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runs/behavior-sorting-household-items-i00-standard--ygwbuuf.json

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+{"slug":"behavior-sorting-household-items-i00-standard--ygwbuuf","task":"behavior-sorting-household-items-i00-standard","bench":"behavior","mode":"standard","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"live_matches_replay":1,"finalized":1,"missing_log":0,"n_actions":1829,"sim_steps":1829,"physics_steps":7316,"steps":1829,"elapsed_s":603.1,"video_rendered":1,"gpu_lost":0,"replay_error":0,"instance_ok":1,"task_failure":1,"q_score":0.0,"sim_startups":2,"resumes":0,"resume_state_mismatch":0,"resume_max_tcp_dev_m":0.0,"resume_max_joint_dev":0.0,"gave_up":0,"infra_error":0,"grader_error":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.182,"peak_processes":11,"peak_disk_gb":0.268,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1354,"tokens":{"in":1621821,"cached":1564714,"out":20136,"usd":1.17},"task_text":"# BEHAVIOR-1K · sorting_household_items — STANDARD MODE (robot as a service, eai-standard/2.2)\n\nYou drive an **R1Pro** mobile bimanual robot around a house **as if it were real hardware**: the simulator (BEHAVIOR-1K\nv3.9.2, the 2026 BEHAVIOR Challenge stack) runs in a service you cannot open. You get one client and one episode.\n**Task:** Sort the household items into the bathroom. Two baskets stand on the bedroom floor: one holds two bottles of detergent and a box of sanitary napkins, the other a soap dispenser, a tube of toothpaste and a toothbrush; a cup stands on the bathroom sink. Put both detergent bottles under the bathroom sink, next to each other; the box of sanitary napkins on the bathroom shelf; the soap dispenser on the sink; the toothbrush into the cup, which stays on the sink; and the toothpaste next to the cup. Success means all of the following hold at the same time: (1) both detergent bottles are under the sink and next to each other; (2) the box of sanitary napkins is on top of the shelf; (3) the soap dispenser and the cup are on top of the sink; (4) the toothbrush is inside the cup and the tube of toothpaste is next to the cup. How the simulator judges them: inside(A, B): the centre of A's axis-aligned bounding box lies within B's bounding box and within B's interior (container) volume. ontop(A, B): A touches B and B is directly below A (and not above it). nextto(A, B): the gap between A's and B's axis-aligned bounding boxes is at most one sixth of the mean of their summed box dimensions, and nothing lies between them along a horizontal axis. under(A, B): B is directly above A (and not below it). The service checks the goal and the episode ends the moment it holds.\n\n## Rules (real-robot rules)\n- **No reset.** The episode starts when the service comes up and ends on success, when the robot has fallen over, when\n  your time is up, or on a simulator error. Whatever you knock over or push away stays where it ends up.\n- **A fall ends the episode as a failure** (`meta[\"reason\"]` \"failure: the robot fell over\"): the robot has fallen over\n  when its base has been tilted more than 41.4° from upright, or more than 3 cm below the floor, for 10 s of simulated\n  time in a row (OmniGibson's own Falling rule; tilted means the z of the base's up axis is below 0.75, which the\n  proprioception gives as cos(rx)·cos(ry) of `base_footprint_rx_joint` and `base_footprint_ry_joint`).\n- **No privileged state.** You see what the robot's cameras see (RGB; depth on request) plus its own proprioception\n  (joints, base pose, end-effector and fingertip poses, gripper openings). No object poses, no map, no success predicate.\n- There is no step budget; your wall-clock budget is 4 h (14400 s; `meta[\"time_left_s\"]`). Actions and simulated time\n  are reported as cost. Only a runaway guard bounds the episode: it ends at 200,000 control steps (1.85 h of simulated\n  time; `spec[\"max_control_steps\"]`, reason `step_guard`).\n- **A malformed request is refused with a 400\n… (4,816 characters left out) …\n a valid target. At most 50 rows per submit.\n\n### Optional inputs (eai-standard/2.2; nothing changes unless you ask)\n- **Depth**: `depth=True` on `get_obs` / `submit` adds `res.last_depth[cam]`, float32 (224, 224) z-depth in metres (0 = no\n  reading), pixel-aligned with the RGB; `depth=\"frames\"` also returns `res.depth[cam]` (N, 224, 224), one per frame.\n- **Per frame**: `res.frame_step`, `res.frame_time_s` and `res.extrinsic_cv[cam]` (N, 3, 4; world -> camera, OpenCV\n  axes). While the robot moves, a frame shows the scene 2 control steps before its `frame_step`; its `extrinsic_cv` is the\n  pose it was rendered with. Intrinsics `spec[\"cameras\"][cam][\"intrinsic_cv\"]`, mounting `spec[\"cameras\"][cam][\"mount\"]`\n  (parent link + fixed `link_T_cam_cv`).\n- **Robot**: `spec[\"robot_spec\"]`: joint names and real limits, gripper stroke and open/close rule, drive gains, the\n  end-effector frame vs the fingertip centre (TCP, 1.88 cm further along the fingers), the base's per-step and speed\n  limits; `spec[\"world\"]`: frame, units, quaternion order, camera axes.\n- **Proprioception**: named columns `spec[\"proprio_layout\"]`, groups `spec[\"proprio_groups\"]` (joint_pos, joint_vel,\n  joint_effort, gripper_opening, tcp_pose, eef_pose, base_pose, ...): `res.group(\"tcp_pose\")` per frame,\n  `res.group(\"tcp_pose\", now=True)` now.\n- **Kinematics** (stateless: no physics, no time): `r.fk(q)`, `r.ik({\"left_tcp\": pose}, seed=q)`; q =\n  `spec[\"kinematics\"][\"joint_names\"]` (trunk + both arms, all proprio columns); poses in the robot's base frame, or in the\n  world frame with `base_pose=` the 7 base proprio columns.\n\nFor scale: the 2026 challenge's human teleoperators needed 527 s on average (15,808 control steps) for this task, and the simulator runs at ~7-11 control steps/s. Budget your time, drive before you reach, and check `meta[\"done\"]`.\n\n## External material\nUse only what is in your container and the task interface described above. Do not download or install anything: no source code, robot models, datasets, demonstrations, pretrained policies, published solutions or packages. Do not use web search, browsing, account connectors or any other tool that runs outside your container. Network access is limited to your model's API. A result obtained with external material is void.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 8 cores for your container; the cap only slows you down.\n","replay":"behavior-sorting-household-items-i00-standard--ygwbuuf/replay.mp4","replay_last":"behavior-sorting-household-items-i00-standard--ygwbuuf/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"Check memory, app dir, tools","code":"ls /logs/agent/sessions/projects/-app/memory/ 2>/dev/null; cat /logs/agent/sessions/projects/-app/memory/MEMORY.md 2>/dev/null; ls -la /app /app/output /opt/tools; cat /run/rcb-limits/usage.json"}],"out":{"text":"/app:\ntotal 0\ndrwxr-xr-x 3 root root  28 Oct 11 01:40 .\ndr-xr-xr-x 1 root root 159 Oct 11 10:00 ..\ndrwxr-xr-x 2 root root   6 Oct 11 01:40 output\n\n/app/output:\ntotal 0\ndrwxr-xr-x 2 root root  6 Oct 11 01:40 .\ndrwxr-xr-x 3 root root 28 Oct 11 01:40 ..\n\n/opt/tools:\ntotal 20\ndrwxr-xr-x 2 root root    54 Oct 11 01:40 .\ndrwxr-xr-x 1 root root    29 Oct 11 10:00 ..\n-rw-rw-r-- 1 root root  3881 Oct 11 01:40 rcb1.py\n-rw-rw-r-- 1 root root 16333 Oct 11 01:40 rcb_client.py\n{\n \"t\": 1791712867.76,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.097,\n \"processes\": 5,\n \"disk_gb\": 0.0,\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 0.0,\n  \"max_memory_gb\": 8.0,\n  \"max_processes\": 512,\n  \"max_disk_gb\": 20.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null\n}\n\n[stdout]\n/app:\ntotal 0\ndrwxr-xr-x 3 root root  28 Oct 11 01:40 .\ndr-xr-xr-x 1 root root 159 Oct 11 10:00 ..\ndrwxr-xr-x 2 root root   6 Oct 11 01:40 output\n\n/app/output:\ntotal 0\ndrwxr-xr-x 2 root root  6 Oct 11 01:40 .\ndrwxr-xr-x 3 root root 28 Oct 11 01:40 ..\n\n/opt/tools:\ntotal 20\ndrwxr-xr-x 2 root root    54 Oct 11 01:40 .\ndrwxr-xr-x 1 root root    29 Oct 11 10:00 ..\n-rw-rw-r-- 1 root root  3881 Oct 11 01:40 rcb1.py\n-rw-rw-r-- 1 root root 16333 Oct 11 01:40 rcb_client.py\n{\n \"t\": 1791712867.76,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.097,\n \"processes\": 5,\n \"disk_gb\": 0.0,\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 0.0,\n  \"max_memory_gb\": 8.0,\n  \"max_processes\": 512,\n  \"max_disk_gb\": 20.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null\n}","exit":[],"pics":[]},"tok":{"in":26028,"cached":18236,"out":216,"think":null,"usd":0.0469},"sim":{"submit":0,"reset":0}},{"id":3,"t":3.3,"say":"","calls":[{"kind":"shell","label":"Read client source and check packages","code":"cat /opt/tools/rcb_client.py; cat /opt/tools/rcb1.py; python3 -c \"import numpy, cv2; print(numpy.__version__, cv2.__version__)\"; pip list 2>/dev/null | head -50"}],"out":{"text":"\"\"\"eai-standard/2.2 client (formerly rcb-limited/2.x) — the only thing a standard-mode agent gets (installed at\n/opt/tools/rcb_client.py).\n\n    from rcb_client import Robot\n    r = Robot()                                  # finds the service (sim:8000, then localhost:8000), waits for warm-up\n    spec = r.spec()                              # actions, cameras (+ intrinsics, mounting), robot_spec, world, budget, kinematics\n    obs = r.get_obs()                            # current frames: obs.last[cam] -> uint8 (H,W,3); obs.meta[\"proprio\"]\n    obs = r.get_obs(depth=True)                  # + obs.last_depth[cam] -> float32 (H,W) z-depth in metres, 0 = no reading\n    res = r.submit(\"joint_position\", A, dt=0.1)  # A: (T, dim) rows dt apart; returns the execution video\n    res = r.submit(\"ee_pose\", P)                 # (T, dim) end-effector targets (see spec()[\"action_types\"])\n    res.video[cam] -> mp4 bytes    res.frames[cam] -> uint8 (N,H,W,3) if video=\"frames\"/\"both\"    res.last[cam]\n    res.proprio -> float32 (N, D), one row per frame (names: spec()[\"proprio_layout\"]; res.group(\"tcp_pose\"))\n    res.frame_step -> int64 (N,) control step of each frame    res.frame_time_s -> float64 (N,) simulated time\n    res.extrinsic_cv[cam] -> float64 (N,3,4) world->camera per frame (res.meta[\"cameras\"]: intrinsics + the last frame's pose)\n    res = r.submit(..., depth=\"frames\")          # + res.depth[cam] -> float32 (N,H,W) metres, one per frame (1 mm steps)\n    r.fk(q)                       \n… (38,239 characters left out) …\nndent=1)); written.append(\"meta.json\")\n    for name, p in parts.items():\n        safe = name.replace(\"/\", \"__\")\n        if p[\"kind\"] == \"array\":\n            f = out / f\"{safe}.npy\"; np.save(f, p[\"data\"])\n        elif p[\"kind\"] == \"mp4\":\n            f = out / f\"{safe}.mp4\"; f.write_bytes(p[\"data\"])\n        elif p[\"kind\"] == \"jpeg\":\n            f = out / f\"{safe}.jpg\"; f.write_bytes(p[\"data\"])\n        elif p[\"kind\"] == \"json\":\n            f = out / f\"{safe}.json\"; f.write_text(json.dumps(p[\"data\"], indent=1))\n        else:\n            f = out / f\"{safe}.bin\"; f.write_bytes(p[\"data\"])\n        written.append(f.name)\n    return written\n\n\nif __name__ == \"__main__\":\n    if len(sys.argv) == 4 and sys.argv[1] == \"unpack\":\n        print(\"\\n\".join(unpack_to_dir(open(sys.argv[2], \"rb\").read(), sys.argv[3])))\n    elif len(sys.argv) == 3 and sys.argv[1] == \"info\":\n        meta, parts = decode(open(sys.argv[2], \"rb\").read(), arrays=False)\n        print(json.dumps(meta, indent=1)); [print(n, {k: v for k, v in p.items() if k != \"data\"}) for n, p in parts.items()]\n    else:\n        print(__doc__)\nTraceback (most recent call last):\n  File \"<string>\", line 1, in <module>\nModuleNotFoundError: No module named 'cv2'\nPackage            Version\n------------------ ---------\ncertifi            2026.7.22\ncharset-normalizer 3.5.2\nidna               3.20\nnumpy              2.5.3\npillow             12.3.0\npip                25.0.1\nrequests           2.34.2\nscipy              1.18.1\nurllib3            2.8.0","exit":[],"pics":[]},"tok":{"in":26798,"cached":26026,"out":157,"think":null,"usd":0.0122},"sim":{"submit":0,"reset":0}},{"id":4,"t":6.5,"say":"","calls":[{"kind":"shell","label":"Connect to sim and dump spec","code":"mkdir -p /app/runs /app/lib; cd /app && timeout 3500 python3 -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nimport json\nr=Robot()\njson.dump(r.spec(), open('/app/runs/spec.json','w'), indent=1)\nprint(r.status())\n\" 2>&1 | tail -5"}],"out":{"text":"Command did not complete within its 600s timeout and was moved to the background (ID: bvibw05cx). Output is being written to: /tmp/claude-0/-app/59fb1d88-7fa0-4eb7-92d5-21298b17fed0/tasks/bvibw05cx.output. You will be notified when it completes. If it is still running after 10m in the background, it will be stopped and you will be notified. To check interim output, use Read on that file path.\nSession cwd remains /app; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":35313,"cached":26796,"out":346,"think":null,"usd":0.0549},"sim":{"submit":0,"reset":0}},{"id":5,"t":610.7,"say":"","calls":[{"kind":"shell","label":"Wait for the sim connection","code":"sleep 300; cat /tmp/claude-0/-app/59fb1d88-7fa0-4eb7-92d5-21298b17fed0/tasks/bvibw05cx.output; ls -la /app/runs"}],"out":{"text":"[rcb_client] still waiting for the sim service to start (481 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (541 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (601 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (661 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n{'step': 0, 'calls': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 0.9, 'resumes': 0}\n\n[exited with code 0]\ntotal 36\ndrwxr-xr-x 2 root root    31 Oct 11 10:12 .\ndrwxr-xr-x 1 root root    41 Oct 11 10:01 ..\n-rw-r--r-- 1 root root 35292 Oct 11 10:12 spec.json\n\n[stdout]\n[rcb_client] still waiting for the sim service to start (481 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (541 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (601 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (661 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n{'step': 0, 'calls': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 0.9, 'resumes': 0}\n\n[exited with code 0]\ntotal 36\ndrwxr-xr-x 2 root root    31 Oct 11 10:12 .\ndrwxr-xr-x 1 root root    41 Oct 11 10:01 ..\n-rw-r--r-- 1 root root 35292 Oct 11 10:12 spec.json","exit":[],"pics":[]},"tok":{"in":35870,"cached":35311,"out":172,"think":null,"usd":0.0133},"sim":{"submit":0,"reset":0}},{"id":6,"t":914.1,"say":"","calls":[{"kind":"shell","label":"Summarize spec contents","code":"cd /app/runs && python3 -c \"\nimport json; s=json.load(open('spec.json'))\ndef show(d, ind=0, depth=0):\n    for k,v in d.items():\n        if isinstance(v, dict) and depth<3:\n            print(' '*ind+str(k)+':'); show(v, ind+2, depth+1)\n        else:\n            t=json.dumps(v); print(' '*ind+str(k)+': '+(t if len(t)<400 else t[:400]+'...'))\nshow(s)\n\""}],"out":{"text":"protocol: \"eai-standard/2.2\"\nprotocol_compat: [\"rcb-limited/2.0\", \"rcb-limited/2.1\", \"eai-standard/2.1\"]\nsimulator: \"behavior-1k 3.9.2 (OmniGibson / Isaac Sim)\"\nrobot: \"r1pro\"\ntask_text: \"Sort the household items into the bathroom. Two baskets stand on the bedroom floor: one holds two bottles of detergent and a box of sanitary napkins, the other a soap dispenser, a tube of toothpaste and a toothbrush; a cup stands on the bathroom sink. Put both detergent bottles under the bathroom sink, next to each other; the box of sanitary napkins on the bathroom shelf; the soap dispenser on th...\ncontrol_hz: 30\nphysics_substeps: 4\nmax_chunk_s: 10.0\nmax_watch_s: 30.0\nmax_control_steps: 200000\ncameras:\n  robot_r1:left_realsense_link:Camera:0:\n    rgb: true\n    depth: true\n    mounted: \"left wrist\"\n    resolution: [224, 224]\n    calibration_in_obs: true\n    intrinsic_cv: [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]]\n    mount:\n      type: \"link\"\n      parent_link: \"left_realsense_link\"\n      link_T_cam_cv: [[0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]\n    depth_range_m: [0.0010000000474974513, 65.535]\n  robot_r1:right_realsense_link:Camera:0:\n    rgb: true\n    depth: true\n    mounted: \"right wrist\"\n    resolution: [224, 224]\n    calibration_in_obs: true\n    intrinsic_cv: [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]]\n    mount:\n      type: \"link\"\n      parent_link: \"righ\n… (33,075 characters left out) …\nolver: \"damped least squares from the seed (the targeted arms' joints first, then with the trunk), then cuRobo's multi-seed IK (the ee_pose action's solver) started from the seed, refined the same way\"\n    moves: \"the trunk and the arm of each targeted frame; the other arm keeps its seed values\"\n    seed_default: \"the robot's reset configuration\"\n    tol_pos_m: 0.001\n    tol_rot_rad: 0.01\n    max_iters: 200\n    collision_checking: \"none\"\n    joint_limits: \"enforced\"\n  stateless: true\n  note: \"q = trunk + both arms (joint_names, all proprio columns of measured positions). Poses are in the base frame (base_link, see robot_spec.base) unless the request gives base_pose (x y z qx qy qz qw: the 7 base proprio columns); then they are in the world frame. The model is the simulator's own articulation (its joint frames), so FK of the measured joints gives the measured link poses.\"\ndepth:\n  modes: [\"none\", \"last\", \"frames\"]\n  default: \"none\"\n  kind: \"z-depth\"\n  unit: \"m\"\n  invalid: 0\n  max_m: 65.535\n  frames_encoding: \"uint16 mm, zlib\"\n  noise: \"off\"\non_service_error: \"a connection error means the service crashed: it restarts and resumes the SAME episode (never a reset) in the state after the last call it completed, which you may not have received. Wait until GET /status answers again (rcb_client: Robot.wait_ready(); resuming replays the episode so far, which can take minutes in a long episode, and the wall clock keeps running), then check calls and control_ste...\nmax_call_wall_s: 900.0","exit":[],"pics":[]},"tok":{"in":37038,"cached":35868,"out":244,"think":null,"usd":0.0179},"sim":{"submit":0,"reset":0}},{"id":7,"t":916.8,"say":"","calls":[{"kind":"robot","label":"Write helper lib and take first observation","code":"mkdir -p /app/lib && cat > /app/lib/rb.py <<'EOF'\nimport sys, json, time, os\nsys.path.insert(0, '/opt/tools')\nimport numpy as np\nfrom PIL import Image\nfrom rcb_client import Robot\nfrom scipy.spatial.transform import Rotation as R\n\nHEAD = 'robot_r1:zed_link:Camera:0'\nLW = 'robot_r1:left_realsense_link:Camera:0'\nRW = 'robot_r1:right_realsense_link:Camera:0'\nCAMS = [HEAD, LW, RW]\nr = Robot()\nspec = r.spec()\nPL = spec['proprio_layout']\nPG = spec['proprio_groups']\nLOG = '/app/runs/log.txt'\n\ndef log(*a):\n    s = ' '.join(str(x) for x in a)\n    print(s, flush=True)\n    open(LOG, 'a').write(time.strftime('%H:%M:%S ') + s + '\\n')\n\ndef P(meta):\n    now = np.array(meta['proprio']['now'], dtype=np.float64)\n    return {k: now[v[0]:v[0]+v[1]] for k, v in PG.items()}\n\ndef pcol(meta, name):\n    return float(meta['proprio']['now'][PL.index(name)])\n\ndef obs(depth=True):\n    return r.get_obs(depth=depth)\n\ndef save_imgs(res, tag, cams=CAMS, scale=2):\n    paths = []\n    ims = [Image.fromarray(np.ascontiguousarray(res.last[c])).resize((224*scale, 224*scale)) for c in cams if c in res.last]\n    W = sum(i.width for i in ims); H = max(i.height for i in ims)\n    canvas = Image.new('RGB', (W, H)); x = 0\n    for i in ims: canvas.paste(i, (x, 0)); x += i.width\n    p = f'/app/runs/img_{tag}.png'; canvas.save(p); return p\n\ndef cur_q(meta):\n    \"\"\"joint_position 25-vector holding current pose (base zeros).\"\"\"\n    now = meta['proprio']['now']\n    g = lambda n: float(now[PL.index(n)])\n    a = np.zeros(25)\n    for i in range(4): a[3+i] = g(f'torso_joint{i+1}')\n    for i in range(7): a[7+i] = g(f'left_arm_joint{i+1}')\n    for i in range(7): a[16+i] = g(f'right_arm_joint{i+1}')\n    lo = g('left_gripper_finger_joint1'); a[14:16] = 0.07 if lo > 0.045 else 0.0\n    ro = g('right_gripper_finger_joint1'); a[23:25] = 0.07 if ro > 0.045 else 0.0\n    return a\n\ndef kin_q(meta):\n    now = meta['proprio']['now']\n    return np.array([float(now[PL.index(n)]) for n in spec['kinematics']['joint_names']])\n\ndef base_pose(meta):\n    p = P(meta)['base_pose']; return p\n\ndef base_xyyaw(meta):\n    bp = P(meta)['base_pose']\n    yaw = R.from_quat(bp[3:7]).as_euler('xyz')[2]\n    return bp[0], bp[1], yaw\n\ndef deproject(depth, cam_meta, us, vs):\n    \"\"\"pixel coords -> world points using intrinsic + cam2world\"\"\"\n    K = np.array(cam_meta['intrinsic_cv']); E = np.array(cam_meta['extrinsic_cv'])\n    if E.shape == (3, 4): E = np.vstack([E, [0, 0, 0, 1]])\n    z = depth[vs, us]\n    x = (us - K[0, 2]) * z / K[0, 0]; y = (vs - K[1, 2]) * z / K[1, 1]\n    pc = np.stack([x, y, z, np.ones_like(z)], -1)\n    Ew = np.linalg.inv(E)\n    return (pc @ Ew.T)[..., :3]\n\ndef cloud(res, cam, stride=1):\n    d = res.last_depth[cam]; cm = res.meta['cameras'][cam]\n    vs, us = np.mgrid[0:224:stride, 0:224:stride]\n    pts = deproject(d, cm, us.ravel(), vs.ravel())\n    valid = d[vs.ravel(), us.ravel()] > 0\n    return pts.reshape(vs.shape + (3,)), valid.reshape(vs.shape)\nEOF\ncd /app/runs && python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom rb import *\no = obs()\nprint(json.dumps({k:v for k,v in o.meta.items() if k not in ('proprio','cameras')}, indent=0)[:2000])\nprint(o.meta['cameras'][HEAD].keys())\np=P(o.meta)\nfor k,v in p.items(): print(k, np.round(v,3))\nprint(save_imgs(o,'000'))\nimport pickle; pickle.dump((o.meta, o.last, o.last_depth), open('/app/runs/obs000.pkl','wb'))\n\""}],"out":{"text":"{\n\"step\": 0,\n\"calls\": 1,\n\"control_steps\": 0,\n\"physics_steps\": 0,\n\"sim_time_s\": 0.0,\n\"time_s\": 236.42,\n\"time_left_s\": 14163.6,\n\"done\": false,\n\"reason\": null,\n\"obs_id\": 1,\n\"seconds\": 0.0,\n\"control_steps_watch\": 0,\n\"physics_steps_watch\": 0,\n\"ok\": true,\n\"stopped\": null\n}\ndict_keys(['intrinsic_cv', 'extrinsic_cv', 'cam2world_gl', 'image_size'])\nbase_joint_pos [ 0.376 -0.565  0.    -0.    -0.     2.195]\njoint_pos [ 1.024 -1.447 -0.47   0.     0.     0.     0.     0.    -0.    -0.\n  0.     0.    -0.    -0.    -0.    -0.    -0.    -0.     0.05   0.05\n  0.05   0.05 ]\nbase_pose [ 2.1295e+01  2.2636e+01  5.0000e-03 -0.0000e+00  0.0000e+00  3.1700e-01\n  9.4900e-01]\neef_pose [ 2.1240e+01  2.2910e+01  4.4400e-01  3.1600e-01 -9.4800e-01  7.0000e-03\n  2.2000e-02  2.1543e+01  2.2507e+01  4.4400e-01  3.1600e-01 -9.4800e-01\n  7.0000e-03  2.2000e-02]\nbase_joint_vel [ 0.003 -0.    -0.004 -0.01  -0.005 -0.008]\njoint_vel [ 0.122 -0.294 -0.006  0.003 -0.037 -0.035 -0.003 -0.003  0.052  0.067\n -0.013 -0.023  0.006  0.022 -0.003 -0.     0.004  0.005  0.     0.\n -0.     0.   ]\ngripper_opening [0.1 0.1]\ntcp_pose [ 2.1239e+01  2.2910e+01  4.2500e-01  3.1600e-01 -9.4800e-01  7.0000e-03\n  2.2000e-02  2.1542e+01  2.2507e+01  4.2500e-01  3.1600e-01 -9.4800e-01\n  7.0000e-03  2.2000e-02]\nbase_joint_effort [ 3.0270e+01 -4.2903e+01 -0.0000e+00 -0.0000e+00  4.0000e-03 -2.1470e+01]\njoint_effort [-8.3306e+01 -5.6258e+01  3.0871e+01 -3.7900e-01  2.4060e+00  2.3390e+00\n -1.4000e-02 -6.0000e-02  8.0000e-03  2.8000e-02\n… (349 characters left out) …\n\n\"seconds\": 0.0,\n\"control_steps_watch\": 0,\n\"physics_steps_watch\": 0,\n\"ok\": true,\n\"stopped\": null\n}\ndict_keys(['intrinsic_cv', 'extrinsic_cv', 'cam2world_gl', 'image_size'])\nbase_joint_pos [ 0.376 -0.565  0.    -0.    -0.     2.195]\njoint_pos [ 1.024 -1.447 -0.47   0.     0.     0.     0.     0.    -0.    -0.\n  0.     0.    -0.    -0.    -0.    -0.    -0.    -0.     0.05   0.05\n  0.05   0.05 ]\nbase_pose [ 2.1295e+01  2.2636e+01  5.0000e-03 -0.0000e+00  0.0000e+00  3.1700e-01\n  9.4900e-01]\neef_pose [ 2.1240e+01  2.2910e+01  4.4400e-01  3.1600e-01 -9.4800e-01  7.0000e-03\n  2.2000e-02  2.1543e+01  2.2507e+01  4.4400e-01  3.1600e-01 -9.4800e-01\n  7.0000e-03  2.2000e-02]\nbase_joint_vel [ 0.003 -0.    -0.004 -0.01  -0.005 -0.008]\njoint_vel [ 0.122 -0.294 -0.006  0.003 -0.037 -0.035 -0.003 -0.003  0.052  0.067\n -0.013 -0.023  0.006  0.022 -0.003 -0.     0.004  0.005  0.     0.\n -0.     0.   ]\ngripper_opening [0.1 0.1]\ntcp_pose [ 2.1239e+01  2.2910e+01  4.2500e-01  3.1600e-01 -9.4800e-01  7.0000e-03\n  2.2000e-02  2.1542e+01  2.2507e+01  4.2500e-01  3.1600e-01 -9.4800e-01\n  7.0000e-03  2.2000e-02]\nbase_joint_effort [ 3.0270e+01 -4.2903e+01 -0.0000e+00 -0.0000e+00  4.0000e-03 -2.1470e+01]\njoint_effort [-8.3306e+01 -5.6258e+01  3.0871e+01 -3.7900e-01  2.4060e+00  2.3390e+00\n -1.4000e-02 -6.0000e-02  8.0000e-03  2.8000e-02  1.6600e-01  7.8000e-02\n  7.0000e-03  1.8000e-02 -7.6000e-02 -9.3000e-02 -1.0000e-03 -4.0000e-03\n -1.0000e-03  2.0000e-03 -3.0000e-03  6.0000e-03]\n/app/runs/img_000.png","exit":[],"pics":[]},"tok":{"in":45753,"cached":37036,"out":1949,"think":null,"usd":0.09},"sim":{"submit":0,"reset":0}},{"id":8,"t":934.9,"say":"","calls":[{"kind":"look","label":"img_000.png","code":"/app/runs/img_000.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s008_0.jpg"]},"tok":{"in":48811,"cached":45751,"out":279,"think":null,"usd":0.03},"sim":{"submit":0,"reset":0}},{"id":9,"t":944.1,"say":"","calls":[{"kind":"robot","label":"Add base motion helper and test a small turn","code":"cat >> /app/lib/rb.py <<'EOF'\n\n_last_meta = [None]\ndef submit(A, dt=0.1, **kw):\n    res = r.submit('joint_position', np.asarray(A), dt=dt, **kw)\n    _last_meta[0] = res.meta\n    if res.meta.get('done'): log('DONE', res.meta.get('reason'))\n    return res\n\ndef hold_row(meta, base=(0, 0, 0)):\n    a = cur_q(meta); a[0:3] = base; return a\n\ndef wrap(a): return (a + np.pi) % (2*np.pi) - np.pi\n\ndef base_move(dx=0.0, dy=0.0, dyaw=0.0, v=0.008, w=0.02, meta=None, arm=None, video='none', iters=3):\n    \"\"\"Move base by (dx,dy) in current robot frame and rotate dyaw; closed loop on world base pose.\"\"\"\n    if meta is None: meta = r.get_obs(cameras=[HEAD]).meta\n    x0, y0, th0 = base_xyyaw(meta)\n    gx = x0 + dx*np.cos(th0) - dy*np.sin(th0); gy = y0 + dx*np.sin(th0) + dy*np.cos(th0); gth = th0 + dyaw\n    hold = cur_q(meta) if arm is None else np.asarray(arm, dtype=float).copy()\n    res = None\n    for it in range(iters):\n        x, y, th = base_xyyaw(meta)\n        ex, ey = gx - x, gy - y\n        lx = ex*np.cos(th) + ey*np.sin(th); ly = -ex*np.sin(th) + ey*np.cos(th)\n        eth = wrap(gth - th)\n        dist = np.hypot(lx, ly)\n        if dist < 0.01 and abs(eth) < 0.01: break\n        n = int(max(np.ceil(dist / v), np.ceil(abs(eth) / w), 1))\n        rows = []\n        # per-step command: constant over n control steps (dt=1/30 rows)\n        step = np.array([lx/n, ly/n, eth/n])\n        # translation in robot frame changes while rotating; handle by doing rotation and translation separately if both large\n        if abs(eth) > 0.05 and dist > 0.05:\n            n1 = int(np.ceil(abs(eth)/w)); n2 = int(np.ceil(dist/v))\n            seq = [(np.array([0, 0, eth/n1]), n1)]\n            # translation expressed in final frame\n            lx2 = ex*np.cos(gth) + ey*np.sin(gth); ly2 = -ex*np.sin(gth) + ey*np.cos(gth)\n            seq.append((np.array([lx2/n2, ly2/n2, 0]), n2))\n        else:\n            seq = [(step, n)]\n        for s, k in seq:\n            for i in range(k):\n                a = hold.copy(); a[0:3] = s; rows.append(a)\n        rows.append(hold.copy())  # stop\n        rows = np.array(rows)\n        for c0 in range(0, len(rows), 290):\n            res = submit(rows[c0:c0+290], dt=1/30, video=video, cameras=[HEAD])\n        meta = res.meta\n    return res\nEOF\ncd /app/runs && python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom rb import *\no = r.get_obs(cameras=[HEAD])\nprint(base_xyyaw(o.meta))\nt=time.time()\nres = base_move(dyaw=0.3, meta=o.meta)\nprint(time.time()-t, base_xyyaw(res.meta), res.meta['control_steps'], res.meta.get('clipped'))\n\""}],"out":{"text":"(np.float64(21.294551849365234), np.float64(22.636018753051758), np.float64(0.6443513889579984))\n24.740986347198486 (np.float64(21.294565200805664), np.float64(22.636032104492188), np.float64(0.9436315864941258)) 18 []\n\n[stdout]\n(np.float64(21.294551849365234), np.float64(22.636018753051758), np.float64(0.6443513889579984))\n24.740986347198486 (np.float64(21.294565200805664), np.float64(22.636032104492188), np.float64(0.9436315864941258)) 18 []","exit":[],"pics":[]},"tok":{"in":49901,"cached":48809,"out":2076,"think":null,"usd":0.0567},"sim":{"submit":2,"reset":0}},{"id":10,"t":982.8,"say":"","calls":[{"kind":"robot","label":"Spin in place capturing head RGB-D views","code":"python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom rb import *\nimport pickle\nviews=[]\no = r.get_obs(depth=True, cameras=[HEAD])\nviews.append((o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD], o.meta['proprio']['now']))\nfor k in range(5):\n    t=time.time()\n    res = base_move(dyaw=np.pi/3, w=0.04, meta=o.meta)\n    o = r.get_obs(depth=True, cameras=[HEAD])\n    print(k, time.time()-t, base_xyyaw(o.meta))\n    views.append((o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD], o.meta['proprio']['now']))\n    save_imgs(o, f'spin{k}', cams=[HEAD])\npickle.dump(views, open('/app/runs/spin.pkl','wb'))\n\""}],"out":{"text":"0 3.4916722774505615 (np.float64(21.294572830200195), np.float64(22.63608741760254), np.float64(1.9888744650681547))\n1 3.412144660949707 (np.float64(21.294523239135742), np.float64(22.636117935180664), np.float64(3.0341114789588515))\n2 3.9763855934143066 (np.float64(21.29447364807129), np.float64(22.636096954345703), np.float64(-2.203840077787626))\n3 3.0978100299835205 (np.float64(21.294464111328125), np.float64(22.63604736328125), np.float64(-1.1585948277940123))\n4 3.212407350540161 (np.float64(21.294509887695312), np.float64(22.63602066040039), np.float64(-0.11334745997349659))\n\n[stdout]\n0 3.4916722774505615 (np.float64(21.294572830200195), np.float64(22.63608741760254), np.float64(1.9888744650681547))\n1 3.412144660949707 (np.float64(21.294523239135742), np.float64(22.636117935180664), np.float64(3.0341114789588515))\n2 3.9763855934143066 (np.float64(21.29447364807129), np.float64(22.636096954345703), np.float64(-2.203840077787626))\n3 3.0978100299835205 (np.float64(21.294464111328125), np.float64(22.63604736328125), np.float64(-1.1585948277940123))\n4 3.212407350540161 (np.float64(21.294509887695312), np.float64(22.63602066040039), np.float64(-0.11334745997349659))","exit":[],"pics":[]},"tok":{"in":52102,"cached":49899,"out":533,"think":null,"usd":0.0317},"sim":{"submit":10,"reset":0}},{"id":11,"t":1005.8,"say":"","calls":[{"kind":"shell","label":"Build panorama and top-down map","code":"cat > /app/lib/mapper.py <<'EOF'\nimport sys; sys.path.insert(0,'/app/lib')\nimport numpy as np, pickle\nfrom PIL import Image, ImageDraw\ndef pts_from_view(cm, depth):\n    K = np.array(cm['intrinsic_cv']); E = np.array(cm['extrinsic_cv'])\n    if E.shape == (3,4): E = np.vstack([E,[0,0,0,1]])\n    vs, us = np.mgrid[0:224, 0:224]; z = depth\n    x = (us-K[0,2])*z/K[0,0]; y = (vs-K[1,2])*z/K[1,1]\n    pc = np.stack([x,y,z,np.ones_like(z)],-1).reshape(-1,4)\n    w = pc @ np.linalg.inv(E).T\n    ok = (z.reshape(-1)>0) & (z.reshape(-1)<12)\n    return w[ok,:3]\ndef topdown(views, out, res=0.05, extra=None, pts_out=None):\n    P=[]; C=[]\n    for cm, rgb, d, *_ in views:\n        p = pts_from_view(cm, d); P.append(p)\n        C.append(rgb.reshape(-1,3)[(d.reshape(-1)>0)&(d.reshape(-1)<12)])\n    P=np.concatenate(P); C=np.concatenate(C)\n    if pts_out: np.savez_compressed(pts_out, P=P, C=C)\n    m = (P[:,2]>0.05)&(P[:,2]<2.2)\n    Q=P[m]; QC=C[m]\n    x0,y0 = Q[:,0].min(), Q[:,1].min(); x1,y1=Q[:,0].max(),Q[:,1].max()\n    W=int((x1-x0)/res)+1; H=int((y1-y0)/res)+1\n    img=np.full((H,W,3),255,np.uint8); hz=np.full((H,W),-1.0)\n    ix=((Q[:,0]-x0)/res).astype(int); iy=((Q[:,1]-y0)/res).astype(int)\n    order=np.argsort(Q[:,2])\n    img[H-1-iy[order], ix[order]] = QC[order]\n    im=Image.fromarray(img).resize((W*4,H*4),Image.NEAREST); dr=ImageDraw.Draw(im)\n    # grid every 1 m\n    for gx in np.arange(np.ceil(x0),x1,1.0):\n        X=int((gx-x0)/res*4); dr.line([(X,0),(X,H*4)],fill=(255,0,0)); dr.text((X+2,2),f'{gx:.0f}',fill=(255,0,0))\n    for gy in np.arange(np.ceil(y0),y1,1.0):\n        Y=int((H-1-(gy-y0)/res)*4); dr.line([(0,Y),(W*4,Y)],fill=(0,0,255)); dr.text((2,Y+2),f'{gy:.0f}',fill=(0,0,255))\n    if extra:\n        for (x,y,col) in extra:\n            X=int((x-x0)/res*4); Y=int((H-1-(y-y0)/res)*4); dr.ellipse([X-5,Y-5,X+5,Y+5],fill=col)\n    im.save(out); return (x0,y0,res,H)\nEOF\ncd /app/runs && python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom mapper import *\nfrom PIL import Image\nviews=pickle.load(open('spin.pkl','rb'))\nims=[Image.fromarray(v[1]) for v in views]\nc=Image.new('RGB',(224*3,224*2))\nfor i,im in enumerate(ims): c.paste(im,((i%3)*224,(i//3)*224))\nc.save('spin_all.png')\nprint(topdown(views,'map0.png',extra=[(21.29,22.64,(255,0,255))], pts_out='pts0.npz'))\n\""}],"out":{"text":"(np.float64(19.72272283730971), np.float64(21.792225900196037), 0.05, 83)\n\n[stdout]\n(np.float64(19.72272283730971), np.float64(21.792225900196037), 0.05, 83)","exit":[],"pics":[]},"tok":{"in":52920,"cached":52100,"out":1489,"think":null,"usd":0.0443},"sim":{"submit":0,"reset":0}},{"id":12,"t":1019.2,"say":"","calls":[{"kind":"look","label":"spin_all.png","code":"/app/runs/spin_all.png"},{"kind":"look","label":"map0.png","code":"/app/runs/map0.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s012_0.jpg","behavior-sorting-household-items-i00-standard--ygwbuuf/s012_0.jpg"]},"tok":{"in":54516,"cached":52918,"out":113,"think":null,"usd":0.0208},"sim":{"submit":0,"reset":0}},{"id":13,"t":1025.1,"say":"","calls":[{"kind":"shell","label":"Inspect depth of spin views","code":"python3 -c \"\nimport pickle, numpy as np\nviews=pickle.load(open('spin.pkl','rb'))\nfor i,v in enumerate(views):\n    d=v[2]; print(i, 'center depth', d[112,112], 'row112:', np.round(d[112,::28],2))\n\""}],"out":{"text":"0 center depth 2.557364 row112: [1.8  2.43 2.82 3.37 2.56 2.37 2.37 2.37]\n1 center depth 1.188973 row112: [1.02 0.81 0.66 0.67 1.19 3.15 2.82 2.55]\n2 center depth 1.4523358 row112: [0.83 1.15 1.28 1.39 1.45 1.46 0.86 0.61]\n3 center depth 0.7828385 row112: [0.38 0.45 0.52 0.63 0.78 1.17 1.31 1.07]\n4 center depth 0.6303231 row112: [1.53 1.04 0.86 0.73 0.63 0.52 0.47 0.45]\n5 center depth 3.178968 row112: [2.7  2.37 2.37 2.89 3.18 1.73 1.02 0.73]\n\n[stdout]\n0 center depth 2.557364 row112: [1.8  2.43 2.82 3.37 2.56 2.37 2.37 2.37]\n1 center depth 1.188973 row112: [1.02 0.81 0.66 0.67 1.19 3.15 2.82 2.55]\n2 center depth 1.4523358 row112: [0.83 1.15 1.28 1.39 1.45 1.46 0.86 0.61]\n3 center depth 0.7828385 row112: [0.38 0.45 0.52 0.63 0.78 1.17 1.31 1.07]\n4 center depth 0.6303231 row112: [1.53 1.04 0.86 0.73 0.63 0.52 0.47 0.45]\n5 center depth 3.178968 row112: [2.7  2.37 2.37 2.89 3.18 1.73 1.02 0.73]","exit":[],"pics":[]},"tok":{"in":55295,"cached":54514,"out":556,"think":null,"usd":0.0259},"sim":{"submit":0,"reset":0}},{"id":14,"t":1031.1,"say":"","calls":[{"kind":"shell","label":"Head camera position and direction","code":"python3 -c \"\nimport pickle, numpy as np\nviews=pickle.load(open('spin.pkl','rb'))\nfor i,v in enumerate(views):\n    E=np.vstack([np.array(v[0]['extrinsic_cv']),[0,0,0,1]]); C=np.linalg.inv(E)\n    print(i, np.round(C[:3,3],3), 'fwd', np.round(C[:3,2],3))\n\""}],"out":{"text":"0 [21.439 22.829  1.398] fwd [ 0.551  0.74  -0.385]\n1 [21.202 22.858  1.398] fwd [-0.357  0.851 -0.385]\n2 [21.056 22.667  1.398] fwd [-0.915  0.118 -0.385]\n3 [21.148 22.445  1.398] fwd [-0.561 -0.732 -0.385]\n4 [21.386 22.413  1.398] fwd [ 0.352 -0.853 -0.385]\n5 [21.533 22.603  1.398] fwd [ 0.914 -0.123 -0.385]\n\n[stdout]\n0 [21.439 22.829  1.398] fwd [ 0.551  0.74  -0.385]\n1 [21.202 22.858  1.398] fwd [-0.357  0.851 -0.385]\n2 [21.056 22.667  1.398] fwd [-0.915  0.118 -0.385]\n3 [21.148 22.445  1.398] fwd [-0.561 -0.732 -0.385]\n4 [21.386 22.413  1.398] fwd [ 0.352 -0.853 -0.385]\n5 [21.533 22.603  1.398] fwd [ 0.914 -0.123 -0.385]","exit":[],"pics":[]},"tok":{"in":56162,"cached":55293,"out":464,"think":null,"usd":0.0247},"sim":{"submit":0,"reset":0}},{"id":15,"t":1035.8,"say":"","calls":[{"kind":"robot","label":"Drive toward door and look around","code":"cat >> /app/lib/rb.py <<'EOF'\n\ndef go_to(gx, gy, gyaw=None, v=0.01, w=0.03, meta=None, arm=None, iters=3):\n    \"\"\"drive to world (gx,gy) then face gyaw (world); rotate first to final yaw, then translate (holonomic).\"\"\"\n    if meta is None: meta = r.get_obs(cameras=[HEAD]).meta\n    x, y, th = base_xyyaw(meta)\n    if gyaw is None: gyaw = th\n    # express goal translation in final frame: base_move rotates first then translates in final frame\n    ex, ey = gx - x, gy - y\n    dx = ex*np.cos(th) + ey*np.sin(th); dy = -ex*np.sin(th) + ey*np.cos(th)\n    return base_move(dx, dy, wrap(gyaw - th), v=v, w=w, meta=meta, arm=arm, iters=iters)\n\ndef look(tag, depth=True, cams=None):\n    o = r.get_obs(depth=depth, cameras=cams or CAMS)\n    save_imgs(o, tag, cams=cams or CAMS)\n    return o\nEOF\npython3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom rb import *\nimport pickle\nres = go_to(20.75, 22.4, gyaw=-2.2)\nviews=[]\nfor k in range(4):\n    o = r.get_obs(depth=True, cameras=[HEAD]); views.append((o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD]))\n    save_imgs(o, f'sp2_{k}', cams=[HEAD]); print(base_xyyaw(o.meta))\n    base_move(dyaw=np.pi/2, w=0.04, meta=o.meta)\npickle.dump(views, open('spin2.pkl','wb'))\nfrom mapper import *\nims=[Image.fromarray(v[1]) for v in views]\nc=Image.new('RGB',(224*4,224))\nfor i,im in enumerate(ims): c.paste(im,(i*224,0))\nc.save('spin2_all.png')\n\""}],"out":{"text":"(np.float64(20.751205444335938), np.float64(22.398502349853516), np.float64(-2.195899666881658))\n(np.float64(20.751253128051758), np.float64(22.398435592651367), np.float64(-0.6278060988186264))\n(np.float64(20.75133514404297), np.float64(22.39847183227539), np.float64(0.9402854919232022))\n(np.float64(20.751285552978516), np.float64(22.398536682128906), np.float64(2.5083673360238494))\n\n[stdout]\n(np.float64(20.751205444335938), np.float64(22.398502349853516), np.float64(-2.195899666881658))\n(np.float64(20.751253128051758), np.float64(22.398435592651367), np.float64(-0.6278060988186264))\n(np.float64(20.75133514404297), np.float64(22.39847183227539), np.float64(0.9402854919232022))\n(np.float64(20.751285552978516), np.float64(22.398536682128906), np.float64(2.5083673360238494))","exit":[],"pics":[]},"tok":{"in":56864,"cached":56160,"out":975,"think":null,"usd":0.0343},"sim":{"submit":10,"reset":0}},{"id":16,"t":1080.8,"say":"","calls":[{"kind":"look","label":"spin2_all.png","code":"/app/runs/spin2_all.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s016_0.jpg"]},"tok":{"in":58036,"cached":56862,"out":60,"think":null,"usd":0.0184},"sim":{"submit":0,"reset":0}},{"id":17,"t":1083.3,"say":"","calls":[{"kind":"shell","label":"Combined top-down map","code":"python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom mapper import *\nv1=pickle.load(open('spin.pkl','rb')); v2=pickle.load(open('spin2.pkl','rb'))\nprint(topdown(v1+v2,'map1.png',extra=[(21.29,22.64,(255,0,255)),(20.75,22.4,(0,255,0))], pts_out='pts1.npz'))\nfor i,v in enumerate(v2):\n    d=v[2]; print(i, np.round(d[60:200:20, ::32],2))\n\""}],"out":{"text":"(np.float64(19.72272283730971), np.float64(21.792225900196037), 0.05, 83)\n0 [[0.21 0.29 0.34 0.4  0.5  0.66 0.61]\n [0.22 0.3  0.36 0.43 0.54 0.74 0.63]\n [0.23 0.32 0.38 0.46 0.59 0.83 0.65]\n [0.24 0.34 0.4  0.5  0.66 0.88 0.68]\n [0.25 0.29 0.43 0.54 0.73 0.93 0.71]\n [0.26 0.31 0.46 0.59 0.82 0.98 0.74]\n [0.27 0.33 0.49 0.65 0.95 1.04 0.77]]\n1 [[2.54 2.91 1.18 0.63 0.41 0.34 0.28]\n [2.62 3.05 1.51 0.69 0.43 0.36 0.29]\n [2.65 3.2  1.89 0.74 0.46 0.38 0.3 ]\n [2.33 2.88 3.   0.9  0.55 0.4  0.31]\n [2.06 2.12 2.12 1.03 0.6  0.42 0.32]\n [1.64 1.64 1.64 1.19 0.65 0.44 0.34]\n [1.33 1.33 1.33 1.33 0.71 0.47 0.35]]\n2 [[0.5  2.35 2.76 3.33 4.21 3.66 2.95]\n [0.44 1.69 2.92 3.56 4.58 3.84 3.06]\n [0.46 1.82 3.09 3.83 4.83 3.39 3.14]\n [0.48 1.01 2.98 2.56 2.74 2.07 3.  ]\n [0.5  0.7  1.59 2.11 2.11 2.08 2.12]\n [0.53 0.63 1.23 1.63 1.63 1.64 1.64]\n [0.56 0.67 1.31 1.33 1.33 1.33 1.33]]\n3 [[0.51 0.59 0.68 0.82 0.9  0.68 0.54]\n [0.49 0.61 0.72 0.87 0.96 0.71 0.56]\n [0.52 0.65 0.77 0.94 1.03 0.74 0.58]\n [0.54 0.68 0.82 1.02 1.1  0.78 0.61]\n [0.57 0.72 0.87 1.1  1.18 0.82 0.63]\n [0.6  0.71 0.94 1.21 1.28 0.87 0.66]\n [0.63 0.75 1.01 1.33 1.33 0.92 0.69]]\n\n[stdout]\n(np.float64(19.72272283730971), np.float64(21.792225900196037), 0.05, 83)\n0 [[0.21 0.29 0.34 0.4  0.5  0.66 0.61]\n [0.22 0.3  0.36 0.43 0.54 0.74 0.63]\n [0.23 0.32 0.38 0.46 0.59 0.83 0.65]\n [0.24 0.34 0.4  0.5  0.66 0.88 0.68]\n [0.25 0.29 0.43 0.54 0.73 0.93 0.71]\n [0.26 0.31 0.46 0.59 0.82 0.98 0.74]\n [0.27 0.33 0.49 0.65 0.95 1.04 0.77]]\n1 [[2.54 2.91 1.18 0.63 0.41 0.34 0.28]\n [2.62 3.05 1.51 0.69 0.43 0.36 0.29]\n [2.65 3.2  1.89 0.74 0.46 0.38 0.3 ]\n [2.33 2.88 3.   0.9  0.55 0.4  0.31]\n [2.06 2.12 2.12 1.03 0.6  0.42 0.32]\n [1.64 1.64 1.64 1.19 0.65 0.44 0.34]\n [1.33 1.33 1.33 1.33 0.71 0.47 0.35]]\n2 [[0.5  2.35 2.76 3.33 4.21 3.66 2.95]\n [0.44 1.69 2.92 3.56 4.58 3.84 3.06]\n [0.46 1.82 3.09 3.83 4.83 3.39 3.14]\n [0.48 1.01 2.98 2.56 2.74 2.07 3.  ]\n [0.5  0.7  1.59 2.11 2.11 2.08 2.12]\n [0.53 0.63 1.23 1.63 1.63 1.64 1.64]\n [0.56 0.67 1.31 1.33 1.33 1.33 1.33]]\n3 [[0.51 0.59 0.68 0.82 0.9  0.68 0.54]\n [0.49 0.61 0.72 0.87 0.96 0.71 0.56]\n [0.52 0.65 0.77 0.94 1.03 0.74 0.58]\n [0.54 0.68 0.82 1.02 1.1  0.78 0.61]\n [0.57 0.72 0.87 1.1  1.18 0.82 0.63]\n [0.6  0.71 0.94 1.21 1.28 0.87 0.66]\n [0.63 0.75 1.01 1.33 1.33 0.92 0.69]]","exit":[],"pics":[]},"tok":{"in":58438,"cached":58034,"out":391,"think":null,"usd":0.0214},"sim":{"submit":0,"reset":0}},{"id":18,"t":1087.8,"say":"","calls":[{"kind":"look","label":"map1.png","code":"/app/runs/map1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s018_0.jpg"]},"tok":{"in":59767,"cached":58436,"out":57,"think":null,"usd":0.0195},"sim":{"submit":0,"reset":0}},{"id":19,"t":1092.4,"say":"","calls":[{"kind":"robot","label":"Look in more directions","code":"python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom rb import *\nfrom mapper import *\nimport pickle\nviews=[]\no=None\nfor k,yw in enumerate([np.pi, -np.pi/2, -2.7, 2.7]):\n    go_to(20.75, 22.4, gyaw=yw)\n    o = r.get_obs(depth=True, cameras=[HEAD]); views.append((o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD]))\nims=[Image.fromarray(v[1]) for v in views]\nc=Image.new('RGB',(224*4,224))\nfor i,im in enumerate(ims): c.paste(im,(i*224,0))\nc=c.resize((224*4*2,224*2)); c.save('spin3_all.png')\npickle.dump(views, open('spin3.pkl','wb'))\n\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":60059,"cached":59765,"out":693,"think":null,"usd":0.0273},"sim":{"submit":8,"reset":0}},{"id":20,"t":1118.6,"say":"","calls":[{"kind":"look","label":"spin3_all.png","code":"/app/runs/spin3_all.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s020_0.jpg"]},"tok":{"in":60791,"cached":60057,"out":60,"think":null,"usd":0.0169},"sim":{"submit":0,"reset":0}},{"id":21,"t":1131.5,"say":"","calls":[{"kind":"robot","label":"8-direction panorama from room center","code":"python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom rb import *\nfrom mapper import *\nimport pickle\nviews=[]\nfor k in range(8):\n    yw=wrap(k*np.pi/4)\n    go_to(21.6, 22.9, gyaw=yw)\n    o = r.get_obs(depth=True, cameras=[HEAD]); views.append((o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD]))\nims=[Image.fromarray(v[1]) for v in views]\nc=Image.new('RGB',(224*4,224*2))\nfor i,im in enumerate(ims): c.paste(im,((i%4)*224,(i//4)*224))\nc=c.resize((224*4*2,224*2*2)); c.save('spin4_all.png')\npickle.dump(views, open('spin4.pkl','wb'))\n\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":61918,"cached":60789,"out":1445,"think":null,"usd":0.0467},"sim":{"submit":16,"reset":0}},{"id":22,"t":1186.3,"say":"","calls":[{"kind":"look","label":"spin4_all.png","code":"/app/runs/spin4_all.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s022_0.jpg"]},"tok":{"in":63402,"cached":61916,"out":60,"think":null,"usd":0.021},"sim":{"submit":0,"reset":0}},{"id":23,"t":1199.7,"say":"","calls":[{"kind":"shell","label":"Render wall-height top-down map","code":"cat > /app/lib/map2.py <<'EOF'\nimport sys; sys.path.insert(0,'/app/lib')\nfrom mapper import *\ndef wallmap(views, out, zlo=0.5, zhi=1.9, res=0.04, marks=()):\n    P=[];C=[]\n    for cm, rgb, d, *_ in views:\n        p=pts_from_view(cm,d); ok=(d.reshape(-1)>0)&(d.reshape(-1)<12)\n        P.append(p); C.append(rgb.reshape(-1,3)[ok])\n    P=np.concatenate(P); C=np.concatenate(C)\n    m=(P[:,2]>zlo)&(P[:,2]<zhi); Q=P[m]; QC=C[m]\n    x0,y0=np.floor(Q[:,0].min()),np.floor(Q[:,1].min()); x1,y1=Q[:,0].max(),Q[:,1].max()\n    W=int((x1-x0)/res)+1; H=int((y1-y0)/res)+1\n    img=np.full((H,W,3),40,np.uint8)\n    ix=((Q[:,0]-x0)/res).astype(int); iy=((Q[:,1]-y0)/res).astype(int)\n    img[H-1-iy,ix]=QC\n    S=5\n    im=Image.fromarray(img).resize((W*S,H*S),Image.NEAREST); dr=ImageDraw.Draw(im)\n    for gx in np.arange(x0,x1,0.5):\n        X=int((gx-x0)/res*S); dr.line([(X,0),(X,H*S)],fill=(255,0,0) if gx%1==0 else (120,0,0)); dr.text((X+2,2),f'{gx:.1f}',fill=(255,255,0))\n    for gy in np.arange(y0,y1,0.5):\n        Y=int((H-1-(gy-y0)/res)*S); dr.line([(0,Y),(W*S,Y)],fill=(0,0,255) if gy%1==0 else (0,0,120)); dr.text((2,Y+2),f'{gy:.1f}',fill=(0,255,255))\n    for (x,y,col) in marks:\n        X=int((x-x0)/res*S); Y=int((H-1-(y-y0)/res)*S); dr.ellipse([X-6,Y-6,X+6,Y+6],fill=col)\n    im.save(out)\nEOF\npython3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom map2 import *\nv=pickle.load(open('spin.pkl','rb'))+pickle.load(open('spin2.pkl','rb'))+pickle.load(open('spin3.pkl','rb'))+pickle.load(open('spin4.pkl','rb'))\nwallmap(v,'wall1.png',marks=[(21.6,22.9,(255,0,255)),(20.75,22.4,(0,255,0))])\n\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":65553,"cached":63400,"out":2136,"think":null,"usd":0.0662},"sim":{"submit":0,"reset":0}},{"id":24,"t":1209.1,"say":"","calls":[{"kind":"look","label":"wall1.png","code":"/app/runs/wall1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s024_0.jpg"]},"tok":{"in":67728,"cached":65551,"out":58,"think":null,"usd":0.0252},"sim":{"submit":0,"reset":0}},{"id":25,"t":1217.9,"say":"","calls":[{"kind":"robot","label":"Look at the three doors close up","code":"python3 -c \"\nimport sys; sys.path.insert(0,'/app/lib')\nfrom rb import *\nimport pickle\ngo_to(23.6, 22.9, gyaw=-np.pi/2)\no=look('door_s', cams=[HEAD])\npickle.dump([(o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD])], open('door_s.pkl','wb'))\ngo_to(20.3, 22.6, gyaw=-np.pi/2)\no=look('door_as', cams=[HEAD])\npickle.dump([(o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD])], open('door_as.pkl','wb'))\ngo_to(20.4, 22.7, gyaw=np.pi)\no=look('door_aw', cams=[HEAD])\npickle.dump([(o.meta['cameras'][HEAD], o.last[HEAD], o.last_depth[HEAD])], open('door_aw.pkl','wb'))\n\""}],"out":{"text":"Exit code 1\nDONE failure: the robot fell over\nTraceback (most recent call last):\n  File \"<string>\", line 8, in <module>\n  File \"/app/lib/rb.py\", line 139, in go_to\n    return base_move(dx, dy, wrap(gyaw - th), v=v, w=w, meta=meta, arm=arm, iters=iters)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/app/lib/rb.py\", line 127, in base_move\n    res = submit(rows[c0:c0+290], dt=1/30, video=video, cameras=[HEAD])\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/app/lib/rb.py\", line 84, in submit\n    res = r.submit('joint_position', np.asarray(A), dt=dt, **kw)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 180, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 156, in _post\n    raise EpisodeOver(_over(r) if r.headers.get(\"Content-Type\", \"\").startswith(\"application/json\") else \"episode finished\")\nrcb_client.EpisodeOver: failure: the robot fell over\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":68473,"cached":67726,"out":1173,"think":null,"usd":0.0407},"sim":{"submit":5,"reset":0}},{"id":26,"t":1307.0,"say":"","calls":[{"kind":"shell","label":"Check episode status","code":"python3 -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(timeout=60)\nprint(r.status())\n\" 2>&1 | tail -3; ls /app/runs"}],"out":{"text":"{'step': 1829, 'calls': 91, 'control_steps': 1829, 'done': True, 'reason': 'failure: the robot fell over', 'elapsed_s': 614.0, 'resumes': 0}\ndoor_s.pkl\nimg_000.png\nimg_door_s.png\nimg_sp2_0.png\nimg_sp2_1.png\nimg_sp2_2.png\nimg_sp2_3.png\nimg_spin0.png\nimg_spin1.png\nimg_spin2.png\nimg_spin3.png\nimg_spin4.png\nlog.txt\nmap0.png\nmap1.png\nobs000.pkl\npts0.npz\npts1.npz\nspec.json\nspin.pkl\nspin2.pkl\nspin2_all.png\nspin3.pkl\nspin3_all.png\nspin4.pkl\nspin4_all.png\nspin_all.png\nwall1.png\n\n[stdout]\n{'step': 1829, 'calls': 91, 'control_steps': 1829, 'done': True, 'reason': 'failure: the robot fell over', 'elapsed_s': 614.0, 'resumes': 0}\ndoor_s.pkl\nimg_000.png\nimg_door_s.png\nimg_sp2_0.png\nimg_sp2_1.png\nimg_sp2_2.png\nimg_sp2_3.png\nimg_spin0.png\nimg_spin1.png\nimg_spin2.png\nimg_spin3.png\nimg_spin4.png\nlog.txt\nmap0.png\nmap1.png\nobs000.pkl\npts0.npz\npts1.npz\nspec.json\nspin.pkl\nspin2.pkl\nspin2_all.png\nspin3.pkl\nspin3_all.png\nspin4.pkl\nspin4_all.png\nspin_all.png\nwall1.png","exit":[],"pics":[]},"tok":{"in":70357,"cached":68471,"out":966,"think":null,"usd":0.0424},"sim":{"submit":0,"reset":0}},{"id":27,"t":1311.6,"say":"","calls":[{"kind":"shell","label":"Inspect last saved door view","code":"python3 -c \"\nimport pickle,numpy as np\nv=pickle.load(open('door_s.pkl','rb'))\nE=np.vstack([np.array(v[0][0]['extrinsic_cv']),[0,0,0,1]]); C=np.linalg.inv(E); print(C[:3,3], C[:3,2])\nd=v[0][2]; print(np.round(d[::28,::28],2))\n\""},{"kind":"look","label":"img_door_s.png","code":"/app/runs/img_door_s.png"}],"out":{"text":"[22.38698661 22.3352625   1.36475161] [ 0.7483531  -0.6451109  -0.15427104]\n[[1.04 0.77 0.58 0.47 0.39 0.34 0.3  0.27]\n [1.28 0.97 0.69 0.54 0.44 0.38 0.33 0.29]\n [1.65 1.33 1.01 0.64 0.51 0.42 0.36 0.32]\n [1.83 2.03 1.33 0.78 0.59 0.48 0.4  0.35]\n [1.77 2.03 1.7  1.17 0.71 0.55 0.45 0.38]\n [1.71 1.94 2.21 1.6  1.05 0.66 0.52 0.43]\n [1.64 1.86 1.8  2.32 1.4  0.81 0.61 0.49]\n [1.52 1.79 1.58 1.71 1.46 1.23 0.74 0.57]]\n\n[stdout]\n[22.38698661 22.3352625   1.36475161] [ 0.7483531  -0.6451109  -0.15427104]\n[[1.04 0.77 0.58 0.47 0.39 0.34 0.3  0.27]\n [1.28 0.97 0.69 0.54 0.44 0.38 0.33 0.29]\n [1.65 1.33 1.01 0.64 0.51 0.42 0.36 0.32]\n [1.83 2.03 1.33 0.78 0.59 0.48 0.4  0.35]\n [1.77 2.03 1.7  1.17 0.71 0.55 0.45 0.38]\n [1.71 1.94 2.21 1.6  1.05 0.66 0.52 0.43]\n [1.64 1.86 1.8  2.32 1.4  0.81 0.61 0.49]\n [1.52 1.79 1.58 1.71 1.46 1.23 0.74 0.57]]\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-sorting-household-items-i00-standard--ygwbuuf/s027_0.jpg"]},"tok":{"in":71629,"cached":70355,"out":409,"think":null,"usd":0.0286},"sim":{"submit":0,"reset":0}},{"id":28,"t":1323.8,"say":"The episode has ended in failure. Let me save the script record and a memory note about the cause.","calls":[{"kind":"robot","label":"Write the episode script record to /app/output/gen.py","code":"cd /app && { echo '# Record of the episode run (sorting_household_items, eai-standard/2.2).'\necho '# Outcome: FAILURE - the robot fell over at control step ~1829 during a 2 m sideways base move'\necho '# (instantaneous 0.3 m/s lateral velocity step, no acceleration ramp, no tilt monitoring).'\necho '# ---- helper library (/app/lib/rb.py) ----'\ncat lib/rb.py\necho; echo '# ---- mapping helpers (/app/lib/mapper.py, /app/lib/map2.py) ----'\nsed 's/^/# /' lib/mapper.py; sed 's/^/# /' lib/map2.py\ncat <<'EOF'\n\n# ---- sequence actually executed ----\nif __name__ == \"__main__\":\n    import pickle\n    # 1) first look, then 6x60 deg spin at start pose (21.29, 22.64) to map the bedroom\n    o = r.get_obs(depth=True, cameras=[HEAD])\n    for k in range(5):\n        base_move(dyaw=np.pi/3, w=0.04, meta=o.meta); o = r.get_obs(depth=True, cameras=[HEAD])\n    # 2) look into the alcove with doors\n    go_to(20.75, 22.4, gyaw=-2.2)\n    for k in range(4):\n        o = r.get_obs(depth=True, cameras=[HEAD]); base_move(dyaw=np.pi/2, w=0.04, meta=o.meta)\n    for yw in [np.pi, -np.pi/2, -2.7, 2.7]:\n        go_to(20.75, 22.4, gyaw=yw)\n    # 3) 8-direction panorama from the room centre\n    for k in range(8):\n        go_to(21.6, 22.9, gyaw=wrap(k*np.pi/4))\n    # 4) drive to inspect the south-wall door: the robot tipped over during this lateral 2 m move\n    go_to(23.6, 22.9, gyaw=-np.pi/2)\nEOF\n} > output/gen.py && python3 -m py_compile output/gen.py && echo ok"}],"out":{"text":"ok\n\n[stdout]\nok","exit":[],"pics":[]},"tok":{"in":72694,"cached":71627,"out":1567,"think":null,"usd":0.051},"sim":{"submit":0,"reset":0}},{"id":29,"t":1338.6,"say":"","calls":[{"kind":"edit","label":"r1pro-base-tipping.md","code":"/logs/agent/sessions/projects/-app/memory/r1pro-base-tipping.md\n\n---\nname: r1pro-base-tipping\ndescription: BEHAVIOR R1Pro service episodes - abrupt base velocity steps tip the robot over and end the single no-reset episode\nmetadata:\n  type: feedback\n---\n\nIn the eai-standard BEHAVIOR-1K robot-as-a-service tasks (R1Pro, one episode, no reset), a 2 m sideways base move with an\ninstant 0.01 m/step (0.3 m/s) command step and no ramp tipped the robot over at ~1800 control steps; the episode ended\nas a failure (\"robot fell over\") before any manipulation happened. Earlier short moves at the same speed and rotations had worked fine.\n\n**Why:** the base per-step targets are tracked by very stiff drives, so a command step works like an instant velocity\njump on a tall robot. Lateral moves are the riskiest. Falls are unrecoverable.\n\n**How to apply:** move the base forward rather than sideways where possible, at <=0.15-0.2 m/s. Ramp up and down over\nabout 1 s, send short chunks (about 1-2 s), and check cos(rx)*cos(ry) from proprio (base_footprint_rx/ry_joint) after\nevery chunk. If tilt appears, stop and command zero base motion at once. Keep about 0.5 m from walls and furniture.\nScene notes (sorting_household_items): the robot starts in the bedroom at about (21.3, 22.6). The alcove at x 19.7-20.8,\ny 21.85-23.3 has wooden doors on its west and south walls. There is another door on the bedroom's south wall at\nx 23.2-24.0, and a possible door at about (20.7, 25.7). The bathroom was not found before the fall.\n"},{"kind":"shell","label":"Add memory index pointer","code":"echo '- [R1Pro base tipping](r1pro-base-tipping.md) — abrupt/lateral base moves tipped robot, ended no-reset episode; ramp + tilt checks' >> /logs/agent/sessions/projects/-app/memory/MEMORY.md"}],"out":{"text":"File created successfully at: /logs/agent/sessions/projects/-app/memory/r1pro-base-tipping.md\n(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":74318,"cached":72692,"out":841,"think":null,"usd":0.0395},"sim":{"submit":0,"reset":0}},{"id":30,"t":1347.7,"say":"The episode failed: the robot fell over before I picked up any item. The service has ended it (`done: True`, reason \"failure: the robot fell over\", 1,829 control steps, about 10 minutes into the episode), and with no reset rule nothing more can be done in it.\n\n**What happened**\n- **Mapping:** I spun the robot in place at several spots and combined the head camera's colour and depth images into a top-down map of the bedroom. The two baskets are on the floor near (21.3, 25.2) and (21.9, 24.5) and the bed spans about x 22.8–24.8. A small alcove at x 19.7–20.8, y 21.85–23.3 has closed wooden doors on its west and south walls. There is another closed door in the bedroom's south wall at x 23.2–24.0, and maybe one near (20.7, 25.7). The bathroom must be behind one of them, but I never saw into it.\n- **The fall:** I then sent the robot about 2 m sideways to look at the south-wall door. My driving helper jumped straight to 0.3 m/s with no gradual speed-up or slow-down and didn't check the robot's tilt between commands. During that move the tall robot tipped over. The last head image shows it was already heavily tilted, and it stayed down for the 10 s that counts as a fall. Shorter moves at the same speed had worked earlier, so I didn't treat this one as risky. That was the mistake.\n\n**Files**\n- `/app/output/gen.py` is the script record. It holds the helper library and the sequence that was actually run, and its header states the failure.\n- Maps, images and saved views are in `/app/runs/` (for example `wall1.png` and `spin4_all.png`).\n- I saved a memory note for future attempts. It says to drive forward rather than sideways where possible, at about 0.15–0.2 m/s, speed up and slow down over about a second, send short chunks, and check the tilt after each one. It also records this scene's door layout.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":75287,"cached":74316,"out":651,"think":null,"usd":0.0327},"sim":{"submit":0,"reset":0}}]}