667, \"episode_length_s\": 60.0, \"resets\": 1, \"state_sha\": \"5903cbc5d7d17e866e92f412090716801efb41bd60b12034d1a64755b5164824\"}, \"proprio\": {\"base_pose\": [1.399908185005188, -0.08099781721830368, 0.9254395961761475, 0.9999957084655762, 0.0021919289138168097, -0.0011407181154936552, -0.001521242200396955], \"base_vel\": [-0.0003041576419491321, -0.00028373784152790904, -0.00016201114340219647, -0.0006178560433909297, 0.004639605060219765, 0.0007052453584037721], \"ee_pose\": [1.8172235488891602, -0.0836070105433464, 1.2312101125717163, 0.9999964237213135, 0.002193913096562028, -1.3058739568805322e-05, -0.0015188312390819192], \"ee_vel\": [0.00010312534868717194, 0.00017046357970684767, 0.005221561063081026, 0.005430825985968113, 0.00026759589673019946, 0.0006862624431960285], \"gripper_width\": 0.0020000000949949026, \"arm_joint_pos\": [0.9374979734420776, 0.7107776999473572, -0.22446538507938385, 4.4638463236879034e-07], \"arm_joint_vel\": [-0.008715762756764889, 0.010902157053351402, 0.015264262445271015, 0.006061931606382132], \"command\": [1.8200000524520874, -0.07999999821186066, 1.2300000190734863, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, -1.0]}, \"objects\": {\"pulling_door\": {\"position\": [2.4000000953674316, -2.2351741790771484e-08, 1.0800001621246338], \"orientation_wxyz\": [0.9999999403953552, 2.2359958506967814e-07, -1.19944400012173e-06, -1.703419982845844e-08], \"velocity\": [3.598134208004922e-05, -2.8233660032128682e-06, -2.16814769373741e-05], \"angular_velocity\": [1.1707131307048257e-05, -0.00011765039380406961, 2.370200672885403e-05], \"joint_pos\": [-0.5976232290267944], \"joint_names\": [\"pull_door_slide\"]}, \"can\": {\"position\": [2.2559635639190674, 0.3016681671142578, 1.1422380208969116], \"orientation_wxyz\": [0.9999999403953552, -5.660755050485022e-06, 2.445724567223806e-05, 8.282692220973331e-08], \"velocity\": [-1.1246789654251188e-05, -8.658621482027229e-06, -5.704050636268221e-07], \"angular_velocity\": [0.0004595375503413379, -0.00037385677569545805, -1.3055916497251019e-05]}}}\nCOMMAND DONE\n23:45:18\n","exit":[0],"pics":[]},"tok":{"in":37037,"cached":36352,"out":40,"think":0,"usd":0.0452},"sim":{"submit":0,"reset":0}},{"id":21,"t":182.5,"say":"The door opened almost its full travel: 0.598 m. The can stayed in place. I’ll align the open gripper slightly above the can’s centre so the gripper body clears the shelf floor.","calls":[{"kind":"shell","label":"writes cmd.py","code":"cat > /app/cmd.py <<'PY'\nmove(s,[1.76,.301668,1.158],300,grip=1,hold=60)\nreport(s,'pregrasp')\nmove(s,[2.106,.301668,1.158],300,grip=1,hold=120)\nreport(s,'at_can')\nPY"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":38094,"cached":36864,"out":245,"think":79,"usd":0.0614},"sim":{"submit":0,"reset":0}},{"id":22,"t":188.2,"say":"","calls":[{"kind":"shell","label":"p='/app/output/gen.py'","code":"python - <<'PY'\np='/app/output/gen.py'\ns=open(p).read().replace(\" report(s,'approach')\", \" report(s,'approach')\\n move(s,[1.82,-.08,1.23],480,hold=120)\\n report(s,'door_push')\\n move(s,[1.76,.301668,1.158],300,grip=1,hold=60)\\n move(s,[2.106,.301668,1.158],300,grip=1,hold=120)\\n report(s,'at_can')\")\nopen(p,'w').write(s)\nPY"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":38396,"cached":37888,"out":180,"think":12,"usd":0.052},"sim":{"submit":0,"reset":0}},{"id":23,"t":195.1,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":38633,"cached":38272,"out":213,"think":192,"usd":0.0525},"sim":{"submit":0,"reset":0}},{"id":24,"t":242.2,"say":"","calls":[{"kind":"shell","label":"tail -4 /app/server.log","code":"tail -4 /app/server.log"}],"out":{"text":"COMMAND DONE\npregrasp {\"status\": {\"success\": false, \"done\": false, \"end_reason\": null, \"control_steps\": 1580, \"sim_time_s\": 13.1667, \"episode_length_s\": 60.0, \"resets\": 1, \"state_sha\": \"d09edab3e36c39516ea408293b12634755d32f429029806742ee1c30b1f1e9d2\"}, \"proprio\": {\"base_pose\": [1.3997434377670288, 0.30118054151535034, 0.8781393766403198, 0.9999986290931702, 0.0003901338786818087, -0.0015528713120147586, -0.0002788002311717719], \"base_vel\": [-0.00027544336626306176, 0.00024240078346338123, -0.0007152237230911851, 2.199177470174618e-05, 0.006601276807487011, 0.00027930227224715054], \"ee_pose\": [1.7571009397506714, 0.3007621467113495, 1.1591699123382568, 0.9999996423721313, 0.0003904652257915586, -0.0006119482568465173, -0.00027847502497024834], \"ee_vel\": [0.0007676371606066823, 0.000329959555529058, 0.005276039708405733, 1.0670223673514556e-05, -0.013843237422406673, 0.000263330148300156], \"gripper_width\": 0.08999756723642349, \"arm_joint_pos\": [0.7407088279724121, 0.5511304140090942, -0.18769674003124237, -4.222018645805292e-08], \"arm_joint_vel\": [-0.008335101418197155, 0.011924545280635357, -0.00018488560453988612, 5.410350212287085e-08], \"command\": [1.7599999904632568, 0.3016679883003235, 1.1579999923706055, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, 1.0]}, \"objects\": {\"pulling_door\": {\"position\": [2.4000000953674316, 2.9802322387695312e-08, 1.0800000429153442], \"orientation_wxyz\": [0.9999999403953552, 2.0216225493641105e-07, -1.0921171451627742e-06, 2.45089388783\n… (1,270 characters left out) …\n9768982, 0.9999719858169556, 2.2685528165311553e-05, 0.0074784522876143456, -4.983779581380077e-05], \"ee_vel\": [0.0030892190989106894, 0.000378159515094012, 0.0034242174588143826, 8.280852489406243e-05, -0.011333020403981209, 0.0004617959202732891], \"gripper_width\": 0.08999998867511749, \"arm_joint_pos\": [1.7227516174316406, 1.4245915412902832, -0.29514575004577637, -1.0835863761826658e-08], \"arm_joint_vel\": [-0.014791433699429035, 0.010919848456978798, -0.00018828391330316663, -3.1013375973998336e-06], \"command\": [2.1059999465942383, 0.3016679883003235, 1.1579999923706055, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, 1.0]}, \"objects\": {\"pulling_door\": {\"position\": [2.4000000953674316, 7.450580596923828e-09, 1.0800001621246338], \"orientation_wxyz\": [0.9999999403953552, 3.687081289172056e-07, -1.2795539987564553e-06, 4.9799208312606424e-08], \"velocity\": [4.680722668126691e-06, 3.0665685102349016e-08, -3.3313459425698966e-05], \"angular_velocity\": [-6.144690996734425e-05, 0.00010456307791173458, 4.21634795202408e-05], \"joint_pos\": [-0.5999999642372131], \"joint_names\": [\"pull_door_slide\"]}, \"can\": {\"position\": [2.2559633255004883, 0.3016681373119354, 1.142237901687622], \"orientation_wxyz\": [0.9999999403953552, -5.017373950977344e-06, 2.4062237571342848e-05, 3.160003814173251e-08], \"velocity\": [-2.6825709937838838e-05, -3.901879608747549e-06, 6.6014513322443236e-06], \"angular_velocity\": [0.0003344149445183575, -0.0003397457767277956, 4.180588075541891e-05]}}}\nCOMMAND DONE\n","exit":[0],"pics":[]},"tok":{"in":38869,"cached":38400,"out":33,"think":0,"usd":0.0447},"sim":{"submit":0,"reset":0}},{"id":25,"t":247.0,"say":"","calls":[{"kind":"shell","label":"writes cmd.py","code":"cat > /app/cmd.py <<'PY'\nmove(s,[2.106,.301668,1.158],1,grip=-1,hold=120)\nreport(s,'grasp')\nmove(s,[2.106,.301668,1.24],240,grip=-1,hold=90)\nreport(s,'lift_in_shelf')\nPY"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":40888,"cached":38656,"out":169,"think":52,"usd":0.0694},"sim":{"submit":0,"reset":0}},{"id":26,"t":251.4,"say":"The open fingers are around the can without disturbing it. I’ll close them and make a short lift inside the compartment to verify the grasp before withdrawing.","calls":[{"kind":"shell","label":"waits 35 s","code":"{\"duration_ms\": 35000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":41114,"cached":40704,"out":100,"think":42,"usd":0.0498},"sim":{"submit":0,"reset":0}},{"id":27,"t":293.5,"say":"","calls":[{"kind":"shell","label":"tail -3 /app/server.log","code":"tail -3 /app/server.log"}],"out":{"text":"grasp {\"status\": {\"success\": false, \"done\": false, \"end_reason\": null, \"control_steps\": 2121, \"sim_time_s\": 17.675, \"episode_length_s\": 60.0, \"resets\": 1, \"state_sha\": \"09a4545f5f3e8d5a56c980940cf3ebb5b31dba9d66bd0695523ab926865af37d\"}, \"proprio\": {\"base_pose\": [1.401129961013794, 0.30163612961769104, 0.8589921593666077, 0.9999908804893494, 2.5094715965678915e-05, 0.004255927167832851, 1.6884576325537637e-05], \"base_vel\": [-0.00033230538247153163, 2.9331538826227188e-05, -0.0007251402130350471, 0.0006726534920744598, 0.004962492268532515, 6.623987428611144e-05], \"ee_pose\": [2.1061720848083496, 0.30164483189582825, 1.1522893905639648, 0.9999833703041077, 2.5167812054860406e-05, 0.005750155076384544, 1.6757050616433844e-05], \"ee_vel\": [-0.0009176894091069698, -0.00012205416715005413, 0.010289493016898632, 0.0285064447671175, -0.023264417424798012, -0.00025528669357299805], \"gripper_width\": 0.03882211446762085, \"arm_joint_pos\": [1.7227412462234497, 1.4246073961257935, -0.295146107673645, 1.1384453557639063e-07], \"arm_joint_vel\": [-0.01495586521923542, 0.010198533535003662, -0.003073460655286908, 0.027834702283143997], \"command\": [2.1059999465942383, 0.3016679883003235, 1.1579999923706055, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, -1.0]}, \"objects\": {\"pulling_door\": {\"position\": [2.4000000953674316, 2.9802322387695312e-08, 1.080000400543213], \"orientation_wxyz\": [1.0, 3.0865473377161834e-07, -1.659540771470347e-06, 1.0339222811239779e-08], \"velocity\": [7.2943570557981\n… (1,212 characters left out) …\n951416, 1.2392019033432007, 0.9999977946281433, 2.7383653105061967e-06, 0.002077466109767556, 3.2937441574176773e-06], \"ee_vel\": [0.0006743700359947979, 4.899354735243833e-07, 0.00678750965744257, -0.0021447292529046535, -0.015743467956781387, 1.2498197975219227e-05], \"gripper_width\": 0.0387997105717659, \"arm_joint_pos\": [1.7227425575256348, 1.4246033430099487, -0.29514598846435547, -3.8733158902459763e-08], \"arm_joint_vel\": [-0.015080798417329788, 0.010550148785114288, -0.00040134473238140345, -0.0021598152816295624], \"command\": [2.1059999465942383, 0.3016679883003235, 1.2400000095367432, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, -1.0]}, \"objects\": {\"pulling_door\": {\"position\": [2.4000000953674316, 1.1175870895385742e-08, 1.0800002813339233], \"orientation_wxyz\": [1.0, 4.6681026333317277e-07, -1.6328392575815087e-06, 5.328974594931424e-08], \"velocity\": [4.806713332072832e-05, 3.738915211215499e-06, -5.056715235696174e-05], \"angular_velocity\": [-1.8278209608979523e-05, -0.00017644159379415214, 5.9757516282843426e-05], \"joint_pos\": [-0.5999999642372131], \"joint_names\": [\"pull_door_slide\"]}, \"can\": {\"position\": [2.252088785171509, 0.302018404006958, 1.2328583002090454], \"orientation_wxyz\": [0.9999865889549255, 4.167530278209597e-05, -0.005174943245947361, -0.00015136544243432581], \"velocity\": [0.0006937002181075513, 1.6018633687053807e-05, 0.008105979301035404], \"angular_velocity\": [0.0015827356837689877, -0.008856005035340786, 8.884171984391287e-05]}}}\nCOMMAND DONE\n","exit":[0],"pics":[]},"tok":{"in":41237,"cached":40960,"out":33,"think":0,"usd":0.0454},"sim":{"submit":0,"reset":0}},{"id":28,"t":301.9,"say":"The grasp is holding: the can rose about 9 cm and is moving with the gripper. I’ll withdraw it from the cabinet and settle it near the middle of the benchmark’s accepted height range.","calls":[{"kind":"shell","label":"writes cmd.py","code":"cat > /app/cmd.py <<'PY'\nmove(s,[1.72,.301668,1.24],360,grip=-1,hold=90)\nreport(s,'withdrawn')\nmove(s,[1.72,.301668,1.70],480,grip=-1,hold=240)\nreport(s,'final_lift')\nA=np.vstack([s.actions(),np.tile([1.72,.301668,1.70,1,0,0,0,-1],(360,1))])\ns.save_trajectory(A,'/app/output/trajectory.npz')\nprint('SAVED',A.shape,flush=True)\nPY\npython - <<'PY'\np='/app/output/gen.py'\ns=open(p).read().replace(\" report(s,'at_can')\", \" report(s,'at_can')\\n move(s,[2.106,.301668,1.158],1,grip=-1,hold=120)\\n move(s,[2.106,.301668,1.24],240,grip=-1,hold=90)\\n report(s,'lift_in_shelf')\\n move(s,[1.72,.301668,1.24],360,grip=-1,hold=90)\\n move(s,[1.72,.301668,1.70],480,grip=-1,hold=240)\\n report(s,'final_lift')\")\ns=s.replace(\" s.save_trajectory(s.actions(),'/app/output/trajectory.npz')\", \" A=np.vstack([s.actions(),np.tile([1.72,.301668,1.70,1,0,0,0,-1],(360,1))])\\n s.save_trajectory(A,'/app/output/trajectory.npz')\")\nopen(p,'w').write(s)\nPY"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":43223,"cached":41088,"out":683,"think":201,"usd":0.0966},"sim":{"submit":0,"reset":0}},{"id":29,"t":311.5,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":43964,"cached":43008,"out":39,"think":18,"usd":0.0545},"sim":{"submit":0,"reset":0}},{"id":30,"t":358.7,"say":"","calls":[{"kind":"shell","label":"tail -3 /app/server.log; cat /run/rcb-limits/usage.json","code":"tail -3 /app/server.log; cat /run/rcb-limits/usage.json"}],"out":{"text":"final_lift {\"status\": {\"success\": true, \"done\": true, \"end_reason\": \"success\", \"control_steps\": 3313, \"sim_time_s\": 27.6083, \"episode_length_s\": 60.0, \"resets\": 1, \"state_sha\": \"598f64fc3b504f6d85706d436a0f19b89f59373ab81ce2ad75ae7cb7e2581522\"}, \"proprio\": {\"base_pose\": [0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0], \"base_vel\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"ee_pose\": [0.22699981927871704, 4.673640141561464e-09, 1.1237499713897705, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09], \"ee_vel\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"gripper_width\": 0.0020000000949949026, \"arm_joint_pos\": [0.0, 0.0, 0.0, 0.0], \"arm_joint_vel\": [0.0, 0.0, 0.0, 0.0], \"command\": [0.22699981927871704, 4.673640141561464e-09, 1.1237499713897705, 0.9999999403953552, 0.0, 0.0, -7.574781690777854e-09, -1.0]}, \"objects\": {\"pulling_door\": {\"position\": [2.4000000953674316, 2.60770320892334e-08, 1.0800002813339233], \"orientation_wxyz\": [1.0, 3.118974518656614e-07, -1.726476511976216e-06, 5.633428656892647e-08], \"velocity\": [0.0, 0.0, 0.0], \"angular_velocity\": [0.0, 0.0, 0.0], \"joint_pos\": [0.0], \"joint_names\": [\"pull_door_slide\"]}, \"can\": {\"position\": [2.2407779693603516, 0.3273347318172455, 1.1699999570846558], \"orientation_wxyz\": [1.0, 0.0, 0.0, 0.0], \"velocity\": [0.0, 0.0, 0.0], \"angular_velocity\": [0.0, 0.0, 0.0]}}}\nSAVED (3673, 8)\nCOMMAND DONE\n{\n \"t\": 1792367294.65,\n \"measured\": true,\n \"gpu_memory_gb\": 0.703,\n \"memory_gb\": 1.92,\n \"processes\": 9,\n \"disk_gb\": 0.828,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 16.0,\n \"max_memory_gb\": 28.0,\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\": 420.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3180.0,\n \"deadline_utc\": \"2026-10-19T00:41:14Z\"\n}","exit":[0],"pics":[]},"tok":{"in":44026,"cached":43776,"out":45,"think":0,"usd":0.0485},"sim":{"submit":0,"reset":0}},{"id":31,"t":363.9,"say":"The first attempt succeeded at control step 3,313 (27.61 simulated seconds), and the trajectory is saved. I’ll now replay that file in two fresh processes, matching the grader’s checks.","calls":[{"kind":"shell","label":"writes cmd.py","code":"cat > /app/cmd.py <<'PY'\nprint('END_STATE',json.dumps(s._end,default=lambda x:np.asarray(x).tolist()),flush=True)\nraise SystemExit\nPY\npython - <<'PY'\nimport numpy as np\np='/app/output/trajectory.npz'\nf=np.load(p)\nprint(f.files, f['actions'].shape, np.isfinite(f['actions']).all(),np.linalg.norm(f['actions'][:,3:7],axis=1).min())\nPY\npython /opt/tools/rcb_ambench.py replay --instance /app/instance.json --traj /app/output/trajectory.npz > /app/output/replay1.log 2>&1"},{"kind":"shell","label":"python /opt/tools/rcb_ambench.py replay --instance /app/instance.json --traj /app/output/trajectory.npz > /app","code":"python /opt/tools/rcb_ambench.py replay --instance /app/instance.json --traj /app/output/trajectory.npz > /app/output/replay2.log 2>&1"}],"out":{"text":"['task', 'actions', 'meta'] (3673, 8) True 0.9999999403953553\n","exit":[],"pics":[]},"tok":{"in":45048,"cached":43904,"out":389,"think":94,"usd":0.0748},"sim":{"submit":0,"reset":0}},{"id":32,"t":374.6,"say":"","calls":[{"kind":"shell","label":"tail -1 /app/server.log; cat /app/output/gen.py; tail -4 /app/output/replay1.log; tail -4 /app/output/replay2.","code":"tail -1 /app/server.log; cat /app/output/gen.py; tail -4 /app/output/replay1.log; tail -4 /app/output/replay2.log"}],"out":{"text":"2026-10-18T23:48:28Z [355,906ms] [Warning] [carb] Recursive unloadAllPlugins() detected!\nfrom rcb_ambench import Session\nimport numpy as np, json\n\ndef report(s,label):\n print(label,json.dumps({'status':s.status(),'proprio':s.proprio(),'objects':s.objects()}),flush=True)\n\ndef move(s,xyz,n=240,grip=-1,hold=60,quat=None):\n a=s.hold_action().copy()\n b=np.array([*xyz,*(a[3:7] if quat is None else quat),grip],dtype=float)\n for t in range(1,n+1):\n u=t/n; u=u*u*(3-2*u)\n c=a*(1-u)+b*u; c[3:7]/=np.linalg.norm(c[3:7]); c[7]=grip\n if s.step(c): return True\n for _ in range(hold):\n if s.step(b): return True\n return False\n\ndef generate(s):\n move(s,[1.82,.55,1.23],500,hold=120)\n report(s,'approach')\n move(s,[1.82,-.08,1.23],480,hold=120)\n report(s,'door_push')\n move(s,[1.76,.301668,1.158],300,grip=1,hold=60)\n move(s,[2.106,.301668,1.158],300,grip=1,hold=120)\n report(s,'at_can')\n move(s,[2.106,.301668,1.158],1,grip=-1,hold=120)\n move(s,[2.106,.301668,1.24],240,grip=-1,hold=90)\n report(s,'lift_in_shelf')\n move(s,[1.72,.301668,1.24],360,grip=-1,hold=90)\n move(s,[1.72,.301668,1.70],480,grip=-1,hold=240)\n report(s,'final_lift')\n\nif __name__=='__main__':\n s=Session(instance='/app/instance.json')\n generate(s)\n A=np.vstack([s.actions(),np.tile([1.72,.301668,1.70,1,0,0,0,-1],(360,1))])\n s.save_trajectory(A,'/app/output/trajectory.npz')\n\tSource prim name : /World/envs/env_0\n\tGlobal prim paths : []\n\tReplicate physics : False\n[INFO]: Starting the simulation. This may take a few seconds. Please wait...\ncat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory\n2026-10-18T23:48:33Z [4,377ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0\n2026-10-18T23:48:33Z [4,378ms] [Warning] [gpu.foundation.plugin] PCIe link width current (8) and maximum (16) for device 0 don't match.\n2026-10-18T23:48:33Z [4,414ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it\n","exit":[0],"pics":[]},"tok":{"in":45555,"cached":44928,"out":178,"think":114,"usd":0.0601},"sim":{"submit":0,"reset":0}},{"id":33,"t":378.7,"say":"","calls":[{"kind":"shell","label":"rg '^END_STATE' /app/server.log","code":"rg '^END_STATE' /app/server.log"}],"out":{"text":"END_STATE {\"proprio\": {\"joint_pos\": [0.5876910090446472, 0.4384400248527527, -0.14781002700328827, -4.289373478627567e-08, 0.0193405132740736, 0.019457440823316574], \"joint_vel\": [-0.00658600265160203, 0.007716603111475706, -0.006840467918664217, -0.0032208715565502644, 2.069544279947877e-05, 2.4341943571926095e-05], \"tcp_pose\": [1.7177040576934814, 0.30166780948638916, 1.675824761390686, 1.0, 8.591658229306631e-08, 0.0001494222815381363, -2.034209423129596e-08], \"gripper_opening\": [0.038797952234745026], \"gripper_cmd\": [-1.0], \"joint_effort\": [2.1506400108337402, -5.944612979888916, -6.432525634765625, 3.139918565750122], \"base_pose\": [1.3995901346206665, 0.30166783928871155, 1.417844295501709, 0.9999997615814209, 2.8199441004517212e-08, -0.0005711904377676547, 9.373140485990916e-09], \"base_vel\": [0.00027681991923600435, 1.4426826737690135e-06, 0.08630847185850143, -5.3302032938518096e-06, 0.007112022023648024, -3.9195342651510146e-06], \"ee_cmd\": [1.7200000286102295, 0.3016679883003235, 1.674919843673706, 1.0, 0.0, 0.0, -7.574782578956274e-09]}, \"step\": 3313}\n","exit":[0],"pics":[]},"tok":{"in":46557,"cached":45440,"out":120,"think":83,"usd":0.0626},"sim":{"submit":0,"reset":0}},{"id":34,"t":386.4,"say":"","calls":[{"kind":"shell","label":"rg -n 'def _cmd_replay|def main|args.traj|load_trajectory' /opt/tools/rcb_ambench.py | tail -25; tail -3 /app/","code":"rg -n 'def _cmd_replay|def main|args.traj|load_trajectory' /opt/tools/rcb_ambench.py | tail -25; tail -3 /app/output/replay1.log; tail -3 /app/output/replay2.log"}],"out":{"text":"1082:def load_trajectory(path, env_id: str) -> np.ndarray:\n1112: A = load_trajectory(a.traj, s.env_id)\n1130: A = load_trajectory(a.traj, s.env_id)\n1164:def main(argv=None) -> int:\n2026-10-18 23:48:37.487 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 2 variables each: pose_cost_with_base\n2026-10-18 23:48:37.508 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: smoothness_cost_constant\n2026-10-18 23:48:37.536 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n2026-10-18 23:48:38.364 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 2 variables each: pose_cost_with_base\n2026-10-18 23:48:38.384 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: smoothness_cost_constant\n2026-10-18 23:48:38.410 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n","exit":[0],"pics":[]},"tok":{"in":47238,"cached":46336,"out":263,"think":178,"usd":0.0685},"sim":{"submit":0,"reset":0}},{"id":35,"t":390.9,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":47914,"cached":47104,"out":72,"think":51,"usd":0.0588},"sim":{"submit":0,"reset":0}},{"id":36,"t":438.3,"say":"Both fresh-process replays are running. The saved file contains 3,673 valid action rows, including extra steps at the final height target to allow for settling.","calls":[{"kind":"shell","label":"tail -5 /app/output/replay1.log; tail -5 /app/output/replay2.log; cat /run/rcb-limits/usage.json","code":"tail -5 /app/output/replay1.log; tail -5 /app/output/replay2.log; cat /run/rcb-limits/usage.json"}],"out":{"text":"2026-10-18 23:48:37.054 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: limit_cost\n2026-10-18 23:48:37.364 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: rest_cost_arm\n2026-10-18 23:48:37.487 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 2 variables each: pose_cost_with_base\n2026-10-18 23:48:37.508 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: smoothness_cost_constant\n2026-10-18 23:48:37.536 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n2026-10-18 23:48:38.011 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: limit_cost\n2026-10-18 23:48:38.247 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: rest_cost_arm\n2026-10-18 23:48:38.364 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 2 variables each: pose_cost_with_base\n2026-10-18 23:48:38.384 | INFO | jaxls._py310._problem:analyze:234 - Vectorizing group with 1 costs, 1 variables each: smoothness_cost_constant\n2026-10-18 23:48:38.410 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n{\n \"t\": 1792367379.65,\n \"measured\": true,\n \"gpu_memory_gb\": 1.406,\n \"memory_gb\": 3.27,\n \"processes\": 12,\n \"disk_gb\": 0.829,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 16.0,\n \"max_memory_gb\": 28.0,\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\": 505.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3095.0,\n \"deadline_utc\": \"2026-10-19T00:41:14Z\"\n}","exit":[0],"pics":[]},"tok":{"in":48009,"cached":47744,"out":99,"think":0,"usd":0.0553},"sim":{"submit":0,"reset":0}},{"id":37,"t":446.9,"say":"","calls":[{"kind":"shell","label":"tail -8 /app/output/rcb_session_log.jsonl; sed -n '1100,1140p' /opt/tools/rcb_ambench.py","code":"tail -8 /app/output/rcb_session_log.jsonl; sed -n '1100,1140p' /opt/tools/rcb_ambench.py"}],"out":{"text":"{\"ev\": \"session_start\", \"t\": 1792366970.435, \"pid\": 4851, \"env_id\": \"CabinetPickPlace-Am-FAHexa-Abs-PID-Direct-v0\", \"instance_matches\": true, \"cameras\": false}\n if s.step(row):\n break\n res = s.status()\n return {**{k: res[k] for k in (\"success\", \"state_sha\", \"end_reason\", \"control_steps\", \"sim_time_s\")}, \"executed_rows\": s.n_steps}\n\n\ndef _cli_replay(a) -> int:\n \"\"\"The grader's replay: a fresh process, no cameras (bit-reproducible), the process's first episode.\"\"\"\n t0 = time.time()\n s = Session(a.instance)\n out: dict[str, Any] = {\"task\": s.env_id, \"instance_matches\": bool(s.instance_matches), \"initial_sha\": s.initial_sha}\n try:\n A = load_trajectory(a.traj, s.env_id)\n rows = _replay_rows(s, A)\n except BadTrajectory as exc: # the agent's input (a verdict: the grader scores it 0), never the simulator's\n out[\"error\"] = f\"bad trajectory: {exc}\"[:300]; out[\"bad_trajectory\"] = 1\n print(json.dumps(out), flush=True); return 2\n out[\"replays\"] = [rows]\n out[\"n_actions\"] = int(len(A)); out[\"replay_wall_s\"] = round(time.time() - t0, 2)\n print(json.dumps(out), flush=True)\n s.close()\n return 0\n\n\ndef _cli_film(a) -> int:\n \"\"\"An illustration, never a verdict: the rows with the onboard cameras on, filmed (both cameras side by side) plus the\n last end-effector frame. The cameras are drawn by the render worker, so the physics process is the replay's; the film\n still decides nothing (its time-out only costs the video).\"\"\"\n t0 = time.time()\n s = Session(a.instance, cameras=True)\n A = load_trajectory(a.traj, s.env_id)\n s.start_video(a.video, fps=a.fps)\n res = _replay_rows(s, A)\n s.stop_video()\n from PIL import Image\n Image.fromarray(s.render_frame(\"ee_camera\")).save(str(Path(a.video).with_suffix(\".last.png\")))\n print(json.dumps({\"task\": s.env_id, \"film\": res, \"video\": a.video, \"film_wall_s\": round(time.time() - t0, 2)}), flush=True)\n s.close()\n return 0\n\n\n","exit":[0],"pics":[]},"tok":{"in":48882,"cached":47872,"out":254,"think":191,"usd":0.0707},"sim":{"submit":0,"reset":0}},{"id":38,"t":450.9,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const rs=await Promise.allSettled([\ntools.write_stdin({session_id:68859,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:32232,chars:\"\",yield_time_ms:1000,max_output_tokens:1000})\n]); rs.forEach(text);\n"},{"kind":"shell","label":"waits for the running program's output","code":"const rs=await Promise.allSettled([\ntools.write_stdin({session_id:68859,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}),\ntools.write_stdin({session_id:32232,chars:\"\",yield_time_ms:1000,max_output_tokens:1000})\n]); rs.forEach(text);\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":49821,"cached":48640,"out":106,"think":25,"usd":0.0658},"sim":{"submit":0,"reset":0}},{"id":39,"t":461.7,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50033,"cached":49664,"out":182,"think":161,"usd":0.0625},"sim":{"submit":0,"reset":0}},{"id":40,"t":509.6,"say":"","calls":[{"kind":"shell","label":"tail -2 /app/output/replay1.log; tail -2 /app/output/replay2.log; date -u +%T","code":"tail -2 /app/output/replay1.log; tail -2 /app/output/replay2.log; date -u +%T"}],"out":{"text":"2026-10-18 23:48:37.536 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n{\"task\": \"CabinetPickPlace-Am-FAHexa-Abs-PID-Direct-v0\", \"instance_matches\": true, \"initial_sha\": \"bd6848fff44881682a0d02fa18d46ba1af260365078e4fbdeea44c20047baeb3\", \"replays\": [{\"success\": true, \"state_sha\": \"598f64fc3b504f6d85706d436a0f19b89f59373ab81ce2ad75ae7cb7e2581522\", \"end_reason\": \"success\", \"control_steps\": 3313, \"sim_time_s\": 27.6083, \"executed_rows\": 3313}], \"n_actions\": 3673, \"replay_wall_s\": 137.92}\n2026-10-18 23:48:38.410 | INFO | jaxls._py310._problem:analyze:312 - Variable elimination: variable IDs are traced; solves will not use elimination\n{\"task\": \"CabinetPickPlace-Am-FAHexa-Abs-PID-Direct-v0\", \"instance_matches\": true, \"initial_sha\": \"bd6848fff44881682a0d02fa18d46ba1af260365078e4fbdeea44c20047baeb3\", \"replays\": [{\"success\": true, \"state_sha\": \"598f64fc3b504f6d85706d436a0f19b89f59373ab81ce2ad75ae7cb7e2581522\", \"end_reason\": \"success\", \"control_steps\": 3313, \"sim_time_s\": 27.6083, \"executed_rows\": 3313}], \"n_actions\": 3673, \"replay_wall_s\": 137.18}\n23:50:50\n","exit":[0],"pics":[]},"tok":{"in":50238,"cached":49792,"out":54,"think":0,"usd":0.057},"sim":{"submit":0,"reset":0}},{"id":41,"t":515.7,"say":"","calls":[{"kind":"shell","label":"out=pathlib.Path('/app/output')","code":"python - <<'PY'\nimport json, pathlib, numpy as np\nout=pathlib.Path('/app/output')\nresults=[]\nfor name in ['replay1.log','replay2.log']:\n text=(out/name).read_text()\n assert 'CUDA error: out of memory' not in text\n assert not any('PhysX error: GPU' in line and 'fail to launch' in line for line in text.splitlines())\n record=next(json.loads(line) for line in text.splitlines() if line.startswith('{\"task\":'))\n assert record['instance_matches'] and record['replays'][0]['success']\n results.append(record)\n(out/'verification.json').write_text(json.dumps(results,indent=2)+'\\n')\na=np.load(out/'trajectory.npz')['actions']\nassert a.shape==(3673,8) and np.isfinite(a).all()\ncompile((out/'gen.py').read_text(),str(out/'gen.py'),'exec')\nprint('Verified: two fresh-process successes with identical end-state hashes; 3,673 valid rows.')\nPY"}],"out":{"text":"Verified: two fresh-process successes with identical end-state hashes; 3,673 valid rows.\n","exit":[0],"pics":[]},"tok":{"in":50795,"cached":50048,"out":285,"think":18,"usd":0.0718},"sim":{"submit":0,"reset":0}},{"id":42,"t":520.4,"say":"Saved [trajectory.npz](/app/output/trajectory.npz) and [gen.py](/app/output/gen.py).\n\nBoth fresh-process replays succeeded at step **3,313** (27.61 simulated seconds), with identical end-state hashes. The trajectory contains 3,673 valid action rows.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":51157,"cached":50560,"out":66,"think":0,"usd":0.0598},"sim":{"submit":0,"reset":0}}]}

runs/behavior-assembling-gift-baskets-i00-privileged--7ivvoif.json ADDED Viewed