diff --git a/runs/roboolympics-fun-backflip-i00-privileged--fukrren.json b/runs/roboolympics-fun-backflip-i00-privileged--fukrren.json new file mode 100644 index 0000000000000000000000000000000000000000..cff2dba5efe04facd1ca1285b87d4b3b7d791d40 --- /dev/null +++ b/runs/roboolympics-fun-backflip-i00-privileged--fukrren.json @@ -0,0 +1 @@ +{"slug":"roboolympics-fun-backflip-i00-privileged--fukrren","task":"roboolympics-fun-backflip-i00-privileged","bench":"roboolympics-fun","mode":"privileged","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","effort":"high","state":"success","success":1,"reward":{"success":1,"replay_success":1,"deterministic":1,"n_actions":331,"sim_steps":331,"horizon":2000,"episode_over":1,"progress":1.0,"stages_reached":4,"stages_total":4,"fell":0,"replay_s":5.19,"bad_trajectory":0,"metric_air_s":0.673,"metric_turn_deg":319.3,"grader_error":0,"video_rendered":1,"agent_sessions":199,"agent_resets":24101,"agent_replays":8,"agent_cost_self_reported":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":5.495,"peak_processes":29,"peak_disk_gb":0.844,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":7202,"tokens":{"in":18363510,"cached":18111880,"out":57042,"usd":24.11},"task_text":"# roboolympics backflip — instance i00\n\nYou control a simulated Unitree G1 humanoid robot (29 joints, 1.32 m tall, 33 kg; the RoboOlympics simulator on MuJoCo)\nvia Python. **Task:** Do a standing backflip: jump, turn backwards through a full turn in the air, land on your feet and stand.\n\nThis is a *fixed instance*: the same venue and start every time. You may reset and retry as many times as you want.\nYour deliverable is **one replayable trajectory**, not a general policy.\n\n## The venue\nYou stand in the middle of a floor-exercise area, 12.0 m by 12.0 m, flat, level and rigid, with nothing on it.\n\nFrame: metres; the origin is on the floor under your pelvis at the start, +x is the way you face at the start, +y is\nto your left, +z is up; the floor is z = 0. \n\n## The rules\n**Rule book:** FIG Code of Points, floor exercise: the salto backward tucked from a stand (a standing back tuck), landed on the feet; FIG Apparatus Norms, floor: a 12 m x 12 m performance area. Where this task departs from it:\n\n- FIG Apparatus Norms, floor: the floor is rigid and level, not the norm's sprung floor with its elastic surface, because the simulator's ground is rigid (a sprung floor would give energy back: this is not easier)\n- FIG Code of Points (execution is scored): the salto is judged pass or fail on the rotation, the feet-first landing and the stand, because the task is a single action without a judging panel\n- the Code of Points has no number for a completed salto; here the pelvis must have turned 300.0 degrees backwards between lift-off and the first touch (a full turn less the backward lean at lift-off and the forward lean a salto still has when its feet touch down); the feet-first landing and the stand judge the rest\n\nThe flip is one flight phase (nothing of you touches the ground) of at least 0.2 s that starts from your feet (at lift-off the last things on the ground were your feet, nothing else); shorter hops are ignored, and your first flight of at least 0.2 s is your attempt. The turn is measured on your pelvis: the angle it rotates backwards (head going back, feet coming forward) about the horizontal axis that was its left-right axis at lift-off, added up from lift-off while you are in the air; a rotation on the ground and a twist about the vertical do not count. It must reach 300.0 degrees before anything touches the ground (a full turn less the backward lean a standing take-off already has when the feet leave the ground and the lean a salto still has when its feet touch down: the landing and the stand have to finish the turn). The first touch after the flight must be with the feet only. You then stand for 2.0 s without a break: only your feet on the ground, your torso within 20.0 degrees of vertical, your pelvis slower than 0.35 m/s. You fail if the attempt did not start from the feet alone, if it lands with less than 300.0 degrees turned, if it lands on anything but the feet, if you fall at any time (a fall is: a part of you other than a foot touches th\n… (13,286 characters left out) …\nries a fist pad (a box of 4.4 × 8 × 10 cm beyond the wrist, the\n 10 cm along the forearm) with a grip: while `grip_left` / `grip_right` ≥ 0.5 the hand holds the nearest grippable\n object whose surface is within 3.5 cm of the palm point (the middle of the pad, 4.5 cm beyond the wrist flange along\n the forearm) and that moves at most 6 m/s relative to it; below 0.5 it lets go at once. Since the palm point is inside\n the pad, an object can be gripped where it touches one of the pad's two broad faces, not at its narrow sides or its\n far end. What is grippable is the task's own equipment, named in the rules.\n- **A tool on a hand** (a racket, a paddle, a club; where the task has one) is fixed to the wrist in place of the pad.\n It collides with the world, the ball and the rest of your own body.\n- **The air** is real: balls and implements feel drag and, when they spin, lift.\n- **If the physics diverges** (a numerical blow-up, typically from a violent joint command), the attempt ends as a\n failure: \"the simulation became unstable\".\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for the whole trial, all its processes together (every simulator you start included): at most **13 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; the task 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\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time 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 `date` now, and again before you decide that time is short; work out the time left from those readings, never from a guess. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"roboolympics-fun-backflip-i00-privileged--fukrren/replay.mp4","replay_last":"roboolympics-fun-backflip-i00-privileged--fukrren/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll save an initial trajectory immediately, then inspect the simulator and tune the jump, rotation, and landing through repeatable trials. I’ll keep the best trajectory and its generating script up to date throughout.","calls":[{"kind":"shell","label":"date -u","code":"date -u"},{"kind":"shell","label":"pwd && rg --files -g 'AGENTS.md' -g 'instance.json' -g '*backflip*' /app /opt/tools | head -60","code":"pwd && rg --files -g 'AGENTS.md' -g 'instance.json' -g '*backflip*' /app /opt/tools | head -60"},{"kind":"shell","label":"sed -n '1,260p' /opt/tools/rcb_rfo.py","code":"sed -n '1,260p' /opt/tools/rcb_rfo.py"}],"out":{"text":"Thu Oct 15 10:59:31 UTC 2026\n\n/app\n/app/instance.json\n\n\"\"\"rcb_rfo.py -- RoboOlympics tooling for robot coding bench (docs/benchmarks/roboolympics.md).\n\nOne module, copied unchanged into every RoboOlympics task: the privileged environment (`Session`), the privileged\nverifier (`replay`) and the standard sim service (`Episode`, driven by sim/server.py). The world is the `rfo` package\nnext to it (the RoboOlympics Unitree G1 or H1-2 in a sports venue, rfo/world.py) with the family's own rules,\n`rfo_task.py`.\n\nA control step is 10 ms (10 physics steps of 1 ms). An action is a row of one of the action types\n(`Session.action_types`; the widths below are the G1's, 29 joints with a 3-joint waist; the H1-2 has 27 joints, a\n1-joint waist and no running policy and no FALCON / AGILE, so no `run` / `run_arms` / `walk_falcon` / `walk_agile`):\n\n stand waist 3 + arms 14 joint targets + grips 2 the platform holds the legs in the stance\n walk vx, vy, wz + waist 3 + arms 14 + grips 2 Unitree's walking policy drives the legs\n run vx, vy, wz + grips 2 the running policy drives all 29 joints\n run_arms vx, vy, wz + arms 14 + grips 2 the running policy drives legs and waist\n walk_falcon / walk_agile the walk row FALCON's / AGILE's walking policy drives the legs\n joints 29 joint targets + grips 2 \n… (10,715 characters left out) …\nas imageio\n\n imageio.mimsave(video, frames, fps=round(1.0 / (every * ep.control_dt)), macro_block_size=1)\n imageio.imwrite(video[: -len(\".mp4\")] + \".last.png\", frames[-1])\n out[\"video\"] = os.path.isfile(video) and os.path.getsize(video) > 0\n except Exception as exc: # noqa: BLE001 -- the video never decides anything\n out[\"video_error\"] = repr(exc)[:200]\n ep.close()\n return out\n\n\ndef read_trajectory(path: str, raw_dim: int, max_rows: int = MAX_ROWS) -> tuple[np.ndarray, str | None]:\n \"\"\"(actions, family) of a trajectory.npz, refusing a file that would unpack to more than max_rows rows (a small\n compressed file can hold gigabytes) or that is not what save_trajectory writes. Raises ValueError.\"\"\"\n import zipfile\n\n limit = max_rows * raw_dim * 8 + (1 << 16)\n try:\n with zipfile.ZipFile(path) as z:\n infos = {i.filename: i for i in z.infolist()}\n except (OSError, zipfile.BadZipFile) as exc:\n raise ValueError(f\"not an .npz file: {exc}\") from None\n if \"actions.npy\" not in infos:\n raise ValueError(\"no `actions` array\")\n if sum(i.file_size for i in infos.values()) > limit:\n raise ValueError(f\"the file unpacks to more than {limit} bytes ({max_rows} rows of {raw_dim} float64)\")\n try:\n with np.load(path, allow_pickle=False) as d:\n acts = np.asarray(d[\"actions\"], dtype=np.float64)\n family = str(d[\"family\"]) if \"family\" in d.files else None\n","exit":[0,0,0],"pics":[]},"tok":{"in":15584,"cached":null,"out":155,"think":0,"usd":0.2025},"sim":{"submit":0,"reset":0}},{"id":7,"t":11.4,"say":"","calls":[{"kind":"robot","label":"s = Session()","code":"mkdir -p /app/output && cat > /app/output/gen.py <<'PY'\nfrom rcb_rfo import Session\ns = Session()\ntyp, row = s.hold()\nfor _ in range(100):\n if s.step(typ, row): break\ns.save_trajectory()\nprint(s.status())\nPY\npython /app/output/gen.py"},{"kind":"shell","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'EOF'\nInitial baseline: hold the starting stance for one second.\nThis baseline does not yet perform a backflip.\nNo downloads or installations.\nEOF\ncat /app/instance.json\nsed -n '1,300p' /opt/tools/rfo_task.py"}],"out":{"text":"Warning: truncated output (original token count: 10082)\nTotal output lines: 2\n\n{\"chunk_id\":\"29e508\",\"wall_time_seconds\":3.6196801020000002,\"exit_code\":0,\"original_token_count\":60,\"output\":\"{'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 4, 'progress': 0.0, 'metrics': {}, 'steps': 100, 'time_s': 1.0, 'events': [], 'state_sha': '790c4a5c1cdd732af195f9da21ac24e954335dd80239a12b078928ca50aaedd0'}\\n\"}\n{\"chunk_id\":\"8ed3e6\",\"wall_time_seconds\":0.000006567,\"exit_code\":0,\"original_token_count\":9167,\"output\":\"{\\n \\\"family\\\": \\\"backflip\\\",\\n \\\"seed\\\": 0,\\n \\\"params\\\": {\\n \\\"turn_deg\\\": 300.0,\\n \\\"min_air_s\\\": 0.2,\\n \\\"stand_s\\\": 2.0,\\n \\\"fall_pelvis_m\\\": 0.2,\\n \\\"stand_tilt_deg\\\": 20.0,\\n \\\"still_m_s\\\": 0.35,\\n \\\"area_m\\\": 12.0\\n },\\n \\\"title\\\": \\\"Backflip\\\",\\n \\\"category\\\": \\\"parkour-apparatus-balance\\\",\\n \\\"time_limit_s\\\": 20.0,\\n \\\"stages\\\": [\\n \\\"take-off\\\",\\n \\\"full turn\\\",\\n \\\"landing\\\",\\n \\\"stand\\\"\\n ],\\n \\\"rulebook\\\": \\\"FIG Code of Points, floor exercise: the salto backward tucked from a stand (a standing back tuck), landed on the feet; FIG Apparatus Norms, floor: a 12 m x 12 m performance area\\\",\\n \\\"deviations\\\": [\\n \\\"FIG Apparatus Norms, floor: the floor is rigid and level, not the norm's sprung floor with its elastic surface, because the simulator's ground is rigid (a sprung floor would give energy back: this is not easier)\\\",\\n \\\"FIG Code of Points (execution is scored): the salto is judged pass or fail on the rotation, the feet\n… (37,104 characters left out) …\n= set(fl.cur[\\\"takeoff\\\"].get(\\\"parts\\\", []))\\n if not parts or not parts <= {\\\"left_foot\\\", \\\"right_foot\\\"}:\\n return ref.fail(\\\"did not take off from the feet\\\", parts=sorted(parts))\\n ref.stage(\\\"take-off\\\")\\n if ref.has(\\\"take-off\\\") and math.degrees(tr[\\\"turn_rad\\\"]) >= p[\\\"turn_deg\\\"]:\\n ref.stage(\\\"full turn\\\")\\n elif done is not None: # the attempt has landed\\n tr[\\\"landed\\\"] = True\\n deg = round(math.degrees(tr[\\\"turn_rad\\\"]), 1)\\n ref.metrics[\\\"turn_deg\\\"] = deg\\n ref.metrics[\\\"air_s\\\"] = done[\\\"air_s\\\"]\\n if not ref.has(\\\"full turn\\\"):\\n return ref.fail(\\\"not a full backward turn\\\", turn_deg=deg)\\n parts = set(done[\\\"landing_parts\\\"])\\n if not parts <= {\\\"left_foot\\\", \\\"right_foot\\\"}:\\n return ref.fail(\\\"did not land on the feet\\\", parts=sorted(parts))\\n ref.stage(\\\"landing\\\", turn_deg=deg)\\n\\n def step(self, w, ref):\\n p = self.p\\n still = ref.standing(max_speed=p[\\\"still_m_s\\\"], min_upright=self.min_upright)\\n if ref.has(\\\"landing\\\") and ref.hold(\\\"stand\\\", still, p[\\\"stand_s\\\"]):\\n if ref.stage(\\\"stand\\\"):\\n ref.succeed()\\n\\n def privileged(self, w):\\n return {\\\"pelvis\\\": w.pelvis().tolist(), \\\"turn_deg\\\": math.degrees(self.trackers.get(\\\"turn_rad\\\", 0.0))}\\n\"}","exit":[],"pics":[]},"tok":{"in":19768,"cached":15581,"out":198,"think":0,"usd":0.0778},"sim":{"submit":0,"reset":0}},{"id":8,"t":21.3,"say":"","calls":[{"kind":"shell","label":"rg -n '^class |def (step|reset|control|apply|standing)|tau_max|torque|mj_step|support|_raw' /opt/tools/rfo/wor","code":"rg -n '^class |def (step|reset|control|apply|standing)|tau_max|torque|mj_step|support|_raw' /opt/tools/rfo/world.py"},{"kind":"shell","label":"rg -n 'class Flights|def standing|def update|fell|fall|contacts' /opt/tools/rfo/referee.py","code":"rg -n 'class Flights|def standing|def update|fell|fall|contacts' /opt/tools/rfo/referee.py"},{"kind":"shell","label":"ls /opt/roboolympics && sed -n '340,510p' /opt/tools/rcb_rfo.py","code":"ls /opt/roboolympics && sed -n '340,510p' /opt/tools/rcb_rfo.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":35619,"cached":19765,"out":204,"think":42,"usd":0.2281},"sim":{"submit":0,"reset":0}},{"id":9,"t":26.8,"say":"","calls":[{"kind":"shell","label":"sed -n '120,170p' /opt/tools/rfo/world.py && sed -n '263,448p' /opt/tools/rfo/world.py","code":"sed -n '120,170p' /opt/tools/rfo/world.py && sed -n '263,448p' /opt/tools/rfo/world.py"},{"kind":"shell","label":"sed -n '193,311p' /opt/tools/rfo/referee.py && sed -n '350,405p' /opt/tools/rfo/referee.py && rg --files /opt/","code":"sed -n '193,311p' /opt/tools/rfo/referee.py && sed -n '350,405p' /opt/tools/rfo/referee.py && rg --files /opt/roboolympics/bodies | head -40"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":38159,"cached":35616,"out":178,"think":38,"usd":0.0763},"sim":{"submit":0,"reset":0}},{"id":10,"t":39.3,"say":"The initial files are saved. I’m starting with a symmetric crouch, forceful leg extension, and an airborne tuck. The first trials will measure how much height and backward rotation the motors can produce before I tune the landing.","calls":[{"kind":"robot","label":"writes motion.py","code":"cat > /app/output/motion.py <<'PY'\nimport json, numpy as np\nfrom rcb_rfo import Session\n\ndef pose(h,k,a,sh=.2,el=1.28,wa=0,roll=.2):\n q=np.zeros(29)\n q[[0,6]]=h; q[[3,9]]=k; q[[4,10]]=a\n q[14]=wa; q[[15,22]]=sh; q[[18,25]]=el\n q[16]=roll; q[23]=-roll\n return q\n\nDEFAULT=dict(squat_t=.6,hold_t=.1,push_t=.18,tuck_t=.4,open_t=.15,\n squat=[-.9,1.8,-.9,.6,.3,0], push=[.5,0,.5,-2.5,.3,0],\n tuck=[-2.2,2.7,-.2,.2,1.8,0], land=[-.4,.8,-.4,.2,1.28,0],\n kp=1.,kd=1., settle=1., walker='walk')\n\ndef run(p=DEFAULT,s=None,trace=False,maxsteps=600):\n if s is None: s=Session()\n else: s.reset()\n r=s.world.robot; w=s.world\n q0=r.rest.copy(); qs=[q0]+[pose(*p[k]) for k in ['squat','push','tuck','land']]\n times=np.cumsum([0,p['squat_t'],p['hold_t'],p['push_t'],p['tuck_t'],p['open_t']])\n logs=[]; maxz=0\n for i in range(maxsteps):\n t=i*.01\n if t=times[5]+p.get('settle',1):\n typ=p.get('walker','walk'); row=np.r_[np.zeros(3),r.rest[12:],0,0]\n else:\n typ='lowcmd'; row=np.r_[q,np.zeros(58),r.kp0*p.get('kp',1),r.kd0*p.get('kd',1),0,0]\n done=s.step(typ,row)\n maxz=max(maxz,w.d.subtree_com[r.pelvis,2])\n if trace:\n R=w.d.xmat[r.pelvis].reshape(3,3)\n logs.append(dict(t=w.t,qpos=w.d.qpos.tolist(),qvel=w.d.qvel.tolist(),z=float(w.d.subtree_com[r.pelvis,2]),pitch=float(np.arctan2(R[0,2],R[2,2])),turn=float(w.task.trackers['turn_rad']),parts=sorted(w.ref.parts_touching(w.ref.ground))))\n if done: break\n status=s.status(); status['max_com_z']=maxz\n status['turn']=float(w.task.trackers['turn_rad']*180/np.pi)\n status['flights']=w.task.trackers['flights'].state()\n return status,logs,s\n\nif __name__=='__main__':\n import sys,time\n p=DEFAULT.copy()\n if len(sys.argv)>1: p.update(json.load(open(sys.argv[1])))\n t=time.time(); st,logs,s=run(p,trace=True)\n print(json.dumps(st)); print('runtime',time.time()-t)\n json.dump(logs,open('/app/output/trace.json','w'))\n s.save_trajectory(path='/app/output/trial.npz')\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/motion.py"}],"out":{"text":"{\"success\": false, \"done\": true, \"failed\": \"not a full backward turn\", \"stages\": [\"take-off\"], \"stages_total\": 4, \"progress\": 0.25, \"metrics\": {\"turn_deg\": 64.3, \"air_s\": 0.632}, \"steps\": 145, \"time_s\": 1.45, \"events\": [{\"ev\": \"stage\", \"t\": 1.011, \"stage\": \"take-off\"}, {\"ev\": \"fail\", \"t\": 1.442, \"reason\": \"not a full backward turn\", \"turn_deg\": 64.3}], \"state_sha\": \"88f8da58fde3c5e4b868374481fe71c2a916797578d61646b8a3adb091dd9328\", \"max_com_z\": 1.0569562959515757, \"turn\": 64.30538039939088, \"flights\": [false, null, [{\"t0\": 0.81, \"takeoff\": {\"t\": 0.809, \"parts\": [\"left_foot\", \"right_foot\"], \"points\": [[0.0826, 0.1488, -0.0], [0.0826, 0.0888, -0.0], [0.0827, -0.0888, -0.0], [0.0827, -0.1488, -0.0]]}, \"apex_z\": 0.9575, \"pelvis0\": [-0.1182, 0.0, 0.7727], \"t1\": 1.442, \"air_s\": 0.632, \"landing_parts\": [\"head\"], \"landing_points\": [[-1.2071, 0.0093, -0.0015]], \"pelvis1\": [-0.9414, -0.0019, 0.4293]}], {\"t\": 1.442, \"parts\": [\"head\"], \"points\": [[-1.2071, 0.0093, -0.0015]]}]}\nruntime 3.3593263626098633\n","exit":[0],"pics":[]},"tok":{"in":45396,"cached":38156,"out":1352,"think":340,"usd":0.1962},"sim":{"submit":0,"reset":0}},{"id":11,"t":62.8,"say":"","calls":[{"kind":"shell","label":"l=json.load(open('/app/output/trace.json'))","code":"python - <<'PY'\nimport json,numpy as np\nl=json.load(open('/app/output/trace.json'))\nfor v in l[::10]:\n q=np.array(v['qpos']); vel=np.array(v['qvel']); print(round(v['t'],2), 'xyz',np.round(q[:3],2),'p,t',round(v['pitch'],2),round(v['turn'],2),'vel',np.round(vel[:6],2),'j',np.round(q[[7,10,11,21,22,25]],2),'contact',v['parts'])\nPY\npython - <<'PY'\ntry: import cma; print('cma installed')\nexcept: print('no cma')\nPY"}],"out":{"text":"0.01 xyz [-0. -0. 0.79] p,t -0.0 0.0 vel [ 0. -0. -0.1 -0. -0. 0. ] j [-0.1 0.3 -0.2 0. 0.2 1.28] contact []\n0.11 xyz [0. 0. 0.78] p,t 0.0 -0.0 vel [-0.01 0. -0.07 -0. 0.02 -0. ] j [-0.15 0.4 -0.25 -0.01 0.22 1.22] contact ['left_foot', 'right_foot']\n0.21 xyz [-0. 0. 0.76] p,t 0.02 -0.0 vel [-0.04 0. -0.33 -0. -0.04 -0. ] j [-0.29 0.66 -0.38 0. 0.29 1.06] contact ['left_foot', 'right_foot']\n0.31 xyz [-0.01 -0. 0.71] p,t 0.03 -0.0 vel [-0.09 -0. -0.58 0.02 -0.08 -0. ] j [-0.48 1.02 -0.57 0. 0.38 0.83] contact ['left_foot', 'right_foot']\n0.41 xyz [-0.02 -0. 0.64] p,t 0.03 -0.0 vel [-0.16 0. -0.69 0. -0.22 -0. ] j [-0.67 1.39 -0.75 0. 0.48 0.59] contact ['left_foot', 'right_foot']\n0.51 xyz [-0.04 0. 0.58] p,t 0.02 -0.0 vel [-0.24 0. -0.56 -0. -0.44 0. ] j [-0.83 1.69 -0.88 0. 0.55 0.4 ] contact ['left_foot', 'right_foot']\n0.61 xyz [-0.07 0. 0.54] p,t -0.04 -0.0 vel [-0.33 0. -0.18 0. -0.89 -0. ] j [-0.9 1.84 -0.89 0.01 0.59 0.31] contact ['left_foot', 'right_foot']\n0.71 xyz [-0.11 0. 0.54] p,t -0.18 -0.0 vel [ -0.92 -0. 0.42 -0. -10.6 -0. ] j [-0.81 1.82 -0.79 0.06 0.56 0.32] contact ['left_foot', 'right_foot']\n0.81 xyz [-0.12 0. 0.77] p,t -0.81 -0.01 vel [-0.11 0. 3.39 0. 6.94 0. ] j [ 0.56 0.44 0.04 -0.3 -0.13 0.36] contact []\n0.91 xyz [-0.21 0. 0.94] p,t -0.31 -0.51 vel [-1.170e+00 0.000e+00 1.610e+00 1.000e-02 1.392e+01 0.000e+00] j [-0.1 0.39 0. -0.4 -2.66 0.63] contact []\n1.01 xyz [-0.42 -0. 0.89] p,t -0.13 -0.66 vel [ -1.06 -0. -0.64 -0. -17.13 0. ] j [-2.13 2.31 -0.2 -0.17 -2.25 1.74] contact []\n1.11 xyz [-0.48 0. 0.92] p,t -0.79 -0.02 vel [-0.79 0.13 0.25 0.2 -0.14 -0.72] j [-2.21 2.7 -0.2 0.14 -1.22 1.78] contact []\n1.21 xyz [-0.56 0.01 0.9 ] p,t -0.99 0.18 vel [-0.65 -0.04 -0.75 -0.2 -3.53 0.33] j [-2.2 2.7 -0.2 -0.05 0.31 1.81] contact []\n1.31 xyz [-0.66 0. 0.73] p,t -1.59 0.8 vel [ -2.46 0.03 -3.9 0.68 -19.3 0.35] j [-1.74 2.34 -0.35 0.51 0.66 1.51] contact []\n1.41 xyz [-0.9 -0. 0.53] p,t -1.93 1.12 vel [-1.87 0.01 -2.4 0.01 2.47 -0.26] j [-0.37 0.82 -0.4 -0.42 0.2 1.28] contact []\nno cma\n","exit":[0],"pics":[]},"tok":{"in":47292,"cached":45393,"out":208,"think":18,"usd":0.0795},"sim":{"submit":0,"reset":0}},{"id":12,"t":71.7,"say":"","calls":[{"kind":"shell","label":"s=Session(); t=time.time()","code":"pip -q install cma && cat > /app/output/bench.py <<'PY'\nimport time\nfrom motion import *\ns=Session(); t=time.time()\nfor i in range(5):\n st,_,_=run(DEFAULT,s=s)\n print(i,round(time.time()-t,2),st['turn'],flush=True)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/bench.py"}],"out":{"text":"WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.\n\n[notice] A new release of pip is available: 25.0.1 -> 26.2.1\n[notice] To update, run: pip install --upgrade pip\n0 0.72 64.30538039939088\n1 1.48 64.30538039939088\n2 2.19 64.30538039939088\n3 2.96 64.30538039939088\n4 3.73 64.30538039939088\n","exit":[0],"pics":[]},"tok":{"in":48991,"cached":47289,"out":274,"think":148,"usd":0.0823},"sim":{"submit":0,"reset":0}},{"id":13,"t":118.1,"say":"","calls":[{"kind":"shell","label":"writes search.py","code":"cat > /app/output/search.py <<'PY'\nimport os\nos.environ['OPENBLAS_NUM_THREADS']='1'; os.environ['OMP_NUM_THREADS']='1'\nimport json,time,sys, numpy as np, cma\nfrom concurrent.futures import ProcessPoolExecutor\nfrom motion import *\n# name, lower, upper\nSPEC=[('squat_t',.25,.9),('hold_t',0,.18),('push_t',.06,.3),('tuck_t',.15,.65),\n ('squat.0',-1.6,-.3),('squat.1',.8,2.7),('squat.2',-.87,-.2),('squat.3',-1.5,1.5),('squat.4',0,1.8),('squat.5',-.5,.5),\n ('push.0',-.5,1.5),('push.1',-.08,.8),('push.2',-.8,.52),('push.3',-3.,1.8),('push.4',0,1.8),('push.5',-.5,.5),\n ('tuck.0',-2.5,-1.),('tuck.1',1.8,2.87),('tuck.2',-.8,.5),('tuck.3',-2.7,1.8),('tuck.4',.3,2.),('tuck.5',-.5,.5),\n ('land.0',-1.3,.3),('land.1',.2,1.8),('land.2',-.87,.5)]\ndef encode(p):\n out=[]\n for key,a,b in SPEC:\n k,_,j=key.partition('.'); val=p[k][int(j)] if j else p[k]\n out.append(np.clip((val-a)/(b-a),0,1))\n return out\n\ndef decode(x):\n p=json.loads(json.dumps(DEFAULT))\n for xx,(key,a,b) in zip(x,SPEC):\n val=float(a+(b-a)*xx); k,_,j=key.partition('.')\n if j: p[k][int(j)]=val\n else:p[k]=val\n return p\nS=None\ndef evaluate(x):\n global S\n if S is None:S=Session()\n p=decode(x)\n try:\n st,_,s=run(p,s=S,maxsteps=330)\n w=s.world;r=w.robot\n turn=st['turn']; fs=st['flights'][2]\n pitch=np.arctan2(w.d.xmat[r.pelvis].reshape(3,3)[0,2],w.d.xmat[r.pelvis].reshape(3,3)[2,2])\n if 'take-off' not in st['stages']:\n cost=500+(0.9-st['max_com_z'])*100\n else:\n # Progress toward 300 degrees, then feet-first alignment and recovery.\n cost=max(0,305-turn)+max(0,turn-360)*.3\n cost+=20*abs(pitch)+2*np.linalg.norm(w.d.qvel[:3])\n if fs and set(fs[0]['landing_parts']) <= {'left_foot','right_foot'}:cost-=40\n if 'landing' in st['stages']:cost-=100\n if st['success']:cost-=1000\n return float(cost),st\n except Exception as e:return 999,{'error':str(e)}\n\ndef main():\n seed=int(sys.argv[1]) if len(sys.argv)>1 else 1\n base=json.loads(json.dumps(DEFAULT))\n if len(sys.argv)>2:base.update(json.load(open(sys.argv[2])))\n es=cma.CMAEvolutionStrategy(encode(base),.20,{'bounds':[0,1],'popsize':24,'seed':seed,'verbose':-9})\n best=1e9; start=time.time()\n with ProcessPoolExecutor(max_workers=8) as pool:\n for gen in range(1000):\n xs=es.ask(); res=list(pool.map(evaluate,xs)); vals=[v[0] for v in res];es.tell(xs,vals)\n idx=int(np.argmin(vals)); cost,st=res[idx]\n if cost /app/output/gen.py <<'PY'\nimport json\nfrom pathlib import Path\nfrom motion import run\nbase=Path(__file__).resolve().parent\np=json.loads((base/'params.json').read_text())\nstatus,_,s=run(p,maxsteps=2000)\ns.save_trajectory()\nprint(json.dumps(status))\nPY\ncat > /app/output/NOTES.md <<'EOF'\nA symmetric joint trajectory crouches, extends the legs, tucks, then opens for landing.\nParameters are tuned in the unchanged simulator using CMA-ES.\nThe initial hand-tuned attempt jumped but rotated only 64 degrees in flight.\nThis exposed insufficient backward angular momentum at takeoff.\nInstalled the public Python package cma; no external motion data downloaded.\nCurrent referee result is in best_status.json.\nEOF\nOPENBLAS_NUM_THREADS=1 python /app/output/search.py 1 > /app/output/search.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":49507,"cached":48988,"out":1805,"think":374,"usd":0.1457},"sim":{"submit":0,"reset":0}},{"id":14,"t":127.4,"say":"","calls":[{"kind":"shell","label":"tail -5 /app/output/search.log && date -u && cat /run/rcb-limits/usage.json","code":"tail -5 /app/output/search.log && date -u && cat /run/rcb-limits/usage.json"}],"out":{"text":"/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nBEST 0 135.916 {\"success\": false, \"done\": true, \"failed\": \"not a full backward turn\", \"stages\": [\"take-off\"], \"stages_total\": 4, \"progress\": 0.25, \"metrics\": {\"turn_deg\": 204.9, \"air_s\": 0.653}, \"steps\": 124, \"time_s\": 1.24, \"events\": [{\"ev\": \"stage\", \"t\": 0.784, \"stage\": \"take-off\"}, {\"ev\": \"fail\", \"t\": 1.237, \"reason\": \"not a full backward turn\", \"turn_deg\": 204.9}], \"state_sha\": \"021e06870a304c5110fc2ba7cc7f6e6ab7093fae2d30fcfe3210c0363b687393\", \"max_com_z\": 0.9625694731975729, \"turn\": 204.8739329102313, \"flights\": [false, null, [{\"t0\": 0.584, \"takeoff\": {\"t\": 0.583, \"parts\": [\"right_foot\"], \"points\": [[0.0507, -0.0887, -0.0001], [0.0506, -0.1487, -0.0001]]}, \"apex_z\": 0.9455, \"pelvis0\": [-0.0661, 0.0001, 0.7521], \"t1\": 1.237, \"air_s\": 0.653, \"landing_parts\": [\"right_shin\"], \"landing_points\": [[-0.8002, -0.134, -0.0007]], \"pelvis1\": [-0.3625, -0.0009, 0.2091]}], {\"t\": 1.237, \"parts\": [\"right_shin\"], \"points\": [[-0.8002, -0.134, -0.0007]]}]}\nGEN 0 min 135.916 median 295.423 sigma 0.1926 elapsed 8.5\nThu Oct 15 11:01:37 UTC 2026\n{\n \"t\": 1792062092.6,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 2.22,\n \"processes\": 17,\n \"disk_gb\": 0.824,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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":[0],"pics":[]},"tok":{"in":51371,"cached":49504,"out":125,"think":73,"usd":0.0791},"sim":{"submit":0,"reset":0}},{"id":15,"t":132.1,"say":"The first optimized trial increased the airborne turn from 64° to 205°, with about 0.65 seconds of flight. It still under-rotates and touches down on a shin, so I’m tuning takeoff momentum and the timing of the tuck.","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:48164,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"tail -4 /app/output/search.log\",\"max_output_tokens\":3000}));\n"},{"kind":"shell","label":"tail -4 /app/output/search.log","code":"tail -4 /app/output/search.log"}],"out":{"text":"GEN 0 min 135.916 median 295.423 sigma 0.1926 elapsed 8.5\nBEST 1 63.208 {\"success\": false, \"done\": true, \"failed\": \"not a full backward turn\", \"stages\": [\"take-off\"], \"stages_total\": 4, \"progress\": 0.25, \"metrics\": {\"turn_deg\": 233.2, \"air_s\": 0.551}, \"steps\": 119, \"time_s\": 1.19, \"events\": [{\"ev\": \"stage\", \"t\": 0.836, \"stage\": \"take-off\"}, {\"ev\": \"fail\", \"t\": 1.186, \"reason\": \"not a full backward turn\", \"turn_deg\": 233.2}], \"state_sha\": \"d6b8924d5367300e04241f04d41277879565be863150642b602fb9fb60be0665\", \"max_com_z\": 0.9005153114470219, \"turn\": 233.24652627518128, \"flights\": [false, null, [{\"t0\": 0.635, \"takeoff\": {\"t\": 0.634, \"parts\": [\"right_foot\"], \"points\": [[0.0572, -0.0885, -0.0], [0.0572, -0.1485, -0.0]]}, \"apex_z\": 0.9336, \"pelvis0\": [-0.1295, 0.0005, 0.7364], \"t1\": 1.186, \"air_s\": 0.551, \"landing_parts\": [\"left_foot\", \"right_foot\"], \"landing_points\": [[-1.193, 0.1391, -0.0022], [-1.1928, 0.0791, -0.0015], [-1.1899, -0.097, -0.0008], [-1.1898, -0.157, -0.0001]], \"pelvis1\": [-0.6727, 0.0038, 0.5397]}], {\"t\": 1.186, \"parts\": [\"left_foot\", \"right_foot\"], \"points\": [[-1.193, 0.1391, -0.0022], [-1.1928, 0.0791, -0.0015], [-1.1899, -0.097, -0.0008], [-1.1898, -0.157, -0.0001]]}]}\nBEST 2 18.618 {\"success\": false, \"done\": true, \"failed\": \"not a full backward turn\", \"stages\": [\"take-off\"], \"stages_total\": 4, \"progress\": 0.25, \"metrics\": {\"turn_deg\": 254.1, \"air_s\": 0.418}, \"steps\": 112, \"time_s\": 1.12, \"events\": [{\"ev\": \"stage\", \"t\": 0.899, \"stage\": \"take-off\"}, {\"ev\": \"fail\",\n… (361 characters left out) …\n0.0881, -0.0001]]}, \"apex_z\": 0.7895, \"pelvis0\": [-0.1699, -0.0002, 0.6698], \"t1\": 1.116, \"air_s\": 0.418, \"landing_parts\": [\"left_foot\"], \"landing_points\": [[-0.457, 0.1462, -0.0001]], \"pelvis1\": [-0.6561, 0.001, 0.3882]}], {\"t\": 1.116, \"parts\": [\"left_foot\"], \"points\": [[-0.457, 0.1462, -0.0001]]}]}\nBEST 3 9.413 {\"success\": false, \"done\": true, \"failed\": \"not a full backward turn\", \"stages\": [\"take-off\"], \"stages_total\": 4, \"progress\": 0.25, \"metrics\": {\"turn_deg\": 261.4, \"air_s\": 0.509}, \"steps\": 124, \"time_s\": 1.24, \"events\": [{\"ev\": \"stage\", \"t\": 0.926, \"stage\": \"take-off\"}, {\"ev\": \"fail\", \"t\": 1.235, \"reason\": \"not a full backward turn\", \"turn_deg\": 261.4}], \"state_sha\": \"5d5d695f799e34999eb68320a8f9e36a3a115ecd69cdf5e461cee5069bd6ad5c\", \"max_com_z\": 0.8384009001255911, \"turn\": 261.3513404930366, \"flights\": [false, null, [{\"t0\": 0.726, \"takeoff\": {\"t\": 0.725, \"parts\": [\"left_foot\", \"right_foot\"], \"points\": [[0.0691, 0.1488, -0.0], [0.0691, 0.0888, -0.0], [0.0691, -0.0888, -0.0], [0.0691, -0.1488, -0.0]]}, \"apex_z\": 0.8905, \"pelvis0\": [-0.2279, 0.0001, 0.6347], \"t1\": 1.235, \"air_s\": 0.509, \"landing_parts\": [\"left_foot\", \"right_foot\"], \"landing_points\": [[-1.0741, 0.1494, -0.0027], [-1.0729, 0.0894, -0.0028], [-1.07, -0.087, -0.003], [-1.0691, -0.147, -0.0031]], \"pelvis1\": [-1.1294, -0.0012, 0.544]}], {\"t\": 1.235, \"parts\": [\"left_foot\", \"right_foot\"], \"points\": [[-1.0741, 0.1494, -0.0027], [-1.0729, 0.0894, -0.0028], [-1.07, -0.087, -0.003], [-1.0691, -0.147, -0.0031]]}]}\n","exit":[0],"pics":[]},"tok":{"in":52271,"cached":51368,"out":172,"think":46,"usd":0.0712},"sim":{"submit":0,"reset":0}},{"id":16,"t":144.3,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":54181,"cached":52268,"out":92,"think":71,"usd":0.0808},"sim":{"submit":0,"reset":0}},{"id":17,"t":180.4,"say":"","calls":[{"kind":"shell","label":"tail -3 /app/output/search.log && date -u","code":"tail -3 /app/output/search.log && date -u"}],"out":{"text":"GEN 15 min -22.021 median 56.963 sigma 0.1723 elapsed 41.8\nBEST 16 -130.478 {\"success\": false, \"done\": true, \"failed\": \"fell\", \"stages\": [\"take-off\", \"full turn\", \"landing\"], \"stages_total\": 4, \"progress\": 0.75, \"metrics\": {\"turn_deg\": 303.7, \"air_s\": 0.68}, \"steps\": 131, \"time_s\": 1.31, \"events\": [{\"ev\": \"stage\", \"t\": 0.82, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.29, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.3, \"stage\": \"landing\", \"turn_deg\": 303.7}, {\"ev\": \"fail\", \"t\": 1.31, \"reason\": \"fell\", \"on_the_ground\": [\"left_shin\", \"right_shin\"]}], \"state_sha\": \"8879a28a114837db13e807a40736103ec04a7bbea1b6bf0b9a793aa530a60159\", \"max_com_z\": 1.1797029969742534, \"turn\": 303.6683434844129, \"flights\": [false, null, [{\"t0\": 0.62, \"takeoff\": {\"t\": 0.619, \"parts\": [\"left_foot\", \"right_foot\"], \"points\": [[0.0386, 0.1489, -0.0], [0.0386, 0.0889, -0.0], [0.0387, -0.0888, -0.0], [0.0386, -0.1488, -0.0001]]}, \"apex_z\": 1.2397, \"pelvis0\": [-0.196, -0.0, 0.6702], \"t1\": 1.3, \"air_s\": 0.68, \"landing_parts\": [\"right_foot\"], \"landing_points\": [[-0.9997, -0.0846, -0.0015], [-0.9984, -0.1346, -0.0018]], \"pelvis1\": [-1.19, -0.0041, 0.5975]}], {\"t\": 1.3, \"parts\": [\"right_foot\"], \"points\": [[-0.9997, -0.0846, -0.0015], [-0.9984, -0.1346, -0.0018]]}]}\nGEN 20 min -101.469 median 59.071 sigma 0.156 elapsed 53.2\nThu Oct 15 11:02:30 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":54296,"cached":54178,"out":38,"think":0,"usd":0.0575},"sim":{"submit":0,"reset":0}},{"id":18,"t":190.9,"say":"A trial now completes 304° in the air and lands feet first. It then collapses onto its shins almost immediately. The jump and turn are feasible; I’m shifting the search toward opening the legs earlier and absorbing the landing.","calls":[{"kind":"shell","label":"cp /app/output/params.json /app/output/first_landing.json && OPENBLAS_NUM_THREADS=1 python /app/output/motion.","code":"cp /app/output/params.json /app/output/first_landing.json && OPENBLAS_NUM_THREADS=1 python /app/output/motion.py /app/output/first_landing.json && tail -3 /app/output/search.log"}],"out":{"text":"{\"success\": false, \"done\": true, \"failed\": \"fell\", \"stages\": [\"take-off\", \"full turn\", \"landing\"], \"stages_total\": 4, \"progress\": 0.75, \"metrics\": {\"turn_deg\": 307.2, \"air_s\": 0.813}, \"steps\": 147, \"time_s\": 1.47, \"events\": [{\"ev\": \"stage\", \"t\": 0.813, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.395, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.426, \"stage\": \"landing\", \"turn_deg\": 307.2}, {\"ev\": \"fail\", \"t\": 1.47, \"reason\": \"fell\", \"on_the_ground\": [\"left_shin\", \"right_shin\"]}], \"state_sha\": \"bf9bfa8bcc3e0ce63886abcb61239d5a54dc5fc243e5aa9918061433c3cf6af2\", \"max_com_z\": 1.4124262699321943, \"turn\": 307.2384132361561, \"flights\": [false, null, [{\"t0\": 0.613, \"takeoff\": {\"t\": 0.612, \"parts\": [\"left_foot\"], \"points\": [[0.0323, 0.1488, -0.0001], [0.0324, 0.0888, -0.0001]]}, \"apex_z\": 1.4945, \"pelvis0\": [-0.0944, 0.0002, 0.7513], \"t1\": 1.426, \"air_s\": 0.813, \"landing_parts\": [\"right_foot\"], \"landing_points\": [[-1.2803, -0.1429, -0.0006]], \"pelvis1\": [-1.0282, 0.0004, 0.6144]}], {\"t\": 1.426, \"parts\": [\"right_foot\"], \"points\": [[-1.2803, -0.1429, -0.0006]]}]}\nruntime 3.6998865604400635\nGEN 25 min -127.412 median 32.656 sigma 0.1594 elapsed 63.9\nBEST 27 -134.606 {\"success\": false, \"done\": true, \"failed\": \"fell\", \"stages\": [\"take-off\", \"full turn\", \"landing\"], \"stages_total\": 4, \"progress\": 0.75, \"metrics\": {\"turn_deg\": 307.2, \"air_s\": 0.813}, \"steps\": 147, \"time_s\": 1.47, \"events\": [{\"ev\": \"stage\", \"t\": 0.813, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.395, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.426, \"stage\": \"landing\", \"turn_deg\": 307.2}, {\"ev\": \"fail\", \"t\": 1.47, \"reason\": \"fell\", \"on_the_ground\": [\"left_shin\", \"right_shin\"]}], \"state_sha\": \"bf9bfa8bcc3e0ce63886abcb61239d5a54dc5fc243e5aa9918061433c3cf6af2\", \"max_com_z\": 1.4124262699321943, \"turn\": 307.2384132361561, \"flights\": [false, null, [{\"t0\": 0.613, \"takeoff\": {\"t\": 0.612, \"parts\": [\"left_foot\"], \"points\": [[0.0323, 0.1488, -0.0001], [0.0324, 0.0888, -0.0001]]}, \"apex_z\": 1.4945, \"pelvis0\": [-0.0944, 0.0002, 0.7513], \"t1\": 1.426, \"air_s\": 0.813, \"landing_parts\": [\"right_foot\"], \"landing_points\": [[-1.2803, -0.1429, -0.0006]], \"pelvis1\": [-1.0282, 0.0004, 0.6144]}], {\"t\": 1.426, \"parts\": [\"right_foot\"], \"points\": [[-1.2803, -0.1429, -0.0006]]}]}\nGEN 30 min -124.797 median 42.679 sigma 0.1645 elapsed 75.3\n","exit":[0],"pics":[]},"tok":{"in":55038,"cached":54293,"out":355,"think":218,"usd":0.0813},"sim":{"submit":0,"reset":0}},{"id":19,"t":202.7,"say":"","calls":[{"kind":"shell","label":"l=json.load(open('/app/output/trace.json'))","code":"cat /app/output/first_landing.json && python - <<'PY'\nimport json,numpy as np\nl=json.load(open('/app/output/trace.json'))\nfor v in l[55::5]:\n q=np.array(v['qpos']); vel=np.array(v['qvel']);print(round(v['t'],2),'xyz',np.round(q[:3],2),'p,t',round(v['pitch'],2),round(v['turn'],2),'vel',np.round(vel[:6],2),'j',np.round(q[[7,10,11,21,22,25]],2),'contact',v['parts'])\nPY"}],"out":{"text":"{\n \"squat_t\": 0.3948549597197411,\n \"hold_t\": 0.06317506759870586,\n \"push_t\": 0.1931984631383949,\n \"tuck_t\": 0.4950289126195856,\n \"open_t\": 0.15,\n \"squat\": [\n -1.3893006145202877,\n 2.65149893859334,\n -0.8226561430604965,\n 0.5393659516887617,\n 1.1622449210152148,\n 0.39051113275420246\n ],\n \"push\": [\n 0.49920666004506886,\n 0.08182689955373622,\n 0.43512494023223636,\n -1.9553015155494933,\n 0.2752903128776557,\n -0.02758755274512109\n ],\n \"tuck\": [\n -2.335221318460637,\n 2.8699997952113243,\n -0.4173388166259541,\n -0.9729822638210479,\n 1.9317509614947448,\n -0.07929552053175787\n ],\n \"land\": [\n 0.1389806309200119,\n 1.2378252321953274,\n -0.7602858674920374,\n 0.2,\n 1.28,\n 0\n ],\n \"kp\": 1.0,\n \"kd\": 1.0,\n \"settle\": 1.0,\n \"walker\": \"walk\"\n}0.56 xyz [-0.13 0. 0.53] p,t -1.05 0.01 vel [ 0.95 0. 3.62 -0. -3.7 0.06] j [ 0.32 1.75 -0.8 0.39 -0.28 0.5 ] contact ['left_foot', 'right_foot']\n0.61 xyz [-0.1 0. 0.74] p,t -0.93 0.01 vel [ 0.66 0.01 4.49 -0.04 6.66 0.19] j [ 0.56 0.91 -0.03 -0.4 -1.32 0.7 ] contact ['left_foot', 'right_foot']\n0.66 xyz [-0.11 0. 0.94] p,t -0.69 -0.23 vel [-1.31 0. 3.69 -0.01 -0.68 0.02] j [ 0.5 0.13 0.4 -0.46 -2.7 0.2 ] contact []\n0.71 xyz [-0.21 0. 1.07] p,t -0.52 -0.39 vel [-2.34 -0. 1.21 -0.02 4.13 0.01] j [-0.19 0.88 -0.32 -0.59 -2.69 -0.14] contact []\n0.76 xyz [-0.31 -0. 1.06] p,t -0.31 -0.6 vel [-1.27 -0.02 -0.73 -0.04 -0.6 \n… (538 characters left out) …\n22 -0.04 -8.98 0.05] j [-2.28 2.86 -0.42 -0.44 -0.98 1.94] contact []\n1.01 xyz [-0.48 -0. 1.47] p,t -2.74 1.84 vel [ -1.45 -0. 0.87 -0.05 -10.45 0.08] j [-2.31 2.86 -0.42 -0.21 -0.98 1.93] contact []\n1.06 xyz [-0.57 -0. 1.49] p,t 3.05 2.33 vel [-2.01 0.01 0.06 -0.13 -9.14 0.06] j [-2.33 2.86 -0.42 -0.1 -0.99 1.92] contact []\n1.11 xyz [-0.67 -0. 1.47] p,t 2.6 2.78 vel [-2.21 0.01 -0.9 -0.14 -9.07 0.05] j [-2.33 2.86 -0.42 -0.1 -0.99 1.92] contact []\n1.16 xyz [-0.78 -0. 1.41] p,t 2.11 3.27 vel [-1.390e+00 -1.000e-02 -1.290e+00 -1.200e-01 -1.426e+01 4.000e-02] j [-2.27 2.82 -0.53 -0.04 -0.97 1.83] contact []\n1.21 xyz [-0.81 -0. 1.35] p,t 1.25 4.14 vel [ -0.6 -0.02 -2.15 -0.15 -16.14 0.23] j [-1.22 1.9 -0.74 0.58 -0.76 1.29] contact []\n1.26 xyz [-0.8 -0. 1.14] p,t 0.69 4.68 vel [ 1.32 0.06 -5.13 -0.07 -1.19 0.05] j [-0.02 1.22 -0.76 0.06 0.04 1.28] contact []\n1.31 xyz [-0.79 0. 0.97] p,t 0.53 4.85 vel [-1.21 0. -2.48 -0.07 -7.31 0.08] j [ 0.34 1.27 -0.75 -0.66 0.46 1.3 ] contact []\n1.36 xyz [-0.89 0. 0.84] p,t 0.33 5.04 vel [-2.65 -0.01 -2.88 -0.06 -5.74 0.19] j [ 0.2 1.25 -0.76 -0.46 0.19 1.27] contact []\n1.41 xyz [-1.01 0. 0.68] p,t 0.07 5.3 vel [-1.64 0. -3.79 -0.06 -4.14 0.3 ] j [ 0.1 1.22 -0.76 0. -0.01 1.25] contact []\n1.46 xyz [-1.04 0. 0.5 ] p,t -0.13 5.36 vel [ 0.14 0.04 -2.39 0.04 -3.76 -0.26] j [ 0.2 1.57 -1.06 -0.05 0.29 1.3 ] contact ['left_foot', 'right_foot']\n","exit":[0],"pics":[]},"tok":{"in":56535,"cached":55035,"out":230,"think":63,"usd":0.0853},"sim":{"submit":0,"reset":0}},{"id":20,"t":219.5,"say":"","calls":[{"kind":"shell","label":"touch /app/output/stop_search && tail -3 /app/output/search.log","code":"touch /app/output/stop_search && tail -3 /app/output/search.log"}],"out":{"text":"GEN 35 min -133.262 median 31.457 sigma 0.1508 elapsed 86.5\nBEST 39 -135.285 {\"success\": false, \"done\": true, \"failed\": \"fell\", \"stages\": [\"take-off\", \"full turn\", \"landing\"], \"stages_total\": 4, \"progress\": 0.75, \"metrics\": {\"turn_deg\": 315.7, \"air_s\": 0.845}, \"steps\": 145, \"time_s\": 1.45, \"events\": [{\"ev\": \"stage\", \"t\": 0.777, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.337, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.421, \"stage\": \"landing\", \"turn_deg\": 315.7}, {\"ev\": \"fail\", \"t\": 1.45, \"reason\": \"fell\", \"on_the_ground\": [\"left_shin\", \"left_thigh\", \"right_shin\", \"right_thigh\"]}], \"state_sha\": \"82287ea3a80c36779b3806dd110e12132ca40a9610e695e6e852d890b0e081c3\", \"max_com_z\": 1.4550952434209938, \"turn\": 315.74026378456887, \"flights\": [false, null, [{\"t0\": 0.5760000000000001, \"takeoff\": {\"t\": 0.575, \"parts\": [\"left_foot\", \"right_foot\"], \"points\": [[0.0522, 0.1488, -0.0], [0.0522, 0.0888, -0.0], [0.0523, -0.0888, -0.0], [0.0523, -0.1488, -0.0]]}, \"apex_z\": 1.5866, \"pelvis0\": [-0.1388, 0.0002, 0.7124], \"t1\": 1.421, \"air_s\": 0.845, \"landing_parts\": [\"left_foot\", \"right_foot\"], \"landing_points\": [[-1.626, 0.1504, -0.0012], [-1.6266, 0.0905, -0.0011], [-1.6283, -0.0866, -0.0006], [-1.629, -0.1466, -0.0004]], \"pelvis1\": [-1.3549, 0.0022, 0.5726]}], {\"t\": 1.421, \"parts\": [\"left_foot\", \"right_foot\"], \"points\": [[-1.626, 0.1504, -0.0012], [-1.6266, 0.0905, -0.0011], [-1.6283, -0.0866, -0.0006], [-1.629, -0.1466, -0.0004]]}]}\nGEN 40 min -128.696 median -4.763 sigma 0.1435 elapsed 98.7\n","exit":[0],"pics":[]},"tok":{"in":58994,"cached":56532,"out":515,"think":471,"usd":0.113},"sim":{"submit":0,"reset":0}},{"id":21,"t":260.9,"say":"","calls":[{"kind":"robot","label":"p='/app/output/motion.py'","code":"cp /app/output/motion.py /app/output/motion_v1.py && cp /app/output/params.json /app/output/landing_v1.json && python - <<'PY'\np='/app/output/motion.py'\ns=open(p).read().replace('logs=[]; maxz=0','logs=[]; maxz=0; landed_t=None; landing_state=None; stand_count=0; max_stand=0; after_cost=0')\ns=s.replace(\"else: q=qs[4]\\n if t>=times[5]+p.get('settle',1):\", \"else: q=qs[4]\\n if 'catch' in p and t>=times[5]: q=pose(*p['catch'])\\n switch=(t>=times[5]+p.get('settle',1))\\n if 'balance_delay' in p: switch=landed_t is not None and t>=landed_t+p['balance_delay']\\n if switch:\")\ns=s.replace(\"done=s.step(typ,row)\",\"done=s.step(typ,row)\\n if landed_t is None and w.ref.has('landing'):\\n landed_t=w.task.trackers['flights'].flights[0]['t1']\\n landing_state=dict(q=w.d.qpos.tolist(),v=w.d.qvel.tolist(),upright=w.upright())\\n if landed_t is not None:\\n stable=w.ref.standing()\\n stand_count=stand_count+1 if stable else 0; max_stand=max(max_stand,stand_count)\\n after_cost+=float(np.linalg.norm(w.d.qvel[:3]))*.01+abs(1-w.upright())*.1\")\ns=s.replace(\"status['max_com_z']=maxz\", \"status['max_com_z']=maxz\\n status['survive']=0 if landed_t is None else w.t-landed_t\\n status['max_stand']=max_stand*.01\\n status['after_cost']=after_cost\\n status['landing_state']=landing_state\")\nopen(p,'w').write(s)\nPY\ncat > /app/output/search2.py <<'PY'\nimport os\nos.environ['OPENBLAS_NUM_THREADS']='1';os.environ['OMP_NUM_THREADS']='1'\nimport json,time,sys,numpy as np,cma\nfrom concurrent.futures import ProcessPoolExecutor\nfrom motion import *\nBASE=json.load(open(sys.argv[2] if len(sys.argv)>2 else '/app/output/first_landing.json'))\nBASE.setdefault('catch',[-.5,1.,-.5,.2,1.28,0]);BASE.setdefault('balance_delay',.15);BASE['open_t']=.18\nSPEC=[('tuck_t',.3,.7),('open_t',.04,.35),\n ('tuck.0',-2.5,-1.6),('tuck.1',2.3,2.87),('tuck.3',-2.7,1.),('tuck.5',-.5,.5),\n ('land.0',-1.3,.5),('land.1',.1,1.8),('land.2',-.87,.5),('land.3',-2.5,1.5),('land.5',-.5,.5),\n ('catch.0',-1.3,.2),('catch.1',.2,1.8),('catch.2',-.87,.5),('catch.3',-1.5,1.5),('catch.5',-.5,.5),\n ('balance_delay',0,.5)]\n\ndef encode(p):\n return [np.clip(((p[k.split('.')[0]][int(k.split('.')[1])] if '.' in k else p[k])-a)/(b-a),0,1) for k,a,b in SPEC]\ndef decode(x):\n p=json.loads(json.dumps(BASE))\n for xx,(key,a,b) in zip(x,SPEC):\n val=float(a+(b-a)*xx);k,_,j=key.partition('.')\n if j:p[k][int(j)]=val\n else:p[k]=val\n return p\nS=None\ndef evaluate(x):\n global S\n if S is None:S=Session()\n try:\n st,_,s=run(decode(x),s=S,maxsteps=600);w=s.world;r=w.robot\n pitch=np.arctan2(w.d.xmat[r.pelvis].reshape(3,3)[0,2],w.d.xmat[r.pelvis].reshape(3,3)[2,2])\n if 'take-off' not in st['stages']:cost=600+(1-st['max_com_z'])*100\n elif 'landing' not in st['stages']:\n cost=100+max(0,302-st['turn'])+max(0,st['turn']-360)*.2+20*abs(pitch)\n fs=st['flights'][2]\n if fs and set(fs[0]['landing_parts'])<={'left_foot','right_foot'}:cost-=40\n else:\n cost=-100-150*min(st['survive'],3)-200*st['max_stand']+5*st['after_cost']\n v=st['landing_state']['v'];cost+=2*np.linalg.norm(v[:3])+4*(1-st['landing_state']['upright'])\n if st['success']:cost-=1000\n return float(cost),st\n except Exception as e:return 999,dict(error=str(e))\ndef main():\n es=cma.CMAEvolutionStrategy(encode(BASE),.13,{'bounds':[0,1],'popsize':24,'seed':int(sys.argv[1]),'verbose':-9})\n best=1e9;t=time.time()\n with ProcessPoolExecutor(max_workers=8) as pool:\n for gen in range(1000):\n xs=es.ask();res=list(pool.map(evaluate,xs));vals=[r[0] for r in res];es.tell(xs,vals)\n ii=int(np.argmin(vals));cost,st=res[ii]\n if cost /app/output/search2.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":60296,"cached":58991,"out":2134,"think":489,"usd":0.182},"sim":{"submit":0,"reset":0}},{"id":22,"t":269.3,"say":"","calls":[{"kind":"shell","label":"writes render_trial.py","code":"cat > /app/output/render_trial.py <<'PY'\nimport sys,numpy as np\nfrom PIL import Image\nfrom rcb_rfo import Session\ns=Session(); rows=np.load('/app/output/trial.npz')['actions']; frames=[]\nfor i,row in enumerate(rows):\n s.ep.step_raw(row)\n if i in [54,69,89,109,124,139,144]:\n frames.append(Image.fromarray(s.image('venue')))\n if s.done:break\nout=Image.new('RGB',(480*len(frames),270))\nfor i,im in enumerate(frames):out.paste(im,(i*480,0))\nout.save('/app/output/montage.png')\nPY\nMUJOCO_GL=egl OPENBLAS_NUM_THREADS=1 python /app/output/render_trial.py && tail -4 /app/output/search2.log"}],"out":{"text":"Traceback (most recent call last):\n File \"/app/output/render_trial.py\", line 4, in \n s=Session(); rows=np.load('/app/output/trial.npz')['actions']; frames=[]\n ^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 285, in __init__\n self.ep = Episode(self.instance)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 68, in __init__\n from rfo import world as W\n File \"/opt/tools/rfo/world.py\", line 33, in \n import mujoco\n File \"/usr/local/lib/python3.12/site-packages/mujoco/__init__.py\", line 62, in \n from mujoco.gl_context import *\n File \"/usr/local/lib/python3.12/site-packages/mujoco/gl_context.py\", line 41, in \n from mujoco.egl import GLContext as _GLContext\n File \"/usr/local/lib/python3.12/site-packages/mujoco/egl/__init__.py\", line 26, in \n raise ImportError(\nImportError: Cannot use EGL rendering platform. The PYOPENGL_PLATFORM environment variable is set to {!r} (should be either unset or 'egl').\n","exit":[1],"pics":[]},"tok":{"in":62486,"cached":60293,"out":300,"think":74,"usd":0.1027},"sim":{"submit":0,"reset":0}},{"id":23,"t":276.2,"say":"The strongest jump now reaches roughly 1.45 m at the centre of mass and turns more than 300°. The remaining problem is landing posture: the legs are too folded, leaving little room to absorb impact. I’ve added a separate landing posture and am testing when to hand over to the balance controller.","calls":[{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /app/output/render_trial.py && tail -4 /app/output/search2.log","code":"OPENBLAS_NUM_THREADS=1 python /app/output/render_trial.py && tail -4 /app/output/search2.log"}],"out":{"text":" _warnings.warn('Could not import matplotlib.pyplot, therefore'\nBEST 0 -96.315 {\"success\": false, \"done\": true, \"failed\": \"fell\", \"stages\": [\"take-off\", \"full turn\", \"landing\"], \"stages_total\": 4, \"progress\": 0.75, \"metrics\": {\"turn_deg\": 361.2, \"air_s\": 0.818}, \"steps\": 154, \"time_s\": 1.54, \"events\": [{\"ev\": \"stage\", \"t\": 0.813, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.284, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.431, \"stage\": \"landing\", \"turn_deg\": 361.2}, {\"ev\": \"fail\", \"t\": 1.54, \"reason\": \"fell\", \"on_the_ground\": [\"left_hand\"]}], \"state_sha\": \"56e761f50ffbc2bd4d465e1caf9958b3c46e2a53722d5c0919175103951989ac\", \"max_com_z\": 1.412234738055051, \"survive\": 0.10899999999999999, \"max_stand\": 0.0, \"after_cost\": 1.2022466300857375, \"turn\": 361.22365130340984}\nGEN 0 min -96.31 median 94.44 sigma 0.127 sec 9\nBEST 1 -1926.716 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 302.1, \"air_s\": 0.795}, \"steps\": 517, \"time_s\": 5.17, \"events\": [{\"ev\": \"stage\", \"t\": 0.813, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.365, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.408, \"stage\": \"landing\", \"turn_deg\": 302.1}, {\"ev\": \"stage\", \"t\": 5.17, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 5.17}], \"state_sha\": \"3abdd6306d42d67ec186ae26ee2b62da3418f6e52dc0a81fe734189a00bf584a\", \"max_com_z\": 1.4115629981277396, \"survive\": 3.762, \"max_stand\": 2.0, \"after_cost\": 2.5867292557608166, \"turn\": 302.0655489915914}\n","exit":[0],"pics":[]},"tok":{"in":63149,"cached":62483,"out":139,"think":11,"usd":0.0778},"sim":{"submit":0,"reset":0}},{"id":24,"t":289.6,"say":"","calls":[{"kind":"look","label":"montage.png","code":"/app/output/montage.png"},{"kind":"shell","label":"date -u && cp /app/output/params.json /app/output/success_v1.json && cp /app/output/trajectory.npz /app/output","code":"date -u && cp /app/output/params.json /app/output/success_v1.json && cp /app/output/trajectory.npz /app/output/success_v1.npz && cat /app/output/params.json"},{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/tr","code":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /app/output/replay1.json"}],"out":{"text":"Thu Oct 15 11:04:19 UTC 2026\n{\n \"squat_t\": 0.3948549597197411,\n \"hold_t\": 0.06317506759870586,\n \"push_t\": 0.1931984631383949,\n \"tuck_t\": 0.533627778034967,\n \"open_t\": 0.09062779879571486,\n \"squat\": [\n -1.3893006145202877,\n 2.65149893859334,\n -0.8226561430604965,\n 0.5393659516887617,\n 1.1622449210152148,\n 0.39051113275420246\n ],\n \"push\": [\n 0.49920666004506886,\n 0.08182689955373622,\n 0.43512494023223636,\n -1.9553015155494933,\n 0.2752903128776557,\n -0.02758755274512109\n ],\n \"tuck\": [\n -2.4963446126657978,\n 2.816586483903061,\n -0.4173388166259541,\n -0.7694450313675567,\n 1.9317509614947448,\n 0.11343654101875622\n ],\n \"land\": [\n 0.3802287821904162,\n 1.4114426463451843,\n -0.8682015168321161,\n 0.5082799212119946,\n 1.28,\n -0.0923207276902982\n ],\n \"kp\": 1.0,\n \"kd\": 1.0,\n \"settle\": 1.0,\n \"walker\": \"walk\",\n \"catch\": [\n -0.3048133978744849,\n 1.1963404227706083,\n -0.17942101012702882,\n 0.3190723179677102,\n 1.28,\n 0.16153735164483685\n ],\n \"balance_delay\": 0.17091020338864216\n}\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 302.1, \"air_s\": 0.795}, \"steps\": 517, \"time_s\": 5.17, \"state_sha\": \"3abdd6306d42d67ec186ae26ee2b62da3418f6e52dc0a81fe734189a00bf584a\", \"instance_ok\": true, \"executed_rows\": 517, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"replay_s\": 4.83, \"video\": false}\n","exit":[0,0],"pics":["roboolympics-fun-backflip-i00-privileged--fukrren/s024_0.jpg"]},"tok":{"in":64009,"cached":63146,"out":254,"think":91,"usd":0.0866},"sim":{"submit":0,"reset":0}},{"id":25,"t":309.0,"say":"The robot has completed the full sequence: 302.1° of airborne rotation, feet-first landing, and a continuous two-second stand. A fresh-process replay also succeeds. I’ve preserved that result and will use the remaining time to improve the rotation margin and landing recovery.","calls":[{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/su","code":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/success_v1.npz --out /app/output/replay2.json"},{"kind":"shell","label":"x=np.load('/app/output/trajectory.npz')['actions'];y=np.load('/app/output/success_v1.npz')['actions']","code":"OPENBLAS_NUM_THREADS=1 python /app/output/gen.py > /app/output/generation_result.json && python - <<'PY'\nimport numpy as np,json\nx=np.load('/app/output/trajectory.npz')['actions'];y=np.load('/app/output/success_v1.npz')['actions']\nprint('Identical regeneration:',np.array_equal(x,y),'shape:',x.shape,'finite:',np.isfinite(x).all())\nPY"},{"kind":"shell","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'EOF'\nThe saved trajectory succeeds: crouch, jump, tuck, open, absorb impact, then balance.\nIts airborne turn is 302.1 degrees over 0.795 seconds; success occurs at 5.17 seconds.\nThe landing posture changes before contact, then Unitree's walker stabilizes the robot.\nThe commands generated with state feedback are recorded and replayed open-loop.\nTwo independent replays and exact regeneration are checked in the output JSON records.\nThe initial trial turned only 64 degrees; optimizing takeoff and tuck produced full turns.\nEarly full-turn landings collapsed onto shins; a separate catch posture solved this.\nInstalled the public Python package cma for numerical optimization.\nNo external motion data or controllers were downloaded; installed robot policies were used.\nEOF"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":65554,"cached":64006,"out":726,"think":264,"usd":0.1196},"sim":{"submit":0,"reset":0}},{"id":26,"t":450.7,"say":"","calls":[{"kind":"shell","label":"writes improve.py","code":"cat > /app/output/improve.py <<'PY'\nimport os\nos.environ['OPENBLAS_NUM_THREADS']='1';os.environ['OMP_NUM_THREADS']='1'\nimport json,time,sys,numpy as np,cma,pickle\nfrom concurrent.futures import ProcessPoolExecutor\nfrom motion import *\nBASE=json.load(open('/app/output/success_v1.json'))\nSPEC=[('tuck_t',.3,.7),('open_t',.04,.35),\n ('tuck.0',-2.5,-1.6),('tuck.1',2.3,2.87),('tuck.3',-2.7,1.),('tuck.5',-.5,.5),\n ('land.0',-1.3,.5),('land.1',.1,1.8),('land.2',-.87,.5),('land.3',-2.5,1.5),('land.5',-.5,.5),\n ('catch.0',-1.3,.2),('catch.1',.2,1.8),('catch.2',-.87,.5),('catch.3',-1.5,1.5),('catch.5',-.5,.5),\n ('balance_delay',0,.5)]\ndef encode(p):\n return [np.clip(((p[k.split('.')[0]][int(k.split('.')[1])] if '.' in k else p[k])-a)/(b-a),0,1) for k,a,b in SPEC]\ndef decode(x):\n p=json.loads(json.dumps(BASE))\n for xx,(key,a,b) in zip(x,SPEC):\n val=float(a+(b-a)*xx);k,_,j=key.partition('.')\n if j:p[k][int(j)]=val\n else:p[k]=val\n return p\nS=None\ndef score(st):\n if st['success']:\n return -2000 + .03*(st['turn']-320)**2 + 6*st['after_cost'] + 10*st['time_s']\n elif 'landing' in st['stages']:\n return -100-150*min(st['survive'],3)-200*st['max_stand']+5*st['after_cost']\n elif 'take-off' in st['stages']:\n return 100+max(0,302-st['turn'])+max(0,st['turn']-360)*.2\n else:return 600+(1-st['max_com_z'])*100\n\ndef evaluate(x):\n global S\n if S is None:S=Session()\n try:\n st,_,_=run(decode(x),s=S,maxsteps=650)\n return score(st),st\n except Exception as e:return 999,dict(error=str(e))\n\ndef commit(p,st):\n json.dump(p,open('/app/output/params.json','w'),indent=2)\n st,_,s=run(p,maxsteps=2000);s.save_trajectory();s.close()\n json.dump(st,open('/app/output/best_status.json','w'),indent=2)\n json.dump(p,open('/app/output/improved_success.json','w'),indent=2)\n with open('/app/output/NOTES.md','w') as f:\n f.write(f\"Saved trajectory succeeds: crouch, jump, tuck, open, absorb impact, then balance.\\nAirborne turn: {st['turn']:.1f} degrees; flight: {st['metrics']['air_s']:.3f} s; success: {st['time_s']:.2f} s.\\nA separate catch posture prepares contact; Unitree's walker finishes stabilization.\\nCommands generated with state feedback are recorded and replayed open-loop.\\nInitial 64-degree attempts lacked angular momentum.\\nEarly full-turn landings collapsed on shins; the catch posture solved that.\\nInstalled the public Python package cma for numerical optimization.\\nNo external motion data or controllers downloaded; installed robot policies were used.\\n\")\n return st\n\ndef main():\n start=time.time(); best=score(json.load(open('/app/output/best_status.json'))); bestp=json.load(open('/app/output/params.json'));total=0\n with ProcessPoolExecutor(max_workers=8) as pool:\n for restart in range(30):\n sigma=[.035,.07,.12][restart%3]\n es=cma.CMAEvolutionStrategy(encode(bestp),sigma,{'bounds':[0,1],'popsize':24,'seed':40+restart,'verbose':-9})\n for gen in range(200):\n xs=es.ask();res=list(pool.map(evaluate,xs));vals=[r[0] for r in res];es.tell(xs,vals);total+=len(xs)\n ii=int(np.argmin(vals));cost,st=res[ii]\n if st.get('success') and cost /app/output/improve.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":66618,"cached":65551,"out":1912,"think":516,"usd":0.1745},"sim":{"submit":0,"reset":0}},{"id":27,"t":468.8,"say":"","calls":[{"kind":"shell","label":"tail -4 /app/output/improve.log && date -u","code":"tail -4 /app/output/improve.log && date -u"},{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/su","code":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/success_v1.npz --out /app/output/success_v1_replay.json --video /app/output/success_v1.mp4"}],"out":{"text":"/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nGEN 0 0 min -1917.51 med -108.11 successes 2 sigma 0.03276 sec 8 evals 24\nThu Oct 15 11:07:19 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":68587,"cached":66615,"out":348,"think":225,"usd":0.1087},"sim":{"submit":0,"reset":0}},{"id":28,"t":516.2,"say":"Both independent replays succeeded with exactly the same final state, and `gen.py` reproduced every trajectory row exactly. The saved result is secure. I’m now testing small landing changes and balance-controller timing to gain more rotation margin and settle sooner.","calls":[{"kind":"shell","label":"writes balance_sweep.py","code":"cat > /app/output/balance_sweep.py <<'PY'\nimport os\nos.environ['OPENBLAS_NUM_THREADS']='1';os.environ['OMP_NUM_THREADS']='1'\nimport json,numpy as np,time\nfrom concurrent.futures import ProcessPoolExecutor\nfrom motion import *\nS=None\n\ndef ev(p):\n global S\n if S is None:S=Session()\n st,_,_=run(p,S,maxsteps=650)\n return {k:st[k] for k in ['success','turn','time_s','survive','max_stand','after_cost','failed']}\n\nif __name__=='__main__':\n base=json.load(open('/app/output/success_v1.json'));ps=[]\n for walker in ['walk','walk_falcon','walk_agile']:\n for delay in np.arange(0,.41,.01):\n p=json.loads(json.dumps(base));p['walker']=walker;p['balance_delay']=float(delay);ps.append(p)\n start=time.time()\n with ProcessPoolExecutor(max_workers=8) as pool:\n res=list(pool.map(ev,ps))\n for p,st in zip(ps,res):\n print(p['walker'],round(p['balance_delay'],2),json.dumps(st),flush=True)\n successes=[(st['time_s']+st['after_cost']*.1,p,st) for p,st in zip(ps,res) if st['success']]\n successes.sort(key=lambda a:a[0])\n json.dump(successes,open('/app/output/balance_successes.json','w'),indent=2)\n print('elapsed',time.time()-start,flush=True)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/balance_sweep.py > /app/output/balance_sweep.log 2>&1"},{"kind":"shell","label":"tail -5 /app/output/improve.log && cat /run/rcb-limits/usage.json","code":"tail -5 /app/output/improve.log && cat /run/rcb-limits/usage.json"}],"out":{"text":"/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nGEN 0 0 min -1917.51 med -108.11 successes 2 sigma 0.03276 sec 8 evals 24\nBEST 0 2 -1924.853 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 301.9, \"air_s\": 0.796}, \"steps\": 508, \"time_s\": 5.08, \"state_sha\": \"d77a812f012930eb648c997b75e6f87cc0c0735cd5701336aee3f7dfbc11de76\", \"max_com_z\": 1.4118287766779856, \"survive\": 3.6710000000000003, \"max_stand\": 2.0, \"after_cost\": 2.425862017117625, \"turn\": 301.93382164439066}\nGEN 0 10 min -1911.72 med -230.42 successes 1 sigma 0.02759 sec 64 evals 264\n{\n \"t\": 1792062492.62,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 2.599,\n \"processes\": 27,\n \"disk_gb\": 0.829,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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":[0],"pics":[]},"tok":{"in":69125,"cached":68584,"out":1034,"think":516,"usd":0.127},"sim":{"submit":0,"reset":0}},{"id":29,"t":549.6,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:72309,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"ls -lh /app/output/success_v1.mp4 && tail -4 /app/output/improve.log\",\"max_output_tokens\":2000}));\n"},{"kind":"shell","label":"ls -lh /app/output/success_v1.mp4 && tail -4 /app/output/improve.log","code":"ls -lh /app/output/success_v1.mp4 && tail -4 /app/output/improve.log"}],"out":{"text":"{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 302.1, \"air_s\": 0.795}, \"steps\": 517, \"time_s\": 5.17, \"state_sha\": \"3abdd6306d42d67ec186ae26ee2b62da3418f6e52dc0a81fe734189a00bf584a\", \"instance_ok\": true, \"executed_rows\": 517, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"replay_s\": 16.74, \"video\": true}\n\n-rw-r--r-- 1 root root 100K Oct 15 11:07 /app/output/success_v1.mp4\nBEST 0 2 -1924.853 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 301.9, \"air_s\": 0.796}, \"steps\": 508, \"time_s\": 5.08, \"state_sha\": \"d77a812f012930eb648c997b75e6f87cc0c0735cd5701336aee3f7dfbc11de76\", \"max_com_z\": 1.4118287766779856, \"survive\": 3.6710000000000003, \"max_stand\": 2.0, \"after_cost\": 2.425862017117625, \"turn\": 301.93382164439066}\nGEN 0 10 min -1911.72 med -230.42 successes 1 sigma 0.02759 sec 64 evals 264\nBEST 0 12 -1930.276 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 306.2, \"air_s\": 0.796}, \"steps\": 496, \"time_s\": 4.96, \"state_sha\": \"9d24f4e1c9522a8fbd186a62adacc910d45a0c148023af9af06259c5d1f7ed8e\", \"max_com_z\": 1.4116060639515846, \"survive\": 3.551, \"max_stand\": 2.0, \"after_cost\": 2.402724973996955, \"turn\": 306.206920338645}\nBEST 0 14 -1944.077 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 303.4, \"air_s\": 0.792}, \"steps\": 395, \"time_s\": 3.95, \"state_sha\": \"81b893281f2325ad258cc31178d515a600ea87ed774a6292812c2e8254594066\", \"max_com_z\": 1.4114299215175663, \"survive\": 2.545, \"max_stand\": 2.0, \"after_cost\": 1.3522702805778397, \"turn\": 303.3577686408628}\n","exit":[0,0],"pics":[]},"tok":{"in":70748,"cached":69122,"out":293,"think":213,"usd":0.1041},"sim":{"submit":0,"reset":0}},{"id":30,"t":553.7,"say":"","calls":[{"kind":"shell","label":"waits 40 s","code":"{\"duration_ms\": 40000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71987,"cached":70745,"out":50,"think":29,"usd":0.0888},"sim":{"submit":0,"reset":0}},{"id":31,"t":598.0,"say":"","calls":[{"kind":"shell","label":"tail -5 /app/output/improve.log && tail -4 /app/output/balance_sweep.log && date -u","code":"tail -5 /app/output/improve.log && tail -4 /app/output/balance_sweep.log && date -u"}],"out":{"text":"BEST 0 14 -1944.077 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 303.4, \"air_s\": 0.792}, \"steps\": 395, \"time_s\": 3.95, \"state_sha\": \"81b893281f2325ad258cc31178d515a600ea87ed774a6292812c2e8254594066\", \"max_com_z\": 1.4114299215175663, \"survive\": 2.545, \"max_stand\": 2.0, \"after_cost\": 1.3522702805778397, \"turn\": 303.3577686408628}\nBEST 0 16 -1947.333 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 305.7, \"air_s\": 0.796}, \"steps\": 393, \"time_s\": 3.93, \"state_sha\": \"fbdbd2044173ad609c133cbcc93c489d5e9776d394e7a93106bb20eec9438c0e\", \"max_com_z\": 1.4117092517518035, \"survive\": 2.521, \"max_stand\": 2.0, \"after_cost\": 1.2023019749156911, \"turn\": 305.6784891483308}\nBEST 0 20 -1948.382 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 309.4, \"air_s\": 0.797}, \"steps\": 398, \"time_s\": 3.98, \"state_sha\": \"ce78429d8d50a503e10a46d739ae7e1503af13ac5155b36f2c08bd8c4c864b1e\", \"max_com_z\": 1.411625593143489, \"survive\": 2.5700000000000003, \"max_stand\": 2.0, \"after_cost\": 1.4035156754585723, \"turn\": 309.3593802282696}\nGEN 0 20 min -1948.38 med -240.91 successes 9 sigma 0.03379 sec 130 evals 504\nBEST 0 22 -1949.79 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 309.4, \"air_s\": 0.794}, \"steps\": 393, \"time_s\": 3.93, \"state_sha\": \"093707914789747cf50c01dfc5b8caf01469309cc711aa1e6f23cd37634b9349\", \"max_com_z\": 1.4117324461016518, \"survive\": 2.523, \"max_stand\": 2.0, \"after_cost\": 1.2529213863753015, \"turn\": 309.3655371185739}\nwalk_agile 0.38 {\"success\": true, \"turn\": 302.0655489915914, \"time_s\": 5.08, \"survive\": 3.672, \"max_stand\": 2.0, \"after_cost\": 2.7561128031741275, \"failed\": null}\nwalk_agile 0.39 {\"success\": true, \"turn\": 302.0655489915914, \"time_s\": 5.08, \"survive\": 3.672, \"max_stand\": 2.0, \"after_cost\": 2.794066623087014, \"failed\": null}\nwalk_agile 0.4 {\"success\": true, \"turn\": 302.0655489915914, \"time_s\": 5.2, \"survive\": 3.7920000000000003, \"max_stand\": 2.0, \"after_cost\": 2.785856777475028, \"failed\": null}\nelapsed 32.78359937667847\nThu Oct 15 11:09:28 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":72060,"cached":71984,"out":51,"think":0,"usd":0.0755},"sim":{"submit":0,"reset":0}},{"id":32,"t":604.9,"say":"The improved trajectory now turns 309.4° and finishes the required stand at 3.93 seconds, down from 5.17 seconds. The separate landing posture is reducing the recovery motion while preserving a clean feet-first touchdown.","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/balance_successes.json'))","code":"python - <<'PY'\nimport json\ns=json.load(open('/app/output/balance_successes.json'))\nfor x,p,st in s[:10]: print(p['walker'],p['balance_delay'],st)\nPY"}],"out":{"text":"walk_falcon 0.13 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.9, 'survive': 2.492, 'max_stand': 2.0, 'after_cost': 0.9243811999728793, 'failed': None}\nwalk_falcon 0.01 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.9, 'survive': 2.492, 'max_stand': 2.0, 'after_cost': 0.9798798975934485, 'failed': None}\nwalk_falcon 0.14 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.9, 'survive': 2.492, 'max_stand': 2.0, 'after_cost': 1.0052590615121153, 'failed': None}\nwalk_falcon 0.02 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.91, 'survive': 2.5020000000000002, 'max_stand': 2.0, 'after_cost': 0.9902930872879688, 'failed': None}\nwalk_falcon 0.03 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.92, 'survive': 2.512, 'max_stand': 2.0, 'after_cost': 0.9835344243553187, 'failed': None}\nwalk_falcon 0.0 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.93, 'survive': 2.5220000000000002, 'max_stand': 2.0, 'after_cost': 1.0007248577764067, 'failed': None}\nwalk_falcon 0.11 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.94, 'survive': 2.532, 'max_stand': 2.0, 'after_cost': 1.0470386359491788, 'failed': None}\nwalk_falcon 0.12 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.95, 'survive': 2.5420000000000003, 'max_stand': 2.0, 'after_cost': 1.001222042392042, 'failed': None}\nwalk_falcon 0.1 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.95, 'survive': 2.5420000000000003, 'max_stand': 2.0, 'after_cost': 1.0401286256355722, 'failed': None}\nwalk_falcon 0.09 {'success': True, 'turn': 302.0655489915914, 'time_s': 3.96, 'survive': 2.552, 'max_stand': 2.0, 'after_cost': 1.0487550131380234, 'failed': None}\n","exit":[0],"pics":[]},"tok":{"in":73254,"cached":72057,"out":144,"think":13,"usd":0.0942},"sim":{"submit":0,"reset":0}},{"id":33,"t":640.5,"say":"","calls":[{"kind":"shell","label":"writes audit.py","code":"cat > /app/output/audit.py <<'PY'\nimport json,sys,numpy as np\nfrom rcb_rfo import Session\npath=sys.argv[1] if len(sys.argv)>1 else '/app/output/trajectory.npz'\nout=sys.argv[2] if len(sys.argv)>2 else '/app/output/audit.json'\ns=Session();w=s.world;r=w.robot;orig=w.ref.substep;log=[]\ndef observe():\n orig()\n parts=w.ref.parts_touching(w.ref.ground)\n log.append(dict(t=w.ref.time,parts=sorted(parts),pelvis_z=float(w.d.qpos[r.fq+2]),upright=w.upright(),speed=float(np.linalg.norm(w.d.qvel[r.fv:r.fv+3]))))\nw.ref.substep=observe\nfor row in np.load(path)['actions']:\n s.ep.step_raw(row)\n if s.done:break\nst=s.status();bad=[x for x in log if set(x['parts'])-{'left_foot','right_foot'}]\nlast=[x for x in log if x['t']>st['time_s']-2-1e-7]\nrecord=dict(status=st,nonfoot_substeps=len(bad),first_nonfoot=bad[:3],min_pelvis_z=min(x['pelvis_z'] for x in log),final_2s_max_speed=max(x['speed'] for x in last),final_2s_max_tilt_deg=float(np.degrees(np.arccos(min(x['upright'] for x in last)))),final_2s_no_contact_substeps=sum(not x['parts'] for x in last))\njson.dump(record,open(out,'w'),indent=2);print(json.dumps(record))\nPY\ncp /app/output/trajectory.npz /app/output/audit_candidate.npz\nOPENBLAS_NUM_THREADS=1 python /app/output/audit.py /app/output/audit_candidate.npz"}],"out":{"text":"{\"status\": {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 313.0, \"air_s\": 0.796}, \"steps\": 390, \"time_s\": 3.9, \"events\": [{\"ev\": \"stage\", \"t\": 0.813, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.368, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.409, \"stage\": \"landing\", \"turn_deg\": 313.0}, {\"ev\": \"stage\", \"t\": 3.9, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.9}], \"state_sha\": \"c6906d9af00fda600d8730f48e99e23ba4e2b67a141f22b55d21c6613ba71fad\"}, \"nonfoot_substeps\": 0, \"first_nonfoot\": [], \"min_pelvis_z\": 0.31169325168152895, \"final_2s_max_speed\": 0.24373819117084028, \"final_2s_max_tilt_deg\": 6.755192000638243, \"final_2s_no_contact_substeps\": 10}\n","exit":[0],"pics":[]},"tok":{"in":74191,"cached":73251,"out":1284,"think":833,"usd":0.1492},"sim":{"submit":0,"reset":0}},{"id":34,"t":657.1,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/balance_successes.json'))","code":"python - <<'PY'\nimport json\ns=json.load(open('/app/output/balance_successes.json'))\njson.dump(s[0][1],open('/app/output/falcon_seed.json','w'),indent=2)\nPY\nOPENBLAS_NUM_THREADS=1 python - <<'PY'\nimport sys,json\nsys.path.insert(0,'/app/output')\nfrom motion import run\nst,_,s=run(json.load(open('/app/output/falcon_seed.json')))\ns.save_trajectory(path='/app/output/falcon_seed.npz');print(st['success'],st['time_s'])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/audit.py /app/output/falcon_seed.npz /app/output/falcon_audit.json"}],"out":{"text":"True 3.9\n","exit":[],"pics":[]},"tok":{"in":75867,"cached":74188,"out":347,"think":150,"usd":0.1125},"sim":{"submit":0,"reset":0}},{"id":35,"t":672.1,"say":"The latest saved motion turns 313° and succeeds at 3.90 seconds. A physics-step audit found no non-foot ground contact; during the final stand, torso tilt stayed below 6.8° and pelvis speed below 0.25 m/s. I’m also comparing the quieter FALCON balance controller.","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:29507,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2200}));\ntext(await tools.exec_command({cmd:\"tail -4 /app/output/improve.log && date -u\",\"max_output_tokens\":3000}));\n"},{"kind":"shell","label":"tail -4 /app/output/improve.log && date -u","code":"tail -4 /app/output/improve.log && date -u"}],"out":{"text":"{\"status\": {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 302.1, \"air_s\": 0.795}, \"steps\": 390, \"time_s\": 3.9, \"events\": [{\"ev\": \"stage\", \"t\": 0.813, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.365, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.408, \"stage\": \"landing\", \"turn_deg\": 302.1}, {\"ev\": \"stage\", \"t\": 3.9, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.9}], \"state_sha\": \"a014a834f2481182e7198937d0e5fac04bd033881bf9612ebb5a7a0cf0650b88\"}, \"nonfoot_substeps\": 0, \"first_nonfoot\": [], \"min_pelvis_z\": 0.31169325168152895, \"final_2s_max_speed\": 0.3513662262336797, \"final_2s_max_tilt_deg\": 5.782710560151535, \"final_2s_no_contact_substeps\": 0}\n\nBEST 0 22 -1949.79 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 309.4, \"air_s\": 0.794}, \"steps\": 393, \"time_s\": 3.93, \"state_sha\": \"093707914789747cf50c01dfc5b8caf01469309cc711aa1e6f23cd37634b9349\", \"max_com_z\": 1.4117324461016518, \"survive\": 2.523, \"max_stand\": 2.0, \"after_cost\": 1.2529213863753015, \"turn\": 309.3655371185739}\nBEST 0 23 -1950.696 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 307.7, \"air_s\": 0.793}, \"steps\": 382, \"time_s\": 3.82, \"state_sha\": \"40fef4f1d4a06dd7e3c26d86a61e56164f60fe13bb7eaa82419a4287b31ac351\", \"max_com_z\": 1.4114785022593666, \"survive\": 2.414, \"max_stand\": 2.0, \"after_cost\": 1.0987011019211184, \"turn\": 307.7366677795774}\nBEST 0 29 -1952.198 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 313.0, \"air_s\": 0.796}, \"steps\": 390, \"time_s\": 3.9, \"state_sha\": \"c6906d9af00fda600d8730f48e99e23ba4e2b67a141f22b55d21c6613ba71fad\", \"max_com_z\": 1.4117548782819347, \"survive\": 2.4909999999999997, \"max_stand\": 2.0, \"after_cost\": 1.2242399236972046, \"turn\": 313.0324493306607}\nGEN 0 30 min -1947.59 med -1925.51 successes 16 sigma 0.03356 sec 196 evals 744\nThu Oct 15 11:10:43 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":76276,"cached":75864,"out":154,"think":11,"usd":0.0887},"sim":{"submit":0,"reset":0}},{"id":36,"t":703.7,"say":"","calls":[{"kind":"shell","label":"p='/app/output/balance_sweep.py';s=open(p).read().replace('import json,numpy as np,time','import json,numpy as","code":"cp /app/output/params.json /app/output/sweep_base.json && python - <<'PY'\np='/app/output/balance_sweep.py';s=open(p).read().replace('import json,numpy as np,time','import json,numpy as np,time,sys').replace(\"base=json.load(open('/app/output/success_v1.json'));ps=[]\", \"base=json.load(open(sys.argv[1] if len(sys.argv)>1 else '/app/output/success_v1.json'));ps=[]\").replace(\"'/app/output/balance_successes.json'\", \"sys.argv[2] if len(sys.argv)>2 else '/app/output/balance_successes.json'\")\nopen(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/balance_sweep.py /app/output/sweep_base.json /app/output/balance_successes2.json > /app/output/balance_sweep2.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":77513,"cached":76273,"out":740,"think":506,"usd":0.1288},"sim":{"submit":0,"reset":0}},{"id":37,"t":711.3,"say":"","calls":[{"kind":"shell","label":"waits 40 s","code":"{\"duration_ms\": 40000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78311,"cached":77510,"out":19,"think":0,"usd":0.0885},"sim":{"submit":0,"reset":0}},{"id":38,"t":759.9,"say":"","calls":[{"kind":"shell","label":"tail -3 /app/output/improve.log && tail -1 /app/output/balance_sweep2.log && date -u","code":"tail -3 /app/output/improve.log && tail -1 /app/output/balance_sweep2.log && date -u"}],"out":{"text":"BEST 0 29 -1952.198 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 313.0, \"air_s\": 0.796}, \"steps\": 390, \"time_s\": 3.9, \"state_sha\": \"c6906d9af00fda600d8730f48e99e23ba4e2b67a141f22b55d21c6613ba71fad\", \"max_com_z\": 1.4117548782819347, \"survive\": 2.4909999999999997, \"max_stand\": 2.0, \"after_cost\": 1.2242399236972046, \"turn\": 313.0324493306607}\nGEN 0 30 min -1947.59 med -1925.51 successes 16 sigma 0.03356 sec 196 evals 744\nGEN 0 40 min -1947.78 med -1928.08 successes 13 sigma 0.035 sec 261 evals 984\nelapsed 24.95620369911194\nThu Oct 15 11:12:10 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":78353,"cached":78308,"out":52,"think":0,"usd":0.0815},"sim":{"submit":0,"reset":0}},{"id":39,"t":767.4,"say":"The landing sweep is complete. FALCON maintains continuous foot contact during its settling phase, which makes it a promising option for a quieter final stand. I’m testing it with the improved 313° flip before choosing the next saved candidate.","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/balance_successes2.json'))","code":"python - <<'PY'\nimport json\ns=json.load(open('/app/output/balance_successes2.json'))\nfor x,p,st in s[:12]:print(p['walker'],p['balance_delay'],st)\nPY"}],"out":{"text":"walk_falcon 0.08 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.73, 'survive': 2.3209999999999997, 'max_stand': 2.0, 'after_cost': 1.052312662235954, 'failed': None}\nwalk_falcon 0.14 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.72, 'survive': 2.311, 'max_stand': 2.0, 'after_cost': 1.1523742614908743, 'failed': None}\nwalk_falcon 0.09 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.76, 'survive': 2.351, 'max_stand': 2.0, 'after_cost': 1.0613089180455513, 'failed': None}\nwalk_falcon 0.05 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.78, 'survive': 2.3710000000000004, 'max_stand': 2.0, 'after_cost': 1.0457796607870422, 'failed': None}\nwalk 0.18 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.86, 'survive': 2.4509999999999996, 'max_stand': 2.0, 'after_cost': 1.2660620398445903, 'failed': None}\nwalk_falcon 0.06 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.9, 'survive': 2.4909999999999997, 'max_stand': 2.0, 'after_cost': 1.0263278729776797, 'failed': None}\nwalk_falcon 0.1 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.9, 'survive': 2.4909999999999997, 'max_stand': 2.0, 'after_cost': 1.0406114376933213, 'failed': None}\nwalk_falcon 0.07 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.91, 'survive': 2.5010000000000003, 'max_stand': 2.0, 'after_cost': 1.0111177038756956, 'failed': None}\nwalk 0.17 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.9, 'survive': 2.4909999999999997, 'max_stand': 2.0, 'after_cost': 1.2242399236972046, 'failed': None}\nwalk_falcon 0.11 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.93, 'survive': 2.521, 'max_stand': 2.0, 'after_cost': 1.0338050180706124, 'failed': None}\nwalk_falcon 0.12 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.93, 'survive': 2.521, 'max_stand': 2.0, 'after_cost': 1.0453500079815303, 'failed': None}\nwalk_falcon 0.13 {'success': True, 'turn': 313.0324493306607, 'time_s': 3.93, 'survive': 2.521, 'max_stand': 2.0, 'after_cost': 1.0626211823416294, 'failed': None}\n","exit":[0],"pics":[]},"tok":{"in":78764,"cached":78350,"out":174,"think":41,"usd":0.0922},"sim":{"submit":0,"reset":0}},{"id":40,"t":1455.5,"say":"","calls":[{"kind":"shell","label":"rg -n 'def hold|def stage' /opt/tools/rfo/referee.py && sed -n '127,180p' /opt/tools/rfo/referee.py && touch /","code":"rg -n 'def hold|def stage' /opt/tools/rfo/referee.py && sed -n '127,180p' /opt/tools/rfo/referee.py && touch /app/output/stop_improve"}],"out":{"text":"148: def stage(self, name: str, **kw) -> bool:\n179: def hold(self, key: str, cond: bool, seconds: float) -> bool:\n self.stages: list[str] = []\n self.failed: str | None = None\n self.success = False\n self.done = False\n self.metrics: dict[str, float] = {}\n self._hold: dict[str, int] = {}\n self._g1 = self._g2 = np.zeros(0, dtype=np.int64)\n self._scan()\n self.w.task.referee_reset(self.w, self)\n\n @property\n def time(self) -> float:\n \"\"\"Seconds of the episode, to the physics step.\"\"\"\n return self.ph * self.w.m.opt.timestep\n\n def event(self, ev: str, **kw) -> None:\n self.events.append({\"ev\": ev, \"t\": round(self.time, 4), **kw})\n\n def has(self, stage: str) -> bool:\n return stage in self.stages\n\n def stage(self, name: str, **kw) -> bool:\n \"\"\"Latch a stage. Stages latch in the task's order: one whose predecessor has not latched is ignored (False).\"\"\"\n order = self.w.task.stages\n if name in self.stages or self.failed or self.success:\n return False\n i = order.index(name)\n if i > 0 and order[i - 1] not in self.stages:\n return False\n self.stages.append(name)\n self.event(\"stage\", stage=name, **kw)\n return True\n\n def fail(self, reason: str, **kw) -> None:\n if self.failed is None and not self.success:\n self.failed = reason\n self.event(\"fail\", reason=reason, **kw)\n\n def void(self, reason: str, keep_success: bool = False) -> None:\n \"\"\"The attempt is void (the physics diverged): a failure, also over a success unless it stood before\n (`keep_success`: the success was latched in an earlier control step).\"\"\"\n if self.success and not keep_success:\n self.success = False\n self.event(\"success withdrawn\", reason=reason)\n self.fail(reason)\n\n def succeed(self) -> None:\n \"\"\"The success: only with every stage latched (a task that calls it earlier has a bug, and gets no success).\"\"\"\n if self.failed is None and not self.success and len(self.stages) == len(self.w.task.stages):\n self.success = True\n self.event(\"success\")\n\n def hold(self, key: str, cond: bool, seconds: float) -> bool:\n \"\"\"True once cond has been true at every control step for `seconds` (call it once per control step).\"\"\"\n","exit":[0],"pics":[]},"tok":{"in":79887,"cached":78761,"out":181,"think":108,"usd":0.1019},"sim":{"submit":0,"reset":0}},{"id":41,"t":2182.1,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/balance_successes2.json'))","code":"cp /app/output/params.json /app/output/walk_success.json && cp /app/output/trajectory.npz /app/output/walk_success.npz && python - <<'PY'\nimport json\ns=json.load(open('/app/output/balance_successes2.json'))\njson.dump(s[0][1],open('/app/output/falcon_seed2.json','w'),indent=2)\nPY\nOPENBLAS_NUM_THREADS=1 python - <<'PY'\nimport sys,json\nsys.path.insert(0,'/app/output')\nfrom motion import run\np=json.load(open('/app/output/falcon_seed2.json'));st,_,s=run(p)\ns.save_trajectory(path='/app/output/falcon_seed2.npz')\njson.dump(st,open('/app/output/falcon_seed2_status.json','w'),indent=2)\nprint(st['success'],st['time_s'])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/audit.py /app/output/falcon_seed2.npz /app/output/falcon_audit2.json"}],"out":{"text":"True 3.73\n","exit":[],"pics":[]},"tok":{"in":80790,"cached":79884,"out":301,"think":40,"usd":0.1063},"sim":{"submit":0,"reset":0}},{"id":42,"t":2220.1,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:41121,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2500}));\ntext(await tools.exec_command({cmd:\"cp /app/output/falcon_seed2.json /app/output/params.json && cp /app/output/falcon_seed2.npz /app/output/trajectory.npz && cp /app/output/falcon_seed2_status.json /app/output/best_status.json && python - <<'PY'\\np='/app/output/improve.py';s=open(p).read().replace(\\\"BASE=json.load(open('/app/output/success_v1.json'))\\\", \\\"BASE=json.load(open('/app/output/falcon_seed2.json'))\\\")\\ns=s.replace(\\\"Unitree's walker finishes stabilization.\\\",\\\"The installed FALCON walker finishes stabilization.\\\")\\nopen(p,'w').write(s)\\nPY\\nrm /app/output/stop_improve\\nOPENBLAS_NUM_THREADS=1 python /app/output/improve.py > /app/output/improve_falcon.log 2>&1\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"p='/app/output/improve.py';s=open(p).read().replace(\"BASE=json.load(open('/app/output/success_v1.json'))\", \"BA","code":"cp /app/output/falcon_seed2.json /app/output/params.json && cp /app/output/falcon_seed2.npz /app/output/trajectory.npz && cp /app/output/falcon_seed2_status.json /app/output/best_status.json && python - <<'PY'\np='/app/output/improve.py';s=open(p).read().replace(\"BASE=json.load(open('/app/output/success_v1.json'))\", \"BASE=json.load(open('/app/output/falcon_seed2.json'))\")\ns=s.replace(\"Unitree's walker finishes stabilization.\",\"The installed FALCON walker finishes stabilization.\")\nopen(p,'w').write(s)\nPY\nrm /app/output/stop_improve\nOPENBLAS_NUM_THREADS=1 python /app/output/improve.py > /app/output/improve_falcon.log 2>&1"}],"out":{"text":"{\"status\": {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 313.0, \"air_s\": 0.796}, \"steps\": 373, \"time_s\": 3.73, \"events\": [{\"ev\": \"stage\", \"t\": 0.813, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.368, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.409, \"stage\": \"landing\", \"turn_deg\": 313.0}, {\"ev\": \"stage\", \"t\": 3.73, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.73}], \"state_sha\": \"78ca6d18ae6bc52020a96a17710ad18b8781092b22c47041c6b6d0e5a9501259\"}, \"nonfoot_substeps\": 0, \"first_nonfoot\": [], \"min_pelvis_z\": 0.31169325168152895, \"final_2s_max_speed\": 0.39631931620467403, \"final_2s_max_tilt_deg\": 10.493425886915318, \"final_2s_no_contact_substeps\": 6}\n","exit":[0],"pics":[]},"tok":{"in":81154,"cached":80787,"out":757,"think":516,"usd":0.1232},"sim":{"submit":0,"reset":0}},{"id":43,"t":2240.8,"say":"FALCON reduced the completion time to 3.73 seconds while retaining the 313° turn and feet-first landing. I’ve saved that version and kept the earlier successful trajectories as backups. The search is now refining this landing and recovery.","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/best_status.json'))","code":"python - <<'PY'\nimport json\ns=json.load(open('/app/output/best_status.json'))\nwith open('/app/output/NOTES.md','w') as f:\n f.write(f\"Saved trajectory succeeds: crouch, jump, tuck, open, absorb impact, then balance.\\nAirborne turn: {s['turn']:.1f} degrees; flight: {s['metrics']['air_s']:.3f} s; success: {s['time_s']:.2f} s.\\nA separate catch posture prepares contact; the installed FALCON policy stabilizes the robot.\\nCommands generated with state feedback are recorded and replayed open-loop.\\nInitial 64-degree attempts lacked angular momentum.\\nEarly full-turn landings collapsed on shins; the catch posture solved that.\\nInstalled the public Python package cma for numerical optimization.\\nNo external motion data or controllers downloaded; installed robot policies were used.\\n\")\nPY\ntail -3 /app/output/improve_falcon.log && date -u"}],"out":{"text":" _warnings.warn('Could not import matplotlib.pyplot, therefore'\nGEN 0 0 min -1954.87 med -1929.61 successes 13 sigma 0.03335 sec 10 evals 24\nBEST 0 1 -1955.426 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 310.9, \"air_s\": 0.793}, \"steps\": 370, \"time_s\": 3.7, \"state_sha\": \"db8ea57894fd27ee8712fea2b960622a638e15cb6c487d04a24d97ac3b477180\", \"max_com_z\": 1.4117021073934535, \"survive\": 2.294, \"max_stand\": 2.0, \"after_cost\": 0.8516726229924342, \"turn\": 310.9367815656403}\nThu Oct 15 11:36:54 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":82340,"cached":81151,"out":745,"think":435,"usd":0.1333},"sim":{"submit":0,"reset":0}},{"id":44,"t":2253.6,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":83407,"cached":82337,"out":231,"think":210,"usd":0.1073},"sim":{"submit":0,"reset":0}},{"id":45,"t":2304.7,"say":"","calls":[{"kind":"shell","label":"date -u && tail -3 /app/output/improve_falcon.log","code":"date -u && tail -3 /app/output/improve_falcon.log"}],"out":{"text":"Thu Oct 15 11:37:54 UTC 2026\nBEST 0 6 -1955.625 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 313.2, \"air_s\": 0.795}, \"steps\": 372, \"time_s\": 3.72, \"state_sha\": \"06ec4096a4a2f3ad3150bfb372e6b8d686740bb2d5d50e692dddabf56bc0aa26\", \"max_com_z\": 1.4119106132523744, \"survive\": 2.3120000000000003, \"max_stand\": 2.0, \"after_cost\": 0.9667728247072407, \"turn\": 313.2305793092716}\nBEST 0 7 -1955.766 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.0, \"air_s\": 0.798}, \"steps\": 379, \"time_s\": 3.79, \"state_sha\": \"e79ad622cae4dc54ce2768f3feefc31b70fd6ea71b28533f462dea5445a6f5a2\", \"max_com_z\": 1.4118895901504822, \"survive\": 2.379, \"max_stand\": 2.0, \"after_cost\": 0.9290701878757335, \"turn\": 314.96970311164176}\nBEST 0 8 -1956.391 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.8, \"air_s\": 0.798}, \"steps\": 373, \"time_s\": 3.73, \"state_sha\": \"f0e1efd77fc8adfc15eafa0af2b1f0e6ba8dc8cf112c8f836164803c3b52c0f2\", \"max_com_z\": 1.4120603131176084, \"survive\": 2.319, \"max_stand\": 2.0, \"after_cost\": 0.9138172911051687, \"turn\": 314.7540035374584}\n","exit":[0],"pics":[]},"tok":{"in":83660,"cached":83404,"out":41,"think":0,"usd":0.0886},"sim":{"submit":0,"reset":0}},{"id":46,"t":2310.8,"say":"The rotation margin has increased to about 15° above the required 300°, with success still at 3.73 seconds. I’m keeping only successful improvements; failed perturbations cannot replace the scored trajectory.","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json && wc -l /app/output/NOTES.md && ls -lh /app/output/trajectory.npz /app/output/","code":"cat /run/rcb-limits/usage.json && wc -l /app/output/NOTES.md && ls -lh /app/output/trajectory.npz /app/output/rcb_session_log.jsonl"}],"out":{"text":"{\n \"t\": 1792064277.68,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 2.754,\n \"processes\": 17,\n \"disk_gb\": 0.826,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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}8 /app/output/NOTES.md\n-rw-r--r-- 1 root root 291K Oct 15 11:38 /app/output/rcb_session_log.jsonl\n-rw-r--r-- 1 root root 441K Oct 15 11:37 /app/output/trajectory.npz\n","exit":[0],"pics":[]},"tok":{"in":84393,"cached":83657,"out":132,"think":12,"usd":0.0994},"sim":{"submit":0,"reset":0}},{"id":47,"t":2333.1,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":84821,"cached":84390,"out":537,"think":516,"usd":0.1166},"sim":{"submit":0,"reset":0}},{"id":48,"t":2386.5,"say":"","calls":[{"kind":"shell","label":"date -u && tail -4 /app/output/improve_falcon.log","code":"date -u && tail -4 /app/output/improve_falcon.log"}],"out":{"text":"Thu Oct 15 11:39:16 UTC 2026\nBEST 0 8 -1956.391 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.8, \"air_s\": 0.798}, \"steps\": 373, \"time_s\": 3.73, \"state_sha\": \"f0e1efd77fc8adfc15eafa0af2b1f0e6ba8dc8cf112c8f836164803c3b52c0f2\", \"max_com_z\": 1.4120603131176084, \"survive\": 2.319, \"max_stand\": 2.0, \"after_cost\": 0.9138172911051687, \"turn\": 314.7540035374584}\nGEN 0 10 min -1956.03 med -1947.14 successes 17 sigma 0.02907 sec 91 evals 264\nBEST 0 11 -1956.581 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.3, \"air_s\": 0.795}, \"steps\": 370, \"time_s\": 3.7, \"state_sha\": \"d7e9fd0eff8543d6d466659e3a2e63448a964c26bf1d435b29465b876a04e781\", \"max_com_z\": 1.411876712691903, \"survive\": 2.2920000000000003, \"max_stand\": 2.0, \"after_cost\": 0.9575624417271232, \"turn\": 315.259907241333}\nGEN 0 20 min -1956.12 med -1955.0 successes 24 sigma 0.01931 sec 160 evals 504\n","exit":[0],"pics":[]},"tok":{"in":85383,"cached":84818,"out":41,"think":0,"usd":0.0939},"sim":{"submit":0,"reset":0}},{"id":49,"t":2887.1,"say":"The best motion now completes 315.3° and succeeds at 3.70 seconds. All 24 candidates in the latest nearby search batch succeeded, suggesting the landing is becoming less sensitive to small parameter changes.","calls":[{"kind":"shell","label":"p='/app/output/improve.py';s=open(p).read().replace('/app/output/','/app/output/full/')","code":"mkdir -p /app/output/full && cp /app/output/params.json /app/output/full/falcon_seed2.json && cp /app/output/params.json /app/output/full/params.json && cp /app/output/best_status.json /app/output/full/best_status.json && python - <<'PY'\np='/app/output/improve.py';s=open(p).read().replace('/app/output/','/app/output/full/')\ns=s.replace(\"s.save_trajectory();\", \"s.save_trajectory(path='/app/output/full/trajectory.npz');\")\ns=s.replace(\"('balance_delay',0,.5)]\", \"('balance_delay',0,.5),('squat_t',.3,.6),('hold_t',0,.14),('push_t',.12,.24),('squat.0',-1.6,-1.1),('squat.1',2.3,2.87),('squat.2',-.87,-.6),('squat.3',-.5,1.5),('squat.5',-.2,.5),('push.0',-.1,1.1),('push.1',-.08,.5),('push.2',-.1,.52),('push.3',-3.,-.8),('push.5',-.5,.5)]\")\ns=s.replace(\"6*st['after_cost'] + 10*st['time_s']\", \"6*st['after_cost'] + 10*st['time_s'] + 20*abs(st['flights'][2][0]['pelvis1'][0])\")\ns=s.replace(\"sigma=[.035,.07,.12][restart%3]\", \"sigma=[.025,.04,.065][restart%3]\")\ns=s.replace('max_workers=8','max_workers=4')\nopen('/app/output/full/improve_full.py','w').write(s)\nPY\nPYTHONPATH=/app/output OPENBLAS_NUM_THREADS=1 python /app/output/full/improve_full.py > /app/output/full/search.log 2>&1"}],"out":{"text":"","exit":[1],"pics":[]},"tok":{"in":85978,"cached":85380,"out":940,"think":409,"usd":0.1398},"sim":{"submit":0,"reset":0}},{"id":50,"t":2922.7,"say":"","calls":[{"kind":"shell","label":"tail -15 /app/output/full/search.log && date -u","code":"tail -15 /app/output/full/search.log && date -u"}],"out":{"text":"/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nTraceback (most recent call last):\n File \"/app/output/full/improve_full.py\", line 5, in \n from motion import *\n File \"/app/output/motion.py\", line 2, in \n from rcb_rfo import Session\nModuleNotFoundError: No module named 'rcb_rfo'\nThu Oct 15 11:48:12 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":86975,"cached":85975,"out":71,"think":30,"usd":0.102},"sim":{"submit":0,"reset":0}},{"id":51,"t":2946.9,"say":"The local landing search continues to improve consistency. I’m also starting a separate takeoff search aimed at reducing backward travel; it will keep its results separate until they outperform the current successful trajectory.","calls":[{"kind":"shell","label":"PYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python /app/output/full/improve_full.py > /app/output","code":"PYTHONPATH=/app/output:/opt/tools OPENBLAS_NUM_THREADS=1 python /app/output/full/improve_full.py > /app/output/full/search.log 2>&1"},{"kind":"shell","label":"tail -4 /app/output/improve_falcon.log","code":"tail -4 /app/output/improve_falcon.log"}],"out":{"text":"BEST 0 94 -1958.421 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.2, \"air_s\": 0.789}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"f29fe1b92565d098fba582ed35fa6ecd95d049528bf8e0d14514c0bd4bac39d8\", \"max_com_z\": 1.4111913027701393, \"survive\": 2.2279999999999998, \"max_stand\": 2.0, \"after_cost\": 0.714174406304301, \"turn\": 314.2434937160365}\nBEST 0 97 -1958.455 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.4, \"air_s\": 0.789}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"468451a5a26c9bd66d47b25f9148ca43e340e4131bf7b04775d98bf7a0b5ee6c\", \"max_com_z\": 1.4112326615998134, \"survive\": 2.2279999999999998, \"max_stand\": 2.0, \"after_cost\": 0.7151943163781758, \"turn\": 314.3610753025991}\nBEST 0 98 -1958.482 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.1, \"air_s\": 0.789}, \"steps\": 362, \"time_s\": 3.62, \"state_sha\": \"1caf72f9c326b48e9c9085adba12466ec8acf48507873a1f6495579010de1264\", \"max_com_z\": 1.4112165335739366, \"survive\": 2.218, \"max_stand\": 2.0, \"after_cost\": 0.7116575430971973, \"turn\": 314.08978318423897}\nGEN 0 100 min -1958.4 med -1957.94 successes 23 sigma 0.01272 sec 713 evals 2424\n","exit":[0],"pics":[]},"tok":{"in":87251,"cached":86972,"out":171,"think":28,"usd":0.099},"sim":{"submit":0,"reset":0}},{"id":52,"t":2961.9,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":88165,"cached":87248,"out":82,"think":61,"usd":0.1028},"sim":{"submit":0,"reset":0}},{"id":53,"t":3011.6,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_falcon.log && tail -2 /app/output/full/search.log","code":"date -u && tail -2 /app/output/improve_falcon.log && tail -2 /app/output/full/search.log"}],"out":{"text":"Thu Oct 15 11:49:41 UTC 2026\nGEN 0 100 min -1958.4 med -1957.94 successes 23 sigma 0.01272 sec 713 evals 2424\nBEST 0 109 -1958.491 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.4, \"air_s\": 0.789}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"db0cc973995ff5a6ca0e62abeced88a4ec13e2b6fa290e0227e953befe149771\", \"max_com_z\": 1.4111944174005422, \"survive\": 2.2279999999999998, \"max_stand\": 2.0, \"after_cost\": 0.7134253621337036, \"turn\": 314.4368119908874}\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nGEN 0 0 min -1926.97 med -111.71 successes 1 sigma 0.02389 sec 9 evals 24\n","exit":[0],"pics":[]},"tok":{"in":88270,"cached":88162,"out":51,"think":0,"usd":0.0921},"sim":{"submit":0,"reset":0}},{"id":54,"t":3017.5,"say":"The saved trajectory now settles about 0.23 seconds after landing and completes the required stand at 3.63 seconds. The broader takeoff search is harder: most early changes lose the landing, so the established successful motion remains the deliverable.","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":88681,"cached":88267,"out":76,"think":0,"usd":0.0972},"sim":{"submit":0,"reset":0}},{"id":55,"t":3090.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_falcon.log && tail -3 /app/output/full/search.log","code":"date -u && tail -2 /app/output/improve_falcon.log && tail -3 /app/output/full/search.log"}],"out":{"text":"Thu Oct 15 11:51:00 UTC 2026\nBEST 0 113 -1958.571 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.3, \"air_s\": 0.79}, \"steps\": 364, \"time_s\": 3.64, \"state_sha\": \"b440c1a5349289ea02aef189ff0dc26f9460d4185814a3fb8862ec8438463859\", \"max_com_z\": 1.4111528446106267, \"survive\": 2.237, \"max_stand\": 2.0, \"after_cost\": 0.7293750447227162, \"turn\": 315.3343302887646}\nBEST 0 115 -1958.643 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.9, \"air_s\": 0.789}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"39389cccf044286ef2bf1d76076cb7520187da131203724e49f218a8b3258b98\", \"max_com_z\": 1.4111503885097414, \"survive\": 2.2279999999999998, \"max_stand\": 2.0, \"after_cost\": 0.7109250397436285, \"turn\": 314.8638376748606}\nGEN 0 0 min -1926.97 med -111.71 successes 1 sigma 0.02389 sec 9 evals 24\nGEN 0 10 min -1925.36 med -118.28 successes 1 sigma 0.02278 sec 72 evals 264\nBEST 0 13 -1940.055 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.2, \"air_s\": 0.792}, \"steps\": 376, \"time_s\": 3.76, \"state_sha\": \"b5db7e3e1740686ed5846bc485c19c540809990189d05ad1c7385a18b66e85d6\", \"max_com_z\": 1.4350508602897785, \"survive\": 2.361, \"max_stand\": 2.0, \"after_cost\": 1.042357739308803, \"turn\": 318.16696698228634}\n","exit":[0],"pics":[]},"tok":{"in":88780,"cached":88678,"out":51,"think":0,"usd":0.0925},"sim":{"submit":0,"reset":0}},{"id":56,"t":3098.6,"say":"The broader search has found a successful 318.2° flip with a slightly higher jump. I’m comparing its landing travel and recovery against the current 314.9° version before replacing the saved trajectory.","calls":[{"kind":"shell","label":"for name,p in [('saved','/app/output/best_status.json'),('takeoff variant','/app/output/full/best_status.json'","code":"python - <<'PY'\nimport json\nfor name,p in [('saved','/app/output/best_status.json'),('takeoff variant','/app/output/full/best_status.json')]:\n s=json.load(open(p));print(name,'turn',s['turn'],'success',s['time_s'],'landing',s['flights'][2][0]['pelvis1'],'after_cost',s['after_cost'])\nPY"}],"out":{"text":"saved turn 314.8638376748606 success 3.63 landing [-0.9678, 0.0012, 0.7229] after_cost 0.7109250397436285\ntakeoff variant turn 318.16696698228634 success 3.76 landing [-0.7995, -0.0036, 0.7733] after_cost 1.042357739308803\n","exit":[0],"pics":[]},"tok":{"in":89572,"cached":88777,"out":239,"think":72,"usd":0.1107},"sim":{"submit":0,"reset":0}},{"id":57,"t":3122.0,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":89960,"cached":89569,"out":537,"think":516,"usd":0.1213},"sim":{"submit":0,"reset":0}},{"id":58,"t":3156.6,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_falcon.log && tail -2 /app/output/full/search.log","code":"date -u && tail -2 /app/output/improve_falcon.log && tail -2 /app/output/full/search.log"}],"out":{"text":"Thu Oct 15 11:52:06 UTC 2026\nBEST 0 115 -1958.643 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 314.9, \"air_s\": 0.789}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"39389cccf044286ef2bf1d76076cb7520187da131203724e49f218a8b3258b98\", \"max_com_z\": 1.4111503885097414, \"survive\": 2.2279999999999998, \"max_stand\": 2.0, \"after_cost\": 0.7109250397436285, \"turn\": 314.8638376748606}\nGEN 0 120 min -1958.57 med -1958.3 successes 24 sigma 0.00993 sec 872 evals 2904\nGEN 0 20 min -1938.8 med -149.46 successes 9 sigma 0.02093 sec 164 evals 504\nBEST 0 22 -1942.771 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.0, \"air_s\": 0.786}, \"steps\": 361, \"time_s\": 3.61, \"state_sha\": \"3c912e6ef50f67a86b145596fef3c91be4b827c56efee12c0ec384f5f6ae89e9\", \"max_com_z\": 1.4191427195379651, \"survive\": 2.2199999999999998, \"max_stand\": 2.0, \"after_cost\": 0.7371937732524821, \"turn\": 315.04597642332203}\n","exit":[0],"pics":[]},"tok":{"in":90520,"cached":89957,"out":51,"think":0,"usd":0.0995},"sim":{"submit":0,"reset":0}},{"id":59,"t":3162.0,"say":"The takeoff variant now matches the recovery speed: 315° of rotation and success at 3.61 seconds. It also lands closer to the starting position. I’m continuing to refine both variants while preserving the verified backups.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":91123,"cached":90517,"out":82,"think":8,"usd":0.1022},"sim":{"submit":0,"reset":0}},{"id":60,"t":3196.5,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_falcon.log && tail -2 /app/output/full/search.log","code":"date -u && tail -2 /app/output/improve_falcon.log && tail -2 /app/output/full/search.log"}],"out":{"text":"Thu Oct 15 11:52:46 UTC 2026\nGEN 0 120 min -1958.57 med -1958.3 successes 24 sigma 0.00993 sec 872 evals 2904\nGEN 0 130 min -1958.59 med -1958.48 successes 24 sigma 0.00761 sec 943 evals 3144\nGEN 0 20 min -1938.8 med -149.46 successes 9 sigma 0.02093 sec 164 evals 504\nBEST 0 22 -1942.771 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.0, \"air_s\": 0.786}, \"steps\": 361, \"time_s\": 3.61, \"state_sha\": \"3c912e6ef50f67a86b145596fef3c91be4b827c56efee12c0ec384f5f6ae89e9\", \"max_com_z\": 1.4191427195379651, \"survive\": 2.2199999999999998, \"max_stand\": 2.0, \"after_cost\": 0.7371937732524821, \"turn\": 315.04597642332203}\n","exit":[0],"pics":[]},"tok":{"in":91228,"cached":91120,"out":51,"think":0,"usd":0.095},"sim":{"submit":0,"reset":0}},{"id":61,"t":3206.9,"say":"","calls":[{"kind":"shell","label":"for p in ['/app/output/best_status.json','/app/output/full/best_status.json']:","code":"python - <<'PY'\nimport json\nfor p in ['/app/output/best_status.json','/app/output/full/best_status.json']:\n s=json.load(open(p));print(p,s['flights'][2][0]['pelvis1'],s['time_s'],s['turn'])\nPY"}],"out":{"text":"/app/output/best_status.json [-0.9678, 0.0012, 0.7229] 3.63 314.8638376748606\n/app/output/full/best_status.json [-0.7985, 0.0033, 0.7646] 3.61 315.04597642332203\n","exit":[0],"pics":[]},"tok":{"in":91664,"cached":91225,"out":135,"think":42,"usd":0.1035},"sim":{"submit":0,"reset":0}},{"id":62,"t":3261.4,"say":"Both searches are producing repeatable successful neighborhoods. The takeoff variant reduces backward travel from about 0.97 m to 0.80 m without sacrificing rotation or recovery time. I’m checking that variant in fresh replays before making it the main candidate.","calls":[{"kind":"shell","label":"cp /app/output/full/trajectory.npz /app/output/full_check.npz && cp /app/output/full/params.json /app/output/f","code":"cp /app/output/full/trajectory.npz /app/output/full_check.npz && cp /app/output/full/params.json /app/output/full_check.json && OPENBLAS_NUM_THREADS=1 python /app/output/audit.py /app/output/full_check.npz /app/output/full_check_audit.json"},{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/fu","code":"OPENBLAS_NUM_THREADS=1 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/full_check.npz --out /app/output/full_check_replay.json"}],"out":{"text":"{\"status\": {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.0, \"air_s\": 0.786}, \"steps\": 361, \"time_s\": 3.61, \"events\": [{\"ev\": \"stage\", \"t\": 0.804, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.333, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.39, \"stage\": \"landing\", \"turn_deg\": 315.0}, {\"ev\": \"stage\", \"t\": 3.61, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.61}], \"state_sha\": \"3c912e6ef50f67a86b145596fef3c91be4b827c56efee12c0ec384f5f6ae89e9\"}, \"nonfoot_substeps\": 0, \"first_nonfoot\": [], \"min_pelvis_z\": 0.3081341647228465, \"final_2s_max_speed\": 0.3774267774819456, \"final_2s_max_tilt_deg\": 9.367849152960677, \"final_2s_no_contact_substeps\": 0}\n\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.0, \"air_s\": 0.786}, \"steps\": 361, \"time_s\": 3.61, \"state_sha\": \"3c912e6ef50f67a86b145596fef3c91be4b827c56efee12c0ec384f5f6ae89e9\", \"instance_ok\": true, \"executed_rows\": 361, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"replay_s\": 5.89, \"video\": false}\n","exit":[0,0],"pics":[]},"tok":{"in":91930,"cached":91661,"out":550,"think":328,"usd":0.1225},"sim":{"submit":0,"reset":0}},{"id":63,"t":3291.7,"say":"","calls":[{"kind":"shell","label":"touch /app/output/stop_improve /app/output/full/stop_improve && date -u","code":"touch /app/output/stop_improve /app/output/full/stop_improve && date -u"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"touch /app/output/stop_improve /app/output/full/stop_improve && date -u\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:65406,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:95646,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"touch /app/output/stop_improve /app/output/full/stop_improve && date -u\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:65406,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:95646,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"}],"out":{"text":"Thu Oct 15 11:54:21 UTC 2026\n","exit":[0,0,0],"pics":[]},"tok":{"in":93099,"cached":91927,"out":191,"think":83,"usd":0.1161},"sim":{"submit":0,"reset":0}},{"id":64,"t":3300.8,"say":"The takeoff variant passed two fresh executions with identical final states, and the physics-step audit found no non-foot ground contact. I’m promoting it and continuing the broader search from this stronger starting point.","calls":[{"kind":"shell","label":"s=open('/app/output/full/improve_full.py').read().replace('/app/output/full/','/app/output/')","code":"cp /app/output/params.json /app/output/local_final.json && cp /app/output/trajectory.npz /app/output/local_final.npz && cp /app/output/full_check.json /app/output/params.json && cp /app/output/full_check.json /app/output/complete_seed.json && cp /app/output/full_check.npz /app/output/trajectory.npz && python - <<'PY'\ns=open('/app/output/full/improve_full.py').read().replace('/app/output/full/','/app/output/')\ns=s.replace(\"BASE=json.load(open('/app/output/falcon_seed2.json'))\", \"BASE=json.load(open('/app/output/complete_seed.json'))\")\ns=s.replace('max_workers=4','max_workers=8')\nopen('/app/output/improve_final.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/gen.py > /app/output/generation_result.json\npython - <<'PY'\nimport json\ns=json.load(open('/app/output/generation_result.json'));json.dump(s,open('/app/output/best_status.json','w'),indent=2)\nwith open('/app/output/NOTES.md','w') as f:\n f.write(f\"Saved trajectory succeeds: crouch, jump, tuck, open, absorb impact, then balance.\\nAirborne turn: {s['turn']:.1f} degrees; flight: {s['metrics']['air_s']:.3f} s; success: {s['time_s']:.2f} s.\\nA separate catch posture prepares contact; the installed FALCON policy stabilizes the robot.\\nCommands generated with state feedback are recorded and replayed open-loop.\\nInitial 64-degree attempts lacked angular momentum.\\nEarly full-turn landings collapsed on shins; the catch posture solved that.\\nInstalled the public Python package cma for numerical optimization.\\nNo external motion data or controllers downloaded; installed robot policies were used.\\n\")\nPY\nrm /app/output/stop_improve\nOPENBLAS_NUM_THREADS=1 python /app/output/improve_final.py > /app/output/improve_final.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":93428,"cached":93096,"out":571,"think":31,"usd":0.1258},"sim":{"submit":0,"reset":0}},{"id":65,"t":3312.2,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":94056,"cached":93425,"out":41,"think":20,"usd":0.1034},"sim":{"submit":0,"reset":0}},{"id":66,"t":3349.1,"say":"","calls":[{"kind":"shell","label":"date -u && tail -3 /app/output/improve_final.log && cat /run/rcb-limits/usage.json","code":"date -u && tail -3 /app/output/improve_final.log && cat /run/rcb-limits/usage.json"}],"out":{"text":"Thu Oct 15 11:55:19 UTC 2026\n/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nGEN 0 0 min -1937.06 med -133.3 successes 3 sigma 0.02367 sec 9 evals 24\n{\n \"t\": 1792065317.73,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 2.227,\n \"processes\": 17,\n \"disk_gb\": 0.833,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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":[0],"pics":[]},"tok":{"in":94120,"cached":94053,"out":52,"think":0,"usd":0.0975},"sim":{"submit":0,"reset":0}},{"id":67,"t":3449.0,"say":"The new search is varying crouch depth, push timing, and takeoff posture together. The current saved motion remains successful at 3.61 seconds; I’m looking for further reductions in backward travel without weakening the landing.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":94501,"cached":94117,"out":589,"think":516,"usd":0.1284},"sim":{"submit":0,"reset":0}},{"id":68,"t":3484.7,"say":"","calls":[{"kind":"shell","label":"date -u && tail -3 /app/output/improve_final.log","code":"date -u && tail -3 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 11:57:34 UTC 2026\nBEST 0 8 -1943.211 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.0, \"air_s\": 0.775}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"0d3fdb1a34a367a0c58bb135fae739b69c11541e81de01e18d3a7332ba72d7f7\", \"max_com_z\": 1.40755772438709, \"survive\": 2.259, \"max_stand\": 2.0, \"after_cost\": 0.7413376726819495, \"turn\": 314.96215218201627}\nGEN 0 10 min -1934.68 med -140.92 successes 6 sigma 0.02107 sec 70 evals 264\nGEN 0 20 min -1942.21 med -152.89 successes 6 sigma 0.02127 sec 130 evals 504\n","exit":[0],"pics":[]},"tok":{"in":95117,"cached":94498,"out":40,"think":0,"usd":0.1042},"sim":{"submit":0,"reset":0}},{"id":69,"t":3491.5,"say":"A slightly lower, shorter jump has also succeeded, with 315° of rotation over 0.775 seconds of flight. The search is trading small changes in jump height against landing position while keeping all four required stages intact.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":95498,"cached":95114,"out":108,"think":35,"usd":0.1053},"sim":{"submit":0,"reset":0}},{"id":70,"t":3525.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 11:58:15 UTC 2026\nBEST 0 27 -1945.19 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 316.1, \"air_s\": 0.788}, \"steps\": 370, \"time_s\": 3.7, \"state_sha\": \"bfc7e3b58af8e3c1e28ff3e41e5a4ade5a1928f2d3c32a665eaa5250998751dd\", \"max_com_z\": 1.439856546309377, \"survive\": 2.3200000000000003, \"max_stand\": 2.0, \"after_cost\": 0.6563099680656438, \"turn\": 316.1172239531386}\nGEN 0 30 min -1940.16 med -153.03 successes 10 sigma 0.02527 sec 200 evals 744\n","exit":[0],"pics":[]},"tok":{"in":95629,"cached":95495,"out":40,"think":0,"usd":0.0992},"sim":{"submit":0,"reset":0}},{"id":71,"t":3544.7,"say":"","calls":[{"kind":"robot","label":"writes package.py","code":"cat > /app/output/package.py <<'PY'\n\"\"\"Produce a self-contained generator for the current selected parameters.\"\"\"\nimport json\nfrom pathlib import Path\nbase=Path('/app/output')\np=json.loads((base/'params.json').read_text())\nsource='''\"\"\"Replay the selected standing backflip from the frozen RoboOlympics start.\"\"\"\nimport json\nimport numpy as np\nfrom rcb_rfo import Session\n\nPARAMS = REPLACE_PARAMS\n\ndef pose(h, k, a, sh=.2, el=1.28, wa=0, roll=.2):\n q = np.zeros(29)\n q[[0, 6]] = h\n q[[3, 9]] = k\n q[[4, 10]] = a\n q[14] = wa\n q[[15, 22]] = sh\n q[[18, 25]] = el\n q[16], q[23] = roll, -roll\n return q\n\ndef main():\n s = Session('/app/instance.json')\n p, w = PARAMS, s.world\n r = w.robot\n poses = [r.rest.copy()] + [pose(*p[key]) for key in ['squat', 'push', 'tuck', 'land']]\n times = np.cumsum([0, p['squat_t'], p['hold_t'], p['push_t'], p['tuck_t'], p['open_t']])\n landed_t = None\n for i in range(2000):\n t = i * .01\n if t < times[1]:\n u = np.clip(t / p['squat_t'], 0, 1)\n u = u * u * (3 - 2 * u)\n q = poses[0] * (1-u) + poses[1] * u\n elif t < times[2]:\n q = poses[1]\n elif t < times[3]:\n q = poses[2]\n elif t < times[4]:\n q = poses[3]\n else:\n q = poses[4]\n if t >= times[5]:\n q = pose(*p['catch'])\n if landed_t is not None and t >= landed_t + p['balance_delay']:\n typ = p['walker']\n row = np.r_[np.zeros(3), r.rest[12:], 0, 0]\n else:\n typ = 'lowcmd'\n row = np.r_[q, np.zeros(58), r.kp0*p['kp'], r.kd0*p['kd'], 0, 0]\n done = s.step(typ, row)\n if landed_t is None and w.ref.has('landing'):\n landed_t = w.task.trackers['flights'].flights[0]['t1']\n if done:\n break\n s.save_trajectory()\n print(json.dumps(s.status()))\n\nif __name__ == '__main__':\n main()\n'''\nsource=source.replace('REPLACE_PARAMS',repr(p))\n(base/'gen_standalone.py').write_text(source)\nPY\npython /app/output/package.py"}],"out":{"text":"","exit":[0],"pics":[]},"tok":{"in":95986,"cached":95626,"out":777,"think":11,"usd":0.139},"sim":{"submit":0,"reset":0}},{"id":72,"t":3553.6,"say":"The latest candidate turns 316.1° and has a gentler recovery than the previous takeoff variant. I’m also preparing a self-contained `gen.py` so the final trajectory will not depend on the optimization scripts or parameter files.","calls":[{"kind":"shell","label":"sed -n '278,288p' /opt/tools/rcb_rfo.py && date -u","code":"sed -n '278,288p' /opt/tools/rcb_rfo.py && date -u"}],"out":{"text":"\n\nclass Session:\n \"\"\"Privileged mode: the frozen instance with unlimited resets, logged to /app/output/rcb_session_log.jsonl.\"\"\"\n\n def __init__(self, instance: str = \"/app/instance.json\"):\n self.instance = load_instance(instance)\n self.ep = Episode(self.instance)\n atexit.register(self.close)\n if not self.ep.instance_check(self.instance)[\"ok\"]:\n raise RuntimeError(\"this environment does not rebuild the frozen instance's starting state\")\nThu Oct 15 11:58:44 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":96822,"cached":95983,"out":144,"think":39,"usd":0.1137},"sim":{"submit":0,"reset":0}},{"id":73,"t":3654.9,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":97156,"cached":96819,"out":31,"think":10,"usd":0.1026},"sim":{"submit":0,"reset":0}},{"id":74,"t":3691.9,"say":"","calls":[{"kind":"shell","label":"date -u && tail -3 /app/output/improve_final.log","code":"date -u && tail -3 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:01:02 UTC 2026\nBEST 0 52 -1945.738 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.4, \"air_s\": 0.774}, \"steps\": 360, \"time_s\": 3.6, \"state_sha\": \"2d6893df2e5891f81b59b79164d1bf9e54466782fcd6635550fe872d8bac91a4\", \"max_com_z\": 1.4135163603992544, \"survive\": 2.238, \"max_stand\": 2.0, \"after_cost\": 0.4368139402432324, \"turn\": 315.4193689689148}\nBEST 0 53 -1947.031 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 317.4, \"air_s\": 0.787}, \"steps\": 369, \"time_s\": 3.69, \"state_sha\": \"4c724440ff51e05fa9255ae560d513316151852d6d830a9f127beae05f36b008\", \"max_com_z\": 1.4335140697743083, \"survive\": 2.303, \"max_stand\": 2.0, \"after_cost\": 0.48148406818685036, \"turn\": 317.4298084320264}\nBEST 0 54 -1947.237 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 317.0, \"air_s\": 0.76}, \"steps\": 360, \"time_s\": 3.6, \"state_sha\": \"60fb525a3dbf30e68cfbe8dec24ac5e193cd7b6075b272abdacfe6e8d05ea6ce\", \"max_com_z\": 1.3907165693375183, \"survive\": 2.239, \"max_stand\": 2.0, \"after_cost\": 0.46058466217755856, \"turn\": 317.02771670469775}\n","exit":[0],"pics":[]},"tok":{"in":97210,"cached":97153,"out":40,"think":0,"usd":0.0999},"sim":{"submit":0,"reset":0}},{"id":75,"t":3712.4,"say":"The best candidate now turns 317° and completes the stand at 3.60 seconds. Its recovery motion has decreased substantially. I’m checking the standalone generator now while the numerical search continues.","calls":[{"kind":"shell","label":"p='/app/output/gen_standalone.py';s=open(p).read().replace('s.save_trajectory()', \"s.save_trajectory(path='/ap","code":"python /app/output/package.py && python - <<'PY'\np='/app/output/gen_standalone.py';s=open(p).read().replace('s.save_trajectory()', \"s.save_trajectory(path='/app/output/package_test.npz')\")\nopen('/app/output/gen_standalone_test.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/gen_standalone_test.py > /app/output/package_test_status.json\nOPENBLAS_NUM_THREADS=1 python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/app/output')\nfrom gen_standalone import PARAMS\nfrom motion import run\nst,_,s=run(PARAMS,maxsteps=2000)\na=np.load('/app/output/package_test.npz')['actions']\nprint('Standalone generator identical:',np.array_equal(a,np.asarray(s.rows)),'rows',len(a),'success',st['success'])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":97926,"cached":97207,"out":549,"think":263,"usd":0.1336},"sim":{"submit":0,"reset":0}},{"id":76,"t":3785.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:96167,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1200}));\ntext(await tools.exec_command({cmd:\"date -u && tail -2 /app/output/improve_final.log\",\"max_output_tokens\":1300}));\n"},{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Standalone generator identical: True rows 361 success True\n\nThu Oct 15 12:02:35 UTC 2026\nGEN 0 70 min -1947.5 med -1940.11 successes 16 sigma 0.0228 sec 455 evals 1704\nBEST 0 72 -1948.73 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 321.5, \"air_s\": 0.792}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"d9e691d394b9808cee3378a440d41f551968b9fcf5e6df43f3cc0151679c0f04\", \"max_com_z\": 1.4578022733927691, \"survive\": 2.245, \"max_stand\": 2.0, \"after_cost\": 0.41079026128184676, \"turn\": 321.4711490534727}\n","exit":[0,0],"pics":[]},"tok":{"in":98537,"cached":97923,"out":70,"think":0,"usd":0.1091},"sim":{"submit":0,"reset":0}},{"id":77,"t":3790.1,"say":"The standalone generator reproduces the recorded actions exactly. The search has also reached 321.5° of airborne rotation with success at 3.63 seconds, giving more than 20° of margin above the requirement.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":98960,"cached":98534,"out":91,"think":19,"usd":0.1084},"sim":{"submit":0,"reset":0}},{"id":78,"t":3824.0,"say":"","calls":[{"kind":"shell","label":"date -u && tail -3 /app/output/improve_final.log","code":"date -u && tail -3 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:03:14 UTC 2026\nGEN 0 70 min -1947.5 med -1940.11 successes 16 sigma 0.0228 sec 455 evals 1704\nBEST 0 72 -1948.73 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 321.5, \"air_s\": 0.792}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"d9e691d394b9808cee3378a440d41f551968b9fcf5e6df43f3cc0151679c0f04\", \"max_com_z\": 1.4578022733927691, \"survive\": 2.245, \"max_stand\": 2.0, \"after_cost\": 0.41079026128184676, \"turn\": 321.4711490534727}\nBEST 0 75 -1949.314 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 320.5, \"air_s\": 0.792}, \"steps\": 361, \"time_s\": 3.61, \"state_sha\": \"e7493371a2ffb2db0c352cde2da7ecd3baaa26c58d3b1a31b7f5c24620200f4d\", \"max_com_z\": 1.4606354161910062, \"survive\": 2.221, \"max_stand\": 2.0, \"after_cost\": 0.4700059621178382, \"turn\": 320.50387657367554}\n","exit":[0],"pics":[]},"tok":{"in":99074,"cached":98957,"out":40,"think":0,"usd":0.1024},"sim":{"submit":0,"reset":0}},{"id":79,"t":3859.1,"say":"The current candidate turns about 320.5° and succeeds at 3.61 seconds. I’m continuing the search, and I’ve prepared the final packaging workflow: embed the selected parameters, regenerate the trajectory, and verify it twice in fresh processes.","calls":[{"kind":"shell","label":"writes finalize.py","code":"cat > /app/output/finalize.py <<'PY'\nimport datetime,json,os,shutil,subprocess,time\nfrom pathlib import Path\nimport numpy as np\nout=Path('/app/output'); archive=Path('/app/research');archive.mkdir(exist_ok=True)\nfinish=datetime.datetime(2026,10,15,12,58,15,tzinfo=datetime.timezone.utc).timestamp()\nwhile time.time() /app/finalizer.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":99633,"cached":99071,"out":1954,"think":1034,"usd":0.2038},"sim":{"submit":0,"reset":0}},{"id":80,"t":3892.3,"say":"","calls":[{"kind":"shell","label":"date -u && tail -3 /app/output/improve_final.log","code":"date -u && tail -3 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:04:22 UTC 2026\nBEST 0 75 -1949.314 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 320.5, \"air_s\": 0.792}, \"steps\": 361, \"time_s\": 3.61, \"state_sha\": \"e7493371a2ffb2db0c352cde2da7ecd3baaa26c58d3b1a31b7f5c24620200f4d\", \"max_com_z\": 1.4606354161910062, \"survive\": 2.221, \"max_stand\": 2.0, \"after_cost\": 0.4700059621178382, \"turn\": 320.50387657367554}\nGEN 0 80 min -1946.77 med -1938.47 successes 16 sigma 0.02344 sec 514 evals 1944\nBEST 0 88 -1950.268 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 316.5, \"air_s\": 0.786}, \"steps\": 352, \"time_s\": 3.52, \"state_sha\": \"4007455fd8e08abe15681ea22d2999ef632fe1b8cf263a0bfbbbbfaf51ba99cf\", \"max_com_z\": 1.4550046967960117, \"survive\": 2.144, \"max_stand\": 2.0, \"after_cost\": 0.4838395550257191, \"turn\": 316.50054882678114}\n","exit":[0],"pics":[]},"tok":{"in":101646,"cached":99630,"out":54,"think":12,"usd":0.1275},"sim":{"submit":0,"reset":0}},{"id":81,"t":3907.5,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":102214,"cached":null,"out":103,"think":82,"usd":1.2828},"sim":{"submit":0,"reset":0}},{"id":82,"t":3941.3,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:05:11 UTC 2026\nBEST 0 88 -1950.268 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 316.5, \"air_s\": 0.786}, \"steps\": 352, \"time_s\": 3.52, \"state_sha\": \"4007455fd8e08abe15681ea22d2999ef632fe1b8cf263a0bfbbbbfaf51ba99cf\", \"max_com_z\": 1.4550046967960117, \"survive\": 2.144, \"max_stand\": 2.0, \"after_cost\": 0.4838395550257191, \"turn\": 316.50054882678114}\nGEN 0 90 min -1948.57 med -1937.78 successes 14 sigma 0.02189 sec 585 evals 2184\n","exit":[0],"pics":[]},"tok":{"in":102340,"cached":102211,"out":40,"think":0,"usd":0.1058},"sim":{"submit":0,"reset":0}},{"id":83,"t":3947.8,"say":"The latest saved motion reaches the stand criterion only about 0.14 seconds after landing and finishes at 3.52 seconds. It retains a 16.5° rotation margin. The search is now seeking smaller refinements to that result.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":102684,"cached":102337,"out":75,"think":0,"usd":0.1104},"sim":{"submit":0,"reset":0}},{"id":84,"t":3990.5,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:06:00 UTC 2026\nGEN 0 100 min -1949.47 med -1933.94 successes 13 sigma 0.02046 sec 651 evals 2424\nBEST 0 103 -1950.685 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 322.0, \"air_s\": 0.804}, \"steps\": 362, \"time_s\": 3.62, \"state_sha\": \"f099f7dcb143c6e64919bda4ae35becdbafa88ef5ceeee335e195fa3234814a0\", \"max_com_z\": 1.4848873912358231, \"survive\": 2.226, \"max_stand\": 2.0, \"after_cost\": 0.368034785789638, \"turn\": 322.0213347614163}\n","exit":[0],"pics":[]},"tok":{"in":102782,"cached":102681,"out":40,"think":0,"usd":0.1059},"sim":{"submit":0,"reset":0}},{"id":85,"t":4008.8,"say":"A new candidate increases the airborne turn to 322° and reduces the measured recovery motion further. It succeeds at 3.62 seconds. I’m continuing to balance rotation margin, landing position, and settling time.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":103128,"cached":102779,"out":587,"think":516,"usd":0.1365},"sim":{"submit":0,"reset":0}},{"id":86,"t":4045.6,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/best_status.json'));print('Landing position',s['flights'][2][0]['pelvis1'])","code":"date -u && tail -2 /app/output/improve_final.log && python - <<'PY'\nimport json\ns=json.load(open('/app/output/best_status.json'));print('Landing position',s['flights'][2][0]['pelvis1'])\nPY"}],"out":{"text":"Thu Oct 15 12:06:55 UTC 2026\nBEST 0 109 -1951.947 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 323.7, \"air_s\": 0.773}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"bdb68a0b4b548d142c57370f9ed82cc2912a304de2bd1a397e11d801b35c0b94\", \"max_com_z\": 1.4208265423988813, \"survive\": 2.269, \"max_stand\": 2.0, \"after_cost\": 0.5009665703427735, \"turn\": 323.729172646459}\nGEN 0 110 min -1951.4 med -1942.41 successes 16 sigma 0.01845 sec 721 evals 2664\nLanding position [-0.4165, 0.0008, 0.7978]\n","exit":[0],"pics":[]},"tok":{"in":103738,"cached":103125,"out":84,"think":0,"usd":0.115},"sim":{"submit":0,"reset":0}},{"id":87,"t":4055.8,"say":"Backward travel has fallen to about 0.42 m, while the airborne turn has increased to 323.7°. That is a substantial improvement in the standing flip’s landing position. I’m auditing this candidate while further trials run.","calls":[{"kind":"shell","label":"cp /app/output/trajectory.npz /app/output/audit_latest.npz && OPENBLAS_NUM_THREADS=1 python /app/output/audit.","code":"cp /app/output/trajectory.npz /app/output/audit_latest.npz && OPENBLAS_NUM_THREADS=1 python /app/output/audit.py /app/output/audit_latest.npz /app/output/audit_latest.json"}],"out":{"text":"{\"status\": {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 323.7, \"air_s\": 0.773}, \"steps\": 363, \"time_s\": 3.63, \"events\": [{\"ev\": \"stage\", \"t\": 0.788, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.233, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.361, \"stage\": \"landing\", \"turn_deg\": 323.7}, {\"ev\": \"stage\", \"t\": 3.63, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.63}], \"state_sha\": \"bdb68a0b4b548d142c57370f9ed82cc2912a304de2bd1a397e11d801b35c0b94\"}, \"nonfoot_substeps\": 0, \"first_nonfoot\": [], \"min_pelvis_z\": 0.30499492484934804, \"final_2s_max_speed\": 0.3528405009464837, \"final_2s_max_tilt_deg\": 6.37878218559804, \"final_2s_no_contact_substeps\": 0}\n","exit":[0],"pics":[]},"tok":{"in":104153,"cached":103735,"out":340,"think":205,"usd":0.126},"sim":{"submit":0,"reset":0}},{"id":88,"t":4088.1,"say":"","calls":[{"kind":"shell","label":"python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/audit_latest.npz --out /a","code":"python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/audit_latest.npz --out /app/output/default_environment_replay.json"}],"out":{"text":"{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 323.7, \"air_s\": 0.773}, \"steps\": 363, \"time_s\": 3.63, \"state_sha\": \"bdb68a0b4b548d142c57370f9ed82cc2912a304de2bd1a397e11d801b35c0b94\", \"instance_ok\": true, \"executed_rows\": 363, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"replay_s\": 5.82, \"video\": false}\n","exit":[0],"pics":[]},"tok":{"in":104888,"cached":104150,"out":589,"think":516,"usd":0.1428},"sim":{"submit":0,"reset":0}},{"id":89,"t":4107.9,"say":"The 323.7° candidate passes the physics-step audit with no non-foot contacts. A replay using the default process environment also reaches the identical final state. During its final stand, the torso remains within about 6.4° of vertical.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":105724,"cached":104885,"out":91,"think":13,"usd":0.1199},"sim":{"submit":0,"reset":0}},{"id":90,"t":4141.0,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:08:31 UTC 2026\nBEST 0 119 -1953.099 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.7, \"air_s\": 0.756}, \"steps\": 351, \"time_s\": 3.51, \"state_sha\": \"9d4089b4ed7f5d6244646c65ba72f1e6806ad4e9265a473e95abaf0f9be3afd0\", \"max_com_z\": 1.4015162578672462, \"survive\": 2.157, \"max_stand\": 2.0, \"after_cost\": 0.346539809750463, \"turn\": 318.68262391044374}\nGEN 0 120 min -1951.92 med -1941.91 successes 18 sigma 0.01711 sec 794 evals 2904\n","exit":[0],"pics":[]},"tok":{"in":105838,"cached":105721,"out":40,"think":0,"usd":0.1092},"sim":{"submit":0,"reset":0}},{"id":91,"t":4145.6,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":106189,"cached":105721,"out":62,"think":41,"usd":0.1147},"sim":{"submit":0,"reset":0}},{"id":92,"t":4179.2,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:09:09 UTC 2026\nBEST 0 127 -1954.367 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.9, \"air_s\": 0.752}, \"steps\": 360, \"time_s\": 3.6, \"state_sha\": \"ddce050f8103287c08038a85880aeb7b82fbb2c07bc81b18867373c304b28613\", \"max_com_z\": 1.3912009531938971, \"survive\": 2.26, \"max_stand\": 2.0, \"after_cost\": 0.3800974343277956, \"turn\": 318.8914269829532}\nBEST 0 128 -1955.278 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.8, \"air_s\": 0.747}, \"steps\": 358, \"time_s\": 3.58, \"state_sha\": \"14a8aa09450c62055f472aaa5981345d08fb40275b14672cbff0f2500da84677\", \"max_com_z\": 1.3713067572409534, \"survive\": 2.246, \"max_stand\": 2.0, \"after_cost\": 0.428127196086465, \"turn\": 319.77750889583655}\n","exit":[0],"pics":[]},"tok":{"in":106274,"cached":106186,"out":40,"think":0,"usd":0.1093},"sim":{"submit":0,"reset":0}},{"id":93,"t":4187.8,"say":"The search is finding lower jumps that still complete roughly 320° in flight. The latest successful candidate uses 0.747 seconds of flight and finishes at 3.58 seconds, with less backward displacement than the earlier versions.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":106783,"cached":106271,"out":103,"think":29,"usd":0.1178},"sim":{"submit":0,"reset":0}},{"id":94,"t":4222.3,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/best_status.json'));print('Landing:',s['flights'][2][0]['pelvis1'])","code":"date -u && tail -2 /app/output/improve_final.log && python - <<'PY'\nimport json\ns=json.load(open('/app/output/best_status.json'));print('Landing:',s['flights'][2][0]['pelvis1'])\nPY"}],"out":{"text":"Thu Oct 15 12:09:52 UTC 2026\nGEN 0 130 min -1953.86 med -1947.14 successes 17 sigma 0.01761 sec 876 evals 3144\nBEST 0 132 -1955.567 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 320.3, \"air_s\": 0.755}, \"steps\": 350, \"time_s\": 3.5, \"state_sha\": \"3fc1d542c801160a9a975e18fe70acca2f438aaa344a140c6271e2f987bb4493\", \"max_com_z\": 1.393835895712207, \"survive\": 2.154, \"max_stand\": 2.0, \"after_cost\": 0.34325527657263877, \"turn\": 320.3295676047004}\nLanding: [-0.3685, -0.0033, 0.8018]\n","exit":[0],"pics":[]},"tok":{"in":106909,"cached":106780,"out":83,"think":0,"usd":0.1125},"sim":{"submit":0,"reset":0}},{"id":95,"t":4242.3,"say":"The current best lands about 0.37 m behind the start, turns 320.3°, and succeeds at 3.50 seconds. The main remaining work is numerical refinement and the final regeneration/replay checks.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":107319,"cached":106906,"out":588,"think":516,"usd":0.1415},"sim":{"submit":0,"reset":0}},{"id":96,"t":4291.6,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:11:01 UTC 2026\nBEST 0 141 -1957.809 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 317.7, \"air_s\": 0.725}, \"steps\": 351, \"time_s\": 3.51, \"state_sha\": \"0aafda3cbe368a961207f9c17f2ee0948ff744f8de44ca3a235078801528a369\", \"max_com_z\": 1.3275920922048834, \"survive\": 2.1980000000000004, \"max_stand\": 2.0, \"after_cost\": 0.4208107499172977, \"turn\": 317.6584104698444}\nBEST 0 143 -1957.929 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.7, \"air_s\": 0.719}, \"steps\": 355, \"time_s\": 3.55, \"state_sha\": \"cb3b6f9e6a636270899b78e8c9f349ab2edd6d6a2f5eaa0f04a3cc1542703f34\", \"max_com_z\": 1.3173049146114013, \"survive\": 2.2510000000000003, \"max_stand\": 2.0, \"after_cost\": 0.41126878521330174, \"turn\": 318.6703055560245}\n","exit":[0],"pics":[]},"tok":{"in":107933,"cached":107316,"out":40,"think":0,"usd":0.117},"sim":{"submit":0,"reset":0}},{"id":97,"t":4318.8,"say":"The optimizer is still finding useful changes: it has shortened the flight to about 0.72 seconds while preserving roughly 319° of rotation and a successful stand. I’m keeping the selected trajectory and notes synchronized as each improvement is saved.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":108465,"cached":107930,"out":592,"think":516,"usd":0.1442},"sim":{"submit":0,"reset":0}},{"id":98,"t":4358.6,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/best_status.json'));print('Landing:',s['flights'][2][0]['pelvis1'])","code":"date -u && tail -2 /app/output/improve_final.log && python - <<'PY'\nimport json\ns=json.load(open('/app/output/best_status.json'));print('Landing:',s['flights'][2][0]['pelvis1'])\nPY"}],"out":{"text":"Thu Oct 15 12:12:08 UTC 2026\nBEST 0 144 -1959.496 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 320.6, \"air_s\": 0.725}, \"steps\": 356, \"time_s\": 3.56, \"state_sha\": \"31bd1c22ff5212c664636db9d513e1be19219d7c19cf0040dd25228334e2092d\", \"max_com_z\": 1.3284092763452762, \"survive\": 2.247, \"max_stand\": 2.0, \"after_cost\": 0.31325694502157253, \"turn\": 320.63174115196284}\nGEN 0 150 min -1957.2 med -1945.77 successes 16 sigma 0.02225 sec 1022 evals 3624\nLanding: [-0.1506, 0.003, 0.8101]\n","exit":[0],"pics":[]},"tok":{"in":109085,"cached":108462,"out":83,"think":0,"usd":0.1204},"sim":{"submit":0,"reset":0}},{"id":99,"t":4393.5,"say":"The latest successful flip lands only about 15 cm behind the start. It turns 320.6° and finishes at 3.56 seconds, with a small recovery motion. This is much closer to a stationary standing backflip.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":109495,"cached":109082,"out":555,"think":480,"usd":0.142},"sim":{"submit":0,"reset":0}},{"id":100,"t":4432.9,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:13:23 UTC 2026\nGEN 0 160 min -1961.05 med -1952.45 successes 20 sigma 0.02095 sec 1090 evals 3864\nBEST 0 161 -1961.721 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.9, \"air_s\": 0.703}, \"steps\": 349, \"time_s\": 3.49, \"state_sha\": \"d430cdbbe7d7520e3b98ec9ac265180bdf71ac0d6179da2101a3f8a5d5e0433c\", \"max_com_z\": 1.2855859466471724, \"survive\": 2.2010000000000005, \"max_stand\": 2.0, \"after_cost\": 0.3837552160661606, \"turn\": 318.90299070431007}\n","exit":[0],"pics":[]},"tok":{"in":110077,"cached":109492,"out":40,"think":0,"usd":0.1188},"sim":{"submit":0,"reset":0}},{"id":101,"t":4447.0,"say":"The selected motion now succeeds at 3.49 seconds with about 319° of rotation. I’m checking a visual replay of the nearly stationary landing while the next search batches continue.","calls":[{"kind":"shell","label":"s=Session();rows=np.load('/app/output/visual_candidate.npz')['actions'];frames=[]","code":"cp /app/output/trajectory.npz /app/output/visual_candidate.npz && cat > /app/output/visual_check.py <<'PY'\nimport numpy as np\nfrom PIL import Image,ImageDraw\nfrom rcb_rfo import Session\ns=Session();rows=np.load('/app/output/visual_candidate.npz')['actions'];frames=[]\nindices=[0,39,58,77,94,112,131,len(rows)-1]\nfor i,row in enumerate(rows):\n s.ep.step_raw(row)\n if i in indices:\n im=Image.fromarray(s.image('venue'));ImageDraw.Draw(im).text((10,10),f'{(i+1)*.01:.2f} s',fill='white');frames.append(im)\n if s.done:break\nout=Image.new('RGB',(1920,540))\nfor i,im in enumerate(frames):out.paste(im,((i%4)*480,(i//4)*270))\nout.save('/app/output/visual_check.png')\nprint(s.status()['success'])\nPY\npython /app/output/visual_check.py"}],"out":{"text":"True\n","exit":[0],"pics":[]},"tok":{"in":110435,"cached":110074,"out":603,"think":283,"usd":0.1447},"sim":{"submit":0,"reset":0}},{"id":102,"t":4467.7,"say":"","calls":[{"kind":"look","label":"visual_check.png","code":"/app/output/visual_check.png"},{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:13:58 UTC 2026\nGEN 0 160 min -1961.05 med -1952.45 successes 20 sigma 0.02095 sec 1090 evals 3864\nBEST 0 161 -1961.721 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.9, \"air_s\": 0.703}, \"steps\": 349, \"time_s\": 3.49, \"state_sha\": \"d430cdbbe7d7520e3b98ec9ac265180bdf71ac0d6179da2101a3f8a5d5e0433c\", \"max_com_z\": 1.2855859466471724, \"survive\": 2.2010000000000005, \"max_stand\": 2.0, \"after_cost\": 0.3837552160661606, \"turn\": 318.90299070431007}\n","exit":[0],"pics":["roboolympics-fun-backflip-i00-privileged--fukrren/s102_0.jpg"]},"tok":{"in":111096,"cached":110432,"out":64,"think":0,"usd":0.1219},"sim":{"submit":0,"reset":0}},{"id":103,"t":4477.3,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":112704,"cached":111093,"out":144,"think":123,"usd":0.1384},"sim":{"submit":0,"reset":0}},{"id":104,"t":4511.2,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:14:41 UTC 2026\nGEN 0 170 min -1959.24 med -1951.36 successes 19 sigma 0.01904 sec 1160 evals 4104\nBEST 0 174 -1961.959 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 320.3, \"air_s\": 0.694}, \"steps\": 353, \"time_s\": 3.53, \"state_sha\": \"8d2e10aaff8547d536282d2ccd5699052252203b8ec942a42b0eae5247d0b49e\", \"max_com_z\": 1.2650387251151503, \"survive\": 2.2510000000000003, \"max_stand\": 2.0, \"after_cost\": 0.3552510854698151, \"turn\": 320.3482959701413}\n","exit":[0],"pics":[]},"tok":{"in":112871,"cached":112701,"out":40,"think":0,"usd":0.1168},"sim":{"submit":0,"reset":0}},{"id":105,"t":4517.9,"say":"The visual replay confirms a backward tuck, feet-first touchdown, and upright recovery. The newest numerical improvement keeps about 320° of rotation while shortening the flight further; the successful backups remain available.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":113226,"cached":112868,"out":65,"think":0,"usd":0.1206},"sim":{"submit":0,"reset":0}},{"id":106,"t":4554.8,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:15:25 UTC 2026\nBEST 0 174 -1961.959 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 320.3, \"air_s\": 0.694}, \"steps\": 353, \"time_s\": 3.53, \"state_sha\": \"8d2e10aaff8547d536282d2ccd5699052252203b8ec942a42b0eae5247d0b49e\", \"max_com_z\": 1.2650387251151503, \"survive\": 2.2510000000000003, \"max_stand\": 2.0, \"after_cost\": 0.3552510854698151, \"turn\": 320.3482959701413}\nGEN 0 180 min -1961.07 med -1952.21 successes 17 sigma 0.01754 sec 1232 evals 4344\n","exit":[0],"pics":[]},"tok":{"in":113314,"cached":113223,"out":40,"think":0,"usd":0.1164},"sim":{"submit":0,"reset":0}},{"id":107,"t":4578.4,"say":"The current search is converging around a 320° flip with a short, stable recovery. No new failure mode has appeared in the saved candidates. I’m letting the next restart explore a wider range of takeoff timings.","calls":[{"kind":"shell","label":"p='/app/output/package.py';s=open(p).read().replace('import json\\n','import json\\nimport pprint\\n',1).replace(","code":"python - <<'PY'\np='/app/output/package.py';s=open(p).read().replace('import json\\n','import json\\nimport pprint\\n',1).replace(\"source.replace('REPLACE_PARAMS',repr(p))\", \"source.replace('REPLACE_PARAMS',pprint.pformat(p,width=100,sort_dicts=False,compact=True))\")\nopen(p,'w').write(s)\nPY\ndate -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:15:50 UTC 2026\nGEN 0 180 min -1961.07 med -1952.21 successes 17 sigma 0.01754 sec 1232 evals 4344\nBEST 0 183 -1962.219 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.9, \"air_s\": 0.674}, \"steps\": 349, \"time_s\": 3.49, \"state_sha\": \"8662541535a725204d56da5298fae6acc4292c36bb3c2f300dfa4d334b75c1c2\", \"max_com_z\": 1.2379403224910885, \"survive\": 2.226, \"max_stand\": 2.0, \"after_cost\": 0.3849370072567117, \"turn\": 315.87889926752683}\n","exit":[0],"pics":[]},"tok":{"in":113670,"cached":113311,"out":665,"think":481,"usd":0.151},"sim":{"submit":0,"reset":0}},{"id":108,"t":4612.6,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":114649,"cached":113667,"out":501,"think":480,"usd":0.151},"sim":{"submit":0,"reset":0}},{"id":109,"t":4648.2,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && cp /app/output/trajectory.npz /app/output/low_jump_check.n","code":"date -u && tail -2 /app/output/improve_final.log && cp /app/output/trajectory.npz /app/output/low_jump_check.npz && python /app/output/audit.py /app/output/low_jump_check.npz /app/output/low_jump_audit.json"}],"out":{"text":"Thu Oct 15 12:16:58 UTC 2026\nBEST 0 189 -1963.001 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.2, \"air_s\": 0.682}, \"steps\": 348, \"time_s\": 3.48, \"state_sha\": \"2a3d38ed738cd9d0e70f12ea7bab6d7eb607a607538c1fbf58d6a68309c74d19\", \"max_com_z\": 1.2534834668267845, \"survive\": 2.207, \"max_stand\": 2.0, \"after_cost\": 0.2769125893818384, \"turn\": 319.1547796165053}\nGEN 0 190 min -1962.12 med -1955.53 successes 22 sigma 0.01907 sec 1303 evals 4584\n{\"status\": {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.2, \"air_s\": 0.682}, \"steps\": 348, \"time_s\": 3.48, \"events\": [{\"ev\": \"stage\", \"t\": 0.791, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.197, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.273, \"stage\": \"landing\", \"turn_deg\": 319.2}, {\"ev\": \"stage\", \"t\": 3.48, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.48}], \"state_sha\": \"2a3d38ed738cd9d0e70f12ea7bab6d7eb607a607538c1fbf58d6a68309c74d19\"}, \"nonfoot_substeps\": 0, \"first_nonfoot\": [], \"min_pelvis_z\": 0.3253928504561761, \"final_2s_max_speed\": 0.3606139457166877, \"final_2s_max_tilt_deg\": 5.701117591222761, \"final_2s_no_contact_substeps\": 0}\n","exit":[0],"pics":[]},"tok":{"in":115175,"cached":114646,"out":91,"think":0,"usd":0.1258},"sim":{"submit":0,"reset":0}},{"id":110,"t":4658.6,"say":"The shorter jump passed another physics-step audit: no non-foot contacts, pelvis always above 0.325 m, and a final torso tilt below 5.8°. It turns 319.2° and succeeds at 3.48 seconds.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":115917,"cached":115172,"out":90,"think":12,"usd":0.129},"sim":{"submit":0,"reset":0}},{"id":111,"t":4708.2,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:17:58 UTC 2026\nBEST 0 197 -1963.153 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 315.5, \"air_s\": 0.679}, \"steps\": 344, \"time_s\": 3.44, \"state_sha\": \"2aafadcc9a15d9ccd23d22e3179555bf744ce4c844e43ef7426060121daa1a91\", \"max_com_z\": 1.244989095201594, \"survive\": 2.1689999999999996, \"max_stand\": 2.0, \"after_cost\": 0.28515153244029784, \"turn\": 315.4753552355638}\nGEN 1 0 min -1961.11 med -1097.89 successes 12 sigma 0.03736 sec 1369 evals 4824\n","exit":[0],"pics":[]},"tok":{"in":116030,"cached":115914,"out":40,"think":0,"usd":0.1194},"sim":{"submit":0,"reset":0}},{"id":112,"t":4725.2,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('/app/output/best_status.json'));print('Landing position:',s['flights'][2][0]['pelvis1'])","code":"python - <<'PY'\nimport json\ns=json.load(open('/app/output/best_status.json'));print('Landing position:',s['flights'][2][0]['pelvis1'])\nPY"}],"out":{"text":"Landing position: [0.0061, -0.0007, 0.8189]\n","exit":[0],"pics":[]},"tok":{"in":116381,"cached":116027,"out":121,"think":50,"usd":0.1265},"sim":{"submit":0,"reset":0}},{"id":113,"t":4737.7,"say":"The latest candidate lands with its pelvis within about 6 mm of the starting horizontal position and succeeds at 3.44 seconds. A wider search restart is now running; the nearly stationary successful motion remains saved.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":116580,"cached":116378,"out":135,"think":65,"usd":0.1256},"sim":{"submit":0,"reset":0}},{"id":114,"t":4778.1,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:19:08 UTC 2026\nGEN 1 10 min -1961.64 med -1954.06 successes 14 sigma 0.03071 sec 1431 evals 5064\nBEST 1 15 -1963.41 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 317.1, \"air_s\": 0.695}, \"steps\": 342, \"time_s\": 3.42, \"state_sha\": \"26f1785f1af8d851fbc8aa8539c49eb3e552e2245c11dab2b5ea0cd9c460b04c\", \"max_com_z\": 1.2632242518254884, \"survive\": 2.147, \"max_stand\": 2.0, \"after_cost\": 0.33286777747322394, \"turn\": 317.14571636933726}\n","exit":[0],"pics":[]},"tok":{"in":116738,"cached":116577,"out":40,"think":0,"usd":0.1206},"sim":{"submit":0,"reset":0}},{"id":115,"t":4807.1,"say":"The wider restart has improved completion time to 3.42 seconds while retaining a 317° airborne turn. The remaining search is refining an already successful, nearly stationary landing.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":117089,"cached":116735,"out":543,"think":480,"usd":0.1483},"sim":{"submit":0,"reset":0}},{"id":116,"t":4851.3,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && cat /run/rcb-limits/usage.json","code":"date -u && tail -2 /app/output/improve_final.log && cat /run/rcb-limits/usage.json"}],"out":{"text":"Thu Oct 15 12:20:21 UTC 2026\nBEST 1 24 -1963.518 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 321.9, \"air_s\": 0.68}, \"steps\": 344, \"time_s\": 3.44, \"state_sha\": \"2fa60b8ce4a6c20dc3d11fef7678aec54d0570f9ff7b649843621a38ac5a4edb\", \"max_com_z\": 1.2478636410509492, \"survive\": 2.173, \"max_stand\": 2.0, \"after_cost\": 0.32816900123371545, \"turn\": 321.87273486933736}\nBEST 1 26 -1963.782 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 317.3, \"air_s\": 0.695}, \"steps\": 342, \"time_s\": 3.42, \"state_sha\": \"b1e67dce044d56253fece1989e74f9d456d32e8f67d82b5b630a04f3c995777d\", \"max_com_z\": 1.266743059875794, \"survive\": 2.1479999999999997, \"max_stand\": 2.0, \"after_cost\": 0.2910267220079233, \"turn\": 317.3038642564865}\n{\n \"t\": 1792066817.84,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 4.447,\n \"processes\": 19,\n \"disk_gb\": 0.838,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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":[0],"pics":[]},"tok":{"in":117657,"cached":117086,"out":52,"think":0,"usd":0.1268},"sim":{"submit":0,"reset":0}},{"id":117,"t":4878.5,"say":"The saved trajectory still succeeds at 3.42 seconds. I’m tightening the optimization loop’s simulator reuse so memory use stays flat during the remaining search restarts.","calls":[{"kind":"shell","label":"touch /app/output/stop_improve && date -u","code":"touch /app/output/stop_improve && date -u"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"touch /app/output/stop_improve && date -u\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:78400,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"}],"out":{"text":"Thu Oct 15 12:20:49 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":118366,"cached":117654,"out":873,"think":763,"usd":0.1702},"sim":{"submit":0,"reset":0}},{"id":118,"t":4890.3,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:78400,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\ntext(await tools.exec_command({cmd:\"cat /app/output/improve_progress.json && sed -n '41,110p' /app/output/improve_final.py\",\"max_output_tokens\":5000}));\n"},{"kind":"shell","label":"cat /app/output/improve_progress.json && sed -n '41,110p' /app/output/improve_final.py","code":"cat /app/output/improve_progress.json && sed -n '41,110p' /app/output/improve_final.py"}],"out":{"text":"{\"restart\": 1, \"gen\": 32, \"best\": -1963.7817652295287, \"sec\": 1570.9526345729828, \"evals\": 5592} st,_,s=run(p,maxsteps=2000);s.save_trajectory(path='/app/output/trajectory.npz');s.close()\n json.dump(st,open('/app/output/best_status.json','w'),indent=2)\n json.dump(p,open('/app/output/improved_success.json','w'),indent=2)\n with open('/app/output/NOTES.md','w') as f:\n f.write(f\"Saved trajectory succeeds: crouch, jump, tuck, open, absorb impact, then balance.\\nAirborne turn: {st['turn']:.1f} degrees; flight: {st['metrics']['air_s']:.3f} s; success: {st['time_s']:.2f} s.\\nA separate catch posture prepares contact; The installed FALCON walker finishes stabilization.\\nCommands generated with state feedback are recorded and replayed open-loop.\\nInitial 64-degree attempts lacked angular momentum.\\nEarly full-turn landings collapsed on shins; the catch posture solved that.\\nInstalled the public Python package cma for numerical optimization.\\nNo external motion data or controllers downloaded; installed robot policies were used.\\n\")\n return st\n\ndef main():\n start=time.time(); best=score(json.load(open('/app/output/best_status.json'))); bestp=json.load(open('/app/output/params.json'));total=0\n with ProcessPoolExecutor(max_workers=8) as pool:\n for restart in range(30):\n sigma=[.025,.04,.065][restart%3]\n es=cma.CMAEvolutionStrategy(encode(bestp),sigma,{'bounds':[0,1],'popsize':24,'seed':40+restart,'verbose':-9})\n for gen in range(200):\n xs=es.ask();res=list(pool.map(evaluate,xs));vals=[r[0] for r in res];es.tell(xs,vals);total+=len(xs)\n ii=int(np.argmin(vals));cost,st=res[ii]\n if st.get('success') and cost> /app/output/improve_final.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":120272,"cached":119344,"out":628,"think":183,"usd":0.1623},"sim":{"submit":0,"reset":0}},{"id":120,"t":4957.1,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":120958,"cached":120269,"out":140,"think":119,"usd":0.1359},"sim":{"submit":0,"reset":0}},{"id":121,"t":4992.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -3 /app/output/improve_final.log && cat /run/rcb-limits/usage.json","code":"date -u && tail -3 /app/output/improve_final.log && cat /run/rcb-limits/usage.json"}],"out":{"text":"Thu Oct 15 12:22:42 UTC 2026\n/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nGEN 1 40 min -1962.71 med -1953.4 successes 15 sigma 0.01958 sec 55 evals 5784\n{\n \"t\": 1792066957.85,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 2.208,\n \"processes\": 19,\n \"disk_gb\": 0.838,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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":[0],"pics":[]},"tok":{"in":121123,"cached":120955,"out":52,"think":0,"usd":0.1256},"sim":{"submit":0,"reset":0}},{"id":122,"t":5002.9,"say":"The search resumed from its saved optimization state, and memory use is back near 2.2 GiB. The best motion remains a successful 317.3° flip with completion at 3.42 seconds.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":121505,"cached":121120,"out":178,"think":107,"usd":0.1348},"sim":{"submit":0,"reset":0}},{"id":123,"t":5040.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:23:30 UTC 2026\nGEN 1 40 min -1962.71 med -1953.4 successes 15 sigma 0.01958 sec 55 evals 5784\nGEN 1 50 min -1963.17 med -1957.13 successes 22 sigma 0.01638 sec 126 evals 6024\n","exit":[0],"pics":[]},"tok":{"in":121706,"cached":121502,"out":40,"think":0,"usd":0.126},"sim":{"submit":0,"reset":0}},{"id":124,"t":5047.7,"say":"Twenty-two of the latest 24 nearby trials succeeded. None improved the selected result, so the saved trajectory remains unchanged while the search explores further.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":121886,"cached":121703,"out":157,"think":100,"usd":0.1318},"sim":{"submit":0,"reset":0}},{"id":125,"t":5085.0,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:24:15 UTC 2026\nGEN 1 40 min -1962.71 med -1953.4 successes 15 sigma 0.01958 sec 55 evals 5784\nGEN 1 50 min -1963.17 med -1957.13 successes 22 sigma 0.01638 sec 126 evals 6024\n","exit":[0],"pics":[]},"tok":{"in":122066,"cached":121883,"out":40,"think":0,"usd":0.1262},"sim":{"submit":0,"reset":0}},{"id":126,"t":5105.0,"say":"The current refinement batch has not produced a better motion. The successful trajectory is still saved, and the standalone generator and final replay workflow are ready for the final selection.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":122246,"cached":122063,"out":577,"think":516,"usd":0.1532},"sim":{"submit":0,"reset":0}},{"id":127,"t":5139.6,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:25:09 UTC 2026\nGEN 1 50 min -1963.17 med -1957.13 successes 22 sigma 0.01638 sec 126 evals 6024\nGEN 1 60 min -1963.39 med -1958.95 successes 21 sigma 0.01511 sec 196 evals 6264\n","exit":[0],"pics":[]},"tok":{"in":122848,"cached":122243,"out":40,"think":0,"usd":0.1318},"sim":{"submit":0,"reset":0}},{"id":128,"t":5160.0,"say":"The latest batch still supports the same result: a successful flip near 320° with a nearly stationary landing. I’m continuing the remaining optimization restarts as requested.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":123029,"cached":122845,"out":577,"think":516,"usd":0.154},"sim":{"submit":0,"reset":0}},{"id":129,"t":5195.7,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:26:06 UTC 2026\nBEST 1 66 -1963.915 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.8, \"air_s\": 0.704}, \"steps\": 345, \"time_s\": 3.45, \"state_sha\": \"28a541f99410d367f1485bff5163341b092109d1230bcc833fa7261999e178e4\", \"max_com_z\": 1.2797386998224225, \"survive\": 2.168, \"max_stand\": 2.0, \"after_cost\": 0.25093635368157907, \"turn\": 319.80114243726007}\nGEN 1 70 min -1963.21 med -1959.84 successes 23 sigma 0.01364 sec 273 evals 6504\n","exit":[0],"pics":[]},"tok":{"in":123631,"cached":123026,"out":40,"think":0,"usd":0.1326},"sim":{"submit":0,"reset":0}},{"id":130,"t":5225.2,"say":"A new improvement restores a 319.8° airborne turn and reduces recovery motion again. It succeeds at 3.45 seconds, and 23 of 24 nearby trials in the latest batch also succeeded.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":123976,"cached":123628,"out":586,"think":516,"usd":0.1573},"sim":{"submit":0,"reset":0}},{"id":131,"t":5263.1,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:27:13 UTC 2026\nBEST 1 80 -1964.198 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 316.9, \"air_s\": 0.7}, \"steps\": 337, \"time_s\": 3.37, \"state_sha\": \"7676891a9dd880dabe6e4b20deba56ee6b1d1e98264641e90b663654fd7554b5\", \"max_com_z\": 1.2796128250226977, \"survive\": 2.083, \"max_stand\": 2.0, \"after_cost\": 0.2996791329463855, \"turn\": 316.8901080544253}\nGEN 1 80 min -1964.2 med -1961.54 successes 23 sigma 0.01402 sec 352 evals 6744\n","exit":[0],"pics":[]},"tok":{"in":124587,"cached":123973,"out":40,"think":0,"usd":0.1336},"sim":{"submit":0,"reset":0}},{"id":132,"t":5288.6,"say":"The newest candidate settles within roughly 0.08 seconds of touchdown and completes the stand at 3.37 seconds. It still exceeds the rotation requirement by about 17°.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":124937,"cached":124584,"out":580,"think":516,"usd":0.158},"sim":{"submit":0,"reset":0}},{"id":133,"t":5327.2,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:28:17 UTC 2026\nBEST 1 80 -1964.198 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 316.9, \"air_s\": 0.7}, \"steps\": 337, \"time_s\": 3.37, \"state_sha\": \"7676891a9dd880dabe6e4b20deba56ee6b1d1e98264641e90b663654fd7554b5\", \"max_com_z\": 1.2796128250226977, \"survive\": 2.083, \"max_stand\": 2.0, \"after_cost\": 0.2996791329463855, \"turn\": 316.8901080544253}\nGEN 1 80 min -1964.2 med -1961.54 successes 23 sigma 0.01402 sec 352 evals 6744\n","exit":[0],"pics":[]},"tok":{"in":125542,"cached":124934,"out":40,"think":0,"usd":0.1345},"sim":{"submit":0,"reset":0}},{"id":134,"t":5352.0,"say":"","calls":[{"kind":"shell","label":"cat /app/output/improve_progress.json && date -u","code":"cat /app/output/improve_progress.json && date -u"}],"out":{"text":"{\"restart\": 1, \"gen\": 92, \"best\": -1964.1977823649272, \"sec\": 444.59953260421753, \"evals\": 7032}Thu Oct 15 12:28:42 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":125891,"cached":125539,"out":98,"think":58,"usd":0.1348},"sim":{"submit":0,"reset":0}},{"id":135,"t":5372.3,"say":"The 3.37-second candidate remains the best result. The search is still running, with successful trajectories protected and the final packaging checks scheduled before the deadline.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":126104,"cached":125888,"out":499,"think":439,"usd":0.1535},"sim":{"submit":0,"reset":0}},{"id":136,"t":5408.6,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:29:38 UTC 2026\nGEN 1 80 min -1964.2 med -1961.54 successes 23 sigma 0.01402 sec 352 evals 6744\nGEN 1 90 min -1963.32 med -1960.39 successes 21 sigma 0.01193 sec 429 evals 6984\n","exit":[0],"pics":[]},"tok":{"in":126626,"cached":126101,"out":40,"think":0,"usd":0.1347},"sim":{"submit":0,"reset":0}},{"id":137,"t":5432.7,"say":"No new candidate has improved the selected motion in the latest batch. I’m continuing the refinement run; the deliverable on disk already completes takeoff, full turn, feet-first landing, and stand.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":126805,"cached":126623,"out":584,"think":516,"usd":0.1581},"sim":{"submit":0,"reset":0}},{"id":138,"t":5469.2,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:30:39 UTC 2026\nGEN 1 90 min -1963.32 med -1960.39 successes 21 sigma 0.01193 sec 429 evals 6984\nGEN 1 100 min -1963.35 med -1961.26 successes 23 sigma 0.01189 sec 509 evals 7224\n","exit":[0],"pics":[]},"tok":{"in":127414,"cached":126802,"out":40,"think":0,"usd":0.1364},"sim":{"submit":0,"reset":0}},{"id":139,"t":5500.0,"say":"The search continues to produce successful nearby trials, but the 3.37-second motion remains the best overall. I’m keeping that candidate while exploring the remaining takeoff variations.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":127593,"cached":127411,"out":579,"think":516,"usd":0.1586},"sim":{"submit":0,"reset":0}},{"id":140,"t":5537.7,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:31:48 UTC 2026\nGEN 1 100 min -1963.35 med -1961.26 successes 23 sigma 0.01189 sec 509 evals 7224\nGEN 1 110 min -1963.44 med -1959.59 successes 23 sigma 0.01344 sec 583 evals 7464\n","exit":[0],"pics":[]},"tok":{"in":128200,"cached":127590,"out":40,"think":0,"usd":0.1372},"sim":{"submit":0,"reset":0}},{"id":141,"t":5561.3,"say":"The selected trajectory remains unchanged and successful. The remaining trials are small refinements; final regeneration and two independent replay checks will determine the exact files left in `output/`.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":128381,"cached":128197,"out":578,"think":516,"usd":0.1594},"sim":{"submit":0,"reset":0}},{"id":142,"t":5599.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:32:49 UTC 2026\nGEN 1 110 min -1963.44 med -1959.59 successes 23 sigma 0.01344 sec 583 evals 7464\nGEN 1 120 min -1963.48 med -1961.2 successes 21 sigma 0.01445 sec 650 evals 7704\n","exit":[0],"pics":[]},"tok":{"in":128983,"cached":128378,"out":40,"think":0,"usd":0.1379},"sim":{"submit":0,"reset":0}},{"id":143,"t":5635.1,"say":"The optimization has not found a better candidate in this batch. I’m using the pause in improvements to verify the latest motion through the self-contained generator and a fresh replay.","calls":[{"kind":"shell","label":"p='/app/research/fallback_gen.py';s=open(p).read().replace('s.save_trajectory()', \"s.save_trajectory(path='/ap","code":"python /app/output/package.py && cp /app/output/gen_standalone.py /app/research/fallback_gen.py && python - <<'PY'\np='/app/research/fallback_gen.py';s=open(p).read().replace('s.save_trajectory()', \"s.save_trajectory(path='/app/research/fallback.npz')\")\nopen('/app/research/check_fallback.py','w').write(s)\nPY\npython /app/research/check_fallback.py > /app/research/fallback_generation.json\npython /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/research/fallback.npz --out /app/research/fallback_replay.json"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":129163,"cached":128980,"out":1177,"think":953,"usd":0.1901},"sim":{"submit":0,"reset":0}},{"id":144,"t":5655.1,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:98970,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1300}));\ntext(await tools.exec_command({cmd:\"date -u && tail -2 /app/output/improve_final.log\",\"max_output_tokens\":1300}));\n"},{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 316.9, \"air_s\": 0.7}, \"steps\": 337, \"time_s\": 3.37, \"state_sha\": \"7676891a9dd880dabe6e4b20deba56ee6b1d1e98264641e90b663654fd7554b5\", \"instance_ok\": true, \"executed_rows\": 337, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"replay_s\": 5.59, \"video\": false}\n\nThu Oct 15 12:33:45 UTC 2026\nGEN 1 120 min -1963.48 med -1961.2 successes 21 sigma 0.01445 sec 650 evals 7704\nGEN 1 130 min -1963.3 med -1960.34 successes 21 sigma 0.01312 sec 718 evals 7944\n","exit":[0,0],"pics":[]},"tok":{"in":130403,"cached":129160,"out":70,"think":0,"usd":0.1482},"sim":{"submit":0,"reset":0}},{"id":145,"t":5673.6,"say":"The self-contained generator and fresh replay both reproduced the current 316.9° flip successfully at 3.37 seconds, with the expected final state. Refinement trials are continuing.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":130835,"cached":130400,"out":304,"think":239,"usd":0.151},"sim":{"submit":0,"reset":0}},{"id":146,"t":5715.3,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:34:45 UTC 2026\nGEN 1 130 min -1963.3 med -1960.34 successes 21 sigma 0.01312 sec 718 evals 7944\nGEN 1 140 min -1963.54 med -1957.34 successes 21 sigma 0.01184 sec 792 evals 8184\n","exit":[0],"pics":[]},"tok":{"in":131164,"cached":130832,"out":40,"think":0,"usd":0.137},"sim":{"submit":0,"reset":0}},{"id":147,"t":5784.2,"say":"The latest search batch has not displaced the verified 3.37-second trajectory. I’m continuing the remaining trials and keeping the final generator ready to embed whichever candidate finishes best.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":131344,"cached":131161,"out":1309,"think":1246,"usd":0.1989},"sim":{"submit":0,"reset":0}},{"id":148,"t":5822.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:36:32 UTC 2026\nGEN 1 140 min -1963.54 med -1957.34 successes 21 sigma 0.01184 sec 792 evals 8184\nGEN 1 150 min -1963.62 med -1961.41 successes 23 sigma 0.01118 sec 863 evals 8424\n","exit":[0],"pics":[]},"tok":{"in":132690,"cached":131341,"out":40,"think":0,"usd":0.1502},"sim":{"submit":0,"reset":0}},{"id":149,"t":5833.2,"say":"The current candidate remains successful and unchanged. The optimizer is continuing through its remaining restart budget; final files will be regenerated and checked before the session deadline.","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":132871,"cached":132687,"out":298,"think":240,"usd":0.1499},"sim":{"submit":0,"reset":0}},{"id":150,"t":5884.9,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:37:35 UTC 2026\nGEN 1 150 min -1963.62 med -1961.41 successes 23 sigma 0.01118 sec 863 evals 8424\nGEN 1 160 min -1963.63 med -1961.55 successes 23 sigma 0.00939 sec 924 evals 8664\n","exit":[0],"pics":[]},"tok":{"in":133192,"cached":132868,"out":40,"think":0,"usd":0.1389},"sim":{"submit":0,"reset":0}},{"id":151,"t":5902.5,"say":"The nearby search has become consistently successful, but it has not improved the selected motion. I’m keeping the verified candidate and allowing the next wider restart to explore other takeoff timings.","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":133374,"cached":133189,"out":371,"think":307,"usd":0.154},"sim":{"submit":0,"reset":0}},{"id":152,"t":5954.0,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:38:44 UTC 2026\nGEN 1 170 min -1964.05 med -1962.45 successes 24 sigma 0.00823 sec 982 evals 8904\nGEN 1 180 min -1963.85 med -1962.8 successes 24 sigma 0.00723 sec 1044 evals 9144\n","exit":[0],"pics":[]},"tok":{"in":133769,"cached":133371,"out":40,"think":0,"usd":0.1403},"sim":{"submit":0,"reset":0}},{"id":153,"t":5990.9,"say":"All 24 trials in the latest nearby batch succeeded. I’m adding a small timing sweep around the best motion to check whether shifting the push, tuck, opening, or balance handover by one control step improves it.","calls":[{"kind":"shell","label":"writes timing_sweep.py","code":"cat > /app/output/timing_sweep.py <<'PY'\nimport os\nos.environ['OPENBLAS_NUM_THREADS']='1'\nimport itertools,json,time,numpy as np\nfrom concurrent.futures import ProcessPoolExecutor\nfrom motion import run,Session\nfrom improve_final import score\nS=None\n\ndef ev(p):\n global S\n if S is None:S=Session()\n st,_,_=run(p,S,maxsteps=650)\n return score(st),st\n\nif __name__=='__main__':\n base=json.load(open('/app/output/params.json'));keys=['push_t','tuck_t','open_t','balance_delay']\n ps=[]\n for d in itertools.product([-.01,0,.01],repeat=4):\n p=json.loads(json.dumps(base))\n for k,x in zip(keys,d):p[k]+=x\n ps.append(p)\n with ProcessPoolExecutor(max_workers=8) as pool:\n res=list(pool.map(ev,ps))\n ordered=sorted([(v[0],p,v[1]) for p,v in zip(ps,res)],key=lambda x:x[0])\n json.dump(ordered,open('/app/output/timing_results.json','w'),indent=2)\n b=ordered[0]\n json.dump(b[1],open('/app/output/timing_best.json','w'),indent=2)\n print('BEST',b[0],b[2]['success'],b[2]['turn'],b[2]['time_s'],flush=True)\n print('SUCCESSES',sum(v[1]['success'] for v in res),'of',len(ps),flush=True)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/timing_sweep.py > /app/output/timing_sweep.log 2>&1"},{"kind":"other","label":"product","code":"text(await tools.exec_command({cmd:\"cat > /app/output/timing_sweep.py <<'PY'\\nimport os\\nos.environ['OPENBLAS_NUM_THREADS']='1'\\nimport itertools,json,time,numpy as np\\nfrom concurrent.futures import ProcessPoolExecutor\\nfrom motion import run,Session\\nfrom improve_final import score\\nS=None\\n\\ndef ev(p):\\n global S\\n if S is None:S=Session()\\n st,_,_=run(p,S,maxsteps=650)\\n return score(st),st\\n\\nif __name__=='__main__':\\n base=json.load(open('/app/output/params.json'));keys=['push_t','tuck_t','open_t','balance_delay']\\n ps=[]\\n for d in itertools.product([-.01,0,.01],repeat=4):\\n p=json.loads(json.dumps(base))\\n for k,x in zip(keys,d):p[k]+=x\\n ps.append(p)\\n with ProcessPoolExecutor(max_workers=8) as pool:\\n res=list(pool.map(ev,ps))\\n ordered=sorted([(v[0],p,v[1]) for p,v in zip(ps,res)],key=lambda x:x[0])\\n json.dump(ordered,open('/app/output/timing_results.json','w'),indent=2)\\n b=ordered[0]\\n json.dump(b[1],open('/app/output/timing_best.json','w'),indent=2)\\n print('BEST',b[0],b[2]['success'],b[2]['turn'],b[2]['time_s'],flush=True)\\n print('SUCCESSES',sum(v[1]['success'] for v in res),'of',len(ps),flush=True)\\nPY\\nOPENBLAS_NUM_THREADS=1 python /app/output/timing_sweep.py > /app/output/timing_sweep.log 2>&1\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":133951,"cached":133766,"out":1509,"think":1034,"usd":0.2115},"sim":{"submit":0,"reset":0}},{"id":154,"t":6029.9,"say":"","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":135521,"cached":133948,"out":161,"think":140,"usd":0.1617},"sim":{"submit":0,"reset":0}},{"id":155,"t":6072.1,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && tail -3 /app/output/timing_sweep.log","code":"date -u && tail -2 /app/output/improve_final.log && tail -3 /app/output/timing_sweep.log"}],"out":{"text":"Thu Oct 15 12:40:42 UTC 2026\nGEN 1 180 min -1963.85 med -1962.8 successes 24 sigma 0.00723 sec 1044 evals 9144\nGEN 1 190 min -1963.98 med -1962.43 successes 23 sigma 0.00617 sec 1114 evals 9384\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nBEST -1964.1977823649272 True 316.8901080544253 3.37\nSUCCESSES 81 of 81\n","exit":[0],"pics":[]},"tok":{"in":135705,"cached":135518,"out":52,"think":0,"usd":0.1404},"sim":{"submit":0,"reset":0}},{"id":156,"t":6106.8,"say":"All 81 combinations in the one-step timing sweep succeeded, and none improved the selected trajectory. I’m expanding that sweep to two control steps while the wider optimizer restart continues.","calls":[{"kind":"shell","label":"p='/app/output/timing_sweep.py';s=open(p).read().replace(\"[-.01,0,.01]\", \"[-.02,-.01,0,.01,.02]\").replace(\"tim","code":"python - <<'PY'\np='/app/output/timing_sweep.py';s=open(p).read().replace(\"[-.01,0,.01]\", \"[-.02,-.01,0,.01,.02]\").replace(\"timing_results.json\", \"timing_results_wide.json\").replace(\"timing_best.json\", \"timing_best_wide.json\")\nopen('/app/output/timing_sweep_wide.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/timing_sweep_wide.py > /app/output/timing_sweep_wide.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":135948,"cached":135702,"out":686,"think":475,"usd":0.1731},"sim":{"submit":0,"reset":0}},{"id":157,"t":6135.6,"say":"","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":136694,"cached":135945,"out":445,"think":424,"usd":0.1675},"sim":{"submit":0,"reset":0}},{"id":158,"t":6187.2,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/output/timing_sweep_wide.log","code":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/output/timing_sweep_wide.log"}],"out":{"text":"Thu Oct 15 12:42:37 UTC 2026\nGEN 2 10 min -1956.49 med -131.76 successes 9 sigma 0.05532 sec 1210 evals 9864\nGEN 2 20 min -1956.81 med -150.28 successes 9 sigma 0.05456 sec 1254 evals 10104\n/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\n","exit":[0],"pics":[]},"tok":{"in":137166,"cached":136691,"out":54,"think":0,"usd":0.1453},"sim":{"submit":0,"reset":0}},{"id":159,"t":6327.0,"say":"The wider optimizer is exploring more disruptive changes, so its success rate is lower. The selected trajectory remains protected. The larger timing sweep is still running and will only replace it if it produces a better successful motion.","calls":[{"kind":"shell","label":"waits 45 s","code":"{\"duration_ms\": 45000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":137415,"cached":137163,"out":586,"think":516,"usd":0.1696},"sim":{"submit":0,"reset":0}},{"id":160,"t":6382.9,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && tail -3 /app/output/timing_sweep_wide.log","code":"date -u && tail -2 /app/output/improve_final.log && tail -3 /app/output/timing_sweep_wide.log"}],"out":{"text":"Thu Oct 15 12:45:53 UTC 2026\nGEN 2 40 min -1962.4 med -1951.69 successes 15 sigma 0.04341 sec 1365 evals 10584\nGEN 2 50 min -1962.27 med -1948.79 successes 14 sigma 0.03919 sec 1424 evals 10824\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nBEST -1964.1977823649272 True 316.8901080544253 3.37\nSUCCESSES 442 of 625\n","exit":[0],"pics":[]},"tok":{"in":138028,"cached":137412,"out":54,"think":0,"usd":0.1478},"sim":{"submit":0,"reset":0}},{"id":161,"t":6407.3,"say":"The larger sweep is complete: 442 of 625 timing combinations succeeded, and none improved the saved trajectory. The best remains the verified 316.9° flip completing at 3.37 seconds.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":138274,"cached":138025,"out":487,"think":418,"usd":0.1655},"sim":{"submit":0,"reset":0}},{"id":162,"t":6442.5,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && cat /run/rcb-limits/usage.json","code":"date -u && tail -2 /app/output/improve_final.log && cat /run/rcb-limits/usage.json"}],"out":{"text":"Thu Oct 15 12:46:52 UTC 2026\nBEST 2 62 -1964.395 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.7, \"air_s\": 0.666}, \"steps\": 339, \"time_s\": 3.39, \"state_sha\": \"2af8356d7d28b0bf4806d5e011731b80bf3b93959dedad498b0511dace743f70\", \"max_com_z\": 1.2104093621386611, \"survive\": 2.145, \"max_stand\": 2.0, \"after_cost\": 0.274999951938991, \"turn\": 318.6707871429631}\nGEN 2 70 min -1962.39 med -1950.94 successes 14 sigma 0.03204 sec 1535 evals 11304\n{\n \"t\": 1792068407.91,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 2.442,\n \"processes\": 19,\n \"disk_gb\": 0.843,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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":[0],"pics":[]},"tok":{"in":138788,"cached":138271,"out":52,"think":0,"usd":0.1473},"sim":{"submit":0,"reset":0}},{"id":163,"t":6451.7,"say":"The wider restart found another improvement: 318.7° of rotation in a 0.666-second flight, followed by a successful stand at 3.39 seconds. It uses a lower jump and a slightly gentler recovery.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":139318,"cached":138785,"out":177,"think":102,"usd":0.1543},"sim":{"submit":0,"reset":0}},{"id":164,"t":6490.6,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:47:40 UTC 2026\nBEST 2 62 -1964.395 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.7, \"air_s\": 0.666}, \"steps\": 339, \"time_s\": 3.39, \"state_sha\": \"2af8356d7d28b0bf4806d5e011731b80bf3b93959dedad498b0511dace743f70\", \"max_com_z\": 1.2104093621386611, \"survive\": 2.145, \"max_stand\": 2.0, \"after_cost\": 0.274999951938991, \"turn\": 318.6707871429631}\nGEN 2 70 min -1962.39 med -1950.94 successes 14 sigma 0.03204 sec 1535 evals 11304\n","exit":[0],"pics":[]},"tok":{"in":139518,"cached":139315,"out":40,"think":0,"usd":0.1438},"sim":{"submit":0,"reset":0}},{"id":165,"t":6516.1,"say":"The lower-jump candidate remains the best result. I’m continuing the last search batches, then the prepared workflow will regenerate the selected trajectory and verify two fresh replays before final packaging.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":139865,"cached":139515,"out":803,"think":738,"usd":0.184},"sim":{"submit":0,"reset":0}},{"id":166,"t":6551.6,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:48:41 UTC 2026\nGEN 2 70 min -1962.39 med -1950.94 successes 14 sigma 0.03204 sec 1535 evals 11304\nGEN 2 80 min -1963.15 med -1957.29 successes 21 sigma 0.02955 sec 1596 evals 11544\n","exit":[0],"pics":[]},"tok":{"in":140701,"cached":139862,"out":40,"think":0,"usd":0.1523},"sim":{"submit":0,"reset":0}},{"id":167,"t":6585.4,"say":"The saved trajectory is still successful at 3.39 seconds. I’m checking the latest lower jump at physics-step resolution so the final selection has both replay and contact evidence.","calls":[{"kind":"shell","label":"s=open('/app/research/audited_gen.py').read().replace('s.save_trajectory()', \"s.save_trajectory(path='/app/res","code":"python /app/output/package.py && cp /app/output/gen_standalone.py /app/research/audited_gen.py && python - <<'PY'\ns=open('/app/research/audited_gen.py').read().replace('s.save_trajectory()', \"s.save_trajectory(path='/app/research/audited.npz')\")\nopen('/app/research/generate_audited.py','w').write(s)\nPY\npython /app/research/generate_audited.py > /app/research/audited_generation.json\npython /app/output/audit.py /app/research/audited.npz /app/research/audited_contact.json"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":140884,"cached":140698,"out":1225,"think":1009,"usd":0.2043},"sim":{"submit":0,"reset":0}},{"id":168,"t":6602.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:79878,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2200}));\ntext(await tools.exec_command({cmd:\"date -u && tail -2 /app/output/improve_final.log\",\"max_output_tokens\":1500}));\n"},{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"{\"status\": {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.7, \"air_s\": 0.666}, \"steps\": 339, \"time_s\": 3.39, \"events\": [{\"ev\": \"stage\", \"t\": 0.779, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.185, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.245, \"stage\": \"landing\", \"turn_deg\": 318.7}, {\"ev\": \"stage\", \"t\": 3.39, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.39}], \"state_sha\": \"2af8356d7d28b0bf4806d5e011731b80bf3b93959dedad498b0511dace743f70\"}, \"nonfoot_substeps\": 0, \"first_nonfoot\": [], \"min_pelvis_z\": 0.33835923454860306, \"final_2s_max_speed\": 0.4502237468712762, \"final_2s_max_tilt_deg\": 5.712146158209877, \"final_2s_no_contact_substeps\": 0}\n\nThu Oct 15 12:49:33 UTC 2026\nGEN 2 80 min -1963.15 med -1957.29 successes 21 sigma 0.02955 sec 1596 evals 11544\nGEN 2 90 min -1963.87 med -1958.7 successes 20 sigma 0.02821 sec 1657 evals 11784\n","exit":[0,0],"pics":[]},"tok":{"in":142170,"cached":140881,"out":70,"think":0,"usd":0.1605},"sim":{"submit":0,"reset":0}},{"id":169,"t":6695.5,"say":"The latest lower jump passed the contact audit: no non-foot ground contacts, and the pelvis stayed above 0.338 m. Its fresh replay also matches the expected successful final state.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":142750,"cached":142167,"out":581,"think":516,"usd":0.1785},"sim":{"submit":0,"reset":0}},{"id":170,"t":6731.9,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log","code":"date -u && tail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:51:42 UTC 2026\nBEST 2 104 -1964.486 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.4, \"air_s\": 0.685}, \"steps\": 332, \"time_s\": 3.32, \"state_sha\": \"9f3fa714309e8aefeebd0898e67a596b7e1727c1d95faf2cccfb276581244741\", \"max_com_z\": 1.2369373036209264, \"survive\": 2.079, \"max_stand\": 2.0, \"after_cost\": 0.32320017901523246, \"turn\": 318.35552126039784}\nGEN 2 110 min -1963.1 med -1955.08 successes 16 sigma 0.02565 sec 1787 evals 12264\n","exit":[0],"pics":[]},"tok":{"in":143356,"cached":142747,"out":40,"think":0,"usd":0.1524},"sim":{"submit":0,"reset":0}},{"id":171,"t":6748.6,"say":"The latest improvement completes the stand at 3.32 seconds while retaining 318.4° of airborne rotation. I’m continuing the final search batches before the scheduled regeneration and replay checks.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":143704,"cached":143353,"out":211,"think":145,"usd":0.1583},"sim":{"submit":0,"reset":0}},{"id":172,"t":6789.8,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/finalizer.log","code":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/finalizer.log"}],"out":{"text":"Thu Oct 15 12:52:40 UTC 2026\nGEN 2 120 min -1963.43 med -1958.12 successes 17 sigma 0.0259 sec 1854 evals 12504\nBEST 2 121 -1964.596 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.2, \"air_s\": 0.676}, \"steps\": 332, \"time_s\": 3.32, \"state_sha\": \"b06ffd7be207632ab52fdd6628df7a77d5b43607d881d4f4a875c05415df28db\", \"max_com_z\": 1.2191405989325572, \"survive\": 2.077, \"max_stand\": 2.0, \"after_cost\": 0.3084535297338708, \"turn\": 318.1658935423009}\n","exit":[0],"pics":[]},"tok":{"in":143938,"cached":143701,"out":50,"think":0,"usd":0.1492},"sim":{"submit":0,"reset":0}},{"id":173,"t":6814.1,"say":"The selected motion still succeeds at 3.32 seconds, with about 318° of airborne rotation. Final packaging is queued to embed its parameters, regenerate the trajectory, and run two fresh-process replays.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":144295,"cached":143935,"out":586,"think":516,"usd":0.1777},"sim":{"submit":0,"reset":0}},{"id":174,"t":6852.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && pgrep -af '^python /app/output/finalize.py$'","code":"date -u && tail -2 /app/output/improve_final.log && pgrep -af '^python /app/output/finalize.py$'"}],"out":{"text":"Thu Oct 15 12:53:42 UTC 2026\nBEST 2 121 -1964.596 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.2, \"air_s\": 0.676}, \"steps\": 332, \"time_s\": 3.32, \"state_sha\": \"b06ffd7be207632ab52fdd6628df7a77d5b43607d881d4f4a875c05415df28db\", \"max_com_z\": 1.2191405989325572, \"survive\": 2.077, \"max_stand\": 2.0, \"after_cost\": 0.3084535297338708, \"turn\": 318.1658935423009}\nGEN 2 130 min -1964.17 med -1957.47 successes 17 sigma 0.02493 sec 1923 evals 12744\n/bin/bash: line 1: pgrep: command not found\n","exit":[127],"pics":[]},"tok":{"in":144905,"cached":144292,"out":56,"think":0,"usd":0.1547},"sim":{"submit":0,"reset":0}},{"id":175,"t":6881.2,"say":"","calls":[{"kind":"shell","label":"for x in Path('/proc').iterdir():","code":"python - <<'PY'\nfrom pathlib import Path\nimport os,signal\nfor x in Path('/proc').iterdir():\n if not x.name.isdigit():continue\n try:a=(x/'cmdline').read_bytes().split(b'\\0')\n except OSError:continue\n if len(a)>1 and a[1]==b'/app/output/finalize.py':\n os.kill(int(x.name),signal.SIGTERM);print('Restarting finalizer',x.name)\np=Path('/app/output/finalize.py');s=p.read_text()\ns=s.replace(\"for _ in range(30):\\n procs=subprocess.run(['pgrep','-f','^python /app/output/improve_final.py$'],capture_output=True,text=True)\\n if not procs.stdout.strip():break\\n time.sleep(1)\", \"def optimizer_running():\\n for item in Path('/proc').iterdir():\\n if not item.name.isdigit(): continue\\n try: args=(item/'cmdline').read_bytes().split(b'\\\\0')\\n except OSError: continue\\n if len(args)>1 and args[1]==b'/app/output/improve_final.py': return True\\n return False\\nfor _ in range(30):\\n if not optimizer_running():break\\n time.sleep(1)\")\np.write_text(s)\ncompile(s,str(p),'exec')\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/finalize.py > /app/finalizer.log 2>&1"}],"out":{"text":"Restarting finalizer 2433\n","exit":[],"pics":[]},"tok":{"in":145285,"cached":144902,"out":1081,"think":704,"usd":0.2037},"sim":{"submit":0,"reset":0}},{"id":176,"t":6888.0,"say":"I caught and removed a missing utility dependency in the packaging helper. The trajectory remains successful, and the final workflow now uses only tools available in this environment.","calls":[{"kind":"shell","label":"for x in Path('/proc').iterdir():","code":"date -u && python - <<'PY'\nfrom pathlib import Path\nfor x in Path('/proc').iterdir():\n if not x.name.isdigit():continue\n try:a=(x/'cmdline').read_bytes().split(b'\\0')\n except OSError:continue\n if len(a)>1 and a[1] in (b'/app/output/finalize.py',b'/app/output/improve_final.py'):print(x.name,a[1].decode())\nPY\ntail -2 /app/output/improve_final.log"}],"out":{"text":"Thu Oct 15 12:54:20 UTC 2026\n2689 /app/output/improve_final.py\n2690 /app/output/improve_final.py\n2691 /app/output/improve_final.py\n2692 /app/output/improve_final.py\n2693 /app/output/improve_final.py\n2694 /app/output/improve_final.py\n2695 /app/output/improve_final.py\n2696 /app/output/improve_final.py\n2697 /app/output/improve_final.py\n3010 /app/output/finalize.py\nBEST 2 121 -1964.596 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 318.2, \"air_s\": 0.676}, \"steps\": 332, \"time_s\": 3.32, \"state_sha\": \"b06ffd7be207632ab52fdd6628df7a77d5b43607d881d4f4a875c05415df28db\", \"max_com_z\": 1.2191405989325572, \"survive\": 2.077, \"max_stand\": 2.0, \"after_cost\": 0.3084535297338708, \"turn\": 318.1658935423009}\nGEN 2 130 min -1964.17 med -1957.47 successes 17 sigma 0.02493 sec 1923 evals 12744\n","exit":[0],"pics":[]},"tok":{"in":146432,"cached":145282,"out":192,"think":10,"usd":0.1692},"sim":{"submit":0,"reset":0}},{"id":177,"t":6925.4,"say":"The final helper is running correctly, and the last optimization batches continue. The best saved motion remains a 318.2° flip with success at 3.32 seconds.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":147035,"cached":146429,"out":983,"think":920,"usd":0.2031},"sim":{"submit":0,"reset":0}},{"id":178,"t":6966.4,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/finalizer.log","code":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/finalizer.log"}],"out":{"text":"Thu Oct 15 12:55:36 UTC 2026\nGEN 2 140 min -1964.18 med -1959.59 successes 22 sigma 0.02475 sec 1994 evals 12984\nBEST 2 141 -1964.711 {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.4, \"air_s\": 0.667}, \"steps\": 331, \"time_s\": 3.31, \"state_sha\": \"a8d52ced2d22d71762aed231a935c149ab34c9de3de6f4eb08be7bef7fe9dca6\", \"max_com_z\": 1.2061748601310742, \"survive\": 2.076, \"max_stand\": 2.0, \"after_cost\": 0.3241174523472259, \"turn\": 319.4049271803652}\n","exit":[0],"pics":[]},"tok":{"in":148047,"cached":147032,"out":50,"think":0,"usd":0.1622},"sim":{"submit":0,"reset":0}},{"id":179,"t":7110.1,"say":"A late improvement reached 319.4° of airborne rotation and completed the stand at 3.31 seconds. I’m keeping the search running until the final verification window.","calls":[{"kind":"shell","label":"waits 30 s","code":"{\"duration_ms\": 30000}"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":148407,"cached":148044,"out":773,"think":710,"usd":0.1912},"sim":{"submit":0,"reset":0}},{"id":180,"t":7157.0,"say":"","calls":[{"kind":"shell","label":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/finalizer.log","code":"date -u && tail -2 /app/output/improve_final.log && tail -2 /app/finalizer.log"}],"out":{"text":"Thu Oct 15 12:58:47 UTC 2026\ntail: cannot open '/app/output/improve_final.log' for reading: No such file or directory\n","exit":[1],"pics":[]},"tok":{"in":149205,"cached":148404,"out":50,"think":0,"usd":0.1609},"sim":{"submit":0,"reset":0}},{"id":181,"t":7166.1,"say":"","calls":[{"kind":"shell","label":"cat /app/finalizer.log","code":"cat /app/finalizer.log"},{"kind":"shell","label":"ls -l /app/output && cat /app/output/NOTES.md && date -u","code":"ls -l /app/output && cat /app/output/NOTES.md && date -u"}],"out":{"text":"{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.3, \"air_s\": 0.673}, \"steps\": 331, \"time_s\": 3.31, \"state_sha\": \"f5c0b3c390fd3db47e93a8f22414ca675082bb9b748945b35436320990730f4c\", \"instance_ok\": true, \"executed_rows\": 331, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"replay_s\": 5.47, \"video\": false}\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.3, \"air_s\": 0.673}, \"steps\": 331, \"time_s\": 3.31, \"state_sha\": \"f5c0b3c390fd3db47e93a8f22414ca675082bb9b748945b35436320990730f4c\", \"instance_ok\": true, \"executed_rows\": 331, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"replay_s\": 4.73, \"video\": false}\nFINALIZED {\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"take-off\", \"full turn\", \"landing\", \"stand\"], \"stages_total\": 4, \"progress\": 1.0, \"metrics\": {\"turn_deg\": 319.3, \"air_s\": 0.673}, \"steps\": 331, \"time_s\": 3.31, \"state_sha\": \"f5c0b3c390fd3db47e93a8f22414ca675082bb9b748945b35436320990730f4c\", \"instance_ok\": true, \"executed_rows\": 331, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2000, \"events\": [{\"ev\": \"stage\", \"t\": 0.763, \"stage\": \"take-off\"}, {\"ev\": \"stage\", \"t\": 1.186, \"stage\": \"full turn\"}, {\"ev\": \"stage\", \"t\": 1.235, \"stage\": \"landing\", \"turn_deg\": 319.3}, {\"ev\": \"stage\", \"t\": 3.31, \"stage\": \"stand\"}, {\"ev\": \"success\", \"t\": 3.31}], \"replay_s\": 5.47, \"video\": false}\n\ntotal 1688\n-rw-r--r-- 1 root root 764 Oct 15 12:58 NOTES.md\n-rw-r--r-- 1 root root 2657 Oct 15 12:58 gen.py\n-rw-r--r-- 1 root root 1312347 Oct 15 12:58 rcb_session_log.jsonl\n-rw-r--r-- 1 root root 400392 Oct 15 12:58 trajectory.npz\nStanding backflip: crouch, push off, tuck, open, catch the landing, then balance.\nAirborne turn: 319.3 degrees; flight: 0.673 seconds.\nFeet-first landing and continuous stand succeed at 3.31 seconds.\nTrajectory: 331 finite rows, each containing 151 floats.\nTwo fresh-process replays succeeded with identical final state hashes.\ngen.py contains the selected parameters and regenerates the trajectory from the frozen start.\nInitial attempts under-rotated; optimizing takeoff and tuck produced full turns.\nEarly landings collapsed on shins; a separate catch posture and FALCON recovery solved this.\nInstalled the public Python package cma for numerical optimization.\nNo external motion data or controllers downloaded; the simulator's installed FALCON policy is used.\nThu Oct 15 12:58:56 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":149348,"cached":149202,"out":177,"think":107,"usd":0.1599},"sim":{"submit":0,"reset":0}}]} \ No newline at end of file diff --git a/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s011_0.jpg b/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s011_0.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2b1c678c7accad302fa5fc456ef1d5a54e9a6d88 --- /dev/null +++ b/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s011_0.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c54f193ac93364299dea75446f93cae6a7dd3af3eb5ff8ec9b212c6bdfc9e86 +size 25716 diff --git a/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s031_0.jpg b/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s031_0.jpg new file mode 100644 index 0000000000000000000000000000000000000000..71a81db1017be969268060ee0163bd25cf209f42 --- /dev/null +++ b/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s031_0.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce84d6dfe4fc2185a89c261da1decfa9316a03237e43ebbaed7e11f0b9547a92 +size 25849 diff --git a/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s059_0.jpg b/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s059_0.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d8b6171fc3b782f5fa734bb46930384c3ab81cca --- /dev/null +++ b/runs/roboolympics-fun-box-jump-i00-standard--5xicheu/s059_0.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c337dd6b0e2ff52536e735568a9c6da882ce7fbae10d20cfe70de354ea89226 +size 25487 diff --git a/runs/roboolympics-fun-dunk-i00-privileged--kazkhwk/replay.mp4 b/runs/roboolympics-fun-dunk-i00-privileged--kazkhwk/replay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..48f595846f8b172a69dec86b6f9caaf0ac0c8a0c --- /dev/null +++ b/runs/roboolympics-fun-dunk-i00-privileged--kazkhwk/replay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:192b6db14f66766cf4c95a3cd2ea9ef763641e668c7735d4d7ee4a18faf50f5a +size 45532 diff --git a/runs/roboolympics-fun-dunk-i00-privileged--kazkhwk/replay_last.jpg b/runs/roboolympics-fun-dunk-i00-privileged--kazkhwk/replay_last.jpg new file mode 100644 index 0000000000000000000000000000000000000000..24ad525fc75606254184fe1dc4be3dbbda134be3 --- /dev/null +++ b/runs/roboolympics-fun-dunk-i00-privileged--kazkhwk/replay_last.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25e277561f9f39bd68d2afbf9de63a281945a0817110d40e131aeb3298ac84fc +size 47648 diff --git a/runs/roboolympics-fun-dunk-i00-standard--nojaxvg.json b/runs/roboolympics-fun-dunk-i00-standard--nojaxvg.json new file mode 100644 index 0000000000000000000000000000000000000000..e7db66c46d4add43ce0d97419cfe881f371ae2dd --- /dev/null +++ b/runs/roboolympics-fun-dunk-i00-standard--nojaxvg.json @@ -0,0 +1 @@ +{"slug":"roboolympics-fun-dunk-i00-standard--nojaxvg","task":"roboolympics-fun-dunk-i00-standard","bench":"roboolympics-fun","mode":"standard","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"n_actions":379,"sim_steps":8571,"calls":2486,"rows":8509,"resets":34,"reset_budget":50,"sim_startups":1,"elapsed_s":7127.1,"video_rendered":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":2.521,"peak_processes":21,"peak_disk_gb":1.113,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":7202,"tokens":{"in":24106165,"cached":23780224,"out":130404,"usd":33.56},"task_text":"# roboolympics dunk — instance i00 — STANDARD MODE (robot as a service)\n\nYou control a simulated Unitree H1-2 humanoid robot (27 joints, 1.78 m tall, 67 kg; the RoboOlympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, and you reach it only through a\nclient. **Task:** Dunk the basketball in your right hand: jump, force it down through the ring from above with your hand on it, and land on your feet.\n\n## The venue\nA FIBA court. You stand under the basket's front, facing it (+x), on the no-charge semi-circle: the point under the ring's centre is 1.25 m ahead of your pelvis, the backboard's face 0.375 m beyond it. The ring's top edge is 3.05 m above the floor. The ball is against the end of your right fist. A ball is released when the hand's grip is switched off.\n\nDirections are from the robot at the start: +x is the way you face, +y is to your left, +z is up; the floor is level.\n\n\n## The rules\n**Rule book:** FIBA Official Basketball Rules 2024: Art. 2 (court), Art. 3 and the Basketball Equipment appendix (backboard, ring, size-7 ball), Art. 15 (a dunk: the ball forced downwards into the basket with one or both hands), Art. 16 (goal; a ball that passes through the basket from below is a violation), Art. 25 (travelling). Where this task departs from it:\n\n- Art. 3 (equipment): the hand holds the ball by a grip switched on and off, not by fingers; the ball is released when the grip is switched off.\n- Basketball Equipment (basket): the ring is rigid (no pressure release) and the net is only drawn: it does not slow the ball. The ball is through the basket when its centre has gone down through the ring's plane inside the ring and on to one ball diameter below it.\n- Art. 25.2.1: you start standing with the ball in the hand and are judged as a player who has just ended a dribble while moving: two steps are allowed (a standing player would have a pivot foot instead). After the two steps no foot may touch the floor again while the ball is held: pivoting after a stop is not offered.\n- The landing (on the feet, standing 1.0 s) is this task's own requirement; the rule book asks nothing of a player after a goal.\n\nThe official basket: a rigid ring of 0.45 m inner diameter (0.018 m metal), its top edge 3.05 m above the floor, its centre 0.375 m in front of a backboard 1.8 m wide and 1.05 m high whose lower edge is 2.9 m above the floor. The ball is a size-7 basketball (0.239 m across, 0.62 kg). It starts gripped in your right hand. The dunk: the ball's centre goes down through the ring's plane inside the ring while your hand grips the ball, and on down to one ball diameter below the ring (in the hand, or let go once its centre is inside the ring). The ball may not pass up through the ring first: a ball whose centre comes up through the ring from below is a violation. Until its centre is inside the ring the ball must stay gripped. Travelling: while the ball is in your hand you may take at most 2 steps. A step \n… (12,639 characters left out) …\nprioception\nEach row (`meta[\"proprio\"][\"now\"]`, `res.proprio`) has, in `spec()[\"proprio_layout\"]` order: the 27 joint positions\n(`*_pos`, rad), their velocities (`*_vel`, rad/s), the motor torques applied (`*_torque`, N m), the joint targets in\nforce (`*_target`, rad), the pelvis IMU and the torso IMU (each: orientation quaternion `qw, qx, qy, qz`, world from\nsensor; angular velocity `gx, gy, gz`, rad/s; acceleration `ax, ay, az`, m/s², gravity included; in the sensor's frame),\n`holding_left`, `holding_right` (1 while that hand grips something), `mode` (0 stand, 1 walk, 2 run, 3 run_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal H1-2 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task: run `date` now, and again before you decide that time is short; work out the time left from those readings, never from a guess. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":2397,"reset":34},"replay":"roboolympics-fun-dunk-i00-standard--nojaxvg/replay.mp4","replay_last":"roboolympics-fun-dunk-i00-standard--nojaxvg/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and sensor views, then develop a jump and landing sequence within the attempt budget. I’ll save the controller and notes in `/app/output` as I go.","calls":[{"kind":"shell","label":"date -u; pwd; ls -la /app; cat /opt/tools/rcb_client.py","code":"date -u; pwd; ls -la /app; cat /opt/tools/rcb_client.py"}],"out":{"text":"Thu Oct 15 13:13:28 UTC 2026\n/app\ntotal 12\ndrwxr-xr-x 3 root root 4096 Oct 15 05:57 .\ndr-xr-xr-x 20 root root 4096 Oct 15 13:11 ..\ndrwxr-xr-x 2 root root 4096 Oct 15 05:57 output\n\"\"\"eai-standard/2.1 client: your whole interface to the robot (installed at /opt/tools/rcb_client.py, on PYTHONPATH).\n\n from rcb_client import Robot, EpisodeOver\n r = Robot() # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nCalls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n r.spec() GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n episode), \"cameras\" {name: rgb, depth, hw, fovy_deg, pose, mounted},\n \"proprio_layout\" and \"proprio\" (joints, axes, positions), \"imu\", \"links\"\n (masses, centres of mass, the feet's boxes), \"depth\", \"budget\" {\"reset\",\n \"wall_clock_s\"}, \"episode\" (what ends it)\n r.status() GET /status: calls, rows, control_steps, done, reason, elapsed_s\n r.get_obs(cameras=None, secon\n… (7,997 characters left out) …\nepth: bool = False) -> Result:\n return self._post(\"/reset\", {\"cameras\": _names(cameras), \"include_depth\": bool(include_depth)}, [], timeout=900)\n\n def _post(self, path: str, meta: dict, parts: list, timeout: float) -> Result:\n body = rcb1.encode(meta, parts)\n if len(body) > MAX_BODY: # the service would close the connection on it unread\n raise ValueError(f\"{path}: {len(body)} bytes, over the protocol's {MAX_BODY}: send fewer rows\")\n r = requests.post(self.base + path, data=body, headers={\"Content-Type\": \"application/x-rcb1\"},\n timeout=(5, timeout))\n if r.headers.get(\"Content-Type\", \"\").startswith(\"application/x-rcb1\") and r.status_code == 200:\n return Result(*rcb1.decode(r.content))\n try:\n err = r.json()\n except ValueError:\n err = {\"error\": r.text[:300]}\n msg = f\"{r.status_code} {path}: {err.get('error')}\" + (f\" ({err['detail']})\" if err.get(\"detail\") else \"\")\n if r.status_code == 409:\n raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\n + (f\"; resets_left {err['resets_left']}\" if \"resets_left\" in err else \"\"))\n if r.status_code in (400, 413):\n raise ValueError(msg)\n raise RuntimeError(msg)\n\n\ndef _names(cameras) -> list[str] | None:\n return None if cameras is None else [cameras] if isinstance(cameras, str) else list(cameras)\n","exit":[0],"pics":[]},"tok":{"in":15453,"cached":null,"out":91,"think":0,"usd":0.1591},"sim":{"submit":0,"reset":0}},{"id":7,"t":9.4,"say":"","calls":[{"kind":"robot","label":"s=r.spec()","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport json\nr=Robot()\ns=r.spec()\nopen('/app/output/spec.json','w').write(json.dumps(s,indent=2))\nprint(json.dumps(s,indent=2))\nx=r.get_obs();x.save('/app/output/start');print(x.meta)\nPY"}],"out":{"text":"{\n \"protocol\": \"eai-standard/2.1\",\n \"control_dt\": 0.01,\n \"max_control_steps\": 1500,\n \"max_chunk_s\": 10.0,\n \"max_watch_s\": 30.0,\n \"max_video_fps\": 30,\n \"max_frames_per_call\": 3000,\n \"proprio_layout\": [\n \"left_hip_yaw_pos\",\n \"left_hip_pitch_pos\",\n \"left_hip_roll_pos\",\n \"left_knee_pos\",\n \"left_ankle_pitch_pos\",\n \"left_ankle_roll_pos\",\n \"right_hip_yaw_pos\",\n \"right_hip_pitch_pos\",\n \"right_hip_roll_pos\",\n \"right_knee_pos\",\n \"right_ankle_pitch_pos\",\n \"right_ankle_roll_pos\",\n \"torso_pos\",\n \"left_shoulder_pitch_pos\",\n \"left_shoulder_roll_pos\",\n \"left_shoulder_yaw_pos\",\n \"left_elbow_pitch_pos\",\n \"left_elbow_roll_pos\",\n \"left_wrist_pitch_pos\",\n \"left_wrist_yaw_pos\",\n \"right_shoulder_pitch_pos\",\n \"right_shoulder_roll_pos\",\n \"right_shoulder_yaw_pos\",\n \"right_elbow_pitch_pos\",\n \"right_elbow_roll_pos\",\n \"right_wrist_pitch_pos\",\n \"right_wrist_yaw_pos\",\n \"left_hip_yaw_vel\",\n \"left_hip_pitch_vel\",\n \"left_hip_roll_vel\",\n \"left_knee_vel\",\n \"left_ankle_pitch_vel\",\n \"left_ankle_roll_vel\",\n \"right_hip_yaw_vel\",\n \"right_hip_pitch_vel\",\n \"right_hip_roll_vel\",\n \"right_knee_vel\",\n \"right_ankle_pitch_vel\",\n \"right_ankle_roll_vel\",\n \"torso_vel\",\n \"left_shoulder_pitch_vel\",\n \"left_shoulder_roll_vel\",\n \"left_shoulder_yaw_vel\",\n \"left_elbow_pitch_vel\",\n \"left_elbow_roll_vel\",\n \"left_wrist_pitch_vel\",\n \"left_wrist_yaw_vel\",\n \"right_shoulder_pitch_vel\",\n \"\n… (26,694 characters left out) …\n 0.0,\n 0.0,\n 0.0,\n 0.0\n ],\n \"mass_kg\": 67.37,\n \"height_m\": 1.78,\n \"pelvis_height_standing_m\": 1.035,\n \"control_dt_s\": 0.01,\n \"physics_dt_s\": 0.001,\n \"walk_command_max\": [\n 0.8,\n 0.5,\n 1.57\n ],\n \"run_command_range\": null,\n \"grip\": {\n \"reach_m\": 0.035,\n \"max_relative_speed_m_s\": 6.0,\n \"rule\": \"a closed grip holds the nearest grippable object whose surface is within reach_m of the palm (a point 4.5 cm beyond the wrist flange along the forearm) and that moves no faster than max_relative_speed_m_s relative to it; opening the grip lets it go\"\n }\n },\n \"proprio\": {\n \"units\": \"*_pos, *_target: rad; *_vel: rad/s; *_torque: N m (the motor torque applied); imu_*: orientation quaternion (w, x, y, z; world from sensor), angular velocity (rad/s) and acceleration (m/s^2, gravity included) in the sensor's frame; holding_*: 1 while that hand grips something; mode: 0 stand, 1 walk, 2 run, 3 run_arms, 4 joints / lowcmd, 5 walk_falcon, 6 walk_agile (the G1's); cmd_*: the velocity command in force; time_s: the episode's time\"\n },\n \"referee\": \"once an attempt is over, every response's meta carries the referee's call: meta['outcome'] ('success' or the rule that ended it) and meta['stages_reached'] of meta['stages_total']\",\n \"reset\": \"POST /reset abandons the running episode and starts a new one from the same starting state, budget.reset times in all; only the last episode is graded, and a success ends the trial\"\n}","exit":[],"pics":[]},"tok":{"in":18503,"cached":15232,"out":107,"think":0,"usd":0.0533},"sim":{"submit":0,"reset":0}},{"id":8,"t":27.4,"say":"","calls":[{"kind":"shell","label":"ls -la /opt; rg --files /opt /app /tmp/codex-home | head -100","code":"ls -la /opt; rg --files /opt /app /tmp/codex-home | head -100"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"ls -la /opt; rg --files /opt /app /tmp/codex-home | head -100\",\"max_output_tokens\":3000}));\ntext(await tools.write_stdin({session_id:7100,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"}],"out":{"text":"total 12\ndrwxr-xr-x 3 root root 4096 Oct 15 05:57 .\ndr-xr-xr-x 20 root root 4096 Oct 15 13:11 ..\ndrwxr-xr-x 3 root root 4096 Oct 15 13:13 tools\n/app/output/spec.json\n/tmp/codex-home/installation_id\n/tmp/codex-home/goals_1.sqlite-wal\n/tmp/codex-home/goals_1.sqlite-shm\n/tmp/codex-home/goals_1.sqlite\n/tmp/codex-home/config.toml\n/opt/tools/rcb_client.py\n/opt/tools/rcb1.py\n/tmp/codex-home/thread_history_1.sqlite-wal\n/tmp/codex-home/thread_history_1.sqlite-shm\n/tmp/codex-home/thread_history_1.sqlite\n/tmp/codex-home/queue_1.sqlite\n/tmp/codex-home/models_cache.json\n/tmp/codex-home/memories_1.sqlite-wal\n/tmp/codex-home/memories_1.sqlite-shm\n/tmp/codex-home/memories_1.sqlite\n/tmp/codex-home/logs_2.sqlite-wal\n/tmp/codex-home/logs_2.sqlite-shm\n/tmp/codex-home/logs_2.sqlite\n/tmp/codex-home/state_5.sqlite\n/app/output/start/proprio.npy\n/app/output/start/meta.json\n/opt/tools/__pycache__/rcb_client.cpython-312.pyc\n/tmp/codex-home/thread-writer-locks/01a13fb2-02b2-7d30-a174-1e120ac83f38.lock\n/opt/tools/__pycache__/rcb1.cpython-312.pyc\n/tmp/codex-home/state_5.sqlite-wal\n/tmp/codex-home/state_5.sqlite-shm\n/tmp/codex-home/queue_1.sqlite-wal\n/tmp/codex-home/queue_1.sqlite-shm\n/app/output/start/last/venue.jpg\n/app/output/start/last/head_left.jpg\n/app/output/start/last/head_right.jpg\n/tmp/codex-home/shell_snapshots/01a13fb2-02b2-7d30-a174-1e120ac83f38.1792069994916569904.sh\n/app/output/start/frames/venue/000.jpg\n/app/output/start/frames/head_right/000.jpg\n/app/output/start/frames/head_left/000.jpg\n… (2,712 characters left out) …\n, 'right_wrist_yaw_target', 'imu_pelvis_qw', 'imu_pelvis_qx', 'imu_pelvis_qy', 'imu_pelvis_qz', 'imu_pelvis_gx', 'imu_pelvis_gy', 'imu_pelvis_gz', 'imu_pelvis_ax', 'imu_pelvis_ay', 'imu_pelvis_az', 'imu_torso_qw', 'imu_torso_qx', 'imu_torso_qy', 'imu_torso_qz', 'imu_torso_gx', 'imu_torso_gy', 'imu_torso_gz', 'imu_torso_ax', 'imu_torso_ay', 'imu_torso_az', 'holding_left', 'holding_right', 'mode', 'cmd_vx', 'cmd_vy', 'cmd_wz', 'time_s'], 'now': [0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.90429569242716e-14, -3.645212217739512e-15, -2.467731600728812e-15, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.272751601254332e-14, -2.4223360134151967e-14, -7.075831999954157e-17, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, 'obs_id': 1, 'seconds': 0.0, 'control_steps_watch': 0, 'ok': True}\n","exit":[0,0],"pics":[]},"tok":{"in":30132,"cached":18304,"out":103,"think":22,"usd":0.1417},"sim":{"submit":0,"reset":0}},{"id":9,"t":33.6,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/start/last/venue.jpg"},{"kind":"shell","label":"for m in ['mujoco','scipy','cv2']: print(m,importlib.util.find_spec(m))","code":"python - <<'PY'\nimport importlib.util\nfor m in ['mujoco','scipy','cv2']: print(m,importlib.util.find_spec(m))\nPY"}],"out":{"text":"mujoco None\nscipy ModuleSpec(name='scipy', loader=<_frozen_importlib_external.SourceFileLoader object at 0x7f59f0e96c30>, origin='/usr/local/lib/python3.12/site-packages/scipy/__init__.py', submodule_search_locations=['/usr/local/lib/python3.12/site-packages/scipy'])\ncv2 None\n","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s009_0.jpg"]},"tok":{"in":32723,"cached":29952,"out":85,"think":0,"usd":0.0619},"sim":{"submit":0,"reset":0}},{"id":10,"t":51.3,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\n\"\"\"Dunk controller: service-only observations and motor commands.\"\"\"\nimport json\nimport numpy as np\nfrom pathlib import Path\nfrom rcb_client import Robot\nOUT=Path('/app/output')\ndef main():\n r=Robot()\n res=r.get_obs(cameras=['venue'],video='none')\n res.save(OUT/'latest')\n print(r.status())\nif __name__=='__main__': main()\nPY\ncat > /app/output/NOTES.md <<'EOF'\nApproach: inspect calibrated camera views and IMU/joint feedback; tune a two-foot jump, right-hand dunk, and stable landing.\nAll service interaction uses the documented rcb_client interface.\nInitial observation saved; no attempts reset yet.\nNo external assets or packages used yet.\nEOF\npython -m pip install -q mujoco opencv-python-headless\ncurl -L --fail -o /app/output/h1_2.xml https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/unitree_robots/h1_2/scene.xml"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":33111,"cached":32512,"out":355,"think":72,"usd":0.0563},"sim":{"submit":0,"reset":0}},{"id":11,"t":71.1,"say":"The starting view confirms the approach is open. I’m working toward a two-foot jump with the ball raised before it reaches the rim. I’m also getting Unitree’s public model to calculate arm reach and crouch geometry.","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:86716,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"curl -L --fail -o /app/output/h1_2.urdf https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_2_description/urdf/h1_2.urdf\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"curl -L --fail -o /app/output/h1_2.urdf https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/r","code":"curl -L --fail -o /app/output/h1_2.urdf https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_2_description/urdf/h1_2.urdf"}],"out":{"text":"WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.\n\n[notice] A new release of pip is available: 25.0.1 -> 26.2.1\n[notice] To update, run: pip install --upgrade pip\n % Total % Received % Xferd Average Speed Time Time Time Current\n Dload Upload Total Spent Left Speed\n\r 0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0\r100 883 100 883 0 0 9869 0 --:--:-- --:--:-- --:--:-- 9921\n\n % Total % Received % Xferd Average Speed Time Time Time Current\n Dload Upload Total Spent Left Speed\n\r 0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0\r 0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0\ncurl: (22) The requested URL returned error: 404\n","exit":[0,22],"pics":[]},"tok":{"in":33522,"cached":33024,"out":262,"think":97,"usd":0.0511},"sim":{"submit":0,"reset":0}},{"id":12,"t":82.6,"say":"","calls":[{"kind":"shell","label":"cat /app/output/h1_2.xml; curl -L --fail -o /app/output/robot.xml https://raw.githubusercontent.com/unitreerob","code":"cat /app/output/h1_2.xml; curl -L --fail -o /app/output/robot.xml https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/unitree_robots/h1_2/h1_2.xml; head -70 /app/output/robot.xml"}],"out":{"text":"\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n % Total % Received % Xferd Average Speed Time Time Time Current\n Dload Upload Total Spent Left Speed\n\r 0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0\r 0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0\ncurl: (22) The requested URL returned error: 404\nhead: cannot open '/app/output/robot.xml' for reading: No such file or directory\n","exit":[1],"pics":[]},"tok":{"in":34249,"cached":33408,"out":88,"think":0,"usd":0.0462},"sim":{"submit":0,"reset":0}},{"id":13,"t":91.6,"say":"","calls":[{"kind":"shell","label":"curl -L --fail -o /app/output/robot.xml https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/","code":"curl -L --fail -o /app/output/robot.xml https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/unitree_robots/h1_2/h1_2_handless.xml; cat /app/output/robot.xml"}],"out":{"text":" % Total % Received % Xferd Average Speed Time Time Time Current\n Dload Upload Total Spent Left Speed\n\r 0 0 0 0 0 0 0 0 --:--:-- --:--:-- --:--:-- 0\r100 27361 100 27361 0 0 267k 0 --:--:-- --:--:-- --:--:-- 269k\n\n \n\n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n\n \n \n \n","exit":[0],"pics":[]},"tok":{"in":34947,"cached":34176,"out":78,"think":0,"usd":0.0458},"sim":{"submit":0,"reset":0}},{"id":14,"t":127.5,"say":"","calls":[{"kind":"shell","label":"writes model.py","code":"cat > /app/output/model.py <<'PY'\nimport xml.etree.ElementTree as ET\nimport mujoco as mj\nimport numpy as np\nfrom pathlib import Path\nP=Path(__file__).parent\nroot=ET.parse(P/'robot.xml').getroot()\nroot.remove(root.find('asset'))\nroot.remove(root.find('sensor'))\nfor body in root.findall('.//body'):\n for geom in list(body.findall('geom')):body.remove(geom)\nfor side in ['left','right']:\n b=root.find(f'.//body[@name=\"{side}_ankle_roll_link\"]')\n ET.SubElement(b,'geom',name=side+'_foot',type='box',pos='.035 0 -.045',size='.13 .055 .025',friction='1 .005 .0001')\n b=root.find(f'.//body[@name=\"{side}_wrist_yaw_link\"]')\n ET.SubElement(b,'site',name=side+'_palm',pos='.045 0 0')\n ET.SubElement(b,'site',name=side+'_ball',pos='.22 0 0')\nET.SubElement(root.find('worldbody'),'geom',name='floor',type='plane',size='10 10 .1')\nET.SubElement(root,'option',timestep='.001')\nET.ElementTree(root).write(P/'model.xml')\nm=mj.MjModel.from_xml_path(str(P/'model.xml')); d=mj.MjData(m)\ndef fk(q,base=None,quat=None):\n d.qpos[:3]=[0,0,1.035] if base is None else base\n d.qpos[3:7]=[1,0,0,0] if quat is None else quat\n d.qpos[7:]=q\n mj.mj_forward(m,d)\n return d\nif __name__=='__main__':\n q=np.zeros(27);q[:12]=[0,-.16,0,.36,-.2,0]*2\n for a in [-1.5,-2,-2.5,-3.14]:\n for e in [-.95,0,1]:\n q[20]=a;q[23]=e;fk(q)\n print(a,e,'ball',d.site('right_ball').xpos.round(3))\nPY\npython /app/output/model.py"}],"out":{"text":"-1.5 -0.95 ball [-0.004 -0.144 1.743]\n-1.5 0 ball [ 0.364 -0.012 1.866]\n-1.5 1 ball [0.707 0.019 1.61 ]\n-2 -0.95 ball [-0.136 -0.153 1.709]\n-2 0 ball [0.114 0.019 1.984]\n-2 1 ball [0.53 0.1 1.915]\n-2.5 -0.95 ball [-0.235 -0.178 1.618]\n-2.5 0 ball [-0.164 0.016 1.972]\n-2.5 1 ball [0.223 0.15 2.101]\n-3.14 -0.95 ball [-0.276 -0.221 1.454]\n-3.14 0 ball [-0.453 -0.037 1.774]\n-3.14 1 ball [-0.238 0.149 2.096]\n","exit":[0],"pics":[]},"tok":{"in":45657,"cached":34816,"out":829,"think":280,"usd":0.1847},"sim":{"submit":0,"reset":0}},{"id":15,"t":170.5,"say":"","calls":[{"kind":"robot","label":"writes control.py","code":"cat > /app/output/control.py <<'PY'\nimport json\nimport numpy as np\nfrom pathlib import Path\nfrom rcb_client import Robot\nfrom scipy.spatial.transform import Rotation\nP=Path(__file__).parent\nS=json.loads((P/'spec.json').read_text())\nQ0=np.r_[S['robot_facts']['stance_legs_rad'],np.zeros(15)]\nKP=np.array(S['robot_facts']['default_kp']);KD=np.array(S['robot_facts']['default_kd'])\ndef low(q,kp=KP,kd=KD,tau=None,dq=None,grip=1):\n return np.r_[q,np.zeros(27) if dq is None else dq,np.zeros(27) if tau is None else tau,kp,kd,0,grip]\ndef pose(knee=.36,lean=0,arm=0,elbow=0,roll=0):\n q=Q0.copy()\n q[[1,7]]=-knee/2+lean;q[[3,9]]=knee;q[[4,10]]=-knee/2-lean\n q[[13,20]]=arm;q[[16,23]]=elbow;q[14]=roll;q[21]=-roll\n return q\ndef report(res,name):\n res.save(P/name)\n p=np.array(res.meta['proprio']['now']);print(name,{k:v for k,v in res.meta.items() if k not in ['proprio','clipped']})\n print('q',p[:27].round(3));print('rpy',Rotation.from_quat(p[108:112],scalar_first=True).as_euler('xyz').round(3),'gyro',p[112:115].round(3))\ndef ramp(a,b,t):return np.array([a+(b-a)*(3*u*u-2*u*u*u) for u in np.linspace(0,1,round(t*100)+1)[1:]])\nif __name__=='__main__':\n r=Robot();q=pose(1.6,0,-2.6,1.5)\n a=ramp(Q0,q,1.3)\n res=r.submit('joints',np.c_[a,np.zeros(len(a)),np.ones(len(a))],cameras=['venue'],video='frames',video_fps=20)\n report(res,'crouch1')\nPY\npython /app/output/control.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46810,"cached":45568,"out":920,"think":361,"usd":0.104},"sim":{"submit":1,"reset":0}},{"id":16,"t":179.3,"say":"The arm geometry shows that the jump needs roughly 0.8–1.0 m of lift to clear the rim. I’m testing a deep crouch with both arms raised, using joint and IMU feedback to check balance before adding the takeoff impulse.","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:88271,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"date -u","code":"date -u"}],"out":{"text":"crouch1 {'calls': 2, 'rows': 130, 'control_steps': 130, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 130, 'resets_left': 50, 'sim_time_s': 1.3, 'time_s': 164.27, 'time_left_s': 7035.7, 'chunk_id': 2, 'type': 'joints', 'executed_rows': 130, 'control_steps_chunk': 130, 'n_clipped': 0, 'ok': True}\nq [ 2.000e-03 -8.020e-01 -7.000e-03 1.650e+00 -9.450e-01 2.100e-02\n -4.000e-03 -7.940e-01 -5.000e-03 1.630e+00 -9.200e-01 2.000e-02\n -1.000e-03 -2.600e+00 1.940e-01 1.000e-03 1.494e+00 1.500e-02\n 2.000e-03 1.330e-01 -2.571e+00 -1.800e-01 -7.000e-03 1.514e+00\n 4.000e-03 9.000e-03 -1.380e-01]\nrpy [-0.028 0.535 0.001] gyro [-0.074 1.325 0.312]\n\nThu Oct 15 13:16:28 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":47789,"cached":46720,"out":131,"think":10,"usd":0.064},"sim":{"submit":0,"reset":0}},{"id":17,"t":190.6,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/crouch1/last/venue.jpg"},{"kind":"shell","label":"p=np.load(P/'crouch1/proprio.npy')","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\np=np.load(P/'crouch1/proprio.npy')\nfor a in p[::3]:print(round(a[-1],2),Rotation.from_quat(a[108:112],scalar_first=True).as_euler('xyz').round(2),a[[1,3,4]].round(2))\nPY"}],"out":{"text":"0.0 [0. 0. 0.] [-0.16 0.36 -0.2 ]\n0.15 [-0. -0.01 0. ] [-0.18 0.42 -0.25]\n0.3 [-0. 0.01 -0. ] [-0.25 0.54 -0.3 ]\n0.45 [-0. 0.01 -0. ] [-0.34 0.72 -0.4 ]\n0.6 [-0. 0.04 0. ] [-0.45 0.93 -0.52]\n0.75 [-0. 0.09 -0. ] [-0.57 1.14 -0.67]\n0.9 [-0. 0.17 0. ] [-0.67 1.35 -0.85]\n1.05 [-0.01 0.28 -0.01] [-0.76 1.51 -0.94]\n1.2 [-0.03 0.42 -0.02] [-0.8 1.62 -0.94]\n","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s017_0.jpg"]},"tok":{"in":48395,"cached":47744,"out":198,"think":50,"usd":0.0642},"sim":{"submit":0,"reset":0}},{"id":18,"t":206.6,"say":"","calls":[{"kind":"robot","label":"writes probe.py","code":"cat > /app/output/probe.py <<'PY'\nfrom control import *\nr=Robot()\nq=pose(-.15,0,-2.9,1.5)\nq[[1,7]]=.15;q[[4,10]]=.5\nkp=KP.copy();kp[:12]=[1000,1500,1000,1500,1000,1000]*2\nkd=KD.copy();kd[:12]=[10,5,10,5,5,5]*2\na=np.tile(low(q,kp,kd),(25,1))\nx=r.submit('lowcmd',a,cameras=['venue'],video='frames',video_fps=30);report(x,'launch1')\nPY\npython /app/output/probe.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":49094,"cached":48256,"out":295,"think":93,"usd":0.0714},"sim":{"submit":1,"reset":0}},{"id":19,"t":220.5,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:37171,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"python - <<'PY'\\nimport sys;sys.path.insert(0,'/app/output')\\nfrom model import *\\nfrom control import *\\nfk(Q0)\\nfor s in ['left','right']: print(s,d.body(s+'_ankle_roll_link').xpos)\\nprint('mass',sum(m.body_mass))\\nPY\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"fk(Q0)","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom model import *\nfrom control import *\nfk(Q0)\nfor s in ['left','right']: print(s,d.body(s+'_ankle_roll_link').xpos)\nprint('mass',sum(m.body_mass))\nPY"}],"out":{"text":"launch1 {'calls': 3, 'rows': 155, 'control_steps': 155, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 155, 'resets_left': 50, 'sim_time_s': 1.55, 'time_s': 197.44, 'time_left_s': 7002.6, 'chunk_id': 3, 'type': 'lowcmd', 'executed_rows': 25, 'control_steps_chunk': 25, 'n_clipped': 0, 'ok': True}\nq [-3.000e-03 1.370e-01 -3.000e-03 -1.620e-01 4.980e-01 -0.000e+00\n 4.000e-03 1.350e-01 -1.300e-02 -1.640e-01 4.970e-01 -0.000e+00\n 0.000e+00 -2.858e+00 1.720e-01 1.100e-02 1.469e+00 -1.000e-03\n -4.000e-02 -1.000e-03 -2.685e+00 -1.450e-01 -3.000e-03 1.511e+00\n 1.700e-02 -1.730e-01 -9.600e-02]\nrpy [0.129 1.04 0.203] gyro [0.446 0.94 0.687]\n\nleft [-0.01574045 0.163 0.06488246]\nright [-0.01574045 -0.163 0.06488246]\nmass 66.98400000000001\n","exit":[0,0],"pics":[]},"tok":{"in":49448,"cached":49024,"out":261,"think":129,"usd":0.0663},"sim":{"submit":0,"reset":0}},{"id":20,"t":251.3,"say":"","calls":[{"kind":"robot","label":"writes test_crouch.py","code":"cat > /app/output/test_crouch.py <<'PY'\nfrom control import *\nimport sys\nr=Robot();report(r.reset(cameras=['venue']),'reset2')\nkp=KP.copy();kp[:12]=[1000,1000,1000,1500,700,500]*2\nkd=KD.copy();kd[:12]=[15,20,15,25,15,15]*2\nend=pose(1.7,-.15,-2.9,1.5)\na=ramp(Q0,end,1.2)\nx=r.submit('lowcmd',[low(q,kp,kd) for q in a],cameras=['venue'],video='frames',video_fps=20);report(x,'crouch2')\nPY\npython /app/output/test_crouch.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50212,"cached":49280,"out":576,"think":362,"usd":0.0874},"sim":{"submit":1,"reset":1}},{"id":21,"t":279.5,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:44110,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\ntext(await tools.exec_command({cmd:\"cat > /app/output/local_sim.py <<'PY'\\nfrom model import *\\nfrom control import *\\nV=np.array(S['robot_facts']['speed_limit_rad_s']);T=np.array(S['robot_facts']['torque_limit_nm'])\\ndef sim(A,q0=Q0):\\n mj.mj_resetData(m,d);d.qpos[:3]=[0,0,1.035];d.qpos[3]=1;d.qpos[7:]=q0\\n tar=q0.copy();hist=[]\\n for a in A:\\n tar+=np.clip(a[:27]-tar,-V*.01,V*.01)\\n for _ in range(10):\\n torque=a[81:108]*(tar-d.qpos[7:])+a[108:135]*(a[27:54]-d.qvel[6:])+a[54:81]\\n lim=T*np.clip((1.15-np.abs(d.qvel[6:])/V)/.65,0,1)\\n lim=np.where(torque*d.qvel[6:]>0,lim,T)\\n d.ctrl[:]=np.clip(torque,-lim,lim);mj.mj_step(m,d)\\n hist.append(np.r_[d.time,d.qpos[:7],d.qvel[:6],d.site('right_ball').xpos,d.qpos[7:]])\\n return np.array(hist)\\nif __name__=='__main__':\\n kp=KP.copy();kp[:12]=[1000,1000,1000,1500,700,500]*2\\n kd=KD.copy();kd[:12]=[15,20,15,25,15,15]*2\\n end=pose(1.7,-.15,-2.9,1.5)\\n a=[low(q,kp,kd) for q in ramp(Q0,end,1.2)]\\n h=sim(a);np.save(P/'local_crouch.npy',h)\\n print('end',h[-1,:17].round(3));print('rpy',Rotation.from_quat(h[-1,4:8],scalar_first=True).as_euler('xyz'))\\nPY\\npython /app/output/local_sim.py\",\"max_output_tokens\":2000}));\n"},{"kind":"shell","label":"writes local_sim.py","code":"cat > /app/output/local_sim.py <<'PY'\nfrom model import *\nfrom control import *\nV=np.array(S['robot_facts']['speed_limit_rad_s']);T=np.array(S['robot_facts']['torque_limit_nm'])\ndef sim(A,q0=Q0):\n mj.mj_resetData(m,d);d.qpos[:3]=[0,0,1.035];d.qpos[3]=1;d.qpos[7:]=q0\n tar=q0.copy();hist=[]\n for a in A:\n tar+=np.clip(a[:27]-tar,-V*.01,V*.01)\n for _ in range(10):\n torque=a[81:108]*(tar-d.qpos[7:])+a[108:135]*(a[27:54]-d.qvel[6:])+a[54:81]\n lim=T*np.clip((1.15-np.abs(d.qvel[6:])/V)/.65,0,1)\n lim=np.where(torque*d.qvel[6:]>0,lim,T)\n d.ctrl[:]=np.clip(torque,-lim,lim);mj.mj_step(m,d)\n hist.append(np.r_[d.time,d.qpos[:7],d.qvel[:6],d.site('right_ball').xpos,d.qpos[7:]])\n return np.array(hist)\nif __name__=='__main__':\n kp=KP.copy();kp[:12]=[1000,1000,1000,1500,700,500]*2\n kd=KD.copy();kd[:12]=[15,20,15,25,15,15]*2\n end=pose(1.7,-.15,-2.9,1.5)\n a=[low(q,kp,kd) for q in ramp(Q0,end,1.2)]\n h=sim(a);np.save(P/'local_crouch.npy',h)\n print('end',h[-1,:17].round(3));print('rpy',Rotation.from_quat(h[-1,4:8],scalar_first=True).as_euler('xyz'))\nPY\npython /app/output/local_sim.py"}],"out":{"text":"reset2 {'calls': 4, 'rows': 155, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 155, 'resets_left': 49, 'sim_time_s': 0.0, 'time_s': 241.04, 'time_left_s': 6959.0, 'ok': True}\nq [ 0. -0.16 0. 0.36 -0.2 0. 0. -0.16 0. 0.36 -0.2 0.\n 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.\n 0. 0. 0. ]\nrpy [0. 0. 0.] gyro [0. 0. 0.]\ncrouch2 {'calls': 5, 'rows': 275, 'control_steps': 120, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 275, 'resets_left': 49, 'sim_time_s': 1.2, 'time_s': 244.56, 'time_left_s': 6955.4, 'chunk_id': 5, 'type': 'lowcmd', 'executed_rows': 120, 'control_steps_chunk': 120, 'n_clipped': 0, 'ok': True}\nq [ 1.000e-03 -1.014e+00 -6.000e-03 1.774e+00 -7.200e-01 1.000e-03\n -2.000e-03 -9.960e-01 -5.000e-03 1.743e+00 -7.080e-01 1.000e-03\n 1.000e-03 -2.893e+00 2.310e-01 4.000e-03 1.497e+00 1.000e-02\n 2.000e-03 1.360e-01 -2.871e+00 -2.030e-01 -9.000e-03 1.512e+00\n 7.000e-03 1.600e-02 -1.400e-01]\nrpy [-0.031 -0.044 0.002] gyro [-0.047 -0.649 -0.014]\n\nend [ 1.2 -0.124 0. 0.751 0.999 -0. -0.037 -0. -0.352 0.\n -0.127 -0. -0.7 -0. -0.048 0.192 1.852]\nrpy [-1.40368214e-04 -7.36131290e-02 -7.69514195e-06]\n","exit":[0,0],"pics":[]},"tok":{"in":50845,"cached":50048,"out":676,"think":137,"usd":0.0918},"sim":{"submit":0,"reset":0}},{"id":22,"t":298.4,"say":"The first crouch tipped forward as the ankle joints yielded. Stiffer ankle control and moving the hips farther back kept the second crouch nearly upright. I’m now testing takeoff strength and timing from that posture.","calls":[{"kind":"shell","label":"writes jump_search.py","code":"cat > /app/output/jump_search.py <<'PY'\nfrom local_sim import *\nfrom scipy.optimize import differential_evolution\nkp=KP.copy();kp[:12]=[1000,1000,1000,1500,700,500]*2\nkd=KD.copy();kd[:12]=[15,20,15,25,15,15]*2\npre=[low(q,kp,kd) for q in ramp(Q0,pose(1.7,-.15,-2.9,1.5),1.2)]\ndef actions(p):\n hip,ank,dur,airhip,airknee,arma,elb=p\n launch=pose(-.15,0,arma,elb);launch[[1,7]]=hip;launch[[4,10]]=ank\n k=kp.copy();k[[1,7,3,9]]=1500;k[[4,10]]=1000\n v=kd.copy();v[[1,7,3,9,4,10]]=5\n air=pose(airknee,0,arma,elb);air[[1,7]]=airhip;air[[4,10]]=-airknee-airhip\n return pre+[low(launch,k,v)]*round(dur*100)+[low(air,kp,kd)]*80\n\ndef obj(p,ret=False):\n h=sim(actions(p));s=h[130:]\n # score height and position with arm overhead, upright\n pitch=np.array([Rotation.from_quat(q,scalar_first=True).as_euler('xyz')[1] for q in s[:,4:8]])\n ball=s[:,14:17]\n cost=(ball[:,0]-1.25)**2+3*np.maximum(3.2-ball[:,2],0)**2+.2*pitch**2+.04*s[:,12]**2\n i=np.argmin(cost)\n if ret:return h,i+130,cost[i]\n return cost[i]\nif __name__=='__main__':\n import sys\n if len(sys.argv)>1:\n p=np.array([float(x) for x in sys.argv[1:]])\n else:\n res=differential_evolution(obj,[(-.3,.6),(-.2,.52),(.12,.35),(-1,.4),(.1,1.5),(-3.14,-2),(1.1,2)],maxiter=35,popsize=6,workers=1,polish=False,disp=True)\n p=res.x\n h,i,cost=obj(p,True);np.save(P/'local_jump.npy',h);np.save(P/'jump_params.npy',p)\n print('p',p,'cost',cost,'best',h[i,:17]);print('max ball',h[np.argmax(h[:,16]),:17])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/jump_search.py .15 .5 .25 -.2 .5 -2.9 1.5"}],"out":{"text":"p [ 0.15 0.5 0.25 -0.2 0.5 -2.9 1.5 ] cost 7.875457250100274 best [ 1.33000000e+00 -7.55715230e-02 2.70479688e-04 9.97662133e-01\n 9.21714695e-01 -1.96245242e-04 -3.87868389e-01 3.08716732e-04\n 8.71479356e-02 2.58309624e-03 1.85582133e+00 6.13954008e-03\n -1.80489650e+00 2.37412270e-02 -5.18087356e-01 1.68937444e-01\n 1.97633165e+00]\nmax ball [ 1.49000000e+00 -2.05260136e-01 5.57715734e-04 1.08134588e+00\n 9.17944220e-01 -9.84510429e-06 -3.96708958e-01 -6.40794930e-04\n -4.41370629e-01 2.26281718e-03 -2.15961684e-01 3.50205232e-03\n -3.01969767e+00 -6.13873162e-03 -8.26877953e-01 1.64831683e-01\n 1.99926211e+00]\n","exit":[0],"pics":[]},"tok":{"in":52317,"cached":50688,"out":974,"think":252,"usd":0.1157},"sim":{"submit":0,"reset":0}},{"id":23,"t":353.2,"say":"","calls":[{"kind":"shell","label":"for lean in [-.15,-.1,-.05,0]:","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom local_sim import *\nfor lean in [-.15,-.1,-.05,0]:\n q=pose(1.7,lean,-2.9,1.5);fk(q)\n print(lean,'com',d.subtree_com[1], 'foot',d.body('right_ankle_roll_link').xpos)\nPY"}],"out":{"text":"-0.15 com [6.17067487e-02 7.05493043e-04 1.05724069e+00] foot [ 0.07890132 -0.163 0.3297422 ]\n-0.1 com [5.82199415e-02 7.05493043e-04 1.05471024e+00] foot [ 0.0527107 -0.163 0.32645122]\n-0.05 com [5.46110220e-02 7.05493043e-04 1.05235721e+00] foot [ 0.02638833 -0.163 0.32447333]\n0 com [5.08890106e-02 7.05493043e-04 1.05018750e+00] foot [-5.77315973e-17 -1.63000000e-01 3.23813483e-01]\n","exit":[0],"pics":[]},"tok":{"in":53732,"cached":52224,"out":643,"think":516,"usd":0.0995},"sim":{"submit":0,"reset":0}},{"id":24,"t":403.2,"say":"","calls":[{"kind":"shell","label":"writes fb_sim.py","code":"cat > /app/output/fb_sim.py <<'PY'\nfrom local_sim import *\ndef support(q):\n fk(q);d.qvel[:]=0;mj.mj_forward(m,d)\n tau=d.qfrc_bias.copy();mass=sum(m.body_mass)\n for side in ['left','right']:\n b=m.body(side+'_ankle_roll_link').id\n pos=d.xpos[b].copy();pos[0]=d.subtree_com[1,0];pos[2]-=.07\n J=np.zeros((3,m.nv));mj.mj_jac(m,d,J,None,pos,b)\n tau-=J[2]*mass*9.81/2\n return tau[6:]\n\ndef makepre(lean=-.04):\n kp=KP.copy();kp[:12]=[1000,1200,1000,1500,800,700]*2\n kd=KD.copy();kd[:12]=[15,20,15,25,15,15]*2\n a=[]\n for q in ramp(Q0,pose(1.8,lean,-2.9,1.5),1.5): a.append(low(q,kp,kd,support(q)))\n a+= [a[-1]]*20\n return a\n\ndef run(p,ret=False):\n pre=makepre(p[0]);h=sim(pre);hist=list(h);acts=list(pre)\n # current d state\n kp=KP.copy();kd=KD.copy();kp[:12]=[1000,1200,1000,1500,800,700]*2;kd[:12]=[15,20,15,10,10,15]*2\n tar=acts[-1][:27].copy()\n for i in range(100):\n q=d.qpos[7:].copy();v=d.qvel[6:].copy();theta=Rotation.from_quat(d.qpos[3:7],scalar_first=True).as_euler('xyz')[1]\n if i0,lim,T)\n d.ctrl[:]=np.clip(torque,-lim,lim);mj.mj_step(m,d)\n hist.append(np.r_[d.time,d.qpos[:7],d.qvel[:6],d.site('right_ball').xpos,d.qpos[7:]])\n h=np.array(hist);s=h[len(pre):]\n pitch=np.array([Rotation.from_quat(q,scalar_first=True).as_euler('xyz')[1] for q in s[:,4:8]])\n cost=(s[:,14]-1.25)**2+4*np.maximum(3.25-s[:,16],0)**2+.3*pitch**2+.02*s[:,12]**2\n ix=cost.argmin()\n if ret:return h,np.array(acts),ix+len(pre),cost[ix]\n return cost[ix]\nif __name__=='__main__':\n from scipy.optimize import differential_evolution\n import sys\n if len(sys.argv)>1:\n p=np.array([float(x) for x in sys.argv[1:]])\n else:\n bounds=[(-.08,.01),(.18,.4),(-.1,.2),(.3,1.3),(.02,.2),(-.1,.5),(.1,1.5),(.02,.3),(.1,1.3),(-.3,.3)]\n res=differential_evolution(run,bounds,maxiter=50,popsize=5,polish=False,disp=True);p=res.x\n h,a,i,c=run(p,True);np.savez(P/'fb_result.npz',p=p,h=h,a=a)\n print('params',p,'cost',c,'best',h[i,:17]);print('pre',h[169,:17]);print('max',h[np.argmax(h[:,16]),:17])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/fb_sim.py -.04 .3 .05 .8 .1 .25 .5 .1 .4 0"}],"out":{"text":"params [-0.04 0.3 0.05 0.8 0.1 0.25 0.5 0.1 0.4 0. ] cost 9.304030957865653 best [ 1.71000000e+00 -6.09020410e-02 7.86740522e-05 7.46550916e-01\n 9.99603503e-01 -8.67498408e-05 -2.81572173e-02 -4.84663284e-06\n 1.68657461e-02 2.64300892e-04 2.51080427e-01 -7.23985811e-04\n -1.19526648e+00 -5.06702373e-04 3.35359756e-02 1.78334221e-01\n 1.85404859e+00]\npre [ 1.70000000e+00 -6.05602241e-02 7.70589934e-05 7.45266128e-01\n 9.99708574e-01 -8.43208426e-05 -2.41404241e-02 -3.64568729e-06\n -1.07767843e-01 3.34011751e-05 -3.36986728e-02 -6.01350506e-05\n -2.28267564e-01 4.84947838e-05 3.64569668e-02 1.77416624e-01\n 1.85384784e+00]\nmax [ 1.81000000e+00 8.21947497e-02 2.25468313e-04 9.12276508e-01\n 9.31078143e-01 1.23325511e-04 -3.64819779e-01 7.51322484e-05\n 2.27735812e+00 1.57277240e-03 1.83061017e+00 1.68826280e-02\n -8.56320496e+00 -3.21278346e-03 -2.07962109e-01 1.68558200e-01\n 1.92023918e+00]\n","exit":[0],"pics":[]},"tok":{"in":54655,"cached":53632,"out":1428,"think":220,"usd":0.1353},"sim":{"submit":0,"reset":0}},{"id":25,"t":416.7,"say":"","calls":[{"kind":"shell","label":"sed -i 's/+p\\[2\\] -p\\[3\\]\\*theta -p\\[4\\]\\*d.qvel\\[4\\]/+p[2] +p[3]*theta +p[4]*d.qvel[4]/' /app/output/fb_sim.p","code":"sed -i 's/+p\\[2\\] -p\\[3\\]\\*theta -p\\[4\\]\\*d.qvel\\[4\\]/+p[2] +p[3]*theta +p[4]*d.qvel[4]/' /app/output/fb_sim.py\nOPENBLAS_NUM_THREADS=1 python /app/output/fb_sim.py -.04 .3 .05 .8 .1 .25 .5 .1 .4 0"}],"out":{"text":"params [-0.04 0.3 0.05 0.8 0.1 0.25 0.5 0.1 0.4 0. ] cost 4.939356253728314 best [ 2.06000000e+00 -1.75986141e-01 6.13756338e-04 1.22502965e+00\n 9.98889988e-01 -2.40059432e-04 4.71028102e-02 -2.42590091e-04\n -6.07901530e-01 1.22745651e-03 9.53795220e-02 -3.46959473e-04\n 6.96177065e-01 -2.28066765e-03 3.58341806e-02 1.77432942e-01\n 2.32091443e+00]\npre [ 1.70000000e+00 -6.05602241e-02 7.70589934e-05 7.45266128e-01\n 9.99708574e-01 -8.43208426e-05 -2.41404241e-02 -3.64568729e-06\n -1.07767843e-01 3.34011751e-05 -3.36986728e-02 -6.01350506e-05\n -2.28267564e-01 4.84947838e-05 3.64569668e-02 1.77416624e-01\n 1.85384784e+00]\nmax [ 2.03000000e+00 -1.50564594e-01 5.72506332e-04 1.21965948e+00\n 9.99793866e-01 -2.42867183e-04 2.03011379e-02 -1.76009011e-04\n -1.05755357e+00 1.51876193e-03 3.40555462e-01 1.46747504e-04\n 3.09709001e+00 -2.26804278e-03 -1.08191583e-02 1.64441009e-01\n 2.33489931e+00]\n","exit":[0],"pics":[]},"tok":{"in":56711,"cached":54528,"out":240,"think":109,"usd":0.0884},"sim":{"submit":0,"reset":0}},{"id":26,"t":428.9,"say":"","calls":[{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /app/output/fb_sim.py > /app/output/fb_search.log 2>&1","code":"OPENBLAS_NUM_THREADS=1 python /app/output/fb_sim.py > /app/output/fb_search.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":57577,"cached":56576,"out":180,"think":118,"usd":0.0756},"sim":{"submit":0,"reset":0}},{"id":27,"t":445.1,"say":"The takeoff test showed that extending the hips too quickly rotates the torso backward. I’m coordinating hip extension with the knees and using torso pitch feedback. I’m testing this on a simplified public-model calculation before spending more service attempts.","calls":[{"kind":"shell","label":"tail -5 /app/output/fb_search.log; date -u; cat /run/rcb-limits/usage.json","code":"tail -5 /app/output/fb_search.log; date -u; cat /run/rcb-limits/usage.json"}],"out":{"text":"Thu Oct 15 13:20:53 UTC 2026\n{\n \"t\": 1792070451.64,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.598,\n \"processes\": 9,\n \"disk_gb\": 0.92,\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":[0],"pics":[]},"tok":{"in":57814,"cached":57472,"out":258,"think":151,"usd":0.0738},"sim":{"submit":0,"reset":0}},{"id":28,"t":483.9,"say":"","calls":[{"kind":"shell","label":"p=[-.04,.25,.05,.8,.1,0,.5,.1,.4,0]","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom fb_sim import *\np=[-.04,.25,.05,.8,.1,0,.5,.1,.4,0]\nh,a,i,c=run(p,True)\nfor v in h[169:210:3]: print(round(v[0],2),'x,z',v[[1,3]].round(2),'vx,vz',v[[8,10]].round(2),'pitch',round(Rotation.from_quat(v[4:8],scalar_first=True).as_euler('xyz')[1],2),'leg',v[[18,20,21]].round(2),'ball',v[14:17].round(2))\nPY"}],"out":{"text":"1.7 x,z [-0.06 0.75] vx,vz [-0.11 -0.03] pitch -0.05 leg [-0.93 1.81 -0.83] ball [0.04 0.18 1.85]\n1.73 x,z [-0.06 0.75] vx,vz [-0.01 0.47] pitch -0.06 leg [-0.91 1.79 -0.83] ball [0.03 0.18 1.86]\n1.76 x,z [-0.06 0.77] vx,vz [0.04 1.03] pitch -0.07 leg [-0.86 1.71 -0.8 ] ball [0.02 0.2 1.87]\n1.79 x,z [-0.06 0.81] vx,vz [0.09 1.58] pitch -0.07 leg [-0.78 1.58 -0.74] ball [0.02 0.22 1.9 ]\n1.82 x,z [-0.06 0.87] vx,vz [0.16 2.13] pitch -0.06 leg [-0.67 1.37 -0.64] ball [0.02 0.23 1.94]\n1.85 x,z [-0.05 0.94] vx,vz [0.25 2.42] pitch -0.06 leg [-0.51 1.08 -0.53] ball [0.03 0.24 2.01]\n1.88 x,z [-0.04 1.01] vx,vz [0.29 2.38] pitch -0.05 leg [-0.32 0.71 -0.46] ball [0.05 0.23 2.09]\n1.91 x,z [-0.03 1.08] vx,vz [0.32 1.9 ] pitch -0.03 leg [-0.1 0.25 -0.3 ] ball [0.07 0.21 2.17]\n1.94 x,z [-0.02 1.13] vx,vz [0.27 1.45] pitch -0.03 leg [ 0.12 -0.19 -0.06] ball [0.09 0.17 2.24]\n1.97 x,z [-0.02 1.17] vx,vz [-0.46 1.24] pitch 0.01 leg [ 0.06 -0. -0. ] ball [0.12 0.15 2.29]\n2.0 x,z [-0.04 1.2 ] vx,vz [-0.31 0.9 ] pitch 0.1 leg [-0.18 0.43 -0.2 ] ball [0.17 0.15 2.31]\n2.03 x,z [-0.04 1.22] vx,vz [-0.14 0.71] pitch 0.14 leg [-0.2 0.41 -0.2 ] ball [0.24 0.15 2.32]\n2.06 x,z [-0.05 1.24] vx,vz [-0.14 0.39] pitch 0.18 leg [-0.21 0.39 -0.2 ] ball [0.31 0.17 2.3 ]\n2.09 x,z [-0.05 1.25] vx,vz [-0.04 0.09] pitch 0.22 leg [-0.21 0.4 -0.2 ] ball [0.37 0.18 2.28]\n","exit":[0],"pics":[]},"tok":{"in":58314,"cached":57728,"out":709,"think":516,"usd":0.099},"sim":{"submit":0,"reset":0}},{"id":29,"t":519.0,"say":"","calls":[{"kind":"shell","label":"ps -eo pid,etime,args | rg fb_sim; tail -4 /app/output/fb_search.log","code":"ps -eo pid,etime,args | rg fb_sim; tail -4 /app/output/fb_search.log"}],"out":{"text":"/bin/bash: line 1: ps: command not found\n","exit":[0],"pics":[]},"tok":{"in":59957,"cached":58240,"out":566,"think":516,"usd":0.1037},"sim":{"submit":0,"reset":0}},{"id":30,"t":527.5,"say":"","calls":[{"kind":"shell","label":"for p in os.listdir('/proc'):","code":"python - <<'PY'\nimport os,signal\nfor p in os.listdir('/proc'):\n if p.isdigit():\n try:\n s=open(f'/proc/{p}/cmdline','rb').read().split(b'\\0')\n if len(s)==2+1 and s[0]==b'python' and s[1]==b'/app/output/fb_sim.py':print(p);os.kill(int(p),signal.SIGTERM)\n except:pass\nPY"}],"out":{"text":"2256\n","exit":[0],"pics":[]},"tok":{"in":60594,"cached":59904,"out":168,"think":32,"usd":0.0752},"sim":{"submit":0,"reset":0}},{"id":31,"t":552.1,"say":"","calls":[{"kind":"shell","label":"for hp in [-1.4,-1.55,-1.7]:","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom local_sim import *\nfor hp in [-1.4,-1.55,-1.7]:\n q=pose(1.9);q[[1,7]]=hp;q[[4,10]]=-.8\n pitch=-(hp+1.9-.8);fk(q,quat=Rotation.from_euler('y',pitch).as_quat(scalar_first=True))\n print(hp,pitch,'com relativefoot', d.subtree_com[1]-d.body('right_ankle_roll_link').xpos)\nPY"}],"out":{"text":"-1.4 0.30000000000000004 com relativefoot [0.05064482 0.16369932 0.59707545]\n-1.55 0.4500000000000002 com relativefoot [0.07634719 0.16369932 0.58535781]\n-1.7 0.6000000000000001 com relativefoot [0.10000988 0.16369932 0.56993083]\n","exit":[0],"pics":[]},"tok":{"in":60821,"cached":60544,"out":407,"think":240,"usd":0.0837},"sim":{"submit":0,"reset":0}},{"id":32,"t":593.0,"say":"","calls":[{"kind":"shell","label":"writes bent_sim.py","code":"cat > /app/output/bent_sim.py <<'PY'\nfrom fb_sim import *\ndef support2(q):\n pitch=-sum(q[[1,3,4]])\n fk(q,quat=Rotation.from_euler('y',pitch).as_quat(scalar_first=True));d.qvel[:]=0;mj.mj_forward(m,d)\n tau=d.qfrc_bias.copy();mass=sum(m.body_mass)\n for side in ['left','right']:\n b=m.body(side+'_ankle_roll_link').id;pos=d.xpos[b].copy();pos[0]=d.subtree_com[1,0];pos[2]-=.07\n J=np.zeros((3,m.nv));mj.mj_jac(m,d,J,None,pos,b);tau-=J[2]*mass*9.81/2\n return tau[6:]\nkp=KP.copy();kp[:12]=[1000,1200,1000,1500,800,700]*2\nkd=KD.copy();kd[:12]=[15,15,15,20,10,15]*2\n\ndef actions(p):\n hp,kn,ank,arms0,launchhip,launchank,ldur,airhip,airknee,aspeed=p\n q=pose(kn,0,arms0,0);q[[1,7]]=hp;q[[4,10]]=ank\n pre=[low(z,kp,kd,support2(z)) for z in ramp(Q0,q,1.2)]\n launch=pose(-.2,0,-2.9,1.5);launch[[1,7]]=launchhip;launch[[4,10]]=launchank\n k=kp.copy();k[[1,7,3,9]]=1500;k[[4,10]]=1000\n v=kd.copy();v[[1,7,3,9,4,10]]=5\n # exact target rate ramps\n ar=[]\n for t in np.arange(.01,ldur+.005,.01):\n z=q+(launch-q)*min(t/aspeed,1);ar.append(low(z,k,v))\n air=pose(airknee,0,-2.9,1.5);air[[1,7]]=airhip;air[[4,10]]=-airhip-airknee\n return np.array(pre+ar+[low(air,kp,kd)]*100)\ndef obj(p,ret=False):\n a=actions(p);h=sim(a);s=h[120:]\n pitch=np.array([Rotation.from_quat(q,scalar_first=True).as_euler('xyz')[1] for q in s[:,4:8]])\n c=(s[:,14]-1.25)**2+4*np.maximum(3.25-s[:,16],0)**2+.1*pitch**2+.005*s[:,12]**2\n i=c.argmin()\n if ret:return h,a,i+120,c[i]\n return c[i]\nif __name__=='__main__':\n import sys\n from scipy.optimize import differential_evolution\n if len(sys.argv)>1:p=np.array([float(x) for x in sys.argv[1:]])\n else:\n res=differential_evolution(obj,[(-1.8,-1.2),(1.7,2.05),(-.89,-.6),(-.7,.6),(-.3,.3),(-.2,.52),(.18,.4),(-.6,.3),(.1,1),(.05,.3)],maxiter=35,popsize=5,workers=4,polish=False,disp=True);p=res.x\n h,a,i,c=obj(p,True);np.savez(P/'bent_result.npz',p=p,h=h,a=a)\n print('params',p,'cost',c,'best',h[i,:17]);print('pre',h[119,:17]);print('max',h[np.argmax(h[:,16]),:17])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/bent_sim.py -1.55 1.9 -.8 0 .1 .5 .3 -.2 .5 .15"}],"out":{"text":"params [-1.55 1.9 -0.8 0. 0.1 0.5 0.3 -0.2 0.5 0.15] cost 3.632001229542459 best [ 1.60000000e+00 2.95486776e-01 9.11679875e-04 1.28881944e+00\n 9.99952120e-01 -6.31141295e-04 -9.50032546e-03 2.25903379e-03\n 1.04825546e+00 3.09933538e-03 7.63953811e-02 -3.11087079e-03\n 4.56262701e-01 2.72159750e-02 3.81946959e-01 1.78131026e-01\n 2.40185376e+00]\npre [ 1.20000000e+00 -7.81097750e-03 5.25132099e-05 6.94147705e-01\n 9.72945378e-01 -7.04799541e-05 2.31035246e-01 -2.21310800e-05\n 1.14032263e-01 8.31990356e-05 -1.77810365e-02 -1.65387620e-04\n 2.45548143e-01 -1.15149430e-04 4.40571889e-01 -2.09293589e-01\n 5.74467370e-01]\nmax [ 1.62000000e+00 3.13929700e-01 9.73588503e-04 1.28874104e+00\n 9.99993503e-01 -6.84165126e-04 -2.57315397e-03 2.43014569e-03\n 8.22464849e-01 3.02102046e-03 -7.98227249e-02 -4.14099127e-03\n 8.17344465e-01 9.10703821e-03 2.95547738e-01 1.73786317e-01\n 2.41058072e+00]\n","exit":[0],"pics":[]},"tok":{"in":61392,"cached":60672,"out":1053,"think":126,"usd":0.1205},"sim":{"submit":0,"reset":0}},{"id":33,"t":631.8,"say":"","calls":[{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python -u /app/output/bent_sim.py > /app/output/bent_search.log 2>&1","code":"OPENBLAS_NUM_THREADS=1 python -u /app/output/bent_sim.py > /app/output/bent_search.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":63077,"cached":61312,"out":580,"think":516,"usd":0.108},"sim":{"submit":0,"reset":0}},{"id":34,"t":643.7,"say":"","calls":[{"kind":"robot","label":"writes service_bent.py","code":"cat > /app/output/service_bent.py <<'PY'\nfrom bent_sim import *\nr=Robot();r.reset(cameras=[])\np=[-1.55,1.9,-.8,0,.1,.5,.3,-.2,.5,.15]\na=actions(p)\nx=r.submit('lowcmd',a[:120],cameras=['venue'],video='frames',video_fps=30);report(x,'bent_pre3')\nif not x.done:\n x=r.submit('lowcmd',a[120:170],cameras=['venue'],video='frames',video_fps=30);report(x,'bent_jump3')\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/service_bent.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":63715,"cached":62976,"out":231,"think":35,"usd":0.0819},"sim":{"submit":1,"reset":1}},{"id":35,"t":650.9,"say":"The calculations suggest that a more forward-leaning crouch and an arm swing may add useful lift. I’m testing that sequence on the service to check whether the model predicts the robot’s motion well enough.","calls":[{"kind":"robot","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'EOF'\nApproach: camera/IMU/joint feedback, coordinated two-foot jump, right-hand dunk, feet landing.\nAll service interaction uses documented rcb_client; no service internals accessed.\nPublic Unitree h1_2_handless.xml downloaded from unitreerobotics/unitree_mujoco (GitHub main).\nInstalled mujoco and opencv-python-headless; scipy/numpy were already installed.\nBuilt a mesh-free approximate model for kinematics and takeoff parameter experiments.\nAttempt 1: upright deep crouch with soft ankles tipped forward.\nAttempt 2: stiff ankles and hips farther back gave a nearly upright crouch.\nAttempt 3: testing bent-torso crouch, hip extension, and arm swing.\nController experiments and sensor recordings are retained in output.\nEOF\ntail -5 /app/output/bent_search.log"},{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"cat > /app/output/NOTES.md <<'EOF'\\nApproach: camera/IMU/joint feedback, coordinated two-foot jump, right-hand dunk, feet landing.\\nAll service interaction uses documented rcb_client; no service internals accessed.\\nPublic Unitree h1_2_handless.xml downloaded from unitreerobotics/unitree_mujoco (GitHub main).\\nInstalled mujoco and opencv-python-headless; scipy/numpy were already installed.\\nBuilt a mesh-free approximate model for kinematics and takeoff parameter experiments.\\nAttempt 1: upright deep crouch with soft ankles tipped forward.\\nAttempt 2: stiff ankles and hips farther back gave a nearly upright crouch.\\nAttempt 3: testing bent-torso crouch, hip extension, and arm swing.\\nController experiments and sensor recordings are retained in output.\\nEOF\\ntail -5 /app/output/bent_search.log\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:90920,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"differential_evolution step 1: f(x)= 2.8741071168968846\ndifferential_evolution step 2: f(x)= 2.8741071168968846\ndifferential_evolution step 3: f(x)= 2.8741071168968846\ndifferential_evolution step 4: f(x)= 2.8741071168968846\ndifferential_evolution step 5: f(x)= 2.86450483732862\n\nbent_pre3 {'calls': 7, 'rows': 395, 'control_steps': 120, 'done': False, 'reason': None, 'episode': 3, 'control_steps_total': 395, 'resets_left': 48, 'sim_time_s': 1.2, 'time_s': 638.66, 'time_left_s': 6561.3, 'chunk_id': 7, 'type': 'lowcmd', 'executed_rows': 120, 'control_steps_chunk': 120, 'n_clipped': 0, 'ok': True}\nq [ 0.000e+00 -1.560e+00 -2.000e-03 1.907e+00 -8.110e-01 -6.000e-03\n -1.000e-03 -1.559e+00 1.000e-03 1.905e+00 -8.110e-01 -6.000e-03\n 0.000e+00 0.000e+00 -0.000e+00 -0.000e+00 7.000e-03 0.000e+00\n 6.000e-03 0.000e+00 1.000e-02 -1.000e-03 -1.000e-03 2.700e-02\n -3.000e-03 5.000e-02 -2.000e-03]\nrpy [-0.002 0.455 -0.001] gyro [-0.019 0.349 -0.004]\nbent_jump3 {'calls': 8, 'rows': 445, 'control_steps': 170, 'done': False, 'reason': None, 'episode': 3, 'control_steps_total': 445, 'resets_left': 48, 'sim_time_s': 1.7, 'time_s': 641.17, 'time_left_s': 6558.8, 'chunk_id': 8, 'type': 'lowcmd', 'executed_rows': 50, 'control_steps_chunk': 50, 'n_clipped': 0, 'ok': True}\nq [ 1.000e-03 -1.940e-01 5.000e-03 5.010e-01 -3.000e-01 0.000e+00\n -7.000e-03 -1.380e-01 -2.000e-03 5.180e-01 -2.980e-01 0.000e+00\n 2.200e-02 -2.645e+00 1.380e-01 -2.000e-02 6.130e-01 -1.000e-03\n -4.500e-02 -4.000e-03 -2.595e+00 -9.700e-02 3.000e-02 1.067e+00\n 4.000e-03 -7.800e-02 -7.100e-02]\nrpy [-0.022 0.023 -0.127] gyro [-0.042 -0.356 -0.87 ]\n","exit":[0,0],"pics":[]},"tok":{"in":64003,"cached":63616,"out":308,"think":9,"usd":0.0829},"sim":{"submit":1,"reset":0}},{"id":36,"t":668.2,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/bent_jump3/last/venue.jpg"},{"kind":"shell","label":"p=np.load(P/'bent_jump3/proprio.npy')","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\np=np.load(P/'bent_jump3/proprio.npy')\nfor v in p[::2]:print(round(v[-1],2),'pitch',Rotation.from_quat(v[108:112],scalar_first=True).as_euler('xyz').round(2),'arms',v[[20,23]].round(2),'acc',v[115:118].round(1))\nPY"}],"out":{"text":"1.2 pitch [-0. 0.45 -0. ] arms [0.01 0.03] acc [-5.2 0.1 10.8]\n1.26 pitch [-0.01 0.33 -0. ] arms [-0.3 0.72] acc [ 2.3 0.7 48.1]\n1.32 pitch [-0.01 -0.09 0. ] arms [-0.77 2.05] acc [-25. 0.1 -15.7]\n1.38 pitch [-0.01 -0.25 0.05] arms [-1.32 3. ] acc [-34.3 1. 6.4]\n1.44 pitch [-0.02 0.05 0.09] arms [-1.92 3.22] acc [38.5 0.1 6. ]\n1.5 pitch [-0.03 -0.09 0.05] arms [-2.07 3.03] acc [-15.1 -1. -5.8]\n1.56 pitch [-0.02 -0.03 -0.04] arms [-2.5 2.71] acc [ 5.8 -3.6 18.9]\n1.62 pitch [-0.02 0.03 -0.1 ] arms [-2.39 1.65] acc [7.5 3.2 0.2]\n1.68 pitch [-0.02 0.03 -0.11] arms [-2.59 1.26] acc [-4.8 1.1 2.6]\n","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s036_0.jpg"]},"tok":{"in":65243,"cached":63872,"out":170,"think":8,"usd":0.0861},"sim":{"submit":0,"reset":0}},{"id":37,"t":701.1,"say":"","calls":[{"kind":"shell","label":"writes vision.py","code":"cat > /app/output/vision.py <<'PY'\nfrom control import *\nimport cv2\nfrom scipy.optimize import least_squares\nC=S['cameras']['venue'];cam=np.array(C['pose_t0']['position_m']);R=np.array([C['pose_t0']['right'],C['pose_t0']['up'],C['pose_t0']['forward']]);f=135/np.tan(np.deg2rad(C['fovy_deg']/2))\ndef project(x):\n p=(np.asarray(x)-cam)@R.T\n return np.c_[240+f*p[...,0]/p[...,2],135-f*p[...,1]/p[...,2]]\ndef ballpixel(img):\n hsv=cv2.cvtColor(img,cv2.COLOR_RGB2HSV);mask=cv2.inRange(hsv,np.array([4,125,75]),np.array([28,255,255]))\n n,lab,stats,cents=cv2.connectedComponentsWithStats(mask)\n out=[]\n for stat,c in zip(stats[1:],cents[1:]):\n x,y,w,h,area=stat\n if area>5 and y<210 and w<30 and h<30:\n out.append((area,c,w,h))\n return sorted(out,key=lambda a:-a[0])\nif __name__=='__main__':\n from model import *\n fk(Q0);print('initialfk',d.site('right_ball').xpos,'project',project(d.site('right_ball').xpos))\n for name in ['start','bent_pre3','bent_jump3']:\n im=np.array(__import__('PIL.Image',fromlist=['Image']).open(P/name/'last/venue.jpg'));print(name,ballpixel(im))\nPY\npython /app/output/vision.py"}],"out":{"text":"initialfk [ 0.454 -0.20949964 1.12997988] project [[224.47036235 172.94220055]]\nstart [(np.int32(188), array([421.95744681, 125.86702128]), np.int32(15), np.int32(16)), (np.int32(138), array([475.3115942, 130.8115942]), np.int32(11), np.int32(18)), (np.int32(122), array([ 33.24590164, 118.57377049]), np.int32(13), np.int32(12)), (np.int32(71), array([228.6056338 , 150.47887324]), np.int32(23), np.int32(11)), (np.int32(52), array([139.55769231, 155.94230769]), np.int32(27), np.int32(5)), (np.int32(48), array([188.89583333, 144.95833333]), np.int32(14), np.int32(7)), (np.int32(20), array([215.25, 165.7 ]), np.int32(6), np.int32(9)), (np.int32(17), array([252.52941176, 73.17647059]), np.int32(15), np.int32(2)), (np.int32(16), array([320.6875, 179.75 ]), np.int32(9), np.int32(4)), (np.int32(13), array([116.15384615, 189.23076923]), np.int32(10), np.int32(3)), (np.int32(11), array([137.18181818, 192.18181818]), np.int32(6), np.int32(4)), (np.int32(8), array([208. , 160.5]), np.int32(5), np.int32(2)), (np.int32(8), array([191. , 167.5]), np.int32(1), np.int32(8)), (np.int32(7), array([ 64. , 208.42857143]), np.int32(7), np.int32(2))]\nbent_pre3 [(np.int32(188), array([421.95744681, 125.86702128]), np.int32(15), np.int32(16)), (np.int32(138), array([475.3115942, 130.8115942]), np.int32(11), np.int32(18)), (np.int32(122), array([ 33.24590164, 118.57377049]), np.int32(13), np.int32(12)), (np.int32(71), array([228.6056338 , 150.47887324]), np.int32(23), np.int32(11)), (np\n… (488 characters left out) …\nay([137.18181818, 192.18181818]), np.int32(6), np.int32(4)), (np.int32(11), array([204. , 199.72727273]), np.int32(5), np.int32(4)), (np.int32(9), array([235.77777778, 173.55555556]), np.int32(6), np.int32(4)), (np.int32(7), array([ 64. , 208.42857143]), np.int32(7), np.int32(2))]\nbent_jump3 [(np.int32(188), array([421.95744681, 125.86702128]), np.int32(15), np.int32(16)), (np.int32(138), array([475.3115942, 130.8115942]), np.int32(11), np.int32(18)), (np.int32(122), array([ 33.24590164, 118.57377049]), np.int32(13), np.int32(12)), (np.int32(95), array([199.36842105, 145.15789474]), np.int32(24), np.int32(9)), (np.int32(88), array([219.35227273, 96.51136364]), np.int32(12), np.int32(11)), (np.int32(63), array([229.77777778, 151.0952381 ]), np.int32(16), np.int32(10)), (np.int32(52), array([139.55769231, 155.94230769]), np.int32(27), np.int32(5)), (np.int32(41), array([225.24390244, 170.6097561 ]), np.int32(12), np.int32(10)), (np.int32(17), array([252.52941176, 73.17647059]), np.int32(15), np.int32(2)), (np.int32(16), array([320.6875, 179.75 ]), np.int32(9), np.int32(4)), (np.int32(13), array([193.69230769, 182.38461538]), np.int32(8), np.int32(2)), (np.int32(13), array([116.15384615, 189.23076923]), np.int32(10), np.int32(3)), (np.int32(11), array([137.18181818, 192.18181818]), np.int32(6), np.int32(4)), (np.int32(9), array([235.77777778, 173.55555556]), np.int32(6), np.int32(4)), (np.int32(7), array([ 64. , 208.42857143]), np.int32(7), np.int32(2))]\n","exit":[0],"pics":[]},"tok":{"in":66035,"cached":65152,"out":544,"think":123,"usd":0.1012},"sim":{"submit":0,"reset":0}},{"id":38,"t":709.9,"say":"","calls":[{"kind":"shell","label":"im=Image.open('/app/output/start/last/venue.jpg');im.crop((180,135,250,195)).resize((560,480)).save('/app/outp","code":"python - <<'PY'\nfrom PIL import Image\nim=Image.open('/app/output/start/last/venue.jpg');im.crop((180,135,250,195)).resize((560,480)).save('/app/output/crop.jpg')\nPY"},{"kind":"look","label":"crop.jpg","code":"/app/output/crop.jpg"}],"out":{"text":"","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s038_0.jpg"]},"tok":{"in":68137,"cached":65920,"out":135,"think":36,"usd":0.0948},"sim":{"submit":0,"reset":0}},{"id":39,"t":717.9,"say":"","calls":[{"kind":"look","label":"head_left.jpg","code":"/app/output/start/last/head_left.jpg"},{"kind":"shell","label":"tail -3 /app/output/bent_search.log; date -u","code":"tail -3 /app/output/bent_search.log; date -u"}],"out":{"text":"differential_evolution step 16: f(x)= 2.6774279299615538\ndifferential_evolution step 17: f(x)= 2.6774279299615538\ndifferential_evolution step 18: f(x)= 2.6774279299615538\nThu Oct 15 13:25:25 UTC 2026\n","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s039_0.jpg"]},"tok":{"in":68654,"cached":67968,"out":128,"think":66,"usd":0.0812},"sim":{"submit":0,"reset":0}},{"id":40,"t":733.5,"say":"","calls":[{"kind":"shell","label":"p=[-1.55,1.9,-.8,0,.1,.5,.3,-.2,.5,.15];h=sim(actions(p))","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom bent_sim import *\np=[-1.55,1.9,-.8,0,.1,.5,.3,-.2,.5,.15];h=sim(actions(p))\ns=np.load(P/'bent_jump3/proprio.npy')\nfor z in s[::3]:\n v=h[round(z[-1]*100)-1]\n print(round(z[-1],2),'actualleg',z[[1,3,4]].round(2),'model',v[[18,20,21]].round(2),'actualarm',z[[20,23]].round(2),'model',v[[37,40]].round(2))\nPY"}],"out":{"text":"1.2 actualleg [-1.56 1.91 -0.81] model [-1.56 1.91 -0.81] actualarm [0.01 0.03] model [-0. 0.]\n1.29 actualleg [-0.81 1.46 -0.81] model [-0.95 1.49 -0.78] actualarm [-0.56 1.41] model [-0.39 0.79]\n1.38 actualleg [0.29 0.14 0.18] model [ 0.51 0.14 -0.18] actualarm [-1.32 3. ] model [-1.01 1.52]\n1.47 actualleg [-0.17 -0.26 0.49] model [-0.21 -0.13 0.54] actualarm [-2.04 3.13] model [-1.98 1.48]\n1.56 actualleg [-0.09 0.49 0.04] model [-0.22 0.46 0.06] actualarm [-2.5 2.71] model [-2.63 1.52]\n1.65 actualleg [-0.23 0.49 -0.3 ] model [-0.17 0.51 -0.3 ] actualarm [-2.51 1.53] model [-3.18 1.4 ]\n","exit":[0],"pics":[]},"tok":{"in":69082,"cached":68480,"out":314,"think":119,"usd":0.0902},"sim":{"submit":0,"reset":0}},{"id":41,"t":756.1,"say":"","calls":[{"kind":"shell","label":"cp /app/output/model.py /app/output/model_before.py","code":"cp /app/output/model.py /app/output/model_before.py\npython - <<'PY'\np='/app/output/model.py'\ns=open(p).read().replace(\"root.remove(root.find('sensor'))\",\"root.remove(root.find('sensor'))\\nroot.find('default/joint').set('armature','.01')\\nroot.find('default/joint').set('damping','.1')\\nroot.find('default/joint').set('frictionloss','.05')\")\nopen(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/bent_sim.py -1.55 1.9 -.8 0 .1 .5 .3 -.2 .5 .15"}],"out":{"text":"params [-1.55 1.9 -0.8 0. 0.1 0.5 0.3 -0.2 0.5 0.15] cost 3.679009357269882 best [ 1.54000000e+00 2.85723775e-01 1.43614853e-03 1.30183547e+00\n 9.98752276e-01 -4.88452845e-05 -4.98270185e-02 3.34025518e-03\n 8.10357244e-01 3.83708548e-03 6.44186619e-01 9.65200608e-03\n 4.21775332e+00 1.01634242e-01 3.50508206e-01 1.66411527e-01\n 2.41633599e+00]\npre [ 1.20000000e+00 -6.80701765e-03 1.82659645e-04 6.94156948e-01\n 9.72721431e-01 -1.62717139e-04 2.31976267e-01 -4.75996636e-05\n 1.08971092e-01 4.99998741e-05 -1.67037752e-02 -8.96035019e-05\n 2.32373979e-01 -2.81699099e-04 4.41482231e-01 -2.09113170e-01\n 5.73485908e-01]\nmax [ 1.55000000e+00 2.92685389e-01 1.47280768e-03 1.30791962e+00\n 9.99647582e-01 -1.09887249e-04 -2.62679141e-02 3.83370692e-03\n 6.87130622e-01 4.04209711e-03 6.12528204e-01 6.99904500e-03\n 4.70040698e+00 9.70388676e-02 2.60148080e-01 1.65606875e-01\n 2.43308569e+00]\n","exit":[0],"pics":[]},"tok":{"in":69801,"cached":68992,"out":441,"think":262,"usd":0.0991},"sim":{"submit":0,"reset":0}},{"id":42,"t":786.4,"say":"","calls":[{"kind":"shell","label":"ray=np.array([(230-240)/f,(135-170)/f,1])@R","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom vision import *\nray=np.array([(230-240)/f,(135-170)/f,1])@R\nprint(cam+ray*((1.13-cam[2])/ray[2]))\nPY"}],"out":{"text":"[ 0.6461662 -0.09784378 1.13 ]\n","exit":[0],"pics":[]},"tok":{"in":70877,"cached":69760,"out":534,"think":437,"usd":0.1076},"sim":{"submit":0,"reset":0}},{"id":43,"t":805.4,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nr=Robot();x=r.get_obs(seconds=.6,cameras=['venue'],video='frames',video_fps=30);report(x,'bent_land3')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71490,"cached":70784,"out":324,"think":225,"usd":0.094},"sim":{"submit":0,"reset":0}},{"id":44,"t":815.5,"say":"The service test stayed upright through takeoff and raised the ball substantially, though it remains below the rim. The arm motion differs from the simplified model, so I’m refining the ball and hand geometry from camera observations before tuning for more height.","calls":[{"kind":"shell","label":"tail -8 /app/output/bent_search.log; date -u","code":"tail -8 /app/output/bent_search.log; date -u"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"tail -8 /app/output/bent_search.log; date -u\",\"max_output_tokens\":1500}));\ntext(await tools.write_stdin({session_id:9266,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\n"}],"out":{"text":" 1.70409388e-01 8.12389177e-05 -1.28634386e-02 -1.73268827e-04\n 4.08001077e-01 -1.33015098e-04 5.26760463e-01 -1.78216670e-01\n 5.42787337e-01]\nmax [ 1.65000000e+00 3.13980198e-01 1.54782047e-03 1.41748982e+00\n 9.85819221e-01 -5.25666984e-05 1.67809701e-01 6.04235771e-04\n 4.02082763e-01 3.65804513e-03 2.70987713e-01 3.64093602e-04\n 4.21413467e-01 -2.58980492e-02 5.31703008e-01 1.51923637e-01\n 2.51640512e+00]\nThu Oct 15 13:27:04 UTC 2026\n\nbent_land3 {'calls': 9, 'rows': 445, 'control_steps': 192, 'done': True, 'reason': 'failed', 'episode': 3, 'control_steps_total': 467, 'resets_left': 48, 'sim_time_s': 1.92, 'time_s': 796.24, 'time_left_s': 6403.8, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'obs_id': 9, 'seconds': 0.22, 'control_steps_watch': 22, 'ok': True}\nq [ 3.000e-03 -2.660e-01 -2.200e-02 7.010e-01 -3.280e-01 1.570e-01\n 6.000e-03 -2.330e-01 -2.100e-02 6.530e-01 -3.070e-01 1.330e-01\n -1.000e-02 -2.698e+00 1.500e-01 5.000e-02 1.577e+00 1.000e-03\n 1.200e-02 1.000e-03 -2.540e+00 -5.900e-02 4.000e-03 1.863e+00\n -1.200e-02 1.710e-01 -3.400e-02]\nrpy [-0.019 -0.121 -0.138] gyro [ 0.228 -2.332 -0.075]\n","exit":[0,0],"pics":[]},"tok":{"in":71870,"cached":71424,"out":200,"think":73,"usd":0.0859},"sim":{"submit":0,"reset":0}},{"id":45,"t":824.6,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nr=Robot();x=r.reset(cameras=['head_left','head_right','venue'],include_depth=True);x.save(P/'reset4');print(r.status())\nPY"}],"out":{"text":"{'calls': 10, 'rows': 445, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 4, 'control_steps_total': 467, 'resets_left': 47, 'elapsed_s': 814.6}\n","exit":[0],"pics":[]},"tok":{"in":72830,"cached":71808,"out":123,"think":25,"usd":0.0882},"sim":{"submit":0,"reset":1}},{"id":46,"t":845.1,"say":"","calls":[{"kind":"shell","label":"writes calibrate.py","code":"cat > /app/output/calibrate.py <<'PY'\nfrom vision import *\nfrom scipy.optimize import least_squares\nfrom PIL import Image\nD=np.load(P/'reset4/depth_head_left.npy')[-1].astype(float)\nI=np.array(Image.open(P/'reset4/last/head_left.jpg'));hsv=cv2.cvtColor(I,cv2.COLOR_RGB2HSV)\nmask=(np.indices(D.shape)[0]>225)&(np.indices(D.shape)[1]>270)&(np.indices(D.shape)[1]<365)&(hsv[:,:,0]<30)&(hsv[:,:,1]>130)&(D>0)\nv,u=np.nonzero(mask);z=D[v,u]\nC=S['cameras']['head_left'];pose=C['pose_t0'];cam=np.array(pose['position_m']);R=np.array([pose['right'],pose['up'],pose['forward']]);f=135/np.tan(np.deg2rad(C['fovy_deg']/2))\npts=np.c_[(u-239.5)/f*z,(134.5-v)/f*z,z]@R+cam\nfit=least_squares(lambda c:np.linalg.norm(pts-c,axis=1)-.1195,[.6,-.2,1.2])\nprint('center',fit.x,'rms',np.sqrt(np.mean(fit.fun**2)),'n',len(pts))\nfrom model import *\nfk(Q0);b=d.body('right_wrist_yaw_link');print('wrist',b.xpos,b.xmat);print('offset',b.xmat.reshape(3,3).T@(fit.x-b.xpos))\nnp.save(P/'ball_offset.npy',b.xmat.reshape(3,3).T@(fit.x-b.xpos))\nPY\npython /app/output/calibrate.py"}],"out":{"text":"center [ 0.98723732 -0.35029046 0.87004192] rms 0.775597489110472 n 4136\nwrist [ 0.234 -0.20949964 1.12997988] [1. 0. 0. 0. 1. 0. 0. 0. 1.]\noffset [ 0.75323732 -0.14079082 -0.25993796]\n","exit":[0],"pics":[]},"tok":{"in":73070,"cached":72704,"out":462,"think":38,"usd":0.0995},"sim":{"submit":0,"reset":0}},{"id":47,"t":856.0,"say":"","calls":[{"kind":"shell","label":"D=np.load('/app/output/reset4/depth_head_left.npy')","code":"python - <<'PY'\nimport numpy as np\nD=np.load('/app/output/reset4/depth_head_left.npy')\nprint(D.shape)\nfor v in [225,235,245,255,265]:print(v, D[-1,v,280:361:10])\nPY"}],"out":{"text":"(1, 270, 480)\n225 [2.45 2.45 2.45 2.45 2.45 2.45 2.45 2.45 2.45]\n235 [2.318 0.6436 0.622 0.613 0.612 0.62 2.318 2.318 2.318 ]\n245 [0.636 0.608 0.5933 0.5854 0.582 0.5845 0.5957 2.203 2.203 ]\n255 [0.6094 0.5874 0.574 0.5664 0.5625 0.563 0.57 0.587 2.098 ]\n265 [0.5923 0.5728 0.5605 0.5527 0.5483 0.5483 0.5522 0.563 2.002 ]\n","exit":[0],"pics":[]},"tok":{"in":73695,"cached":72960,"out":123,"think":31,"usd":0.0865},"sim":{"submit":0,"reset":0}},{"id":48,"t":861.6,"say":"","calls":[{"kind":"shell","label":"sed -i \"s/\\&(D>0)/\\&(D>0)\\&(D<1)/\" /app/output/calibrate.py","code":"sed -i \"s/\\&(D>0)/\\&(D>0)\\&(D<1)/\" /app/output/calibrate.py\npython /app/output/calibrate.py"}],"out":{"text":"center [ 0.60662408 -0.16971848 1.12940678] rms 0.0002822127997037813 n 3052\nwrist [ 0.234 -0.20949964 1.12997988] [1. 0. 0. 0. 1. 0. 0. 0. 1.]\noffset [ 0.37262408 0.03978116 -0.00057309]\n","exit":[0],"pics":[]},"tok":{"in":74114,"cached":73600,"out":65,"think":0,"usd":0.082},"sim":{"submit":0,"reset":0}},{"id":49,"t":884.4,"say":"","calls":[{"kind":"shell","label":"p='/app/output/model.py';s=open(p).read().replace(\"ET.SubElement(b,'site',name=side+'_ball',pos='.22 0 0')\",\"E","code":"python - <<'PY'\np='/app/output/model.py';s=open(p).read().replace(\"ET.SubElement(b,'site',name=side+'_ball',pos='.22 0 0')\",\"ET.SubElement(b,'site',name=side+'_ball',pos='.372624 .039781 -.000573')\\n ET.SubElement(b,'geom',type='box',pos='.208 0 0',size='.05 .04 .022',mass='.193',contype='0',conaffinity='0')\\n if side=='right':\\n ball=ET.SubElement(b,'body',name='held_ball',pos='.372624 .039781 -.000573')\\n ET.SubElement(ball,'geom',type='sphere',size='.1195',mass='.62',contype='0',conaffinity='0')\")\ns=s.replace(\"ET.ElementTree(root).write(P/'model.xml')\",\"for j in root.findall('.//joint'):\\n if j.get('name','').endswith('knee_joint'):j.set('range','-.26 2.05')\\nET.ElementTree(root).write(P/'model.xml')\")\nopen(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/bent_sim.py -1.55 1.9 -.8 0 .1 .5 .3 -.2 .5 .15"}],"out":{"text":"params [-1.55 1.9 -0.8 0. 0.1 0.5 0.3 -0.2 0.5 0.15] cost 2.3447750950083988 best [ 1.67 0.36920705 -0.00443102 1.29852764 0.99905867 0.00282966\n 0.00960984 -0.04220696 0.96132666 -0.01969666 -0.57751374 0.08372039\n 0.162019 -0.29142 0.64170824 0.15805399 2.54739997]\npre [ 1.20000000e+00 -5.95336509e-03 -2.77898228e-04 6.94182051e-01\n 9.72494074e-01 2.29717476e-04 2.32927489e-01 8.49246404e-05\n 1.13983514e-01 -1.22224482e-04 -1.66461901e-02 2.58823013e-04\n 2.43147799e-01 9.33883718e-05 5.73481753e-01 -1.69985370e-01\n 4.95947329e-01]\nmax [ 1.69000000e+00 3.87903042e-01 -4.59563956e-03 1.28522137e+00\n 9.98827597e-01 3.16389128e-03 1.05966829e-02 -4.71288912e-02\n 9.07680252e-01 2.10684379e-03 -7.47004731e-01 2.62220539e-03\n 6.68787673e-02 -6.84622909e-01 5.05423853e-01 1.73792705e-01\n 2.56339799e+00]\n","exit":[0],"pics":[]},"tok":{"in":74346,"cached":73984,"out":531,"think":202,"usd":0.1042},"sim":{"submit":0,"reset":0}},{"id":50,"t":894.5,"say":"","calls":[{"kind":"shell","label":"h=sim(actions([-1.55,1.9,-.8,0,.1,.5,.3,-.2,.5,.15]));s=np.load(P/'bent_jump3/proprio.npy')","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom bent_sim import *\nh=sim(actions([-1.55,1.9,-.8,0,.1,.5,.3,-.2,.5,.15]));s=np.load(P/'bent_jump3/proprio.npy')\nfor z in s[::3]:\n v=h[round(z[-1]*100)-1];print(round(z[-1],2),'act leg',z[[1,3,4]].round(2),'mod',v[[18,20,21]].round(2),'act arm',z[[20,23]].round(2),'mod',v[[37,40]].round(2))\nPY"}],"out":{"text":"1.2 act leg [-1.56 1.91 -0.81] mod [-1.56 1.9 -0.81] act arm [0.01 0.03] mod [0. 0.01]\n1.29 act leg [-0.81 1.46 -0.81] mod [-0.82 1.46 -0.79] act arm [-0.56 1.41] mod [-0.53 1.28]\n1.38 act leg [0.29 0.14 0.18] mod [0.3 0.15 0.11] act arm [-1.32 3. ] mod [-1.21 2.72]\n1.47 act leg [-0.17 -0.26 0.49] mod [-0.17 -0.26 0.49] act arm [-2.04 3.13] mod [-1.92 2.93]\n1.56 act leg [-0.09 0.49 0.04] mod [-0.12 0.48 0.04] act arm [-2.5 2.71] mod [-2.31 2.35]\n1.65 act leg [-0.23 0.49 -0.3 ] mod [-0.23 0.49 -0.3 ] act arm [-2.51 1.53] mod [-2.63 1.52]\n","exit":[0],"pics":[]},"tok":{"in":75454,"cached":74240,"out":217,"think":27,"usd":0.0972},"sim":{"submit":0,"reset":0}},{"id":51,"t":935.4,"say":"","calls":[{"kind":"shell","label":"cp /app/output/bent_sim.py /app/output/bent_sim_v2.py","code":"cp /app/output/bent_sim.py /app/output/bent_sim_v2.py\npython - <<'PY'\np='/app/output/bent_sim_v2.py';s=open(p).read().replace(\"(-1.8,-1.2),(1.7,2.05),(-.89,-.6),(-.7,.6)\",\"(-2.05,-1.1),(1.7,2.05),(-.89,-.6),(-1.5,.7)\").replace('maxiter=35','maxiter=50').replace(\"P/'bent_result.npz'\",\"P/'bent_result_v2.npz'\")\nopen(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/bent_sim_v2.py > /app/output/bent_search_v2.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":76075,"cached":75392,"out":738,"think":516,"usd":0.1191},"sim":{"submit":0,"reset":0}},{"id":52,"t":954.3,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\n\"\"\"Service controller for the current dunk attempt; public-model helpers are local files.\"\"\"\nfrom control import *\nfrom bent_sim import actions\nimport argparse\n\ndef main():\n parser=argparse.ArgumentParser()\n parser.add_argument('--reset',action='store_true')\n parser.add_argument('--parameters',default='')\n args=parser.parse_args()\n r=Robot()\n if args.reset:r.reset(cameras=[])\n p=[-1.55,1.9,-.8,0,.1,.5,.3,-.2,.5,.15]\n if args.parameters:p=np.load(args.parameters)['p']\n a=actions(p)\n for i in range(0,len(a),20):\n x=r.submit('lowcmd',a[i:i+20],cameras=['venue'],video='none')\n report(x,f'run_{i:03d}')\n if x.done:break\nif __name__=='__main__':main()\nPY\npython - <<'PY'\nimport numpy as np\nz=np.load('/app/output/bent_result.npz');print(z['p'])\nPY"}],"out":{"text":"[-1.55 1.9 -0.8 0. 0.1 0.5 0.3 -0.2 0.5 0.15]\n","exit":[0],"pics":[]},"tok":{"in":76871,"cached":76032,"out":371,"think":71,"usd":0.103},"sim":{"submit":0,"reset":0}},{"id":53,"t":970.1,"say":"The depth camera gave a precise ball offset from the wrist, and adding that offset and the ball’s mass improved the model’s agreement with the observed arm motion. The last jump ended in a travelling call when one foot bounced, so landing control still needs work after we achieve a rim entry.","calls":[{"kind":"shell","label":"x=np.load(P/'bent_jump3/proprio.npy');V=np.array(S['robot_facts']['speed_limit_rad_s']);T=np.array(S['robot_fa","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nx=np.load(P/'bent_jump3/proprio.npy');V=np.array(S['robot_facts']['speed_limit_rad_s']);T=np.array(S['robot_facts']['torque_limit_nm'])\nfor j in [1,3,4,20,23]:\n print('joint',j)\n for a in x:\n vel=a[27+j];tor=a[54+j]\n if abs(tor)>.5*T[j] or abs(vel)>.5*V[j]: print(round(a[-1],2),round(vel,2),round(tor,2),round(a[81+j]-a[j],2))\nPY"}],"out":{"text":"joint 1\n1.23 5.3 200.0 0.26\n1.26 10.7 200.0 0.35\n1.29 17.94 153.34 0.25\n1.32 20.98 -124.87 -0.03\n1.35 7.79 -200.0 -0.14\n1.38 -4.05 -200.0 -0.19\n1.41 -10.87 137.14 0.07\n1.44 -3.8 200.0 0.34\n1.47 6.84 200.0 0.27\n1.53 -5.46 -200.0 -0.35\njoint 3\n1.23 -2.91 -300.0 -0.38\n1.26 -6.21 -300.0 -0.67\n1.29 -12.21 -170.01 -0.82\n1.32 -17.21 0.0 -0.78\n1.35 -13.89 -79.93 -0.75\n1.38 -13.85 -82.45 -0.34\n1.41 -8.77 129.24 0.06\n1.53 10.9 -138.52 0.05\njoint 4\n1.2 -0.22 35.86 0.01\n1.23 -0.17 60.0 0.28\n1.26 0.06 60.0 0.54\n1.29 -0.05 60.0 0.79\n1.32 7.6 36.93 0.92\n1.35 15.18 0.0 0.85\n1.38 21.11 0.0 0.32\n1.53 -5.34 -2.93 -0.07\n1.56 -6.72 4.64 -0.08\n1.59 -6.38 8.61 -0.07\njoint 20\n1.23 -5.38 -27.7 -0.19\n1.26 -8.74 -13.22 -0.24\n1.29 -7.86 -20.39 -0.25\n1.32 -7.18 -29.64 -0.31\n1.35 -9.3 -7.43 -0.32\n1.38 -10.35 0.0 -0.3\n1.41 -11.25 0.0 -0.23\n1.44 -6.3 -33.76 -0.24\n1.47 -2.07 -40.0 -0.38\n1.5 -1.35 -40.0 -0.63\n1.53 -10.03 -1.32 -0.64\n1.56 -1.66 -40.0 -0.4\n1.59 2.52 -40.0 -0.44\n1.62 -0.38 -40.0 -0.51\n1.65 -6.61 -35.45 -0.39\n1.68 -0.42 -40.0 -0.31\n1.7 -0.07 -40.0 -0.3\njoint 23\n1.23 11.55 -18.0 0.07\n1.26 20.27 -18.0 -0.12\n1.29 23.44 -18.0 -0.51\n1.32 20.17 -18.0 -0.85\n1.35 15.5 -18.0 -1.09\n1.38 12.11 -18.0 -1.5\n1.41 1.56 -18.0 -1.76\n1.44 -2.42 -18.0 -1.72\n1.47 -3.48 -18.0 -1.63\n1.5 -2.88 -18.0 -1.53\n1.53 -2.4 -18.0 -1.48\n1.56 -17.91 -11.2 -1.21\n1.59 -19.1 -6.29 -0.63\n1.68 -11.22 18.0 0.24\n1.7 -8.82 18.0 0.43\n","exit":[0],"pics":[]},"tok":{"in":77349,"cached":76800,"out":457,"think":195,"usd":0.1051},"sim":{"submit":0,"reset":0}},{"id":54,"t":1011.8,"say":"","calls":[{"kind":"shell","label":"sed -i 's/)\\/.65/)\\/.5/g' /app/output/local_sim.py /app/output/fb_sim.py","code":"sed -i 's/)\\/.65/)\\/.5/g' /app/output/local_sim.py /app/output/fb_sim.py\nOPENBLAS_NUM_THREADS=1 python /app/output/bent_sim.py -1.55 1.9 -.8 0 .1 .5 .3 -.2 .5 .15\n tail -3 /app/output/bent_search_v2.log"}],"out":{"text":"params [-1.55 1.9 -0.8 0. 0.1 0.5 0.3 -0.2 0.5 0.15] cost 2.09113896687869 best [ 1.66 0.38223317 -0.00502485 1.35223256 0.9988881 0.00347365\n -0.00787972 -0.04635082 1.02829874 -0.01303877 -0.32987769 0.11842599\n 0.03204213 -0.2039256 0.57725474 0.17218968 2.60997581]\npre [ 1.20000000e+00 -5.95336509e-03 -2.77898228e-04 6.94182051e-01\n 9.72494074e-01 2.29717476e-04 2.32927489e-01 8.49246404e-05\n 1.13983514e-01 -1.22224482e-04 -1.66461901e-02 2.58823013e-04\n 2.43147799e-01 9.33883718e-05 5.73481753e-01 -1.69985370e-01\n 4.95947329e-01]\nmax [ 1.68 0.40224888 -0.00508839 1.34382073 0.99870828 0.00408234\n -0.00895916 -0.04984826 0.96910689 0.00557345 -0.50413479 0.02113765\n -0.18150728 -0.51140493 0.43526997 0.18539936 2.61910742]\ndifferential_evolution step 14: f(x)= 1.448045064499223\ndifferential_evolution step 15: f(x)= 1.448045064499223\ndifferential_evolution step 16: f(x)= 1.448045064499223\n","exit":[0],"pics":[]},"tok":{"in":78843,"cached":77312,"out":625,"think":516,"usd":0.1239},"sim":{"submit":0,"reset":0}},{"id":55,"t":1045.6,"say":"","calls":[{"kind":"shell","label":"tail -4 /app/output/bent_search_v2.log; date -u","code":"tail -4 /app/output/bent_search_v2.log; date -u"}],"out":{"text":"differential_evolution step 21: f(x)= 1.448045064499223\ndifferential_evolution step 22: f(x)= 1.448045064499223\ndifferential_evolution step 23: f(x)= 1.4478000107770959\ndifferential_evolution step 24: f(x)= 1.4340816600766648\nThu Oct 15 13:30:52 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":80048,"cached":78720,"out":560,"think":516,"usd":0.12},"sim":{"submit":0,"reset":0}},{"id":56,"t":1081.4,"say":"The recorded motor torques show more force at high joint speeds than my initial model assumed. I’ve updated the estimate and am searching takeoff timings that produce lift while keeping the torso upright enough to reach the rim and land.","calls":[{"kind":"shell","label":"p='/app/output/model.py';s=open(p).read().replace(\"m=mj.MjModel.from_xml_path(str(P/'model.xml')); d=mj.MjData","code":"python - <<'PY'\np='/app/output/model.py';s=open(p).read().replace(\"m=mj.MjModel.from_xml_path(str(P/'model.xml')); d=mj.MjData(m)\",\"m=mj.MjModel.from_xml_string(ET.tostring(root,encoding='unicode')); d=mj.MjData(m)\")\nopen(p,'w').write(s)\nPY\npython -m pip install -q cma\ncat > /app/output/spline_sim.py <<'PY'\nfrom bent_sim import support2,kp,kd\nfrom local_sim import *\nfrom scipy.interpolate import PchipInterpolator\n# p: crouch hip knee ankle, arm0 elbow0, hip knots1/2/3, ankle knots1/2/3,\n# extension duration, arm time, arm delay, airhip, airknee, final shoulder/elbow\nBOUNDS=[(-2,-1.1),(1.6,2.05),(-.895,-.5),(-2.9,.6),(-.1,1.8),(-1.5,.1),(-1,.3),(-.4,.4),(-.85,.3),(-.8,.52),(-.5,.52),(.16,.4),(.15,.6),(-.25,.1),(-.6,.3),(.1,1.2),(-3.14,-2.3),(1.3,1.9)]\ndef actions(p):\n hp,kn,ank,arm,el=p[:5];dur=p[11]\n q=pose(kn,0,arm,el);q[[1,7]]=hp;q[[4,10]]=ank\n # preparation starts arms swing near end according to delay\n pre=[]\n for i,z in enumerate(ramp(Q0,q,1.2)):\n t=(i+1)*.01-1.2\n if t>p[13]:\n s=np.clip((t-p[13])/p[12],0,1);z[[13,20]]=arm+(p[16]-arm)*s;z[[16,23]]=el+(p[17]-el)*s\n pre.append(low(z,kp,kd,support2(z)))\n k=kp.copy();k[[1,7,3,9]]=1500;k[[4,10]]=1000\n v=kd.copy();v[[1,7,3,9,4,10]]=5\n times=np.linspace(0,dur,4);hip=PchipInterpolator(times,[hp,*p[5:8]]);ankle=PchipInterpolator(times,[ank,*p[8:11]])\n for i in range(round((dur+.85)*100)):\n t=(i+1)*.01\n if t<=dur:\n z=pose(-.26);z[[1,7]]=hip(t);z[[4,10]]=ankle(t);K=k;D=v\n else:\n z=pose(p[15]);z[[1,7]]=p[14];z[[4,10]]=-p[14]-p[15];K=kp;D=kd\n s=np.clip((t-p[13])/p[12],0,1)\n z[[13,20]]=arm+(p[16]-arm)*s;z[[16,23]]=el+(p[17]-el)*s\n pre.append(low(z,K,D))\n return np.array(pre)\ndef obj(p,ret=False):\n a=actions(p);h=sim(a);s=h[120:]\n pitch=np.array([Rotation.from_quat(q,scalar_first=True).as_euler('xyz')[1] for q in s[:,4:8]])\n c=(s[:,14]-1.25)**2+6*np.maximum(3.23-s[:,16],0)**2+.2*pitch**2+.005*s[:,12]**2+.2*s[:,15]**2\n i=c.argmin();cost=c[i]\n # penalize collapsing before jump or forward crouch beyond toe support\n cost+=5*max(0,.5-h[119,3])**2\n if ret:return h,a,i+120,cost\n return cost\nif __name__=='__main__':\n import cma,sys,multiprocessing as mp\n lo,hi=np.array(BOUNDS).T\n p0=np.array([-1.7,2,-.85,0,0,-.8,-.1,.1,-.6,.1,.5,.3,.4,0,-.2,.5,-2.9,1.5])\n if len(sys.argv)>1:p0=np.load(sys.argv[1])['p']\n es=cma.CMAEvolutionStrategy((p0-lo)/(hi-lo),.18,{'bounds':[0,1],'popsize':20,'maxiter':140,'verb_disp':5})\n best=(1e9,None)\n with mp.Pool(4) as pool:\n while not es.stop():\n xs=es.ask();ps=[lo+np.array(x)*(hi-lo) for x in xs];vals=pool.map(obj,ps);es.tell(xs,vals);es.disp()\n i=np.argmin(vals)\n if vals[i] /app/output/spline_search.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":80765,"cached":80000,"out":1867,"think":529,"usd":0.181},"sim":{"submit":0,"reset":0}},{"id":57,"t":1131.7,"say":"","calls":[{"kind":"shell","label":"tail -15 /app/output/bent_search_v2.log; tail -6 /app/output/spline_search.log","code":"tail -15 /app/output/bent_search_v2.log; tail -6 /app/output/spline_search.log"}],"out":{"text":"differential_evolution step 30: f(x)= 1.4220427172900842\ndifferential_evolution step 31: f(x)= 1.4220427172900842\ndifferential_evolution step 32: f(x)= 1.405325158321831\ndifferential_evolution step 33: f(x)= 1.3780822140101467\ndifferential_evolution step 34: f(x)= 1.3780822140101467\ndifferential_evolution step 35: f(x)= 1.3780822140101467\ndifferential_evolution step 36: f(x)= 1.3780822140101467\ndifferential_evolution step 37: f(x)= 1.3780822140101467\ndifferential_evolution step 38: f(x)= 1.3780822140101467\ndifferential_evolution step 39: f(x)= 1.3735146003629364\ndifferential_evolution step 40: f(x)= 1.3735146003629364\ndifferential_evolution step 41: f(x)= 1.3735146003629364\ndifferential_evolution step 42: f(x)= 1.3735146003629364\ndifferential_evolution step 43: f(x)= 1.3735146003629364\ndifferential_evolution step 44: f(x)= 1.3735146003629364\n/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\n(10_w,20)-aCMA-ES (mu_w=5.9,w_1=27%) in dimension 18 (seed=201344, Thu Oct 15 13:32:16 2026)\nIterat #Fevals function value axis ratio sigma min&max std t[m:s]\n 1 20 1.787287533653048e+00 1.0e+00 1.69e-01 2e-01 2e-01 0:01.8 \nBEST 1.7872875336530478 ball [0.8612796 0.16955742 2.71393661]\n","exit":[0],"pics":[]},"tok":{"in":82689,"cached":80640,"out":79,"think":28,"usd":0.1051},"sim":{"submit":0,"reset":0}},{"id":58,"t":1181.0,"say":"","calls":[{"kind":"shell","label":"writes estimate.py","code":"cat > /app/output/estimate.py <<'PY'\nfrom vision import *\nfrom model import fk,d\n\ndef locate(res,base_y=0):\n p=np.array(res.meta['proprio']['now']);fk(p[:27],base=[0,base_y,0],quat=p[108:112])\n offset=d.site('right_ball').xpos.copy()\n img=res.last['venue'];options=ballpixel(img)\n options=[o for o in options if 16020 and .6 /app/output/service_array.py <<'PY'\nfrom control import *\nfrom estimate import locate\nimport sys\nr=Robot();z=np.load(sys.argv[1]);a=z['a']\nstart=int(sys.argv[2]) if len(sys.argv)>2 else 0\nend=int(sys.argv[3]) if len(sys.argv)>3 else len(a)\nname=sys.argv[4] if len(sys.argv)>4 else 'array'\nfor i in range(start,end,10 if start else 120):\n x=r.submit('lowcmd',a[i:min(i+(10 if start else 120),end)],cameras=['venue'],video='frames',video_fps=30)\n report(x,name+f'_{i}');print('vision',locate(x),flush=True)\n if x.done:break\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial4.npz 0 120 trial4"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":86792,"cached":85632,"out":424,"think":162,"usd":0.1184},"sim":{"submit":1,"reset":0}},{"id":62,"t":1258.7,"say":"The latest model search brings the ball close to rim height by delaying ankle extension until later in the push. I’m checking that sequence on the service now; the remaining gap is vertical clearance and forward reach.","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:31508,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\ntext(await tools.exec_command({cmd:\"OPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial4.npz 120 180 trial4\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"},{"kind":"robot","label":"OPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial4.npz 120 180 trial4","code":"OPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial4.npz 120 180 trial4"}],"out":{"text":"trial4_0 {'calls': 11, 'rows': 565, 'control_steps': 120, 'done': False, 'reason': None, 'episode': 4, 'control_steps_total': 587, 'resets_left': 47, 'sim_time_s': 1.2, 'time_s': 1244.35, 'time_left_s': 5955.6, 'chunk_id': 11, 'type': 'lowcmd', 'executed_rows': 120, 'control_steps_chunk': 120, 'n_clipped': 0, 'ok': True}\nq [-4.000e-03 -1.978e+00 -4.000e-03 2.053e+00 -5.890e-01 1.800e-02\n 2.800e-02 -1.941e+00 9.000e-03 2.040e+00 -6.050e-01 9.000e-03\n -4.800e-02 -7.670e-01 7.300e-02 -2.000e-03 1.670e+00 5.000e-03\n 3.700e-02 1.600e-02 -2.000e-03 -8.400e-02 -2.400e-02 1.543e+00\n 3.800e-02 -5.300e-01 -1.120e-01]\nrpy [-0.038 0.41 0.028] gyro [-0.37 0.181 -0.099]\nvision None\n","exit":[0],"pics":[]},"tok":{"in":87274,"cached":86656,"out":176,"think":35,"usd":0.1016},"sim":{"submit":6,"reset":0}},{"id":63,"t":1270.7,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/trial4_0/last/venue.jpg"},{"kind":"shell","label":"waits for the running program's output","code":"image((await tools.view_image({path:\"/app/output/trial4_0/last/venue.jpg\"})));\ntext(await tools.write_stdin({session_id:4951,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":3000}));\n"}],"out":{"text":"trial4_120 {'calls': 12, 'rows': 575, 'control_steps': 130, 'done': False, 'reason': None, 'episode': 4, 'control_steps_total': 597, 'resets_left': 47, 'sim_time_s': 1.3, 'time_s': 1251.25, 'time_left_s': 5948.7, 'chunk_id': 12, 'type': 'lowcmd', 'executed_rows': 10, 'control_steps_chunk': 10, 'n_clipped': 0, 'ok': True}\nq [ 1.800e-02 -1.384e+00 -3.000e-03 1.609e+00 -4.800e-01 4.900e-02\n 1.600e-02 -1.333e+00 2.900e-02 1.527e+00 -4.560e-01 5.500e-02\n -4.100e-02 -1.322e+00 -8.000e-03 1.000e-03 1.705e+00 1.000e-03\n 1.400e-02 -0.000e+00 -5.140e-01 1.700e-02 0.000e+00 1.960e+00\n -7.000e-03 4.670e-01 2.400e-02]\nrpy [-0.079 0.239 -0.015] gyro [ 0.045 -3.36 -0.537]\nvision None\ntrial4_130 {'calls': 13, 'rows': 585, 'control_steps': 140, 'done': False, 'reason': None, 'episode': 4, 'control_steps_total': 607, 'resets_left': 47, 'sim_time_s': 1.4, 'time_s': 1251.89, 'time_left_s': 5948.1, 'chunk_id': 13, 'type': 'lowcmd', 'executed_rows': 10, 'control_steps_chunk': 10, 'n_clipped': 0, 'ok': True}\nq [ 1.000e-03 -6.200e-02 -3.000e-03 2.350e-01 -7.490e-01 3.000e-03\n -1.200e-02 -1.780e-01 -6.000e-03 1.470e-01 -7.480e-01 2.000e-03\n 4.300e-02 -1.960e+00 7.000e-02 -8.000e-03 1.701e+00 1.000e-03\n 2.600e-02 1.500e-02 -7.700e-02 4.600e-02 -2.000e-03 1.666e+00\n 3.000e-03 2.680e-01 -1.270e-01]\nrpy [-0.071 -0.15 -0.017] gyro [-0.327 3.149 -0.545]\nvision None\ntrial4_140 {'calls': 14, 'rows': 595, 'control_steps': 150, 'done': False, 'reason': None, 'episode': 4, 'cont\n… (1,059 characters left out) …\ne+00 1.840e-01 1.575e+00 -7.780e-01 -2.000e-03\n -5.200e-02 2.000e-02 -7.400e-01 3.000e-02 2.500e-02 2.353e+00\n -4.000e-02 2.530e-01 -2.460e-01]\nrpy [ 0.032 -0.031 -0.164] gyro [ 0.697 -10.42 -1.29 ]\nvision None\ntrial4_160 {'calls': 16, 'rows': 615, 'control_steps': 170, 'done': False, 'reason': None, 'episode': 4, 'control_steps_total': 637, 'resets_left': 47, 'sim_time_s': 1.7, 'time_s': 1253.82, 'time_left_s': 5946.2, 'chunk_id': 16, 'type': 'lowcmd', 'executed_rows': 10, 'control_steps_chunk': 10, 'n_clipped': 20, 'ok': True}\nq [ 0.02 1.141 -0.044 0.91 -0.891 -0. 0.03 0.641 -0.045 0.902\n -0.89 -0. -0.056 -2.976 0.203 2.238 1.068 -0.004 0.004 0.053\n -0.193 -0.202 0.015 1.736 0.008 0.021 0.025]\nrpy [ 0.088 -0.861 -0.298] gyro [-0.419 -1.181 -1.591]\nvision None\ntrial4_170 {'calls': 17, 'rows': 625, 'control_steps': 180, 'done': False, 'reason': None, 'episode': 4, 'control_steps_total': 647, 'resets_left': 47, 'sim_time_s': 1.8, 'time_s': 1254.45, 'time_left_s': 5945.6, 'chunk_id': 17, 'type': 'lowcmd', 'executed_rows': 10, 'control_steps_chunk': 10, 'n_clipped': 20, 'ok': True}\nq [-1.300e-02 4.040e-01 3.700e-02 8.550e-01 -8.930e-01 0.000e+00\n -2.000e-03 1.240e-01 1.800e-02 8.070e-01 -8.980e-01 0.000e+00\n -2.400e-02 -3.170e+00 1.750e-01 1.543e+00 1.986e+00 0.000e+00\n 7.600e-02 -2.000e-03 -7.890e-01 2.500e-02 1.000e-03 1.721e+00\n 1.000e-03 9.500e-02 -5.500e-02]\nrpy [ 0.133 -0.662 -0.387] gyro [1.036 3.047 1.336]\nvision None\n","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s063_0.jpg"]},"tok":{"in":87915,"cached":87168,"out":158,"think":92,"usd":0.1025},"sim":{"submit":0,"reset":0}},{"id":64,"t":1306.7,"say":"","calls":[{"kind":"shell","label":"writes fetch_mesh.py","code":"cat > /app/output/fetch_mesh.py <<'PY'\nfrom pathlib import Path\nimport xml.etree.ElementTree as ET\nimport requests,concurrent.futures\nP=Path('/app/output');(P/'meshes').mkdir(exist_ok=True)\nfiles=[e.get('file') for e in ET.parse(P/'robot.xml').findall('.//mesh')]\ndef fetch(n):\n r=requests.get('https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/unitree_robots/h1_2/meshes/'+n);r.raise_for_status();(P/'meshes'/n).write_bytes(r.content);return n,len(r.content)\nwith concurrent.futures.ThreadPoolExecutor(8) as pool:\n for x in pool.map(fetch,files):print(x)\nPY\npython /app/output/fetch_mesh.py"}],"out":{"text":"('pelvis.STL', 672884)\n('left_hip_yaw_link.STL', 834984)\n('left_hip_pitch_link.STL', 1270184)\n('left_hip_roll_link.STL', 383184)\n('left_knee_link.STL', 212384)\n('left_ankle_pitch_link.STL', 34084)\n('left_ankle_roll_link.STL', 200484)\n('right_hip_yaw_link.STL', 840384)\n('right_hip_pitch_link.STL', 1264684)\n('right_hip_roll_link.STL', 386484)\n('right_knee_link.STL', 212384)\n('right_ankle_pitch_link.STL', 34084)\n('right_ankle_roll_link.STL', 200484)\n('torso_link.STL', 2122084)\n('left_shoulder_pitch_link.STL', 1968984)\n('left_shoulder_roll_link.STL', 1993784)\n('left_shoulder_yaw_link.STL', 2137684)\n('left_elbow_link.STL', 1287684)\n('left_wrist_roll_link.STL', 1243084)\n('left_wrist_pitch_link.STL', 630184)\n('wrist_yaw_link.STL', 53284)\n('right_shoulder_pitch_link.STL', 1966084)\n('right_shoulder_roll_link.STL', 2015084)\n('right_shoulder_yaw_link.STL', 2158684)\n('right_elbow_link.STL', 1286984)\n('right_wrist_roll_link.STL', 1242984)\n('right_wrist_pitch_link.STL', 630184)\n('logo_link.STL', 145484)\n","exit":[0],"pics":[]},"tok":{"in":90461,"cached":87808,"out":724,"think":506,"usd":0.1505},"sim":{"submit":0,"reset":0}},{"id":65,"t":1329.3,"say":"","calls":[{"kind":"shell","label":"for p in os.listdir('/proc'):","code":"python - <<'PY'\nimport os,signal\nfor p in os.listdir('/proc'):\n if p.isdigit():\n try:\n s=open(f'/proc/{p}/cmdline','rb').read().split(b'\\0')\n if len(s)==3 and s[0]==b'python' and s[1]==b'-u':pass\n if b'/app/output/spline_sim.py' in s:os.kill(int(p),signal.SIGTERM)\n except:pass\nPY\ncp /app/output/model.py /app/output/model_simple.py\npython - <<'PY'\np='/app/output/model.py';s=open(p).read().replace(\"root.remove(root.find('asset'))\",\"root.find('compiler').set('meshdir',str(P/'meshes'))\")\ns=s.replace(\"for body in root.findall('.//body'):\\n for geom in list(body.findall('geom')):body.remove(geom)\",\"for body in root.findall('.//body'):\\n for geom in list(body.findall('geom')):\\n if geom.get('contype')=='0' or body.get('name','').endswith('ankle_roll_link'):body.remove(geom)\")\ns=s.replace(\"mass='.193',contype='0',conaffinity='0'\",\"mass='.193'\").replace(\"mass='.62',contype='0',conaffinity='0'\",\"mass='.62'\")\ns=s.replace(\"for j in root.findall('.//joint'):\",\"for j in root.findall('.//joint'):\")\nopen(p,'w').write(s)\np='/app/output/local_sim.py';s=open(p).read();s=s.replace('tar+=np.clip(a[:27]-tar,-V*.01,V*.01)',\"tar+=np.clip(np.clip(a[:27],np.array(S['action_types']['joints']['lower'][:27]),np.array(S['action_types']['joints']['upper'][:27]))-tar,-V*.01,V*.01)\")\nopen(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/bent_sim.py -1.55 1.9 -.8 0 .1 .5 .3 -.2 .5 .15"}],"out":{"text":"params [-1.55 1.9 -0.8 0. 0.1 0.5 0.3 -0.2 0.5 0.15] cost 2.0843001980338762 best [ 1.66 0.37435151 -0.00501301 1.34821759 0.99847306 0.00633132\n -0.03192173 -0.04463713 1.02474087 0.00426876 -0.3001038 0.1545889\n -0.61284765 0.0444564 0.60302367 0.12381571 2.6051271 ]\npre [ 1.20000000e+00 -5.95336509e-03 -2.77898228e-04 6.94182051e-01\n 9.72494074e-01 2.29717476e-04 2.32927489e-01 8.49246404e-05\n 1.13983514e-01 -1.22224482e-04 -1.66461901e-02 2.58823013e-04\n 2.43147799e-01 9.33883718e-05 5.73481753e-01 -1.69985370e-01\n 4.95947329e-01]\nmax [ 1.67 0.38420042 -0.00496086 1.34477294 0.99838149 0.00666626\n -0.03420303 -0.04494575 0.95254098 0.00638372 -0.38023011 0.02111874\n -0.34934232 -0.14281122 0.53387724 0.1323958 2.61177833]\n","exit":[0],"pics":[]},"tok":{"in":91643,"cached":90368,"out":566,"think":51,"usd":0.1314},"sim":{"submit":0,"reset":0}},{"id":66,"t":1358.5,"say":"","calls":[{"kind":"shell","label":"p='/app/output/spline_sim.py';s=open(p).read().replace('(-2,-1.1)','(-2.4,-1.1)').replace(\"P/'spline_best.npz'","code":"python - <<'PY'\np='/app/output/spline_sim.py';s=open(p).read().replace('(-2,-1.1)','(-2.4,-1.1)').replace(\"P/'spline_best.npz'\",\"P/'spline_full_best.npz'\")\ns=s.replace('cost+=5*max(0,.5-h[119,3])**2','cost+=5*max(0,.5-h[119,3])**2+20*max(0,.17-np.min(h[:120,16]))**2')\ns=s.replace(\"'maxiter':140\",\"'maxiter':180\")\nopen('/app/output/spline_full.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/spline_full.py > /app/output/spline_full.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":92732,"cached":91520,"out":569,"think":349,"usd":0.1321},"sim":{"submit":0,"reset":0}},{"id":67,"t":1404.5,"say":"The service test exposed a missing collision in the model: during the deeper crouch, the ball hit the floor and disrupted the right-arm swing. I’ve added the public robot collision geometry and the ball to the local model so the search can account for that obstruction.","calls":[{"kind":"shell","label":"tail -8 /app/output/spline_full.log; date -u; cat /run/rcb-limits/usage.json","code":"tail -8 /app/output/spline_full.log; date -u; cat /run/rcb-limits/usage.json"}],"out":{"text":" 7 140 2.038761696202275e+00 1.4e+00 1.69e-01 1e-01 2e-01 0:16.9 \n 10 200 1.739349501607274e+00 1.5e+00 1.60e-01 1e-01 2e-01 0:24.0 \nBEST 1.7393495016072742 ball [0.63529148 0.11949291 2.75636685]\nBEST 1.6378502080387856 ball [0.64719227 0.15005985 2.77500473]\n 13 260 1.568912480968789e+00 1.7e+00 1.56e-01 1e-01 2e-01 0:31.3 \nBEST 1.5689124809687887 ball [0.70300707 0.15351485 2.77705228]\nBEST 1.3151864998357927 ball [0.8161831 0.14593639 2.80145706]\n 15 300 1.485226603430992e+00 1.8e+00 1.51e-01 1e-01 2e-01 0:36.0 \nThu Oct 15 13:36:53 UTC 2026\n{\n \"t\": 1792071411.66,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 1.197,\n \"processes\": 13,\n \"disk_gb\": 0.956,\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":[0],"pics":[]},"tok":{"in":93357,"cached":92672,"out":780,"think":666,"usd":0.1385},"sim":{"submit":0,"reset":0}},{"id":68,"t":1460.4,"say":"","calls":[{"kind":"shell","label":"for sp in [-2.6,-2.9,-3.14]:","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom model import *\nfrom control import *\nfor sp in [-2.6,-2.9,-3.14]:\n for sr in [0,-.25,-.5,-.7]:\n q=pose(.1,0,sp,1.57);q[21]=sr;fk(q)\n print(sp,sr,d.site('right_ball').xpos.round(3))\nPY"}],"out":{"text":"-2.6 0 [0.464 0.258 2.138]\n-2.6 -0.25 [0.486 0.047 2.232]\n-2.6 -0.5 [ 0.477 -0.179 2.278]\n-2.6 -0.7 [ 0.449 -0.363 2.279]\n-2.9 0 [0.218 0.285 2.238]\n-2.9 -0.25 [0.228 0.075 2.336]\n-2.9 -0.5 [ 0.224 -0.152 2.38 ]\n-2.9 -0.7 [ 0.212 -0.337 2.376]\n-3.14 0 [0.007 0.292 2.264]\n-3.14 -0.25 [0.007 0.083 2.363]\n-3.14 -0.5 [ 0.007 -0.145 2.407]\n-3.14 -0.7 [ 0.006 -0.33 2.401]\n","exit":[0],"pics":[]},"tok":{"in":94712,"cached":93184,"out":943,"think":801,"usd":0.1556},"sim":{"submit":0,"reset":0}},{"id":69,"t":1487.9,"say":"","calls":[{"kind":"shell","label":"p='/app/output/spline_full.py';s=open(p).read().replace(\"q=pose(kn,0,arm,el);\",\"q=pose(kn,0,arm,el,roll=.35);\"","code":"python - <<'PY'\np='/app/output/spline_full.py';s=open(p).read().replace(\"q=pose(kn,0,arm,el);\",\"q=pose(kn,0,arm,el,roll=.35);\")\ns=s.replace('pre.append(low(z,K,D))','z[14]=.35;z[21]=-.35\\n pre.append(low(z,K,D))')\ns=s.replace(\"P/'spline_full_best.npz'\",\"P/'spline_roll_best.npz'\")\nopen('/app/output/spline_roll.py','w').write(s)\nPY\ntail -4 /app/output/spline_full.log"}],"out":{"text":"\r\u001b[2K 30 600 1.264284489729944e+00 2.4e+00 1.11e-01 7e-02 1e-01 1:11.8 -BEST 1.1928412784401279 ball [0.71589778 0.15628508 2.84433117]\n\r\u001b[2K 35 700 1.223369430008119e+00 2.7e+00 9.57e-02 6e-02 1e-01 1:23.7 -BEST 1.1480039338377286 ball [0.69752592 0.05681785 2.86164133]\n\r\u001b[2K 40 800 1.161752027030939e+00 2.9e+00 8.89e-02 5e-02 1e-01 1:35.7 -BEST 1.0706570875384924 ball [0.72702119 0.055946 2.86879392]\n\r\u001b[2K 45 900 1.148343765945076e+00 3.4e+00 8.59e-02 5e-02 1e-01 1:47.8 -\r\u001b[2K 50 1000 1.170824662963036e+00 3.7e+00 7.77e-02 4e-02 9e-02 1:59.7 -","exit":[0],"pics":[]},"tok":{"in":95981,"cached":94592,"out":515,"think":344,"usd":0.1342},"sim":{"submit":0,"reset":0}},{"id":70,"t":1496.8,"say":"","calls":[{"kind":"shell","label":"for p in os.listdir('/proc'):","code":"python - <<'PY'\nimport os,signal\nfor p in os.listdir('/proc'):\n if p.isdigit():\n try:\n s=open(f'/proc/{p}/cmdline','rb').read().split(b'\\0')\n if b'/app/output/spline_full.py' in s:os.kill(int(p),signal.SIGTERM)\n except:pass\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/spline_roll.py /app/output/spline_full_best.npz > /app/output/spline_roll.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":96932,"cached":95872,"out":189,"think":27,"usd":0.1159},"sim":{"submit":0,"reset":0}},{"id":71,"t":1504.6,"say":"","calls":[{"kind":"shell","label":"z=np.load('/app/output/spline_full_best.npz');print(z['p']);h=z['h'];print('preball',h[119,14:17],h[:120,16].m","code":"python - <<'PY'\nimport numpy as np\nz=np.load('/app/output/spline_full_best.npz');print(z['p']);h=z['h'];print('preball',h[119,14:17],h[:120,16].min());print('maxball',h[h[:,16].argmax(),:17]);\nPY"}],"out":{"text":"[-2.0101818 2.04706422 -0.64955776 0.52655533 0.02010903 -1.04032153\n -0.39805692 -0.09559288 -0.82500584 0.44293375 0.46330876 0.22322732\n 0.30451349 -0.11602879 0.0446614 0.51265957 -3.08873697 1.65312229]\npreball [ 0.35976003 -0.22278337 0.17579924] 0.1757992371415208\nmaxball [ 1.73000000e+00 3.72973740e-01 -2.82231783e-03 1.60117895e+00\n 9.87292868e-01 1.03739599e-02 1.14973339e-01 -1.09207621e-01\n 7.19701129e-01 -2.60345941e-02 9.29919153e-02 5.92149773e-02\n -1.69218334e-01 -4.44234758e-01 5.49589919e-01 7.58971109e-02\n 2.89323430e+00]\n","exit":[0],"pics":[]},"tok":{"in":97178,"cached":96768,"out":137,"think":34,"usd":0.1077},"sim":{"submit":0,"reset":0}},{"id":72,"t":1515.6,"say":"","calls":[{"kind":"robot","label":"cp /app/output/spline_full_best.npz /app/output/trial5.npz","code":"cp /app/output/spline_full_best.npz /app/output/trial5.npz\npython - <<'PY'\nfrom rcb_client import Robot\nr=Robot();print(r.reset(cameras=[]).meta['episode'])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial5.npz 0 120 trial5"}],"out":{"text":"5\n","exit":[],"pics":[]},"tok":{"in":97699,"cached":97024,"out":202,"think":87,"usd":0.1139},"sim":{"submit":1,"reset":1}},{"id":73,"t":1524.9,"say":"I found another useful adjustment in the arm geometry: rolling the shoulders outward makes the raised right arm reach higher and brings the ball closer to the basket’s centerline. I’m combining that with the delayed ankle push, then checking the resulting jump on the service.","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:48844,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\ntext(await tools.exec_command({cmd:\"OPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial5.npz 120 180 trial5\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"},{"kind":"robot","label":"OPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial5.npz 120 180 trial5","code":"OPENBLAS_NUM_THREADS=1 python /app/output/service_array.py /app/output/trial5.npz 120 180 trial5"}],"out":{"text":"trial5_0 {'calls': 19, 'rows': 745, 'control_steps': 120, 'done': False, 'reason': None, 'episode': 5, 'control_steps_total': 767, 'resets_left': 46, 'sim_time_s': 1.2, 'time_s': 1511.13, 'time_left_s': 5688.9, 'chunk_id': 19, 'type': 'lowcmd', 'executed_rows': 120, 'control_steps_chunk': 120, 'n_clipped': 0, 'ok': True}\nq [ 1.000e-03 -2.006e+00 -2.000e-03 2.054e+00 -5.900e-01 -0.000e+00\n 1.200e-02 -1.995e+00 2.000e-03 2.053e+00 -5.630e-01 6.000e-03\n -3.100e-02 -1.850e-01 2.400e-02 1.300e-02 6.170e-01 0.000e+00\n 3.200e-02 4.000e-03 -4.900e-02 -5.300e-02 -6.800e-02 6.290e-01\n -1.700e-02 1.200e-01 -1.710e-01]\nrpy [0.008 0.455 0.022] gyro [-0.148 -0.33 0.33 ]\nvision None\n","exit":[0],"pics":[]},"tok":{"in":97960,"cached":97536,"out":181,"think":29,"usd":0.1108},"sim":{"submit":6,"reset":0}},{"id":74,"t":1535.7,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:27286,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":4000}));\ntext(await tools.exec_command({cmd:\"tail -5 /app/output/spline_roll.log; date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"tail -5 /app/output/spline_roll.log; date -u","code":"tail -5 /app/output/spline_roll.log; date -u"}],"out":{"text":"trial5_120 {'calls': 20, 'rows': 755, 'control_steps': 130, 'done': False, 'reason': None, 'episode': 5, 'control_steps_total': 777, 'resets_left': 46, 'sim_time_s': 1.3, 'time_s': 1517.57, 'time_left_s': 5682.4, 'chunk_id': 20, 'type': 'lowcmd', 'executed_rows': 10, 'control_steps_chunk': 10, 'n_clipped': 0, 'ok': True}\nq [ 2.200e-02 -1.396e+00 3.000e-03 1.682e+00 -5.520e-01 1.000e-02\n 8.000e-03 -1.402e+00 2.800e-02 1.689e+00 -5.560e-01 -5.000e-03\n -4.300e-02 -9.670e-01 1.200e-02 2.000e-03 1.224e+00 1.000e-03\n 4.300e-02 2.000e-03 -6.980e-01 -4.300e-02 -9.000e-03 1.546e+00\n -2.000e-03 1.000e-01 -3.400e-02]\nrpy [ 0.003 0.244 -0.004] gyro [ 0.215 -3.789 0.167]\nvision None\ntrial5_130 {'calls': 21, 'rows': 765, 'control_steps': 140, 'done': False, 'reason': None, 'episode': 5, 'control_steps_total': 787, 'resets_left': 46, 'sim_time_s': 1.4, 'time_s': 1518.23, 'time_left_s': 5681.8, 'chunk_id': 21, 'type': 'lowcmd', 'executed_rows': 10, 'control_steps_chunk': 10, 'n_clipped': 0, 'ok': True}\nq [ 7.000e-03 1.290e-01 1.000e-03 1.560e-01 2.180e-01 -2.000e-03\n -8.000e-03 1.130e-01 -7.000e-03 1.950e-01 1.790e-01 -3.000e-03\n 0.000e+00 -1.735e+00 5.300e-02 -3.000e-03 1.633e+00 1.000e-03\n 2.300e-02 1.100e-02 -1.239e+00 7.400e-02 -2.800e-02 2.197e+00\n -4.000e-03 1.480e-01 1.110e-01]\nrpy [ 0.027 -0.234 0.01 ] gyro [0.014 0.944 0.147]\nvision None\ntrial5_140 {'calls': 22, 'rows': 775, 'control_steps': 150, 'done': False, 'reason': None, 'episode': 5, 'control\n… (2,343 characters left out) …\n6]\nvision {'pixel': [184.0672268907563, 83.34453781512605], 'ball': [-0.20192963749971793, 0.029984802099564334, 2.805648129065809], 'pelvis': [0.044513727860370056, -1.3877787807814457e-17, 1.6381512138694059]}\ntrial5_170 {'calls': 25, 'rows': 805, 'control_steps': 180, 'done': False, 'reason': None, 'episode': 5, 'control_steps_total': 827, 'resets_left': 46, 'sim_time_s': 1.8, 'time_s': 1520.83, 'time_left_s': 5679.2, 'chunk_id': 25, 'type': 'lowcmd', 'executed_rows': 10, 'control_steps_chunk': 10, 'n_clipped': 0, 'ok': True}\nq [ 1.000e-03 3.900e-02 -1.100e-02 5.110e-01 -5.570e-01 -0.000e+00\n -1.000e-03 6.000e-02 -1.000e-02 5.160e-01 -5.570e-01 -0.000e+00\n 8.000e-03 -3.141e+00 1.820e-01 5.000e-03 1.572e+00 5.000e-03\n -4.000e-02 -3.000e-03 -2.610e+00 -1.140e-01 -4.000e-03 8.680e-01\n 2.300e-02 -2.430e-01 -3.000e-02]\nrpy [ 0.038 -0.181 0.424] gyro [ 0.094 -1.036 2.081]\nvision {'pixel': [184.38167938931298, 81.99236641221374], 'ball': [-0.2147648002857354, -0.019159815013728654, 2.8267041208507684], 'pelvis': [0.04774437907664408, 2.220446049250313e-16, 1.6224720674178674]}\n\n 7 140 1.646091609465170e+00 1.5e+00 2.07e-01 2e-01 2e-01 0:14.5 \n 10 200 1.402330965021807e+00 1.8e+00 2.43e-01 2e-01 3e-01 0:20.8 \n 13 260 1.367805958986027e+00 2.1e+00 2.51e-01 2e-01 3e-01 0:27.2 \n 15 300 1.481527743162421e+00 2.2e+00 2.46e-01 2e-01 3e-01 0:31.5 \nBEST 0.8917721907197852 ball [ 0.94143267 -0.24649462 2.87239381]\nThu Oct 15 13:39:02 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":98607,"cached":97792,"out":103,"think":31,"usd":0.1111},"sim":{"submit":0,"reset":0}},{"id":75,"t":1570.9,"say":"","calls":[{"kind":"shell","label":"z=np.load(P/'trial5.npz');h=z['h']","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nz=np.load(P/'trial5.npz');h=z['h']\nfor t in [1.2,1.3,1.4,1.5,1.6,1.7,1.8]:\n v=h[round(t*100)-1];name='trial5_'+('0' if t==1.2 else str(round(t*100)-10));p=np.array(json.loads((P/name/'meta.json').read_text())['proprio']['now'])\n print(t,'base',v[1:4].round(2),'pitch mod/act',round(Rotation.from_quat(v[4:8],scalar_first=True).as_euler('xyz')[1],2),round(Rotation.from_quat(p[108:112],scalar_first=True).as_euler('xyz')[1],2),'legs mod/act',v[[18,20,21]].round(2),p[[1,3,4]].round(2),'arm mod/act',v[[37,38,40]].round(2),p[[20,21,23]].round(2))\nPY"}],"out":{"text":"1.2 base [-0.12 0. 0.6 ] pitch mod/act 0.52 0.46 legs mod/act [-1.99 2.06 -0.59] [-2.01 2.05 -0.59] arm mod/act [-0.24 -0.09 0.6 ] [-0.05 -0.05 0.63]\n1.3 base [-0.08 0. 0.75] pitch mod/act 0.39 0.24 legs mod/act [-1.45 1.71 -0.65] [-1.4 1.68 -0.55] arm mod/act [-0.88 -0.02 1.76] [-0.7 -0.04 1.55]\n1.4 base [0.07 0. 1.12] pitch mod/act -0.04 -0.23 legs mod/act [0.15 0.08 0.02] [0.13 0.16 0.22] arm mod/act [-1.07 0.08 1.95] [-1.24 0.07 2.2 ]\n1.5 base [0.16 0.01 1.36] pitch mod/act 0.06 -0.14 legs mod/act [ 0.05 0.5 -0.19] [-0.02 0.48 -0.19] arm mod/act [-1.74 -0.01 1.71] [-1.76 -0.03 1.71]\n1.6 base [ 0.26 -0. 1.52] pitch mod/act 0.2 -0.07 legs mod/act [ 0.01 0.5 -0.56] [ 0.02 0.5 -0.56] arm mod/act [-2.72 -0.15 1.64] [-2.62 -0.11 1.55]\n1.7 base [ 0.35 -0. 1.59] pitch mod/act 0.23 -0.1 legs mod/act [ 0.07 0.52 -0.56] [ 0.08 0.52 -0.56] arm mod/act [-3.15 -0.24 1.52] [-2.62 -0.12 0.67]\n1.8 base [ 0.42 -0. 1.58] pitch mod/act 0.21 -0.18 legs mod/act [ 0.04 0.51 -0.56] [ 0.04 0.51 -0.56] arm mod/act [-3.11 -0.23 1.62] [-2.61 -0.11 0.87]\n","exit":[0],"pics":[]},"tok":{"in":101672,"cached":98432,"out":746,"think":451,"usd":0.1681},"sim":{"submit":0,"reset":0}},{"id":76,"t":1631.7,"say":"","calls":[{"kind":"shell","label":"tail -8 /app/output/spline_roll.log; date -u","code":"tail -8 /app/output/spline_roll.log; date -u"}],"out":{"text":" 15 300 1.481527743162421e+00 2.2e+00 2.46e-01 2e-01 3e-01 0:31.5 \nBEST 0.8917721907197852 ball [ 0.94143267 -0.24649462 2.87239381]\n 19 380 1.181155869738621e+00 2.4e+00 2.37e-01 2e-01 3e-01 0:39.8 \n 20 400 1.365610159703083e+00 2.5e+00 2.40e-01 2e-01 3e-01 0:41.9 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 25 500 9.192882569637256e-01 2.9e+00 2.64e-01 2e-01 3e-01 0:52.4 -BEST 0.7762147889251712 ball [ 0.93782897 -0.07402246 2.89560621]\n\r\u001b[2K 30 600 1.256522129666203e+00 3.0e+00 2.27e-01 1e-01 3e-01 1:02.6 -\r\u001b[2K 35 700 1.480282553510126e+00 3.5e+00 2.09e-01 1e-01 2e-01 1:12.7 -\r\u001b[2K 40 800 8.747669995093377e-01 4.0e+00 1.93e-01 1e-01 2e-01 1:22.7 -\r\u001b[2K 45 900 6.066755756052307e-01 4.4e+00 1.79e-01 8e-02 2e-01 1:32.8 -BEST 0.6066755756052307 ball [0.76400722 0.09734409 2.98255681]\n\r\u001b[2K 50 1000 9.035072884338650e-01 4.8e+00 1.95e-01 9e-02 2e-01 1:42.8 -\r\u001b[2K 55 1100 7.254591697133399e-01 5.3e+00 1.77e-01 7e-02 2e-01 1:52.7 -\r\u001b[2K 60 1200 6.151315913123656e-01 5.5e+00 1.89e-01 8e-02 2e-01 2:02.6 -BEST 0.5482929692772275 ball [ 0.69573479 -0.00862336 3.03083641]\nThu Oct 15 13:40:38 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":103149,"cached":101504,"out":1076,"think":1034,"usd":0.1718},"sim":{"submit":0,"reset":0}},{"id":77,"t":1645.1,"say":"The model now reaches about 3.0 m with the ball, but still falls short horizontally. The service also pitches farther backward than the model during takeoff. I’m adding IMU feedback to keep the launch angle closer to the planned trajectory.","calls":[{"kind":"robot","label":"writes track.py","code":"cat > /app/output/track.py <<'PY'\nfrom control import *\nfrom estimate import locate\nimport argparse\n\ndef run(r,z,name='track',step=3,end=None,pitchbias=0,reset=False):\n if reset:r.reset(cameras=[])\n a=z['a'];h=z['h'];end=len(a) if end is None else end\n x=r.get_obs(cameras=[],video='none');p=np.array(x.meta['proprio']['now']);t=round(p[-1]*100)\n for i in range(t,end,step):\n cur=Rotation.from_quat(p[108:112],scalar_first=True).as_euler('xyz')\n ref=Rotation.from_quat(h[max(0,i-1),4:8],scalar_first=True).as_euler('xyz') if i else np.zeros(3)\n omega=h[max(0,i-1),11:14] if i else np.zeros(3)\n err=cur-ref;err[1]-=pitchbias*min(i/120,1)\n gyr=p[112:115]-omega\n rows=a[i:min(i+step,end)].copy()\n if i<145:\n rows[:,[1,7]]+=np.clip(.7*err[1]+.07*gyr[1],-.25,.25)\n rows[:,[4,10]]+=np.clip(.4*err[1]+.04*gyr[1],-.2,.2)\n else:\n rows[:,[1,7]]+=np.clip(.5*err[1]+.05*gyr[1],-.25,.25)\n rows[:,[2,8]]+=np.clip(.6*err[0]+.06*gyr[0],-.15,.15)\n rows[:,[5,11]]+=np.clip(.4*err[0]+.04*gyr[0],-.12,.12)\n x=r.submit('lowcmd',rows,cameras=['venue'],video='none')\n x.save(P/f'{name}_{i:03d}');p=np.array(x.meta['proprio']['now'])\n print(i,'imu',cur.round(3),'err',err.round(3),'vision',locate(x),flush=True)\n if x.done:print(x.meta,flush=True);break\n return x\nif __name__=='__main__':\n pa=argparse.ArgumentParser();pa.add_argument('file');pa.add_argument('--reset',action='store_true');pa.add_argument('--name',default='track');pa.add_argument('--step',type=int,default=3);pa.add_argument('--end',type=int,default=190);pa.add_argument('--bias',type=float,default=0)\n args=pa.parse_args();run(Robot(),np.load(args.file),args.name,args.step,args.end,args.bias,args.reset)\nPY\npython - <<'PY'\nimport numpy as np\nz=np.load('/app/output/spline_roll_best.npz');print(z['p']);print(z['cost']);print('preball',z['h'][119,14:17])\nPY"}],"out":{"text":"[-1.86698454 2.03626379 -0.73585988 0.56213729 1.79997995 -0.26464987\n 0.00536047 -0.04111228 -0.59415493 -0.7971406 -0.3838693 0.19367915\n 0.33252543 -0.20654675 -0.32454296 0.30439702 -3.13544314 1.49816603]\n0.43458271131736753\npreball [-0.07014952 -0.47771946 0.15742816]\n","exit":[0],"pics":[]},"tok":{"in":105069,"cached":103040,"out":813,"think":47,"usd":0.164},"sim":{"submit":0,"reset":0}},{"id":78,"t":1688.3,"say":"","calls":[{"kind":"robot","label":"cp /app/output/spline_roll_best.npz /app/output/trial6.npz","code":"cp /app/output/spline_roll_best.npz /app/output/trial6.npz\nOPENBLAS_NUM_THREADS=1 python -u /app/output/track.py /app/output/trial6.npz --reset --name trial6 --step 3 --end 190 > /app/output/trial6.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":106090,"cached":104960,"out":308,"think":204,"usd":0.1317},"sim":{"submit":64,"reset":1}},{"id":79,"t":1724.8,"say":"","calls":[{"kind":"shell","label":"tail -8 /app/output/trial6.log; tail -5 /app/output/spline_roll.log; date -u","code":"tail -8 /app/output/trial6.log; tail -5 /app/output/spline_roll.log; date -u"}],"out":{"text":"168 imu [0.043 0.286 0.465] err [-0.008 -0.006 -0.148] vision {'pixel': [207.23275862068965, 77.40517241379311], 'ball': [0.23027194123146644, -0.016746551862286907, 2.921400505276196], 'pelvis': [0.34825303406765173, 3.469446951953614e-18, 1.6861199955294561]}\n171 imu [0.023 0.247 0.538] err [-0.004 -0.007 -0.137] vision {'pixel': [213.91525423728814, 73.12711864406779], 'ball': [0.3462427719395451, -0.06084900178482133, 3.0002229379138643], 'pelvis': [0.37980251198228354, 2.0816681711721685e-17, 1.6974006592043391]}\n174 imu [0.001 0.209 0.617] err [-0.001 -0.006 -0.121] vision {'pixel': [220.03571428571428, 70.91964285714286], 'ball': [0.4751405649962239, -0.06133905666373618, 3.0461759931487764], 'pelvis': [0.4048786382138257, 7.632783294297951e-17, 1.6995501612106851]}\n177 imu [-0.016 0.172 0.688] err [ 0. -0.007 -0.114] vision {'pixel': [225.1764705882353, 70.53921568627452], 'ball': [0.615620729624019, -0.010740077318155627, 3.0640170673296074], 'pelvis': [0.4396542528357221, -6.245004513516506e-17, 1.6953096981049864]}\n180 imu [-0.034 0.148 0.742] err [ 0.001 -0.006 -0.109] vision {'pixel': [228.25263157894736, 72.27368421052631], 'ball': [0.7321385039369461, 0.06984079554759681, 3.042883855886097], 'pelvis': [0.4751504094961747, 2.636779683484747e-16, 1.678984740324406]}\n183 imu [-0.054 0.126 0.77 ] err [ 0.001 -0.007 -0.108] vision {'pixel': [229.10588235294117, 75.12941176470588], 'ball': [0.8028064105780748, 0.15510456436220288, 2.9963776330525125], 'pelvi\n… (168 characters left out) …\n38823529411765], 'ball': [0.8249260538153511, 0.23181689099479819, 2.937168029948749], 'pelvis': [0.5363914789540967, 1.1102230246251565e-16, 1.6239094312576992]}\n189 imu [-0.085 0.086 0.812] err [-0.003 -0.008 -0.113] vision {'pixel': [227.58333333333334, 79.60714285714286], 'ball': [0.8261809370732272, 0.2550098947671051, 2.913998191715852], 'pelvis': [0.5495693644812791, -2.7755575615628914e-16, 1.6082342097633673]}\n\r\u001b[2K 65 1300 6.208646614022556e-01 5.9e+00 1.67e-01 6e-02 2e-01 2:12.5 -BEST 0.4882550310894135 ball [0.72429154 0.01787505 3.04365114]\n\r\u001b[2K 70 1400 5.657540738063221e-01 6.3e+00 1.60e-01 6e-02 2e-01 2:22.3 -BEST 0.43458271131736753 ball [ 0.97699509 -0.11330715 2.99160818]\n\r\u001b[2K 75 1500 5.854248980079096e-01 6.6e+00 1.46e-01 5e-02 2e-01 2:32.3 -\r\u001b[2K 80 1600 5.675489243390178e-01 6.9e+00 1.30e-01 4e-02 2e-01 2:42.2 -\r\u001b[2K 85 1700 3.869179864599344e-01 7.7e+00 1.34e-01 4e-02 2e-01 2:52.2 -BEST 0.38691798645993436 ball [ 0.82577186 -0.01574993 3.04747091]\n\r\u001b[2K 90 1800 6.164567950803090e-01 8.1e+00 1.13e-01 4e-02 1e-01 3:02.2 -\r\u001b[2K 95 1900 4.519385560915958e-01 8.7e+00 9.85e-02 3e-02 1e-01 3:12.3 -\r\u001b[2K 100 2000 3.915407835567827e-01 9.1e+00 9.68e-02 3e-02 1e-01 3:22.4 -BEST 0.3793789389932459 ball [ 0.95698397 -0.08242425 3.03040252]\n\r\u001b[2K 105 2100 4.188719709665759e-01 9.4e+00 8.25e-02 3e-02 1e-01 3:32.5 -BEST 0.37763043464581364 ball [ 0.90660192 -0.08676733 3.04424652]\nThu Oct 15 13:42:12 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":106455,"cached":105984,"out":569,"think":516,"usd":0.1391},"sim":{"submit":0,"reset":0}},{"id":80,"t":1783.8,"say":"","calls":[{"kind":"shell","label":"for n in ['trial6','spline_roll_best']:","code":"python - <<'PY'\nimport numpy as np\nfor n in ['trial6','spline_roll_best']:\n z=np.load('/app/output/'+n+'.npz');h=z['h'];print(n,'max',h[h[:,16].argmax(),[0,1,3,14,15,16]],'p',z['p'])\nPY"}],"out":{"text":"trial6 max [ 1.79 0.49569059 1.69503641 0.74260622 -0.09360209 3.06197792] p [-1.97731091 2.02787182 -0.6548158 0.29490474 1.77514807 -0.8586078\n -0.18391427 -0.08038763 -0.70319116 -0.78811034 -0.44960699 0.19289024\n 0.1601009 -0.15023513 -0.49838621 0.17145132 -3.0900658 1.54566475]\nspline_roll_best max [ 1.76 0.53301883 1.72507684 0.83755796 -0.12712318 3.07033792] p [-1.99515042 1.99795404 -0.65270302 0.57567387 1.69612315 -0.33856424\n -0.20143188 -0.11974378 -0.66568764 -0.79852521 -0.49925764 0.29584023\n 0.25893278 -0.17338255 -0.19821871 0.13274563 -3.11274889 1.44673105]\n","exit":[0],"pics":[]},"tok":{"in":108769,"cached":106368,"out":992,"think":885,"usd":0.18},"sim":{"submit":0,"reset":0}},{"id":81,"t":1822.4,"say":"","calls":[{"kind":"robot","label":"writes walk_probe.py","code":"cat > /app/output/walk_probe.py <<'PY'\nfrom control import *\nr=Robot();r.reset(cameras=['venue'])\nq=np.r_[.8,0,0,np.zeros(16),1]\nx=r.submit('walk',np.tile(q,(80,1)),cameras=['venue'],video='frames',video_fps=30);report(x,'walk7_0')\nPY\npython /app/output/walk_probe.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":110144,"cached":108672,"out":692,"think":559,"usd":0.158},"sim":{"submit":1,"reset":1}},{"id":82,"t":1834.3,"say":"The feedback-controlled service jump reached roughly 3.06 m with the ball, closely matching the model, but it was still short of the ring. I’m testing a short walking approach within the two-step allowance so the main jump can devote more of its effort to height.","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:1860,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\ntext(await tools.exec_command({cmd:\"tail -4 /app/output/spline_roll.log; date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"tail -4 /app/output/spline_roll.log; date -u","code":"tail -4 /app/output/spline_roll.log; date -u"}],"out":{"text":"walk7_0 {'calls': 93, 'rows': 1075, 'control_steps': 80, 'done': False, 'reason': None, 'episode': 7, 'control_steps_total': 1097, 'resets_left': 44, 'sim_time_s': 0.8, 'time_s': 1815.51, 'time_left_s': 5384.5, 'chunk_id': 93, 'type': 'walk', 'executed_rows': 80, 'control_steps_chunk': 80, 'n_clipped': 0, 'ok': True}\nq [-0.008 -0.23 0.027 0.417 -0.243 0.005 0.032 -0.254 0.014 0.424\n -0.195 -0.046 -0.002 0.016 -0.005 -0.002 0.019 0. 0.008 0.\n 0.027 -0.007 -0.005 0.04 -0.003 0.057 -0.007]\nrpy [0.022 0.013 0.042] gyro [0.049 0.034 0.257]\n\n\r\u001b[2K 155 3100 2.175909462801471e-01 1.7e+01 4.39e-02 1e-02 6e-02 5:13.8 -BEST 0.21499282520116555 ball [ 0.97861848 -0.04461998 3.07986324]\nBEST 0.21382192140731845 ball [ 1.02881194 -0.08576183 3.06718984]\n\r\u001b[2K 160 3200 2.134129148236336e-01 1.7e+01 3.85e-02 1e-02 5e-02 5:24.1 -BEST 0.2134129148236336 ball [ 1.03947895 -0.05002388 3.0645291 ]\nBEST 0.21284547238659485 ball [ 0.97571771 -0.02171702 3.08098906]\nThu Oct 15 13:44:03 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":110894,"cached":110080,"out":167,"think":33,"usd":0.1266},"sim":{"submit":0,"reset":0}},{"id":83,"t":1844.7,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nr=Robot();x=r.get_obs(seconds=.4,cameras=['venue'],video='frames',video_fps=30);report(x,'walk7_1')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":111701,"cached":110720,"out":133,"think":34,"usd":0.1272},"sim":{"submit":0,"reset":0}},{"id":84,"t":1882.0,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:48816,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\nimage((await tools.view_image({path:\"/app/output/walk7_1/last/venue.jpg\"})));\ntext(await tools.exec_command({cmd:\"python - <<'PY'\\nimport sys;sys.path.insert(0,'/app/output')\\nfrom control import *\\nx=np.load(P/'walk7_1/proprio.npy')\\nfor p in x[::3]:print(round(p[-1],2),p[:12].round(2),p[-4:-1])\\nPY\",\"max_output_tokens\":1000}));\n"},{"kind":"look","label":"venue.jpg","code":"/app/output/walk7_1/last/venue.jpg"},{"kind":"shell","label":"x=np.load(P/'walk7_1/proprio.npy')","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nx=np.load(P/'walk7_1/proprio.npy')\nfor p in x[::3]:print(round(p[-1],2),p[:12].round(2),p[-4:-1])\nPY"}],"out":{"text":"walk7_1 {'calls': 94, 'rows': 1075, 'control_steps': 120, 'done': False, 'reason': None, 'episode': 7, 'control_steps_total': 1137, 'resets_left': 44, 'sim_time_s': 1.2, 'time_s': 1836.08, 'time_left_s': 5363.9, 'obs_id': 94, 'seconds': 0.4, 'control_steps_watch': 40, 'ok': True}\nq [-0.028 -0.294 -0.039 0.459 -0.201 0.037 0.027 -0.262 0.008 0.4\n -0.186 0.006 0.003 0.016 0.003 0.002 0.02 0. 0.01 -0.\n 0.029 0.003 0.004 0.043 -0.003 0.059 0.004]\nrpy [-0.024 0.029 0.046] gyro [-0.183 -0.086 -0.129]\n\n0.8 [-0.01 -0.23 0.03 0.42 -0.24 0. 0.03 -0.25 0.01 0.42 -0.2 -0.05] [0.8 0. 0. ]\n0.89 [-0.01 -0.35 0.01 0.69 -0.41 0.05 0.04 -0.25 0.01 0.38 -0.17 -0.08] [0. 0. 0.]\n0.98 [-0.03 -0.39 -0.01 0.74 -0.42 0.04 0.04 -0.25 0.01 0.38 -0.16 -0.08] [0. 0. 0.]\n1.07 [-0.04 -0.33 -0.03 0.56 -0.33 -0.03 0.03 -0.29 0.02 0.43 -0.18 -0.07] [0. 0. 0.]\n1.16 [-0.03 -0.3 -0.04 0.47 -0.2 0.04 0.03 -0.29 0.01 0.45 -0.2 -0.02] [0. 0. 0.]\n","exit":[0,0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s084_0.jpg"]},"tok":{"in":111893,"cached":111616,"out":673,"think":516,"usd":0.148},"sim":{"submit":0,"reset":0}},{"id":85,"t":1908.5,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nr=Robot();row=np.r_[.8,0,0,np.zeros(16),1];x=r.submit('walk',np.tile(row,(30,1)),cameras=['venue'],video='frames',video_fps=30);report(x,'walk7_2')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":113444,"cached":111744,"out":459,"think":336,"usd":0.1517},"sim":{"submit":1,"reset":0}},{"id":86,"t":1931.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:17983,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\ntext(await tools.exec_command({cmd:\"tail -8 /app/output/spline_roll.log\",\"max_output_tokens\":1500}));\n"},{"kind":"shell","label":"tail -8 /app/output/spline_roll.log","code":"tail -8 /app/output/spline_roll.log"}],"out":{"text":"walk7_2 {'calls': 95, 'rows': 1104, 'control_steps': 149, 'done': True, 'reason': 'failed', 'episode': 7, 'control_steps_total': 1166, 'resets_left': 44, 'sim_time_s': 1.49, 'time_s': 1899.48, 'time_left_s': 5300.5, 'outcome': 'travelling: a third step with the ball in the hand', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 95, 'type': 'walk', 'executed_rows': 29, 'control_steps_chunk': 29, 'n_clipped': 0, 'ok': True}\nq [-0.041 -0.236 -0.076 0.39 -0.193 0.069 -0.015 -0.239 0.066 0.45\n -0.303 0.005 0.001 0.013 0.004 0.002 0.019 0. 0.008 0.\n 0.017 0.005 0.004 0.026 -0.003 0.034 0.005]\nrpy [-0.005 0.026 0.063] gyro [ 0.551 -0.043 0.191]\n\n\r\u001b[2K 165 3300 2.247915827862956e-01 1.8e+01 4.03e-02 1e-02 5e-02 5:34.3 -BEST 0.21079605413133354 ball [ 0.97115392 -0.052373 3.08349721]\nBEST 0.20702417800664846 ball [ 1.02774811 -0.04560897 3.07101582]\n\r\u001b[2K 170 3400 2.241372494214388e-01 1.8e+01 3.67e-02 1e-02 4e-02 5:44.5 -\r\u001b[2K 175 3500 2.050278150567401e-01 1.9e+01 3.56e-02 1e-02 4e-02 5:54.7 -BEST 0.20502781505674011 ball [ 1.01416291 -0.03084146 3.0746848 ]\n\r\u001b[2K 180 3600 2.060857603694279e-01 1.9e+01 3.06e-02 8e-03 4e-02 6:05.0 \n(np.float64(0.20502781505674011), array([-2.05579622, 2.042783 , -0.65384887, 0.58771274, 1.77310023,\n -0.15243062, -0.19635 , -0.15505441, -0.70298447, -0.78530768,\n -0.48542771, 0.26442195, 0.22458612, -0.15871086, -0.18416734,\n 0.10451679, -3.12777757, 1.4001962 ]))\n","exit":[0,0],"pics":[]},"tok":{"in":113961,"cached":113280,"out":264,"think":196,"usd":0.1333},"sim":{"submit":0,"reset":0}},{"id":87,"t":1947.9,"say":"","calls":[{"kind":"robot","label":"writes walk8.py","code":"cat > /app/output/walk8.py <<'PY'\nfrom control import *\nr=Robot();r.reset(cameras=[])\nrow=np.r_[.8,0,0,np.zeros(16),1]\nx=r.submit('walk',np.tile(row,(110,1)),cameras=['venue'],video='frames',video_fps=30);report(x,'walk8')\nif not x.done:\n x=r.submit('stand',np.tile(np.r_[np.zeros(16),1],(70,1)),cameras=['venue'],video='frames',video_fps=30);report(x,'stand8')\nPY\npython /app/output/walk8.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":115135,"cached":113792,"out":299,"think":118,"usd":0.1422},"sim":{"submit":2,"reset":1}},{"id":88,"t":1986.6,"say":"","calls":[{"kind":"shell","label":"p='/app/output/spline_roll.py';s=open(p).read().replace('(-.1,1.8)','(-.1,2.8)').replace('(-2.9,.6)','(-2.9,1.","code":"python - <<'PY'\np='/app/output/spline_roll.py';s=open(p).read().replace('(-.1,1.8)','(-.1,2.8)').replace('(-2.9,.6)','(-2.9,1.1)')\ns=s.replace('(s[:,14]-1.25)**2','(s[:,14]-.9)**2').replace('3.23-s[:,16]','3.26-s[:,16]').replace(\"P/'spline_roll_best.npz'\",\"P/'vertical_best.npz'\").replace('),.18,{','),.10,{')\nopen('/app/output/vertical.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/vertical.py /app/output/spline_roll_best.npz > /app/output/vertical.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":115492,"cached":114944,"out":737,"think":516,"usd":0.1573},"sim":{"submit":0,"reset":0}},{"id":89,"t":2000.3,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:43622,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\nimage((await tools.view_image({path:\"/app/output/stand8/last/venue.jpg\"})));\ntext(await tools.exec_command({cmd:\"date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"look","label":"venue.jpg","code":"/app/output/stand8/last/venue.jpg"},{"kind":"shell","label":"date -u","code":"date -u"}],"out":{"text":"walk8 {'calls': 97, 'rows': 1214, 'control_steps': 110, 'done': False, 'reason': None, 'episode': 8, 'control_steps_total': 1276, 'resets_left': 43, 'sim_time_s': 1.1, 'time_s': 1942.46, 'time_left_s': 5257.5, 'chunk_id': 97, 'type': 'walk', 'executed_rows': 110, 'control_steps_chunk': 110, 'n_clipped': 0, 'ok': True}\nq [-0.019 -0.398 -0.013 0.609 -0.347 -0.065 0.02 -0.292 0.029 0.44\n -0.212 -0.041 0.001 0.012 -0.004 -0.002 0.016 0. 0.007 -0.\n 0.025 -0.005 -0.002 0.038 -0.003 0.049 -0.003]\nrpy [-0.021 0.047 0.056] gyro [-0.585 -0.067 -0.013]\nstand8 {'calls': 98, 'rows': 1284, 'control_steps': 180, 'done': False, 'reason': None, 'episode': 8, 'control_steps_total': 1346, 'resets_left': 43, 'sim_time_s': 1.8, 'time_s': 1945.68, 'time_left_s': 5254.3, 'chunk_id': 98, 'type': 'stand', 'executed_rows': 70, 'control_steps_chunk': 70, 'n_clipped': 0, 'ok': True}\nq [-0.002 -0.174 -0.019 0.355 -0.255 0.108 -0. -0.154 0.009 0.361\n -0.187 -0.046 0.006 0.011 0.007 0.003 0.018 0. 0.008 0.001\n 0.014 0.008 0.009 0.032 -0.002 0.039 0.01 ]\nrpy [-0.152 0.078 0.07 ] gyro [0.05 0.199 0.013]\n\nThu Oct 15 13:46:47 UTC 2026\n","exit":[0,0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s089_0.jpg"]},"tok":{"in":116285,"cached":115328,"out":184,"think":101,"usd":0.1341},"sim":{"submit":0,"reset":0}},{"id":90,"t":2098.5,"say":"","calls":[{"kind":"shell","label":"cp /app/output/local_sim.py /app/output/local_sim_backup.py","code":"cp /app/output/local_sim.py /app/output/local_sim_backup.py\npython - <<'PY'\np='/app/output/local_sim.py';s=open(p).read();s=s.replace(\"hist.append(np.r_[d.time,d.qpos[:7],d.qvel[:6],d.site('right_ball').xpos,d.qpos[7:]])\", \"contacts=np.zeros(3)\\n for co in d.contact:\\n ids=[co.geom1,co.geom2]\\n if m.geom('floor').id in ids:\\n other=ids[1] if ids[0]==m.geom('floor').id else ids[0]\\n if other==m.geom('left_foot').id:contacts[0]=1\\n elif other==m.geom('right_foot').id:contacts[1]=1\\n elif m.geom_bodyid[other]!=m.body('held_ball').id:contacts[2]=1\\n hist.append(np.r_[d.time,d.qpos[:7],d.qvel[:6],d.site('right_ball').xpos,d.qpos[7:],d.body('left_ankle_roll_link').xpos,d.body('right_ankle_roll_link').xpos,contacts])\")\nopen(p,'w').write(s)\nPY\ncat > /app/output/hop.py <<'PY'\nfrom bent_sim import support2,kp,kd\nfrom local_sim import *\n# prepare knee,hip,ankle; launch hip,knee,ankle,duration; air hip,knee,ankle,duration; settle duration\nBOUNDS=[(.6,1.5),(-.9,-.1),(-.8,-.1),(-.7,.3),(-.2,.5),(-.4,.5),(.08,.25),(-.8,.1),(.2,1.4),(-.8,.3),(.1,.6),(.2,.8)]\ndef actions(p):\n q=pose(p[0]);q[[1,7]]=p[1];q[[4,10]]=p[2]\n pre=[low(z,kp,kd,support2(z)) for z in ramp(Q0,q,.7)]\n launch=pose(p[4]);launch[[1,7]]=p[3];launch[[4,10]]=p[5]\n k=kp.copy();k[[1,7,3,9]]=1500;v=kd.copy();v[[1,7,3,9]]=10\n pre += [low(launch,k,v)]*round(p[6]*100)\n air=pose(p[8]);air[[1,7]]=p[7];air[[4,10]]=p[9]\n pre += [low(air,kp,kd)]*round(p[10]*100)\n for z in ramp(air,Q0,p[11]):pre.append(low(z,kp,kd,support2(z)))\n pre += [low(Q0,kp,kd,support2(Q0))]*80\n return np.array(pre)\ndef obj(p,ret=False):\n a=actions(p);h=sim(a);s=h[-40:];rot=np.array([Rotation.from_quat(q,scalar_first=True).as_euler('xyz') for q in s[:,4:8]])\n c=10*np.mean((s[:,1]-.32)**2)+10*np.mean((s[:,3]-1.035)**2)+2*np.mean(rot**2)+np.mean(s[:,8:14]**2)+np.mean((s[:,17:44]-Q0)**2)\n c+=20*np.mean(h[:,52])+10*max(0,.4-h[:,3].min())**2\n # A single clean hop: each foot is airborne once, with a synchronized landing.\n edges=[]\n for j in [50,51]:\n off=0;ons=[]\n for i,on in enumerate(h[:,j]):\n if not on:off+=1\n else:\n if off>=3:ons.append(i)\n off=0\n edges.append(ons)\n c+=3*abs(len(ons)-1)\n if all(edges):c+=.05*abs(edges[0][0]-edges[1][0])\n if ret:return h,a,c,edges\n return c\nif __name__=='__main__':\n import cma,multiprocessing as mp\n lo,hi=np.array(BOUNDS).T;p0=np.array([1,-.45,-.55,-.05,-.1,.3,.13,-.45,.6,-.15,.25,.5]);best=1e9\n es=cma.CMAEvolutionStrategy((p0-lo)/(hi-lo),.14,{'bounds':[0,1],'popsize':16,'maxiter':150,'verb_disp':5})\n with mp.Pool(2) as pool:\n while not es.stop():\n xs=es.ask();ps=[lo+np.array(x)*(hi-lo) for x in xs];vals=pool.map(obj,ps);es.tell(xs,vals);es.disp();j=np.argmin(vals)\n if vals[j] /app/output/hop.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":117310,"cached":116096,"out":2283,"think":1034,"usd":0.2424},"sim":{"submit":0,"reset":0}},{"id":91,"t":2117.2,"say":"The walking policy used the step allowance mostly to settle into its gait, with little forward progress. I’m testing a small two-foot hop as the approach instead, while refining the main jump’s clearance above the rim.","calls":[{"kind":"shell","label":"tail -8 /app/output/hop.log; tail -8 /app/output/vertical.log; date -u","code":"tail -8 /app/output/hop.log; tail -8 /app/output/vertical.log; date -u"}],"out":{"text":"BEST 0.2850557557766504 end [ 2.20000000e+00 2.31513648e-01 2.80468035e-03 1.03871502e+00\n 9.99528410e-01 9.80185219e-04 2.75960518e-02 -1.34333717e-02\n 2.27253957e-01 6.53325549e-03 -8.32443103e-03 -1.21651419e-03\n 2.76821057e-01 4.73775660e-03] [[110], [109]]\n 2 32 1.098987258750398e+01 1.2e+00 1.25e-01 1e-01 1e-01 0:07.1 \n 3 48 3.111905812090032e+00 1.3e+00 1.21e-01 1e-01 1e-01 0:10.4 \n 4 64 2.314540616284069e+00 1.4e+00 1.20e-01 1e-01 1e-01 0:13.8 \n 5 80 3.594590084460547e-01 1.5e+00 1.32e-01 1e-01 2e-01 0:17.0 \n 7 140 2.874176242127618e-01 1.4e+00 8.71e-02 7e-02 9e-02 0:15.2 \n 10 200 4.473686080674655e-01 1.7e+00 8.23e-02 7e-02 9e-02 0:21.7 \n 13 260 2.782887453176704e-01 1.9e+00 7.29e-02 5e-02 8e-02 0:28.3 \n 15 300 2.843945977477282e-01 2.0e+00 6.41e-02 4e-02 7e-02 0:32.7 \n 19 380 3.036429747937239e-01 2.1e+00 6.23e-02 4e-02 7e-02 0:41.5 \n 20 400 3.003243542620282e-01 2.2e+00 6.08e-02 4e-02 7e-02 0:43.7 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 25 500 2.290131702067618e-01 2.5e+00 5.81e-02 3e-02 6e-02 0:54.9 -\r\u001b[2K 30 600 1.730882804323976e-01 3.2e+00 5.53e-02 3e-02 6e-02 1:06.1 -\r\u001b[2K 35 700 1.622529581543760e-01 3.6e+00 5.82e-02 3e-02 7e-02 1:17.3 -\r\u001b[2K 40 800 1.648555670504857e-01 3.9e+00 4.61e-02 2e-02 5e-02 1:28.6 -\r\u001b[2K 45 900 1.931815231445826e-01 4.5e+00 4.42e-02 2e-02 5e-02 1:40.1 -\r\u001b[2K 50 1000 1.623627811661504e-01 5.1e+00 3.98e-02 2e-02 5e-02 1:51.4 -\r\u001b[2K 55 1100 1.373410688744190e-01 5.8e+00 3.89e-02 2e-02 5e-02 2:02.6 -Thu Oct 15 13:48:45 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":119653,"cached":117120,"out":343,"think":242,"usd":0.1596},"sim":{"submit":0,"reset":0}},{"id":92,"t":2131.0,"say":"","calls":[{"kind":"shell","label":"for n in ['vertical_best','hop_best']:","code":"python - <<'PY'\nimport numpy as np\nfor n in ['vertical_best','hop_best']:\n z=np.load('/app/output/'+n+'.npz');h=z['h'];print(n,'cost',z['cost'],'maxball',h[h[:,16].argmax(),:17],'p',z['p'])\nPY"}],"out":{"text":"vertical_best cost 0.11078845862608337 maxball [ 1.82 0.41562763 -0.03861474 1.78055198 0.77365082 -0.00538236\n 0.02758841 0.6329884 0.84048426 -0.26294616 -0.32995253 -0.77063325\n -0.39979923 2.46073442 0.73811073 -0.08266034 3.14082388] p [-2.05904502 2.04683355 -0.67353117 1.05249328 2.47740863 -0.17466161\n -0.27472649 -0.24511037 -0.60605191 -0.76985743 -0.4036536 0.33428394\n 0.15341222 -0.17507419 -0.16683438 0.18082331 -3.06928446 1.42229627]\nhop_best cost 0.2850557557766504 maxball [ 1.01000000e+00 4.92685762e-02 -6.03789316e-04 1.14478454e+00\n 9.99964535e-01 5.01085119e-03 -3.85958650e-03 -5.56098377e-03\n 1.84154955e-01 -8.08900739e-03 -8.49739578e-01 2.50064168e-02\n -6.23901153e-01 -2.21893768e-01 6.57882633e-01 -1.75284085e-01\n 1.36726134e+00] p [ 0.91221091 -0.5645752 -0.45487856 0.0611205 -0.13337201 0.38037551\n 0.10735558 -0.33455518 0.52670595 -0.14432066 0.13100067 0.46257525]\n","exit":[0],"pics":[]},"tok":{"in":121178,"cached":119424,"out":204,"think":103,"usd":0.1472},"sim":{"submit":0,"reset":0}},{"id":93,"t":2187.8,"say":"","calls":[{"kind":"robot","label":"cp /app/output/hop_best.npz /app/output/trial9.npz","code":"cp /app/output/hop_best.npz /app/output/trial9.npz\nOPENBLAS_NUM_THREADS=1 python -u /app/output/track.py /app/output/trial9.npz --reset --name trial9 --step 3 --end 220 > /app/output/trial9.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":121950,"cached":120960,"out":1091,"think":988,"usd":0.1854},"sim":{"submit":45,"reset":1}},{"id":94,"t":2204.7,"say":"","calls":[{"kind":"shell","label":"p='/app/output/track.py';s=open(p).read().replace('end=len(a) if end is None else end','end=len(a) if end is N","code":"python - <<'PY'\np='/app/output/track.py';s=open(p).read().replace('end=len(a) if end is None else end','end=len(a) if end is None else min(end,len(a))');open(p,'w').write(s)\nimport numpy as np\nz=np.load('/app/output/trial9.npz');print(len(z['a']),z['cost'],z['h'][-1,:14])\nPY\ntail -4 /app/output/hop.log; tail -5 /app/output/vertical.log; date -u"}],"out":{"text":"208 0.1463975874237614 [ 2.08000000e+00 4.36134395e-01 8.00112254e-03 1.03894085e+00\n 9.93193488e-01 9.03294652e-05 1.16183813e-01 -8.24673181e-03\n 3.10191242e-01 -4.56990036e-02 -1.45993122e-02 2.32508973e-02\n 2.67789020e-01 2.76930181e-03]\n 9.98387571e-01 1.38353772e-03 5.47581947e-02 -1.48957944e-02\n 6.02654171e-02 1.09126765e-02 9.90554373e-04 -4.48680032e-03\n 6.17322563e-02 -2.56438861e-02] [[101], [101]]\n\r\u001b[2K 30 480 8.189409273977609e-02 3.0e+00 1.12e-01 7e-02 1e-01 1:36.8 -\r\u001b[2K 65 1300 1.184533891488646e-01 6.9e+00 4.46e-02 2e-02 6e-02 2:24.9 -\r\u001b[2K 70 1400 1.146897179852146e-01 7.6e+00 5.12e-02 3e-02 7e-02 2:35.7 -\r\u001b[2K 75 1500 1.193384852955900e-01 8.1e+00 5.39e-02 3e-02 7e-02 2:46.4 -\r\u001b[2K 80 1600 1.233768590228434e-01 8.7e+00 5.44e-02 3e-02 7e-02 2:57.0 -BEST 0.1051282876412235 ball [ 0.84372536 -0.07515425 3.13137396]\nBEST 0.09651344812977455 ball [ 0.75550542 -0.06297143 3.14895583]\nBEST 0.0875213812319054 ball [ 0.73276429 -0.05789868 3.16140432]\n\r\u001b[2K 85 1700 1.166736037992210e-01 9.9e+00 5.30e-02 3e-02 7e-02 3:07.5 -BEST 0.07505096613911456 ball [0.75929287 0.04860476 3.16506857]\n\r\u001b[2K 90 1800 1.039566402702092e-01 1.1e+01 4.93e-02 3e-02 7e-02 3:18.1 -\r\u001b[2K 95 1900 8.589554312426155e-02 1.1e+01 4.52e-02 2e-02 6e-02 3:29.0 -Thu Oct 15 13:50:12 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":123098,"cached":121728,"out":221,"think":72,"usd":0.1465},"sim":{"submit":0,"reset":0}},{"id":95,"t":2221.0,"say":"","calls":[{"kind":"shell","label":"z=np.load('/app/output/vertical_best.npz');print('height',z['h'][:,16].max(),'p',z['p'])","code":"tail -6 /app/output/trial9.log; python - <<'PY'\nimport numpy as np\nz=np.load('/app/output/vertical_best.npz');print('height',z['h'][:,16].max(),'p',z['p'])\nPY"}],"out":{"text":"120 imu [0.021 0.369 0.031] err [0.016 0.178 0.043] vision None\n123 imu [0.025 0.171 0.032] err [0.018 0.09 0.045] vision None\n126 imu [0.026 0.028 0.038] err [0.02 0.007 0.059] vision None\n129 imu [ 0.027 -0.016 0.059] err [ 0.021 -0.034 0.095] vision None\n132 imu [ 0.027 -0.025 0.074] err [ 0.021 -0.079 0.122] vision None\n{'calls': 145, 'rows': 1419, 'control_steps': 135, 'done': True, 'reason': 'failed', 'episode': 9, 'control_steps_total': 1481, 'resets_left': 42, 'sim_time_s': 1.35, 'time_s': 2184.54, 'time_left_s': 5015.5, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pitch_pos', 'right_elbow_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_yaw_vel', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_yaw_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_knee_vel', 'right_ankle_pitch_vel', 'right_ankle_roll_vel', 'torso_vel', 'left_shoulder_pitch_vel', 'left_shoulder\n… (3,560 characters left out) …\n.5113717317581177, 0.06036403775215149, -7.72312593460083, 0.013406378217041492, -1.1449761390686035, -0.1487952172756195, -11.295370101928711, 2.8743250370025635, 0.7334933876991272, -18.0, 0.6736229062080383, -8.01955509185791, 0.4260275661945343, 0.0, -0.31854739785194397, 0.008392494171857834, 0.36000001430511475, -0.2905985116958618, 0.005594996269792318, 0.0, -0.31854739785194397, 0.008392494171857834, 0.36000001430511475, -0.2905985116958618, 0.005594996269792318, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9989715218544006, 0.010040750727057457, -0.026991339400410652, 0.035022951662540436, -0.44889357686042786, -1.7706007957458496, -0.7827779650688171, 7.725986957550049, 1.9357140064239502, 17.90304946899414, 0.9992204904556274, 0.0102571165189147, -0.026909859851002693, 0.02700197324156761, -0.4204074740409851, -1.7775799036026, -0.0704498440027237, -1.9772576093673706, 1.6885994672775269, 15.374784469604492, 0.0, 1.0, 4.0, 0.0, 0.0, 0.0, 1.350000023841858]}, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 145, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'clipped': [], 'n_clipped': 0, 'ok': True}\nheight 3.1668013599265916 p [-2.18184637 2.04990605 -0.6371293 1.08505041 2.53482912 0.07939838\n -0.40281677 -0.20629827 -0.66161946 -0.69178752 -0.36541997 0.2882148\n 0.16728091 -0.17113826 -0.10483821 0.1147841 -3.04362372 1.36124446]\n","exit":[0],"pics":[]},"tok":{"in":124248,"cached":122880,"out":296,"think":211,"usd":0.1514},"sim":{"submit":0,"reset":0}},{"id":96,"t":2325.6,"say":"The main-jump model now reaches about 3.17 m. The approach hop still bounced on landing in the service and drew a travelling call. I’m softening its landing control and increasing damping so the feet can settle before the dunk jump.","calls":[{"kind":"shell","label":"p='/app/output/hop.py';s=open(p).read().replace('(s[:,1]-.32)','(s[:,1]-.45)')","code":"python - <<'PY'\np='/app/output/hop.py';s=open(p).read().replace('(s[:,1]-.32)','(s[:,1]-.45)')\ns=s.replace(\"pre += [low(air,kp,kd)]*round(p[10]*100)\",\"lkp=kp.copy();lkp[:12]=[600,600,600,500,300,300]*2\\n lkd=kd.copy();lkd[:12]=30\\n pre += [low(air,lkp,lkd)]*round(p[10]*100)\")\ns=s.replace('for z in ramp(air,Q0,p[11]):pre.append(low(z,kp,kd,support2(z)))',\"for z in ramp(air,Q0,p[11]):pre.append(low(z,lkp,lkd,support2(z)))\")\ns=s.replace(\"pre += [low(Q0,kp,kd,support2(Q0))]*80\",\"pre += [low(Q0,lkp,lkd,support2(Q0))]*100\")\ns=s.replace(\"P/'hop_best.npz'\",\"P/'soft_hop_best.npz'\")\ns=s.replace(\"p0=np.array([1,-.45,-.55,-.05,-.1,.3,.13,-.45,.6,-.15,.25,.5]);best=1e9\",\"p0=np.load(P/'hop_best.npz')['p'];best=1e9\")\nopen('/app/output/soft_hop.py','w').write(s)\nPY\npython - <<'PY'\nimport os,signal\nfor p in os.listdir('/proc'):\n if p.isdigit():\n try:\n s=open(f'/proc/{p}/cmdline','rb').read().split(b'\\0')\n if b'/app/output/hop.py' in s:os.kill(int(p),signal.SIGTERM)\n except:pass\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/soft_hop.py > /app/output/soft_hop.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":127274,"cached":124032,"out":2621,"think":2070,"usd":0.2875},"sim":{"submit":0,"reset":0}},{"id":97,"t":2419.8,"say":"","calls":[{"kind":"shell","label":"tail -6 /app/output/soft_hop.log; tail -5 /app/output/vertical.log; date -u","code":"tail -6 /app/output/soft_hop.log; tail -5 /app/output/vertical.log; date -u"}],"out":{"text":" 18 288 3.268713767027512e-02 2.4e+00 8.52e-02 5e-02 1e-01 1:01.2 \n 20 320 3.187715794557618e-03 2.6e+00 7.00e-02 4e-02 8e-02 1:07.8 \nBEST 0.0031877157945576183 end [ 2.40000000e+00 4.49367015e-01 6.69100359e-03 1.03805869e+00\n 9.99510381e-01 -7.37527874e-05 -2.71755294e-02 -1.55075083e-02\n -2.48717891e-03 1.03209072e-02 -1.27016155e-04 -2.44519806e-03\n -9.87288306e-04 -2.72511395e-03] [[97], [97]]\n\r\u001b[2K 170 3400 5.961422541154156e-02 2.0e+01 1.58e-02 6e-03 2e-02 6:08.6 -\r\u001b[2K 175 3500 6.137815038440839e-02 2.0e+01 1.44e-02 5e-03 2e-02 6:19.1 -\r\u001b[2K 180 3600 6.268330603463297e-02 2.0e+01 1.33e-02 4e-03 2e-02 6:29.8 \n(np.float64(0.059464114769006676), array([-2.23248555, 2.04997024, -0.62572424, 1.09498566, 2.77078812,\n -0.07797935, -0.4116461 , -0.10366718, -0.75501013, -0.79961134,\n -0.27702365, 0.31923628, 0.17650033, -0.15869336, -0.1749474 ,\n 0.21809201, -3.04196856, 1.36759097]))\nThu Oct 15 13:53:47 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":129953,"cached":127104,"out":1475,"think":1422,"usd":0.2293},"sim":{"submit":0,"reset":0}},{"id":98,"t":2437.0,"say":"","calls":[{"kind":"robot","label":"cp /app/output/soft_hop_best.npz /app/output/trial10.npz","code":"cp /app/output/soft_hop_best.npz /app/output/trial10.npz\npython - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nr=Robot();r.reset(cameras=[]);a=np.load(P/'trial10.npz')['a'];x=r.submit('lowcmd',a,cameras=['venue'],video='frames',video_fps=30);report(x,'trial10')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":132091,"cached":129792,"out":237,"think":101,"usd":0.1646},"sim":{"submit":1,"reset":1}},{"id":99,"t":2452.8,"say":"","calls":[{"kind":"shell","label":"z=np.load('/app/output/vertical_best.npz');h=z['h'];i=h[:,16].argmax();print('max',h[i,:17]);print('ball',h[i-","code":"python - <<'PY'\nimport numpy as np\nz=np.load('/app/output/vertical_best.npz');h=z['h'];i=h[:,16].argmax();print('max',h[i,:17]);print('ball',h[i-5:i+11:3,14:17]);print('pre',h[119,:17])\nPY"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"python - <<'PY'\\nimport numpy as np\\nz=np.load('/app/output/vertical_best.npz');h=z['h'];i=h[:,16].argmax();print('max',h[i,:17]);print('ball',h[i-5:i+11:3,14:17]);print('pre',h[119,:17])\\nPY\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:10393,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"max [ 1.82 0.47446503 -0.00585587 1.81116152 0.76998775 -0.0184075\n 0.03625368 0.63676188 0.97034595 -0.16867035 -0.19961521 -0.80043246\n -0.3326841 2.34870601 0.78251795 -0.01000777 3.17287836]\nball [[ 0.64602295 -0.22706315 3.12287711]\n [ 0.74593987 -0.10172761 3.16377147]\n [ 0.7936639 0.03522697 3.17239521]\n [ 0.8051854 0.15872926 3.15397656]\n [ 0.78888189 0.25202049 3.120055 ]\n [ 0.74360105 0.31035401 3.07972048]]\npre [ 1.2 -0.12171166 0.00816448 0.58128677 0.94593033 -0.00431896\n 0.32428279 -0.00615099 0.08643445 0.03743877 -0.25107697 -0.45271826\n -0.48319231 0.39608653 -0.67166157 -0.36895704 0.88109004]\n\ntrial10 {'calls': 147, 'rows': 1632, 'control_steps': 213, 'done': True, 'reason': 'failed', 'episode': 10, 'control_steps_total': 1694, 'resets_left': 41, 'sim_time_s': 2.13, 'time_s': 2435.86, 'time_left_s': 4764.1, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 147, 'type': 'lowcmd', 'executed_rows': 213, 'control_steps_chunk': 213, 'n_clipped': 0, 'ok': True}\nq [-0. -0.164 -0.009 0.326 -0.148 0.029 -0.001 -0.167 0.002 0.324\n -0.143 0.017 0. -0.015 -0. -0. -0.014 -0. -0.001 0.\n -0.018 -0.001 -0.001 -0.016 0.001 -0.01 -0.002]\nrpy [ 0.033 -1.317 0.016] gyro [-0.162 -3.186 -0.1 ]\n","exit":[0,0],"pics":[]},"tok":{"in":132385,"cached":131968,"out":153,"think":18,"usd":0.1438},"sim":{"submit":0,"reset":0}},{"id":100,"t":2462.4,"say":"","calls":[{"kind":"shell","label":"p=np.load(P/'trial10/proprio.npy');h=np.load(P/'trial10.npz')['h']","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\np=np.load(P/'trial10/proprio.npy');h=np.load(P/'trial10.npz')['h']\nfor a in p[::4]:\n t=round(a[-1]*100);v=h[max(0,t-1)];print(round(a[-1],2),'actual',Rotation.from_quat(a[108:112],scalar_first=True).as_euler('xyz').round(2),'model',Rotation.from_quat(v[4:8],scalar_first=True).as_euler('xyz').round(2),'leg',a[[1,3,4]].round(2))\nPY"}],"out":{"text":"0.0 actual [0. 0. 0.] model [ 0. 0. -0.] leg [-0.16 0.36 -0.2 ]\n0.12 actual [-0. 0.01 -0. ] model [ 0. 0. -0.] leg [-0.18 0.38 -0.23]\n0.24 actual [-0. 0.02 0. ] model [0. 0.02 0. ] leg [-0.22 0.43 -0.24]\n0.36 actual [-0. 0.03 -0. ] model [0. 0.04 0. ] leg [-0.27 0.51 -0.28]\n0.48 actual [-0. 0.06 0. ] model [ 0. 0.08 -0. ] leg [-0.33 0.58 -0.33]\n0.6 actual [-0. 0.1 0. ] model [ 0. 0.13 -0. ] leg [-0.38 0.63 -0.37]\n0.72 actual [-0. 0.11 0. ] model [-0. 0.14 -0. ] leg [-0.27 0.52 -0.37]\n0.84 actual [ 0. -0.03 0.04] model [0.01 0.03 0.01] leg [-0.21 0.56 -0.01]\n0.96 actual [0.01 0.13 0.04] model [ 0.01 0.16 -0.03] leg [-0.67 0.51 -0.24]\n1.08 actual [-0. 0. 0.08] model [ 0. 0.09 -0.03] leg [-0.7 0.67 0.06]\n1.2 actual [ 0. -0.1 0.09] model [ 0. 0.05 -0.04] leg [-0.5 0.56 -0.04]\n1.32 actual [ 0.01 -0.23 0.07] model [-0. -0.06 -0.03] leg [-0.28 0.45 -0.07]\n1.44 actual [ 0.01 -0.35 0.07] model [-0. -0.12 -0.02] leg [-0.15 0.41 -0.08]\n1.56 actual [ 0. -0.42 0.08] model [-0. -0.1 -0.02] leg [-0.14 0.4 -0.08]\n1.68 actual [ 0. -0.49 0.09] model [-0. -0.08 -0.03] leg [-0.15 0.39 -0.08]\n1.8 actual [ 0. -0.62 0.08] model [-0. -0.07 -0.03] leg [-0.15 0.38 -0.09]\n1.92 actual [-0. -0.8 0.07] model [-0. -0.07 -0.03] leg [-0.15 0.35 -0.12]\n2.04 actual [ 0.01 -1.06 0.05] model [ 0. -0.06 -0.03] leg [-0.16 0.33 -0.14]\n","exit":[0],"pics":[]},"tok":{"in":133303,"cached":132224,"out":250,"think":64,"usd":0.1555},"sim":{"submit":0,"reset":0}},{"id":101,"t":2506.0,"say":"","calls":[{"kind":"robot","label":"p='/app/output/track.py';s=open(p).read().replace(\"reset=False):\",\"reset=False,hop=False):\")","code":"python - <<'PY'\np='/app/output/track.py';s=open(p).read().replace(\"reset=False):\",\"reset=False,hop=False):\")\ns=s.replace(\"rows[:,[2,8]]+=\", \"if hop and i>=100:\\n rows[:,[1,7]]=a[i:min(i+step,end),[1,7]]+np.clip(.3*err[1]+.07*gyr[1],-.25,.25)\\n rows[:,[4,10]]=a[i:min(i+step,end),[4,10]]+np.clip(.8*err[1]+.15*gyr[1],-.3,.3)\\n rows[:,[2,8]]+=\")\ns=s.replace(\"pa.add_argument('--bias',type=float,default=0)\",\"pa.add_argument('--bias',type=float,default=0);pa.add_argument('--hop',action='store_true')\")\ns=s.replace('args.end,args.bias,args.reset)','args.end,args.bias,args.reset,args.hop)')\nopen(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/track.py /app/output/trial10.npz --reset --name trial11 --step 3 --end 240 --hop > /app/output/trial11.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":134477,"cached":133120,"out":840,"think":516,"usd":0.1887},"sim":{"submit":80,"reset":1}},{"id":102,"t":2575.3,"say":"","calls":[{"kind":"shell","label":"tail -8 /app/output/trial11.log; tail -8 /app/output/soft_hop.log; date -u","code":"tail -8 /app/output/trial11.log; tail -8 /app/output/soft_hop.log; date -u"}],"out":{"text":"216 imu [-0.002 -0.076 0.054] err [-0.003 -0.02 0.086] vision None\n219 imu [-0.002 -0.079 0.053] err [-0.003 -0.024 0.085] vision None\n222 imu [-0.002 -0.082 0.052] err [-0.003 -0.027 0.084] vision None\n225 imu [-0.001 -0.084 0.052] err [-0.002 -0.03 0.084] vision None\n228 imu [-0.001 -0.087 0.052] err [-0.002 -0.032 0.083] vision None\n231 imu [-0.001 -0.089 0.052] err [-0.002 -0.035 0.083] vision None\n234 imu [-0. -0.091 0.052] err [-0.001 -0.037 0.083] vision None\n237 imu [-0. -0.093 0.052] err [-0.001 -0.039 0.083] vision None\n -2.48717891e-03 1.03209072e-02 -1.27016155e-04 -2.44519806e-03\n -9.87288306e-04 -2.72511395e-03] [[97], [97]]\n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 24 384 9.211918718456148e-03 3.0e+00 6.57e-02 4e-02 7e-02 1:21.1 -\r\u001b[2K 25 400 1.849506366646156e-02 3.0e+00 6.44e-02 3e-02 7e-02 1:24.4 -\r\u001b[2K 30 480 1.757519457941713e-02 3.7e+00 7.13e-02 4e-02 8e-02 1:40.6 -\r\u001b[2K 35 560 1.350766013731828e-02 4.6e+00 6.38e-02 3e-02 7e-02 1:56.9 -\r\u001b[2K 40 640 3.142814931969664e-03 5.5e+00 5.92e-02 3e-02 7e-02 2:13.1 -BEST 0.0031428149319696636 end [ 2.27000000e+00 4.55188000e-01 3.87909275e-03 1.03881385e+00\n 9.99814846e-01 1.05688176e-04 -1.70030824e-02 -9.00878137e-03\n 2.88466681e-02 -1.09544194e-03 9.68405955e-04 5.35120926e-04\n 3.78238216e-02 1.16011880e-02] [[95], [95]]\n\r\u001b[2K 45 720 4.898420460423923e-03 6.8e+00 4.59e-02 2e-02 6e-02 2:29.0 -\r\u001b[2K 50 800 1.822947864588224e-02 7.7e+00 3.96e-02 2e-02 5e-02 2:44.9 -\r\u001b[2K 55 880 8.122691323512876e-03 8.9e+00 4.81e-02 2e-02 6e-02 3:01.0 -\r\u001b[2K 60 960 1.432517611485632e-02 9.8e+00 5.38e-02 2e-02 7e-02 3:17.0 -\r\u001b[2K 65 1040 8.465981579046251e-03 1.1e+01 4.03e-02 2e-02 5e-02 3:33.1 -\r\u001b[2K 70 1120 3.929968293744070e-03 1.3e+01 3.57e-02 2e-02 4e-02 3:49.0 -Thu Oct 15 13:56:22 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":135375,"cached":134272,"out":1575,"think":1521,"usd":0.2241},"sim":{"submit":0,"reset":0}},{"id":103,"t":2586.8,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/trial11_237/last/venue.jpg"},{"kind":"shell","label":"p=np.array(json.loads((P/'trial11_237/meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,1.035],q","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nfrom model import *\nfrom vision import project\nfrom PIL import Image\np=np.array(json.loads((P/'trial11_237/meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,1.035],quat=p[108:112]);print('balloffset',d.site('right_ball').xpos,'predstartpix',project(d.site('right_ball').xpos));print('actualq',p[:12])\nim=Image.open(P/'trial11_237/last/venue.jpg');im.crop((190,145,270,195)).resize((640,400)).save(P/'hopcrop.jpg')\nPY"},{"kind":"look","label":"hopcrop.jpg","code":"/app/output/hopcrop.jpg"}],"out":{"text":"balloffset [ 0.6016735 -0.13652884 1.18235298] predstartpix [[229.08405032 168.25551001]]\nactualq [-0.00252478 -0.16741239 0.00299854 0.3935383 -0.14818528 -0.0030858\n 0.00250729 -0.16233815 -0.00087572 0.39703256 -0.15601341 -0.0014214 ]\n","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s103_0.jpg","roboolympics-fun-dunk-i00-standard--nojaxvg/s103_1.jpg"]},"tok":{"in":138180,"cached":135168,"out":271,"think":30,"usd":0.1788},"sim":{"submit":0,"reset":0}},{"id":104,"t":2611.2,"say":"","calls":[{"kind":"shell","label":"p=np.array(json.loads((P/'trial11_237/meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,0],quat=","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nfrom model import *\nfrom vision import *\np=np.array(json.loads((P/'trial11_237/meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,0],quat=p[108:112]);soles=[]\nfor side in ['left','right']:\n b=d.body(side+'_ankle_roll_link');corners=np.array([[x,y,z] for x in [-.095,.165] for y in [-.055,.055] for z in [-.07,-.02]])@b.xmat.reshape(3,3).T+b.xpos;soles.append(corners[:,2].min())\nzbase=-np.mean(soles);off=d.site('right_ball').xpos.copy();uv=[241,167];ray=np.array([(uv[0]-239.5)/f,(134.5-uv[1])/f,1])@R;ball=cam+ray*((off[2]+zbase-cam[2])/ray[2]);print(zbase,off,ball,'base',ball-off)\nPY"}],"out":{"text":"1.0369827514255032 [ 0.6016735 -0.13652884 0.14735298] [ 0.83259249 -0.23258488 1.18433573] base [ 0.230919 -0.09605604 1.03698275]\n","exit":[0],"pics":[]},"tok":{"in":139109,"cached":137984,"out":511,"think":222,"usd":0.1748},"sim":{"submit":0,"reset":0}},{"id":105,"t":2625.7,"say":"","calls":[{"kind":"shell","label":"print(project([.606624,-.169718,1.129407]));print(project([1.25,0,3.041]))","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output');from vision import *\nprint(project([.606624,-.169718,1.129407]));print(project([1.25,0,3.041]))\nPY"}],"out":{"text":"[[230.18625348 171.21504258]]\n[[252.24947253 73.83782365]]\n","exit":[0],"pics":[]},"tok":{"in":139749,"cached":139008,"out":194,"think":107,"usd":0.1561},"sim":{"submit":0,"reset":0}},{"id":106,"t":2665.3,"say":"","calls":[{"kind":"shell","label":"p='/app/output/meshes/torso_link.STL'","code":"python - <<'PY'\nimport numpy as np,struct\np='/app/output/meshes/torso_link.STL'\nb=open(p,'rb').read();n=struct.unpack('.68].mean(0))\nPY"}],"out":{"text":"[-0.073 -0.15899484 -0.002 ] [0.12520337 0.15899484 0.75984615]\n[0.06753484 0.00085981 0.6957265 ]\n","exit":[0],"pics":[]},"tok":{"in":140030,"cached":139648,"out":810,"think":657,"usd":0.184},"sim":{"submit":0,"reset":0}},{"id":107,"t":2678.6,"say":"","calls":[{"kind":"shell","label":"b=open(P/'meshes/torso_link.STL','rb').read();dt=np.dtype([('normal','f4',3),('v','f4',(3,3)),('attr','u2')]);","code":"python - <<'PY'\nimport numpy as np,struct,sys;sys.path.insert(0,'/app/output');from vision import *\nb=open(P/'meshes/torso_link.STL','rb').read();dt=np.dtype([('normal','f4',3),('v','f4',(3,3)),('attr','u2')]);v=np.frombuffer(b[84:],dt)['v'].reshape(-1,3)\nfor z in [.72,.74,.75,.758]:\n p=v[v[:,2]>z].mean(0);print(z,p,project(p+[0,0,1.035]))\nPY"}],"out":{"text":"0.72 [0.05826307 0.00415211 0.73844254] [[200.09285888 140.31741796]]\n0.74 [4.3927737e-02 6.0710503e-04 7.5000435e-01] [[199.45326039 139.80585234]]\n0.75 [ 4.2176332e-02 -8.2097322e-05 7.5489533e-01] [[199.37628718 139.56125052]]\n0.758 [ 3.6194690e-02 -2.1243567e-04 7.5895947e-01] [[199.0787827 139.37680191]]\n","exit":[0],"pics":[]},"tok":{"in":140955,"cached":139904,"out":201,"think":33,"usd":0.1605},"sim":{"submit":0,"reset":0}},{"id":108,"t":2716.9,"say":"","calls":[{"kind":"shell","label":"im=Image.open('/app/output/trial11_237/last/venue.jpg');im.crop((195,130,225,158)).resize((600,560)).save('/ap","code":"python - <<'PY'\nfrom PIL import Image\nim=Image.open('/app/output/trial11_237/last/venue.jpg');im.crop((195,130,225,158)).resize((600,560)).save('/app/output/headcrop.jpg')\nPY"},{"kind":"look","label":"headcrop.jpg","code":"/app/output/headcrop.jpg"}],"out":{"text":"","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s108_0.jpg"]},"tok":{"in":141392,"cached":140800,"out":741,"think":638,"usd":0.1838},"sim":{"submit":0,"reset":0}},{"id":109,"t":2731.8,"say":"","calls":[{"kind":"shell","label":"p=np.array(json.loads((P/'trial11_237/meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,0],quat=","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nfrom model import *\nfrom vision import *\nfrom scipy.optimize import least_squares\np=np.array(json.loads((P/'trial11_237/meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,0],quat=p[108:112]);offball=d.site('right_ball').xpos.copy();b=d.body('torso_link');offhead=b.xpos+b.xmat.reshape(3,3)@np.array([.042,0,.755]);obs=np.array([[241,166.5],[210,139.5]])\ndef cost(base):return np.r_[(project(np.array([offball,offhead])+base)-obs).ravel(),10*(base[2]-1.035)]\nz=least_squares(cost,[.35,0,1.035]);print(z.x,z.fun,project(np.array([offball,offhead])+z.x))\nPY"}],"out":{"text":"[0.31844266 0.05390741 1.00760369] [ 0.00449036 0.08454434 -0.00421917 -0.13184935 -0.27396315] [[241.00449036 166.58454434]\n [209.99578083 139.36815065]]\n","exit":[0],"pics":[]},"tok":{"in":142601,"cached":141312,"out":323,"think":66,"usd":0.1704},"sim":{"submit":0,"reset":0}},{"id":110,"t":2830.3,"say":"The softer hop landed without a travelling call when I added IMU feedback. It appears to have advanced the robot about 0.3 m. I’m continuing that attempt into the main jump and checking the ball’s position near the rim before attempting the downward stroke.","calls":[{"kind":"robot","label":"p='/app/output/track.py';s=open(p).read().replace('hop=False):','hop=False,fresh=False):').replace('t=round(p[","code":"python - <<'PY'\np='/app/output/track.py';s=open(p).read().replace('hop=False):','hop=False,fresh=False):').replace('t=round(p[-1]*100)','t=0 if fresh else round(p[-1]*100)')\ns=s.replace(\"pa.add_argument('--hop',action='store_true')\",\"pa.add_argument('--hop',action='store_true');pa.add_argument('--fresh',action='store_true')\")\ns=s.replace('args.reset,args.hop)','args.reset,args.hop,args.fresh)')\nopen(p,'w').write(s)\nPY\ncp /app/output/vertical_best.npz /app/output/main11.npz\nOPENBLAS_NUM_THREADS=1 python -u /app/output/track.py /app/output/main11.npz --fresh --name main11 --step 3 --end 177 > /app/output/main11.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":143061,"cached":142464,"out":1991,"think":1699,"usd":0.248},"sim":{"submit":42,"reset":0}},{"id":111,"t":2925.2,"say":"","calls":[{"kind":"shell","label":"tail -7 /app/output/main11.log; date -u","code":"tail -7 /app/output/main11.log; date -u"}],"out":{"text":"108 imu [ 0.027 0.367 -0.092] err [ 0.031 -0.279 -0.056] vision None\n111 imu [ 0.03 0.352 -0.098] err [ 0.04 -0.314 -0.058] vision None\n114 imu [ 0.036 0.319 -0.103] err [ 0.048 -0.363 -0.063] vision None\n117 imu [ 0.044 0.249 -0.108] err [ 0.057 -0.428 -0.075] vision None\n120 imu [ 0.046 0.139 -0.104] err [ 0.061 -0.521 -0.086] vision None\n123 imu [ 0.029 0.008 -0.082] err [ 0.053 -0.618 -0.07 ] vision None\n{'calls': 272, 'rows': 1996, 'control_steps': 364, 'done': True, 'reason': 'failed', 'episode': 11, 'control_steps_total': 2058, 'resets_left': 40, 'sim_time_s': 3.64, 'time_s': 2832.1, 'time_left_s': 4367.9, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pitch_pos', 'right_elbow_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_yaw_vel', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_yaw_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_knee_vel', 'right_ankle_pi\n… (3,777 characters left out) …\n799, -16.527545928955078, 1.9332382678985596, 0.0, -1.5634055137634277, -0.014324536547064781, 1.490530252456665, -0.8860743641853333, -0.009549691341817379, 0.0, -1.5634055137634277, -0.014324536547064781, 1.490530252456665, -0.8860743641853333, -0.009549691341817379, 0.0, -0.7564225196838379, 0.3499999940395355, 0.0, 1.3675910234451294, 0.0, 0.0, 0.0, -0.7564225196838379, -0.3499999940395355, 0.0, 1.3675910234451294, 0.0, 0.0, 0.0, 0.9991685748100281, 0.007531022187322378, -0.016318008303642273, -0.03659528121352196, -1.3393443822860718, -4.195976257324219, 1.1201084852218628, -11.455265998840332, 1.3371169567108154, 9.733566284179688, 0.9996299743652344, 0.007265918888151646, -0.016437765210866928, -0.020418334752321243, -1.4744536876678467, -4.150427341461182, 0.46924445033073425, -31.555498123168945, 10.543270111083984, 1.763664722442627, 0.0, 1.0, 4.0, 0.0, 0.0, 0.0, 3.640000104904175]}, 'outcome': 'travelling: a foot slid along the floor', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 272, 'type': 'lowcmd', 'executed_rows': 1, 'control_steps_chunk': 1, 'clipped': [{'row': 1, 'index': 4, 'reason': 'left_ankle_pitch_q outside [-0.897334, 0.523598]'}, {'row': 1, 'index': 10, 'reason': 'right_ankle_pitch_q outside [-0.897334, 0.523598]'}, {'row': 2, 'index': 4, 'reason': 'left_ankle_pitch_q outside [-0.897334, 0.523598]'}, {'row': 2, 'index': 10, 'reason': 'right_ankle_pitch_q outside [-0.897334, 0.523598]'}], 'n_clipped': 4, 'ok': True}\nThu Oct 15 14:02:12 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":145110,"cached":142848,"out":1593,"think":1552,"usd":0.2451},"sim":{"submit":0,"reset":0}},{"id":112,"t":2970.7,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/main11_117/last/venue.jpg"},{"kind":"robot","label":"OPENBLAS_NUM_THREADS=1 python -u /app/output/track.py /app/output/main11.npz --reset --name main12 --step 3 --","code":"OPENBLAS_NUM_THREADS=1 python -u /app/output/track.py /app/output/main11.npz --reset --name main12 --step 3 --end 185 > /app/output/main12.log 2>&1"}],"out":{"text":"","exit":[],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s112_0.jpg"]},"tok":{"in":149491,"cached":144896,"out":754,"think":648,"usd":0.2285},"sim":{"submit":62,"reset":1}},{"id":113,"t":3072.8,"say":"","calls":[{"kind":"shell","label":"print(support2(Q0)[:12])","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom bent_sim import *\nprint(support2(Q0)[:12])\nPY\ntail -5 /app/output/main12.log; date -u"}],"out":{"text":"[-4.71868038e-16 5.10995938e+00 -4.07625067e-01 -1.16027688e+01\n 1.28293070e+01 0.00000000e+00 4.71868038e-16 5.10995938e+00\n 4.07625067e-01 -1.16027688e+01 1.28293070e+01 2.22044605e-16]\n171 imu [0.21 0.3 0.462] err [ 0.129 0.116 -0.548] vision {'pixel': [175.6853146853147, 122.74125874125875], 'ball': [-0.5345965380616984, -0.40401854768556555, 2.1648052623164236], 'pelvis': [-0.32371771565102225, 6.661338147750939e-16, 1.6104667054287902]}\n174 imu [0.218 0.251 0.549] err [ 0.158 0.112 -0.572] vision {'pixel': [178.69444444444446, 126.72222222222223], 'ball': [-0.5116559284255808, -0.4707984832176795, 2.1061371715936392], 'pelvis': [-0.3401522724842563, -2.220446049250313e-16, 1.608302498950174]}\n177 imu [0.228 0.204 0.63 ] err [ 0.184 0.103 -0.607] vision {'pixel': [181.51298701298703, 128.92207792207793], 'ball': [-0.4856129080918796, -0.5216467999096488, 2.07472405583667], 'pelvis': [-0.3547420713168469, 0.0, 1.595029931557767]}\n180 imu [0.236 0.182 0.691] err [ 0.207 0.096 -0.641] vision {'pixel': [183.33986928104576, 128.9346405228758], 'ball': [-0.46866275304418537, -0.5556850555144677, 2.0770058601128696], 'pelvis': [-0.36659587054892334, -3.3306690738754696e-16, 1.574207167414928]}\n183 imu [0.242 0.166 0.727] err [ 0.231 0.09 -0.678] vision {'pixel': [183.5759493670886, 128.0126582278481], 'ball': [-0.4708134643099393, -0.5725401666465628, 2.093470438832809], 'pelvis': [-0.3754380902232818, 1.1102230246251565e-16, 1.5557553380629554]}\nThu Oct 15 14:04:41 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":150465,"cached":149248,"out":936,"think":851,"usd":0.2082},"sim":{"submit":0,"reset":0}},{"id":114,"t":3166.0,"say":"","calls":[{"kind":"shell","label":"p=np.array([-2.25,2.05,-.6,-2.6,1.5,-1,.0,.1,-.7,-.4,.4,.25,.25,0,-.2,.3,-3.1,1.5])","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output');from spline_roll import *\np=np.array([-2.25,2.05,-.6,-2.6,1.5,-1,.0,.1,-.7,-.4,.4,.25,.25,0,-.2,.3,-3.1,1.5])\nh,a,i,c=obj(p,True);print(c,h[h[:,16].argmax(),:17]);print('pre',h[119,:17]);np.savez(P/'overhead_seed.npz',p=p,h=h,a=a)\nPY"}],"out":{"text":"15.01958035455843 [ 1.7 0.55978804 -0.00512054 1.32857438 0.72790088 0.00722856\n 0.68563447 -0.00366456 1.00390143 0.01917189 -0.35276377 0.03851776\n 1.94861715 0.26988923 1.78852417 0.06886741 1.68872705]\npre [ 1.20000000e+00 -5.90739965e-02 5.21770690e-04 5.80226271e-01\n 9.12643942e-01 -4.87675881e-04 4.08755175e-01 6.74273173e-05\n 1.69351499e-01 -4.48843760e-03 -6.48593108e-03 6.29668354e-03\n 4.96951385e-01 2.22470409e-03 1.16547931e+00 -3.68048176e-02\n 1.07487585e+00]\n","exit":[0],"pics":[]},"tok":{"in":152205,"cached":150272,"out":1793,"think":1630,"usd":0.2593},"sim":{"submit":0,"reset":0}},{"id":115,"t":3190.8,"say":"The higher-reaching candidate did not transfer well to the service: its tightly folded arm posture jammed during the crouch. I’m keeping the verified jump as a baseline and testing a preparation with the ball higher, where it has more clearance from the body.","calls":[{"kind":"shell","label":"p='/app/output/spline_roll.py';s=open(p).read().replace('(-2.4,-1.1)','(-2.7,-1.6)').replace('(-.895,-.5)','(-","code":"python - <<'PY'\np='/app/output/spline_roll.py';s=open(p).read().replace('(-2.4,-1.1)','(-2.7,-1.6)').replace('(-.895,-.5)','(-.895,-.4)').replace('(-2.9,.6)','(-3.14,-1.5)').replace('(-.1,1.8)','(.8,1.8)')\ns=s.replace('(s[:,14]-1.25)**2','(s[:,14]-.9)**2').replace(\"P/'spline_roll_best.npz'\",\"P/'overhead_best.npz'\").replace(\"'maxiter':180\",\"'maxiter':160\")\nopen('/app/output/overhead.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/overhead.py /app/output/overhead_seed.npz > /app/output/overhead.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":154351,"cached":152064,"out":630,"think":327,"usd":0.2064},"sim":{"submit":0,"reset":0}},{"id":116,"t":3276.1,"say":"","calls":[{"kind":"shell","label":"for p in os.listdir('/proc'):","code":"python - <<'PY'\nimport os,signal\nfor p in os.listdir('/proc'):\n if p.isdigit():\n try:\n s=open(f'/proc/{p}/cmdline','rb').read().split(b'\\0')\n if b'/app/output/soft_hop.py' in s:os.kill(int(p),signal.SIGTERM)\n except:pass\np='/app/output/spline_roll.py';s=open(p).read()\ns=s.replace('(.15,.6),(-.25,.1)', '(.15,.6),(-.25,.1)')\ns=s.replace('(1.3,1.9)]','(1.3,1.9),(-.26,.7),(0,20),(0,20),(200,1500),(0,20)]')\ns=s.replace(\"z=pose(-.26);\", \"z=pose(p[18]);\")\ns=s.replace(\"v[[1,7,3,9,4,10]]=5\", \"v[[1,7]]=p[20];v[[3,9]]=p[19];v[[4,10]]=p[22];k[[4,10]]=p[21]\")\ns=s.replace('(s[:,14]-1.25)**2','(s[:,14]-.9)**2').replace('3.23-s[:,16]','3.26-s[:,16]')\ns=s.replace(\"P/'spline_roll_best.npz'\",\"P/'power_best.npz'\")\ns=s.replace(\"if len(sys.argv)>1:p0=np.load(sys.argv[1])['p']\",\"if len(sys.argv)>1:\\n p0=np.load(sys.argv[1])['p']\\n if len(p0)==18:p0=np.r_[p0,-.1,5,5,1000,5]\")\ns=s.replace('),.18,{','),.10,{').replace('mp.Pool(4)','mp.Pool(2)').replace(\"'maxiter':180\",\"'maxiter':180\")\nopen('/app/output/power.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/power.py /app/output/spline_roll_best.npz > /app/output/power.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":155039,"cached":154240,"out":1599,"think":1063,"usd":0.2422},"sim":{"submit":0,"reset":0}},{"id":117,"t":3307.5,"say":"","calls":[{"kind":"shell","label":"rg '^1[456789][0-9] imu' /app/output/trial11.log; tail -4 /app/output/power.log; tail -4 /app/output/overhead.","code":"rg '^1[456789][0-9] imu' /app/output/trial11.log; tail -4 /app/output/power.log; tail -4 /app/output/overhead.log; date -u"}],"out":{"text":"141 imu [ 0.002 -0.015 0.053] err [0.005 0.096 0.079] vision None\n144 imu [ 0.002 -0.024 0.055] err [0.004 0.091 0.08 ] vision None\n147 imu [ 0.001 -0.027 0.057] err [0.004 0.086 0.081] vision None\n150 imu [ 0.001 -0.028 0.059] err [0.003 0.081 0.082] vision None\n153 imu [ 0. -0.027 0.06 ] err [0.003 0.076 0.084] vision None\n156 imu [-0. -0.025 0.06 ] err [0.002 0.071 0.085] vision None\n159 imu [-0.001 -0.024 0.061] err [0.002 0.067 0.087] vision None\n162 imu [-0.001 -0.024 0.06 ] err [0.001 0.062 0.088] vision None\n165 imu [-0.001 -0.024 0.059] err [0.001 0.058 0.088] vision None\n168 imu [-0.002 -0.026 0.057] err [0. 0.053 0.088] vision None\n171 imu [-0.002 -0.029 0.056] err [-0.001 0.048 0.087] vision None\n174 imu [-0.003 -0.033 0.055] err [-0.001 0.043 0.086] vision None\n177 imu [-0.003 -0.036 0.054] err [-0.002 0.038 0.085] vision None\n180 imu [-0.003 -0.04 0.054] err [-0.002 0.032 0.084] vision None\n183 imu [-0.004 -0.044 0.054] err [-0.002 0.027 0.084] vision None\n186 imu [-0.004 -0.048 0.055] err [-0.003 0.021 0.084] vision None\n189 imu [-0.004 -0.051 0.056] err [-0.003 0.016 0.084] vision None\n192 imu [-0.004 -0.054 0.057] err [-0.003 0.011 0.085] vision None\n195 imu [-0.004 -0.057 0.058] err [-0.003 0.006 0.086] vision None\n198 imu [-0.004 -0.06 0.058] err [-0.004 0.002 0.087] vision None\nBEST 0.2994993371421707 ball [0.78343829 0.02319681 3.04482216]\n 4 80 1.742981604841482e-01 1.2e+00 8.57e-02 8e-02 9e-02 0:18.6 \nBEST 0.17429816048414823 ball [ 0.72854115 -0.12119999 3.10771209]\n 5 100 3.201950260714658e-01 1.2e+00 8.82e-02 8e-02 9e-02 0:23.3 \nBEST 0.33252089226501436 ball [ 0.62002693 -0.02009493 3.02609884]\n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 25 500 4.004841486940424e-01 2.3e+00 1.11e-01 7e-02 1e-01 1:05.6 -\r\u001b[2K 30 600 4.006867678271468e-01 2.7e+00 1.01e-01 6e-02 1e-01 1:18.2 -BEST 0.31630005810817696 ball [ 0.63652312 -0.04194411 3.02825625]\n\r\u001b[2K 35 700 3.406343769682836e-01 3.1e+00 9.75e-02 6e-02 1e-01 1:31.0 -BEST 0.27969766575602273 ball [ 0.61748399 -0.04938604 3.05011735]\nThu Oct 15 14:08:34 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":156695,"cached":155008,"out":544,"think":471,"usd":0.1991},"sim":{"submit":0,"reset":0}},{"id":118,"t":3326.8,"say":"","calls":[{"kind":"robot","label":"writes combo.py","code":"cat > /app/output/combo.py <<'PY'\nfrom track import *\nimport argparse\npa=argparse.ArgumentParser();pa.add_argument('--hop',default='trial10.npz');pa.add_argument('--main',default='trial6.npz');pa.add_argument('--name',default='combo');pa.add_argument('--hopend',type=int,default=162);pa.add_argument('--mainend',type=int,default=177)\nargs=pa.parse_args();r=Robot()\nx=run(r,np.load(P/args.hop),args.name+'_hop',3,args.hopend,0,True,True)\nif not x.done:\n x=run(r,np.load(P/args.main),args.name+'_main',3,args.mainend,0,False,False,True)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/combo.py --name trial13 > /app/output/trial13.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":158458,"cached":156672,"out":336,"think":97,"usd":0.1913},"sim":{"submit":113,"reset":1}},{"id":119,"t":3455.9,"say":"","calls":[{"kind":"shell","label":"writes leftdrop.py","code":"cat > /app/output/leftdrop.py <<'PY'\nfrom local_sim import *\nimport sys\nz=np.load(P/(sys.argv[1] if len(sys.argv)>1 else 'spline_roll_best.npz'));a=z['a'].copy()\nstart=int(sys.argv[2]) if len(sys.argv)>2 else 140\nfor i in range(start,len(a)):\n a[i,13]=0;a[i,16]=1.5;a[i,81+13]=400;a[i,108+13]=10\nh=sim(a);j=h[:,16].argmax();print('max',h[j,:17]);np.savez(P/'drop_result.npz',a=a,h=h,p=z['p'])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/leftdrop.py trial6.npz 140\nOPENBLAS_NUM_THREADS=1 python /app/output/leftdrop.py spline_roll_best.npz 140"}],"out":{"text":"max [ 1.81 0.51764693 -0.07189696 1.71637741 0.93382202 -0.01250685\n 0.02644201 0.35654007 1.09089464 0.03356331 -0.43682791 -0.3743951\n -0.95875563 -0.37759855 0.63172266 -0.17646612 3.08910077]\nmax [ 1.83 0.59074329 -0.04899835 1.77497646 0.89468893 0.03949652\n 0.04628335 0.44252638 1.19428458 0.06303337 -0.40914068 -0.21746888\n -0.58645851 -0.51786786 0.83788701 -0.27191202 3.11754128]\n","exit":[0],"pics":[]},"tok":{"in":158853,"cached":158336,"out":2387,"think":2155,"usd":0.2829},"sim":{"submit":0,"reset":0}},{"id":120,"t":3492.4,"say":"","calls":[{"kind":"shell","label":"writes drop_grid.py","code":"cat > /app/output/drop_grid.py <<'PY'\nfrom local_sim import *\nimport concurrent.futures\nz=np.load(P/'spline_roll_best.npz');base=z['a']\ndef test(v):\n start,sp,el=v;a=base.copy();a[start:,13]=sp;a[start:,16]=el;a[start:,94]=400;a[start:,121]=10\n h=sim(a);j=h[:,16].argmax();return h[j,16],v,h,a\nif __name__=='__main__':\n vals=[(s,sp,e) for s in [125,130,135,140,145,150] for sp in [0,1] for e in [0,1.5]]\n with concurrent.futures.ProcessPoolExecutor(2) as ex:res=list(ex.map(test,vals))\n for z in sorted(res,key=lambda x:-x[0])[:8]:print(z[0],z[1])\n v= max(res,key=lambda x:x[0]);np.savez(P/'drop_best.npz',p=v[1],h=v[2],a=v[3])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/drop_grid.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":161527,"cached":158720,"out":591,"think":289,"usd":0.2163},"sim":{"submit":0,"reset":0}},{"id":121,"t":3499.6,"say":"","calls":[{"kind":"shell","label":"tail -7 /app/output/trial13.log; tail -5 /app/output/power.log; tail -5 /app/output/overhead.log; date -u","code":"tail -7 /app/output/trial13.log; tail -5 /app/output/power.log; tail -5 /app/output/overhead.log; date -u"}],"out":{"text":"156 imu [0.02 0.32 0.177] err [-0.049 -0.026 -0.192] vision {'pixel': [237.48837209302326, 84.44186046511628], 'ball': [0.9490474574989556, 0.07218844246283584, 2.8133859642140404], 'pelvis': [0.836562579845384, -2.3592239273284576e-16, 1.5175755615944837]}\n159 imu [0.02 0.299 0.223] err [-0.047 -0.028 -0.211] vision {'pixel': [232.91764705882352, 85.16470588235295], 'ball': [0.8609529257371051, 0.10541984274647831, 2.7982612245056764], 'pelvis': [0.867456926834471, -3.608224830031759e-16, 1.554279236366825]}\n162 imu [0.021 0.301 0.267] err [-0.044 -0.027 -0.224] vision {'pixel': [231.0752688172043, 85.98924731182795], 'ball': [0.8176528965555419, 0.10588232897074956, 2.781137632903776], 'pelvis': [0.9014681066879918, 1.1102230246251565e-16, 1.5825761088574684]}\n165 imu [0.021 0.297 0.315] err [-0.039 -0.022 -0.235] vision {'pixel': [231.42857142857142, 85.65934065934066], 'ball': [0.812544828331087, 0.08403783832293499, 2.786893156818437], 'pelvis': [0.9410126259958269, -3.469446951953614e-16, 1.5974762585757136]}\n168 imu [0.011 0.274 0.359] err [-0.039 -0.018 -0.254] vision {'pixel': [233.41052631578947, 83.85263157894737], 'ball': [0.8371586430601463, 0.04859172717084803, 2.8216427830096453], 'pelvis': [0.9793911983530599, -3.3306690738754696e-16, 1.6047941549903761]}\n171 imu [-0.006 0.24 0.408] err [-0.034 -0.015 -0.267] vision {'pixel': [239.06185567010309, 79.85567010309278], 'ball': [0.9257425469060208, -0.021226426324278513, 2.8989774787663016], 'pelvis': [1.012\n… (513 characters left out) …\n 1e-01 1:49.1 -\r\u001b[2K 25 500 4.392505118815540e-01 2.4e+00 1.07e-01 8e-02 1e-01 1:58.3 -\r\u001b[2K 29 580 4.797173128220246e-01 2.7e+00 1.18e-01 8e-02 1e-01 2:17.0 -\r\u001b[2K 30 600 5.835917160722461e-01 2.7e+00 1.19e-01 8e-02 1e-01 2:21.5 -\r\u001b[2K 34 680 3.934484753083174e-01 3.0e+00 1.24e-01 8e-02 2e-01 2:40.0 -\r\u001b[2K 35 700 2.894325043464537e-01 3.1e+00 1.25e-01 8e-02 2e-01 2:44.6 -\r\u001b[2K 40 800 3.759481071012391e-01 3.3e+00 1.15e-01 7e-02 1e-01 3:07.6 -\r\u001b[2K 45 900 5.759426396974124e-01 3.5e+00 1.10e-01 6e-02 1e-01 3:30.8 -\r\u001b[2K 75 1500 2.114007822704049e-01 7.0e+00 6.29e-02 3e-02 7e-02 3:14.4 -\r\u001b[2K 80 1600 2.063399189497624e-01 8.6e+00 5.81e-02 3e-02 7e-02 3:27.4 -BEST 0.2063399189497624 ball [ 0.67262454 -0.0391154 3.07155239]\nBEST 0.2060370396733243 ball [ 0.65938812 -0.07032089 3.07484539]\nBEST 0.19113301519240247 ball [ 0.66634259 -0.0468415 3.08164343]\n\r\u001b[2K 85 1700 2.098829082481156e-01 1.0e+01 5.43e-02 3e-02 7e-02 3:40.3 -\r\u001b[2K 90 1800 2.189351927835208e-01 1.1e+01 5.02e-02 2e-02 6e-02 3:53.3 -\r\u001b[2K 95 1900 1.939527981632663e-01 1.2e+01 4.09e-02 2e-02 5e-02 4:06.4 -BEST 0.18661309353798833 ball [ 0.68279542 -0.04638874 3.0799232 ]\n\r\u001b[2K 100 2000 2.012574428853167e-01 1.3e+01 4.04e-02 2e-02 5e-02 4:19.5 -\r\u001b[2K 105 2100 1.998049740990762e-01 1.5e+01 4.40e-02 2e-02 6e-02 4:32.5 -\r\u001b[2K 110 2200 1.930184878942431e-01 1.6e+01 4.34e-02 2e-02 6e-02 4:45.5 -Thu Oct 15 14:11:46 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":162176,"cached":161408,"out":79,"think":16,"usd":0.173},"sim":{"submit":0,"reset":0}},{"id":122,"t":3640.3,"say":"","calls":[{"kind":"shell","label":"for sp in [-1.5,-1,-.5,0,.5,1]:","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output');from bent_sim import *\nfor sp in [-1.5,-1,-.5,0,.5,1]:\n q=pose(2.05,0,sp,1.8,roll=.35);q[[1,7]]=-2.23;q[[4,10]]=-.625\n th=-sum(q[[1,3,4]]);fk(q,quat=Rotation.from_euler('y',th).as_quat(scalar_first=True));foot=d.body('left_ankle_roll_link').xpos;ball=d.site('right_ball').xpos;print(sp,'COMfoot',d.subtree_com[1,0]-foot[0],'ballheight',ball[2]-foot[2]+.07,'ballx',ball[0]-foot[0])\nPY"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"python - <<'PY'\\nimport sys;sys.path.insert(0,'/app/output');from bent_sim import *\\nfor sp in [-1.5,-1,-.5,0,.5,1]:\\n q=pose(2.05,0,sp,1.8,roll=.35);q[[1,7]]=-2.23;q[[4,10]]=-.625\\n th=-sum(q[[1,3,4]]);fk(q,quat=Rotation.from_euler('y',th).as_quat(scalar_first=True));foot=d.body('left_ankle_roll_link').xpos;ball=d.site('right_ball').xpos;print(sp,'COMfoot',d.subtree_com[1,0]-foot[0],'ballheight',ball[2]-foot[2]+.07,'ballx',ball[0]-foot[0])\\nPY\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:2982,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"}],"out":{"text":"-1.5 COMfoot 0.09562104943563371 ballheight 0.10809828228488855 ballx 0.76290359210203\n-1 COMfoot 0.0740482029969936 ballheight -0.014038190195715172 ballx 0.3336966501722478\n-0.5 COMfoot 0.050783817039844234 ballheight 0.08698191407436623 ballx -0.10860853593975776\n0 COMfoot 0.031523824620321134 ballheight 0.38642535037051046 ballx -0.4557202307411202\n0.5 COMfoot 0.020983743598442087 ballheight 0.8109779220324838 ballx -0.6226533854008915\n1 COMfoot 0.021744153406539693 ballheight 1.2566943527288605 ballx -0.568536941661058\n\n3.117541284379191 (140, 0, 1.5)\n3.117541284379191 (140, 1, 1.5)\n3.1114496399894604 (135, 0, 1.5)\n3.1114496399894604 (135, 1, 1.5)\n3.1034801733010102 (145, 0, 1.5)\n3.1034764149447733 (145, 1, 1.5)\n3.102773260031358 (150, 0, 1.5)\n3.102770827658826 (150, 1, 1.5)\n","exit":[0,0],"pics":[]},"tok":{"in":164341,"cached":162048,"out":2660,"think":2409,"usd":0.318},"sim":{"submit":0,"reset":0}},{"id":123,"t":3699.6,"say":"","calls":[{"kind":"shell","label":"writes staged.py","code":"cat > /app/output/staged.py <<'PY'\nfrom vertical import actions as original\nfrom bent_sim import support2,kp,kd\nfrom local_sim import *\ndef actions(p):\n armq=Q0.copy();armq[[13,20]]=p[3];armq[[16,23]]=p[4];armq[14]=.35;armq[21]=-.35\n pre=[low(q,kp,kd,support2(q)) for q in ramp(Q0,armq,.8)]\n a=original(p)\n for i in range(120):\n t=(i+1)*.01-1.2;s=np.clip((t-p[13])/p[12],0,1)\n a[i,[13,20]]=p[3]+(p[16]-p[3])*s;a[i,[16,23]]=p[4]+(p[17]-p[4])*s;a[i,14]=.35;a[i,21]=-.35\n a[i,54:81]=support2(a[i,:27])\n return np.r_[pre,a]\nif __name__=='__main__':\n import sys\n z=np.load(P/(sys.argv[1] if len(sys.argv)>1 else 'vertical_best.npz'));p=z['p'];a=actions(p);h=sim(a);print('max',h[h[:,16].argmax(),:17]);print('pre',h[199,:17]);np.savez(P/'staged_result.npz',p=p,a=a,h=h)\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/staged.py vertical_best.npz"}],"out":{"text":"max [ 2.34 0.35449135 0.01572764 1.30074987 0.84806306 0.06638015\n 0.51971044 0.07927028 1.60433096 0.21993428 1.12547009 -0.10963088\n -1.38116316 1.85675672 0.97876488 -0.15269675 2.23042143]\npre [ 2.00000000e+00 -3.89609605e-02 1.33505064e-03 5.91840334e-01\n 9.12816243e-01 -5.48624350e-03 4.08305919e-01 4.76280049e-03\n 2.49359855e-01 2.53198243e-02 -7.49142923e-02 -5.29532863e-01\n 1.52695086e-01 5.67236723e-02 -4.76082255e-01 -3.55515571e-01\n 1.07307745e+00]\n","exit":[0],"pics":[]},"tok":{"in":167462,"cached":164224,"out":1227,"think":839,"usd":0.258},"sim":{"submit":0,"reset":0}},{"id":124,"t":3738.7,"say":"","calls":[{"kind":"shell","label":"for p in os.listdir('/proc'):","code":"python - <<'PY'\nimport os,signal\nfor p in os.listdir('/proc'):\n if p.isdigit():\n try:\n s=open(f'/proc/{p}/cmdline','rb').read().split(b'\\0')\n if b'/app/output/power.py' in s or b'/app/output/overhead.py' in s:os.kill(int(p),signal.SIGTERM)\n except:pass\np='/app/output/vertical.py';s=open(p).read();start=s.index('def actions(p):');end=s.index('def obj(p,ret=False):');s=s[:start]+'from staged import actions\\n'+s[end:];s=s.replace('h[120:]','h[200:]').replace('i+120','i+200').replace('h[119,3]','h[199,3]').replace('h[:120,16]','h[:200,16]').replace(\"P/'vertical_best.npz'\",\"P/'staged_best.npz'\").replace(\"'maxiter':180\",\"'maxiter':160\")\n# staged imports vertical only original actions, no cycle with this module.\nopen('/app/output/staged_search.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/staged_search.py /app/output/vertical_best.npz > /app/output/staged_search.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":169038,"cached":167424,"out":798,"think":455,"usd":0.2235},"sim":{"submit":0,"reset":0}},{"id":125,"t":3838.9,"say":"The model’s clearance above the rim is still very small, and the service tests are sensitive to the preparation posture. I’m checking whether setting the arm pose before crouching avoids the jam seen in the higher-reaching candidate.","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output')\nfrom control import *\nr=Robot();r.reset(cameras=[]);z=np.load(P/'staged_result.npz');x=r.submit('lowcmd',z['a'][:80],cameras=['venue'],video='frames',video_fps=30);report(x,'setup14');print('model arms',z['h'][79,30:44])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":169895,"cached":168960,"out":1856,"think":1669,"usd":0.2711},"sim":{"submit":1,"reset":1}},{"id":126,"t":3855.4,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:22714,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"tail -5 /app/output/staged_search.log; date -u\",\"max_output_tokens\":1500}));\n"},{"kind":"shell","label":"tail -5 /app/output/staged_search.log; date -u","code":"tail -5 /app/output/staged_search.log; date -u"}],"out":{"text":"setup14 {'calls': 454, 'rows': 2600, 'control_steps': 80, 'done': False, 'reason': None, 'episode': 14, 'control_steps_total': 2662, 'resets_left': 37, 'sim_time_s': 0.8, 'time_s': 3835.73, 'time_left_s': 3364.3, 'chunk_id': 454, 'type': 'lowcmd', 'executed_rows': 80, 'control_steps_chunk': 80, 'n_clipped': 0, 'ok': True}\nq [ 1.000e-03 -1.630e-01 2.000e-03 3.630e-01 -1.800e-01 -0.000e+00\n 1.000e-03 -1.680e-01 2.000e-03 3.610e-01 -1.780e-01 0.000e+00\n -5.000e-03 1.110e+00 3.540e-01 -3.000e-03 2.773e+00 0.000e+00\n 3.000e-03 1.000e-03 1.157e+00 -3.540e-01 9.000e-03 2.829e+00\n -8.000e-03 1.240e-01 -1.700e-02]\nrpy [-0.002 -0.038 -0.018] gyro [-0.005 -0.217 0.121]\nmodel arms [ 1.11427652e+00 3.63110272e-01 -7.50355619e-03 2.77543366e+00\n 1.19173271e-04 2.05572715e-03 1.91498524e-04 1.18219950e+00\n -3.45498560e-01 -2.97131439e-03 3.10493383e+00 -1.06678443e-02\n 2.00254019e-01 2.19325676e-03]\n\n 15 300 2.444068024867252e-01 1.8e+00 7.74e-02 6e-02 9e-02 0:55.2 \n 18 360 2.758764682521573e-01 2.0e+00 7.42e-02 6e-02 8e-02 1:06.1 \n 20 400 1.710225737765065e-01 2.1e+00 7.20e-02 6e-02 8e-02 1:13.3 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 24 480 2.656819035107523e-01 2.4e+00 7.86e-02 6e-02 9e-02 1:27.7 -\r\u001b[2K 25 500 2.201364321206677e-01 2.4e+00 8.18e-02 6e-02 9e-02 1:31.3 -\r\u001b[2K 29 580 2.178045993307607e-01 2.5e+00 7.21e-02 5e-02 8e-02 1:45.8 -\r\u001b[2K 30 600 4.115114456191629e-01 2.6e+00 7.32e-02 5e-02 8e-02 1:49.4 -Thu Oct 15 14:17:42 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":171810,"cached":169856,"out":93,"think":21,"usd":0.194},"sim":{"submit":0,"reset":0}},{"id":127,"t":3907.7,"say":"","calls":[{"kind":"robot","label":"p='/app/output/track.py';s=open(p).read().replace(\"a=z['a'];h=z['h'];end=\", \"a=z['a'];h=z['h'];drops=np.flatno","code":"python - <<'PY'\np='/app/output/track.py';s=open(p).read().replace(\"a=z['a'];h=z['h'];end=\", \"a=z['a'];h=z['h'];drops=np.flatnonzero(np.diff(a[:,3])<-.1);launch=int(drops[0]+1) if len(drops) else 120;cutoff=145 if hop else launch+25;end=\").replace('if i<145:','if i /app/output/staged14.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":172935,"cached":171776,"out":720,"think":516,"usd":0.2194},"sim":{"submit":37,"reset":0}},{"id":128,"t":3938.9,"say":"","calls":[{"kind":"shell","label":"for n in ['staged_best','power_best','overhead_best']:","code":"python - <<'PY'\nimport numpy as np\nfor n in ['staged_best','power_best','overhead_best']:\n z=np.load('/app/output/'+n+'.npz');h=z['h'];i=h[:,16].argmax();print(n,z['cost'],h[i,[0,1,3,14,15,16]],z['p'][:5])\nPY\ncat > /app/output/NOTES.md <<'EOF'\nApproach: motor trajectories with IMU feedback, a legal approach hop, right-hand dunk, and feet landing.\nAll service access uses documented rcb_client; no service internals or reference solutions accessed.\nDownloaded public Unitree h1_2_handless.xml and its STL meshes from unitreerobotics/unitree_mujoco (GitHub main).\nInstalled mujoco, opencv-python-headless, and cma; numpy/scipy were present.\nBuilt an approximate local model, calibrated the held-ball offset with the head depth camera.\nCamera/encoder estimates are used for ball and body tracking; no privileged service state is available.\nEarly crouches tipped; stiffer ankles, gravity support, and coordinated hip extension improved takeoff.\nA verified service jump reached approximately 3.06 m ball height, below required clearance.\nWalking policy consumed the two steps during settling, so it was rejected as an approach.\nSoft approach-hop landing with IMU feedback stayed legal; hard landing trials bounced and travelled.\nSome deeper preparation motions jammed the ball/arm; testing arm setup before crouching.\nLatest work: optimize takeoff, stabilize hop-to-jump transition, then control rim entry and landing.\nRecorded sensor observations, model experiments, and executable controllers are retained in output.\nEOF"}],"out":{"text":"staged_best 0.11336729823979545 [ 2.6 0.48714304 1.77569541 0.81978603 -0.02314825 3.12785065] [-2.12620829 2.04996372 -0.59807986 1.09743521 2.32205209]\npower_best 0.17429816048414823 [ 1.77 0.37315454 1.76002148 0.6556047 -0.15233119 3.1142651 ] [-1.97713759 2.04913137 -0.66812054 0.52776102 1.7711325 ]\noverhead_best 0.17513321581121635 [ 1.75 0.44095323 1.75153743 0.63284718 -0.02971608 3.09266773] [-2.23405128 2.04886767 -0.43482415 -2.22863234 1.14717287]\n","exit":[0],"pics":[]},"tok":{"in":173713,"cached":172800,"out":551,"think":154,"usd":0.2095},"sim":{"submit":0,"reset":0}},{"id":129,"t":3977.0,"say":"","calls":[{"kind":"shell","label":"tail -6 /app/output/staged14.log; tail -5 /app/output/staged_search.log; date -u","code":"tail -6 /app/output/staged14.log; tail -5 /app/output/staged_search.log; date -u"}],"out":{"text":"Warning: truncated output (original token count: 1882)\nTotal output lines: 12\n\n176 imu [0.023 0.346 0.001] err [ 0.019 -0.297 0.006] vision None\n179 imu [0.026 0.316 0.001] err [ 0.023 -0.347 0.005] vision None\n182 imu [ 0.03 0.266 -0.002] err [ 0.028 -0.415 0.003] vision None\n185 imu [ 0.035 0.2 -0.005] err [ 0.034 -0.503 -0. ] vision None\n188 imu [ 0.04 0.131 -0.009] err [ 0.041 -0.61 -0.003] vision None\n{'calls': 492, 'rows': 2711, 'control_steps': 191, 'done': True, 'reason': 'failed', 'episode': 14, 'control_steps_total': 2773, 'resets_left': 37, 'sim_time_s': 1.91, 'time_s': 3903.26, 'time_left_s': 3296.7, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pitch_pos', 'right_elbow_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_yaw_vel', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_yaw_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_knee_vel', 'right_ankl\n… (3,105 characters left out) …\n0.13660788536071777, -5.875475883483887, -0.5568791031837463, 2.9248740673065186, 0.0, 1.0, 4.0, 0.0, 0.0, 0.0, 1.909999966621399]}, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 492, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'clipped': [], 'n_clipped': 0, 'ok': True}\n 20 400 1.710225737765065e-01 2.1e+00 7.20e-02 6e-02 8e-02 1:13.3 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 24 480 2.656819035107523e-01 2.4e+00 7.86e-02 6e-02 9e-02 1:27.7 -\r\u001b[2K 25 500 2.201364321206677e-01 2.4e+00 8.18e-02 6e-02 9e-02 1:31.3 -\r\u001b[2K 29 580 2.178045993307607e-01 2.5e+00 7.21e-02 5e-02 8e-02 1:45.8 -\r\u001b[2K 30 600 4.115114456191629e-01 2.6e+00 7.32e-02 5e-02 8e-02 1:49.4 -BEST 0.11336729823979545 ball [0.85185922 0.03061669 3.12560082]\n\r\u001b[2K 35 700 1.682935714398584e-01 2.8e+00 6.61e-02 5e-02 7e-02 2:07.6 -\r\u001b[2K 40 800 3.403823744921587e-01 3.2e+00 5.73e-02 4e-02 6e-02 2:25.7 -\r\u001b[2K 45 900 1.458184786645012e-01 3.9e+00 6.23e-02 5e-02 7e-02 2:43.8 -\r\u001b[2K 50 1000 1.673061747937749e-01 4.5e+00 5.51e-02 4e-02 7e-02 3:02.0 -\r\u001b[2K 55 1100 1.692771843637864e-01 4.7e+00 5.08e-02 4e-02 6e-02 3:20.1 -BEST 0.10610186985913672 ball [0.79891469 0.051399 3.1343099 ]\n\r\u001b[2K 60 1200 1.252950052303941e-01 5.0e+00 4.27e-02 3e-02 5e-02 3:38.2 -BEST 0.08971016979895202 ball [0.73915154 0.0624908 3.15883245]\nThu Oct 15 14:19:44 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":174581,"cached":173568,"out":514,"think":461,"usd":0.2094},"sim":{"submit":0,"reset":0}},{"id":130,"t":4076.8,"say":"","calls":[{"kind":"robot","label":"writes balance.py","code":"cat > /app/output/balance.py <<'PY'\nfrom control import *\nfrom bent_sim import support2\n\ndef stand(r,seconds=1,name='balance'):\n kp=KP.copy();kd=KD.copy();kp[:12]=[800,1000,800,1000,500,500]*2;kd[:12]=[20,25,20,30,25,25]*2\n x=r.get_obs(cameras=[],video='none')\n for i in range(round(seconds/.03)):\n p=np.array(x.meta['proprio']['now']);rot=Rotation.from_quat(p[108:112],scalar_first=True).as_euler('xyz');g=p[112:115]\n tau=support2(Q0);tau[[4,10]]+=250*rot[1]+65*g[1];tau[[5,11]]+=150*rot[0]+45*g[0]\n tau=np.clip(tau,-np.array(S['robot_facts']['torque_limit_nm']),np.array(S['robot_facts']['torque_limit_nm']))\n x=r.submit('lowcmd',np.tile(low(Q0,kp,kd,tau),(3,1)),cameras=['venue'],video='none');x.save(P/f'{name}_{i:03d}')\n print('stand',i,rot.round(3),g.round(3),flush=True)\n if x.done:print({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']});break\n return x\nif __name__=='__main__':stand(Robot(),1.2)\nPY\ncat > /app/output/balanced_combo.py <<'PY'\nfrom track import *\nfrom balance import stand\nr=Robot();x=run(r,np.load(P/'trial10.npz'),'trial15_hop',3,162,0,True,True)\nif not x.done:x=stand(r,1.2,'trial15_stand')\nif not x.done:\n x=run(r,np.load(P/'spline_roll_best.npz'),'trial15_main',3,177,0,False,False,True)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/balanced_combo.py > /app/output/trial15.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":177848,"cached":174464,"out":2094,"think":1552,"usd":0.313},"sim":{"submit":153,"reset":1}},{"id":131,"t":4199.4,"say":"","calls":[{"kind":"robot","label":"writes dunk_control.py","code":"cat > /app/output/dunk_control.py <<'PY'\nfrom control import *\nfrom estimate import locate\nfrom model import fk,d,m\nfrom scipy.optimize import least_squares\nimport argparse\n\ndef arm_ik(p,base,target,seed=None,velocity=None):\n q=p[:27].copy();prior=p[81:108][20:27].copy() if seed is None else seed.copy()\n quat=p[108:112]\n if velocity is not None:base=np.asarray(base)+np.asarray(velocity)*.025\n quat=(Rotation.from_quat(quat,scalar_first=True)*Rotation.from_rotvec(p[112:115]*.025)).as_quat(scalar_first=True)\n lo=np.array([-3.14,-1.0,-1.5,.4,-2,-.47,-1.27]);hi=np.array([-1.6,.1,1.5,2.5,2,.47,1.27])\n weights=np.array([.12,.12,.05,.08,.015,.015,.015])\n def fun(a):\n q[20:27]=a;fk(q,base=base,quat=quat)\n return np.r_[12*(d.site('right_ball').xpos-target),weights*(a-prior)]\n fit=least_squares(fun,np.clip(prior,lo+1e-6,hi-1e-6),bounds=(lo,hi),max_nfev=45,ftol=1e-5)\n return fit.x,np.linalg.norm(fit.fun[:3])/12\n\ndef run_dunk(r,z,offset,name='dunk',base_y=0,end=2.08):\n x=r.get_obs(cameras=['venue'],video='none');seed=None;prev=None;maxz=0;entered=False\n while not x.done:\n p=np.array(x.meta['proprio']['now']);t=p[-1]-offset;i=round(t*100)\n if t>=end:break\n vis=locate(x,base_y=base_y)\n if vis is None:\n print('missing ball',t,flush=True)\n if prev is None:break\n base=np.array(prev['base'])+prev['vel']*(t-prev['time']);ball=None;vel=prev['vel']\n else:\n base=np.array(vis['pelvis']);ball=np.array(vis['ball']);maxz=max(maxz,ball[2]);vel=z['h'][min(i,len(z['h'])-1),8:11].copy()\n if prev is not None:\n dv=(base-prev['base'])/max(.01,t-prev['time']);vel=.5*vel+.5*np.clip(dv,[-3,-1,-6],[3,1,6])\n prev={'base':base,'vel':vel,'time':t}\n row=z['a'][min(i,len(z['a'])-1)].copy()\n cur=Rotation.from_quat(p[108:112],scalar_first=True).as_euler('xyz');ref=Rotation.from_quat(z['h'][min(i,len(z['h'])-1),4:8],scalar_first=True).as_euler('xyz')\n err=cur-ref;gyr=p[112:115]-z['h'][min(i,len(z['h'])-1),11:14]\n row[[1,7]]+=np.clip(.5*err[1]+.05*gyr[1],-.25,.25);row[[2,8]]+=np.clip(.6*err[0]+.06*gyr[0],-.15,.15)\n target=np.array([1.25,0,3.22-2.5*max(0,t-1.84)])\n if ball is not None and maxz<3.055:target[0]=.99\n seed,e=arm_ik(p,base,target,seed,vel);row[20:27]=seed;row[101:108]=400;row[128:135]=10\n # Release only after a gripped downward entry, measured below the ring and close to its centre.\n if ball is not None and maxz>3.055 and ball[2]<3.025 and np.linalg.norm(ball[:2]-[1.25,0])<.09:\n entered=True\n if entered and ball is not None and ball[2]<2.94:row[-1]=0\n print('DUNK',round(t,3),'ball',None if ball is None else ball.round(3),'target',target.round(3),'ikerr',round(e,3),'release',row[-1],flush=True)\n x=r.submit('lowcmd',np.tile(row,(2,1)),cameras=['venue'],video='none');x.save(P/f'{name}_{i:03d}')\n print({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']},flush=True)\n return x\nif __name__=='__main__':\n pa=argparse.ArgumentParser();pa.add_argument('file');pa.add_argument('--offset',type=float,default=0);pa.add_argument('--name',default='dunk');pa.add_argument('--base-y',type=float,default=0);pa.add_argument('--end',type=float,default=2.08);a=pa.parse_args();run_dunk(Robot(),np.load(a.file),a.offset,a.name,a.base_y,a.end)\nPY\npython - <<'PY'\np='/app/output/estimate.py';s=open(p).read().replace(\"if not options:return None\", \"if not options:\\n hsv=cv2.cvtColor(img,cv2.COLOR_RGB2HSV);mask=cv2.inRange(hsv,np.array([3,120,60]),np.array([28,255,230]));mask=cv2.erode(mask,np.ones((3,3),np.uint8))\\n n,lab,stats,cents=cv2.connectedComponentsWithStats(mask)\\n options=[(st[4],ce,st[2],st[3]) for st,ce in zip(stats[1:],cents[1:]) if 1606 and .5 /app/output/dunk15.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":184927,"cached":184448,"out":610,"think":516,"usd":0.2197},"sim":{"submit":16,"reset":0}},{"id":135,"t":4291.0,"say":"","calls":[{"kind":"shell","label":"z=np.load('/app/output/overhead_best.npz');h=z['h'];print(h[h[:,16].argmax(),:17],z['p'])","code":"tail -8 /app/output/dunk15.log; python - <<'PY'\nimport numpy as np\nz=np.load('/app/output/overhead_best.npz');h=z['h'];print(h[h[:,16].argmax(),:17],z['p'])\nPY\ndate -u"}],"out":{"text":"DUNK 1.95 ball [ 0.96 -0.065 2.996] target [0.99 0. 2.945] ikerr 0.0 release 1.0\nDUNK 1.97 ball [ 0.897 -0.037 2.954] target [0.99 0. 2.895] ikerr 0.0 release 1.0\nDUNK 1.99 ball [ 0.853 -0.012 2.917] target [0.99 0. 2.845] ikerr 0.0 release 1.0\nDUNK 2.01 ball [0.838 0.016 2.857] target [0.99 0. 2.795] ikerr 0.0 release 1.0\nDUNK 2.03 ball [0.872 0.037 2.81 ] target [0.99 0. 2.745] ikerr 0.0 release 1.0\nDUNK 2.05 ball [0.912 0.053 2.751] target [0.99 0. 2.695] ikerr 0.0 release 1.0\nDUNK 2.07 ball [0.962 0.073 2.697] target [0.99 0. 2.645] ikerr 0.0 release 1.0\n{'calls': 666, 'rows': 3202, 'control_steps': 491, 'done': False, 'reason': None, 'episode': 15, 'control_steps_total': 3264, 'resets_left': 36, 'sim_time_s': 4.91, 'time_s': 4252.27, 'time_left_s': 2947.7, 'chunk_id': 666, 'type': 'lowcmd', 'executed_rows': 2, 'control_steps_chunk': 2, 'n_clipped': 0, 'ok': True}\n[ 1.75 0.44095323 -0.00418777 1.75153743 0.9929272 -0.00359416\n 0.08546404 -0.08233194 1.00470323 0.02250495 -0.05714035 0.10688666\n -0.73689705 -0.33514257 0.63284718 -0.02971608 3.09266773] [-2.23405128 2.04886767 -0.43482415 -2.22863234 1.14717287 -0.21413668\n -0.36204846 -0.2104577 -0.8480413 -0.50411571 0.43538849 0.3102124\n 0.15001388 -0.17522541 0.08554128 0.31347913 -3.13999361 1.33591399]\nThu Oct 15 14:24:58 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":185594,"cached":184832,"out":609,"think":516,"usd":0.2229},"sim":{"submit":0,"reset":0}},{"id":136,"t":4303.8,"say":"","calls":[{"kind":"robot","label":"head -9 /app/output/dunk15.log","code":"head -9 /app/output/dunk15.log\nOPENBLAS_NUM_THREADS=1 python -u /app/output/track.py /app/output/overhead_best.npz --reset --name overhead16 --step 3 --end 180 > /app/output/overhead16.log 2>&1"}],"out":{"text":"DUNK 1.77 ball [ 0.578 -0.494 2.763] target [0.99 0. 3.22] ikerr 0.106 release 1.0\nDUNK 1.79 ball [ 0.638 -0.505 2.796] target [0.99 0. 3.22] ikerr 0.1 release 1.0\nDUNK 1.81 ball [ 0.716 -0.503 2.834] target [0.99 0. 3.22] ikerr 0.108 release 1.0\nDUNK 1.83 ball [ 0.794 -0.488 2.867] target [0.99 0. 3.22] ikerr 0.13 release 1.0\nDUNK 1.85 ball [ 0.867 -0.455 2.911] target [0.99 0. 3.195] ikerr 0.114 release 1.0\nDUNK 1.87 ball [ 0.919 -0.4 2.957] target [0.99 0. 3.145] ikerr 0.08 release 1.0\nDUNK 1.89 ball [ 0.959 -0.321 2.989] target [0.99 0. 3.095] ikerr 0.064 release 1.0\nDUNK 1.91 ball [ 0.993 -0.216 3.022] target [0.99 0. 3.045] ikerr 0.022 release 1.0\nDUNK 1.93 ball [ 1.02 -0.096 3.021] target [0.99 0. 2.995] ikerr 0.005 release 1.0\n","exit":[],"pics":[]},"tok":{"in":186974,"cached":185472,"out":107,"think":9,"usd":0.2058},"sim":{"submit":60,"reset":1}},{"id":137,"t":4322.9,"say":"The first downward-stroke test kept the ball gripped, but it never got above the rim, so I did not release it. I’m testing the candidate with the right arm raised earlier; its model predicts less twisting and less elbow oscillation near the peak.","calls":[{"kind":"shell","label":"OPENBLAS_NUM_THREADS=1 python /app/output/leftdrop.py overhead_best.npz 140; tail -5 /app/output/staged_search","code":"OPENBLAS_NUM_THREADS=1 python /app/output/leftdrop.py overhead_best.npz 140; tail -5 /app/output/staged_search.log; date -u"}],"out":{"text":"max [ 1.77 0.46289837 -0.01408273 1.78777758 0.99157419 0.02377066\n 0.04242804 -0.12006431 1.1000096 -0.06053083 -0.20673135 -0.05944424\n -0.04047549 -2.6231296 0.37606028 -0.11059259 3.13646244]\nBEST 0.07175531907675663 ball [0.76517771 0.03882037 3.16693077]\n\r\u001b[2K 135 2700 7.212237338378417e-02 1.5e+01 1.39e-02 7e-03 2e-02 8:12.1 -BEST 0.07046027478607045 ball [0.79610016 0.00918742 3.16107579]\n\r\u001b[2K 140 2800 7.402356701329869e-02 1.5e+01 1.33e-02 6e-03 2e-02 8:30.3 -\r\u001b[2K 145 2900 7.228170565133193e-02 1.6e+01 1.27e-02 6e-03 2e-02 8:48.6 -BEST 0.07012023304402047 ball [0.78771181 0.01601214 3.16293724]\n\r\u001b[2K 150 3000 7.049146600809575e-02 1.7e+01 1.12e-02 5e-03 1e-02 9:06.8 -BEST 0.0697535149559134 ball [0.77327449 0.01927417 3.16653982]\n\r\u001b[2K 155 3100 7.126342772826573e-02 1.7e+01 9.40e-03 4e-03 1e-02 9:25.1 -Thu Oct 15 14:25:33 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":187575,"cached":186880,"out":269,"think":145,"usd":0.2073},"sim":{"submit":0,"reset":0}},{"id":138,"t":4405.4,"say":"","calls":[{"kind":"shell","label":"tail -10 /app/output/overhead16.log; date -u","code":"tail -10 /app/output/overhead16.log; date -u"}],"out":{"text":"150 imu [-0.033 0.51 -0.036] err [-0.014 0.015 0.05 ] vision {'pixel': [210.13675213675214, 90.32478632478633], 'ball': [0.2203301475246493, -0.14407173453350364, 2.6857459525828933], 'pelvis': [0.16792803883012247, -2.220446049250313e-16, 1.511773896576846]}\n153 imu [-0.025 0.449 -0.013] err [-0.012 0.029 0.065] vision {'pixel': [208.48305084745763, 85.04237288135593], 'ball': [0.19928826238677844, -0.12364081785288761, 2.779687379320828], 'pelvis': [0.22795417732842846, -3.0531133177191805e-16, 1.5588605038614212]}\n156 imu [-0.01 0.284 0.035] err [-0.004 0.044 0.099] vision {'pixel': [207.55752212389382, 77.84070796460178], 'ball': [0.20446603294546084, -0.08139982476696783, 2.9091803370192517], 'pelvis': [0.2884642396966469, -3.608224830031759e-16, 1.5986663351384869]}\n159 imu [-0. 0.172 0.091] err [0.007 0.06 0.156] vision {'pixel': [208.0818181818182, 75.10909090909091], 'ball': [0.23792703620139277, -0.03763760035469765, 2.9615778895881535], 'pelvis': [0.32651540230208126, 3.0531133177191805e-16, 1.6428753532846128]}\n162 imu [0.003 0.157 0.112] err [0.006 0.05 0.194] vision {'pixel': [208.0, 75.23584905660377], 'ball': [0.25448268981234734, -0.001198457714092882, 2.9622455144984037], 'pelvis': [0.3384906124848997, -9.71445146547012e-17, 1.6828198380198582]}\n165 imu [0.004 0.228 0.093] err [0.01 0.067 0.198] vision {'pixel': [209.36274509803923, 75.51960784313725], 'ball': [0.2903721981815026, 0.014609924815390585, 2.9595441704953185], 'pelvis': [0.34183722178635056, 4.0245584642661925e-16, 1.7112978607014655]}\n168 imu [-0.006 0.296 0.071] err [0.009 0.079 0.202] vision {'pixel': [213.28155339805826, 73.71844660194175], 'ball': [0.37051129829515994, 0.010541694119650558, 2.995413924518892], 'pelvis': [0.3623337781001422, 3.0531133177191805e-16, 1.724825242777301]}\n171 imu [-0.019 0.298 0.049] err [0.003 0.085 0.2 ] vision {'pixel': [218.52083333333334, 71.13541666666667], 'ball': [0.4865059321484819, 0.017655939731572978, 3.048695653303707], 'pelvis': [0.38341226113347765, 4.163336342344337e-17, 1.7315504877402668]}\n174 imu [-0.019 0.261 0.044] err [0.003 0.082 0.208] vision {'pixel': [224.79310344827587, 70.41379310344827], 'ball': [0.6252915993257535, 0.020333126377711785, 3.069223004137449], 'pelvis': [0.4142156706380573, 4.163336342344337e-16, 1.736043625789174]}\n177 imu [-0.017 0.245 0.054] err [0.004 0.084 0.229] vision {'pixel': [229.87777777777777, 72.13333333333334], 'ball': [0.73690280750267, 0.01640054464684848, 3.041975027746908], 'pelvis': [0.44283759431492714, 2.498001805406602e-16, 1.7181544979899248]}\nThu Oct 15 14:26:52 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":188444,"cached":187520,"out":1430,"think":1387,"usd":0.2683},"sim":{"submit":0,"reset":0}},{"id":139,"t":4462.9,"say":"","calls":[{"kind":"shell","label":"writes overdrop.py","code":"cat > /app/output/overdrop.py <<'PY'\nfrom overhead import BOUNDS\nfrom overhead import actions as original\nfrom local_sim import *\ndef actions(p):\n a=original(p)\n a[140:,13]=0;a[140:,16]=1.5;a[140:,94]=400;a[140:,121]=10\n a[135:,101:108]=400;a[135:,128:135]=10\n return a\ndef obj(p,ret=False):\n a=actions(p);h=sim(a);s=h[120:];pitch=np.array([Rotation.from_quat(q,scalar_first=True).as_euler('xyz')[1] for q in s[:,4:8]])\n c=(s[:,14]-.7)**2+8*np.maximum(3.23-s[:,16],0)**2+.1*pitch**2+.01*s[:,12]**2+.3*s[:,15]**2\n i=c.argmin();cost=c[i]+20*max(0,.17-np.min(h[:120,16]))**2\n if ret:return h,a,i+120,cost\n return cost\nif __name__=='__main__':\n import cma,multiprocessing as mp\n lo,hi=np.array(BOUNDS).T;p0=np.load(P/'overhead_best.npz')['p'];best=1e9\n es=cma.CMAEvolutionStrategy((p0-lo)/(hi-lo),.065,{'bounds':[0,1],'popsize':20,'maxiter':130,'verb_disp':5})\n with mp.Pool(4) as pool:\n while not es.stop():\n xs=es.ask();ps=[lo+np.array(x)*(hi-lo) for x in xs];vals=pool.map(obj,ps);es.tell(xs,vals);es.disp();j=np.argmin(vals)\n if vals[j] /app/output/overdrop.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":191181,"cached":188288,"out":1254,"think":711,"usd":0.2799},"sim":{"submit":0,"reset":0}},{"id":140,"t":4477.3,"say":"","calls":[{"kind":"robot","label":"writes hop17.py","code":"cat > /app/output/hop17.py <<'PY'\nfrom track import *\nfrom balance import stand\nr=Robot();x=run(r,np.load(P/'trial10.npz'),'trial17_hop',3,162,.15,True,True)\nif not x.done:x=stand(r,1.2,'trial17_stand')\nprint({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']})\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/hop17.py > /app/output/trial17.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":192492,"cached":191104,"out":216,"think":46,"usd":0.2158},"sim":{"submit":67,"reset":1}},{"id":141,"t":4537.0,"say":"The earlier arm raise transferred better: the service reached about 3.07 m with much less twisting. I’m lowering the free arm after takeoff to gain some height at the ball, and adjusting the approach hop to put the robot closer to the basket.","calls":[{"kind":"robot","label":"writes land.py","code":"cat > /app/output/land.py <<'PY'\nfrom control import *\nfrom bent_sim import support2\nfrom balance import stand\n\ndef land(r,name='land'):\n x=r.get_obs(cameras=['venue'],video='none');p=np.array(x.meta['proprio']['now']);q=p[81:108].copy();q[[1,7]]=-.75;q[[3,9]]=.9;q[[4,10]]=-.15\n kp=KP.copy();kp[:12]=[700,700,700,400,350,350]*2\n kd=KD.copy();kd[:12]=[25,30,25,30,20,20]*2\n t0=p[-1];impact=None\n for i in range(120):\n p=np.array(x.meta['proprio']['now']);t=p[-1]-t0;rot=Rotation.from_quat(p[108:112],scalar_first=True).as_euler('xyz');g=p[112:115]\n if t>.1 and p[117]>22 and impact is None:impact=t;print('IMPACT',t,flush=True)\n if impact is not None:\n u=np.clip((t-impact-.15)/.8,0,1);q[[1,7]]=-.75*(1-u)-.16*u;q[[3,9]]=.9*(1-u)+.36*u;q[[4,10]]=-.15*(1-u)-.2*u\n q[13:27]*=.98\n tau=np.zeros(27) if impact is None else support2(q)\n tau[[4,10]]+=200*rot[1]+55*g[1];tau[[5,11]]+=140*rot[0]+35*g[0]\n lim=np.array(S['robot_facts']['torque_limit_nm']);tau=np.clip(tau,-lim,lim)\n row=low(q,kp,kd,tau,grip=0)\n x=r.submit('lowcmd',np.tile(row,(2,1)),cameras=['venue'],video='none');x.save(P/f'{name}_{i:03d}')\n print('LAND',round(t,2),rot.round(2),g.round(2),flush=True)\n if x.done:break\n if not x.done:\n for i in range(10):\n row=np.r_[0,0,0,p[81+12:108]*0,0,0]\n x=r.submit('walk',np.tile(row,(20,1)),cameras=['venue'],video='none');x.save(P/f'{name}_walk_{i}')\n if x.done:break\n print({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']},flush=True)\n return x\nif __name__=='__main__':land(Robot())\nPY\ntail -5 /app/output/trial17.log; tail -6 /app/output/overdrop.log; date -u"}],"out":{"text":"stand 10 [0.042 1.042 0.036] [0.047 2.554 0.227]\nstand 11 [0.066 1.124 0.061] [0.08 3.106 0.357]\nstand 12 [0.085 1.21 0.074] [ 0.278 2.661 -0.618]\n{'calls': 798, 'rows': 3582, 'control_steps': 200, 'done': True, 'reason': 'failed', 'episode': 17, 'control_steps_total': 3644, 'resets_left': 34, 'sim_time_s': 2.0, 'time_s': 4478.48, 'time_left_s': 2721.5, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 798, 'type': 'lowcmd', 'executed_rows': 2, 'control_steps_chunk': 2, 'n_clipped': 0, 'ok': True}\n{'calls': 798, 'rows': 3582, 'control_steps': 200, 'done': True, 'reason': 'failed', 'episode': 17, 'control_steps_total': 3644, 'resets_left': 34, 'sim_time_s': 2.0, 'time_s': 4478.48, 'time_left_s': 2721.5, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 798, 'type': 'lowcmd', 'executed_rows': 2, 'control_steps_chunk': 2, 'n_clipped': 0, 'ok': True}\n 15 300 1.059292519791155e-01 1.9e+00 4.86e-02 4e-02 5e-02 0:37.8 \nBEST 0.10592925197911547 [ 1.77 0.403061 1.79394766 0.57366455 -0.11375336 3.13092071]\n 19 380 1.135473657891110e-01 2.2e+00 5.26e-02 4e-02 6e-02 0:47.9 \n 20 400 1.348359327376225e-01 2.3e+00 5.42e-02 4e-02 6e-02 0:50.4 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 25 500 1.169914755066856e-01 2.8e+00 5.47e-02 4e-02 6e-02 1:02.9 -\r\u001b[2K 30 600 1.461560613067794e-01 3.4e+00 5.38e-02 4e-02 6e-02 1:15.4 -\r\u001b[2K 35 700 1.346180004332554e-01 3.9e+00 5.74e-02 4e-02 7e-02 1:28.0 -Thu Oct 15 14:29:22 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":192766,"cached":192384,"out":1615,"think":870,"usd":0.277},"sim":{"submit":0,"reset":0}},{"id":142,"t":4571.6,"say":"","calls":[{"kind":"shell","label":"z=np.load('/app/output/soft_hop_best.npz');print(z['p'],z['h'][-1,:14],z['cost'])","code":"rg '^1[012345][0-9] imu' /app/output/trial17.log | tail -15; python - <<'PY'\nimport numpy as np\nz=np.load('/app/output/soft_hop_best.npz');print(z['p'],z['h'][-1,:14],z['cost'])\nPY"}],"out":{"text":"117 imu [0.017 0.344 0.058] err [0.015 0.134 0.092] vision None\n120 imu [0.016 0.335 0.05 ] err [0.015 0.14 0.086] vision None\n123 imu [0.015 0.322 0.04 ] err [0.014 0.15 0.075] vision None\n126 imu [0.014 0.306 0.027] err [0.014 0.16 0.062] vision None\n129 imu [0.012 0.287 0.013] err [0.013 0.169 0.046] vision None\n132 imu [ 0.01 0.269 -0.002] err [0.012 0.178 0.03 ] vision None\n135 imu [ 0.009 0.255 -0.014] err [0.01 0.187 0.014] vision None\n138 imu [ 0.007 0.246 -0.024] err [0.009 0.196 0.003] vision None\n141 imu [ 0.005 0.245 -0.03 ] err [ 0.007 0.206 -0.004] vision None\n144 imu [ 0.003 0.253 -0.033] err [ 0.005 0.218 -0.009] vision None\n147 imu [ 0.001 0.268 -0.035] err [ 0.003 0.232 -0.011] vision None\n150 imu [-0.001 0.289 -0.035] err [ 0.002 0.248 -0.012] vision None\n153 imu [-0.002 0.314 -0.035] err [ 0.001 0.266 -0.011] vision None\n156 imu [-0.002 0.34 -0.033] err [ 0. 0.286 -0.008] vision None\n159 imu [-0.002 0.368 -0.031] err [ 0. 0.308 -0.005] vision None\n[ 0.62552663 -0.18413422 -0.50134863 0.12946856 0.48045893 0.0861021\n 0.08173407 -0.5608106 0.39294158 -0.49510882 0.21929122 0.30456262] [ 2.30000000e+00 4.56625191e-01 5.93330636e-03 1.03927404e+00\n 9.99974599e-01 2.73322179e-04 -6.86710409e-03 -1.88937227e-03\n 4.52951017e-02 -4.62677449e-03 9.22893889e-04 1.74540193e-03\n 6.09627698e-02 1.71855899e-03] 0.0030237581680237977\n","exit":[0],"pics":[]},"tok":{"in":195253,"cached":192640,"out":186,"think":86,"usd":0.2281},"sim":{"submit":0,"reset":0}},{"id":143,"t":4596.2,"say":"","calls":[{"kind":"shell","label":"for n in ['trial10','soft_hop_best']:","code":"python - <<'PY'\nimport numpy as np\nfor n in ['trial10','soft_hop_best']:\n z=np.load('/app/output/'+n+'.npz');print(n,z['p']);h=z['h'];\n for j,col in [(0,44),(1,47)]:\n on=h[:,50+j];anchor=h[0,col:col+2].copy();best=0;prior=1\n for i in range(len(h)):\n if on[i] and not prior:anchor=h[i,col:col+2].copy()\n if on[i]:best=max(best,np.linalg.norm(h[i,col:col+2]-anchor))\n prior=on[i]\n print('slide',best,'foot final',h[-1,col:col+3])\nPY"}],"out":{"text":"trial10 [ 0.62389193 -0.40217292 -0.45907852 0.08075903 0.44036757 0.12408803\n 0.09082487 -0.68226405 0.52087394 -0.32370714 0.22301102 0.3863683 ]\nslide 0.035326926957964695 foot final [0.48405624 0.17177692 0.06928156]\nslide 0.04205052465141051 foot final [ 0.46813275 -0.15542378 0.06926191]\nsoft_hop_best [ 0.62552663 -0.18413422 -0.50134863 0.12946856 0.48045893 0.0861021\n 0.08173407 -0.5608106 0.39294158 -0.49510882 0.21929122 0.30456262]\nslide 0.05094408368428945 foot final [0.4528152 0.16806385 0.06930359]\nslide 0.04957618635818959 foot final [ 0.45068958 -0.15295743 0.06928042]\n","exit":[0],"pics":[]},"tok":{"in":196240,"cached":195200,"out":392,"think":187,"usd":0.2252},"sim":{"submit":0,"reset":0}},{"id":144,"t":4625.1,"say":"","calls":[{"kind":"robot","label":"cp /app/output/soft_hop_best.npz /app/output/hop18.npz","code":"cp /app/output/soft_hop_best.npz /app/output/hop18.npz\npython - <<'PY'\nimport sys;sys.path.insert(0,'/app/output');from control import *\nr=Robot();r.reset(cameras=[]);z=np.load(P/'hop18.npz');x=r.submit('lowcmd',z['a'][:180],cameras=['venue'],video='frames',video_fps=30);report(x,'hop18')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":196994,"cached":196096,"out":437,"think":299,"usd":0.2269},"sim":{"submit":1,"reset":1}},{"id":145,"t":4640.7,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:31571,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\nimage((await tools.view_image({path:\"/app/output/hop18/last/venue.jpg\"})));\ntext(await tools.exec_command({cmd:\"tail -7 /app/output/overdrop.log; date -u\",\"max_output_tokens\":1500}));\n"},{"kind":"look","label":"venue.jpg","code":"/app/output/hop18/last/venue.jpg"},{"kind":"shell","label":"tail -7 /app/output/overdrop.log; date -u","code":"tail -7 /app/output/overdrop.log; date -u"}],"out":{"text":"hop18 {'calls': 800, 'rows': 3762, 'control_steps': 180, 'done': False, 'reason': None, 'episode': 18, 'control_steps_total': 3824, 'resets_left': 33, 'sim_time_s': 1.8, 'time_s': 4622.87, 'time_left_s': 2577.1, 'chunk_id': 800, 'type': 'lowcmd', 'executed_rows': 180, 'control_steps_chunk': 180, 'n_clipped': 30, 'ok': True}\nq [-0.004 -0.144 0.004 0.402 -0.073 0.002 0.004 -0.149 0.004 0.407\n -0.066 0.004 0.001 0.006 -0. -0. 0.003 0. 0.005 -0.\n -0.013 0. -0.002 -0.02 0.002 -0.04 -0.004]\nrpy [ 0.005 -0.418 -0.013] gyro [-0.002 -0.696 -0.01 ]\n\n 15 300 1.059292519791155e-01 1.9e+00 4.86e-02 4e-02 5e-02 0:37.8 \nBEST 0.10592925197911547 [ 1.77 0.403061 1.79394766 0.57366455 -0.11375336 3.13092071]\n 19 380 1.135473657891110e-01 2.2e+00 5.26e-02 4e-02 6e-02 0:47.9 \n 20 400 1.348359327376225e-01 2.3e+00 5.42e-02 4e-02 6e-02 0:50.4 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 25 500 1.169914755066856e-01 2.8e+00 5.47e-02 4e-02 6e-02 1:02.9 -\r\u001b[2K 30 600 1.461560613067794e-01 3.4e+00 5.38e-02 4e-02 6e-02 1:15.4 -\r\u001b[2K 35 700 1.346180004332554e-01 3.9e+00 5.74e-02 4e-02 7e-02 1:28.0 -\r\u001b[2K 40 800 1.332514827415885e-01 4.6e+00 5.60e-02 3e-02 7e-02 1:40.7 -\r\u001b[2K 45 900 1.094486956917499e-01 5.0e+00 4.60e-02 3e-02 6e-02 1:53.2 -\r\u001b[2K 50 1000 1.173819554145465e-01 5.6e+00 4.72e-02 2e-02 6e-02 2:05.6 -\r\u001b[2K 55 1100 1.192944461191172e-01 6.3e+00 5.11e-02 3e-02 6e-02 2:18.1 -\r\u001b[2K 60 1200 1.168508116439349e-01 7.0e+00 5.26e-02 2e-02 7e-02 2:30.7 -BEST 0.09962961885952733 [ 1.77 0.35260889 1.79844103 0.53612539 -0.11086947 3.14089375]\n\r\u001b[2K 65 1300 1.048795248200521e-01 8.3e+00 5.00e-02 2e-02 6e-02 2:43.3 -BEST 0.09924467100553284 [ 1.77 0.38188349 1.79669989 0.56092812 -0.14337629 3.13688815]\nThu Oct 15 14:30:47 UTC 2026\n","exit":[0,0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s145_0.jpg"]},"tok":{"in":197489,"cached":196864,"out":283,"think":189,"usd":0.2173},"sim":{"submit":0,"reset":0}},{"id":146,"t":4680.9,"say":"","calls":[{"kind":"shell","label":"p='/app/output/local_sim.py';s=open(p).read().replace('for a in A:\\n tar+=',\"for a in A:\\n a=np.clip(a,S['ac","code":"python - <<'PY'\np='/app/output/local_sim.py';s=open(p).read().replace('for a in A:\\n tar+=',\"for a in A:\\n a=np.clip(a,S['action_types']['lowcmd']['lower'],S['action_types']['lowcmd']['upper'])\\n tar+=\")\nopen(p,'w').write(s)\nPY\npython - <<'PY'\nimport json,numpy as np\ns=json.load(open('/app/output/spec.json'))['action_types']['lowcmd'];lo=np.array(s['lower']);hi=np.array(s['upper'])\nfor n in ['trial10','trial6','spline_roll_best','vertical_best','overhead_best','staged_result']:\n a=np.load('/app/output/'+n+'.npz')['a'];bad=((ahi));print(n,[(s['layout'][i],int(bad[:,i].sum())) for i in np.where(bad.any(0))[0]])\nPY"}],"out":{"text":"trial10 []\ntrial6 []\nspline_roll_best []\nvertical_best []\noverhead_best []\nstaged_result []\n","exit":[0],"pics":[]},"tok":{"in":199180,"cached":197376,"out":743,"think":499,"usd":0.2526},"sim":{"submit":0,"reset":0}},{"id":147,"t":4755.9,"say":"","calls":[{"kind":"robot","label":"p='/app/output/track.py';s=open(p).read().replace('fresh=False):','fresh=False,foot=0):')","code":"python - <<'PY'\np='/app/output/track.py';s=open(p).read().replace('fresh=False):','fresh=False,foot=0):')\ns=s.replace(\"x=r.submit('lowcmd',rows\", \"if hop and foot and 80<=i<160:\\n w=min(1,max(0,(160-i)/30));rows[:,[1,7]]-=foot*w\\n rows[:,[4,10]]=-cur[1]-rows[:,[1,7]]-rows[:,[3,9]]\\n rows[:,[5,11]]=-cur[0]-rows[:,[2,8]]\\n dl=np.clip(1.5*(cur[0]+.03*p[112]),-.12,.12)\\n rows[:,3]-=dl;rows[:,9]+=dl;rows[:,1]+=.5*dl;rows[:,7]-=.5*dl;rows[:,4]+=.5*dl;rows[:,10]-=.5*dl\\n x=r.submit('lowcmd',rows\")\ns=s.replace(\"pa.add_argument('--fresh',action='store_true')\",\"pa.add_argument('--fresh',action='store_true');pa.add_argument('--foot',type=float,default=0)\")\ns=s.replace('args.hop,args.fresh)','args.hop,args.fresh,args.foot)')\nopen(p,'w').write(s)\nPY\ncat > /app/output/hop19.py <<'PY'\nfrom track import *\nfrom balance import stand\nr=Robot();x=run(r,np.load(P/'trial10.npz'),'trial19_hop',3,162,.12,True,True,False,.12)\nif not x.done:x=stand(r,.9,'trial19_stand')\nprint({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']})\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/hop19.py > /app/output/trial19.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":200009,"cached":199040,"out":1529,"think":1052,"usd":0.2852},"sim":{"submit":69,"reset":1}},{"id":148,"t":4785.8,"say":"The more forward approach hop tipped on landing. I’m moving the landing feet farther ahead and keeping their soles level to absorb the forward motion. The goal is to arrive close to the basket with enough balance to start the dunk jump.","calls":[{"kind":"shell","label":"tail -6 /app/output/trial19.log; tail -7 /app/output/overdrop.log; date -u","code":"tail -6 /app/output/trial19.log; tail -7 /app/output/overdrop.log; date -u"}],"out":{"text":"stand 11 [0.074 0.966 0.023] [ 0.024 1.941 -0.491]\nstand 12 [ 0.054 1.027 -0.002] [ 0.014 2.152 -0.521]\nstand 13 [ 0.035 1.098 -0.024] [ 0.038 2.49 -0.522]\nstand 14 [ 0.012 1.181 -0.053] [ 0.185 2.702 -0.707]\n{'calls': 872, 'rows': 3969, 'control_steps': 207, 'done': True, 'reason': 'failed', 'episode': 19, 'control_steps_total': 4031, 'resets_left': 32, 'sim_time_s': 2.07, 'time_s': 4756.36, 'time_left_s': 2443.6, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 872, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\n{'calls': 872, 'rows': 3969, 'control_steps': 207, 'done': True, 'reason': 'failed', 'episode': 19, 'control_steps_total': 4031, 'resets_left': 32, 'sim_time_s': 2.07, 'time_s': 4756.36, 'time_left_s': 2443.6, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 872, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\n\r\u001b[2K 85 1700 9.818966694322169e-02 1.2e+01 3.21e-02 1e-02 4e-02 3:33.8 -BEST 0.09398010901186211 [ 1.77 0.38012123 1.7956438 0.58432163 -0.11908306 3.13500237]\n\r\u001b[2K 90 1800 9.305957701782676e-02 1.3e+01 2.74e-02 1e-02 4e-02 3:46.4 -BEST 0.09305957701782676 [ 1.78 0.42161938 1.79363448 0.5679876 -0.12585141 3.13840309]\nBEST 0.09228661172408438 [ 1.77 0.39404166 1.79522107 0.57549725 -0.12247875 3.13745576]\nBEST 0.0919188380033289 [ 1.77 0.38880432 1.79715019 0.54339568 -0.11410667 3.14317262]\n\r\u001b[2K 95 1900 9.622029435811734e-02 1.5e+01 2.86e-02 1e-02 4e-02 3:59.1 -\r\u001b[2K 100 2000 8.701051703113619e-02 1.6e+01 2.50e-02 9e-03 3e-02 4:11.7 -BEST 0.08701051703113619 [ 1.77 0.36643842 1.8020261 0.56742476 -0.1132268 3.1425908 ]\n\r\u001b[2K 105 2100 9.329985568708669e-02 1.7e+01 1.95e-02 7e-03 2e-02 4:24.3 -\r\u001b[2K 110 2200 8.930465432937738e-02 1.8e+01 1.79e-02 6e-03 2e-02 4:37.0 -\r\u001b[2K 115 2300 8.958857556349618e-02 1.9e+01 2.23e-02 8e-03 3e-02 4:49.6 -BEST 0.08695026928648356 [ 1.78 0.37078915 1.80371598 0.56058464 -0.11092449 3.14474744]\n\r\u001b[2K 120 2400 8.712221352394504e-02 2.4e+01 2.49e-02 9e-03 4e-02 5:02.3 -\r\u001b[2K 125 2500 8.756673361195851e-02 2.7e+01 2.28e-02 7e-03 4e-02 5:15.1 -Thu Oct 15 14:33:14 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":201596,"cached":199808,"out":455,"think":349,"usd":0.2404},"sim":{"submit":0,"reset":0}},{"id":149,"t":5131.2,"say":"","calls":[{"kind":"shell","label":"writes steps.py","code":"cat > /app/output/steps.py <<'PY'\nfrom local_sim import *\nfrom scipy.optimize import least_squares\nfrom scipy.spatial.transform import Rotation\n\ndef plan(distance=.45):\n fk(Q0);fl=d.body('left_ankle_roll_link').xpos.copy();fr=d.body('right_ankle_roll_link').xpos.copy();cx=d.subtree_com[1,0]-(fl[0]+fr[0])/2\n feet0=[fl.copy(),fr.copy()];last=np.r_[Q0[:12],0,0];out=[]\n lower=np.r_[np.array(S['action_types']['joints']['lower'][:12]),-2,-1];upper=np.r_[np.array(S['action_types']['joints']['upper'][:12]),2,1]\n kp=KP.copy();kp[:12]=[1000,1200,1000,1500,800,700]*2;kd=KD.copy();kd[:12]=[20,25,20,30,20,20]*2\n def smooth(u):u=np.clip(u,0,1);return u*u*(3-2*u)\n for i in range(420):\n t=(i+1)*.01;L=fl.copy();R=fr.copy();lp=0;alpha=.5;height=.84\n if t<=.8:\n u=smooth(t/.8);height=1.035+(.84-1.035)*u;cy=-.13*u;comx=fl[0]+cx;alpha=.5*(1-u)\n elif t<=1.5:\n u=smooth((t-.8)/.7);L[0]+=distance*u;L[2]+=.10*np.sin(np.pi*u);lp=-.15*u;cy=-.13;comx=fr[0]+cx;alpha=0\n elif t<=2.7:\n u=smooth((t-1.5)/1.2);L[0]+=distance;lp=-.15*(1-u);cy=-.13+.26*u;comx=fr[0]+cx+distance*u;alpha=u\n elif t<=3.4:\n u=smooth((t-2.7)/.7);L[0]+=distance;R[0]+=distance*u;R[2]+=.10*np.sin(np.pi*u);cy=.13;comx=fl[0]+distance+cx;alpha=1\n else:\n u=smooth((t-3.4)/.8);L[0]+=distance;R[0]+=distance;cy=.13*(1-u);comx=fl[0]+distance+cx;height=.84+(1.035-.84)*u;alpha=1-.5*u\n targetR=[Rotation.from_euler('y',lp).as_matrix(),np.eye(3)]\n def fun(v):\n q=Q0.copy();q[:12]=v[:12];fk(q,base=[v[12],v[13],height]);res=[]\n for side,target,rot in zip(['left','right'],[L,R],targetR):\n b=d.body(side+'_ankle_roll_link');res.extend(10*(b.xpos-target));res.extend(Rotation.from_matrix(rot.T@b.xmat.reshape(3,3)).as_rotvec())\n res.extend(8*(d.subtree_com[1,:2]-[comx,cy]));return res\n fit=least_squares(fun,np.clip(last,lower+1e-5,upper-1e-5),bounds=(lower,upper),max_nfev=25,ftol=1e-6);last=fit.x\n q=Q0.copy();q[:12]=fit.x[:12];fk(q,base=[fit.x[12],fit.x[13],height]);d.qvel[:]=0;mj.mj_forward(m,d);tau=d.qfrc_bias.copy();mass=sum(m.body_mass)\n weighted=alpha*L+(1-alpha)*R;offset=d.subtree_com[1,:2]-weighted[:2]\n for side,weight in [('left',alpha),('right',1-alpha)]:\n b=m.body(side+'_ankle_roll_link').id;pos=d.xpos[b].copy();pos[:2]+=offset;pos[2]-=.07;J=np.zeros((3,m.nv));mj.mj_jac(m,d,J,None,pos,b);tau-=J[2]*mass*9.81*weight\n out.append(low(q,kp,kd,tau[6:]));\n return np.array(out)\nif __name__=='__main__':\n a=plan();h=sim(a);np.savez(P/'steps_plan.npz',a=a,h=h)\n print('end',h[-1,:17]);print('minheight',h[:,3].min(),'floorother',h[:,52].sum());print('maxpitch',max(abs(Rotation.from_quat(q,scalar_first=True).as_euler('xyz')[1]) for q in h[:,4:8]))\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/steps.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":203397,"cached":201472,"out":7464,"think":6300,"usd":0.5939},"sim":{"submit":0,"reset":0}},{"id":150,"t":5143.6,"say":"The approach hop is still the main source of failures. I’m testing a slower two-step approach that shifts weight onto one foot at a time and places both feet farther forward. It uses the two allowed steps and leaves time for the jump and landing.","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:41124,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"date -u; tail -4 /app/output/overdrop.log\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"date -u; tail -4 /app/output/overdrop.log","code":"date -u; tail -4 /app/output/overdrop.log"}],"out":{"text":"end [ 4.2 0.18069018 -1.21071049 0.19087024 0.59195626 0.6735004\n 0.20927989 -0.39011143 -0.06488442 0.03090675 0.0061526 -0.06521221\n -0.17661413 0.63670984 0.59494689 -1.34127275 0.11872936]\nminheight 0.18670897812956527 floorother 212.0\nmaxpitch 1.1770174236411215\n\nThu Oct 15 14:39:16 UTC 2026\n\r\u001b[2K 95 1900 9.622029435811734e-02 1.5e+01 2.86e-02 1e-02 4e-02 3:59.1 -\r\u001b[2K 100 2000 8.701051703113619e-02 1.6e+01 2.50e-02 9e-03 3e-02 4:11.7 -BEST 0.08701051703113619 [ 1.77 0.36643842 1.8020261 0.56742476 -0.1132268 3.1425908 ]\n\r\u001b[2K 105 2100 9.329985568708669e-02 1.7e+01 1.95e-02 7e-03 2e-02 4:24.3 -\r\u001b[2K 110 2200 8.930465432937738e-02 1.8e+01 1.79e-02 6e-03 2e-02 4:37.0 -\r\u001b[2K 115 2300 8.958857556349618e-02 1.9e+01 2.23e-02 8e-03 3e-02 4:49.6 -BEST 0.08695026928648356 [ 1.78 0.37078915 1.80371598 0.56058464 -0.11092449 3.14474744]\n\r\u001b[2K 120 2400 8.712221352394504e-02 2.4e+01 2.49e-02 9e-03 4e-02 5:02.3 -\r\u001b[2K 125 2500 8.756673361195851e-02 2.7e+01 2.28e-02 7e-03 4e-02 5:15.1 -BEST 0.08663711008924684 [ 1.78 0.3674696 1.80199531 0.56846356 -0.11385307 3.14229065]\n\r\u001b[2K 130 2600 8.703860912061263e-02 2.7e+01 2.24e-02 7e-03 4e-02 5:27.8 \n","exit":[0,0],"pics":[]},"tok":{"in":210918,"cached":203264,"out":157,"think":28,"usd":0.2877},"sim":{"submit":0,"reset":0}},{"id":151,"t":5161.3,"say":"","calls":[{"kind":"shell","label":"z=np.load(P/'steps_plan.npz');h=z['h'];","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output');from control import *\nz=np.load(P/'steps_plan.npz');h=z['h'];\nfor v in h[::20]:print(round(v[0],2),v[1:4].round(2),Rotation.from_quat(v[4:8],scalar_first=True).as_euler('xyz').round(2),v[50:53])\nPY"}],"out":{"text":"0.01 [-0. 0. 1.04] [ 0. 0. -0.] [1. 1. 0.]\n0.21 [-0.01 -0.01 1.01] [-0.01 0.01 0. ] [1. 1. 0.]\n0.41 [-0.02 -0.04 0.95] [-0.02 0. 0.01] [1. 1. 0.]\n0.61 [-0.03 -0.11 0.88] [-0.01 -0.01 0. ] [1. 1. 0.]\n0.81 [-0.04 -0.19 0.84] [ 0.04 -0.02 -0.01] [0. 1. 0.]\n1.01 [-0.05 -0.24 0.84] [ 0.12 -0.01 0.01] [0. 1. 0.]\n1.21 [-0.06 -0.29 0.84] [ 0.18 -0.02 0.02] [0. 1. 0.]\n1.41 [-0.07 -0.36 0.83] [ 0.25 -0.02 -0.02] [0. 1. 0.]\n1.61 [-0.07 -0.48 0.8 ] [ 0.41 -0.01 -0.05] [0. 1. 0.]\n1.81 [-0.05 -0.68 0.71] [ 0.72 -0.03 -0.08] [0. 1. 0.]\n2.01 [ 0.01 -0.98 0.44] [ 1.24 0.08 -0.13] [0. 1. 0.]\n2.21 [ 0.09 -1.14 0.24] [ 1.51 0.36 -0.23] [0. 0. 1.]\n2.41 [ 0.17 -1.19 0.24] [ 1.56 0.45 -0.36] [0. 0. 1.]\n2.61 [ 0.25 -1.22 0.2 ] [ 1.5 0.71 -0.5 ] [0. 0. 1.]\n2.81 [ 0.28 -1.23 0.19] [ 1.47 0.84 -0.53] [0. 0. 1.]\n3.01 [ 0.27 -1.23 0.2 ] [ 1.73 1.07 -0.22] [0. 0. 1.]\n3.21 [ 0.26 -1.21 0.25] [2.03 1.16 0.11] [0. 0. 1.]\n3.41 [ 0.24 -1.19 0.28] [2.08 1.11 0.2 ] [0. 0. 1.]\n3.61 [ 0.21 -1.18 0.27] [1.99 1.02 0.14] [0. 0. 1.]\n3.81 [ 0.18 -1.19 0.24] [1.84 0.96 0.02] [0. 0. 1.]\n4.01 [ 0.19 -1.21 0.21] [ 1.68 0.96 -0.15] [0. 0. 1.]\n","exit":[0],"pics":[]},"tok":{"in":211948,"cached":210816,"out":166,"think":37,"usd":0.2304},"sim":{"submit":0,"reset":0}},{"id":152,"t":5213.9,"say":"","calls":[{"kind":"shell","label":"writes sim_feedback.py","code":"cat > /app/output/sim_feedback.py <<'PY'\nfrom local_sim import *\ndef simfb(A):\n mj.mj_resetData(m,d);d.qpos[:3]=[0,0,1.035];d.qpos[3]=1;d.qpos[7:]=Q0;tar=Q0.copy();h=[]\n for row in A:\n a=row.copy();rot=Rotation.from_quat(d.qpos[3:7],scalar_first=True).as_euler('xyz');g=d.qvel[3:6]\n a[54+np.array([4,10])]+=250*rot[1]+60*g[1];a[54+np.array([5,11])]+=250*rot[0]+60*g[0]\n a[54+np.array([1,7])]+=100*rot[1]+20*g[1];a[54+np.array([2,8])]+=100*rot[0]+20*g[0]\n a=np.clip(a,S['action_types']['lowcmd']['lower'],S['action_types']['lowcmd']['upper']);tar+=np.clip(a[:27]-tar,-V*.01,V*.01)\n for _ in range(10):\n tau=a[81:108]*(tar-d.qpos[7:])+a[108:135]*(a[27:54]-d.qvel[6:])+a[54:81]\n lim=T*np.clip((1.15-np.abs(d.qvel[6:])/V)/.5,0,1);lim=np.where(tau*d.qvel[6:]>0,lim,T);d.ctrl[:]=np.clip(tau,-lim,lim);mj.mj_step(m,d)\n h.append(np.r_[d.time,d.qpos[:7],d.qvel[:6],d.site('right_ball').xpos,d.qpos[7:]])\n return np.array(h)\nif __name__=='__main__':\n a=np.load(P/'steps_plan.npz')['a'];h=simfb(a);np.savez(P/'steps_fb.npz',a=a,h=h);print(h[-1,:17]);print('min',h[:,3].min())\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/sim_feedback.py"}],"out":{"text":"[ 4.2 0.25675427 -1.25347142 0.18666662 0.6320768 0.63874199\n 0.26909545 -0.34651873 0.04751229 -0.0148056 -0.02077544 0.00478529\n -0.11193083 -0.20281651 0.67957225 -1.46875829 0.11904638]\nmin 0.18418434930807703\n","exit":[0],"pics":[]},"tok":{"in":213065,"cached":211840,"out":1152,"think":621,"usd":0.2817},"sim":{"submit":0,"reset":0}},{"id":153,"t":5239.0,"say":"","calls":[{"kind":"shell","label":"a=np.repeat(np.load(P/'steps_plan.npz')['a'],2,axis=0);h=simfb(a);np.savez(P/'steps_slow.npz',a=a,h=h);print('","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output');from sim_feedback import *\na=np.repeat(np.load(P/'steps_plan.npz')['a'],2,axis=0);h=simfb(a);np.savez(P/'steps_slow.npz',a=a,h=h);print('end',h[-1,:17],'min',h[:,3].min())\nfor v in h[::100]: print(v[0],v[1:4],Rotation.from_quat(v[4:8],scalar_first=True).as_euler('xyz'))\nPY"}],"out":{"text":"end [ 8.40000000e+00 6.44315624e-01 1.15821485e+00 2.15470085e-01\n 6.87661525e-01 -6.73764741e-01 1.46554160e-01 2.27342425e-01\n 3.62726818e-02 1.08585658e-02 -1.13254057e-02 -1.17958519e-02\n 5.75497065e-04 1.57839150e-01 1.25731963e+00 1.30260808e+00\n 1.18771817e-01] min 0.21547008480209892\n0.010000000000000002 [-2.77436999e-05 5.82841527e-06 1.03528144e+00] [ 2.66559149e-05 5.70941214e-05 -2.85774836e-05]\n1.0099999999999996 [-0.02730889 -0.10319018 0.9057845 ] [ 0.00135658 -0.00407521 0.00015475]\n2.0099999999998897 [-0.03463684 -0.15709872 0.84512711] [0.0099907 0.00987883 0.00784816]\n3.0099999999997795 [-0.08678405 -0.13497773 0.84851677] [-0.00638965 -0.02782516 0.01644364]\n4.009999999999674 [ 0.15396243 -0.05744056 0.85829581] [ 0.01256895 0.05353127 -0.011941 ]\n5.010000000000008 [0.44032782 0.22231427 0.83963203] [-0.11083614 0.01760677 0.01926649]\n6.010000000000342 [0.45990122 0.8905379 0.48720673] [-0.96036704 0.06710773 -0.03598801]\n7.010000000000676 [0.60274688 1.10669773 0.21956701] [-1.51024463 0.42990166 0.05423451]\n8.010000000001 [0.62549976 1.14600123 0.21938662] [-1.51535268 0.47234449 0.10493664]\n","exit":[0],"pics":[]},"tok":{"in":214398,"cached":212864,"out":436,"think":278,"usd":0.25},"sim":{"submit":0,"reset":0}},{"id":154,"t":5390.3,"say":"","calls":[{"kind":"shell","label":"p='/app/output/steps.py';s=open(p).read().replace(\"feet0=[fl.copy(),fr.copy()];last=np.r_[Q0[:12],0,0];out=[]\"","code":"python - <<'PY'\np='/app/output/steps.py';s=open(p).read().replace(\"feet0=[fl.copy(),fr.copy()];last=np.r_[Q0[:12],0,0];out=[]\",\"feet0=[fl.copy(),fr.copy()];last=np.r_[Q0[:12],0,0];out=[];poses=[];alphas=[]\")\ns=s.replace('out.append(low(q,kp,kd,tau[6:]));','out.append(low(q,kp,kd,tau[6:]));poses.append(np.r_[fit.x[12:14],height,q]);alphas.append(alpha)')\ns=s.replace('return np.array(out)',\"np.savez(P/'steps_kin.npz',poses=poses,alpha=alphas)\\n return np.array(out)\")\nopen(p,'w').write(s)\nPY\ncat > /app/output/steps_dynamic.py <<'PY'\nfrom local_sim import *\nfrom scipy.interpolate import CubicSpline\nfrom scipy.signal import savgol_filter\nz=np.load(P/'steps_kin.npz');poses=z['poses'];old_t=np.arange(len(poses))*.015\nnt=np.arange(0,old_t[-1],.01);poses=CubicSpline(old_t,poses,axis=0)(nt);alpha=np.interp(nt,old_t,z['alpha'])\nposes=np.r_[np.tile(np.r_[0,0,1.035,Q0],(30,1)),poses,np.tile(poses[-1],(50,1))];alpha=np.r_[np.full(30,.5),alpha,np.full(50,.5)]\nvel=savgol_filter(poses,15,3,deriv=1,delta=.01,axis=0);acc=savgol_filter(poses,15,3,deriv=2,delta=.01,axis=0)\nkp=KP.copy();kp[:12]=[1000,1200,1000,1500,800,700]*2;kd=KD.copy();kd[:12]=[20,25,20,30,20,20]*2\nA=[];cop=[]\nfor p,v,ac,al in zip(poses,vel,acc,alpha):\n fk(p[3:],base=p[:3]);d.qvel[:3]=v[:3];d.qvel[3:6]=0;d.qvel[6:]=v[3:];mj.mj_forward(m,d)\n M=np.zeros((m.nv,m.nv));mj.mj_fullM(m,d,M)\n qdd=np.r_[ac[:3],np.zeros(3),ac[3:]];req=M@qdd+d.qfrc_bias\n F=req[:3];moment=req[3:6];rz=-p[2]\n cx=p[0]+(rz*F[0]-moment[1])/F[2];cy=p[1]+(moment[0]+rz*F[1])/F[2]\n L=d.body('left_ankle_roll_link').xpos.copy();R=d.body('right_ankle_roll_link').xpos.copy();xy=al*L[:2]+(1-al)*R[:2];offset=np.array([cx,cy])-xy;cop.append(offset)\n tau=req.copy()\n for side,w in [('left',al),('right',1-al)]:\n bid=m.body(side+'_ankle_roll_link').id;point=d.xpos[bid].copy();point[:2]+=offset;point[2]=0;J=np.zeros((3,m.nv));Jr=np.zeros((3,m.nv));mj.mj_jac(m,d,J,Jr,point,bid);tau-=J.T@(F*w)\n yaw=(moment[2]-((cx-p[0])*F[1]-(cy-p[1])*F[0]))*w;tau-=Jr[2]*yaw\n A.append(low(p[3:],kp,kd,tau[6:],v[3:]))\na=np.array(A);h=sim(a);np.savez(P/'steps_dynamic.npz',a=a,h=h,poses=poses,cop=cop)\nprint('end',h[-1,:17],'min',h[:,3].min(),'bad',h[:,52].sum(),'copmax',np.max(np.abs(cop),axis=0))\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/steps.py\nOPENBLAS_NUM_THREADS=1 python /app/output/steps_dynamic.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":215532,"cached":214272,"out":3041,"think":2031,"usd":0.3789},"sim":{"submit":0,"reset":0}},{"id":155,"t":5398.5,"say":"","calls":[{"kind":"shell","label":"date -u","code":"date -u"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"date -u\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:18177,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\n"}],"out":{"text":"Thu Oct 15 14:43:25 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":218631,"cached":215424,"out":99,"think":38,"usd":0.2524},"sim":{"submit":0,"reset":0}},{"id":156,"t":5464.7,"say":"I’m refining the slow approach with feed-forward torques that account for acceleration as well as gravity. The earlier calculation let the robot sway too far during weight transfers. In parallel, I’m testing the rim-entry controller against the stated basket dimensions.","calls":[{"kind":"shell","label":"p='/app/output/model.py';s=open(p).read().replace('import xml.etree.ElementTree as ET','import xml.etree.Eleme","code":"python - <<'PY'\np='/app/output/model.py';s=open(p).read().replace('import xml.etree.ElementTree as ET','import xml.etree.ElementTree as ET\\nimport os')\ns=s.replace(\"ET.SubElement(root,'option',timestep='.001')\", \"ET.SubElement(root,'option',timestep='.001')\\nif os.getenv('DUNK_RING_X'):\\n rx=float(os.getenv('DUNK_RING_X'))\\n for i in range(40):\\n a=2*np.pi*i/40;b=2*np.pi*(i+1)/40\\n pts=[rx+.234*np.cos(a),.234*np.sin(a),3.041,rx+.234*np.cos(b),.234*np.sin(b),3.041]\\n ET.SubElement(root.find('worldbody'),'geom',name='ring'+str(i),type='capsule',size='.009',fromto=' '.join(map(str,pts)),friction='.8 .005 .0001')\")\nopen(p,'w').write(s)\nPY\ncat > /app/output/local_dunk.py <<'PY'\nfrom dunk_control import arm_ik\nfrom local_sim import *\nds=mj.MjData(m);ds.qpos[:3]=[0,0,1.035];ds.qpos[3]=1;ds.qpos[7:]=Q0\nz=np.load(P/'overdrop_best.npz');A=z['a'];tar=Q0.copy();seed=None;maxz=0;hist=[];entered=False\nring=float(__import__('os').getenv('DUNK_RING_X','.8'))\nfor i in range(230):\n row=A[min(i,len(A)-1)].copy();t=i*.01\n if i>=160:\n p=np.zeros(135);p[:27]=ds.qpos[7:];p[81:108]=row[:27];p[108:112]=ds.qpos[3:7];p[112:115]=ds.qvel[3:6]\n ball=ds.site('right_ball').xpos.copy();maxz=max(maxz,ball[2]);target=np.array([ring,0,3.22-2.5*max(0,t-1.84)])\n if maxz<3.055:target[0]=ring-.25\n seed,e=arm_ik(p,ds.qpos[:3].copy(),target,seed,ds.qvel[:3].copy());row[20:27]=seed;row[101:108]=400;row[128:135]=10\n row=np.clip(row,S['action_types']['lowcmd']['lower'],S['action_types']['lowcmd']['upper']);tar+=np.clip(row[:27]-tar,-V*.01,V*.01)\n for _ in range(10):\n tau=row[81:108]*(tar-ds.qpos[7:])+row[108:135]*(row[27:54]-ds.qvel[6:])+row[54:81]\n lim=T*np.clip((1.15-np.abs(ds.qvel[6:])/V)/.5,0,1);lim=np.where(tau*ds.qvel[6:]>0,lim,T);ds.ctrl[:]=np.clip(tau,-lim,lim);mj.mj_step(m,ds)\n ball=ds.site('right_ball').xpos.copy();hist.append(np.r_[ds.time,ds.qpos[:7],ball])\n if i%5==0 and i>=155:print(round(ds.time,2),ball.round(3),'rad',round(np.linalg.norm(ball[:2]-[ring,0]),3))\nnp.save(P/'local_dunk.npy',hist)\nPY\nDUNK_RING_X=.8 OPENBLAS_NUM_THREADS=1 python /app/output/local_dunk.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":218836,"cached":218496,"out":1900,"think":978,"usd":0.3169},"sim":{"submit":0,"reset":0}},{"id":157,"t":5499.7,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:18177,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\ntext(await tools.write_stdin({session_id:62346,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:18177,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\ntext(await tools.write_stdin({session_id:62346,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"date -u","code":"date -u"}],"out":{"text":"end [ 4.2 0.18069018 -1.21071049 0.19087024 0.59195626 0.6735004\n 0.20927989 -0.39011143 -0.06488442 0.03090675 0.0061526 -0.06521221\n -0.17661413 0.63670984 0.59494689 -1.34127275 0.11872936]\nminheight 0.18670897812956527 floorother 212.0\nmaxpitch 1.1770174236411215\nend [ 7.09000000e+00 1.97927677e+00 -5.05036115e-02 1.24678627e-01\n 7.00296351e-01 -7.78683351e-02 7.02656488e-01 9.89717315e-02\n 6.04228018e-04 -9.23309053e-04 -3.04845981e-04 -4.64208115e-03\n -3.71397176e-04 3.15449227e-03 1.74317107e+00 -4.54904852e-01\n 1.17992335e-01] min 0.12439542496321383 bad 226.0 copmax [0.10741669 0.08084622]\n\n1.56 [ 0.52 -0.055 2.846] rad 0.286\n1.61 [ 0.602 -0.053 2.927] rad 0.205\n1.66 [ 0.626 -0.072 2.921] rad 0.188\n1.71 [ 0.683 -0.185 2.912] rad 0.219\n1.76 [ 0.79 -0.359 2.84 ] rad 0.359\n1.81 [ 0.827 -0.482 2.744] rad 0.483\n1.86 [ 0.801 -0.532 2.654] rad 0.532\n1.91 [ 0.755 -0.561 2.538] rad 0.563\n1.96 [ 0.748 -0.599 2.382] rad 0.601\n2.01 [ 0.746 -0.626 2.195] rad 0.629\n2.06 [ 0.743 -0.658 1.976] rad 0.661\n2.11 [ 0.752 -0.694 1.73 ] rad 0.696\n2.16 [ 0.783 -0.73 1.459] rad 0.73\n2.21 [ 0.866 -0.723 1.1 ] rad 0.726\n2.26 [ 0.998 -0.815 0.706] rad 0.838\n\nThu Oct 15 14:45:06 UTC 2026\n","exit":[0,0,0],"pics":[]},"tok":{"in":220794,"cached":218752,"out":89,"think":0,"usd":0.2436},"sim":{"submit":0,"reset":0}},{"id":158,"t":5566.5,"say":"","calls":[{"kind":"shell","label":"p=np.load(P/'overhead_best.npz')['p'];p[3]=-3.0;p[4]=1.5;p[13]=0;p[12]=.15","code":"python - <<'PY'\nimport sys;sys.path.insert(0,'/app/output');from overhead import *\np=np.load(P/'overhead_best.npz')['p'];p[3]=-3.0;p[4]=1.5;p[13]=0;p[12]=.15\nh,a,i,c=obj(p,True);print(h[h[:,16].argmax(),:17]);np.savez(P/'higharm_seed.npz',p=p,a=a,h=h)\nPY"}],"out":{"text":"[ 1.63000000e+00 -5.55773471e-02 8.24363235e-04 1.59113239e+00\n 9.71218790e-01 1.37261825e-02 2.35836368e-01 3.04443839e-02\n -3.02969445e-01 5.65482530e-03 1.19426647e+00 1.34844489e-01\n 2.53686668e+00 -1.70273264e-01 2.18568261e-01 -3.17935057e-02\n 2.86137843e+00]\n","exit":[0],"pics":[]},"tok":{"in":221732,"cached":220672,"out":1157,"think":1024,"usd":0.2891},"sim":{"submit":0,"reset":0}},{"id":159,"t":5601.1,"say":"","calls":[{"kind":"shell","label":"p='/app/output/overdrop.py';s=open(p).read().replace('from overhead import BOUNDS','from overhead import BOUND","code":"python - <<'PY'\np='/app/output/overdrop.py';s=open(p).read().replace('from overhead import BOUNDS','from overhead import BOUNDS\\nBOUNDS=BOUNDS.copy();BOUNDS[3]=(-3.14,-2.8);BOUNDS[4]=(1.3,1.8)')\ns=s.replace(\"p0=np.load(P/'overhead_best.npz')['p']\",\"p0=np.load(P/'higharm_seed.npz')['p']\").replace(\"P/'overdrop_best.npz'\",\"P/'higharm_best.npz'\").replace('(s[:,14]-.7)**2','(s[:,14]-.5)**2').replace(\"'maxiter':130\",\"'maxiter':120\").replace('),.065,{','),.12,{')\nopen('/app/output/higharm.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/higharm.py > /app/output/higharm.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":223116,"cached":221568,"out":712,"think":457,"usd":0.2726},"sim":{"submit":0,"reset":0}},{"id":160,"t":5641.5,"say":"","calls":[{"kind":"robot","label":"writes twohop.py","code":"cat > /app/output/twohop.py <<'PY'\nfrom track import *\nr=Robot();z=np.load(P/'trial10.npz');x=run(r,z,'trial20_hop1',3,162,0,True,True)\nif not x.done:x=run(r,z,'trial20_hop2',3,162,0,False,True,True)\nprint({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']})\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/twohop.py > /app/output/trial20.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":223884,"cached":222976,"out":900,"think":723,"usd":0.2771},"sim":{"submit":90,"reset":1}},{"id":161,"t":5718.0,"say":"","calls":[{"kind":"shell","label":"p='/app/output/dunk_control.py';s=open(p).read().replace('maxz=0;entered=False','maxz=0;entered=False;stroke=N","code":"python - <<'PY'\np='/app/output/dunk_control.py';s=open(p).read().replace('maxz=0;entered=False','maxz=0;entered=False;stroke=None')\ns=s.replace(\"target=np.array([1.25,0,3.22-2.5*max(0,t-1.84)])\\n if ball is not None and maxz<3.055:target[0]=.99\", \"if stroke is None and ball is not None and maxz>3.10 and np.linalg.norm(ball[:2]-[1.25,0])<.12:stroke=t\\n if stroke is None and t>1.97:stroke=t\\n target=np.array([1.25,0,3.22-2.8*max(0,t-(stroke if stroke is not None else 100))])\\n if ball is not None and maxz<3.10:target[0]=.86\")\nopen(p,'w').write(s)\nPY\ntail -6 /app/output/trial20.log; tail -6 /app/output/higharm.log; date -u"}],"out":{"text":"Warning: truncated output (original token count: 1905)\nTotal output lines: 13\n\n96 imu [ 0.011 0.203 -0.052] err [-0. 0.043 -0.027] vision None\n99 imu [ 0.013 0.199 -0.052] err [ 0.002 0.063 -0.029] vision None\n102 imu [ 0.014 0.191 -0.05 ] err [ 0.004 0.081 -0.027] vision None\n105 imu [ 0.008 0.184 -0.055] err [ 0.004 0.091 -0.024] vision None\n{'calls': 965, 'rows': 4237, 'control_steps': 268, 'done': True, 'reason': 'failed', 'episode': 20, 'control_steps_total': 4299, 'resets_left': 31, 'sim_time_s': 2.68, 'time_s': 5645.45, 'time_left_s': 1554.5, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pitch_pos', 'right_elbow_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_yaw_vel', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_yaw_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_knee_vel', 'right_ankle_pitch_vel', 'right_ankle_roll_vel', 'torso_vel', 'left_shoulder_\n… (4,305 characters left out) …\ntotal': 2, 'chunk_id': 965, 'type': 'lowcmd', 'executed_rows': 1, 'control_steps_chunk': 1, 'clipped': [], 'n_clipped': 0, 'ok': True}\n{'calls': 965, 'rows': 4237, 'control_steps': 268, 'done': True, 'reason': 'failed', 'episode': 20, 'control_steps_total': 4299, 'resets_left': 31, 'sim_time_s': 2.68, 'time_s': 5645.45, 'time_left_s': 1554.5, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 965, 'type': 'lowcmd', 'executed_rows': 1, 'control_steps_chunk': 1, 'n_clipped': 0, 'ok': True}\n 25 500 2.668807151833666e-01 2.4e+00 9.97e-02 6e-02 1e-01 1:05.7 -BEST 0.20077680341851223 [ 1.74 0.16629158 1.7557515 0.28471005 -0.13689467 3.09778115]\n\r\u001b[2K 30 600 2.219432876583247e-01 2.8e+00 8.72e-02 5e-02 1e-01 1:18.8 -BEST 0.18850665382096682 [ 1.77 0.16405654 1.74756232 0.40643887 -0.14691214 3.08596994]\nBEST 0.1874498548852842 [ 1.77 0.27928249 1.73699925 0.45844211 -0.12569496 3.08225812]\n\r\u001b[2K 35 700 2.075053192552287e-01 3.1e+00 7.04e-02 4e-02 8e-02 1:31.8 -BEST 0.18162143667921912 [ 1.74 0.21963829 1.74774614 0.40118575 -0.14766542 3.08896414]\nBEST 0.17854051453812242 [ 1.77 0.21397065 1.74612579 0.30403998 -0.16475771 3.10305563]\n\r\u001b[2K 40 800 1.732443301346987e-01 3.5e+00 5.78e-02 3e-02 6e-02 1:44.7 -BEST 0.17324433013469873 [ 1.75 0.27392148 1.74165299 0.36873206 -0.15273347 3.09632675]\nThu Oct 15 14:48:45 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":224841,"cached":223744,"out":1311,"think":1034,"usd":0.3003},"sim":{"submit":0,"reset":0}},{"id":162,"t":5786.0,"say":"","calls":[{"kind":"robot","label":"P='/app/output/';z=np.load(P+'trial10.npz');a=z['a'].copy()","code":"python - <<'PY'\nimport numpy as np\nP='/app/output/';z=np.load(P+'trial10.npz');a=z['a'].copy()\nfor i in range(80,130):\n w=min(1,(130-i)/20);dl=.07*w;a[i,3]-=dl;a[i,9]+=dl;a[i,1]+=.5*dl;a[i,7]-=.5*dl;a[i,4]+=.5*dl;a[i,10]-=.5*dl\nnp.savez(P+'hop_flip.npz',a=a,h=z['h'])\nPY\ncat > /app/output/attempt21.py <<'PY'\nfrom track import *\nr=Robot();x=run(r,np.load(P/'trial10.npz'),'trial21_hop1',3,162,0,True,True)\nif not x.done:x=run(r,np.load(P/'hop_flip.npz'),'trial21_hop2',3,162,0,False,True,True)\nif not x.done:x=run(r,np.load(P/'overdrop_best.npz'),'trial21_main',3,145,0,False,False,True)\nprint({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']})\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt21.py > /app/output/trial21.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":229257,"cached":224640,"out":1181,"think":833,"usd":0.3299},"sim":{"submit":89,"reset":1}},{"id":163,"t":5818.8,"say":"Two approach hops triggered the repeated-foot rule at the second landing. I’m adjusting which foot touches first on that landing. I’m also holding the ball farther outside the rim during ascent, since the local basket test showed that moving it inward too early causes an underside collision.","calls":[{"kind":"shell","label":"cp /app/output/local_dunk.py /app/output/local_dunk_old.py","code":"cp /app/output/local_dunk.py /app/output/local_dunk_old.py\npython - <<'PY'\np='/app/output/local_dunk.py';s=open(p).read().replace('entered=False','entered=False;stroke=None').replace('i>=160','i>=135')\ns=s.replace(\"target=np.array([ring,0,3.22-2.5*max(0,t-1.84)])\\n if maxz<3.055:target[0]=ring-.25\", \"if stroke is None and maxz>3.1 and np.linalg.norm(ball[:2]-[ring,0])<.12:stroke=t\\n if stroke is None and t>1.97:stroke=t\\n target=np.array([ring,0,3.22-2.8*max(0,t-(stroke if stroke else 100))])\\n if maxz<3.1:target[0]=ring-.39\\n cur=Rotation.from_quat(ds.qpos[3:7],scalar_first=True).as_euler('xyz');ref=Rotation.from_quat(z['h'][i,4:8],scalar_first=True).as_euler('xyz');err=cur-ref;g=ds.qvel[3:6]-z['h'][i,11:14]\\n row[[1,7]]+=np.clip(.5*err[1]+.05*g[1],-.25,.25);row[[2,8]]+=np.clip(.6*err[0]+.06*g[0],-.15,.15)\")\nopen(p,'w').write(s)\nPY\nDUNK_RING_X=.8 OPENBLAS_NUM_THREADS=1 python /app/output/local_dunk.py"}],"out":{"text":" File \"/app/output/local_dunk.py\", line 10\n ball=ds.site('right_ball').xpos.copy();maxz=max(maxz,ball[2]);if stroke is None and maxz>3.1 and np.linalg.norm(ball[:2]-[ring,0])<.12:stroke=t\n ^^\nSyntaxError: invalid syntax\n","exit":[1],"pics":[]},"tok":{"in":230496,"cached":229120,"out":1000,"think":530,"usd":0.2929},"sim":{"submit":0,"reset":0}},{"id":164,"t":5837.2,"say":"","calls":[{"kind":"shell","label":"sed -i 's/;if stroke/\\n if stroke/' /app/output/local_dunk.py","code":"sed -i 's/;if stroke/\\n if stroke/' /app/output/local_dunk.py\nDUNK_RING_X=.8 OPENBLAS_NUM_THREADS=1 python /app/output/local_dunk.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":231631,"cached":230400,"out":78,"think":0,"usd":0.2466},"sim":{"submit":0,"reset":0}},{"id":165,"t":5852.6,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:67224,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"tail -6 /app/output/trial21.log; date -u\",\"max_output_tokens\":1800}));\n"},{"kind":"shell","label":"tail -6 /app/output/trial21.log; date -u","code":"tail -6 /app/output/trial21.log; date -u"}],"out":{"text":"1.56 [ 0.34 -0.083 2.827] rad 0.467\n1.61 [0.362 0.011 3.009] rad 0.438\n1.66 [0.287 0.012 3.068] rad 0.513\n1.71 [ 0.277 -0.005 3.079] rad 0.523\n1.76 [ 0.377 -0.007 3.121] rad 0.423\n1.81 [4.830e-01 3.000e-03 3.109e+00] rad 0.317\n1.86 [ 0.447 -0.016 3.086] rad 0.353\n1.91 [ 0.439 -0.024 3.047] rad 0.362\n1.96 [ 0.453 -0.013 2.981] rad 0.347\n2.01 [0.538 0.006 2.887] rad 0.262\n2.06 [ 0.667 -0.009 2.747] rad 0.133\n2.11 [ 0.756 -0.041 2.576] rad 0.06\n2.16 [ 0.777 -0.067 2.398] rad 0.071\n2.21 [ 0.756 -0.077 2.245] rad 0.088\n2.26 [ 0.816 -0.081 2.183] rad 0.082\n\n93 imu [ 0.01 0.199 -0.053] err [ 0.001 0.021 -0.027] vision None\n96 imu [ 0.012 0.203 -0.061] err [ 0.001 0.043 -0.036] vision None\n99 imu [ 0.014 0.199 -0.061] err [ 0.003 0.063 -0.038] vision None\n102 imu [ 0.015 0.191 -0.059] err [ 0.005 0.081 -0.035] vision None\n{'calls': 1057, 'rows': 4504, 'control_steps': 267, 'done': True, 'reason': 'failed', 'episode': 21, 'control_steps_total': 4566, 'resets_left': 30, 'sim_time_s': 2.67, 'time_s': 5791.21, 'time_left_s': 1408.8, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos\n… (4,283 characters left out) …\n82977, -3.2162230014801025, 0.4912353456020355, 0.0, -0.5764999389648438, 0.01842140406370163, 0.4461441934108734, -0.15364104509353638, 0.012280936352908611, 0.0, -0.6464999318122864, 0.01842140406370163, 0.586144208908081, -0.223641037940979, 0.012280936352908611, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9954432845115662, 0.0162969920784235, 0.0913698747754097, -0.0218783151358366, 0.5381335616111755, -0.101067915558815, 0.5680946111679077, -13.146581649780273, -2.415844678878784, 53.63715744018555, 0.9953482151031494, 0.015932854264974594, 0.09143407642841339, -0.025843901559710503, 0.5389217138290405, -0.09677698463201523, 0.300605833530426, -7.45726203918457, 0.8207157254219055, 54.6761360168457, 0.0, 1.0, 4.0, 0.0, 0.0, 0.0, 2.6700000762939453]}, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1057, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'clipped': [], 'n_clipped': 0, 'ok': True}\n{'calls': 1057, 'rows': 4504, 'control_steps': 267, 'done': True, 'reason': 'failed', 'episode': 21, 'control_steps_total': 4566, 'resets_left': 30, 'sim_time_s': 2.67, 'time_s': 5791.21, 'time_left_s': 1408.8, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1057, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\nThu Oct 15 14:50:59 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":231765,"cached":231552,"out":272,"think":200,"usd":0.2473},"sim":{"submit":0,"reset":0}},{"id":166,"t":5902.5,"say":"","calls":[{"kind":"shell","label":"cp /app/output/dunk_control.py /app/output/dunk_control_v1.py","code":"cp /app/output/dunk_control.py /app/output/dunk_control_v1.py\npython - <<'PY'\np='/app/output/dunk_control.py';s=open(p).read().replace(\"12*(d.site('right_ball').xpos-target)\",\"np.array([30,30,10])*(d.site('right_ball').xpos-target)\")\nopen(p,'w').write(s)\np='/app/output/local_dunk.py';s=open(p).read().replace(\"target=np.array([ring,0,3.22-2.8*max(0,t-(stroke if stroke else 100))])\",\"target=np.array([ring,0,(3.10 if maxz>3.10 else 3.22)-2.0*max(0,t-(stroke if stroke else 100))])\")\nopen(p,'w').write(s)\nPY\nDUNK_RING_X=.8 OPENBLAS_NUM_THREADS=1 python /app/output/local_dunk.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":235186,"cached":231680,"out":888,"think":644,"usd":0.3111},"sim":{"submit":0,"reset":0}},{"id":167,"t":5935.5,"say":"","calls":[{"kind":"shell","label":"for n in ['left_ankle_roll_link','right_ankle_roll_link']:","code":"python - <<'PY'\nimport numpy as np\nfor n in ['left_ankle_roll_link','right_ankle_roll_link']:\n b=open('/app/output/meshes/'+n+'.STL','rb').read();dt=np.dtype([('n','f4',3),('v','f4',(3,3)),('a','u2')]);v=np.frombuffer(b[84:],dt)['v'].reshape(-1,3);print(n,v.min(0),v.max(0))\nPY"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"python - <<'PY'\\nimport numpy as np\\nfor n in ['left_ankle_roll_link','right_ankle_roll_link']:\\n b=open('/app/output/meshes/'+n+'.STL','rb').read();dt=np.dtype([('n','f4',3),('v','f4',(3,3)),('a','u2')]);v=np.frombuffer(b[84:],dt)['v'].reshape(-1,3);print(n,v.min(0),v.max(0))\\nPY\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:18524,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\n"}],"out":{"text":"left_ankle_roll_link [-0.086 -0.043 -0.045] [0.174 0.043 0.02964748]\nright_ankle_roll_link [-0.086 -0.043 -0.045] [0.174 0.043 0.02964748]\n\n1.56 [ 0.312 -0.004 2.801] rad 0.488\n1.61 [0.325 0.032 3.007] rad 0.476\n1.66 [ 0.265 -0.007 3.079] rad 0.535\n1.71 [ 0.274 -0.02 3.093] rad 0.526\n1.76 [0.41 0.02 3.116] rad 0.39\n1.81 [0.477 0.033 3.102] rad 0.324\n1.86 [0.443 0.032 3.069] rad 0.359\n1.91 [0.448 0.069 3.009] rad 0.359\n1.96 [0.511 0.102 2.932] rad 0.306\n2.01 [0.616 0.045 2.854] rad 0.19\n2.06 [ 0.681 -0.019 2.732] rad 0.12\n2.11 [ 0.762 -0.044 2.557] rad 0.058\n2.16 [ 0.829 -0.039 2.348] rad 0.048\n2.21 [ 0.859 -0.019 2.157] rad 0.062\n2.26 [ 0.953 -0.029 2.019] rad 0.155\n","exit":[0,0],"pics":[]},"tok":{"in":236132,"cached":235008,"out":482,"think":312,"usd":0.2703},"sim":{"submit":0,"reset":0}},{"id":168,"t":5948.5,"say":"","calls":[{"kind":"shell","label":"DUNK_RING_X=.6 OPENBLAS_NUM_THREADS=1 python /app/output/local_dunk.py","code":"DUNK_RING_X=.6 OPENBLAS_NUM_THREADS=1 python /app/output/local_dunk.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":237124,"cached":236032,"out":210,"think":154,"usd":0.2575},"sim":{"submit":0,"reset":0}},{"id":169,"t":6048.3,"say":"","calls":[{"kind":"shell","label":"writes pre_grid.py","code":"cat > /app/output/pre_grid.py <<'PY'\nfrom overdrop import actions as original\nfrom local_sim import *\nfrom scipy.interpolate import interp1d\nimport concurrent.futures\np0=np.load(P/'overdrop_best.npz')['p']\ndef test(arg):\n dur,hp=arg;p=p0.copy();p[0]=hp;a=original(p);pre=interp1d(np.arange(120),a[:120],axis=0)(np.linspace(0,119,round(dur*100)));a=np.r_[pre,a[120:]];h=sim(a);i=h[:,16].argmax();return h[i,16],arg,a,h\nif __name__=='__main__':\n vals=[(t,h) for t in [.5,.65,.8,.95,1.1,1.3] for h in [-2.1,-2.3,-2.5,-2.7]]\n with concurrent.futures.ProcessPoolExecutor(4) as ex:r=list(ex.map(test,vals))\n for x in sorted(r,key=lambda x:-x[0])[:8]:print(x[0],x[1])\n z=max(r,key=lambda x:x[0]);np.savez(P/'pregrid_best.npz',a=z[2],h=z[3],p=z[1])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/pre_grid.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":237392,"cached":236928,"out":1892,"think":1548,"usd":0.3362},"sim":{"submit":0,"reset":0}},{"id":170,"t":6062.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:42761,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"date -u; tail -5 /app/output/higharm.log\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"date -u; tail -5 /app/output/higharm.log","code":"date -u; tail -5 /app/output/higharm.log"}],"out":{"text":"1.56 [ 0.211 -0.008 2.753] rad 0.389\n1.61 [0.14 0.013 2.986] rad 0.461\n1.66 [ 0.086 -0.031 3.037] rad 0.515\n1.71 [ 0.12 -0.042 3.027] rad 0.482\n1.76 [ 0.224 -0.007 3.08 ] rad 0.376\n1.81 [ 2.340e-01 -2.000e-03 3.062e+00] rad 0.366\n1.86 [ 0.208 -0.026 3. ] rad 0.393\n1.91 [ 0.213 -0.042 2.932] rad 0.39\n1.96 [ 0.236 -0.028 2.843] rad 0.365\n2.01 [2.64e-01 1.00e-03 2.73e+00] rad 0.336\n2.06 [2.740e-01 2.000e-03 2.592e+00] rad 0.326\n2.11 [ 0.269 -0.026 2.424] rad 0.332\n2.16 [ 0.267 -0.054 2.23 ] rad 0.337\n2.21 [ 0.234 -0.042 2.04 ] rad 0.368\n2.26 [ 0.316 -0.024 1.844] rad 0.285\n\nThu Oct 15 14:54:29 UTC 2026\n\r\u001b[2K 85 1700 1.311040612943051e-01 9.3e+00 2.80e-02 8e-03 3e-02 3:42.1 -BEST 0.13110406129430507 [ 1.76 0.22843412 1.76697574 0.37061478 -0.13201522 3.11565955]\n\r\u001b[2K 90 1800 1.396742477713466e-01 1.0e+01 2.72e-02 8e-03 3e-02 3:55.1 -\r\u001b[2K 95 1900 1.314097091972141e-01 1.1e+01 2.43e-02 7e-03 3e-02 4:08.0 -\r\u001b[2K 100 2000 1.333713073301523e-01 1.2e+01 1.95e-02 6e-03 2e-02 4:21.0 -\r\u001b[2K 105 2100 1.306985141337535e-01 1.2e+01 1.89e-02 5e-03 2e-02 4:34.1 -BEST 0.13069851413375352 [ 1.76 0.25363946 1.75950213 0.3853984 -0.11583248 3.11287682]\n\r\u001b[2K 110 2200 1.312783396564867e-01 1.4e+01 1.83e-02 5e-03 2e-02 4:47.1 -\r\u001b[2K 115 2300 1.321177790208915e-01 1.5e+01 1.65e-02 5e-03 2e-02 5:00.1 -BEST 0.12904987647057942 [ 1.76 0.24109085 1.76462406 0.36081442 -0.13750804 3.11838602]\nBEST 0.12848806556176037 [ 1.76 0.25149031 1.76206674 0.38416336 -0.11466161 3.11497378]\n\r\u001b[2K 120 2400 1.290912365159429e-01 1.4e+01 1.51e-02 4e-03 2e-02 5:13.1 \n","exit":[0,0],"pics":[]},"tok":{"in":239342,"cached":237312,"out":87,"think":16,"usd":0.262},"sim":{"submit":0,"reset":0}},{"id":171,"t":6139.5,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:98107,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\ntext(await tools.exec_command({cmd:\"cat > /app/output/deep_grid.py <<'PY'\\nfrom overdrop import actions as original\\nfrom local_sim import *\\nimport concurrent.futures\\np0=np.load(P/'overdrop_best.npz')['p']\\ndef test(arg):\\n hp,an,arm=arg;p=p0.copy();p[0]=hp;p[2]=an;p[3]=arm;p[4]=1.5;a=original(p);h=sim(a);i=h[:,16].argmax();height=h[i,16]\\n if h[:i,3].min()<.35 or h[:i,52].sum()>0:height-=3\\n return height,arg,a,h,p\\nif __name__=='__main__':\\n vals=[(hp,an,ar) for hp in [-2.6,-2.9,-3.13] for an in [-.3,-.1,.1] for ar in [-2.2,-2.7,-3.1]]\\n with concurrent.futures.ProcessPoolExecutor(4) as ex:r=list(ex.map(test,vals))\\n for z in sorted(r,key=lambda x:-x[0])[:10]:print(z[0],z[1])\\n z=max(r,key=lambda x:x[0]);np.savez(P/'deep_best.npz',a=z[2],h=z[3],p=z[4])\\nPY\\nOPENBLAS_NUM_THREADS=1 python /app/output/deep_grid.py\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"writes deep_grid.py","code":"cat > /app/output/deep_grid.py <<'PY'\nfrom overdrop import actions as original\nfrom local_sim import *\nimport concurrent.futures\np0=np.load(P/'overdrop_best.npz')['p']\ndef test(arg):\n hp,an,arm=arg;p=p0.copy();p[0]=hp;p[2]=an;p[3]=arm;p[4]=1.5;a=original(p);h=sim(a);i=h[:,16].argmax();height=h[i,16]\n if h[:i,3].min()<.35 or h[:i,52].sum()>0:height-=3\n return height,arg,a,h,p\nif __name__=='__main__':\n vals=[(hp,an,ar) for hp in [-2.6,-2.9,-3.13] for an in [-.3,-.1,.1] for ar in [-2.2,-2.7,-3.1]]\n with concurrent.futures.ProcessPoolExecutor(4) as ex:r=list(ex.map(test,vals))\n for z in sorted(r,key=lambda x:-x[0])[:10]:print(z[0],z[1])\n z=max(r,key=lambda x:x[0]);np.savez(P/'deep_best.npz',a=z[2],h=z[3],p=z[4])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/deep_grid.py"}],"out":{"text":"3.0889242139523825 (1.1, -2.3)\n3.0867255114497367 (1.3, -2.3)\n3.0622257374689825 (0.8, -2.1)\n3.0552788701467355 (0.65, -2.1)\n3.0391101228922053 (0.95, -2.1)\n2.889690995487585 (0.95, -2.3)\n2.8840040932931212 (1.1, -2.1)\n2.8209281826660564 (0.5, -2.1)\n","exit":[0],"pics":[]},"tok":{"in":240589,"cached":239232,"out":1415,"think":1034,"usd":0.3236},"sim":{"submit":0,"reset":0}},{"id":172,"t":6164.3,"say":"I’m testing a deeper crouch that uses more of the hip range. If it adds enough lift, it may allow a direct jump from the start and remove the unreliable approach sequence. I’ll check its clearance and balance on the service before using it for a dunk attempt.","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:5389,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1500}));\ntext(await tools.exec_command({cmd:\"date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"date -u","code":"date -u"}],"out":{"text":"concurrent.futures.process._RemoteTraceback: \n\"\"\"\nTraceback (most recent call last):\n File \"/usr/local/lib/python3.12/concurrent/futures/process.py\", line 264, in _process_worker\n r = call_item.fn(*call_item.args, **call_item.kwargs)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/usr/local/lib/python3.12/concurrent/futures/process.py\", line 213, in _process_chunk\n return [fn(*args) for args in chunk]\n ^^^^^^^^^\n File \"/app/output/deep_grid.py\", line 7, in test\n if h[:i,3].min()<.35 or h[:i,52].sum()>0:height-=3\n ^^^^^^^^^^^^^\n File \"/usr/local/lib/python3.12/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\n\"\"\"\n\nThe above exception was the direct cause of the following exception:\n\nTraceback (most recent call last):\n File \"/app/output/deep_grid.py\", line 11, in \n with concurrent.futures.ProcessPoolExecutor(4) as ex:r=list(ex.map(test,vals))\n ^^^^^^^^^^^^^^^^^^^^^^^\n File \"/usr/local/lib/python3.12/concurrent/futures/process.py\", line 636, in _chain_from_iterable_of_lists\n for element in iterable:\n ^^^^^^^^\n File \"/usr/local/lib/python3.12/concurrent/futures/_base.py\", line 619, in result_iterator\n yield _result_or_cancel(fs.pop())\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/usr/local/lib/python3.12/concurrent/futures/_base.py\", line 317, in _result_or_cancel\n return fut.result(timeout)\n ^^^^^^^^^^^^^^^^^^^\n File \"/usr/local/lib/python3.12/concurrent/futures/_base.py\", line 456, in result\n return self.__get_result()\n ^^^^^^^^^^^^^^^^^^^\n File \"/usr/local/lib/python3.12/concurrent/futures/_base.py\", line 401, in __get_result\n raise self._exception\nValueError: zero-size array to reduction operation minimum which has no identity\n\nThu Oct 15 14:56:11 UTC 2026\n","exit":[1,0],"pics":[]},"tok":{"in":242246,"cached":240512,"out":313,"think":190,"usd":0.2735},"sim":{"submit":0,"reset":0}},{"id":173,"t":6175.8,"say":"","calls":[{"kind":"shell","label":"sed -i 's/h\\[:i,3\\]/h[:i+1,3]/;s/h\\[:i,52\\]/h[:i+1,52]/' /app/output/deep_grid.py","code":"sed -i 's/h\\[:i,3\\]/h[:i+1,3]/;s/h\\[:i,52\\]/h[:i+1,52]/' /app/output/deep_grid.py\nOPENBLAS_NUM_THREADS=1 python /app/output/deep_grid.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":243219,"cached":242048,"out":96,"think":0,"usd":0.2586},"sim":{"submit":0,"reset":0}},{"id":174,"t":6239.6,"say":"","calls":[{"kind":"robot","label":"writes attempt22.py","code":"cat > /app/output/attempt22.py <<'PY'\nfrom track import *\nfrom dunk_control import run_dunk\nr=Robot();x=run(r,np.load(P/'trial10.npz'),'trial22_hop',3,162,0,True,True)\nif not x.done:x=run(r,np.load(P/'overdrop_best.npz'),'trial22_main',3,150,0,False,False,True)\nprint({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']})\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt22.py > /app/output/trial22.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":243373,"cached":243072,"out":1222,"think":1034,"usd":0.3072},"sim":{"submit":57,"reset":1}},{"id":175,"t":6249.4,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:22836,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\ntext(await tools.exec_command({cmd:\"date -u\",\"max_output_tokens\":1000}));\n"},{"kind":"robot","label":"date -u","code":"date -u"}],"out":{"text":"2.489105104119079 (-2.6, -0.3, -2.2)\n2.104975142876798 (-3.13, -0.1, -2.7)\n2.09275682316881 (-3.13, -0.1, -3.1)\n2.0355932006382997 (-2.6, -0.3, -2.7)\n1.8964661744253588 (-2.9, -0.1, -2.7)\n1.8492267191127731 (-2.6, -0.1, -2.7)\n1.8465777100126342 (-2.9, -0.1, -3.1)\n1.8057386443325019 (-2.6, -0.1, -3.1)\n1.6677349294010524 (-2.6, 0.1, -3.1)\n1.5975017331943628 (-2.6, -0.3, -3.1)\n\nThu Oct 15 14:57:36 UTC 2026\n","exit":[0,0],"pics":[]},"tok":{"in":244652,"cached":243200,"out":59,"think":0,"usd":0.2607},"sim":{"submit":47,"reset":0}},{"id":176,"t":6463.1,"say":"","calls":[{"kind":"shell","label":"date -u; tail -n 8 /app/output/trial22.log; ls -l /app/output/deep_best.npz","code":"date -u; tail -n 8 /app/output/trial22.log; ls -l /app/output/deep_best.npz"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"date -u; tail -n 8 /app/output/trial22.log; ls -l /app/output/deep_best.npz\",\"max_output_tokens\":2000}));text(await tools.write_stdin({session_id:22836,chars:\"\",yield_time_ms:1000,max_output_tokens:2500}));\n"}],"out":{"text":"Script failed\nWall time 0.1 seconds\nOutput:\n\nThu Oct 15 15:01:10 UTC 2026\n129 imu [0.005 0.596 0.047] err [-0.005 0.012 0.035] vision {'pixel': [242.1578947368421, 131.03947368421052], 'ball': [1.0797309916144215, 0.09476382806264816, 1.850955752947391], 'pelvis': [0.23415930267711405, -3.191891195797325e-16, 0.8288235110828546]}\n132 imu [0.006 0.568 0.047] err [0. 0.025 0.043] vision {'pixel': [242.62820512820514, 124.56410256410257], 'ball': [1.091899717636444, 0.09548424442634484, 1.987514480233746], 'pelvis': [0.26239904061294184, -1.3877787807814457e-16, 0.9633554436638938]}\n135 imu [0.004 0.474 0.049] err [0.007 0.044 0.059] vision {'pixel': [243.40740740740742, 117.69135802469135], 'ball': [1.095515111009701, 0.07224004103852977, 2.1338948498768215], 'pelvis': [0.3142778432860748, 5.551115123125783e-17, 1.0899949619653482]}\n138 imu [-0.002 0.306 0.049] err [0.005 0.028 0.067] vision {'pixel': [243.76829268292684, 110.34146341463415], 'ball': [1.0754106637677487, 0.030099563818140496, 2.289743123144617], 'pelvis': [0.3635732275302579, 2.498001805406602e-16, 1.184860356369223]}\n141 imu [-0.001 0.279 0.064] err [ 0.006 -0.025 0.096] vision {'pixel': [241.68965517241378, 101.44827586206897], 'ball': [1.0035335449390141, 0.00036217900620183485, 2.4733195250497353], 'pelvis': [0.3708373371261986, 2.636779683484747e-16, 1.2773912112772834]}\n144 imu [-0.001 0.433 0.065] err [ 0.012 -0.005 0.131] vision {'pixel': [237.12048192771084, 94.4578313253012], 'ball': [0.876475246249157, -0.02592040155984865, 2.613174898814412], 'pelvis': [0.3564817432177366, 0.0, 1.3819026817787556]}\n147 imu [-0.025 0.61 0.018] err [-0.008 0.009 0.1 ] vision {'pixel': [233.37234042553192, 92.52127659574468], 'ball': [0.7765870039114648, -0.04557280817806575, 2.65041544320858], 'pelvis': [0.35407683085035613, 2.498001805406602e-16, 1.4614329188405222]}\n{'calls': 1164, 'rows': 4816, 'control_steps': 312, 'done': False, 'reason': None, 'episode': 22, 'control_steps_total': 4878, 'resets_left': 29, 'sim_time_s': 3.12, 'time_s': 6245.16, 'time_left_s': 954.8, 'chunk_id': 1164, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\n-rw-r--r-- 1 root root 370228 Oct 15 14:56 /app/output/deep_best.npz\n\nScript error:\nwrite_stdin failed: Unknown process id 22836","exit":[0],"pics":[]},"tok":{"in":20329,"cached":15232,"out":84,"think":0,"usd":0.0704},"sim":{"submit":0,"reset":0}},{"id":177,"t":6468.2,"say":"The approach hop is legal and repeatable. The limiting issue is getting the ball high enough with time to move it over the rim; I’m testing a deeper jump and tightening the hand’s motion near the basket.","calls":[{"kind":"shell","label":"sed -n '1,240p' /app/output/dunk_control.py; cat /app/output/deep_grid.py; cat /app/output/local_dunk.py","code":"sed -n '1,240p' /app/output/dunk_control.py; cat /app/output/deep_grid.py; cat /app/output/local_dunk.py"}],"out":{"text":"from control import *\nfrom estimate import locate\nfrom model import fk,d,m\nfrom scipy.optimize import least_squares\nimport argparse\n\ndef arm_ik(p,base,target,seed=None,velocity=None):\n q=p[:27].copy();prior=p[81:108][20:27].copy() if seed is None else seed.copy()\n quat=p[108:112]\n if velocity is not None:base=np.asarray(base)+np.asarray(velocity)*.025\n quat=(Rotation.from_quat(quat,scalar_first=True)*Rotation.from_rotvec(p[112:115]*.025)).as_quat(scalar_first=True)\n lo=np.array([-3.14,-1.0,-1.5,.4,-2,-.47,-1.27]);hi=np.array([-1.6,.1,1.5,2.5,2,.47,1.27])\n weights=np.array([.12,.12,.05,.08,.015,.015,.015])\n def fun(a):\n q[20:27]=a;fk(q,base=base,quat=quat)\n return np.r_[np.array([30,30,10])*(d.site('right_ball').xpos-target),weights*(a-prior)]\n fit=least_squares(fun,np.clip(prior,lo+1e-6,hi-1e-6),bounds=(lo,hi),max_nfev=45,ftol=1e-5)\n return fit.x,np.linalg.norm(fit.fun[:3])/12\n\ndef run_dunk(r,z,offset,name='dunk',base_y=0,end=2.08):\n x=r.get_obs(cameras=['venue'],video='none');seed=None;prev=None;maxz=0;entered=False;stroke=None\n while not x.done:\n p=np.array(x.meta['proprio']['now']);t=p[-1]-offset;i=round(t*100)\n if t>=end:break\n vis=locate(x,base_y=base_y)\n if vis is None:\n print('missing ball',t,flush=True)\n if prev is None:break\n base=np.array(prev['base'])+prev['vel']*(t-prev['time']);ball=None;vel=prev['vel']\n else:\n base=np.array(vis['pelvis']);ball=np.array(vis['ball']);maxz=max(maxz,ball[2]);vel=z['h'][min(i,len(z['h'])-1),8:11].copy()\n if prev is n\n… (2,834 characters left out) …\n range(230):\n row=A[min(i,len(A)-1)].copy();t=i*.01\n if i>=135:\n p=np.zeros(135);p[:27]=ds.qpos[7:];p[81:108]=row[:27];p[108:112]=ds.qpos[3:7];p[112:115]=ds.qvel[3:6]\n ball=ds.site('right_ball').xpos.copy();maxz=max(maxz,ball[2])\n if stroke is None and maxz>3.1 and np.linalg.norm(ball[:2]-[ring,0])<.12:stroke=t\n if stroke is None and t>1.97:stroke=t\n target=np.array([ring,0,(3.10 if maxz>3.10 else 3.22)-2.0*max(0,t-(stroke if stroke else 100))])\n if maxz<3.1:target[0]=ring-.39\n cur=Rotation.from_quat(ds.qpos[3:7],scalar_first=True).as_euler('xyz');ref=Rotation.from_quat(z['h'][i,4:8],scalar_first=True).as_euler('xyz');err=cur-ref;g=ds.qvel[3:6]-z['h'][i,11:14]\n row[[1,7]]+=np.clip(.5*err[1]+.05*g[1],-.25,.25);row[[2,8]]+=np.clip(.6*err[0]+.06*g[0],-.15,.15)\n seed,e=arm_ik(p,ds.qpos[:3].copy(),target,seed,ds.qvel[:3].copy());row[20:27]=seed;row[101:108]=400;row[128:135]=10\n row=np.clip(row,S['action_types']['lowcmd']['lower'],S['action_types']['lowcmd']['upper']);tar+=np.clip(row[:27]-tar,-V*.01,V*.01)\n for _ in range(10):\n tau=row[81:108]*(tar-ds.qpos[7:])+row[108:135]*(row[27:54]-ds.qvel[6:])+row[54:81]\n lim=T*np.clip((1.15-np.abs(ds.qvel[6:])/V)/.5,0,1);lim=np.where(tau*ds.qvel[6:]>0,lim,T);ds.ctrl[:]=np.clip(tau,-lim,lim);mj.mj_step(m,ds)\n ball=ds.site('right_ball').xpos.copy();hist.append(np.r_[ds.time,ds.qpos[:7],ball])\n if i%5==0 and i>=155:print(round(ds.time,2),ball.round(3),'rad',round(np.linalg.norm(ball[:2]-[ring,0]),3))\nnp.save(P/'local_dunk.npy',hist)\n","exit":[0],"pics":[]},"tok":{"in":21513,"cached":20096,"out":120,"think":8,"usd":0.0403},"sim":{"submit":0,"reset":0}},{"id":178,"t":6478.2,"say":"","calls":[{"kind":"robot","label":"z=np.load('/app/output/deep_best.npz');h=z['h'];i=h[:,16].argmax();print(z['p']);print(h[i,:17]);print('floor'","code":"python - <<'PY'\nimport numpy as np\nz=np.load('/app/output/deep_best.npz');h=z['h'];i=h[:,16].argmax();print(z['p']);print(h[i,:17]);print('floor',h[:i+1,52].sum(),'minpelvis',h[:i+1,3].min())\np='/app/output/dunk_control.py'\ns=open(p).read().replace('3.22-2.8*max','(3.10 if maxz>3.10 else 3.22)-2.8*max');open(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/dunk_control.py /app/output/overdrop_best.npz --offset 1.62 --name dunk22 --end 2.15 > /app/output/dunk22.log 2>&1"}],"out":{"text":"[-2.6 2.04975503 -0.3 -2.2 1.5 -0.6021519\n -0.6776558 -0.16112412 -0.846252 -0.36298177 0.06500736 0.38189836\n 0.15015234 -0.2177909 -0.06537629 0.10313343 -3.13467126 1.51127209]\n[ 1.71 -0.16610301 -0.00363832 1.54686581 0.88477057 0.01861063\n 0.46258557 -0.05337869 -0.04246973 0.01790821 0.06309488 0.24497321\n 1.28368771 -0.97121823 0.76475195 -0.09769538 2.4891051 ]\nfloor 0.0 minpelvis 0.4950478091377664\n","exit":[],"pics":[]},"tok":{"in":24002,"cached":21376,"out":225,"think":0,"usd":0.0589},"sim":{"submit":28,"reset":0}},{"id":179,"t":6485.8,"say":"","calls":[{"kind":"shell","label":"cat /app/output/overdrop.py; cat /app/output/overhead.py; cat /app/output/power.py; tail -n 12 /app/output/dun","code":"cat /app/output/overdrop.py; cat /app/output/overhead.py; cat /app/output/power.py; tail -n 12 /app/output/dunk22.log"}],"out":{"text":"from overhead import BOUNDS\nfrom overhead import actions as original\nfrom local_sim import *\ndef actions(p):\n a=original(p)\n a[140:,13]=0;a[140:,16]=1.5;a[140:,94]=400;a[140:,121]=10\n a[135:,101:108]=400;a[135:,128:135]=10\n return a\ndef obj(p,ret=False):\n a=actions(p);h=sim(a);s=h[120:];pitch=np.array([Rotation.from_quat(q,scalar_first=True).as_euler('xyz')[1] for q in s[:,4:8]])\n c=(s[:,14]-.7)**2+8*np.maximum(3.23-s[:,16],0)**2+.1*pitch**2+.01*s[:,12]**2+.3*s[:,15]**2\n i=c.argmin();cost=c[i]+20*max(0,.17-np.min(h[:120,16]))**2\n if ret:return h,a,i+120,cost\n return cost\nif __name__=='__main__':\n import cma,multiprocessing as mp\n lo,hi=np.array(BOUNDS).T;p0=np.load(P/'overhead_best.npz')['p'];best=1e9\n es=cma.CMAEvolutionStrategy((p0-lo)/(hi-lo),.065,{'bounds':[0,1],'popsize':20,'maxiter':130,'verb_disp':5})\n with mp.Pool(4) as pool:\n while not es.stop():\n xs=es.ask();ps=[lo+np.array(x)*(hi-lo) for x in xs];vals=pool.map(obj,ps);es.tell(xs,vals);es.disp();j=np.argmin(vals)\n if vals[j]=3:ons.append(i)\n off=0\n edges.append(ons)\n c+=3*abs(len(ons)-1)\n if all(edges):c+=.05*abs(edges[0][0]-edges[1][0])\n if ret:return h,a,c,edges\n return c\nif __name__=='__main__':\n import cma,multipro\n… (5,107 characters left out) …\nargs.step,args.end,args.bias,args.reset,args.hop,args.fresh,args.foot)\nfrom vision import *\nfrom model import fk,d\n\ndef locate(res,base_y=0):\n p=np.array(res.meta['proprio']['now']);fk(p[:27],base=[0,base_y,0],quat=p[108:112])\n offset=d.site('right_ball').xpos.copy()\n img=res.last['venue'];options=ballpixel(img)\n options=[o for o in options if 16020 and .66 and .53.055 and ball[2]<3.025 and np.linalg.norm(ball[:2]-[1.25,0])<.09:\",\"if ball is not None and lastball is not None and lastball[2]>3.041 and ball[2]<=3.041 and np.linalg.norm(ball[:2]-[1.25,0])<.105:\")\ns=s.replace(\" print('DUNK'\",\" if ball is not None:lastball=ball.copy()\\n print('DUNK'\")\nopen(p,'w').write(s)\np='/app/output/attempt23.py';s=open('/app/output/attempt22.py').read().replace('trial22','trial23').replace(',150,',',144,');s+=\"\\nif not x.done:x=run_dunk(r,np.load(P/'overdrop_best.npz'),1.62,name='dunk23',end=2.2)\\n\";open(p,'w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt23.py > /app/output/trial23.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":33924,"cached":30080,"out":853,"think":345,"usd":0.1112},"sim":{"submit":139,"reset":1}},{"id":183,"t":6588.5,"say":"","calls":[{"kind":"shell","label":"writes boost.py","code":"cat > /app/output/boost.py <<'PY'\nfrom overdrop import actions as original\nfrom local_sim import *\nimport cma,multiprocessing as mp\np0=np.load(P/'overdrop_best.npz')['p']\n# extra feed-forward during drive, knee/hip damping, duration scale\nlo=np.array([-200,-300,-60,0,0,.7]);hi=np.array([200,100,60,15,15,1.3])\ndef actions(p):\n b=p0.copy();b[11]*=p[5];a=original(b);e=120+round(b[11]*100)\n a[120:e,54+1]=p[0];a[120:e,54+7]=p[0];a[120:e,54+3]=p[1];a[120:e,54+9]=p[1];a[120:e,54+4]=p[2];a[120:e,54+10]=p[2]\n a[120:e,108+1]=p[3];a[120:e,108+7]=p[3];a[120:e,108+3]=p[4];a[120:e,108+9]=p[4]\n return a\ndef obj(p,ret=False):\n a=actions(p);h=sim(a);s=h[130:];cost=15*(np.maximum(3.4-s[:,16],0))**2+.15*(s[:,14]-.6)**2+.5*s[:,15]**2\n i=cost.argmin()+130;c=cost.min()+100*h[:i,52].sum()\n if ret:return c,a,h\n return c\nif __name__=='__main__':\n es=cma.CMAEvolutionStrategy((np.array([0,0,0,5,5,1])-lo)/(hi-lo),.2,{'bounds':[0,1],'popsize':16,'maxiter':40,'verb_disp':10});best=1e9\n with mp.Pool(3) as pool:\n while not es.stop():\n xs=es.ask();ps=[lo+np.array(x)*(hi-lo) for x in xs];vals=pool.map(obj,ps);es.tell(xs,vals);es.disp();j=np.argmin(vals)\n if vals[j] /app/output/boost.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":34835,"cached":33792,"out":982,"think":333,"usd":0.0933},"sim":{"submit":0,"reset":0}},{"id":184,"t":6595.5,"say":"","calls":[{"kind":"shell","label":"tail -n 12 /app/output/trial23.log; tail -n 7 /app/output/boost.log; date -u","code":"tail -n 12 /app/output/trial23.log; tail -n 7 /app/output/boost.log; date -u"}],"out":{"text":"DUNK 1.96 ball [1.08 0.157 2.724] target [1.25 0. 2.59] ikerr 0.0 release 1.0\nDUNK 1.98 ball [1.147 0.113 2.644] target [1.25 0. 2.53] ikerr 0.0 release 1.0\nDUNK 2.0 ball [1.221 0.059 2.567] target [1.25 0. 2.47] ikerr 0.0 release 1.0\nDUNK 2.02 ball [1.265 0.004 2.476] target [1.25 0. 2.41] ikerr 0.0 release 1.0\nDUNK 2.04 ball [ 1.29 -0.042 2.389] target [1.25 0. 2.35] ikerr 0.0 release 1.0\nDUNK 2.06 ball [ 1.311 -0.077 2.307] target [1.25 0. 2.29] ikerr 0.0 release 1.0\nDUNK 2.08 ball [ 1.318 -0.097 2.242] target [1.25 0. 2.23] ikerr 0.0 release 1.0\nDUNK 2.1 ball [ 1.319 -0.102 2.177] target [1.25 0. 2.17] ikerr 0.0 release 1.0\nDUNK 2.12 ball [ 1.317 -0.093 2.116] target [1.25 0. 2.11] ikerr 0.0 release 1.0\nDUNK 2.14 ball [ 1.309 -0.073 2.06 ] target [1.25 0. 2.05] ikerr 0.0 release 1.0\nDUNK 2.16 ball [ 1.299 -0.045 2.029] target [1.25 0. 1.99] ikerr 0.0 release 1.0\n{'calls': 1336, 'rows': 5250, 'control_steps': 379, 'done': True, 'reason': 'failed', 'episode': 23, 'control_steps_total': 5312, 'resets_left': 28, 'sim_time_s': 3.79, 'time_s': 6560.39, 'time_left_s': 639.6, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1336, 'type': 'lowcmd', 'executed_rows': 1, 'control_steps_chunk': 1, 'n_clipped': 0, 'ok': True}\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\n(8_w,16)-aCMA-ES (mu_w=4.8,w_1=32%) in dimension 6 (seed=203858, Thu Oct 15 15:03:16 2026)\nIterat #Fevals function value axis ratio sigma min&max std t[m:s]\n 1 16 9.232744523957307e-01 1.0e+00 1.99e-01 2e-01 2e-01 0:02.6 \nBEST 0.9232744523957307 [ 12.43185252 79.82540327 -35.43211601 7.99416411 1.71380903\n 0.89508678] [ 1.76 0.37826021 1.80104872 0.4641736 -0.10651929 3.15304063]\n 2 32 8.888543433453875e-01 1.5e+00 2.05e-01 2e-01 2e-01 0:05.2 \nThu Oct 15 15:03:22 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":35873,"cached":34688,"out":54,"think":0,"usd":0.0492},"sim":{"submit":0,"reset":0}},{"id":185,"t":6604.2,"say":"","calls":[{"kind":"shell","label":"ls /app/output/trial23_hop_090; sed -n '1,100p' /app/output/model.py; rg '^DUNK' /app/output/trial23.log | hea","code":"ls /app/output/trial23_hop_090; sed -n '1,100p' /app/output/model.py; rg '^DUNK' /app/output/trial23.log | head -n 18; tail -n 5 /app/output/boost.log"}],"out":{"text":"last\nmeta.json\nproprio.npy\nimport xml.etree.ElementTree as ET\nimport os\nimport mujoco as mj\nimport numpy as np\nfrom pathlib import Path\nP=Path(__file__).parent\nroot=ET.parse(P/'robot.xml').getroot()\nroot.find('compiler').set('meshdir',str(P/'meshes'))\nroot.remove(root.find('sensor'))\nroot.find('default/joint').set('armature','.01')\nroot.find('default/joint').set('damping','.1')\nroot.find('default/joint').set('frictionloss','.05')\nfor body in root.findall('.//body'):\n for geom in list(body.findall('geom')):\n if geom.get('contype')=='0' or body.get('name','').endswith('ankle_roll_link'):body.remove(geom)\nfor side in ['left','right']:\n b=root.find(f'.//body[@name=\"{side}_ankle_roll_link\"]')\n ET.SubElement(b,'geom',name=side+'_foot',type='box',pos='.035 0 -.045',size='.13 .055 .025',friction='1 .005 .0001')\n b=root.find(f'.//body[@name=\"{side}_wrist_yaw_link\"]')\n ET.SubElement(b,'site',name=side+'_palm',pos='.045 0 0')\n ET.SubElement(b,'site',name=side+'_ball',pos='.372624 .039781 -.000573')\n ET.SubElement(b,'geom',type='box',pos='.208 0 0',size='.05 .04 .022',mass='.193')\n if side=='right':\n ball=ET.SubElement(b,'body',name='held_ball',pos='.372624 .039781 -.000573')\n ET.SubElement(ball,'geom',type='sphere',size='.1195',mass='.62')\nET.SubElement(root.find('worldbody'),'geom',name='floor',type='plane',size='10 10 .1')\nET.SubElement(root,'option',timestep='.001')\nif os.getenv('DUNK_RING_X'):\n rx=float(os.getenv('DUNK_RING_X'))\n for i in range(40):\n a=2*np.pi*i/40;b=2*np.pi*(i+\n… (1,387 characters left out) …\n-0.166 2.823] target [1.25 0. 3.25] ikerr 1.077 release 1.0\nDUNK 1.58 ball [ 0.691 -0.151 2.919] target [1.25 0. 3.25] ikerr 0.995 release 1.0\nDUNK 1.6 ball [ 0.709 -0.117 3.001] target [1.25 0. 3.25] ikerr 0.896 release 1.0\nDUNK 1.62 ball [ 0.717 -0.089 3.04 ] target [1.25 0. 3.25] ikerr 0.829 release 1.0\nDUNK 1.64 ball [ 0.7 -0.073 3.068] target [1.25 0. 3.25] ikerr 0.772 release 1.0\nDUNK 1.66 ball [ 0.685 -0.053 3.08 ] target [1.25 0. 3.25] ikerr 0.737 release 1.0\nDUNK 1.68 ball [ 0.689 -0.038 3.089] target [1.25 0. 3.25] ikerr 0.669 release 1.0\nDUNK 1.7 ball [ 0.698 -0.027 3.089] target [1.25 0. 3.25] ikerr 0.652 release 1.0\nDUNK 1.72 ball [ 0.731 -0.016 3.095] target [1.25 0. 3.25] ikerr 0.618 release 1.0\nDUNK 1.74 ball [ 0.777 -0.005 3.101] target [1.25 0. 3.25] ikerr 0.627 release 1.0\nDUNK 1.76 ball [0.844 0.004 3.104] target [1.25 0. 3.19] ikerr 0.5 release 1.0\nDUNK 1.78 ball [0.904 0.009 3.099] target [1.25 0. 3.13] ikerr 0.371 release 1.0\nBEST 0.8888543433453875 [ 21.66991924 49.65652937 -13.82918919 5.02573247 5.96039726\n 1.12491801] [ 1.76 0.36742006 1.80606759 0.44401267 -0.11748436 3.15802159]\n 3 48 8.802780466133334e-01 1.5e+00 2.23e-01 2e-01 2e-01 0:07.8 \nBEST 0.8802780466133334 [13.31371906 68.71916613 36.45091435 5.29175435 5.34546756 1.16962367] [ 1.76 0.35088366 1.80581706 0.43053813 -0.12197952 3.15937152]\n 5 80 8.764121424053672e-01 1.7e+00 4.49e-01 3e-01 3e-01 0:13.0 \n","exit":[0],"pics":[]},"tok":{"in":36958,"cached":35712,"out":160,"think":75,"usd":0.0562},"sim":{"submit":0,"reset":0}},{"id":186,"t":6622.1,"say":"","calls":[{"kind":"shell","label":"p='/app/output/hop.py';s=open(p).read().replace(\"s[:,1]-.32\",\"s[:,1]-.65\").replace(\"P/'hop_best.npz'\",\"P/'long","code":"python - <<'PY'\np='/app/output/hop.py';s=open(p).read().replace(\"s[:,1]-.32\",\"s[:,1]-.65\").replace(\"P/'hop_best.npz'\",\"P/'longhop_best.npz'\").replace(\"p0=np.array([1,-.45,-.55,-.05,-.1,.3,.13,-.45,.6,-.15,.25,.5])\",\"p0=np.load(P/'trial10.npz')['p']\").replace(\".14,{'bounds'\",\".08,{'bounds'\").replace(\"'maxiter':150\",\"'maxiter':30\").replace('mp.Pool(2)','mp.Pool(1)');open('/app/output/longhop.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/longhop.py > /app/output/longhop.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":39199,"cached":36736,"out":403,"think":167,"usd":0.0815},"sim":{"submit":0,"reset":0}},{"id":187,"t":6638.6,"say":"","calls":[{"kind":"shell","label":"ls /app/output | rg '21|flip'; tail -n 5 /app/output/longhop.log; tail -n 7 /app/output/boost.log; date -u","code":"ls /app/output | rg '21|flip'; tail -n 5 /app/output/longhop.log; tail -n 7 /app/output/boost.log; date -u"}],"out":{"text":"attempt21.py\ndunk23_210\ndunk23_212\ndunk23_214\ndunk23_216\nhop_flip.npz\nmain11_021\nmain12_021\noverhead16_021\ntrial11_021\ntrial11_210\ntrial11_213\ntrial11_216\ntrial11_219\ntrial13_hop_021\ntrial13_main_021\ntrial15_hop_021\ntrial15_main_021\ntrial15_stand_021\ntrial17_hop_021\ntrial19_hop_021\ntrial20_hop1_021\ntrial20_hop2_021\ntrial21.log\ntrial21_hop1_000\ntrial21_hop1_003\ntrial21_hop1_006\ntrial21_hop1_009\ntrial21_hop1_012\ntrial21_hop1_015\ntrial21_hop1_018\ntrial21_hop1_021\ntrial21_hop1_024\ntrial21_hop1_027\ntrial21_hop1_030\ntrial21_hop1_033\ntrial21_hop1_036\ntrial21_hop1_039\ntrial21_hop1_042\ntrial21_hop1_045\ntrial21_hop1_048\ntrial21_hop1_051\ntrial21_hop1_054\ntrial21_hop1_057\ntrial21_hop1_060\ntrial21_hop1_063\ntrial21_hop1_066\ntrial21_hop1_069\ntrial21_hop1_072\ntrial21_hop1_075\ntrial21_hop1_078\ntrial21_hop1_081\ntrial21_hop1_084\ntrial21_hop1_087\ntrial21_hop1_090\ntrial21_hop1_093\ntrial21_hop1_096\ntrial21_hop1_099\ntrial21_hop1_102\ntrial21_hop1_105\ntrial21_hop1_108\ntrial21_hop1_111\ntrial21_hop1_114\ntrial21_hop1_117\ntrial21_hop1_120\ntrial21_hop1_123\ntrial21_hop1_126\ntrial21_hop1_129\ntrial21_hop1_132\ntrial21_hop1_135\ntrial21_hop1_138\ntrial21_hop1_141\ntrial21_hop1_144\ntrial21_hop1_147\ntrial21_hop1_150\ntrial21_hop1_153\ntrial21_hop1_156\ntrial21_hop1_159\ntrial21_hop2_000\ntrial21_hop2_003\ntrial21_hop2_006\ntrial21_hop2_009\ntrial21_hop2_012\ntrial21_hop2_015\ntrial21_hop2_018\ntrial21_hop2_021\ntrial21_hop2_024\ntrial21_hop2_027\ntrial21_hop2_030\ntrial21_hop2_033\ntrial21_hop2_036\ntrial21_hop2_039\ntrial21_hop2_04\n… (60 characters left out) …\n_hop2_054\ntrial21_hop2_057\ntrial21_hop2_060\ntrial21_hop2_063\ntrial21_hop2_066\ntrial21_hop2_069\ntrial21_hop2_072\ntrial21_hop2_075\ntrial21_hop2_078\ntrial21_hop2_081\ntrial21_hop2_084\ntrial21_hop2_087\ntrial21_hop2_090\ntrial21_hop2_093\ntrial21_hop2_096\ntrial21_hop2_099\ntrial21_hop2_102\ntrial22_hop_021\ntrial22_main_021\ntrial23_hop_021\ntrial23_main_021\ntrial6_021\ntrial9_021\n 2 32 6.081894133786989e+00 1.3e+00 7.12e-02 7e-02 8e-02 0:13.1 \nBEST 6.081894133786989 end [ 2.14000000e+00 6.19848541e-01 1.51324921e-02 1.04154443e+00\n 9.96953034e-01 -9.68281318e-04 7.53676554e-02 2.00854737e-02\n 1.79712673e-01 -2.31744948e-02 5.67213005e-03 2.23665983e-02\n 1.52435941e-01 -1.37899872e-03] [[97, 123], [97, 122]]\nBEST 0.871788647700824 [43.43295442 60.51980829 -6.28263681 14.05732546 13.83883745 1.27732233] [ 1.77 0.3843555 1.80047421 0.44428098 -0.14086159 3.16080268]\n 10 160 9.183248567712434e-01 2.8e+00 5.30e-01 2e-01 3e-01 0:26.0 \nBEST 0.8696430258722991 [170.31494699 58.96753774 -39.02476836 12.84604843 8.24935558\n 1.25341092] [ 1.76 0.3711337 1.80357005 0.43639055 -0.12110915 3.1607938 ]\n 13 208 8.627423691665235e-01 3.3e+00 4.18e-01 2e-01 3e-01 0:33.9 \nBEST 0.8627423691665235 [44.9298828 76.52444163 40.19006883 8.58820564 11.60197097 1.23845063] [ 1.77 0.35414232 1.80500403 0.43237218 -0.13263592 3.16199001]\n 17 272 8.749595114266535e-01 4.8e+00 4.40e-01 1e-01 3e-01 0:44.4 \nThu Oct 15 15:04:05 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":39660,"cached":39040,"out":228,"think":161,"usd":0.0566},"sim":{"submit":0,"reset":0}},{"id":188,"t":6651.4,"say":"","calls":[{"kind":"shell","label":"for prefix in ['trial21_hop1','trial21_hop2']:","code":"cd /app/output && OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom model import *\nimport json\nfor prefix in ['trial21_hop1','trial21_hop2']:\n print(prefix)\n for i in range(84,108,3):\n f=P/f'{prefix}_{i:03d}'/'meta.json'\n if not f.exists():continue\n p=np.array(json.loads(f.read_text())['proprio']['now']);fk(p[:27],base=[0,0,1],quat=p[108:112]);l=d.body('left_ankle_roll_link').xpos;r=d.body('right_ankle_roll_link').xpos\n print(i,p[-1],(l-r).round(3),p[[3,9]].round(3),p[[115,116,117]].round(1))\nPY"}],"out":{"text":"trial21_hop1\n84 0.8700000047683716 [-0.02 0.329 0.003] [0.52 0.516] [11. -1.6 1. ]\n87 0.8999999761581421 [-0.025 0.327 0.001] [0.504 0.498] [ 7.3 -1.3 1.5]\n90 0.9300000071525574 [-0.025 0.326 0.001] [0.502 0.494] [ 3.2 -1.8 1. ]\n93 0.9599999785423279 [-0.02 0.325 0.002] [0.506 0.5 ] [ 0.5 -2.1 0.3]\n96 0.9900000095367432 [-0.015 0.324 0.004] [0.511 0.508] [-0.4 -1.9 -0. ]\n99 1.0199999809265137 [-0.012 0.326 0.004] [0.528 0.538] [-2.4 1.4 28.9]\n102 1.0499999523162842 [-0.011 0.327 0.001] [0.626 0.648] [-12. 0.9 44.7]\n105 1.0800000429153442 [-0.01 0.328 0. ] [0.633 0.656] [-4.6 1.1 13. ]\ntrial21_hop2\n84 2.490000009536743 [ 0.012 0.331 -0.007] [0.479 0.577] [12.5 1.7 -3.1]\n87 2.5199999809265137 [ 0.01 0.327 -0.009] [0.451 0.564] [ 8.9 1.9 -2.3]\n90 2.549999952316284 [ 0.011 0.324 -0.01 ] [0.441 0.562] [ 5.1 1.2 -2.7]\n93 2.5799999237060547 [ 0.015 0.323 -0.01 ] [0.441 0.569] [ 2.3 0.8 -3.6]\n96 2.609999895095825 [ 0.02 0.322 -0.009] [0.444 0.577] [ 1.3 0.9 -4.1]\n99 2.640000104904175 [ 0.024 0.323 -0.008] [0.449 0.584] [-1.8 1.7 9. ]\n102 2.6700000762939453 [ 0.026 0.323 -0.002] [0.553 0.655] [-13.1 -2.4 53.6]\n","exit":[0],"pics":[]},"tok":{"in":41494,"cached":39424,"out":294,"think":75,"usd":0.0748},"sim":{"submit":0,"reset":0}},{"id":189,"t":6669.4,"say":"","calls":[{"kind":"robot","label":"writes attempt24.py","code":"cat > /app/output/attempt24.py <<'PY'\nfrom track import *\nfrom dunk_control import run_dunk\nr=Robot();z=np.load(P/'trial10.npz');a=z['a'].copy()\nfor i in range(80,145):\n w=min(1,(145-i)/25);dl=.25*w\n a[i,3]+=dl;a[i,9]-=dl;a[i,1]-=.5*dl;a[i,7]+=.5*dl;a[i,4]-=.5*dl;a[i,10]+=.5*dl\nx=run(r,z,'trial24_hop1',3,162,0,True,True)\nif not x.done:x=run(r,{'a':a,'h':z['h']},'trial24_hop2',3,162,0,False,True,True)\nif not x.done:x=run(r,np.load(P/'boost_best.npz'),'trial24_main',3,144,0,False,False,True)\nif not x.done:x=run_dunk(r,np.load(P/'boost_best.npz'),3.24,name='dunk24',end=2.2)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt24.py > /app/output/trial24.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":42596,"cached":41344,"out":428,"think":103,"usd":0.0753},"sim":{"submit":91,"reset":1}},{"id":190,"t":6691.4,"say":"The earlier hand motion still reached the rim too low. I’m testing a second approach hop with a changed landing order to gain reach while staying within the two-step rule, alongside a stronger takeoff.","calls":[{"kind":"shell","label":"tail -n 4 /app/output/trial24.log; tail -n 6 /app/output/boost.log; tail -n 7 /app/output/longhop.log; cat /ap","code":"tail -n 4 /app/output/trial24.log; tail -n 6 /app/output/boost.log; tail -n 7 /app/output/longhop.log; cat /app/output/land.py; date -u"}],"out":{"text":"102 imu [ 0.004 0.191 -0.028] err [-0.006 0.081 -0.004] vision None\n105 imu [-0.045 0.191 -0.068] err [-0.048 0.098 -0.038] vision None\n108 imu [-0.092 0.201 -0.096] err [-0.094 0.115 -0.065] vision None\n{'calls': 1430, 'rows': 5521, 'control_steps': 271, 'done': True, 'reason': 'failed', 'episode': 24, 'control_steps_total': 5583, 'resets_left': 27, 'sim_time_s': 2.71, 'time_s': 6673.09, 'time_left_s': 526.9, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pitch_pos', 'right_elbow_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_yaw_vel', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_yaw_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_knee_vel', 'right_ankle_pitch_vel', 'right_ankle_roll_vel', 'torso_vel', 'left_shoulder_pitch_vel', 'left_shoulder_roll_vel', 'left_shoulder_yaw_vel', 'left_elbow_pitch_vel', 'left_elbow_roll_vel', 'left_wrist_pitch_vel', 'left_wrist_y\n… (5,666 characters left out) …\n *\nfrom bent_sim import support2\nfrom balance import stand\n\ndef land(r,name='land'):\n x=r.get_obs(cameras=['venue'],video='none');p=np.array(x.meta['proprio']['now']);q=p[81:108].copy();q[[1,7]]=-.75;q[[3,9]]=.9;q[[4,10]]=-.15\n kp=KP.copy();kp[:12]=[700,700,700,400,350,350]*2\n kd=KD.copy();kd[:12]=[25,30,25,30,20,20]*2\n t0=p[-1];impact=None\n for i in range(120):\n p=np.array(x.meta['proprio']['now']);t=p[-1]-t0;rot=Rotation.from_quat(p[108:112],scalar_first=True).as_euler('xyz');g=p[112:115]\n if t>.1 and p[117]>22 and impact is None:impact=t;print('IMPACT',t,flush=True)\n if impact is not None:\n u=np.clip((t-impact-.15)/.8,0,1);q[[1,7]]=-.75*(1-u)-.16*u;q[[3,9]]=.9*(1-u)+.36*u;q[[4,10]]=-.15*(1-u)-.2*u\n q[13:27]*=.98\n tau=np.zeros(27) if impact is None else support2(q)\n tau[[4,10]]+=200*rot[1]+55*g[1];tau[[5,11]]+=140*rot[0]+35*g[0]\n lim=np.array(S['robot_facts']['torque_limit_nm']);tau=np.clip(tau,-lim,lim)\n row=low(q,kp,kd,tau,grip=0)\n x=r.submit('lowcmd',np.tile(row,(2,1)),cameras=['venue'],video='none');x.save(P/f'{name}_{i:03d}')\n print('LAND',round(t,2),rot.round(2),g.round(2),flush=True)\n if x.done:break\n if not x.done:\n for i in range(10):\n row=np.r_[0,0,0,p[81+12:108]*0,0,0]\n x=r.submit('walk',np.tile(row,(20,1)),cameras=['venue'],video='none');x.save(P/f'{name}_walk_{i}')\n if x.done:break\n print({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']},flush=True)\n return x\nif __name__=='__main__':land(Robot())\nThu Oct 15 15:05:00 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":43082,"cached":42368,"out":359,"think":235,"usd":0.0675},"sim":{"submit":0,"reset":0}},{"id":191,"t":6707.3,"say":"","calls":[{"kind":"robot","label":"sed -e 's/trial24/trial25/g' -e 's/dunk24/dunk25/g' -e 's/dl=.25\\*w/dl=.07*w/' /app/output/attempt24.py > /app","code":"sed -e 's/trial24/trial25/g' -e 's/dunk24/dunk25/g' -e 's/dl=.25\\*w/dl=.07*w/' /app/output/attempt24.py > /app/output/attempt25.py\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt25.py > /app/output/trial25.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":47218,"cached":42880,"out":227,"think":105,"usd":0.0976},"sim":{"submit":89,"reset":1}},{"id":192,"t":6733.2,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\n\"\"\"Service-only dunk driver; uses public-model trajectories and camera/IMU feedback.\"\"\"\nfrom track import *\nfrom dunk_control import run_dunk\nfrom land import land\nimport argparse\n\ndef main():\n ap=argparse.ArgumentParser();ap.add_argument('--reset',action='store_true');ap.add_argument('--two-hops',action='store_true');ap.add_argument('--hop',default='trial10.npz');ap.add_argument('--jump',default='boost_best.npz');args=ap.parse_args()\n r=Robot();z=np.load(P/args.hop);jump=np.load(P/args.jump)\n x=run(r,z,'gen_hop1',3,162,0,args.reset,True,True);offset=1.62\n if args.two_hops and not x.done:\n a=z['a'].copy()\n for i in range(80,145):\n dl=.07*min(1,(145-i)/25)\n a[i,3]+=dl;a[i,9]-=dl;a[i,1]-=.5*dl;a[i,7]+=.5*dl;a[i,4]-=.5*dl;a[i,10]+=.5*dl\n x=run(r,{'a':a,'h':z['h']},'gen_hop2',3,162,0,False,True,True);offset+=1.62\n if not x.done:x=run(r,jump,'gen_jump',3,144,0,False,False,True)\n if not x.done:x=run_dunk(r,jump,offset,name='gen_dunk',end=2.2)\n if not x.done and not x.meta['proprio']['now'][129]:x=land(r,'gen_land')\n print({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']})\nif __name__=='__main__':main()\nPY\npython - <<'PY'\np='/app/output/dunk_control.py';s=open(p).read().replace(\" x=r.submit('lowcmd',np.tile(row,(2,1)),cameras=['venue'],video='none');x.save(P/f'{name}_{i:03d}')\",\" x=r.submit('lowcmd',np.tile(row,(2,1)),cameras=['venue'],video='none');x.save(P/f'{name}_{i:03d}')\\n if not x.meta['proprio']['now'][129]:break\")\nopen(p,'w').write(s)\np='/app/output/NOTES.md';s=open(p).read().replace('approximately 3.06 m ball height, below required clearance.','approximately 3.12 m ball height; front-rim clearance remains marginal.').replace('Some deeper preparation motions jammed the ball/arm; testing arm setup before crouching.','Deeper crouches sometimes jammed the arm or tipped; overhead preparation improved repeatability.').replace('Latest work: optimize takeoff, stabilize hop-to-jump transition, then control rim entry and landing.','Latest work: stronger takeoff, approach landing order, camera-based hand motion and release crossing check.');open(p,'w').write(s)\nPY\ntail -n 4 /app/output/trial25.log; tail -n 5 /app/output/longhop.log"}],"out":{"text":"Warning: truncated output (original token count: 1643)\nTotal output lines: 9\n\n96 imu [ 0.01 0.203 -0.044] err [-0.001 0.043 -0.018] vision None\n99 imu [ 0.012 0.198 -0.044] err [ 0.001 0.062 -0.02 ] vision None\n102 imu [ 0.013 0.191 -0.043] err [ 0.002 0.081 -0.019] vision None\n{'calls': 1522, 'rows': 5788, 'control_steps': 267, 'done': True, 'reason': 'failed', 'episode': 25, 'control_steps_total': 5850, 'resets_left': 26, 'sim_time_s': 2.67, 'time_s': 6710.83, 'time_left_s': 489.2, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pitch_pos', 'right_elbow_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_yaw_vel', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_yaw_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_knee_vel', 'right_ankle_pitch_vel', 'right_ankle_roll_vel', 'torso_vel', 'left_shoulder_pitch_vel', 'left_shoulder_roll_vel', 'left_shoulder_yaw_vel', 'left_el\n… (3,104 characters left out) …\n49295044, 1.368786334991455, -2.3756701946258545, -18.0, 0.1615830510854721, -3.8762617111206055, -1.2560385465621948, 0.0, -0.6436447501182556, 0.007047948427498341, 0.586144208908081, -0.21753177046775818, 0.004698632284998894, 0.0, -0.573644757270813, 0.007047948427498341, 0.4461441934108734, -0.14753177762031555, 0.004698632284998894, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9952834248542786, -0.0020054413471370935, 0.09168804436922073, -0.03162594512104988, -0.9658050537109375, -0.13724038004875183, -0.8821962475776672, -8.27357006072998, 4.265670299530029, 47.57134246826172, 0.9955590963363647, -0.0010493347654119134, 0.09170397371053696, -0.021246768534183502, -0.9684568047523499, -0.11707144975662231, -0.6600979566574097, -7.75563907623291, 1.1746608018875122, 47.089317321777344, 0.0, 1.0, 4.0, 0.0, 0.0, 0.0, 2.6700000762939453]}, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1522, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'clipped': [], 'n_clipped': 0, 'ok': True}\n 9 144 1.268631377491827e-01 2.0e+00 7.25e-02 6e-02 9e-02 1:00.7 \n 10 160 1.664061940637342e-01 2.1e+00 6.76e-02 5e-02 8e-02 1:06.9 \n 12 192 4.437963155029043e-01 2.3e+00 6.65e-02 5e-02 8e-02 1:19.3 \n 14 224 4.639670481481514e-01 2.6e+00 6.27e-02 4e-02 8e-02 1:31.6 \n 15 240 1.287094980021799e+00 2.6e+00 5.90e-02 4e-02 7e-02 1:37.8 \n","exit":[0],"pics":[]},"tok":{"in":47503,"cached":46976,"out":773,"think":13,"usd":0.0909},"sim":{"submit":0,"reset":0}},{"id":193,"t":6741.5,"say":"","calls":[{"kind":"robot","label":"sed -e 's/trial24/trial26/g' -e 's/dunk24/dunk26/g' -e 's/dl=.25\\*w/dl=.16*w/' /app/output/attempt24.py > /app","code":"sed -e 's/trial24/trial26/g' -e 's/dunk24/dunk26/g' -e 's/dl=.25\\*w/dl=.16*w/' /app/output/attempt24.py > /app/output/attempt26.py\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt26.py > /app/output/trial26.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50869,"cached":47360,"out":137,"think":15,"usd":0.0893},"sim":{"submit":63,"reset":1}},{"id":194,"t":6752.3,"say":"","calls":[{"kind":"robot","label":"p='/app/output/track.py';s=open(p).read().replace('if x.done:print(x.meta,flush=True);break',\"if x.done:print(","code":"python - <<'PY'\np='/app/output/track.py';s=open(p).read().replace('if x.done:print(x.meta,flush=True);break',\"if x.done:print({k:v for k,v in x.meta.items() if k not in ['proprio','clipped']},flush=True);break\");open(p,'w').write(s)\nPY\ncd /app/output && OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom control import *\nfor f in ['longhop_best','boost_best']:\n z=np.load(P/(f+'.npz'));h=z['h'];print(f,z['p']);print('ending',h[-1,:14]);print('maxball',h[h[:,16].argmax(),[0,14,15,16]])\nPY"}],"out":{"text":"longhop_best [ 0.60533755 -0.27074491 -0.47607428 0.11209318 0.42713095 0.09168108\n 0.08426724 -0.40577142 0.5215258 -0.18266033 0.29201124 0.40239684]\nending [ 2.27 0.6944035 -0.00395855 1.03271632 0.98891673 0.00664109\n 0.1459375 -0.02649221 0.49357841 -0.03001837 -0.06518711 0.00998761\n 0.4770138 -0.04701686]\nmaxball [ 1.33 1.03180267 -0.1625875 1.14508571]\nboost_best [192.51851225 50.51580126 -54.5254419 14.13626295 7.29032395\n 1.2819232 ]\nending [ 2.54 1.19156824 -0.19143861 0.89307044 0.89191652 0.06871772\n 0.34274435 -0.28686077 1.55859772 -0.72987699 -1.14131828 -0.30408996\n 1.77807006 -0.15931924]\nmaxball [ 1.77 0.44177682 -0.13203358 3.16214794]\n","exit":[0],"pics":[]},"tok":{"in":51065,"cached":50688,"out":220,"think":17,"usd":0.0655},"sim":{"submit":26,"reset":0}},{"id":195,"t":6763.3,"say":"","calls":[{"kind":"shell","label":"tail -n 5 /app/output/trial26.log; date -u; tail -n 3 /app/output/boost.log","code":"tail -n 5 /app/output/trial26.log; date -u; tail -n 3 /app/output/boost.log"}],"out":{"text":"Warning: truncated output (original token count: 1627)\nTotal output lines: 9\n\n93 imu [ 0.007 0.198 -0.026] err [-0.001 0.02 0. ] vision None\n96 imu [ 0.009 0.203 -0.032] err [-0.002 0.042 -0.007] vision None\n99 imu [ 0.011 0.198 -0.032] err [-0. 0.062 -0.009] vision None\n102 imu [ 0.009 0.191 -0.035] err [-0.001 0.081 -0.011] vision None\n{'calls': 1614, 'rows': 6055, 'control_steps': 267, 'done': True, 'reason': 'failed', 'episode': 26, 'control_steps_total': 6117, 'resets_left': 25, 'sim_time_s': 2.67, 'time_s': 6745.12, 'time_left_s': 454.9, 'proprio': {'layout': ['left_hip_yaw_pos', 'left_hip_pitch_pos', 'left_hip_roll_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_yaw_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'torso_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pitch_pos', 'left_elbow_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pitch_pos', 'right_elbow_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_yaw_vel', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_yaw_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_knee_vel', 'right_ankle_pitch_vel', 'right_ankle_roll_vel', 'torso_vel', 'left_shoulder_pi\n… (3,104 characters left out) …\n909130096436, -6.418367862701416, -0.02829475700855255, -0.30032217502593994, -0.45521286129951477, -0.7478769421577454, 2.566573143005371, -3.9982986450195312, -18.0, 0.21593935787677765, -4.57041072845459, -2.2420430183410645, 0.0, -0.6894704699516296, -0.0072542293928563595, 0.6761441826820374, -0.2642974257469177, -0.004836152773350477, 0.0, -0.5294705033302307, -0.0072542293928563595, 0.3561441898345947, -0.10429742187261581, -0.004836152773350477, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9949599504470825, -0.011967559345066547, 0.09364311397075653, -0.033800676465034485, -1.6988120079040527, 0.11301784217357635, -1.3697724342346191, -5.5124969482421875, 3.8692359924316406, 34.72163772583008, 0.9953811764717102, -0.010426291264593601, 0.09382722526788712, -0.017437288537621498, -1.6941776275634766, 0.1688118427991867, -1.0394293069839478, -5.605437755584717, 2.681985378265381, 33.62327575683594, 0.0, 1.0, 4.0, 0.0, 0.0, 0.0, 2.6700000762939453]}, 'outcome': 'travelling: a third step with the ball in the hand', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1614, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'clipped': [], 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:06:10 UTC 2026\n 1.2819232 ] [ 1.77 0.37848113 1.80441988 0.44177682 -0.13203358 3.16214794]\n 35 560 8.621877748618283e-01 1.4e+01 2.67e-01 2e-02 2e-01 1:31.9 \n 40 640 8.679409690306378e-01 2.3e+01 2.54e-01 1e-02 2e-01 1:45.1 \n","exit":[0],"pics":[]},"tok":{"in":51728,"cached":50944,"out":130,"think":74,"usd":0.0653},"sim":{"submit":0,"reset":0}},{"id":196,"t":6771.6,"say":"","calls":[{"kind":"robot","label":"sed -e 's/trial24/trial27/g' -e 's/dunk24/dunk27/g' -e 's/dl=.25\\*w/dl=.105*w/' /app/output/attempt24.py > /ap","code":"sed -e 's/trial24/trial27/g' -e 's/dunk24/dunk27/g' -e 's/dl=.25\\*w/dl=.105*w/' /app/output/attempt24.py > /app/output/attempt27.py\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt27.py > /app/output/trial27.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":54421,"cached":51584,"out":202,"think":80,"usd":0.0901},"sim":{"submit":89,"reset":1}},{"id":197,"t":6787.7,"say":"","calls":[{"kind":"shell","label":"tail -n 3 /app/output/trial27.log; tail -n 6 /app/output/longhop.log; date -u","code":"tail -n 3 /app/output/trial27.log; tail -n 6 /app/output/longhop.log; date -u"}],"out":{"text":"99 imu [ 0.012 0.198 -0.039] err [ 0. 0.062 -0.016] vision None\n102 imu [ 0.012 0.191 -0.04 ] err [ 0.001 0.081 -0.016] vision None\n{'calls': 1706, 'rows': 6322, 'control_steps': 267, 'done': True, 'reason': 'failed', 'episode': 27, 'control_steps_total': 6384, 'resets_left': 24, 'sim_time_s': 2.67, 'time_s': 6775.11, 'time_left_s': 424.9, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1706, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\n 14 224 4.639670481481514e-01 2.6e+00 6.27e-02 4e-02 8e-02 1:31.6 \n 15 240 1.287094980021799e+00 2.6e+00 5.90e-02 4e-02 7e-02 1:37.8 \n 17 272 1.676465308963607e-01 2.7e+00 6.16e-02 4e-02 7e-02 1:50.0 \n 20 320 1.320344711512584e-01 2.8e+00 6.23e-02 4e-02 7e-02 2:08.4 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 23 368 1.188979509519784e-01 3.0e+00 6.36e-02 4e-02 7e-02 2:26.7 -\r\u001b[2K 25 400 1.329259499090173e-01 3.4e+00 5.44e-02 3e-02 6e-02 2:38.9 -Thu Oct 15 15:06:34 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":54679,"cached":54272,"out":228,"think":171,"usd":0.0697},"sim":{"submit":0,"reset":0}},{"id":198,"t":6797.6,"say":"","calls":[{"kind":"robot","label":"sed -e 's/trial24/trial28/g' -e 's/dunk24/dunk28/g' -e 's/dl=.25\\*w/dl=.13*w/' /app/output/attempt24.py > /app","code":"sed -e 's/trial24/trial28/g' -e 's/dunk24/dunk28/g' -e 's/dl=.25\\*w/dl=.13*w/' /app/output/attempt24.py > /app/output/attempt28.py\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt28.py > /app/output/trial28.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":55562,"cached":54528,"out":189,"think":67,"usd":0.0743},"sim":{"submit":45,"reset":1}},{"id":199,"t":6805.6,"say":"The second-hop landings have triggered travelling calls. I’m also testing a longer single hop, which could provide the needed approach distance without that extra landing. The driver and experiment notes are saved in `/app/output`.","calls":[{"kind":"robot","label":"writes attempt29.py","code":"cat > /app/output/attempt29.py <<'PY'\nfrom track import *\nfrom dunk_control import run_dunk\nfrom land import land\nr=Robot();z=np.load(P/'longhop_best.npz');jump=np.load(P/'boost_best.npz')\nx=run(r,z,'trial29_hop',3,162,0,True,True)\nif not x.done:x=run(r,jump,'trial29_main',3,144,0,False,False,True)\nif not x.done:x=run_dunk(r,jump,1.62,name='dunk29',end=2.2)\nif not x.done and not x.meta['proprio']['now'][129]:land(r,'land29')\nPY\ntail -n 3 /app/output/trial28.log; date -u"}],"out":{"text":"66 imu [0.002 0.099 0.012] err [ 0.002 -0.058 0.012] vision None\n69 imu [0.002 0.114 0.006] err [ 0.002 -0.058 0.006] vision None\n72 imu [ 0.001 0.114 -0.002] err [ 0.001 -0.031 -0.002] vision None\nThu Oct 15 15:06:57 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":55808,"cached":55424,"out":283,"think":24,"usd":0.0734},"sim":{"submit":44,"reset":0}},{"id":200,"t":6820.3,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:37453,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}));text(await tools.exec_command({cmd:\"tail -n 3 /app/output/trial28.log\",\"max_output_tokens\":1000}));\n"},{"kind":"shell","label":"tail -n 3 /app/output/trial28.log","code":"tail -n 3 /app/output/trial28.log"}],"out":{"text":"99 imu [ 0.011 0.198 -0.036] err [ 0. 0.062 -0.013] vision None\n102 imu [ 0.01 0.192 -0.038] err [ 0. 0.081 -0.014] vision None\n{'calls': 1798, 'rows': 6588, 'control_steps': 266, 'done': True, 'reason': 'failed', 'episode': 28, 'control_steps_total': 6650, 'resets_left': 23, 'sim_time_s': 2.66, 'time_s': 6801.01, 'time_left_s': 399.0, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1798, 'type': 'lowcmd', 'executed_rows': 2, 'control_steps_chunk': 2, 'n_clipped': 0, 'ok': True}\n","exit":[0,0],"pics":[]},"tok":{"in":56265,"cached":55680,"out":153,"think":83,"usd":0.0692},"sim":{"submit":0,"reset":0}},{"id":201,"t":6825.7,"say":"","calls":[{"kind":"robot","label":"OPENBLAS_NUM_THREADS=1 python -u /app/output/attempt29.py > /app/output/trial29.log 2>&1","code":"OPENBLAS_NUM_THREADS=1 python -u /app/output/attempt29.py > /app/output/trial29.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":56744,"cached":56064,"out":62,"think":0,"usd":0.066},"sim":{"submit":39,"reset":1}},{"id":202,"t":6838.7,"say":"","calls":[{"kind":"shell","label":"tail -n 4 /app/output/trial29.log; date -u; tail -n 3 /app/output/longhop.log","code":"tail -n 4 /app/output/trial29.log; date -u; tail -n 3 /app/output/longhop.log"}],"out":{"text":"108 imu [-0.005 0.025 0.052] err [-0.008 0.035 0.082] vision None\n111 imu [0.002 0.087 0.061] err [-0.009 0.048 0.09 ] vision None\n114 imu [0.007 0.096 0.069] err [-0.006 0.026 0.095] vision None\n{'calls': 1839, 'rows': 6705, 'control_steps': 117, 'done': True, 'reason': 'failed', 'episode': 29, 'control_steps_total': 6767, 'resets_left': 22, 'sim_time_s': 1.17, 'time_s': 6821.96, 'time_left_s': 378.0, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1839, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:07:25 UTC 2026\n 20 320 1.320344711512584e-01 2.8e+00 6.23e-02 4e-02 7e-02 2:08.4 \n overwriting (to keep lines going set `{'verb_disp_overwrite': 0}` in the 'cma_signals.in' file)\n 23 368 1.188979509519784e-01 3.0e+00 6.36e-02 4e-02 7e-02 2:26.7 -\r\u001b[2K 25 400 1.329259499090173e-01 3.4e+00 5.44e-02 3e-02 6e-02 2:38.9 -\r\u001b[2K 28 448 1.054775250775616e-01 3.6e+00 4.41e-02 3e-02 5e-02 2:57.2 -\r\u001b[2K 30 480 1.108410736923598e-01 3.9e+00 3.82e-02 2e-02 4e-02 3:09.4 \n","exit":[0],"pics":[]},"tok":{"in":56863,"cached":56576,"out":220,"think":163,"usd":0.0704},"sim":{"submit":0,"reset":0}},{"id":203,"t":6851.9,"say":"","calls":[{"kind":"robot","label":"p='/app/output/';z=np.load(p+'longhop_best.npz');a=z['a'].copy()","code":"python - <<'PY'\nimport numpy as np\np='/app/output/';z=np.load(p+'longhop_best.npz');a=z['a'].copy()\nfor i in range(92,145):\n u=min(1,(145-i)/20)\n a[i,81:93]=a[i,81:93]*(1-u)+u*np.array([700,700,700,450,350,350]*2)\n a[i,108:120]=a[i,108:120]*(1-u)+30*u\nnp.savez(p+'longhop_soft.npz',a=a,h=z['h'],p=z['p'])\ns=open(p+'attempt29.py').read().replace('longhop_best','longhop_soft').replace('trial29','trial30').replace('dunk29','dunk30').replace('land29','land30');open(p+'attempt30.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt30.py > /app/output/trial30.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":57735,"cached":56704,"out":327,"think":63,"usd":0.0834},"sim":{"submit":133,"reset":1}},{"id":204,"t":6873.2,"say":"","calls":[{"kind":"robot","label":"tail -n 6 /app/output/trial30.log; date -u","code":"tail -n 6 /app/output/trial30.log; date -u"}],"out":{"text":"DUNK 1.96 ball [ 0.821 -0.067 2.435] target [1.25 0. 2.59] ikerr 1.188 release 1.0\nDUNK 1.98 ball [ 0.827 -0.067 2.374] target [1.25 0. 2.53] ikerr 1.175 release 1.0\nDUNK 2.0 ball [ 0.833 -0.068 2.314] target [1.25 0. 2.47] ikerr 1.157 release 1.0\nDUNK 2.02 ball [ 0.829 -0.071 2.253] target [1.25 0. 2.41] ikerr 1.185 release 1.0\nDUNK 2.04 ball [ 0.826 -0.076 2.193] target [1.25 0. 2.35] ikerr 1.195 release 1.0\nDUNK 2.06 ball [ 0.822 -0.083 2.134] target [1.25 0. 2.29] ikerr 1.212 release 1.0\nThu Oct 15 15:08:00 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":58120,"cached":57600,"out":311,"think":267,"usd":0.0784},"sim":{"submit":5,"reset":0}},{"id":205,"t":6878.5,"say":"Softening the longer hop’s landing avoided the immediate travelling failure, but the following jump lost height. I’m adjusting the transition into takeoff and keeping the grip closed unless the camera shows a downward entry.","calls":[{"kind":"shell","label":"rg '^(15[0369]|0 |117 |120 |132 |141 |DUNK 1.[4567])' /app/output/trial30.log; tail -n 2 /app/output/trial30.l","code":"rg '^(15[0369]|0 |117 |120 |132 |141 |DUNK 1.[4567])' /app/output/trial30.log; tail -n 2 /app/output/trial30.log; date -u"}],"out":{"text":"0 imu [0. 0. 0.] err [0. 0. 0.] vision None\n117 imu [0.001 0.113 0.056] err [-0.005 0.042 0.086] vision None\n120 imu [-0.001 0.116 0.051] err [0.001 0.06 0.087] vision None\n132 imu [-0.001 0.107 0.032] err [0. 0.046 0.062] vision None\n141 imu [-0.002 0.084 0.033] err [0.002 0.024 0.064] vision None\n150 imu [-0.004 0.091 0.033] err [0.006 0.005 0.066] vision None\n153 imu [-0.005 0.098 0.033] err [0.005 0.001 0.067] vision None\n156 imu [-0.005 0.104 0.033] err [ 0.005 -0.003 0.069] vision None\n159 imu [-0.006 0.108 0.033] err [ 0.005 -0.006 0.07 ] vision None\n0 imu [-0.006 0.111 0.033] err [-0.006 0.111 0.033] vision None\n117 imu [-0.164 0.728 0.028] err [-0.161 0.113 0.037] vision None\n120 imu [-0.167 0.733 0.021] err [-0.166 0.096 0.03 ] vision None\n132 imu [-0.138 0.666 0.075] err [-0.143 0.137 0.07 ] vision {'pixel': [234.46031746031747, 129.84126984126985], 'ball': [1.0382467309379917, 0.33306371957434333, 1.8529415691616302], 'pelvis': [0.11538521616194197, -3.885780586188048e-16, 0.9839825653519997]}\n141 imu [-0.118 0.376 0.14 ] err [-0.113 0.097 0.174] vision {'pixel': [232.57746478873239, 109.05633802816901], 'ball': [0.9330279839177471, 0.23797574329426663, 2.3111254447677987], 'pelvis': [0.14073083290716992, -3.3306690738754696e-16, 1.2659002881403352]}\nDUNK 1.44 ball [0.933 0.238 2.311] target [1.25 0. 3.25] ikerr 2.033 release 1.0\nDUNK 1.46 ball [0.865 0.205 2.436] target [1.25 0. 3.25] ikerr 1.969 release 1.0\nDUNK 1.48\n… (401 characters left out) …\nlease 1.0\nDUNK 1.58 ball [ 0.688 -0.162 2.807] target [1.25 0. 3.25] ikerr 1.572 release 1.0\nDUNK 1.6 ball [ 0.695 -0.182 2.83 ] target [1.25 0. 3.25] ikerr 1.541 release 1.0\nDUNK 1.62 ball [ 0.717 -0.183 2.845] target [1.25 0. 3.25] ikerr 1.52 release 1.0\nDUNK 1.64 ball [ 0.75 -0.17 2.847] target [1.25 0. 3.25] ikerr 1.517 release 1.0\nDUNK 1.66 ball [ 0.777 -0.146 2.842] target [1.25 0. 3.25] ikerr 1.52 release 1.0\nDUNK 1.68 ball [ 0.795 -0.12 2.834] target [1.25 0. 3.25] ikerr 1.524 release 1.0\nDUNK 1.7 ball [ 0.804 -0.094 2.817] target [1.25 0. 3.25] ikerr 1.599 release 1.0\nDUNK 1.72 ball [ 0.804 -0.074 2.802] target [1.25 0. 3.25] ikerr 1.591 release 1.0\nDUNK 1.74 ball [ 0.799 -0.057 2.796] target [1.25 0. 3.25] ikerr 1.576 release 1.0\nDUNK 1.76 ball [ 0.799 -0.045 2.796] target [1.25 0. 3.19] ikerr 1.475 release 1.0\nDUNK 1.78 ball [ 0.794 -0.045 2.785] target [1.25 0. 3.13] ikerr 1.439 release 1.0\nDUNK 2.14 ball [ 0.799 -0.093 1.896] target [1.25 0. 2.05] ikerr 1.302 release 1.0\n{'calls': 1981, 'rows': 7082, 'control_steps': 377, 'done': True, 'reason': 'failed', 'episode': 30, 'control_steps_total': 7144, 'resets_left': 21, 'sim_time_s': 3.77, 'time_s': 6862.99, 'time_left_s': 337.0, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 1981, 'type': 'lowcmd', 'executed_rows': 1, 'control_steps_chunk': 1, 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:08:08 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":58791,"cached":57984,"out":151,"think":24,"usd":0.0736},"sim":{"submit":0,"reset":0}},{"id":206,"t":6912.9,"say":"","calls":[{"kind":"robot","label":"p='/app/output/attempt24.py';s=open(p).read().replace('trial24','trial31').replace('dunk24','dunk31').replace(","code":"python - <<'PY'\np='/app/output/attempt24.py';s=open(p).read().replace('trial24','trial31').replace('dunk24','dunk31').replace('dl=.25*w','dl=.1*w');s=s.replace(\"x=run(r,z,'trial31_hop1'\",\"a[92:140,81:93]=[700,700,700,450,350,350]*2\\na[92:140,108:120]=30\\nx=run(r,z,'trial31_hop1'\")\nopen('/app/output/attempt31.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt31.py > /app/output/trial31.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":60746,"cached":58624,"out":632,"think":431,"usd":0.1114},"sim":{"submit":80,"reset":1}},{"id":207,"t":6925.9,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/trial31_hop1_159/last/venue.jpg"}],"out":{"text":"","exit":[],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s207_0.jpg"]},"tok":{"in":61436,"cached":60544,"out":151,"think":109,"usd":0.077},"sim":{"submit":9,"reset":0}},{"id":208,"t":6937.9,"say":"","calls":[{"kind":"shell","label":"for name in ['trial31_hop1_159','trial30_hop_159','trial31_hop2_159']:","code":"cd /app/output && OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom estimate import *\nfrom PIL import Image\nfrom types import SimpleNamespace\nfor name in ['trial31_hop1_159','trial30_hop_159','trial31_hop2_159']:\n f=P/name\n if not f.exists():continue\n p=np.array(json.loads((f/'meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,0],quat=p[108:112]);off=d.site('right_ball').xpos.copy();im=np.array(Image.open(f/'last/venue.jpg'));opts=ballpixel(im);print(name,opts[:3]);uv=opts[0][1]\n C=S['cameras']['venue'];ps=C['pose_t0'];cam=np.array(ps['position_m']);R=np.array([ps['right'],ps['up'],ps['forward']]);fl=135/np.tan(np.deg2rad(C['fovy_deg']/2));ray=np.array([(uv[0]-239.5)/fl,(134.5-uv[1])/fl,1])@R;b=cam+ray*((off[1]-cam[1])/ray[1]);print('root',b-off,'ball',b)\nPY\ntail -n 3 /app/output/trial31.log; date -u"}],"out":{"text":"trial31_hop1_159 [(np.int32(188), array([421.95744681, 125.86702128]), np.int32(15), np.int32(16)), (np.int32(138), array([475.3115942, 130.8115942]), np.int32(11), np.int32(18)), (np.int32(122), array([ 33.24590164, 118.57377049]), np.int32(13), np.int32(12))]\nroot [ 8.38862429e+00 -5.55111512e-17 1.42810948e+00] ball [ 8.99027219 -0.1322174 1.46976389]\ntrial30_hop_159 [(np.int32(188), array([421.95744681, 125.86702128]), np.int32(15), np.int32(16)), (np.int32(138), array([475.3115942, 130.8115942]), np.int32(11), np.int32(18)), (np.int32(122), array([ 33.24590164, 118.57377049]), np.int32(13), np.int32(12))]\nroot [ 8.32944680e+00 -1.66533454e-16 1.46531855e+00] ball [ 8.94473686 -0.14998066 1.47446814]\n99 imu [ 0.012 0.198 -0.039] err [ 0.001 0.062 -0.016] vision None\n102 imu [ 0.012 0.191 -0.04 ] err [ 0.001 0.08 -0.016] vision None\n{'calls': 2073, 'rows': 7349, 'control_steps': 267, 'done': True, 'reason': 'failed', 'episode': 31, 'control_steps_total': 7411, 'resets_left': 20, 'sim_time_s': 2.67, 'time_s': 6916.4, 'time_left_s': 283.6, 'outcome': 'travelling: the same foot touched the floor twice in a row', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 2073, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:09:06 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":61773,"cached":61312,"out":367,"think":41,"usd":0.0843},"sim":{"submit":0,"reset":0}},{"id":209,"t":6952.9,"say":"","calls":[{"kind":"shell","label":"for name in ['trial31_hop1_159','trial30_hop_159','trial31_hop2_099']:","code":"cd /app/output && OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom estimate import *\nfrom PIL import Image\nfor name in ['trial31_hop1_159','trial30_hop_159','trial31_hop2_099']:\n f=P/name;p=np.array(json.loads((f/'meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,0],quat=p[108:112]);off=d.site('right_ball').xpos.copy();im=np.array(Image.open(f/'last/venue.jpg'));opts=[o for o in ballpixel(im) if 2005 and y<210 and w<30 and h<30:\n out.append((area,c,w,h))\n return sorted(out,key=lambda a:-a[0])\nif __name__=='__main__':\n from model import *\n fk(Q0);print('initialfk',d.site('right_ball').xpos,'project',project(d.site('right_ball').xpos))\n for name in ['start','bent_pre3','bent_jump3']:\n im=np.array(__import__('PIL.Image',fromlist=['Image']).open(P/name/'last/venue.jpg'));print(name,ballpixel(im))\n","exit":[0],"pics":[]},"tok":{"in":63482,"cached":62720,"out":57,"think":22,"usd":0.0732},"sim":{"submit":0,"reset":0}},{"id":211,"t":6970.6,"say":"","calls":[{"kind":"robot","label":"for name,uv in [('trial31_hop1_159',[243,171])]:","code":"cd /app/output && OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom estimate import *\nfor name,uv in [('trial31_hop1_159',[243,171])]:\n p=np.array(json.loads((P/name/'meta.json').read_text())['proprio']['now']);fk(p[:27],base=[0,0,0],quat=p[108:112]);off=d.site('right_ball').xpos.copy();ray=np.array([(uv[0]-239.5)/f,(134.5-uv[1])/f,1])@R;b=cam+ray*((off[1]-cam[1])/ray[1]);print(b-off,b)\nPY\nsed -e 's/trial24/trial32/g' -e 's/dunk24/dunk32/g' -e 's/dl=.25\\*w/dl=.145*w/' /app/output/attempt24.py > /app/output/attempt32.py\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt32.py > /app/output/trial32.log 2>&1"}],"out":{"text":"[ 3.47491195e-01 -5.55111512e-17 1.01608981e+00] [ 0.94913909 -0.1322174 1.05774423]\n","exit":[],"pics":[]},"tok":{"in":63965,"cached":63360,"out":294,"think":20,"usd":0.0841},"sim":{"submit":89,"reset":1}},{"id":212,"t":6985.6,"say":"","calls":[{"kind":"shell","label":"for name in ['dunk22_170','dunk23_174','dunk23_180','dunk30_164']:","code":"cd /app/output && OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom estimate import *\nfrom types import SimpleNamespace\nfrom PIL import Image\nfor name in ['dunk22_170','dunk23_174','dunk23_180','dunk30_164']:\n f=P/name;res=SimpleNamespace(meta=json.loads((f/'meta.json').read_text()),last={'venue':np.array(Image.open(f/'last/venue.jpg'))});print(name,locate(res))\nPY"}],"out":{"text":"dunk22_170 {'pixel': [228.8709677419355, 68.09677419354838], 'ball': [0.6897461516647383, -0.024812039311081335, 3.1123181212255577], 'pelvis': [0.533090310281277, 2.636779683484747e-16, 1.7962518243410484]}\ndunk23_174 {'pixel': [234.95454545454547, 68.77272727272727], 'ball': [0.846180715775376, 0.004103878614277967, 3.110485671808529], 'pelvis': [0.5652614838248811, -3.0531133177191805e-16, 1.8158358290828647]}\ndunk23_180 {'pixel': [232.82222222222222, 70.73333333333333], 'ball': [0.8160704875108011, 0.035011855957033156, 3.0738723232370972], 'pelvis': [0.6052414104715644, -4.3021142204224816e-16, 1.7914614177348063]}\ndunk30_164 {'pixel': [236.12328767123287, 81.95890410958904], 'ball': [0.7763428586613166, -0.1463610657521679, 2.848916287814005], 'pelvis': [0.03623063462369169, 2.498001805406602e-16, 1.6691014475794452]}\n","exit":[0],"pics":[]},"tok":{"in":64368,"cached":63872,"out":237,"think":97,"usd":0.0807},"sim":{"submit":0,"reset":0}},{"id":213,"t":7004.0,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/trial30_hop_159/last/venue.jpg"},{"kind":"shell","label":"tail -n 3 /app/output/trial32.log; date -u","code":"tail -n 3 /app/output/trial32.log; date -u"}],"out":{"text":"99 imu [ 0.011 0.198 -0.034] err [-0. 0.062 -0.011] vision None\n102 imu [ 0.01 0.191 -0.036] err [-0. 0.081 -0.013] vision None\n{'calls': 2165, 'rows': 7615, 'control_steps': 266, 'done': True, 'reason': 'failed', 'episode': 32, 'control_steps_total': 7677, 'resets_left': 19, 'sim_time_s': 2.66, 'time_s': 6974.64, 'time_left_s': 225.4, 'outcome': 'travelling: a third step with the ball in the hand', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 2165, 'type': 'lowcmd', 'executed_rows': 2, 'control_steps_chunk': 2, 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:10:11 UTC 2026\n","exit":[0],"pics":["roboolympics-fun-dunk-i00-standard--nojaxvg/s213_0.jpg"]},"tok":{"in":65042,"cached":64256,"out":213,"think":140,"usd":0.0828},"sim":{"submit":0,"reset":0}},{"id":214,"t":7024.0,"say":"","calls":[{"kind":"robot","label":"sed -e 's/trial24/trial33/g' -e 's/dunk24/dunk33/g' -e 's/dl=.25\\*w/dl=.136*w/' /app/output/attempt24.py > /ap","code":"sed -e 's/trial24/trial33/g' -e 's/dunk24/dunk33/g' -e 's/dl=.25\\*w/dl=.136*w/' /app/output/attempt24.py > /app/output/attempt33.py\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt33.py > /app/output/trial33.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":65721,"cached":65024,"out":352,"think":230,"usd":0.0896},"sim":{"submit":89,"reset":1}},{"id":215,"t":7050.1,"say":"There are only a few minutes left. The best attempt has reached the front rim, but no dunk has been credited. I’m using the remaining time to test the approach transition and a wider range of legal arm poses.","calls":[{"kind":"shell","label":"f=P/'dunk23_174';res=SimpleNamespace(meta=json.loads((f/'meta.json').read_text()),last={'venue':np.array(Image","code":"cd /app/output && OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom dunk_control import *\nfrom types import SimpleNamespace\nfrom PIL import Image\nf=P/'dunk23_174';res=SimpleNamespace(meta=json.loads((f/'meta.json').read_text()),last={'venue':np.array(Image.open(f/'last/venue.jpg'))});p=np.array(res.meta['proprio']['now']);vis=locate(res);base=np.array(vis['pelvis']);print(p[20:27]);print(arm_ik(p,base,[1.25,0,3.15]))\nfrom scipy.optimize import least_squares\nq=p[:27].copy();lo=np.array(S['action_types']['joints']['lower'])[20:27];hi=np.array(S['action_types']['joints']['upper'])[20:27]\ndef fun(a):\n q[20:27]=a;fk(q,base,p[108:112]);return d.site('right_ball').xpos-[1.25,0,3.15]\nb=least_squares(fun,q[20:27],bounds=(lo,hi),max_nfev=100);print('FREE',b.x,b.fun)\nPY\ntail -n 2 /app/output/trial33.log; date -u"}],"out":{"text":"[-2.917521 -0.31035641 0.17955504 1.09985602 0.03915729 0.02321637\n -0.10596541]\n(array([-2.80479345, -0.2786617 , 0.25209369, 1.50134158, 0.14197974,\n 0.04929958, -0.11325355]), np.float64(0.42565200498989775))\nFREE [-2.82344063 -0.30338628 0.28582503 1.50174301 0.58999237 0.04174017\n -0.13437888] [-0.08483443 -0.03223832 -0.13574689]\n102 imu [ 0.01 0.191 -0.037] err [-0. 0.081 -0.014] vision None\n{'calls': 2257, 'rows': 7881, 'control_steps': 266, 'done': True, 'reason': 'failed', 'episode': 33, 'control_steps_total': 7943, 'resets_left': 18, 'sim_time_s': 2.66, 'time_s': 7027.17, 'time_left_s': 172.8, 'outcome': 'travelling: a third step with the ball in the hand', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 2257, 'type': 'lowcmd', 'executed_rows': 2, 'control_steps_chunk': 2, 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:11:06 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":66130,"cached":65664,"out":756,"think":399,"usd":0.1081},"sim":{"submit":0,"reset":0}},{"id":216,"t":7073.5,"say":"","calls":[{"kind":"robot","label":"p='/app/output/dunk_control.py';s=open(p).read().replace('np.array([30,30,30])','np.array([30,30,20])').replac","code":"python - <<'PY'\np='/app/output/dunk_control.py';s=open(p).read().replace('np.array([30,30,30])','np.array([30,30,20])').replace('3.25-3*max(0,t-1.74)','3.20-3*max(0,t-1.78)');open(p,'w').write(s)\np='/app/output/attempt29.py';s=open(p).read().replace('longhop_best','trial10').replace(\"162,0,True,True\",\"162,.06,True,True\").replace('trial29','trial34').replace('dunk29','dunk34').replace('land29','land34');open('/app/output/attempt34.py','w').write(s)\nPY\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt34.py > /app/output/trial34.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":67343,"cached":66048,"out":348,"think":114,"usd":0.0964},"sim":{"submit":83,"reset":1}},{"id":217,"t":7105.6,"say":"","calls":[{"kind":"shell","label":"tail -n 5 /app/output/trial34.log; date -u","code":"tail -n 5 /app/output/trial34.log; date -u"}],"out":{"text":"75 imu [0.044 1.097 0.178] err [0.044 0.651 0.178] vision None\n78 imu [0.069 1.188 0.209] err [0.069 0.731 0.209] vision None\n81 imu [0.108 1.285 0.252] err [0.108 0.819 0.252] vision None\n84 imu [0.176 1.388 0.326] err [0.176 0.914 0.326] vision None\n{'calls': 2343, 'rows': 8130, 'control_steps': 249, 'done': True, 'reason': 'failed', 'episode': 34, 'control_steps_total': 8192, 'resets_left': 17, 'sim_time_s': 2.49, 'time_s': 7076.01, 'time_left_s': 124.0, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 2343, 'type': 'lowcmd', 'executed_rows': 3, 'control_steps_chunk': 3, 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:11:52 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":67748,"cached":67200,"out":560,"think":516,"usd":0.1007},"sim":{"submit":0,"reset":0}},{"id":218,"t":7115.8,"say":"","calls":[{"kind":"robot","label":"sed -e 's/longhop_best/trial10/g' -e 's/trial29/trial35/g' -e 's/dunk29/dunk35/g' -e 's/land29/land35/g' /app/","code":"sed -e 's/longhop_best/trial10/g' -e 's/trial29/trial35/g' -e 's/dunk29/dunk35/g' -e 's/land29/land35/g' /app/output/attempt29.py > /app/output/attempt35.py\nOPENBLAS_NUM_THREADS=1 python -u /app/output/attempt35.py > /app/output/trial35.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":68661,"cached":67584,"out":219,"think":89,"usd":0.0893},"sim":{"submit":139,"reset":1}},{"id":219,"t":7142.3,"say":"The stronger approach tipped the robot during preparation. I’ve returned to the repeatable hop for another takeoff test. No successful dunk has been recorded so far; the saved notes reflect that.","calls":[{"kind":"shell","label":"p='/app/output/dunk_control.py';s=open(p).read().replace(\"np.linalg.norm(ball[:2]-[1.25,0])<.105\",\"np.linalg.n","code":"python - <<'PY'\np='/app/output/dunk_control.py';s=open(p).read().replace(\"np.linalg.norm(ball[:2]-[1.25,0])<.105\",\"np.linalg.norm(ball[:2]-[1.25,0])<.18\");open(p,'w').write(s)\np='/app/output/NOTES.md';s=open(p).read();s+='No successful dunk has been recorded; later failures include rim contact, travelling, and falls.\\n';open(p,'w').write(s)\nPY\ntail -n 4 /app/output/trial35.log; date -u"}],"out":{"text":"DUNK 2.12 ball [ 1.076 -0.247 2.213] target [1.25 0. 2.18] ikerr 0.421 release 1.0\nDUNK 2.14 ball [ 1.111 -0.242 2.087] target [1.25 0. 2.12] ikerr 0.48 release 1.0\nDUNK 2.16 ball [ 1.143 -0.217 1.957] target [1.25 0. 2.06] ikerr 0.39 release 1.0\n{'calls': 2486, 'rows': 8509, 'control_steps': 379, 'done': True, 'reason': 'failed', 'episode': 35, 'control_steps_total': 8571, 'resets_left': 16, 'sim_time_s': 3.79, 'time_s': 7127.19, 'time_left_s': 72.8, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 2, 'chunk_id': 2486, 'type': 'lowcmd', 'executed_rows': 1, 'control_steps_chunk': 1, 'n_clipped': 0, 'ok': True}\nThu Oct 15 15:12:33 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":68938,"cached":68608,"out":614,"think":407,"usd":0.1026},"sim":{"submit":0,"reset":0}}]} \ No newline at end of file diff --git a/runs/roboolympics-fun-high-jump-i00-standard--kq9d9hi/replay.mp4 b/runs/roboolympics-fun-high-jump-i00-standard--kq9d9hi/replay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b99eb177d8021251c1849b39e0bb402d8fb90750 --- /dev/null +++ b/runs/roboolympics-fun-high-jump-i00-standard--kq9d9hi/replay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faeebcff2d87fc112e9b86df0ab4af39379b1b858849542b7caa1cb4dc450c86 +size 50434 diff --git 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+{"slug":"roboolympics-fun-hurdles-i00-privileged--mnbqzf2","task":"roboolympics-fun-hurdles-i00-privileged","bench":"roboolympics-fun","mode":"privileged","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"failed","success":0,"reward":{"success":0,"replay_success":0,"deterministic":1,"n_actions":14000,"sim_steps":14000,"horizon":14000,"episode_over":1,"progress":0.0,"stages_reached":0,"stages_total":5,"fell":0,"replay_s":113.42,"bad_trajectory":0,"metric_distance_m":13.38,"metric_hurdles_cleared":0.0,"grader_error":0,"video_rendered":1,"agent_sessions":98,"agent_resets":16,"agent_replays":1,"agent_cost_self_reported":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":1.758,"peak_processes":15,"peak_disk_gb":0.254,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":4340,"tokens":{"in":14749772,"cached":14514766,"out":124198,"usd":7.27},"task_text":"# roboolympics hurdles — instance i00\n\nYou control a simulated Unitree H1-2 humanoid robot (27 joints, 1.78 m tall, 67 kg; the RoboOlympics simulator on MuJoCo)\nvia Python. **Task:** Run the 50 m hurdles: go over all four hurdles in your lane, never beside one or under its top, and bring your torso to the finish line.\n\nThis is a *fixed instance*: the same venue and start every time. You may reset and retry as many times as you want.\nYour deliverable is **one replayable trajectory**, not a general policy.\n\n## The venue\nYou stand in your lane facing the finish (+x), the front ends of your feet 0.02 m behind the start line, your pelvis 0.23 m behind it. The lane lines are white on a red track; the hurdles' top bars are white with black stripes; two white posts stand beside the finish line. In your rest pose your forearms point forward at about the height of a hurdle's top.\n\nFrame: metres; the origin is on the floor under your pelvis at the start, +x is the way you face at the start, +y is\nto your left, +z is up; the floor is z = 0. \n\n## The rules\n**Rule book:** World Athletics Competition and Technical Rules, 2024 edition: TR 22 (22.1-22.3 distances and heights: the men's hurdle 1.067 m high, 13.72 m to the first, 9.14 m between; at the indoor distance of 50 m that is four hurdles and 8.86 m from the last to the finish; 22.4-22.5 the hurdle: 1.18 to 1.20 m wide, a top bar 70 mm high, a base at most 0.70 m long, at least 10 kg, a toppling force of 3.6 to 4.0 kg at the centre of the top bar's top edge; 22.6 each hurdle is gone over in the athlete's own lane; 22.6.1 a foot or leg beside the hurdle below the plane of its top; 22.6.2 knocking a hurdle down by hand or body; 22.7 knocking hurdles down otherwise is no offence), TR 17.3 (lanes), TR 18.2 and TR 19 (the finish). Where this task departs from it:\n\n- TR 16 (the start): no starter's commands, no blocks and no reaction time: the robot stands with the front ends of its feet 0.02 m behind the start line and the clock runs from t = 0\n- TR 22.6 ('goes over each hurdle') is judged geometrically at the plane of the hurdle's top bar: the pelvis must pass above the height of the hurdle's top, each foot (its ankle joint) above the lower edge of the top bar (a foot that strikes the bar knocks the hurdle down, which is allowed; a foot below the bar goes under), all three between the bar's ends\n- TR 22.6.2 (knocking down or displacing a hurdle by hand, body or the upper side of the lead leg): intent and the side of the leg cannot be judged: a hurdle tipped more than 10.0 degrees within 0.5 s of a touch by a hand, an arm, the trunk or the pelvis is a failure; the legs may knock it down\n- TR 17.3 (lanes): the lane is judged by the pelvis (its centre more than half a lane width from the lane's centre line); TR 22.6.1 is judged on the centres of the legs' collision bodies within 0.1 m of the hurdle's plane\n- TR 17 (a fallen athlete): a robot whose pelvis is below 0.4 m is down; it may get up and go on, but 10.0 s \n… (13,279 characters left out) …\nries a fist pad (a box of 4.4 × 8 × 10 cm beyond the wrist, the\n 10 cm along the forearm) with a grip: while `grip_left` / `grip_right` ≥ 0.5 the hand holds the nearest grippable\n object whose surface is within 3.5 cm of the palm point (the middle of the pad, 4.5 cm beyond the wrist flange along\n the forearm) and that moves at most 6 m/s relative to it; below 0.5 it lets go at once. Since the palm point is inside\n the pad, an object can be gripped where it touches one of the pad's two broad faces, not at its narrow sides or its\n far end. What is grippable is the task's own equipment, named in the rules.\n- **A tool on a hand** (a racket, a paddle, a club; where the task has one) is fixed to the wrist in place of the pad.\n It collides with the world, the ball and the rest of your own body.\n- **The air** is real: balls and implements feel drag and, when they spin, lift.\n- **If the physics diverges** (a numerical blow-up, typically from a violent joint command), the attempt ends as a\n failure: \"the simulation became unstable\".\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for the whole trial, all its processes together (every simulator you start included): at most **13 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; the task 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\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time 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 `date` now, and again before you decide that time is short; work out the time left from those readings, never from a guess. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"roboolympics-fun-hurdles-i00-privileged--mnbqzf2/replay.mp4","replay_last":"roboolympics-fun-hurdles-i00-privileged--mnbqzf2/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"date; cat /app/instance.json; ls /app /app/output /opt/tools /opt/tools/rfo /opt/roboolympics; wc -l /opt/tool","code":"date; cat /app/instance.json; ls /app /app/output /opt/tools /opt/tools/rfo /opt/roboolympics; wc -l /opt/tools/rfo_task.py /opt/tools/rfo/*.py; nproc; free -g"},{"kind":"shell","label":"grep -n -i \"hurdle\" /opt/tools/rfo_task.py | head -100","code":"grep -n -i \"hurdle\" /opt/tools/rfo_task.py | head -100"}],"out":{"text":"Thu Oct 15 18:25:55 UTC 2026\n{\n \"family\": \"hurdles\",\n \"seed\": 0,\n \"params\": {\n \"distance_m\": 50.0,\n \"hurdles\": 4,\n \"first_hurdle_m\": 13.72,\n \"spacing_m\": 9.14,\n \"hurdle_height_m\": 1.067,\n \"hurdle_width_m\": 1.19,\n \"bar_height_m\": 0.07,\n \"base_length_m\": 0.7,\n \"toppling_force_kgf\": 3.8,\n \"lane_width_m\": 1.22,\n \"start_line_m\": 0.05,\n \"toe_gap_m\": 0.02,\n \"knocked_deg\": 45.0,\n \"displaced_deg\": 10.0,\n \"upper_touch_s\": 0.5,\n \"beside_m\": 0.1,\n \"down_z_m\": 0.4,\n \"down_limit_s\": 10.0\n },\n \"title\": \"50 m hurdles\",\n \"category\": \"track-and-jumps\",\n \"time_limit_s\": 140.0,\n \"stages\": [\n \"hurdle 1\",\n \"hurdle 2\",\n \"hurdle 3\",\n \"hurdle 4\",\n \"finish\"\n ],\n \"rulebook\": \"World Athletics Competition and Technical Rules, 2024 edition: TR 22 (22.1-22.3 distances and heights: the men's hurdle 1.067 m high, 13.72 m to the first, 9.14 m between; at the indoor distance of 50 m that is four hurdles and 8.86 m from the last to the finish; 22.4-22.5 the hurdle: 1.18 to 1.20 m wide, a top bar 70 mm high, a base at most 0.70 m long, at least 10 kg, a toppling force of 3.6 to 4.0 kg at the centre of the top bar's top edge; 22.6 each hurdle is gone over in the athlete's own lane; 22.6.1 a foot or leg beside the hurdle below the plane of its top; 22.6.2 knocking a hurdle down by hand or body; 22.7 knocking hurdles down otherwise is no offence), TR 17.3 (lanes), TR 18.2 and TR 19 (the finish)\",\n \"deviations\": [\n \"TR 16 (the start): no starter's commands, no blocks and no reaction time: the\n… (69,997 characters left out) …\n ref.stage(f\"hurdle {i + 1}\", tilt_deg=round(self.tilt_deg(w, i), 1))\n240: if n < self.n_hurdles: # TR 22.6.1: a leg beside the next hurdle below its top\n245: return ref.fail(f\"a leg beside the {ORD[n]} hurdle below its top\",\n248: for i in range(self.n_hurdles): # TR 22.6.2: by hand or body\n252: if tilt <= p[\"displaced_deg\"] and ref.touching(self.upper, self.hurdle_mask[i]):\n253: tr[\"upper_t\"][i] = ref.time # a touch of a hurdle that still stands\n256: ref.event(\"hurdle_down\", hurdle=i + 1)\n257: ref.metrics[\"hurdles_down\"] = len(tr[\"down\"])\n260: return ref.fail(f\"knocked the {ORD[i]} hurdle with a hand, an arm or the trunk\",\n261: tilt_deg=round(tilt, 1), parts=sorted(ref.parts_touching(self.hurdle_mask[i])))\n265: if n < self.n_hurdles:\n266: return ref.fail(\"reached the finish line before going over every hurdle\", hurdles=n)\n276: ref.metrics[\"hurdles_cleared\"] = min(len(ref.stages), self.n_hurdles)\n291: n = min(len(w.ref.stages), self.n_hurdles)\n292: return {\"pelvis\": w.pelvis().tolist(), \"hurdle_x\": self.hurdle_x(), \"next_hurdle\": n + 1,\n293: \"hurdle_tilt_deg\": [round(self.tilt_deg(w, i), 2) for i in range(self.n_hurdles)],\n294: \"hurdle_top_m\": self.p[\"hurdle_height_m\"], \"torso_front_x\": self.torso_front(w)}","exit":[],"pics":[]},"tok":{"in":29629,"cached":18236,"out":2510,"think":null,"usd":0.1108},"sim":{"submit":0,"reset":0}},{"id":3,"t":6.3,"say":"","calls":[{"kind":"shell","label":"sed -n 1,44p /opt/tools/rfo_task.py; sed -n 125,294p /opt/tools/rfo_task.py","code":"sed -n 1,44p /opt/tools/rfo_task.py; sed -n 125,294p /opt/tools/rfo_task.py"}],"out":{"text":"\"\"\"50 m hurdles (World Athletics TR 22 at the indoor distance): four 1.067 m hurdles at 13.72 m + 9.14 m x i, 8.86 m to\nthe finish (owner, 2026-10-12: not the 110 m; the benchmark shows a capability, not the Olympic programme); every\nhurdle is gone over, knocking one down with the legs is allowed, going beside it or under its top is not.\n\nThe hurdle is RoboOlympics' hinged hurdle (sports/athletics/track.py, branch athletics-v3, MIT) at the official size:\na body hinged at the bottom of its uprights that tips over forwards, its feet (the base, towards the runner) carrying\nthe counterweights that set the official toppling force at the top bar's centre. The lane rule, the \"down\" rule, the\nleg-beside-the-hurdle rule (TR 22.6.1) and the finish timing are that referee's, ported.\"\"\"\nimport math\nimport xml.etree.ElementTree as ET\n\nimport numpy as np\n\nfrom rfo.referee import Crossing\nfrom rfo.task import TaskBase\n\nSIDES = (\"left\", \"right\")\nTRACK = (0.72, 0.25, 0.18, 1)\nH1_FOOT_FRONT = 0.158 # m: the front end of the standing H1-2's feet ahead of its pelvis (measured)\nBAR_DEPTH = 0.02 # m: the top bar's thickness (TR 22.4: 10 to 25 mm)\nBAR_MASS, UPRIGHT_MASS = 1.0, 0.75\nUPPER = (\"hands\", \"forearms\", \"upper_arms\", \"torso\", \"pelvis\") # \"hand or body\" of TR 22.6.2\nORD = (\"first\", \"second\", \"third\", \"fourth\", \"fifth\", \"sixth\", \"seventh\", \"eighth\", \"ninth\", \"tenth\")\n\n\ndef hull_points(m, g, n=400) -> np.ndarray:\n \"\"\"The support points of mesh geom g (geom fra\n… (22,473 characters left out) …\nn ref.fail(\"reached the finish line before going over every hurdle\", hurdles=n)\n dt = w.m.opt.timestep\n t = ref.time - 2 * dt + (D - f0) / (f1 - f0) * dt\n ref.metrics[\"time_s\"] = round(t, 3)\n if ref.stage(\"finish\", time_s=round(t, 3)):\n ref.succeed()\n\n def step(self, w, ref):\n tr, p = self.trackers, self.p\n x, y, z, _ = (float(v) for v in w.pelvis())\n ref.metrics[\"hurdles_cleared\"] = min(len(ref.stages), self.n_hurdles)\n ref.metrics[\"distance_m\"] = round(max(ref.metrics.get(\"distance_m\", 0.0), min(x, p[\"distance_m\"])), 2)\n if abs(y) > p[\"lane_width_m\"] / 2:\n return ref.fail(\"left the lane\", y=round(y, 3))\n if z < p[\"down_z_m\"]:\n if tr[\"down_k\"] is None:\n tr[\"down_k\"] = w.k\n ref.event(\"down\")\n elif (w.k - tr[\"down_k\"]) * w.CONTROL_DT >= p[\"down_limit_s\"]:\n return ref.fail(\"did not finish: down for too long\", down_s=p[\"down_limit_s\"])\n elif tr[\"down_k\"] is not None:\n tr[\"down_k\"] = None\n ref.event(\"up\")\n\n def privileged(self, w):\n n = min(len(w.ref.stages), self.n_hurdles)\n return {\"pelvis\": w.pelvis().tolist(), \"hurdle_x\": self.hurdle_x(), \"next_hurdle\": n + 1,\n \"hurdle_tilt_deg\": [round(self.tilt_deg(w, i), 2) for i in range(self.n_hurdles)],\n \"hurdle_top_m\": self.p[\"hurdle_height_m\"], \"torso_front_x\": self.torso_front(w)}","exit":[],"pics":[]},"tok":{"in":50091,"cached":29627,"out":93,"think":null,"usd":0.1101},"sim":{"submit":0,"reset":0}},{"id":4,"t":211.8,"say":"","calls":[{"kind":"shell","label":"sed -n 1,120p /opt/tools/rfo/world.py; grep -n \"def \\|class \" /opt/tools/rfo/world.py /opt/tools/rfo/referee.p","code":"sed -n 1,120p /opt/tools/rfo/world.py; grep -n \"def \\|class \" /opt/tools/rfo/world.py /opt/tools/rfo/referee.py /opt/tools/rcb_rfo.py | head -120"}],"out":{"text":"\"\"\"The RoboOlympics world: one RoboOlympics Unitree G1 (the robot library's g1-4: Menagerie's 29-joint G1, its real\njoint, speed and torque limits, its motor torque-speed curves, its self-collision) in a sports venue, the action\nlayer every task shares, the hands' grip, and the stepping that the referee (referee.py) watches.\n\nOne control step is 10 ms = 10 physics steps of 1 ms (the robot library's). Everything that changes the world happens\nin World.step(row): the row is a \"sim row\" (RAW_DIM floats), the action in the simulator's own space, and the list of\nsim rows replays an episode bit-exactly in a fresh process. The agent's action types (ACTION_TYPES) are views of it.\n\nWho drives the joints (row[0], the mode):\n stand the platform holds the legs in the stance (the walking policy's default leg angles on the stand gains with\n gravity support); the row's 17 waist and arm targets drive the upper body\n walk Unitree's own walking policy drives the legs from the row's velocity command (vx, vy, wz; RoboOlympics'\n joint-group arbiter, the handover to the policy included); the row's waist and arm targets drive the rest\n run RoboOlympics' athletics running policy drives all 29 joints from the velocity command\n run_arms the running policy drives the legs and the waist; the row's 14 arm targets drive the arms\n joints the row drives all 29 joints: position targets, velocity targets, feed-forward torques and PD gains\n (Unitree's Lo\n… (28,397 characters left out) …\ny:92: def steps(self) -> int:\n/opt/tools/rcb_rfo.py:96: def done(self) -> bool:\n/opt/tools/rcb_rfo.py:99: def clip(self, typ: str, rows) -> np.ndarray:\n/opt/tools/rcb_rfo.py:102: def to_raw(self, typ: str, row) -> np.ndarray:\n/opt/tools/rcb_rfo.py:105: def step(self, typ: str, row) -> np.ndarray:\n/opt/tools/rcb_rfo.py:118: def step_raw(self, raw) -> bool:\n/opt/tools/rcb_rfo.py:121: def hold(self) -> tuple[str, np.ndarray]:\n/opt/tools/rcb_rfo.py:124: def success(self) -> bool:\n/opt/tools/rcb_rfo.py:127: def outcome(self) -> str | None:\n/opt/tools/rcb_rfo.py:131: def state_sha(self) -> str:\n/opt/tools/rcb_rfo.py:134: def verdict(self) -> dict:\n/opt/tools/rcb_rfo.py:141: def image(self, camera: str, h: int | None = None, w: int | None = None, depth: bool = False) -> np.ndarray:\n/opt/tools/rcb_rfo.py:146: def proprio(self) -> np.ndarray:\n/opt/tools/rcb_rfo.py:149: def camera_facts(self) -> dict:\n/opt/tools/rcb_rfo.py:170: def robot_facts(self) -> dict:\n/opt/tools/rcb_rfo.py:193: def close(self) -> None:\n/opt/tools/rcb_rfo.py:197:def replay(instance: dict, rows, video: str | None = None, camera: str | None = None) -> dict:\n/opt/tools/rcb_rfo.py:210: def film():\n/opt/tools/rcb_rfo.py:242:def read_trajectory(path: str, raw_dim: int, max_rows: int = MAX_ROWS) -> tuple[np.ndarray, str | None]:\n/opt/tools/rcb_rfo.py:268:def save_trajectory(rows, family: str, path: str = \"/app/output/trajectory.npz\", raw_dim: int | None = None) -> None:","exit":[],"pics":[]},"tok":{"in":56078,"cached":50089,"out":18471,"think":null,"usd":0.4094},"sim":{"submit":0,"reset":0}},{"id":5,"t":214.6,"say":"","calls":[{"kind":"shell","label":"sed -n 120,440p /opt/tools/rfo/world.py","code":"sed -n 120,440p /opt/tools/rfo/world.py"}],"out":{"text":"class Robot:\n \"\"\"The mounted G1: the library rig and arbiter, addresses, limits, the body parts' geoms.\"\"\"\n\n def __init__(self, m, name: str = \"unitree_g1\"):\n self.m, self.name, self.info = m, name, ROBOTS[name]\n self.B = load_body(name)\n self.bm = importlib.import_module(f\"bodies.{name}.body\")\n self.stand_z = float(self.bm.STAND_Z)\n self.rig = self.B.rig(m, \"\", hand=None)\n self.arb = Arbiter(self.rig)\n a = self.arb\n self.L = Layout(list(a.JOINTS), len(a.GROUPS[\"waist\"]))\n self.has_run = bool(self.info[\"run\"])\n self.modes = {STAND, WALK, JOINT} | ({RUN, RUN_ARMS} if self.has_run else set())\n # The G1's two optional walking policies (bodies/unitree_g1/falcon.py, agile.py: numpy ports of the released\n # FALCON and WBC-AGILE G1 policies), stepped like the running policy: 50 Hz, their 12 leg targets on their\n # own leg gains; the waist and the arms stay the row's, on the default gains. FALCON also gives its wrist\n # residual (as torque on the wrists, as the library's rig does).\n self.walkers = {}\n if self.info.get(\"walkers\"):\n self.walkers = {WALK_FALCON: Falcon(self.B.decl), WALK_AGILE: Agile(self.B.decl)}\n self.modes |= set(WALKERS)\n self.qadr, self.vadr = a.qadr, a.vadr\n self.fq, self.fv = self.rig.fqadr, self.rig.fvadr\n self.lo, self.hi, self.speed, self.tau_max = a.lo.copy(), a.hi.copy(), a.speed.copy(), a.tau_max.co\n… (33,537 characters left out) …\nD], RUN_CMD[:, 0], RUN_CMD[:, 1])\n if self.run_k % 2 == 0: # the policy runs at 50 Hz\n sd = d.sensordata\n s = r.sens\n self.run_tgt = self.runp.step(sd[s[\"orientation_pelvis\"]:s[\"orientation_pelvis\"] + 4],\n sd[s[\"gyro_pelvis\"]:s[\"gyro_pelvis\"] + 3], d.qpos[r.qadr],\n d.qvel[r.vadr], self.cmd)\n self.run_k += 1\n if mode == RUN:\n self._plan([\"legs\", \"waist\", \"arms\"], self.run_tgt, kp=r.run_kp, kd=r.run_kd)\n else:\n self._plan([\"legs\", \"waist\", \"arms\"], np.r_[self.run_tgt[:L.ARMS.start], q[L.ARMS]],\n kp=np.r_[r.run_kp[:L.ARMS.start], r.kp0[L.ARMS]],\n kd=np.r_[r.run_kd[:L.ARMS.start], r.kd0[L.ARMS]])\n else:\n self.cmd = np.zeros(3)\n self._plan([\"legs\", \"waist\", \"arms\"], q, QD=np.clip(raw[L.R_DQ], -r.speed, r.speed),\n TAU=np.clip(raw[L.R_TAU], -r.tau_max, r.tau_max), kp=np.clip(raw[L.R_KP], 0.0, r.kp_max),\n kd=np.clip(raw[L.R_KD], 0.0, r.kd_max))\n\n # ------------------------------------------------------------------ the hands' grip\n def _grip_gap(self, side: str, name: str) -> tuple[float, float]:\n \"\"\"(distance from the palm to the object's surface, their relative speed).\"\"\"\n m, d, g = self.m, self.d, self.grippables[name]","exit":[],"pics":[]},"tok":{"in":82070,"cached":56076,"out":69,"think":null,"usd":0.1426},"sim":{"submit":0,"reset":0}},{"id":6,"t":217.3,"say":"","calls":[{"kind":"shell","label":"mkdir -p /app/work && cd /app/work && cat > explore.py <<'EOF'","code":"mkdir -p /app/work && cd /app/work && cat > explore.py <<'EOF'\nimport time, numpy as np, mujoco\nfrom rcb_rfo import Session\nt=time.time(); s=Session(); print(\"init\",time.time()-t)\nw=s.world; m,d=w.m,w.d; r=w.robot\nprint(\"qadr\",r.qadr, \"fq\",r.fq)\nfor b in [\"pelvis\",\"left_hip_yaw_link\",\"left_hip_pitch_link\",\"left_hip_roll_link\",\"left_knee_link\",\"left_ankle_pitch_link\",\"left_ankle_roll_link\",\"torso_link\"]:\n print(b, d.xpos[m.body(b).id].round(3), m.body_mass[m.body(b).id].round(2))\nprint(\"foot site\", d.site_xpos[r.foot_site['left']])\n# foot geoms\nfor g in range(m.ngeom):\n b=m.geom_bodyid[g]\n if m.geom_contype[g] or m.geom_conaffinity[g]:\n print(g, m.geom(g).name, m.body(b).name, m.geom_type[g], m.geom_contype[g], m.geom_conaffinity[g])\nEOF\npython explore.py 2>&1 | head -80"}],"out":{"text":"init 3.135033130645752\nqadr [11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34\n 35 36 37] fq 4\npelvis [-0.228 0. 1.035] 5.98\nleft_hip_yaw_link [-0.228 0.088 0.872] 2.83\nleft_hip_pitch_link [-0.228 0.163 0.872] 2.92\nleft_hip_roll_link [-0.228 0.163 0.872] 4.96\nleft_knee_link [-0.164 0.163 0.477] 3.84\nleft_ankle_pitch_link [-0.244 0.163 0.085] 0.1\nleft_ankle_roll_link [-0.244 0.163 0.065] 0.75\ntorso_link [-0.228 0. 1.035] 17.79\nfoot site [-0.24374045 0.163 0.01988246]\n0 floor world 0 1 5\n122 hurdle1_bar hurdle1 6 0 12\n126 hurdle1_upL hurdle1 6 0 12\n127 hurdle1_footL hurdle1 6 0 12\n128 hurdle1_upR hurdle1 6 0 12\n129 hurdle1_footR hurdle1 6 0 12\n130 hurdle2_bar hurdle2 6 0 12\n134 hurdle2_upL hurdle2 6 0 12\n135 hurdle2_footL hurdle2 6 0 12\n136 hurdle2_upR hurdle2 6 0 12\n137 hurdle2_footR hurdle2 6 0 12\n138 hurdle3_bar hurdle3 6 0 12\n142 hurdle3_upL hurdle3 6 0 12\n143 hurdle3_footL hurdle3 6 0 12\n144 hurdle3_upR hurdle3 6 0 12\n145 hurdle3_footR hurdle3 6 0 12\n146 hurdle4_bar hurdle4 6 0 12\n150 hurdle4_upL hurdle4 6 0 12\n151 hurdle4_footL hurdle4 6 0 12\n152 hurdle4_upR hurdle4 6 0 12\n153 hurdle4_footR hurdle4 6 0 12\n155 pelvis_sc0 pelvis 7 4 0\n157 left_hip_yaw_link_sc0 left_hip_yaw_link 5 4 0\n159 left_hip_pitch_link_sc0 left_hip_pitch_link 5 4 0\n161 left_hip_roll_link_sc0 left_hip_roll_link 5 4 0\n163 left_knee_link_sc0 left_knee_link 5 4 0\n165 left_ankle_pitch_link_sc0 left_ankle_pitch_link 7 4 0\n167 left_ankle_roll_link_sc0 left_an\n… (2,789 characters left out) …\n_knee_link 5 4 0\n165 left_ankle_pitch_link_sc0 left_ankle_pitch_link 7 4 0\n167 left_ankle_roll_link_sc0 left_ankle_roll_link 7 1 1\n168 left_foot_strike left_ankle_roll_link 6 8 0\n170 right_hip_yaw_link_sc0 right_hip_yaw_link 5 4 0\n172 right_hip_pitch_link_sc0 right_hip_pitch_link 5 4 0\n174 right_hip_roll_link_sc0 right_hip_roll_link 5 4 0\n176 right_knee_link_sc0 right_knee_link 5 4 0\n178 right_ankle_pitch_link_sc0 right_ankle_pitch_link 7 4 0\n180 right_ankle_roll_link_sc0 right_ankle_roll_link 7 1 1\n181 right_foot_strike right_ankle_roll_link 6 8 0\n184 torso_link_sc0 torso_link 7 4 0\n186 left_shoulder_pitch_link_sc0 left_shoulder_pitch_link 7 4 0\n188 left_shoulder_roll_link_sc0 left_shoulder_roll_link 7 4 0\n190 left_shoulder_yaw_link_sc0 left_shoulder_yaw_link 7 4 0\n192 left_elbow_pitch_link_sc0 left_elbow_pitch_link 7 4 0\n194 left_elbow_roll_link_sc0 left_elbow_roll_link 7 4 0\n196 left_wrist_pitch_link_sc0 left_wrist_pitch_link 7 4 0\n199 left_wrist_yaw_link_sc0 left_wrist_yaw_link 7 4 0\n212 left_palm_pad left_mount 6 4 0\n214 right_shoulder_pitch_link_sc0 right_shoulder_pitch_link 7 4 0\n216 right_shoulder_roll_link_sc0 right_shoulder_roll_link 7 4 0\n218 right_shoulder_yaw_link_sc0 right_shoulder_yaw_link 7 4 0\n220 right_elbow_pitch_link_sc0 right_elbow_pitch_link 7 4 0\n222 right_elbow_roll_link_sc0 right_elbow_roll_link 7 4 0\n224 right_wrist_pitch_link_sc0 right_wrist_pitch_link 7 4 0\n227 right_wrist_yaw_link_sc0 right_wrist_yaw_link 7 4 0\n240 right_palm_pad right_mount 6 4 0","exit":[],"pics":[]},"tok":{"in":89838,"cached":82068,"out":562,"think":null,"usd":0.0665},"sim":{"submit":0,"reset":0}},{"id":7,"t":326.1,"say":"","calls":[{"kind":"robot","label":"date; cd /app/work && cat > walk.py <<'EOF'","code":"date; cd /app/work && cat > walk.py <<'EOF'\nimport time, numpy as np, mujoco\nfrom rcb_rfo import Session\ns=Session(); w=s.world; m,d=w.m,w.d\nprint(\"npair\", m.npair, [m.pair(i).name for i in range(min(m.npair,10))])\nup=np.zeros(15)\nt=time.time()\nfor k in range(1500):\n st=s.state()\n p=st['pelvis'] if 'pelvis' in st else None\n x,y,z,yaw = w.pelvis()\n wz = np.clip(-2.0*yaw - 1.0*y, -1, 1)\n done=s.step(\"walk\", np.r_[0.8, np.clip(-1.0*y,-0.3,0.3), wz, up, 0,0])\n if k%100==0: print(k, round(x,3), round(y,3), round(z,3), round(yaw,3))\n if done: break\nprint(\"time\", time.time()-t, s.status()['failed'])\nprint(list(s.state().keys()))\nEOF\npython walk.py"}],"out":{"text":"Thu Oct 15 18:31:23 UTC 2026\nnpair 297 ['selfcol_0', 'selfcol_1', 'selfcol_2', 'selfcol_3', 'selfcol_4', 'selfcol_5', 'selfcol_6', 'selfcol_7', 'selfcol_8', 'selfcol_9']\n0 -0.228 0.0 1.035 0.0\n100 -0.267 0.002 1.013 0.042\n200 0.124 0.056 1.004 -0.001\n300 0.76 0.041 1.015 0.0\n400 1.467 0.034 1.004 0.014\n500 2.161 0.039 1.009 0.019\n600 2.891 0.064 0.999 0.004\n700 3.593 0.066 1.014 -0.007\n800 4.314 0.04 1.004 0.008\n900 5.012 0.036 1.009 0.017\n1000 5.742 0.062 0.999 0.005\n1100 6.444 0.065 1.014 -0.006\n1200 7.166 0.04 1.004 0.008\n1300 7.863 0.036 1.009 0.017\n1400 8.593 0.062 0.999 0.005\ntime 11.081514596939087 None\n['time_s', 'pelvis_xyz_yaw', 'com', 'q', 'dq', 'q_target', 'held', 'left_palm', 'right_palm', 'task']\n\n[stdout]\nThu Oct 15 18:31:23 UTC 2026\nnpair 297 ['selfcol_0', 'selfcol_1', 'selfcol_2', 'selfcol_3', 'selfcol_4', 'selfcol_5', 'selfcol_6', 'selfcol_7', 'selfcol_8', 'selfcol_9']\n0 -0.228 0.0 1.035 0.0\n100 -0.267 0.002 1.013 0.042\n200 0.124 0.056 1.004 -0.001\n300 0.76 0.041 1.015 0.0\n400 1.467 0.034 1.004 0.014\n500 2.161 0.039 1.009 0.019\n600 2.891 0.064 0.999 0.004\n700 3.593 0.066 1.014 -0.007\n800 4.314 0.04 1.004 0.008\n900 5.012 0.036 1.009 0.017\n1000 5.742 0.062 0.999 0.005\n1100 6.444 0.065 1.014 -0.006\n1200 7.166 0.04 1.004 0.008\n1300 7.863 0.036 1.009 0.017\n1400 8.593 0.062 0.999 0.005\ntime 11.081514596939087 None\n['time_s', 'pelvis_xyz_yaw', 'com', 'q', 'dq', 'q_target', 'held', 'left_palm', 'right_palm', 'task']","exit":[],"pics":[]},"tok":{"in":92294,"cached":89836,"out":9995,"think":null,"usd":0.2302},"sim":{"submit":0,"reset":0}},{"id":8,"t":380.6,"say":"","calls":[{"kind":"shell","label":"sed -n 85,125p /opt/tools/rfo/referee.py && sed -n 397,425p /opt/tools/rfo/referee.py && python -c \"","code":"sed -n 85,125p /opt/tools/rfo/referee.py && sed -n 397,425p /opt/tools/rfo/referee.py && python -c \"\nfrom rcb_rfo import Session\nimport numpy as np, mujoco\ns=Session(); m,d=s.world.m,s.world.d\nfor nm in ['left_ankle_roll_link_sc0','left_foot_strike']:\n g=m.geom(nm).id\n R=d.geom_xmat[g].reshape(3,3); p=d.geom_xpos[g]\n if m.geom_type[g]==7:\n mid=m.geom_dataid[g]; v=m.mesh_vert[m.mesh_vertadr[mid]:m.mesh_vertadr[mid]+m.mesh_vertnum[mid]]\n wv=v@R.T+p; print(nm, wv.min(0).round(3), wv.max(0).round(3))\n else: print(nm, p, m.geom_size[g])\nprint('ankle roll', d.xpos[m.body('left_ankle_roll_link').id])\nprint('com', d.subtree_com[s.world.robot.pelvis])\n\"\n"}],"out":{"text":"self._robot_col = np.flatnonzero(self.robot_mask & col & (m.geom_contype != 8)) # the body, without strike boxes\n self._body_mask: dict[str, np.ndarray] = {}\n self.reset()\n\n # ------------------------------------------------------------------ selectors\n def geoms(self, body: str | None = None, names=None, prefix: str | None = None) -> np.ndarray:\n \"\"\"A selector: the mask of the geoms of a body (and its children), with the given names, or a name prefix.\"\"\"\n m = self.w.m\n out = np.zeros(m.ngeom, dtype=bool)\n if body is not None:\n root = m.body(body).id\n for g in range(m.ngeom):\n b = int(m.geom_bodyid[g])\n while b > 0 and b != root:\n b = int(m.body_parentid[b])\n out[g] |= b == root\n for n in names or ():\n out[m.geom(n).id] = True\n if prefix is not None:\n for g in range(m.ngeom):\n out[g] |= m.geom(g).name.startswith(prefix)\n return out\n\n def part(self, *parts: str) -> np.ndarray:\n \"\"\"A selector of robot parts: part names (left_foot, torso, ...), groups (feet, hands, arms, legs, ...) or\n \"robot\" (everything, tools included).\"\"\"\n out = np.zeros(self.ng, dtype=bool)\n for p in parts:\n if p == \"robot\":\n out |= self.robot_mask\n continue\n for q in GROUPS.get(p, (p,)):\n if q in self._part_mask:\n \n… (3,739 characters left out) …\n # physics steps of the episode\nclass Crossing:\n \"\"\"A point's passage through the plane normal . x = offset, between two physics steps. update(p) returns the\n crossing point (interpolated on the segment from the previous position) when the point went from the negative\n side to the positive side (direction +1), from positive to negative (-1), or either way (0); else None.\"\"\"\n\n def __init__(self, normal, offset: float, direction: int = 1):\n self.n = np.asarray(normal, float) / np.linalg.norm(normal)\n self.c, self.dir = float(offset), direction\n self.prev = None\n\n def reset(self) -> None:\n self.prev = None\n\n def update(self, p) -> np.ndarray | None:\n p = np.asarray(p, float).copy()\n q, self.prev = self.prev, p\n if q is None:\n return None\n s0, s1 = float(self.n @ q) - self.c, float(self.n @ p) - self.c\n up, down = s0 < 0 <= s1, s0 >= 0 > s1\n if not ((up and self.dir >= 0) or (down and self.dir <= 0)):\n return None\n f = s0 / (s0 - s1) if s0 != s1 else 1.0\n return q + (p - q) * f\n\n def state(self):\n return None if self.prev is None else [round(float(x), 9) for x in self.prev]\n\n\nleft_ankle_roll_link_sc0 [-0.331 0.116 0.016] [-0.067 0.21 0.094]\nleft_foot_strike [-0.19974045 0.163 0.04488246] [0.13 0.045 0.028]\nankle roll [-0.24374045 0.163 0.06488246]\ncom [-2.07815660e-01 6.96583556e-04 9.47601369e-01]","exit":[],"pics":[]},"tok":{"in":102789,"cached":92292,"out":3635,"think":null,"usd":0.1436},"sim":{"submit":0,"reset":0}},{"id":9,"t":407.6,"say":"","calls":[{"kind":"shell","label":"s=Session(); m,d=s.world.m,s.world.d; r=s.world.robot","code":"python -c \"\nfrom rcb_rfo import Session\nimport numpy as np, mujoco\ns=Session(); m,d=s.world.m,s.world.d; r=s.world.robot\nprint(m.nq, m.nv, r.fq, r.fv, r.qadr, r.vadr)\nprint(d.xquat[m.body('left_ankle_roll_link').id], d.xquat[r.pelvis])\nprint(r.kp0, r.kd0)\nprint(s.state()['q'][:12])\nimport inspect; from rfo import world; print(inspect.getsource(r.arb._support_ff))\n\"\n"}],"out":{"text":"38 37 4 4 [11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34\n 35 36 37] [10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33\n 34 35 36]\n[1. 0. 0. 0.] [1. 0. 0. 0.]\n[ 800. 800. 800. 1200. 160. 160. 800. 800. 800. 1200. 160. 160.\n 600. 300. 300. 200. 200. 80. 60. 60. 300. 300. 200. 200.\n 80. 60. 60.] [10. 10. 10. 16. 8. 8. 10. 10. 10. 16. 8. 8. 15. 6.\n 6. 4. 4. 1.5 1. 1. 6. 6. 4. 4. 1.5 1. 1. ]\n[0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, -0.16, 0.0, 0.36, -0.2, 0.0]\n def _support_ff(self, d):\n \"\"\"Leg torques that carry the weight on both feet (shared by where the CoM is between them): bias - J^T F.\"\"\"\n mj, m, rig = self.mj, self.m, self.rig\n com = d.subtree_com[rig.base_body]\n W = float(m.body_subtreemass[rig.base_body]) * 9.81\n pl, pr = d.site_xpos[self.foot_site[\"left\"]], d.site_xpos[self.foot_site[\"right\"]]\n ax = pl[:2] - pr[:2]\n t = float(np.clip((com[:2] - pr[:2]) @ ax / max(ax @ ax, 1e-9), 0.0, 1.0))\n gen = np.zeros(m.nv)\n jp, jr = np.zeros((3, m.nv)), np.zeros((3, m.nv))\n for side, w in ((\"left\", t), (\"right\", 1.0 - t)):\n if w <= 0:\n continue\n p = d.site_xpos[self.foot_site[side]]\n F = np.array([0.0, 0.0, w * W])\n r = np.array([com[0] - p[0], com[1] - p[1], 0.0])\n mj.mj_jacSite(m, d, jp, jr, self.foot_site[side])\n \n… (257 characters left out) …\n9 20 21 22 23 24 25 26 27 28 29 30 31 32 33\n 34 35 36]\n[1. 0. 0. 0.] [1. 0. 0. 0.]\n[ 800. 800. 800. 1200. 160. 160. 800. 800. 800. 1200. 160. 160.\n 600. 300. 300. 200. 200. 80. 60. 60. 300. 300. 200. 200.\n 80. 60. 60.] [10. 10. 10. 16. 8. 8. 10. 10. 10. 16. 8. 8. 15. 6.\n 6. 4. 4. 1.5 1. 1. 6. 6. 4. 4. 1.5 1. 1. ]\n[0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, -0.16, 0.0, 0.36, -0.2, 0.0]\n def _support_ff(self, d):\n \"\"\"Leg torques that carry the weight on both feet (shared by where the CoM is between them): bias - J^T F.\"\"\"\n mj, m, rig = self.mj, self.m, self.rig\n com = d.subtree_com[rig.base_body]\n W = float(m.body_subtreemass[rig.base_body]) * 9.81\n pl, pr = d.site_xpos[self.foot_site[\"left\"]], d.site_xpos[self.foot_site[\"right\"]]\n ax = pl[:2] - pr[:2]\n t = float(np.clip((com[:2] - pr[:2]) @ ax / max(ax @ ax, 1e-9), 0.0, 1.0))\n gen = np.zeros(m.nv)\n jp, jr = np.zeros((3, m.nv)), np.zeros((3, m.nv))\n for side, w in ((\"left\", t), (\"right\", 1.0 - t)):\n if w <= 0:\n continue\n p = d.site_xpos[self.foot_site[side]]\n F = np.array([0.0, 0.0, w * W])\n r = np.array([com[0] - p[0], com[1] - p[1], 0.0])\n mj.mj_jacSite(m, d, jp, jr, self.foot_site[side])\n gen += jp.T @ F + jr.T @ np.cross(r, F)\n L = self.vadr[self.GROUPS[\"legs\"]]\n return d.qfrc_bias[L] - gen[L]","exit":[],"pics":[]},"tok":{"in":107713,"cached":102787,"out":1995,"think":null,"usd":0.0851},"sim":{"submit":0,"reset":0}},{"id":10,"t":425.5,"say":"","calls":[{"kind":"shell","label":"writes lib.py","code":"cat > lib.py <<'EOF'\nimport numpy as np, mujoco\nfrom scipy.optimize import least_squares\nfrom scipy.spatial.transform import Rotation as Rot\n\nLJ = [\"l_hy\",\"l_hp\",\"l_hr\",\"l_kn\",\"l_ap\",\"l_ar\",\"r_hy\",\"r_hp\",\"r_hr\",\"r_kn\",\"r_ap\",\"r_ar\",\"torso\",\n \"l_sp\",\"l_sr\",\"l_sy\",\"l_ep\",\"l_er\",\"l_wp\",\"l_wy\",\"r_sp\",\"r_sr\",\"r_sy\",\"r_ep\",\"r_er\",\"r_wp\",\"r_wy\"]\nJI = {n: i for i, n in enumerate(LJ)}\n\nclass Kin:\n def __init__(self, world):\n self.w = world; self.m = world.m; self.d = mujoco.MjData(self.m)\n r = world.robot\n self.r = r; self.fq, self.fv, self.qadr, self.vadr = r.fq, r.fv, r.qadr, r.vadr\n m = self.m\n self.b = {s: m.body(f\"{s}_ankle_roll_link\").id for s in (\"left\", \"right\")}\n self.pel = r.pelvis\n self.lo, self.hi = r.lo.copy(), r.hi.copy()\n self.mass = float(m.body_subtreemass[r.pelvis])\n self.site = r.foot_site\n\n def x2qpos(self, x, base=None):\n qp = self.w.d.qpos.copy() if base is None else base.copy()\n qp[self.fq:self.fq+3] = x[:3]\n q = Rot.from_euler(\"xyz\", x[3:6]).as_quat() # x y z w\n qp[self.fq+3:self.fq+7] = [q[3], q[0], q[1], q[2]]\n qp[self.qadr] = x[6:]\n return qp\n\n def qpos2x(self, qp):\n w, a, b, c = qp[self.fq+3:self.fq+7]\n return np.r_[qp[self.fq:self.fq+3], Rot.from_quat([a, b, c, w]).as_euler(\"xyz\"), qp[self.qadr]]\n\n def fk(self, qp):\n d = self.d\n d.qpos[:] = qp\n mujoco.mj_kinematics(self.m, d); mujoco.mj_comPos(self.m, d)\n return d\n\n def com(self):\n return self.d.subtree_com[self.pel].copy()\n\n def solve(self, x0, stance, com_xy=None, targets=(), mins=(), xnom=None, wreg=0.02, base=None, extra=None, wcom=30.0):\n \"\"\"stance: dict side -> ankle xyz (foot flat, yaw 0). targets: (fn, value, weight). mins: (fn, lower, weight)\"\"\"\n xnom = x0 if xnom is None else xnom\n def res(x):\n d = self.fk(self.x2qpos(x, base))\n out = []\n for s, p in stance.items():\n b = self.b[s]\n out.append((d.xpos[b] - p) * 100)\n R = d.xmat[b].reshape(3, 3)\n out.append(np.r_[R[2, 0], R[2, 1], R[1, 0]] * 50)\n if com_xy is not None:\n out.append((self.com()[:2] - com_xy) * wcom)\n for fn, v, wt in targets:\n out.append(np.atleast_1d(fn(d) - v) * wt)\n for fn, v, wt in mins:\n out.append(np.atleast_1d(np.minimum(fn(d) - v, 0)) * wt)\n if extra is not None:\n out.append(extra(d, x))\n out.append((x[6:] - xnom[6:]) * wreg)\n return np.concatenate(out)\n lb = np.r_[-np.inf * np.ones(6), self.lo + 0.02]\n ub = np.r_[np.inf * np.ones(6), self.hi - 0.02]\n x0 = np.clip(x0, lb + 1e-6, ub - 1e-6)\n sol = least_squares(res, x0, bounds=(lb, ub), xtol=1e-10, ftol=1e-10, max_nfev=3000)\n return sol.x, sol\n\n def selfcontacts(self, qp):\n d = self.fk(qp)\n mujoco.mj_forward(self.m, d)\n out = []\n for i in range(d.ncon):\n c = d.contact[i]\n n1, n2 = self.m.geom(c.geom1).name, self.m.geom(c.geom2).name\n if c.dist < 0 and \"floor\" not in (n1 + n2) and \"hurdle\" not in (n1 + n2):\n out.append((n1, n2, round(c.dist, 3)))\n return out\n\n def static_tau(self, qp, support):\n \"\"\"joint torques for static equilibrium with weights on feet: support dict side->weight (sum 1).\"\"\"\n m, d = self.m, self.d\n d.qpos[:] = qp; d.qvel[:] = 0; d.qacc[:] = 0\n mujoco.mj_forward(m, d)\n mujoco.mj_inverse(m, d)\n qf = d.qfrc_inverse.copy()\n base = slice(self.fv, self.fv + 6)\n Js = []\n for s, wgt in support.items():\n jp, jr = np.zeros((3, m.nv)), np.zeros((3, m.nv))\n mujoco.mj_jacSite(m, d, jp, jr, self.site[s])\n Js.append(np.r_[jp, jr])\n J = np.concatenate(Js) # 6k x nv\n # solve J_base^T f = qf_base, with regularisation toward weight split\n A = J[:, base].T\n W = self.mass * 9.81\n f0 = np.concatenate([np.r_[0, 0, wgt * W, 0, 0, 0] for wgt in support.values()])\n # min |f - f0|^2 s.t. A f = b\n b = qf[base]\n f = f0 + np.linalg.pinv(A) @ (b - A @ f0)\n tau = qf - J.T @ f\n return tau[self.vadr], f\nEOF\necho ok"}],"out":{"text":"ok\n\n[stdout]\nok","exit":[],"pics":[]},"tok":{"in":110623,"cached":107711,"out":2434,"think":null,"usd":0.0848},"sim":{"submit":0,"reset":0}},{"id":11,"t":479.3,"say":"","calls":[{"kind":"robot","label":"cat >> lib.py <<'EOF'","code":"cat >> lib.py <<'EOF'\n\nKP = np.r_[[1000, 1000, 1000, 1200, 300, 300] * 2, [800], [200] * 14]\nKD = np.r_[[15, 15, 15, 18, 6, 6] * 2, [15], [4] * 14]\n\ndef minjerk(u):\n u = np.clip(u, 0, 1)\n return u ** 3 * (10 - 15 * u + 6 * u ** 2)\n\nclass Driver:\n def __init__(self, s, kin):\n self.s, self.k = s, kin\n self.w = s.world\n self.bal = None # stance side for balance feedback\n self.gain = (0.0, 0.0, 0.0, 0.0)\n self.log = []\n self.kp, self.kd = KP.copy(), KD.copy()\n self.cur_x = None\n\n def com_state(self):\n d = self.w.d\n com = d.subtree_com[self.w.robot.pelvis].copy()\n # com velocity\n return com\n\n def send(self, q, dq, tau):\n row = np.r_[q, dq, np.clip(tau, -self.w.robot.tau_max, self.w.robot.tau_max), self.kp, self.kd, 0, 0]\n return self.s.step(\"lowcmd\", row)\n\n def move(self, x1, T, support0, support1, com_plan=None, foot_plan=None, hold=0.0, cb=None):\n \"\"\"interpolate joint targets (x[6:]) from current plan to x1 over T s, then hold.\"\"\"\n k = self.k\n x0 = self.cur_x.copy()\n n = int(round(T / 0.01)); nh = int(round(hold / 0.01))\n prev_com = None\n for i in range(n + nh):\n u = minjerk((i + 1) / max(n, 1)) if i < n else 1.0\n x = x0 + (x1 - x0) * u\n du = (minjerk((i + 2) / max(n, 1)) - minjerk(i / max(n, 1))) / 0.02 if i < n else 0.0\n dq = (x1[6:] - x0[6:]) * du\n sup = {s_: support0.get(s_, 0) * (1 - u) + support1.get(s_, 0) * u for s_ in (\"left\", \"right\")}\n sup = {s_: v for s_, v in sup.items() if v > 1e-3}\n # static torque on the planned pose, but with the measured base pose\n qp = self.w.d.qpos.copy()\n qp[k.qadr] = x[6:]\n tau, _ = k.static_tau(qp, sup)\n q = x[6:].copy()\n if self.bal is not None and com_plan is not None:\n d = self.w.d\n side = self.bal\n com = d.subtree_com[self.w.robot.pelvis].copy()\n foot = d.xpos[k.b[side]].copy()\n cp = com_plan(u) if callable(com_plan) else com_plan\n fp = foot_plan(u) if callable(foot_plan) else foot_plan\n e = (com - foot) - (cp - fp)\n v = np.zeros(3) if prev_com is None else (com - prev_com) / 0.01\n prev_com = com\n g = self.gain\n o = 0 if side == \"left\" else 6\n q[o + 4] += g[0] * e[0] + g[1] * v[0]\n q[o + 5] += g[2] * e[1] + g[3] * v[1]\n done = self.send(q, dq, tau)\n self.cur_x = x\n if cb: cb(i)\n if done:\n return True\n return False\nEOF\ncat > t1.py <<'EOF'\nimport numpy as np, time\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w)\nd = w.d\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nprint(\"feet\", fl, fr)\n# P1: com over left foot (foot center ~ ankle + 0.04 in x)\nc1 = fl[:2] + [0.04, 0.0]\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=c1)\nk.fk(k.x2qpos(x1)); print(\"P1 cost\", sol.cost, k.com(), x1[6:18].round(2))\n# P2: lift right foot 0.1\nx2, sol = k.solve(x1, {\"left\": fl, \"right\": fr + [0, 0, 0.12]}, com_xy=c1)\nk.fk(k.x2qpos(x2)); print(\"P2 cost\", sol.cost, k.com(), x2[6:18].round(2))\nimport sys\ndrv.gain = tuple(float(a) for a in sys.argv[1:5]) if len(sys.argv) > 4 else (0, 0, 0, 0)\ndrv.bal = \"left\"\nk.fk(k.x2qpos(x1)); cp1 = k.com()\ndef rep(tag):\n com = d.subtree_com[w.robot.pelvis]; print(tag, \"t\", round(w.t, 2), \"pel\", w.pelvis().round(3), \"com-foot\", (com - d.xpos[k.b['left']]).round(3), s.status()['failed'])\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5}); rep(\"hold\")\ndrv.move(x1, 1.5, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, com_plan=cp1, foot_plan=fl); rep(\"P1\")\nk.fk(k.x2qpos(x2)); cp2 = k.com()\ndrv.move(x2, 1.0, {\"left\": 1.0}, {\"left\": 1.0}, com_plan=cp2, foot_plan=fl, hold=0.5); rep(\"P2\")\nfor j in range(6):\n drv.move(x2, 0.01, {\"left\": 1.0}, {\"left\": 1.0}, com_plan=cp2, foot_plan=fl, hold=0.5); rep(\"hold\")\nEOF\npython t1.py"}],"out":{"text":"Exit code 1\nTraceback (most recent call last):\n File \"/app/work/t1.py\", line 3, in \n from lib import *\n File \"/app/work/lib.py\", line 2, in \n from scipy.optimize import least_squares\nModuleNotFoundError: No module named 'scipy'\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":113081,"cached":110621,"out":2982,"think":null,"usd":0.0941},"sim":{"submit":0,"reset":0}},{"id":12,"t":505.1,"say":"","calls":[{"kind":"shell","label":"pip install scipy 2>&1 | tail -1; cd /app/work && python t1.py","code":"pip install scipy 2>&1 | tail -1; cd /app/work && python t1.py"}],"out":{"text":"Exit code 1\n[notice] To update, run: pip install --upgrade pip\nfeet [-0.24374045 0.163 0.06488246] [-0.24374045 -0.163 0.06488246]\nP1 cost 3.878296646436265e-05 [-0.20374046 0.16299946 0.92851814] [ 0.01 -0.22 -0.19 0.46 -0.25 0.22 -0.01 -0.12 -0.18 0.28 -0.17 0.22]\nP2 cost 7.405654729534398e-05 [-0.20374046 0.16300062 0.98594992] [ 0. -0.13 0.19 0.33 -0.2 0.14 -0.01 -0.22 0.17 0.49 -0.26 0.16]\nhold t 0.3 pel [-2.200e-01 1.000e-03 1.014e+00 0.000e+00] com-foot [ 0.044 -0.161 0.881] None\nP1 t 1.8 pel [ 0.203 0.521 0.819 -0.498] com-foot [0.542 0.32 0.588] None\nP2 t 1.91 pel [ 0.295 0.616 0.618 -0.633] com-foot [0.6 0.391 0.475] left the lane\nTraceback (most recent call last):\n File \"/app/work/t1.py\", line 28, in \n drv.move(x2, 0.01, {\"left\": 1.0}, {\"left\": 1.0}, com_plan=cp2, foot_plan=fl, hold=0.5); rep(\"hold\")\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/app/work/lib.py\", line 163, in move\n done = self.send(q, dq, tau)\n ^^^^^^^^^^^^^^^^^^^^^\n File \"/app/work/lib.py\", line 129, in send\n return self.s.step(\"lowcmd\", row)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 312, in step\n self.rows.append(self.ep.step(typ, row))\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 115, in step\n self.step_raw(raw)\n File \"/opt/tools/rcb_rfo.py\", line 119, in step_raw\n return self.world.step(raw)\n ^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rfo/world.py\", line 326, in step\n raise RuntimeError(\"the episode is over\")\nRuntimeError: the episode is over\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":116246,"cached":113079,"out":76,"think":null,"usd":0.04},"sim":{"submit":0,"reset":0}},{"id":13,"t":548.3,"say":"","calls":[{"kind":"shell","label":"writes t2.py","code":"cat > t2.py <<'EOF'\nimport numpy as np\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d\nqp = d.qpos.copy()\ntau, f = k.static_tau(qp, {\"left\": .5, \"right\": .5})\nprint(\"tau\", tau[:12].round(1)); print(\"f\", f.round(1))\nmujoco.mj_forward(w.m, w.d)\nprint(\"arb ff\", w.robot.arb._support_ff(w.d).round(1))\nEOF\npython t2.py"}],"out":{"text":"tau [ 0. -0. 0. -0. -0. 0. -0. -0. 0. -0. -0. 0.]\nf [ 0. 0. 0. -0. 0. 0. 0. 0. 0. -0. 0. 0.]\narb ff [ 0. 4. 52.8 -12.7 11.7 53.9 0. 3.9 -52.8 -12.6 11.6 -53.9]\n\n[stdout]\ntau [ 0. -0. 0. -0. -0. 0. -0. -0. 0. -0. -0. 0.]\nf [ 0. 0. 0. -0. 0. 0. 0. 0. 0. -0. 0. 0.]\narb ff [ 0. 4. 52.8 -12.7 11.7 53.9 0. 3.9 -52.8 -12.6 11.6 -53.9]","exit":[],"pics":[]},"tok":{"in":117325,"cached":116244,"out":776,"think":null,"usd":0.0442},"sim":{"submit":0,"reset":0}},{"id":14,"t":559.2,"say":"","calls":[{"kind":"shell","label":"src=open('lib.py').read()","code":"python - <<'EOF'\nimport re\nsrc=open('lib.py').read()\nsrc=src.replace(\"\"\" d.qpos[:] = qp; d.qvel[:] = 0; d.qacc[:] = 0\n mujoco.mj_forward(m, d)\n mujoco.mj_inverse(m, d)\"\"\",\"\"\" d.qpos[:] = qp; d.qvel[:] = 0\n mujoco.mj_forward(m, d)\n d.qacc[:] = 0\n mujoco.mj_inverse(m, d)\"\"\")\nopen('lib.py','w').write(src)\nEOF\npython t2.py; python t1.py 0 0 0 0 2>&1 | grep -v Trace | head"}],"out":{"text":"tau [ -0. 4. -0.6 -12.7 11.7 -0.2 0. 4. 0.2 -12.7 11.7 -0.2]\nf [-0.000e+00 0.000e+00 3.305e+02 2.000e-01 -1.190e+01 -0.000e+00\n -0.000e+00 0.000e+00 3.304e+02 2.000e-01 -1.190e+01 -0.000e+00]\narb ff [ 0. 4. 52.8 -12.7 11.7 53.9 0. 3.9 -52.8 -12.6 11.6 -53.9]\nfeet [-0.24374045 0.163 0.06488246] [-0.24374045 -0.163 0.06488246]\nP1 cost 3.878296646436265e-05 [-0.20374046 0.16299946 0.92851814] [ 0.01 -0.22 -0.19 0.46 -0.25 0.22 -0.01 -0.12 -0.18 0.28 -0.17 0.22]\nP2 cost 7.405654729534398e-05 [-0.20374046 0.16300062 0.98594992] [ 0. -0.13 0.19 0.33 -0.2 0.14 -0.01 -0.22 0.17 0.49 -0.26 0.16]\nhold t 0.3 pel [-0.23 0.004 1.016 -0. ] com-foot [ 0.035 -0.159 0.883] None\nP1 t 1.8 pel [-0.233 0.288 0.988 0.015] com-foot [0.036 0.117 0.858] None\nP2 t 2.23 pel [-0.212 0.611 0.909 -0.024] com-foot [0.055 0.404 0.784] left the lane\n File \"/app/work/t1.py\", line 28, in \n drv.move(x2, 0.01, {\"left\": 1.0}, {\"left\": 1.0}, com_plan=cp2, foot_plan=fl, hold=0.5); rep(\"hold\")\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/app/work/lib.py\", line 164, in move\n\n[stdout]\ntau [ -0. 4. -0.6 -12.7 11.7 -0.2 0. 4. 0.2 -12.7 11.7 -0.2]\nf [-0.000e+00 0.000e+00 3.305e+02 2.000e-01 -1.190e+01 -0.000e+00\n -0.000e+00 0.000e+00 3.304e+02 2.000e-01 -1.190e+01 -0.000e+00]\narb ff [ 0. 4. 52.8 -12.7 11.7 53.9 0. 3.9 -52.8 -12.6 11.6 -53.9]\nfeet [-0.24374045 0.163 0.06488246] [-0.24374045 -0.163 0.06488246]\nP1 cost 3.878296646436265e-05 [-0.20374046 0.16299946 0.92851814] [ 0.01 -0.22 -0.19 0.46 -0.25 0.22 -0.01 -0.12 -0.18 0.28 -0.17 0.22]\nP2 cost 7.405654729534398e-05 [-0.20374046 0.16300062 0.98594992] [ 0. -0.13 0.19 0.33 -0.2 0.14 -0.01 -0.22 0.17 0.49 -0.26 0.16]\nhold t 0.3 pel [-0.23 0.004 1.016 -0. ] com-foot [ 0.035 -0.159 0.883] None\nP1 t 1.8 pel [-0.233 0.288 0.988 0.015] com-foot [0.036 0.117 0.858] None\nP2 t 2.23 pel [-0.212 0.611 0.909 -0.024] com-foot [0.055 0.404 0.784] left the lane\n File \"/app/work/t1.py\", line 28, in \n drv.move(x2, 0.01, {\"left\": 1.0}, {\"left\": 1.0}, com_plan=cp2, foot_plan=fl, hold=0.5); rep(\"hold\")\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/app/work/lib.py\", line 164, in move","exit":[],"pics":[]},"tok":{"in":118261,"cached":117323,"out":509,"think":null,"usd":0.0383},"sim":{"submit":0,"reset":0}},{"id":15,"t":580.9,"say":"","calls":[{"kind":"shell","label":"writes t3.py","code":"cat > t3.py <<'EOF'\nimport numpy as np, sys\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nc1 = fl[:2] + [0.04, float(sys.argv[1])]\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=c1)\ndef cb(i):\n if i % 15 == 0:\n com = d.subtree_com[w.robot.pelvis]\n q = d.qpos[k.qadr]\n print(round(w.t,2), \"com-fl\", (com - d.xpos[k.b['left']]).round(3), \"fr\", d.xpos[k.b['right']].round(3), \"err\", (q[:12]-drv.cur_x[6:18]).round(2))\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\ndrv.move(x1, 2.0, {\"left\": .5, \"right\": .5}, {\"left\": float(sys.argv[2]), \"right\": 1-float(sys.argv[2])}, hold=1.0, cb=cb)\nEOF\npython t3.py 0 1.0 2>&1 | tail -22"}],"out":{"text":"0.31 com-fl [ 0.035 -0.159 0.883] fr [-0.245 -0.163 0.045] err [ 0. -0. -0. 0. -0.01 0. -0. 0. -0. -0. -0.01 0. ]\n0.46 com-fl [ 0.031 -0.159 0.883] fr [-0.245 -0.163 0.045] err [ 0. -0. -0. -0. -0.01 0. -0. -0. -0. -0. -0.01 0. ]\n0.61 com-fl [ 0.026 -0.16 0.883] fr [-0.245 -0.163 0.045] err [-0. 0. 0. -0. 0. -0.01 0. -0. 0. 0. -0. -0.01]\n0.76 com-fl [ 0.023 -0.147 0.88 ] fr [-0.244 -0.16 0.045] err [ 0. 0. -0.02 0. 0.03 -0.12 -0. 0.01 -0.02 0. 0.01 -0.07]\n0.91 com-fl [ 0.024 -0.114 0.883] fr [-0.245 -0.165 0.047] err [ 0. -0. -0.02 0.01 -0.01 0.05 -0. 0. -0.01 0. -0. 0.06]\n1.06 com-fl [ 0.025 -0.098 0.882] fr [-0.259 -0.179 0.05 ] err [ 0.01 -0.01 -0.01 0. -0. 0.04 -0.01 0. -0.02 0.01 -0.01 0.1 ]\n1.21 com-fl [ 0.027 -0.09 0.88 ] fr [-0.252 -0.144 0.045] err [-0. 0. 0. -0.01 0. 0. -0. 0. 0.03 0.01 -0.02 -0.01]\n1.36 com-fl [ 0.028 -0.069 0.878] fr [-0.252 -0.145 0.046] err [-0. 0. 0.01 -0.01 0.01 -0.01 0. -0. 0.04 0.01 -0.01 -0.02]\n1.51 com-fl [ 0.027 -0.032 0.874] fr [-0.252 -0.148 0.047] err [ 0. -0. -0. -0.01 0.01 0.02 -0. 0. 0.02 0. -0.01 0.04]\n1.66 com-fl [0.027 0.006 0.872] fr [-0.268 -0.179 0.064] err [-0. -0.01 0.01 -0. 0. 0.01 0. 0.02 -0.01 0.01 0.05 0.01]\n1.81 com-fl [0.029 0.044 0.868] fr [-0.281 -0.181 0.076] err [ 0. -0.02 0.01 -0.01 0.01 0. -0. 0.02 -0\n… (1,143 characters left out) …\nl [ 0.024 -0.114 0.883] fr [-0.245 -0.165 0.047] err [ 0. -0. -0.02 0.01 -0.01 0.05 -0. 0. -0.01 0. -0. 0.06]\n1.06 com-fl [ 0.025 -0.098 0.882] fr [-0.259 -0.179 0.05 ] err [ 0.01 -0.01 -0.01 0. -0. 0.04 -0.01 0. -0.02 0.01 -0.01 0.1 ]\n1.21 com-fl [ 0.027 -0.09 0.88 ] fr [-0.252 -0.144 0.045] err [-0. 0. 0. -0.01 0. 0. -0. 0. 0.03 0.01 -0.02 -0.01]\n1.36 com-fl [ 0.028 -0.069 0.878] fr [-0.252 -0.145 0.046] err [-0. 0. 0.01 -0.01 0.01 -0.01 0. -0. 0.04 0.01 -0.01 -0.02]\n1.51 com-fl [ 0.027 -0.032 0.874] fr [-0.252 -0.148 0.047] err [ 0. -0. -0. -0.01 0.01 0.02 -0. 0. 0.02 0. -0.01 0.04]\n1.66 com-fl [0.027 0.006 0.872] fr [-0.268 -0.179 0.064] err [-0. -0.01 0.01 -0. 0. 0.01 0. 0.02 -0.01 0.01 0.05 0.01]\n1.81 com-fl [0.029 0.044 0.868] fr [-0.281 -0.181 0.076] err [ 0. -0.02 0.01 -0.01 0.01 0. -0. 0.02 -0.01 0.01 0.03 -0.04]\n1.96 com-fl [0.036 0.084 0.863] fr [-0.264 -0.194 0.096] err [-0. -0.01 0.01 0. 0. -0.01 0. 0.01 -0.03 0.01 0.04 -0.1 ]\n2.11 com-fl [0.044 0.133 0.859] fr [-0.268 -0.214 0.136] err [-0. -0.01 0.03 -0. -0.01 -0.06 0. 0.01 -0.05 0.01 0.05 -0.13]\n2.26 com-fl [0.053 0.206 0.844] fr [-0.276 -0.182 0.159] err [ 0.01 -0.01 0.03 -0.01 -0.01 -0.07 -0. 0.01 -0.02 0. 0. -0. ]\n2.41 com-fl [0.063 0.314 0.789] fr [-0.244 -0.079 0.118] err [ 0. 0. -0.08 -0. -0.02 -0.07 0. -0. 0.01 -0. 0. 0. ]","exit":[],"pics":[]},"tok":{"in":119574,"cached":118259,"out":996,"think":null,"usd":0.0501},"sim":{"submit":0,"reset":0}},{"id":16,"t":614.1,"say":"","calls":[{"kind":"shell","label":"src=open('lib.py').read()","code":"python - <<'EOF'\nsrc=open('lib.py').read()\nstart=src.index(\" if self.bal is not None and com_plan is not None:\")\nend=src.index(\" done = self.send(q, dq, tau)\")\nnew=''' if self.bal is not None:\n d = self.w.d\n kd_ = k.fk(k.x2qpos(x))\n cp = kd_.subtree_com[self.w.robot.pelvis].copy()\n sides = (\"left\", \"right\") if self.bal == \"both\" else (self.bal,)\n fp = np.mean([kd_.xpos[k.b[s_]] for s_ in sides], axis=0)\n com = d.subtree_com[self.w.robot.pelvis].copy()\n fm = np.mean([d.xpos[k.b[s_]] for s_ in sides], axis=0)\n e = (com - fm) - (cp - fp)\n v = np.zeros(3) if prev_com is None else (e - prev_com) / 0.01\n prev_com = e\n self.ev = (e, v)\n g = self.gain\n for s_ in sides:\n o = 0 if s_ == \"left\" else 6\n q[o + 4] += g[0] * e[0] + g[1] * v[0]\n q[o + 5] += -(g[2] * e[1] + g[3] * v[1])\n q[o + 2] += g[4] * (g[2] * e[1] + g[3] * v[1])\n'''\nsrc=src[:start]+new+src[end:]\nsrc=src.replace(\"self.gain = (0.0, 0.0, 0.0, 0.0)\",\"self.gain = (0.0, 0.0, 0.0, 0.0, 1.0)\")\nopen('lib.py','w').write(src)\nEOF\ncat > t3.py <<'EOF'\nimport numpy as np, sys\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\ndrv.gain = tuple(float(a) for a in sys.argv[1:6])\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nc1 = fl[:2] + [0.04, 0.0]\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=c1)\nx2, sol = k.solve(x1, {\"left\": fl, \"right\": fr + [0, 0, 0.12]}, com_xy=c1)\ndef cb(i):\n if i % 25 == 0:\n com = d.subtree_com[w.robot.pelvis]\n print(round(w.t,2), \"e\", drv.ev[0].round(3), \"fr\", d.xpos[k.b['right']].round(3), \"pel\", w.pelvis().round(3))\ndrv.bal = \"both\"\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\ndrv.move(x1, 2.0, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, hold=0.5, cb=cb)\ndrv.bal = \"left\"\ndrv.move(x2, 1.0, {\"left\": 1.0}, {\"left\": 1.0}, hold=3, cb=cb)\nprint(s.status()['failed'])\nEOF\npython t3.py 2 0.2 2 0.2 1 2>&1 | tail -22"}],"out":{"text":"2.31 e [ 0.119 0.144 -0.053] fr [-0.202 -0.237 0.159] pel [-0.06 0.248 1.004 -0.033]\n2.56 e [ 0.192 0.228 -0.124] fr [-0.194 -0.137 0.286] pel [ 0.032 0.403 0.993 -0.138]\nTraceback (most recent call last):\n File \"/app/work/t3.py\", line 20, in \n drv.move(x2, 1.0, {\"left\": 1.0}, {\"left\": 1.0}, hold=3, cb=cb)\n File \"/app/work/lib.py\", line 168, in move\n done = self.send(q, dq, tau)\n ^^^^^^^^^^^^^^^^^^^^^\n File \"/app/work/lib.py\", line 130, in send\n return self.s.step(\"lowcmd\", row)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 312, in step\n self.rows.append(self.ep.step(typ, row))\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 115, in step\n self.step_raw(raw)\n File \"/opt/tools/rcb_rfo.py\", line 119, in step_raw\n return self.world.step(raw)\n ^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rfo/world.py\", line 326, in step\n raise RuntimeError(\"the episode is over\")\nRuntimeError: the episode is over\n\n[stdout]\n2.31 e [ 0.119 0.144 -0.053] fr [-0.202 -0.237 0.159] pel [-0.06 0.248 1.004 -0.033]\n2.56 e [ 0.192 0.228 -0.124] fr [-0.194 -0.137 0.286] pel [ 0.032 0.403 0.993 -0.138]\nTraceback (most recent call last):\n File \"/app/work/t3.py\", line 20, in \n drv.move(x2, 1.0, {\"left\": 1.0}, {\"left\": 1.0}, hold=3, cb=cb)\n File \"/app/work/lib.py\", line 168, in move\n done = self.send(q, dq, tau)\n ^^^^^^^^^^^^^^^^^^^^^\n File \"/app/work/lib.py\", line 130, in send\n return self.s.step(\"lowcmd\", row)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 312, in step\n self.rows.append(self.ep.step(typ, row))\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 115, in step\n self.step_raw(raw)\n File \"/opt/tools/rcb_rfo.py\", line 119, in step_raw\n return self.world.step(raw)\n ^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rfo/world.py\", line 326, in step\n raise RuntimeError(\"the episode is over\")\nRuntimeError: the episode is over","exit":[],"pics":[]},"tok":{"in":121998,"cached":119572,"out":3108,"think":null,"usd":0.0982},"sim":{"submit":0,"reset":0}},{"id":17,"t":633.2,"say":"","calls":[{"kind":"shell","label":"python t3.py 2 0.2 2 0.2 1 2>&1 | grep -v \"^ \" | head -20; python t3.py 0 0 0 0 1 2>&1 | grep -v \"^ \"| head -2","code":"python t3.py 2 0.2 2 0.2 1 2>&1 | grep -v \"^ \" | head -20; python t3.py 0 0 0 0 1 2>&1 | grep -v \"^ \"| head -20"}],"out":{"text":"0.31 e [-0.002 0.001 0. ] fr [-0.244 -0.163 0.045] pel [-2.310e-01 1.000e-03 1.016e+00 -1.000e-03]\n0.56 e [-0.006 -0.002 -0. ] fr [-0.244 -0.16 0.045] pel [-0.234 0.006 1.017 0. ]\n0.81 e [-0.008 0.001 -0. ] fr [-0.236 -0.167 0.046] pel [-0.233 0.017 1.015 0.011]\n1.06 e [-0.008 0.01 -0. ] fr [-0.236 -0.21 0.058] pel [-0.226 0.029 1.019 0.013]\n1.31 e [-0.024 0.005 -0.001] fr [-0.228 -0.197 0.049] pel [-0.215 0.05 1.006 0.008]\n1.56 e [-0.036 0.01 -0.002] fr [-0.153 -0.251 0.053] pel [-0.187 0.071 1.004 0.041]\n1.81 e [ 0.055 0.053 -0.014] fr [-0.252 -0.291 0.125] pel [-0.146 0.107 1.026 0.069]\n2.06 e [ 0.131 0.147 -0.07 ] fr [-0.335 -0.443 0.308] pel [-0.109 0.148 1.059 -0.065]\n2.31 e [ 0.119 0.144 -0.053] fr [-0.202 -0.237 0.159] pel [-0.06 0.248 1.004 -0.033]\n2.56 e [ 0.192 0.228 -0.124] fr [-0.194 -0.137 0.286] pel [ 0.032 0.403 0.993 -0.138]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n0.31 e [-0.001 0.003 0. ] fr [-0.245 -0.163 0.045] pel [-0.231 0.004 1.016 -0. ]\n0.56 e [-0.008 -0. 0. ] fr [-0.245 -0.163 0.045] pel [-0.238 0.003 1.016 -0. ]\n0.81 e [-0.015 0.001 0. ] fr [-0.244 -0.16 0.045] pel [-0.245 0.024 1.016 0.013]\n1.06 e [-0.008 0.021 -0.001] fr [-0.259 -0.179 0.05 ] pel [-0.244 0.063 1.013 0.01 ]\n1.31 e [-0.009 -0.015 0.002] fr [-0.252 -0.144 0.046] pel [-0.241 0.085 1.011 0.016]\n1.56 e [-0.01 0.012 -0.001] fr [-0.253 -0.153 0.051] pel [-0.2\n… (737 characters left out) …\n.019 0.013]\n1.31 e [-0.024 0.005 -0.001] fr [-0.228 -0.197 0.049] pel [-0.215 0.05 1.006 0.008]\n1.56 e [-0.036 0.01 -0.002] fr [-0.153 -0.251 0.053] pel [-0.187 0.071 1.004 0.041]\n1.81 e [ 0.055 0.053 -0.014] fr [-0.252 -0.291 0.125] pel [-0.146 0.107 1.026 0.069]\n2.06 e [ 0.131 0.147 -0.07 ] fr [-0.335 -0.443 0.308] pel [-0.109 0.148 1.059 -0.065]\n2.31 e [ 0.119 0.144 -0.053] fr [-0.202 -0.237 0.159] pel [-0.06 0.248 1.004 -0.033]\n2.56 e [ 0.192 0.228 -0.124] fr [-0.194 -0.137 0.286] pel [ 0.032 0.403 0.993 -0.138]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n0.31 e [-0.001 0.003 0. ] fr [-0.245 -0.163 0.045] pel [-0.231 0.004 1.016 -0. ]\n0.56 e [-0.008 -0. 0. ] fr [-0.245 -0.163 0.045] pel [-0.238 0.003 1.016 -0. ]\n0.81 e [-0.015 0.001 0. ] fr [-0.244 -0.16 0.045] pel [-0.245 0.024 1.016 0.013]\n1.06 e [-0.008 0.021 -0.001] fr [-0.259 -0.179 0.05 ] pel [-0.244 0.063 1.013 0.01 ]\n1.31 e [-0.009 -0.015 0.002] fr [-0.252 -0.144 0.046] pel [-0.241 0.085 1.011 0.016]\n1.56 e [-0.01 0.012 -0.001] fr [-0.253 -0.153 0.051] pel [-0.241 0.154 1.004 0.026]\n1.81 e [ 0.006 0.064 -0.014] fr [-0.281 -0.181 0.076] pel [-0.238 0.229 0.996 0.029]\n2.06 e [ 0.008 0.134 -0.038] fr [-0.262 -0.206 0.12 ] pel [-0.225 0.313 0.99 0.036]\n2.31 e [ 0.027 0.228 -0.078] fr [-0.268 -0.145 0.145] pel [-0.208 0.452 0.958 0.008]\nTraceback (most recent call last):\nRuntimeError: the episode is over","exit":[],"pics":[]},"tok":{"in":125737,"cached":121996,"out":126,"think":null,"usd":0.0456},"sim":{"submit":0,"reset":0}},{"id":18,"t":668.3,"say":"","calls":[{"kind":"shell","label":"writes t4.py","code":"cat > t4.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nc1 = fl[:2] + [0.04, 0.0]\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=c1)\ngl, gr = m.geom(\"left_ankle_roll_link_sc0\").id, m.geom(\"right_ankle_roll_link_sc0\").id\ndef forces():\n out = {gl: np.zeros(3), gr: np.zeros(3)}\n for i in range(d.ncon):\n c = d.contact[i]\n for g in (gl, gr):\n if g in (c.geom1, c.geom2):\n f = np.zeros(6); mujoco.mj_contactForce(m, d, i, f)\n out[g] += c.frame.reshape(3,3).T @ f[:3]\n return out[gl].round(0), out[gr].round(0)\ndef cb(i):\n if i % 25 == 0:\n qp = d.qpos.copy(); qp[k.qadr] = drv.cur_x[6:]\n print(round(w.t,2), \"F\", forces(), \"tauact\", d.actuator_force[[2,4,5,8,10,11]].round(0) if m.nu else None)\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\ndrv.move(x1, 2.0, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, hold=0.5, cb=cb)\nEOF\npython t4.py 2>&1 | grep -v \"^ \" | head -20; python -c \"\nfrom rcb_rfo import Session\ns=Session(); m=s.world.m; print(m.nu, m.geom_friction[m.geom('floor').id], m.geom_friction[m.geom('left_ankle_roll_link_sc0').id], m.opt.cone, m.opt.noslip_iterations)\""}],"out":{"text":"0.31 F (array([ -3., -4., 385.]), array([ -6., -4., 275.])) tauact [ 8. 18. 4. 7. 10. 3.]\n0.56 F (array([ -2., 3., 343.]), array([ 0., 3., 316.])) tauact [ 3. 10. 4. 2. 9. 4.]\n0.81 F (array([ 15., 35., 257.]), array([ 4., 23., 495.])) tauact [-27. 9. -10. -22. -3. -17.]\n1.06 F (array([ 5., -66., 949.]), array([0., 0., 0.])) tauact [129. 21. 26. 59. 4. 2.]\n1.31 F (array([ -1., -11., 322.]), array([ 4., 67., 327.])) tauact [ 36. 10. 3. -28. 12. 7.]\n1.56 F (array([ 0., -22., 687.]), array([0., 0., 0.])) tauact [123. 15. 11. -16. -0. -0.]\n1.81 F (array([ 15., 3., 680.]), array([0., 0., 0.])) tauact [115. 18. -15. -15. -0. -0.]\n2.06 F (array([ -1., 44., 641.]), array([0., 0., 0.])) tauact [109. 16. -21. -16. -0. -0.]\n2.31 F (array([ -4., 105., 528.]), array([0., 0., 0.])) tauact [ 97. 42. -17. -15. -0. 0.]\n27 [1.e+00 5.e-03 1.e-04] [1.e+00 5.e-03 1.e-04] 0 0\n\n[stdout]\n0.31 F (array([ -3., -4., 385.]), array([ -6., -4., 275.])) tauact [ 8. 18. 4. 7. 10. 3.]\n0.56 F (array([ -2., 3., 343.]), array([ 0., 3., 316.])) tauact [ 3. 10. 4. 2. 9. 4.]\n0.81 F (array([ 15., 35., 257.]), array([ 4., 23., 495.])) tauact [-27. 9. -10. -22. -3. -17.]\n1.06 F (array([ 5., -66., 949.]), array([0., 0., 0.])) tauact [129. 21. 26. 59. 4. 2.]\n1.31 F (array([ -1., -11., 322.]), array([ 4., 67., 327.])) tauact [ 36. 10. 3. -28. 12. 7.]\n1.56 F (array([ 0., -22., 687.]), array([0., 0., 0.])) tauact [123. 15. 11. -16. -0. -0.]\n1.81 F (array([ 15., 3., 680.]), array([0., 0., 0.])) tauact [115. 18. -15. -15. -0. -0.]\n2.06 F (array([ -1., 44., 641.]), array([0., 0., 0.])) tauact [109. 16. -21. -16. -0. -0.]\n2.31 F (array([ -4., 105., 528.]), array([0., 0., 0.])) tauact [ 97. 42. -17. -15. -0. 0.]\n27 [1.e+00 5.e-03 1.e-04] [1.e+00 5.e-03 1.e-04] 0 0","exit":[],"pics":[]},"tok":{"in":127077,"cached":125735,"out":2266,"think":null,"usd":0.0772},"sim":{"submit":0,"reset":0}},{"id":19,"t":702.0,"say":"","calls":[{"kind":"shell","label":"writes t5.py","code":"cat > t5.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\na = [float(v) for v in sys.argv[1:]]\ndrv.kp[:12] = np.array([a[0], a[0], a[0], a[0], a[2], a[2]] * 2); drv.kd[:12] = np.array([a[1], a[1], a[1], a[1], a[3], a[3]] * 2)\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nc1 = fl[:2] + [0.04, 0.0]\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=c1)\nx2, sol = k.solve(x1, {\"left\": fl, \"right\": fr + [0, 0, 0.12]}, com_xy=c1)\ndef cb(i):\n if i % 25 == 0:\n print(round(w.t,2), \"fr\", d.xpos[k.b['right']].round(3), \"pel\", w.pelvis().round(3), \"com-fl\", (d.subtree_com[1]-d.xpos[k.b['left']]).round(3))\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\ndrv.move(x1, 2.0, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, hold=0.5, cb=cb)\ndrv.move(x2, 1.0, {\"left\": 1.0}, {\"left\": 1.0}, hold=2, cb=cb)\nprint(s.status()['failed'])\nEOF\npython t5.py 300 10 100 5 2>&1 | grep -v \"^ \" | tail -12"}],"out":{"text":"0.31 fr [-0.242 -0.161 0.046] pel [-2.280e-01 7.000e-03 1.016e+00 1.000e-03] com-fl [13.693 -0.165 0.089]\n0.56 fr [-0.243 -0.167 0.05 ] pel [-0.228 0.015 1.019 0.002] com-fl [13.693 -0.159 0.088]\n0.81 fr [-0.242 -0.16 0.045] pel [-0.232 0.005 1.016 0.003] com-fl [13.693 -0.166 0.089]\n1.06 fr [-0.242 -0.159 0.046] pel [-0.238 0.037 1.021 0.005] com-fl [13.666 -0.133 0.075]\n1.31 fr [-0.19 -0.205 0.091] pel [-0.239 0.098 1.029 0.041] com-fl [13.662 -0.12 0.088]\n1.56 fr [-0.149 -0.296 0.119] pel [-0.226 0.166 1.01 0.053] com-fl [13.662 -0.12 0.09 ]\n1.81 fr [-0.103 -0.282 0.125] pel [-0.198 0.238 0.994 0.055] com-fl [13.664 -0.125 0.086]\n2.06 fr [-0.19 -0.366 0.243] pel [-0.144 0.332 0.99 0.081] com-fl [13.664 -0.132 0.081]\n2.31 fr [-0.387 -0.315 0.407] pel [-0.073 0.491 0.944 -0.091] com-fl [13.665 -0.122 0.078]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n\n[stdout]\n0.31 fr [-0.242 -0.161 0.046] pel [-2.280e-01 7.000e-03 1.016e+00 1.000e-03] com-fl [13.693 -0.165 0.089]\n0.56 fr [-0.243 -0.167 0.05 ] pel [-0.228 0.015 1.019 0.002] com-fl [13.693 -0.159 0.088]\n0.81 fr [-0.242 -0.16 0.045] pel [-0.232 0.005 1.016 0.003] com-fl [13.693 -0.166 0.089]\n1.06 fr [-0.242 -0.159 0.046] pel [-0.238 0.037 1.021 0.005] com-fl [13.666 -0.133 0.075]\n1.31 fr [-0.19 -0.205 0.091] pel [-0.239 0.098 1.029 0.041] com-fl [13.662 -0.12 0.088]\n1.56 fr [-0.149 -0.296 0.119] pel [-0.226 0.166 1.01 0.053] com-fl [13.662 -0.12 0.09 ]\n1.81 fr [-0.103 -0.282 0.125] pel [-0.198 0.238 0.994 0.055] com-fl [13.664 -0.125 0.086]\n2.06 fr [-0.19 -0.366 0.243] pel [-0.144 0.332 0.99 0.081] com-fl [13.664 -0.132 0.081]\n2.31 fr [-0.387 -0.315 0.407] pel [-0.073 0.491 0.944 -0.091] com-fl [13.665 -0.122 0.078]\nTraceback (most recent call last):\nRuntimeError: the episode is over","exit":[],"pics":[]},"tok":{"in":129942,"cached":127075,"out":1096,"think":null,"usd":0.0617},"sim":{"submit":0,"reset":0}},{"id":20,"t":724.0,"say":"","calls":[{"kind":"shell","label":"writes t6.py","code":"cat > t6.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\ngl, gr = m.geom(\"left_ankle_roll_link_sc0\").id, m.geom(\"right_ankle_roll_link_sc0\").id\ndef forces():\n out = {gl: np.zeros(3), gr: np.zeros(3)}\n for i in range(d.ncon):\n c = d.contact[i]\n for g in (gl, gr):\n if g in (c.geom1, c.geom2):\n f = np.zeros(6); mujoco.mj_contactForce(m, d, i, f)\n out[g] += c.frame.reshape(3,3).T @ f[:3]\n return out[gl][2].round(0), out[gr][2].round(0)\nc = float(sys.argv[1])\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=fl[:2] + [0.04, -0.163 * (1-c)])\nqp = k.x2qpos(x1); tau, f = k.static_tau(qp, {\"left\": c, \"right\": 1-c})\nprint(\"plan f\", f[2].round(0), f[8].round(0), \"tau\", tau[:12].round(0))\ndef cb(i):\n if i % 20 == 0:\n print(round(w.t,2), \"F\", forces(), \"pel\", w.pelvis().round(3), (d.qpos[k.qadr][:12]-drv.cur_x[6:18]).round(3))\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\ndrv.move(x1, 2.0, {\"left\": .5, \"right\": .5}, {\"left\": c, \"right\": 1-c}, hold=1.0, cb=cb)\nEOF\npython t6.py 0.7 2>&1 | grep -v \"^ \" | tail -18"}],"out":{"text":"plan f 465.0 196.0 tau [ 0. 2. 35. -27. 13. -16. 0. 7. 3. 1. 13. -16.]\n0.31 F (np.float64(385.0), np.float64(275.0)) pel [-0.231 0.004 1.016 -0. ] [ 0. -0. -0.003 0. -0.01 0. -0. 0.001 -0.003 -0.002\n0.51 F (np.float64(384.0), np.float64(276.0)) pel [-0.236 0.003 1.016 -0. ] [ 0. -0.001 -0.001 -0. -0.004 0.003 -0. -0. -0.001 -0.001\n0.71 F (np.float64(43.0), np.float64(618.0)) pel [-0.243 0.006 1.017 0.002] [ 0.003 0.001 -0.006 0.004 0.021 -0.114 0. 0.003 -0.007 0.004\n0.91 F (np.float64(485.0), np.float64(215.0)) pel [-0.245 0.037 1.015 0.012] [ 0.002 -0.003 -0.021 0.006 0.015 -0.035 -0.001 0.005 -0.016 -0.003\n1.11 F (np.float64(850.0), np.float64(0.0)) pel [-0.241 0.058 1.015 0.006] [ 0.005 -0.01 -0.006 0.001 -0. 0.041 -0.006 0.004 -0.002 0.007\n1.31 F (np.float64(70.0), np.float64(566.0)) pel [-0.236 0.07 1.015 0.013] [-0.001 0.004 -0.015 -0.006 0.01 -0.122 0.001 0.002 0.024 0.008\n1.51 F (np.float64(563.0), np.float64(0.0)) pel [-0.231 0.116 1.012 0.009] [ 0.003 -0.003 0.001 -0.003 -0. 0.017 -0.001 -0.003 0.015 -0.008\n1.71 F (np.float64(612.0), np.float64(0.0)) pel [-0.228 0.159 1.01 0.017] [-0.001 -0.002 0.009 -0.009 -0.004 0.059 -0.002 -0. 0.037 0.005\n1.91 F (np.float64(479.0), np.float64(0.0)) pel [-0.224 0.197 1.009 0.017] [-0.001 0.022 0.004 0.007 -0.007 -0.075 0.003 -0.002 -0.025 -0.004\n2.11 F (np.float64(995.0), np.float64(0.0)) pel [-0.22 0.231 1.\n… (1,067 characters left out) …\n7 0.004\n0.91 F (np.float64(485.0), np.float64(215.0)) pel [-0.245 0.037 1.015 0.012] [ 0.002 -0.003 -0.021 0.006 0.015 -0.035 -0.001 0.005 -0.016 -0.003\n1.11 F (np.float64(850.0), np.float64(0.0)) pel [-0.241 0.058 1.015 0.006] [ 0.005 -0.01 -0.006 0.001 -0. 0.041 -0.006 0.004 -0.002 0.007\n1.31 F (np.float64(70.0), np.float64(566.0)) pel [-0.236 0.07 1.015 0.013] [-0.001 0.004 -0.015 -0.006 0.01 -0.122 0.001 0.002 0.024 0.008\n1.51 F (np.float64(563.0), np.float64(0.0)) pel [-0.231 0.116 1.012 0.009] [ 0.003 -0.003 0.001 -0.003 -0. 0.017 -0.001 -0.003 0.015 -0.008\n1.71 F (np.float64(612.0), np.float64(0.0)) pel [-0.228 0.159 1.01 0.017] [-0.001 -0.002 0.009 -0.009 -0.004 0.059 -0.002 -0. 0.037 0.005\n1.91 F (np.float64(479.0), np.float64(0.0)) pel [-0.224 0.197 1.009 0.017] [-0.001 0.022 0.004 0.007 -0.007 -0.075 0.003 -0.002 -0.025 -0.004\n2.11 F (np.float64(995.0), np.float64(0.0)) pel [-0.22 0.231 1.003 -0.005] [ 0.014 -0.032 0.002 -0.011 0.004 0.095 -0.021 -0.001 -0.005 -0.016\n2.31 F (np.float64(758.0), np.float64(0.0)) pel [-0.208 0.278 1. 0.02 ] [-0.016 0.027 -0.003 0.003 -0.023 0.01 0.014 -0.006 -0.013 0.016\n2.51 F (np.float64(513.0), np.float64(0.0)) pel [-0.199 0.345 1. -0.01 ] [ 0.004 -0.014 0.032 -0.004 -0.022 -0.071 -0.001 0.024 -0.064 0.01\n2.71 F (np.float64(759.0), np.float64(0.0)) pel [-0.188 0.463 0.964 -0.038] [ 0. 0.044 -0.026 -0.088 0.028 0.154 -0. -0.019 -0.203 0.062","exit":[],"pics":[]},"tok":{"in":131648,"cached":129940,"out":1481,"think":null,"usd":0.0641},"sim":{"submit":0,"reset":0}},{"id":21,"t":747.7,"say":"","calls":[{"kind":"shell","label":"writes t7.py","code":"cat > t7.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\nmode = sys.argv[1]\nif mode == \"kp\": \n drv.kp[:12] = w.robot.kp0[:12]; drv.kd[:12] = w.robot.kd0[:12]\ndef cb(i):\n if i % 30 == 0:\n print(round(w.t,2), \"pel\", w.pelvis().round(3), (d.qpos[k.qadr][:12]-drv.cur_x[6:18]).round(3))\ndrv.move(x0, 0.01, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5}, hold=3, cb=cb)\nEOF\npython t7.py a 2>&1 | tail -6; python t7.py kp 2>&1 | tail -4"}],"out":{"text":"2.41 pel [-0.24 0.013 1.018 -0.024] [-0. -0.006 -0.01 -0.006 0.008 0.039 0.004 0.012 0.053 0.002\n -0.003 0.082]\n2.71 pel [-2.410e-01 1.000e-03 1.028e+00 -2.100e-02] [-0.004 -0.014 -0.1 -0.002 -0.006 -0.092 0.005 0.024 -0.043 -0.012\n -0.005 -0.053]\n3.01 pel [-0.249 0.037 1.039 0.004] [ 0.001 0.023 0.041 -0.008 0.014 -0.085 0.004 -0.01 0.055 -0.014\n 0.014 -0.085]\n2.71 pel [-0.232 -0.007 1.022 -0.02 ] [-0.003 -0.008 0.004 -0.004 0.002 0.081 0. 0.004 0.045 -0.003\n -0.068 0.16 ]\n3.01 pel [-0.241 -0.036 1.016 -0.024] [ 0. -0.003 -0.007 -0.006 0.008 0.014 -0.003 -0.004 0.021 0.003\n -0.003 0.02 ]\n\n[stdout]\n2.41 pel [-0.24 0.013 1.018 -0.024] [-0. -0.006 -0.01 -0.006 0.008 0.039 0.004 0.012 0.053 0.002\n -0.003 0.082]\n2.71 pel [-2.410e-01 1.000e-03 1.028e+00 -2.100e-02] [-0.004 -0.014 -0.1 -0.002 -0.006 -0.092 0.005 0.024 -0.043 -0.012\n -0.005 -0.053]\n3.01 pel [-0.249 0.037 1.039 0.004] [ 0.001 0.023 0.041 -0.008 0.014 -0.085 0.004 -0.01 0.055 -0.014\n 0.014 -0.085]\n2.71 pel [-0.232 -0.007 1.022 -0.02 ] [-0.003 -0.008 0.004 -0.004 0.002 0.081 0. 0.004 0.045 -0.003\n -0.068 0.16 ]\n3.01 pel [-0.241 -0.036 1.016 -0.024] [ 0. -0.003 -0.007 -0.006 0.008 0.014 -0.003 -0.004 0.021 0.003\n -0.003 0.02 ]","exit":[],"pics":[]},"tok":{"in":134412,"cached":131646,"out":1306,"think":null,"usd":0.0663},"sim":{"submit":0,"reset":0}},{"id":22,"t":776.8,"say":"","calls":[{"kind":"robot","label":"writes t8.py","code":"cat > t8.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nfor akp, akd, hkp, hkd, ff in [(160,8,800,10,1),(300,20,1000,20,1),(160,8,800,10,0),(500,30,1500,30,1),(100,3,800,10,1)]:\n s.reset()\n x0 = k.qpos2x(d.qpos.copy())\n drv = Driver(s, k); drv.cur_x = x0.copy()\n drv.kp[:12] = np.array([hkp, hkp, hkp, hkp, akp, akp] * 2); drv.kd[:12] = np.array([hkd]*4 + [akd]*2) .tolist()*2\n if not ff:\n drv.send_orig = drv.send\n errs = []\n def cb(i):\n errs.append(np.abs(d.qpos[k.qadr][:12]-drv.cur_x[6:18]).max())\n drv.move(x0, 0.01, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5}, hold=4, cb=cb)\n print(akp, akd, hkp, hkd, \"max err first 1s\", max(errs[:100]), \"last 2 s\", max(errs[200:]), w.pelvis().round(3))\nEOF\npython t8.py"}],"out":{"text":"160 8 800 10 max err first 1s 0.054503808850043425 last 2 s 0.24873483526674453 [-0.238 0.052 1.012 -0.016]\n300 20 1000 20 max err first 1s 0.10222400147933512 last 2 s 0.1902900094290417 [-0.204 -0.004 1.028 -0.03 ]\n160 8 800 10 max err first 1s 0.054503808850043425 last 2 s 0.24873483526674453 [-0.238 0.052 1.012 -0.016]\n500 30 1500 30 max err first 1s 0.07087441043664472 last 2 s 0.09746009318229464 [-0.27 -0.031 1.019 0.031]\n100 3 800 10 max err first 1s 0.16176891614042804 last 2 s 0.29593713279439093 [-0.241 -0.059 1.031 0.049]\n\n[stdout]\n160 8 800 10 max err first 1s 0.054503808850043425 last 2 s 0.24873483526674453 [-0.238 0.052 1.012 -0.016]\n300 20 1000 20 max err first 1s 0.10222400147933512 last 2 s 0.1902900094290417 [-0.204 -0.004 1.028 -0.03 ]\n160 8 800 10 max err first 1s 0.054503808850043425 last 2 s 0.24873483526674453 [-0.238 0.052 1.012 -0.016]\n500 30 1500 30 max err first 1s 0.07087441043664472 last 2 s 0.09746009318229464 [-0.27 -0.031 1.019 0.031]\n100 3 800 10 max err first 1s 0.16176891614042804 last 2 s 0.29593713279439093 [-0.241 -0.059 1.031 0.049]","exit":[],"pics":[]},"tok":{"in":136177,"cached":134410,"out":1249,"think":null,"usd":0.0607},"sim":{"submit":0,"reset":0}},{"id":23,"t":813.5,"say":"","calls":[{"kind":"shell","label":"ls /opt/roboolympics/bodies/control/; grep -n \"def apply\" -A40 /opt/roboolympics/bodies/control/arbiter.py | h","code":"ls /opt/roboolympics/bodies/control/; grep -n \"def apply\" -A40 /opt/roboolympics/bodies/control/arbiter.py | head -80"}],"out":{"text":"__init__.py\narbiter.py\nkinematics.py\n507: def apply(self, d, j):\n508- q, qd = d.qpos[self.qadr], d.qvel[self.vadr]\n509- s = j / self.substeps\n510- q_des = self.q_a + (self.q_b - self.q_a) * s\n511- tau = self.kp * (q_des - q) + self.kd * (self.qd_des - qd) + self.ff + self.wrist_ff\n512- tau = tau + np.where(self.bias_mask, d.qfrc_bias[self.vadr], 0.0)\n513- self.act.env = self._env if self.use_envelope else None\n514- self.act.write(d, tau)\n515-\n516- # ------------------------------------------------------------------ the record\n517- def memory(self):\n518- \"\"\"The arbiter's state for a state hash: the walking policy's memory, the owners, the command and the targets,\n519- gains and feed-forward torques in force (FALCON's wrist residual included).\"\"\"\n520- return np.r_[self.rig.memory(), [CODE[self.owner[g]] for g in self.GROUPS], self.cmd, self.cmd_req, self.q_a,\n521- self.q_b, self.qd_des, self.kp, self.kd, self.ff, self.wrist_ff, self.step_i, self.k_walk]\n522-\n523- def switches(self):\n524- \"\"\"Changes of the legs' controlling source (handover counted with the source it hands to).\"\"\"\n525- seq = [OWNERS[c[0]] for c in self.owner_log]\n526- seq = [(\"walk\" if o == \"handover\" else o) for o in seq]\n527- return sum(1 for a, b in zip(seq, seq[1:]) if a != b)\n\n[stdout]\n__init__.py\narbiter.py\nkinematics.py\n507: def apply(self, d, j):\n508- q, qd = d.qpos[self.qadr], d.qvel[self.vadr]\n509- s = j / self.substeps\n510- q_des = self.q_a + (self.q_b - self.q_a) * s\n511- tau = self.kp * (q_des - q) + self.kd * (self.qd_des - qd) + self.ff + self.wrist_ff\n512- tau = tau + np.where(self.bias_mask, d.qfrc_bias[self.vadr], 0.0)\n513- self.act.env = self._env if self.use_envelope else None\n514- self.act.write(d, tau)\n515-\n516- # ------------------------------------------------------------------ the record\n517- def memory(self):\n518- \"\"\"The arbiter's state for a state hash: the walking policy's memory, the owners, the command and the targets,\n519- gains and feed-forward torques in force (FALCON's wrist residual included).\"\"\"\n520- return np.r_[self.rig.memory(), [CODE[self.owner[g]] for g in self.GROUPS], self.cmd, self.cmd_req, self.q_a,\n521- self.q_b, self.qd_des, self.kp, self.kd, self.ff, self.wrist_ff, self.step_i, self.k_walk]\n522-\n523- def switches(self):\n524- \"\"\"Changes of the legs' controlling source (handover counted with the source it hands to).\"\"\"\n525- seq = [OWNERS[c[0]] for c in self.owner_log]\n526- seq = [(\"walk\" if o == \"handover\" else o) for o in seq]\n527- return sum(1 for a, b in zip(seq, seq[1:]) if a != b)","exit":[],"pics":[]},"tok":{"in":137754,"cached":136175,"out":394,"think":null,"usd":0.043},"sim":{"submit":0,"reset":0}},{"id":24,"t":824.2,"say":"","calls":[{"kind":"shell","label":"grep -n \"bias_mask\\|def plan\\|use_envelope\\|def write\" -A3 /opt/roboolympics/bodies/control/arbiter.py | head ","code":"grep -n \"bias_mask\\|def plan\\|use_envelope\\|def write\" -A3 /opt/roboolympics/bodies/control/arbiter.py | head -80"}],"out":{"text":"143: self.use_envelope = True # False: only the URDF effort (for measuring what the curves change)\n144- self.reset_state()\n145-\n146- # ------------------------------------------------------------------ bookkeeping\n--\n168: self.bias_mask = np.r_[np.zeros(len(self.GROUPS['legs']), bool), np.ones(self.n - len(self.GROUPS['legs']), bool)]\n169- self.cmd = np.zeros(3)\n170- self.cmd_req = np.zeros(3)\n171- self.kicker = None\n--\n228: self.bias_mask[ix] = True\n229- self.ff[ix] = 0.0\n230- self.q_a[ix] = self.q_b[ix]\n231- self._set_owner(group, \"hold\", \"released\")\n--\n246: def plan(self, d, groups, Q, QD=None, TAU=None, kp=None, kd=None):\n247- \"\"\"Rows of joint targets (one per future control step, the first for the next step) for one or more groups\n248- (their joints side by side, in the body's order). Checked against the joint ranges, the speed limits (row to row and\n249- the first row against the group's current target, or its measured position when it is taken over from the\n--\n459: self.bias_mask[ix] = False\n460- if P[\"i\"] < len(P[\"Q\"]):\n461- i = P[\"i\"]\n462- self.q_b[ix] = P[\"Q\"][i]\n--\n512: tau = tau + np.where(self.bias_mask, d.qfrc_bias[self.vadr], 0.0)\n513: self.act.env = self._env if self.use_envelope else None\n514- self.act.write(d, tau)\n515-\n516- # ------------------------------------------------------\n… (57 characters left out) …\nvelope = True # False: only the URDF effort (for measuring what the curves change)\n144- self.reset_state()\n145-\n146- # ------------------------------------------------------------------ bookkeeping\n--\n168: self.bias_mask = np.r_[np.zeros(len(self.GROUPS['legs']), bool), np.ones(self.n - len(self.GROUPS['legs']), bool)]\n169- self.cmd = np.zeros(3)\n170- self.cmd_req = np.zeros(3)\n171- self.kicker = None\n--\n228: self.bias_mask[ix] = True\n229- self.ff[ix] = 0.0\n230- self.q_a[ix] = self.q_b[ix]\n231- self._set_owner(group, \"hold\", \"released\")\n--\n246: def plan(self, d, groups, Q, QD=None, TAU=None, kp=None, kd=None):\n247- \"\"\"Rows of joint targets (one per future control step, the first for the next step) for one or more groups\n248- (their joints side by side, in the body's order). Checked against the joint ranges, the speed limits (row to row and\n249- the first row against the group's current target, or its measured position when it is taken over from the\n--\n459: self.bias_mask[ix] = False\n460- if P[\"i\"] < len(P[\"Q\"]):\n461- i = P[\"i\"]\n462- self.q_b[ix] = P[\"Q\"][i]\n--\n512: tau = tau + np.where(self.bias_mask, d.qfrc_bias[self.vadr], 0.0)\n513: self.act.env = self._env if self.use_envelope else None\n514- self.act.write(d, tau)\n515-\n516- # ------------------------------------------------------------------ the record","exit":[],"pics":[]},"tok":{"in":138771,"cached":137752,"out":103,"think":null,"usd":0.0347},"sim":{"submit":0,"reset":0}},{"id":25,"t":829.7,"say":"","calls":[{"kind":"robot","label":"writes t9.py","code":"cat > t9.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nq0 = d.qpos[k.qadr].copy()\nerrs=[]\nfor i in range(400):\n s.step(\"stand\", np.zeros(17))\n errs.append(np.abs(d.qpos[k.qadr][:12]-q0[:12]).max())\nprint(\"stand\", max(errs[:100]), max(errs[200:]), w.pelvis().round(3))\ns.reset()\na = w.robot.arb\nprint(\"ff\", a.ff[:12].round(1), \"kp\", a.kp[:12], \"kd\", a.kd[:12])\n# joints mode with stance\nerrs=[]\nfor i in range(400):\n s.step(\"joints\", np.r_[q0, 0, 0])\n errs.append(np.abs(d.qpos[k.qadr][:12]-q0[:12]).max())\nprint(\"joints\", max(errs[:100]), max(errs[200:]), w.pelvis().round(3))\nEOF\npython t9.py"}],"out":{"text":"stand 0.2041452402002945 0.2027614802557236 [-2.270e-01 -7.000e-03 1.021e+00 -1.000e-03]\nff [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.] kp [200. 200. 200. 300. 40. 40. 200. 200. 200. 300. 40. 40.] kd [2.5 2.5 2.5 4. 2. 2. 2.5 2.5 2.5 4. 2. 2. ]\njoints 0.1847029736976033 0.1392812974924542 [ 1.123 0.13 0.106 -1.404]\n\n[stdout]\nstand 0.2041452402002945 0.2027614802557236 [-2.270e-01 -7.000e-03 1.021e+00 -1.000e-03]\nff [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.] kp [200. 200. 200. 300. 40. 40. 200. 200. 200. 300. 40. 40.] kd [2.5 2.5 2.5 4. 2. 2. 2.5 2.5 2.5 4. 2. 2. ]\njoints 0.1847029736976033 0.1392812974924542 [ 1.123 0.13 0.106 -1.404]","exit":[],"pics":[]},"tok":{"in":139490,"cached":138769,"out":691,"think":null,"usd":0.0452},"sim":{"submit":0,"reset":0}},{"id":26,"t":857.6,"say":"","calls":[{"kind":"shell","label":"writes t10.py","code":"cat > t10.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\ndef cb(i):\n if i % 10 == 0 and i < 300:\n e = (d.qpos[k.qadr][:12]-drv.cur_x[6:18])\n print(i, \"lroll h/a %.3f %.3f rroll h/a %.3f %.3f lpitch h/k/a %.3f %.3f %.3f yaw %.3f %.3f\" % (e[2], e[5], e[8], e[11], e[1], e[3], e[4], e[0], e[6]), \"pel\", w.pelvis().round(3), \"vel\", d.qvel[4:10].round(2))\ndrv.move(x0, 0.01, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5}, hold=3, cb=cb)\nEOF\npython t10.py 2>&1 | head -32"}],"out":{"text":"0 lroll h/a -0.000 -0.000 rroll h/a -0.000 -0.000 lpitch h/k/a 0.002 -0.005 0.015 yaw -0.000 0.000 pel [-0.228 0. 1.034 0. ] vel [ 0. 0. -0.1 0. -0.01 0. ]\n10 lroll h/a -0.001 -0.013 rroll h/a -0.000 -0.013 lpitch h/k/a -0.002 0.011 -0.027 yaw 0.000 -0.000 pel [-0.228 0. 1.011 -0. ] vel [ 0.05 0.01 0.13 0.01 -0.05 0. ]\n20 lroll h/a -0.002 -0.007 rroll h/a -0.002 -0.008 lpitch h/k/a -0.004 -0.003 -0.009 yaw 0.000 -0.000 pel [-0.229 0.002 1.016 -0. ] vel [-0.02 0.02 -0. -0.02 -0.03 -0. ]\n30 lroll h/a -0.003 0.000 rroll h/a -0.003 0.000 lpitch h/k/a -0.000 0.000 -0.010 yaw 0.000 -0.000 pel [-0.231 0.004 1.016 -0. ] vel [-0.02 0.01 -0. -0.01 -0.03 -0. ]\n40 lroll h/a -0.004 0.002 rroll h/a -0.003 0.003 lpitch h/k/a -0.002 0.000 -0.007 yaw 0.000 -0.000 pel [-0.233 0.004 1.016 -0. ] vel [-0.03 -0. 0. 0. -0.03 -0. ]\n50 lroll h/a -0.002 0.005 rroll h/a -0.002 0.006 lpitch h/k/a -0.001 0.000 -0.005 yaw 0.000 -0.000 pel [-2.360e-01 3.000e-03 1.016e+00 -1.000e-03] vel [-0.04 -0.02 0. 0. -0.05 -0. ]\n60 lroll h/a 0.000 0.010 rroll h/a 0.001 0.012 lpitch h/k/a 0.000 -0.000 -0.002 yaw 0.000 -0.000 pel [-2.400e-01 0.000e+00 1.016e+00 -1.000e-03] vel [-0.04 -0.03 0. -0. -0.04 -0.01]\n70 lroll h/a 0.007 0.017 rroll h/a 0.007 0.033 lpitch h/k/a 0.001 -0.001 0.000 yaw -0.000 -0.000 pel [-0.244 -0.004 1.016 -0.002] vel [-0.04 -0.05 -0. 0.01 -0.04 -0.01]\n80 lroll h/a 0.010 0.014 rroll h/a 0.010 0.025 lpitch h/k/\n… (7,769 characters left out) …\n-0.245 0.035 1.024 -0.019] vel [-0.02 0.15 -0.1 0.43 0.15 -0.04]\n220 lroll h/a -0.001 0.062 rroll h/a 0.013 0.121 lpitch h/k/a -0.018 -0.004 0.012 yaw 0.001 -0.002 pel [-0.244 0.037 1.022 -0.02 ] vel [ 0.02 -0.09 0.04 -0.11 0.12 -0.01]\n230 lroll h/a -0.040 0.059 rroll h/a 0.025 0.103 lpitch h/k/a -0.017 -0.003 0.014 yaw 0.007 -0.002 pel [-0.242 0.031 1.016 -0.024] vel [ 0.03 -0.1 -0.04 0.28 -0.14 0.12]\n240 lroll h/a -0.010 0.039 rroll h/a 0.053 0.082 lpitch h/k/a -0.006 -0.006 0.008 yaw -0.000 0.004 pel [-0.24 0.013 1.018 -0.024] vel [-0.01 -0.18 -0.04 0.31 0.1 -0.01]\n250 lroll h/a -0.063 -0.115 rroll h/a 0.013 -0.090 lpitch h/k/a -0.013 0.013 -0.028 yaw 0.000 0.005 pel [-0.239 0. 1.019 -0.022] vel [ 0.04 0.04 0.2 1.12 -0.09 0.2 ]\n260 lroll h/a -0.006 -0.072 rroll h/a 0.008 -0.061 lpitch h/k/a -0.017 -0.022 -0.059 yaw 0.003 -0.002 pel [-0.241 -0.009 1.022 -0.019] vel [-0.04 -0.15 -0.19 -0.51 -0.02 0.03]\n270 lroll h/a -0.100 -0.092 rroll h/a -0.043 -0.053 lpitch h/k/a -0.014 -0.002 -0.006 yaw -0.004 0.005 pel [-2.410e-01 1.000e-03 1.028e+00 -2.100e-02] vel [-0.03 0.04 -0.01 -0.33 -0.05 -0.22]\n280 lroll h/a -0.049 -0.125 rroll h/a 0.017 -0.075 lpitch h/k/a 0.001 0.027 -0.001 yaw 0.005 0.002 pel [-0.245 0.008 1.016 -0.03 ] vel [-0. 0.38 0.13 0.57 0.11 -0.06]\n290 lroll h/a -0.064 0.038 rroll h/a 0.045 0.039 lpitch h/k/a -0.023 0.008 0.040 yaw 0.006 0.001 pel [-0.25 0.03 1.014 -0.004] vel [-0.02 0.09 -0.14 -1.23 -0.3 0.23]","exit":[],"pics":[]},"tok":{"in":140430,"cached":139488,"out":1357,"think":null,"usd":0.0597},"sim":{"submit":0,"reset":0}},{"id":27,"t":887.1,"say":"","calls":[{"kind":"shell","label":"s=Session(); m,d=s.world.m,s.world.d","code":"python -c \"\nfrom rcb_rfo import Session\nimport numpy as np\ns=Session(); m,d=s.world.m,s.world.d\ng=m.geom('left_ankle_roll_link_sc0').id\nmid=m.geom_dataid[g]; v=m.mesh_vert[m.mesh_vertadr[mid]:m.mesh_vertadr[mid]+m.mesh_vertnum[mid]]\nR=d.geom_xmat[g].reshape(3,3); p=d.geom_xpos[g]; wv=v@R.T+p\nz=wv[:,2]; o=np.argsort(z)\nprint(len(v)); print(np.c_[wv[o[:40]]].round(4))\nfor nm in ['left_ankle_roll_joint','left_ankle_pitch_joint','left_knee_joint']:\n j=m.joint(nm); print(nm, m.dof_armature[j.dofadr[0]], m.dof_damping[j.dofadr[0]], m.dof_frictionloss[j.dofadr[0]])\nprint(m.opt.integrator, m.opt.timestep, m.opt.impratio, m.geom_solref[g], m.geom_solimp[g], m.geom_condim[g])\n\"\n"}],"out":{"text":"132\n[[-0.0842 0.1345 0.0163]\n [-0.3238 0.125 0.0198]\n [-0.3284 0.1996 0.0199]\n [-0.0921 0.2035 0.0207]\n [-0.3248 0.1204 0.0217]\n [-0.0689 0.185 0.0225]\n [-0.1244 0.1164 0.0226]\n [-0.2823 0.2037 0.0233]\n [-0.325 0.2056 0.0238]\n [-0.177 0.2048 0.024 ]\n [-0.2705 0.1238 0.0254]\n [-0.2491 0.1267 0.026 ]\n [-0.1887 0.1212 0.0272]\n [-0.22 0.1978 0.0278]\n [-0.3306 0.124 0.0301]\n [-0.2231 0.1251 0.0313]\n [-0.1845 0.2059 0.0317]\n [-0.0668 0.1402 0.034 ]\n [-0.3294 0.1999 0.0364]\n [-0.323 0.2104 0.0376]\n [-0.0713 0.1868 0.0438]\n [-0.3297 0.1579 0.0438]\n [-0.0986 0.2011 0.0441]\n [-0.0813 0.132 0.0447]\n [-0.0723 0.1527 0.0467]\n [-0.2318 0.1415 0.0503]\n [-0.2318 0.1845 0.0503]\n [-0.2556 0.1845 0.0503]\n [-0.2556 0.1415 0.0503]\n [-0.2318 0.141 0.0504]\n [-0.2556 0.141 0.0504]\n [-0.2556 0.185 0.0504]\n [-0.2318 0.185 0.0504]\n [-0.2567 0.1845 0.0506]\n [-0.2308 0.1415 0.0506]\n [-0.2308 0.1845 0.0506]\n [-0.2567 0.1415 0.0506]\n [-0.2318 0.1406 0.0508]\n [-0.2556 0.1406 0.0508]\n [-0.257 0.1854 0.0512]]\nleft_ankle_roll_joint 0.01 0.001 0.1\nleft_ankle_pitch_joint 0.01 0.001 0.1\nleft_knee_joint 0.01 0.001 0.1\n3 0.001 1.0 [0.02 1. ] [9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] 3\n\n[stdout]\n132\n[[-0.0842 0.1345 0.0163]\n [-0.3238 0.125 0.0198]\n [-0.3284 0.1996 0.0199]\n [-0.0921 0.2035 0.0207]\n [-0.3248 0.1204 0.0217]\n [-0.0689 0.185 0.0225]\n [-0.1244 0.1164 0.0226]\n [-0.2823 0.2037 0.0233]\n [-0.325 0.2056 0.0238]\n [-0.177 0.2048 0.024 ]\n [-0.2705 0.1238 0.0254]\n [-0.2491 0.1267 0.026 ]\n [-0.1887 0.1212 0.0272]\n [-0.22 0.1978 0.0278]\n [-0.3306 0.124 0.0301]\n [-0.2231 0.1251 0.0313]\n [-0.1845 0.2059 0.0317]\n [-0.0668 0.1402 0.034 ]\n [-0.3294 0.1999 0.0364]\n [-0.323 0.2104 0.0376]\n [-0.0713 0.1868 0.0438]\n [-0.3297 0.1579 0.0438]\n [-0.0986 0.2011 0.0441]\n [-0.0813 0.132 0.0447]\n [-0.0723 0.1527 0.0467]\n [-0.2318 0.1415 0.0503]\n [-0.2318 0.1845 0.0503]\n [-0.2556 0.1845 0.0503]\n [-0.2556 0.1415 0.0503]\n [-0.2318 0.141 0.0504]\n [-0.2556 0.141 0.0504]\n [-0.2556 0.185 0.0504]\n [-0.2318 0.185 0.0504]\n [-0.2567 0.1845 0.0506]\n [-0.2308 0.1415 0.0506]\n [-0.2308 0.1845 0.0506]\n [-0.2567 0.1415 0.0506]\n [-0.2318 0.1406 0.0508]\n [-0.2556 0.1406 0.0508]\n [-0.257 0.1854 0.0512]]\nleft_ankle_roll_joint 0.01 0.001 0.1\nleft_ankle_pitch_joint 0.01 0.001 0.1\nleft_knee_joint 0.01 0.001 0.1\n3 0.001 1.0 [0.02 1. ] [9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] 3","exit":[],"pics":[]},"tok":{"in":145518,"cached":140428,"out":1253,"think":null,"usd":0.0786},"sim":{"submit":0,"reset":0}},{"id":28,"t":901.6,"say":"","calls":[{"kind":"shell","label":"grep -n \"kp\\|kd\" /opt/roboolympics/bodies/unitree_h1/*.py | head -30; ls /opt/roboolympics/bodies/unitree_h1/","code":"grep -n \"kp\\|kd\" /opt/roboolympics/bodies/unitree_h1/*.py | head -30; ls /opt/roboolympics/bodies/unitree_h1/"}],"out":{"text":"/opt/roboolympics/bodies/unitree_h1/body.py:22:(kp 200-300 / 40, kd 2.5-4 / 2): 0.89 m/s forward and 0.79 m/s sideways at command 1, 0.45 rad/s at 0.5, drift under\n/opt/roboolympics/bodies/unitree_h1/body.py:319: base_kp, base_kd = (Pl[\"base_kp\"], Pl[\"base_kd\"]) if o else ([], [])\n/opt/roboolympics/bodies/unitree_h1/body.py:320: self.kp = np.r_[base_kp, C[\"kp\"][\"waist\"], C[\"kp\"][\"arm\"], C[\"kp\"][\"arm\"]]\n/opt/roboolympics/bodies/unitree_h1/body.py:321: self.kd = np.r_[base_kd, C[\"kd\"][\"waist\"], C[\"kd\"][\"arm\"], C[\"kd\"][\"arm\"]]\n/opt/roboolympics/bodies/unitree_h1/body.py:351: self.lkp, self.lkd = np.array(W[\"kp\"], float), np.array(W[\"kd\"], float)\n/opt/roboolympics/bodies/unitree_h1/body.py:435: lt = self.lkp * (self.leg_targets - d.qpos[self.lqadr]) - self.lkd * d.qvel[self.lvadr]\nLICENSE\n__init__.py\nbody.py\nbody.toml\nmeshes\nmodel.xml\npolicy\n\n[stdout]\n/opt/roboolympics/bodies/unitree_h1/body.py:22:(kp 200-300 / 40, kd 2.5-4 / 2): 0.89 m/s forward and 0.79 m/s sideways at command 1, 0.45 rad/s at 0.5, drift under\n/opt/roboolympics/bodies/unitree_h1/body.py:319: base_kp, base_kd = (Pl[\"base_kp\"], Pl[\"base_kd\"]) if o else ([], [])\n/opt/roboolympics/bodies/unitree_h1/body.py:320: self.kp = np.r_[base_kp, C[\"kp\"][\"waist\"], C[\"kp\"][\"arm\"], C[\"kp\"][\"arm\"]]\n/opt/roboolympics/bodies/unitree_h1/body.py:321: self.kd = np.r_[base_kd, C[\"kd\"][\"waist\"], C[\"kd\"][\"arm\"], C[\"kd\"][\"arm\"]]\n/opt/roboolympics/bodies/unitree_h1/body.py:351: self.lkp, self.lkd = np.array(W[\"kp\"], float), np.array(W[\"kd\"], float)\n/opt/roboolympics/bodies/unitree_h1/body.py:435: lt = self.lkp * (self.leg_targets - d.qpos[self.lqadr]) - self.lkd * d.qvel[self.lvadr]\nLICENSE\n__init__.py\nbody.py\nbody.toml\nmeshes\nmodel.xml\npolicy","exit":[],"pics":[]},"tok":{"in":147680,"cached":145516,"out":632,"think":null,"usd":0.0526},"sim":{"submit":0,"reset":0}},{"id":29,"t":908.2,"say":"","calls":[{"kind":"robot","label":"writes t8.py","code":"cat > t8.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nfor hkp, kkp, akp, hkd, akd in [(300,400,40,3,2),(300,400,80,3,2),(600,800,80,6,2),(300,400,40,6,4), (200,300,40,2.5,2)]:\n s.reset()\n x0 = k.qpos2x(d.qpos.copy())\n drv = Driver(s, k); drv.cur_x = x0.copy()\n drv.kp[:12] = np.array([hkp, hkp, hkp, kkp, akp, akp] * 2); drv.kd[:12] = np.array([hkd]*4 + [akd]*2) .tolist()*2\n errs = []\n def cb(i):\n errs.append(np.abs(d.qpos[k.qadr][:12]-drv.cur_x[6:18]).max())\n drv.move(x0, 0.01, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5}, hold=4, cb=cb)\n print(hkp, kkp, akp, hkd, akd, \"max err first 1s\", max(errs[:100]), \"last 2 s\", max(errs[200:]), w.pelvis().round(3))\nEOF\npython t8.py"}],"out":{"text":"300 400 40 3 2 max err first 1s 0.18272105551516216 last 2 s 1.3439890963742154 [-0.134 0.616 0.632 -0.374]\n300 400 80 3 2 max err first 1s 0.44089664171084714 last 2 s 0.7701313486191852 [-0.192 0.474 0.225 0.888]\n600 800 80 6 2 max err first 1s 0.0957611497457771 last 2 s 0.3093530853367347 [-0.251 -0.008 1.019 -0.01 ]\n300 400 40 6 4 max err first 1s 0.08004661553591237 last 2 s 0.8459371656974011 [-0.255 0.317 0.7 0.792]\n200 300 40 2.5 2 max err first 1s 0.8589704793846595 last 2 s 1.4211668555177797 [-0.371 0.399 0.379 0.389]\n\n[stdout]\n300 400 40 3 2 max err first 1s 0.18272105551516216 last 2 s 1.3439890963742154 [-0.134 0.616 0.632 -0.374]\n300 400 80 3 2 max err first 1s 0.44089664171084714 last 2 s 0.7701313486191852 [-0.192 0.474 0.225 0.888]\n600 800 80 6 2 max err first 1s 0.0957611497457771 last 2 s 0.3093530853367347 [-0.251 -0.008 1.019 -0.01 ]\n300 400 40 6 4 max err first 1s 0.08004661553591237 last 2 s 0.8459371656974011 [-0.255 0.317 0.7 0.792]\n200 300 40 2.5 2 max err first 1s 0.8589704793846595 last 2 s 1.4211668555177797 [-0.371 0.399 0.379 0.389]","exit":[],"pics":[]},"tok":{"in":148842,"cached":147678,"out":687,"think":null,"usd":0.0491},"sim":{"submit":0,"reset":0}},{"id":30,"t":946.4,"say":"","calls":[{"kind":"shell","label":"grep -n \"def write\" -B5 -A30 /opt/roboolympics/bodies/*.py /opt/roboolympics/bodies/control/*.py | head -60; p","code":"grep -n \"def write\" -B5 -A30 /opt/roboolympics/bodies/*.py /opt/roboolympics/bodies/control/*.py | head -60; python -c \"\nfrom rcb_rfo import Session\ns=Session(); m=s.world.m\nprint([ (m.actuator(i).name, m.actuator_trnid[i][0], m.actuator_gear[i][0]) for i in range(m.nu)][:14])\""}],"out":{"text":"/opt/roboolympics/bodies/assembly.py-71- def record(self) -> dict:\n/opt/roboolympics/bodies/assembly.py-72- return dict(id=self.id, hash=self.hash, robot=self.robot, revision=self.revision, title=self.title,\n/opt/roboolympics/bodies/assembly.py-73- status=self.status, attachment=self.attachment, other_attachment=self.other_attachment,\n/opt/roboolympics/bodies/assembly.py-74- arm=self.arm, controllers=list(self.controllers), files=dict(self.files))\n/opt/roboolympics/bodies/assembly.py-75-\n/opt/roboolympics/bodies/assembly.py:76: def write(self, path) -> Path:\n/opt/roboolympics/bodies/assembly.py-77- path = Path(path)\n/opt/roboolympics/bodies/assembly.py-78- path.parent.mkdir(parents=True, exist_ok=True)\n/opt/roboolympics/bodies/assembly.py-79- path.write_text(json.dumps(self.record(), indent=1, sort_keys=True) + \"\\n\")\n/opt/roboolympics/bodies/assembly.py-80- return path\n/opt/roboolympics/bodies/assembly.py-81-\n/opt/roboolympics/bodies/assembly.py-82-\n/opt/roboolympics/bodies/assembly.py-83-def assemble(robot: str, attachment: str | None = None, other_attachment: str | None = None, controllers=(),\n/opt/roboolympics/bodies/assembly.py-84- arm: str = \"right\", root: Path | str | None = None) -> Configuration:\n/opt/roboolympics/bodies/assembly.py-85- \"\"\"robot + attachment(s) + declared controllers -> a Configuration with its hash. root: the bodies/ directory\n/opt/roboolympics/bodies/assemb\n… (9,039 characters left out) …\n.limit(qd)\n/opt/roboolympics/bodies/servo.py-129- lim = np.where(t * qd > 0, along, against)\n/opt/roboolympics/bodies/servo.py-130- c = np.clip(t, -lim, lim)\n/opt/roboolympics/bodies/servo.py-131- st[\"envelope_clipped\"] += int(np.any((np.abs(c) < np.abs(t) - 1e-12) & (lim < self.tau_max)))\n/opt/roboolympics/bodies/servo.py-132- t = c\n/opt/roboolympics/bodies/servo.py-133- c = np.clip(t, -self.tau_max, self.tau_max)\n/opt/roboolympics/bodies/servo.py-134- st[\"torque_clipped\"] += int(np.any(c != t))\n/opt/roboolympics/bodies/servo.py-135- self.tau = c\n/opt/roboolympics/bodies/servo.py-136- d.ctrl[self.aid] = c\n[('m_left_hip_yaw_joint', np.int32(5), np.float64(1.0)), ('m_left_hip_pitch_joint', np.int32(6), np.float64(1.0)), ('m_left_hip_roll_joint', np.int32(7), np.float64(1.0)), ('m_left_knee_joint', np.int32(8), np.float64(1.0)), ('m_left_ankle_pitch_joint', np.int32(9), np.float64(1.0)), ('m_left_ankle_roll_joint', np.int32(10), np.float64(1.0)), ('m_right_hip_yaw_joint', np.int32(11), np.float64(1.0)), ('m_right_hip_pitch_joint', np.int32(12), np.float64(1.0)), ('m_right_hip_roll_joint', np.int32(13), np.float64(1.0)), ('m_right_knee_joint', np.int32(14), np.float64(1.0)), ('m_right_ankle_pitch_joint', np.int32(15), np.float64(1.0)), ('m_right_ankle_roll_joint', np.int32(16), np.float64(1.0)), ('m_torso_joint', np.int32(17), np.float64(1.0)), ('m_right_shoulder_pitch_joint', np.int32(25), np.float64(1.0))]","exit":[],"pics":[]},"tok":{"in":149864,"cached":148840,"out":532,"think":null,"usd":0.0455},"sim":{"submit":0,"reset":0}},{"id":31,"t":958.4,"say":"","calls":[{"kind":"shell","label":"s=Session(); a=s.world.robot.arb; act=a.act","code":"python -c \"\nfrom rcb_rfo import Session\ns=Session(); a=s.world.robot.arb; act=a.act\nprint('step_max', act.step_max); print(act.limit(__import__('numpy').zeros(27)))\n\"; grep -n \"step_max\" /opt/roboolympics/bodies/servo.py | head"}],"out":{"text":"step_max None\n(array([200., 200., 200., 300., 60., 40., 200., 200., 200., 300., 60.,\n 40., 200., 40., 40., 18., 18., 19., 19., 19., 40., 40.,\n 18., 18., 19., 19., 19.]), array([200., 200., 200., 300., 60., 40., 200., 200., 200., 300., 60.,\n 40., 200., 40., 40., 18., 18., 19., 19., 19., 40., 40.,\n 18., 18., 19., 19., 19.]))\n98: self.step_max = None if dtau is None else np.asarray(dtau, float) * float(dt)\n122: if self.step_max is not None:\n123: c = np.clip(t, self.tau - self.step_max, self.tau + self.step_max)\n535: self.step_max = np.asarray(L[\"command_accel\"], float) * float(dt)\n543: self.cmd = self.cmd + np.clip(req - self.cmd, -self.step_max, self.step_max)\n\n[stdout]\nstep_max None\n(array([200., 200., 200., 300., 60., 40., 200., 200., 200., 300., 60.,\n 40., 200., 40., 40., 18., 18., 19., 19., 19., 40., 40.,\n 18., 18., 19., 19., 19.]), array([200., 200., 200., 300., 60., 40., 200., 200., 200., 300., 60.,\n 40., 200., 40., 40., 18., 18., 19., 19., 19., 40., 40.,\n 18., 18., 19., 19., 19.]))\n98: self.step_max = None if dtau is None else np.asarray(dtau, float) * float(dt)\n122: if self.step_max is not None:\n123: c = np.clip(t, self.tau - self.step_max, self.tau + self.step_max)\n535: self.step_max = np.asarray(L[\"command_accel\"], float) * float(dt)\n543: self.cmd = self.cmd + np.clip(req - self.cmd, -self.step_max, self.step_max)","exit":[],"pics":[]},"tok":{"in":153334,"cached":149862,"out":520,"think":null,"usd":0.0577},"sim":{"submit":0,"reset":0}},{"id":32,"t":986.4,"say":"","calls":[{"kind":"robot","label":"writes t11.py","code":"cat > t11.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\n# settle in stand 1 s\nfor i in range(100): s.step(\"stand\", np.zeros(17))\nqp = d.qpos.copy(); x0 = k.qpos2x(qp)\ntau, f = k.static_tau(qp, {\"left\": .5, \"right\": .5})\nprint(\"tau\", tau[:13].round(1))\ndrv = Driver(s, k); drv.cur_x = x0.copy()\ndrv.kp[:] = float(sys.argv[1]); drv.kd[:] = float(sys.argv[2])\nfor i in range(30):\n drv.send(x0[6:], np.zeros(27), tau)\n if i % 5 == 4: print(i, (d.qpos[k.qadr][:12]-x0[6:18]).round(3), w.pelvis().round(3))\nEOF\npython t11.py 0 1"}],"out":{"text":"tau [ 0. 4.1 -5. -10.4 11. 4.3 -0. 3.3 -5.4 -15.7 11.1 -12.5\n 0. ]\n4 [ 0.001 0.006 0.005 -0.011 0.003 -0.051 0. -0.006 0.005 0.012\n -0.007 -0.049] [-0.23 -0.011 1.021 -0.003]\n9 [ 0.003 0.022 0.016 -0.041 0.013 -0.165 0.001 -0.014 0.012 0.029\n -0.016 -0.108] [-0.23 -0.01 1.02 -0.004]\n14 [ 0.004 0.045 0.021 -0.083 0.031 -0.28 0.001 -0.018 0.011 0.04\n -0.022 -0.1 ] [-0.229 -0.008 1.019 -0.004]\n19 [ 0.006 0.058 0.007 -0.11 0.046 -0.262 0.003 -0.022 -0.002 0.049\n -0.027 -0.097] [-0.229 -0.006 1.02 -0.003]\n24 [ 0.013 0.097 -0.014 -0.182 0.081 -0.25 0.011 -0.027 -0.023 0.065\n -0.036 -0.097] [-0.229 -0.004 1.021 -0.008]\n29 [ 0.028 0.191 -0.043 -0.354 0.162 -0.24 0.032 -0.036 -0.052 0.097\n -0.054 -0.097] [-2.270e-01 -1.000e-03 1.021e+00 -2.200e-02]\n\n[stdout]\ntau [ 0. 4.1 -5. -10.4 11. 4.3 -0. 3.3 -5.4 -15.7 11.1 -12.5\n 0. ]\n4 [ 0.001 0.006 0.005 -0.011 0.003 -0.051 0. -0.006 0.005 0.012\n -0.007 -0.049] [-0.23 -0.011 1.021 -0.003]\n9 [ 0.003 0.022 0.016 -0.041 0.013 -0.165 0.001 -0.014 0.012 0.029\n -0.016 -0.108] [-0.23 -0.01 1.02 -0.004]\n14 [ 0.004 0.045 0.021 -0.083 0.031 -0.28 0.001 -0.018 0.011 0.04\n -0.022 -0.1 ] [-0.229 -0.008 1.019 -0.004]\n19 [ 0.006 0.058 0.007 -0.11 0.046 -0.262 0.003 -0.022 -0.002 0.049\n -0.027 -0.097] [-0.229 -0.006 1.02 -0.003]\n24 [ 0.013 0.097 -0.014 -0.182 0.081 -0.25 0.011 -0.027 -0.023 0.065\n -0.036 -0.097] [-0.229 -0.004 1.021 -0.008]\n29 [ 0.028 0.191 -0.043 -0.354 0.162 -0.24 0.032 -0.036 -0.052 0.097\n -0.054 -0.097] [-2.270e-01 -1.000e-03 1.021e+00 -2.200e-02]","exit":[],"pics":[]},"tok":{"in":154256,"cached":153332,"out":626,"think":null,"usd":0.0478},"sim":{"submit":0,"reset":0}},{"id":33,"t":1012.5,"say":"","calls":[{"kind":"shell","label":"src=open('lib.py').read()","code":"python - <<'EOF'\nsrc=open('lib.py').read()\nstart=src.index(\" Js = []\\n for s, wgt in support.items():\")\nend=src.index(\" return tau[self.vadr], f\")\nnew=''' Js = []\n for s, wgt in support.items():\n jp, jr = np.zeros((3, m.nv)), np.zeros((3, m.nv))\n b = self.b[s]\n p = d.xpos[b] + d.xmat[b].reshape(3, 3) @ np.array([0.045, 0.0, -0.065])\n mujoco.mj_jac(m, d, jp, jr, p, b)\n Js.append(np.r_[jp, jr])\n J = np.concatenate(Js) # 6k x nv\n A = J[:, base].T\n W = self.mass * 9.81\n f0 = np.concatenate([np.r_[0, 0, wgt * W, 0, 0, 0] for wgt in support.values()])\n wi = np.tile(np.r_[1.0, 1.0, 1.0, 0.01, 0.01, 0.01], len(support)) # inverse weights: moments expensive\n b_ = qf[base]\n AW = A * wi\n f = f0 + wi * (A.T @ np.linalg.solve(AW @ A.T, b_ - A @ f0))\n tau = qf - J.T @ f\n'''\nsrc=src[:start]+new+src[end:]\nopen('lib.py','w').write(src)\nEOF\npython t11.py 0 1"}],"out":{"text":"tau [ 0. 4.4 -3.8 -10.7 11.4 5.7 -0. 3.1 -4.2 -15.4 10.8 -11.1\n 0. ]\n4 [ 0. 0.001 0.001 -0.003 0.001 -0.016 -0. -0.001 0.001 0.003\n -0.002 -0.015] [-2.300e-01 -1.100e-02 1.021e+00 -1.000e-03]\n9 [ 0. 0.005 0.005 -0.01 0.003 -0.051 -0. -0.006 0.005 0.012\n -0.007 -0.053] [-0.23 -0.01 1.021 -0.002]\n14 [ 0.001 0.014 0.01 -0.027 0.009 -0.114 -0. -0.013 0.01 0.025\n -0.014 -0.102] [-0.23 -0.009 1.021 -0.002]\n19 [ 0.003 0.033 0.016 -0.061 0.021 -0.226 0.001 -0.016 0.009 0.035\n -0.019 -0.097] [-0.23 -0.007 1.02 -0.003]\n24 [ 0.004 0.048 0.011 -0.091 0.036 -0.263 0.002 -0.021 0.001 0.047\n -0.025 -0.095] [-0.229 -0.005 1.019 -0.003]\n29 [ 0.008 0.073 -0.008 -0.137 0.059 -0.249 0.007 -0.027 -0.017 0.062\n -0.033 -0.095] [-0.229 -0.003 1.02 -0.004]\n\n[stdout]\ntau [ 0. 4.4 -3.8 -10.7 11.4 5.7 -0. 3.1 -4.2 -15.4 10.8 -11.1\n 0. ]\n4 [ 0. 0.001 0.001 -0.003 0.001 -0.016 -0. -0.001 0.001 0.003\n -0.002 -0.015] [-2.300e-01 -1.100e-02 1.021e+00 -1.000e-03]\n9 [ 0. 0.005 0.005 -0.01 0.003 -0.051 -0. -0.006 0.005 0.012\n -0.007 -0.053] [-0.23 -0.01 1.021 -0.002]\n14 [ 0.001 0.014 0.01 -0.027 0.009 -0.114 -0. -0.013 0.01 0.025\n -0.014 -0.102] [-0.23 -0.009 1.021 -0.002]\n19 [ 0.003 0.033 0.016 -0.061 0.021 -0.226 0.001 -0.016 0.009 0.035\n -0.019 -0.097] [-0.23 -0.007 1.02 -0.003]\n24 [ 0.004 0.048 0.011 -0.091 0.036 -0.263 0.002 -0.021 0.001 0.047\n -0.025 -0.095] [-0.229 -0.005 1.019 -0.003]\n29 [ 0.008 0.073 -0.008 -0.137 0.059 -0.249 0.007 -0.027 -0.017 0.062\n -0.033 -0.095] [-0.229 -0.003 1.02 -0.004]","exit":[],"pics":[]},"tok":{"in":155468,"cached":154254,"out":1811,"think":null,"usd":0.0731},"sim":{"submit":0,"reset":0}},{"id":34,"t":1033.6,"say":"","calls":[{"kind":"shell","label":"date","code":"date"}],"out":{"text":"Thu Oct 15 18:43:08 UTC 2026\n\n[stdout]\nThu Oct 15 18:43:08 UTC 2026","exit":[],"pics":[]},"tok":{"in":157861,"cached":155466,"out":981,"think":null,"usd":0.0627},"sim":{"submit":0,"reset":0}},{"id":35,"t":1041.5,"say":"","calls":[{"kind":"shell","label":"sed -i 's/wi = np.tile(np.r_\\[1.0, 1.0, 1.0, 0.01, 0.01, 0.01\\]/wi = np.tile(np.r_[1.0, 1.0, 100.0, 0.01, 0.01","code":"sed -i 's/wi = np.tile(np.r_\\[1.0, 1.0, 1.0, 0.01, 0.01, 0.01\\]/wi = np.tile(np.r_[1.0, 1.0, 100.0, 0.01, 0.01, 0.01]/' lib.py && python t11.py 0 1 | head -4"}],"out":{"text":"tau [ -0. 4.4 -3.5 -10.8 11.5 6.1 -0. 3. -3.8 -15.4 10.7 -10.7\n 0. ]\n4 [-0. 0. 0. -0.001 0. -0.007 -0. -0. 0. 0.001\n -0. -0.007] [-2.300e-01 -1.100e-02 1.021e+00 -1.000e-03]\n\n[stdout]\ntau [ -0. 4.4 -3.5 -10.8 11.5 6.1 -0. 3. -3.8 -15.4 10.7 -10.7\n 0. ]\n4 [-0. 0. 0. -0.001 0. -0.007 -0. -0. 0. 0.001\n -0. -0.007] [-2.300e-01 -1.100e-02 1.021e+00 -1.000e-03]","exit":[],"pics":[]},"tok":{"in":158892,"cached":157859,"out":661,"think":null,"usd":0.05},"sim":{"submit":0,"reset":0}},{"id":36,"t":1052.0,"say":"","calls":[{"kind":"shell","label":"cat >> t11.py <<'EOF'","code":"cat >> t11.py <<'EOF'\nprint(\"f\", f.round(1))\nprint(\"qfrc base\", None)\nEOF\npython t11.py 0 1 | tail -2; python - <<'EOF'\nimport numpy as np\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d\nqp = d.qpos.copy()\ntau, f = k.static_tau(qp, {\"left\": .5, \"right\": .5})\nprint(\"t0 tau\", tau[:12].round(1)); print(\"f\", f.round(1))\ntau, f = k.static_tau(qp, {\"left\": 1.0})\nprint(\"left only tau\", tau[:12].round(1)); print(\"f\", f.round(1))\nEOF"}],"out":{"text":"f [ -0. -0. 10. 0. -0.1 -0. 0. 0. -10. 0. -0.1 -0. ]\nqfrc base None\nt0 tau [ 0. 4. -0.4 -12.7 11.7 -0. 0. 3.9 0.4 -12.6 11.6 -0. ]\nf [ 0. -0. 331.8 0. 3. -0. 0. -0. 329. 0. 3. -0. ]\nleft only tau [ 0. 10.6 105.5 -27.1 23.5 107.3 0. -2.7 0.4 1.7 -0.2 0. ]\nf [ 0. 0. 660.9 -107.3 6. -0. ]\n\n[stdout]\nf [ -0. -0. 10. 0. -0.1 -0. 0. 0. -10. 0. -0.1 -0. ]\nqfrc base None\nt0 tau [ 0. 4. -0.4 -12.7 11.7 -0. 0. 3.9 0.4 -12.6 11.6 -0. ]\nf [ 0. -0. 331.8 0. 3. -0. 0. -0. 329. 0. 3. -0. ]\nleft only tau [ 0. 10.6 105.5 -27.1 23.5 107.3 0. -2.7 0.4 1.7 -0.2 0. ]\nf [ 0. 0. 660.9 -107.3 6. -0. ]","exit":[],"pics":[]},"tok":{"in":159727,"cached":158890,"out":473,"think":null,"usd":0.0454},"sim":{"submit":0,"reset":0}},{"id":37,"t":1077.1,"say":"","calls":[{"kind":"shell","label":"src=open('lib.py').read()","code":"python - <<'EOF'\nsrc=open('lib.py').read()\nsrc=src.replace(\"\"\" d.qpos[:] = qp; d.qvel[:] = 0\n mujoco.mj_forward(m, d)\n d.qacc[:] = 0\n mujoco.mj_inverse(m, d)\"\"\",\"\"\" d.qpos[:] = qp; d.qvel[:] = 0\n old = m.opt.disableflags\n m.opt.disableflags = old | int(mujoco.mjtDisableBit.mjDSBL_CONTACT)\n mujoco.mj_forward(m, d)\n d.qacc[:] = 0\n mujoco.mj_inverse(m, d)\n m.opt.disableflags = old\"\"\")\nopen('lib.py','w').write(src)\nEOF\npython t11.py 0 1; python t8.py"}],"out":{"text":"tau [ 0. 3.4 -14.8 -12.4 10.6 -5. -0.1 4. 10.9 -13.6 11.7 4.4\n 0. ]\n4 [ 0.003 0.038 0.018 -0.063 0.019 -0.293 0.004 0.03 -0.013 -0.046\n 0.008 0.249] [-0.229 -0.011 1.017 -0.004]\n9 [ 0.003 0.049 0.021 -0.085 0.04 -0.335 0.003 0.036 -0.011 -0.058\n 0.012 0.228] [-0.228 -0.01 1.018 -0.003]\n14 [ 0.004 0.079 0.018 -0.137 0.068 -0.325 0.002 0.067 -0.013 -0.111\n 0.037 0.215] [-0.227 -0.008 1.022 -0.003]\n19 [ 0.008 0.16 0.016 -0.275 0.134 -0.323 0.001 0.139 -0.014 -0.231\n 0.092 0.214] [-0.224 -0.007 1.027 -0.004]\n24 [ 0.021 0.338 0.024 -0.582 0.284 -0.366 -0.01 0.308 -0.008 -0.514\n 0.222 0.232] [-2.170e-01 -6.000e-03 1.026e+00 -1.000e-03]\n29 [ 0.03 0.386 0.013 -0.666 0.302 -0.249 -0.039 0.399 -0.01 -0.677\n 0.289 0.202] [-0.215 -0.005 1.015 0.013]\nf [ 1.000e-01 0.000e+00 3.173e+02 -0.000e+00 3.600e+00 0.000e+00\n -1.000e-01 -0.000e+00 3.436e+02 -0.000e+00 3.600e+00 0.000e+00]\nqfrc base None\n300 400 40 3 2 max err first 1s 0.10886543294991703 last 2 s 0.00959408135865214 [-2.420e-01 3.000e-03 1.016e+00 -1.000e-03]\n300 400 80 3 2 max err first 1s 0.09789001488735159 last 2 s 0.010072452337721444 [-2.320e-01 6.000e-03 1.016e+00 -1.000e-03]\n600 800 80 6 2 max err first 1s 0.09625735532202251 last 2 s 0.013730390896521949 [-2.320e-01 2.000e-03 1.015e+00 -1.000e-03]\n300 400 40 6 4 max err first 1s 0.0804384036559287 last 2 s 0.007614399769882152 [-2.400e-01 3.000e-03 1.016e+00 -1.000e-03]\n200 300 40 2.5 2 ma\n… (231 characters left out) …\n0.063 0.019 -0.293 0.004 0.03 -0.013 -0.046\n 0.008 0.249] [-0.229 -0.011 1.017 -0.004]\n9 [ 0.003 0.049 0.021 -0.085 0.04 -0.335 0.003 0.036 -0.011 -0.058\n 0.012 0.228] [-0.228 -0.01 1.018 -0.003]\n14 [ 0.004 0.079 0.018 -0.137 0.068 -0.325 0.002 0.067 -0.013 -0.111\n 0.037 0.215] [-0.227 -0.008 1.022 -0.003]\n19 [ 0.008 0.16 0.016 -0.275 0.134 -0.323 0.001 0.139 -0.014 -0.231\n 0.092 0.214] [-0.224 -0.007 1.027 -0.004]\n24 [ 0.021 0.338 0.024 -0.582 0.284 -0.366 -0.01 0.308 -0.008 -0.514\n 0.222 0.232] [-2.170e-01 -6.000e-03 1.026e+00 -1.000e-03]\n29 [ 0.03 0.386 0.013 -0.666 0.302 -0.249 -0.039 0.399 -0.01 -0.677\n 0.289 0.202] [-0.215 -0.005 1.015 0.013]\nf [ 1.000e-01 0.000e+00 3.173e+02 -0.000e+00 3.600e+00 0.000e+00\n -1.000e-01 -0.000e+00 3.436e+02 -0.000e+00 3.600e+00 0.000e+00]\nqfrc base None\n300 400 40 3 2 max err first 1s 0.10886543294991703 last 2 s 0.00959408135865214 [-2.420e-01 3.000e-03 1.016e+00 -1.000e-03]\n300 400 80 3 2 max err first 1s 0.09789001488735159 last 2 s 0.010072452337721444 [-2.320e-01 6.000e-03 1.016e+00 -1.000e-03]\n600 800 80 6 2 max err first 1s 0.09625735532202251 last 2 s 0.013730390896521949 [-2.320e-01 2.000e-03 1.015e+00 -1.000e-03]\n300 400 40 6 4 max err first 1s 0.0804384036559287 last 2 s 0.007614399769882152 [-2.400e-01 3.000e-03 1.016e+00 -1.000e-03]\n200 300 40 2.5 2 max err first 1s 0.10996932564531106 last 2 s 0.019896239418357622 [-2.340e-01 1.900e-02 1.015e+00 -1.000e-03]","exit":[],"pics":[]},"tok":{"in":160471,"cached":159725,"out":1105,"think":null,"usd":0.0578},"sim":{"submit":0,"reset":0}},{"id":38,"t":1117.0,"say":"","calls":[{"kind":"shell","label":"python t5.py 600 6 60 2 2>&1 | grep -v \"^ \" | tail -8; python t5.py 300 3 40 2 2>&1 | grep -v \"^ \" | tail -4","code":"python t5.py 600 6 60 2 2>&1 | grep -v \"^ \" | tail -8; python t5.py 300 3 40 2 2>&1 | grep -v \"^ \" | tail -4"}],"out":{"text":"1.31 fr [-0.248 -0.164 0.046] pel [-0.243 0.079 1.011 0.016] com-fl [13.698 -0.163 0.09 ]\n1.56 fr [-0.248 -0.164 0.046] pel [-0.249 0.144 1.002 0.027] com-fl [13.698 -0.163 0.09 ]\n1.81 fr [-0.248 -0.169 0.063] pel [-0.257 0.206 0.999 0.023] com-fl [13.698 -0.163 0.091]\n2.06 fr [-0.17 -0.4 0.244] pel [-0.274 0.273 1.01 0.013] com-fl [13.697 -0.163 0.091]\n2.31 fr [-0.211 -0.258 0.242] pel [-0.298 0.389 1.018 -0.117] com-fl [13.721 -0.169 0.053]\n2.56 fr [-0.403 0.046 0.083] pel [-0.308 0.615 0.901 -0.104] com-fl [13.706 -0.215 0.078]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n2.31 fr [-0.251 -0.345 0.223] pel [-0.272 0.282 1.027 0.014] com-fl [13.694 -0.19 0.079]\n2.56 fr [-0.237 -0.114 0.102] pel [-0.281 0.41 0.969 0.031] com-fl [13.696 -0.194 0.078]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n\n[stdout]\n1.31 fr [-0.248 -0.164 0.046] pel [-0.243 0.079 1.011 0.016] com-fl [13.698 -0.163 0.09 ]\n1.56 fr [-0.248 -0.164 0.046] pel [-0.249 0.144 1.002 0.027] com-fl [13.698 -0.163 0.09 ]\n1.81 fr [-0.248 -0.169 0.063] pel [-0.257 0.206 0.999 0.023] com-fl [13.698 -0.163 0.091]\n2.06 fr [-0.17 -0.4 0.244] pel [-0.274 0.273 1.01 0.013] com-fl [13.697 -0.163 0.091]\n2.31 fr [-0.211 -0.258 0.242] pel [-0.298 0.389 1.018 -0.117] com-fl [13.721 -0.169 0.053]\n2.56 fr [-0.403 0.046 0.083] pel [-0.308 0.615 0.901 -0.104] com-fl [13.706 -0.215 0.078]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n2.31 fr [-0.251 -0.345 0.223] pel [-0.272 0.282 1.027 0.014] com-fl [13.694 -0.19 0.079]\n2.56 fr [-0.237 -0.114 0.102] pel [-0.281 0.41 0.969 0.031] com-fl [13.696 -0.194 0.078]\nTraceback (most recent call last):\nRuntimeError: the episode is over","exit":[],"pics":[]},"tok":{"in":162619,"cached":160469,"out":259,"think":null,"usd":0.048},"sim":{"submit":0,"reset":0}},{"id":39,"t":1159.7,"say":"","calls":[{"kind":"shell","label":"writes t12.py","code":"cat > t12.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\ndrv.kp[:12] = np.array([600, 600, 600, 600, 60, 60] * 2); drv.kd[:12] = np.array([6]*4 + [2]*2) .tolist()*2\ndrv.gain = (0, 0, 0, 0, 0)\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nT = float(sys.argv[1])\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=fl[:2] + [0.04, 0.0])\nprint(\"plan pelvis\", x1[:6].round(3))\ndef cb(i):\n if i % 25 == 0:\n print(round(w.t,2), \"e\", drv.ev[0].round(3), \"v\", drv.ev[1].round(3), \"fr\", d.xpos[k.b['right']].round(3), \"pel\", w.pelvis().round(3))\ndrv.bal = \"left\"\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\ndrv.move(x1, T, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, hold=1.0, cb=cb)\nEOF\npython t12.py 3 2>&1 | grep -v \"^ \" | tail -18"}],"out":{"text":"plan pelvis [-0.224 0.185 1.013 -0.041 0.007 0.031]\n0.31 e [0.004 0.001 0. ] v [0. 0. 0.] fr [-0.248 -0.162 0.045] pel [-2.280e-01 1.000e-03 1.016e+00 -0.000e+00]\n0.56 e [0.003 0.001 0. ] v [-0.009 -0.005 0.002] fr [-0.248 -0.162 0.045] pel [-0.229 0.003 1.015 -0. ]\n0.81 e [-0. -0.002 0. ] v [-0.016 -0.021 0.001] fr [-0.248 -0.162 0.045] pel [-0.232 0.005 1.015 0. ]\n1.06 e [-0.005 -0.008 0. ] v [-0.021 -0.02 0.002] fr [-0.248 -0.163 0.045] pel [-0.237 0.012 1.015 0.002]\n1.31 e [-0.011 -0.01 0.001] v [-0.023 0.003 0.002] fr [-0.248 -0.163 0.045] pel [-0.242 0.03 1.015 0.006]\n1.56 e [-0.016 -0.006 0.001] v [-0.023 0.026 0. ] fr [-0.248 -0.163 0.045] pel [-0.248 0.061 1.013 0.011]\n1.81 e [-0.022 0.001 0.001] v [-0.018 0.03 -0.002] fr [-0.248 -0.163 0.046] pel [-0.253 0.098 1.009 0.018]\n2.06 e [-0.025 0.007 0. ] v [-0.012 0.017 -0. ] fr [-0.248 -0.163 0.046] pel [-0.256 0.133 1.004 0.025]\n2.31 e [-0.029 0.012 0.003] v [-0.018 0.029 0.01 ] fr [-0.251 -0.163 0.052] pel [-0.259 0.162 1.002 0.022]\n2.56 e [-0.036 0.026 0.005] v [-0.045 0.081 0.011] fr [-0.255 -0.165 0.061] pel [-0.267 0.197 1. 0.012]\n2.81 e [-0.049 0.047 0.02 ] v [-0.066 0.09 0.15 ] fr [-0.172 -0.311 0.162] pel [-0.285 0.239 1.009 0.004]\n3.06 e [-0.073 0.09 0.044] v [-0.119 0.314 0.015] fr [-0.044 -0.538 0.478] pel [-0.315 0.305 1.011 0.011]\n3.31 e [-0.104 0.212 -0.052] v [ 0.104 0.45 -0.713] fr [-0.271 \n… (107 characters left out) …\n 0.031]\n0.31 e [0.004 0.001 0. ] v [0. 0. 0.] fr [-0.248 -0.162 0.045] pel [-2.280e-01 1.000e-03 1.016e+00 -0.000e+00]\n0.56 e [0.003 0.001 0. ] v [-0.009 -0.005 0.002] fr [-0.248 -0.162 0.045] pel [-0.229 0.003 1.015 -0. ]\n0.81 e [-0. -0.002 0. ] v [-0.016 -0.021 0.001] fr [-0.248 -0.162 0.045] pel [-0.232 0.005 1.015 0. ]\n1.06 e [-0.005 -0.008 0. ] v [-0.021 -0.02 0.002] fr [-0.248 -0.163 0.045] pel [-0.237 0.012 1.015 0.002]\n1.31 e [-0.011 -0.01 0.001] v [-0.023 0.003 0.002] fr [-0.248 -0.163 0.045] pel [-0.242 0.03 1.015 0.006]\n1.56 e [-0.016 -0.006 0.001] v [-0.023 0.026 0. ] fr [-0.248 -0.163 0.045] pel [-0.248 0.061 1.013 0.011]\n1.81 e [-0.022 0.001 0.001] v [-0.018 0.03 -0.002] fr [-0.248 -0.163 0.046] pel [-0.253 0.098 1.009 0.018]\n2.06 e [-0.025 0.007 0. ] v [-0.012 0.017 -0. ] fr [-0.248 -0.163 0.046] pel [-0.256 0.133 1.004 0.025]\n2.31 e [-0.029 0.012 0.003] v [-0.018 0.029 0.01 ] fr [-0.251 -0.163 0.052] pel [-0.259 0.162 1.002 0.022]\n2.56 e [-0.036 0.026 0.005] v [-0.045 0.081 0.011] fr [-0.255 -0.165 0.061] pel [-0.267 0.197 1. 0.012]\n2.81 e [-0.049 0.047 0.02 ] v [-0.066 0.09 0.15 ] fr [-0.172 -0.311 0.162] pel [-0.285 0.239 1.009 0.004]\n3.06 e [-0.073 0.09 0.044] v [-0.119 0.314 0.015] fr [-0.044 -0.538 0.478] pel [-0.315 0.305 1.011 0.011]\n3.31 e [-0.104 0.212 -0.052] v [ 0.104 0.45 -0.713] fr [-0.271 0.029 0.069] pel [-0.373 0.47 0.971 0.063]","exit":[],"pics":[]},"tok":{"in":163441,"cached":162617,"out":1182,"think":null,"usd":0.0603},"sim":{"submit":0,"reset":0}},{"id":40,"t":1207.2,"say":"","calls":[{"kind":"shell","label":"src=open('lib.py').read()","code":"python - <<'EOF'\nsrc=open('lib.py').read()\nold=src[src.index(\" g = self.gain\\n for s_ in sides:\"):src.index(\" done = self.send(q, dq, tau)\")]\nnew=''' g = self.gain\n for s_ in sides:\n o = 0 if s_ == \"left\" else 6\n tau[o + 4] += (g[0] * e[0] + g[1] * v[0]) / len(sides)\n tau[o + 5] -= (g[2] * e[1] + g[3] * v[1]) / len(sides)\n q[o + 2] += g[4] * e[1] + g[5] * v[1]\n q[o + 4] += g[6] * e[0] + g[7] * v[0]\n'''\nsrc=src.replace(old,new)\nsrc=src.replace(\"self.gain = (0.0, 0.0, 0.0, 0.0, 1.0)\",\"self.gain = (0.0,) * 8\")\nopen('lib.py','w').write(src)\nEOF\ncat > t13.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\ndrv = Driver(s, k); drv.cur_x = x0.copy()\ndrv.kp[:12] = np.array([600, 600, 600, 600, 60, 60] * 2); drv.kd[:12] = np.array([6]*4 + [2]*2) .tolist()*2\ndrv.gain = tuple(float(a) for a in sys.argv[2:10])\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nT = float(sys.argv[1])\nx1, sol = k.solve(x0, {\"left\": fl, \"right\": fr}, com_xy=fl[:2] + [0.04, 0.0])\nx2, sol = k.solve(x1, {\"left\": fl, \"right\": fr + [0, 0, 0.15]}, com_xy=fl[:2] + [0.04, 0.0])\ndef cb(i):\n if i % 50 == 0:\n print(round(w.t,2), \"e\", drv.ev[0].round(3), \"v\", drv.ev[1].round(3), \"fr\", d.xpos[k.b['right']].round(3), \"pel\", w.pelvis().round(3))\ndrv.bal = \"both\"\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\ndrv.move(x1, T, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, hold=0.5, cb=cb)\ndrv.bal = \"left\"\ndrv.move(x2, 1.5, {\"left\": 1.0}, {\"left\": 1.0}, hold=3.0, cb=cb)\nprint(s.status()['failed'])\nEOF\npython t13.py 3 1500 300 300 60 0 0 0 0 2>&1 | grep -v \"^ \" | tail -14"}],"out":{"text":"0.31 e [-0. -0. 0.001] v [0. 0. 0.] fr [-0.241 -0.162 0.045] pel [-0.226 0. 1.016 0. ]\n0.81 e [-0.001 -0.002 0. ] v [-0.004 -0.015 0. ] fr [-0.241 -0.162 0.045] pel [-2.260e-01 5.000e-03 1.015e+00 1.000e-03]\n1.31 e [-0.001 -0.006 0. ] v [0.001 0.006 0.001] fr [-0.241 -0.163 0.045] pel [-0.225 0.034 1.015 0.006]\n1.81 e [-0.001 0.002 -0. ] v [ 0. 0.016 -0.002] fr [-0.241 -0.163 0.046] pel [-0.223 0.098 1.009 0.016]\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.12 0.115] pel [-0.233 0.4 0.978 0.03 ]\nleft the lane\n\n[stdout]\n0.31 e [-0. -0. 0.001] v [0. 0. 0.] fr [-0.241 -0.162 0.045] pel [-0.226 0. 1.016 0. ]\n0.81 e [-0.001 -0.002 0. ] v [-0.004 -0.015 0. ] fr [-0.241 -0.162 0.045] pel [-2.260e-01 5.000e-03 1.015e+00 1.000e-03]\n1.31 e [-0.001 -0.006 0. ] v [0.001 0.006 0.001] fr [-0.241 -0.163 0.045] pel [-0.225 0.034 1.015 0.006]\n1.81 e [-0.001 0.002 -0. ] v [ 0. 0.016 -0.002] fr [-0.241 -0.163 0.046] pel [-0.223 0.098 1.009 0.016]\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.12 0.115] pel [-0.233 0.4 0.978 0.03 ]\nleft the lane","exit":[],"pics":[]},"tok":{"in":165653,"cached":163439,"out":2069,"think":null,"usd":0.0851},"sim":{"submit":0,"reset":0}},{"id":41,"t":1245.3,"say":"","calls":[{"kind":"shell","label":"for g in \"-5 -1\" \"-10 -2\" \"-20 -3\"; do echo \"== $g\"; python t13.py 3 1500 300 300 60 $g 0 0 2>&1 | grep -v \"^ ","code":"for g in \"-5 -1\" \"-10 -2\" \"-20 -3\"; do echo \"== $g\"; python t13.py 3 1500 300 300 60 $g 0 0 2>&1 | grep -v \"^ \" | tail -6; done"}],"out":{"text":"== -5 -1\n0.31 e [-0. 0.015 -0.001] v [0. 0. 0.] fr [-0.241 -0.162 0.044] pel [-0.225 0.02 1.019 0.021]\n0.81 e [ 0.174 -0.175 -0.893] v [-0.026 0.35 2.891] fr [-0.407 -0.43 0.678] pel [-0.212 0.248 0.463 0.154]\n1.31 e [ 0.262 -0.002 -0.52 ] v [ 0.861 0.212 -0.476] fr [-0.389 -0.455 0.116] pel [-0.063 0.437 0.48 -0.012]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== -10 -2\n0.31 e [-0.011 0.115 -0.065] v [0. 0. 0.] fr [-0.195 -0.748 0.281] pel [-0.222 -0.064 1.039 -0.008]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== -20 -3\n0.31 e [-0.017 0.269 -0.279] v [0. 0. 0.] fr [-0.198 -1.069 0.794] pel [-0.216 -0.089 0.995 0.087]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n\n[stdout]\n== -5 -1\n0.31 e [-0. 0.015 -0.001] v [0. 0. 0.] fr [-0.241 -0.162 0.044] pel [-0.225 0.02 1.019 0.021]\n0.81 e [ 0.174 -0.175 -0.893] v [-0.026 0.35 2.891] fr [-0.407 -0.43 0.678] pel [-0.212 0.248 0.463 0.154]\n1.31 e [ 0.262 -0.002 -0.52 ] v [ 0.861 0.212 -0.476] fr [-0.389 -0.455 0.116] pel [-0.063 0.437 0.48 -0.012]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== -10 -2\n0.31 e [-0.011 0.115 -0.065] v [0. 0. 0.] fr [-0.195 -0.748 0.281] pel [-0.222 -0.064 1.039 -0.008]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== -20 -3\n0.31 e [-0.017 0.269 -0.279] v [0. 0. 0.] fr [-0.198 -1.069 0.794] pel [-0.216 -0.089 0.995 0.087]\nTraceback (most recent call last):\nRuntimeError: the episode is over","exit":[],"pics":[]},"tok":{"in":168353,"cached":165651,"out":1464,"think":null,"usd":0.0759},"sim":{"submit":0,"reset":0}},{"id":42,"t":1271.7,"say":"","calls":[{"kind":"shell","label":"sed -i 's/ q\\[o + 2\\] += g\\[4\\] \\* e\\[1\\] + g\\[5\\] \\* v\\[1\\]/ if len(sid","code":"sed -i 's/ q\\[o + 2\\] += g\\[4\\] \\* e\\[1\\] + g\\[5\\] \\* v\\[1\\]/ if len(sides) == 1: q[o + 2] += g[4] * e[1] + g[5] * v[1]/' lib.py\nfor g in \"-5 -1\" \"-10 -2\" \"5 1\" \"10 2\"; do echo \"== $g\"; python t13.py 3 1500 300 300 60 $g 0 0 2>&1 | grep -v \"^ \" | tail -5; done"}],"out":{"text":"== -5 -1\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.12 0.115] pel [-0.233 0.401 0.978 0.029]\nleft the lane\n== -10 -2\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.12 0.115] pel [-0.233 0.401 0.978 0.029]\nleft the lane\n== 5 1\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.119 0.115] pel [-0.233 0.4 0.978 0.03 ]\nleft the lane\n== 10 2\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046]\n… (773 characters left out) …\n5] v [0. 0. 0.] fr [-0.211 -0.12 0.115] pel [-0.233 0.401 0.978 0.029]\nleft the lane\n== -10 -2\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.12 0.115] pel [-0.233 0.401 0.978 0.029]\nleft the lane\n== 5 1\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.119 0.115] pel [-0.233 0.4 0.978 0.03 ]\nleft the lane\n== 10 2\n2.31 e [-0.001 0.007 -0.001] v [ 0.001 0.011 -0.003] fr [-0.24 -0.161 0.046] pel [-0.221 0.158 1. 0.025]\n2.81 e [-0.002 0.023 -0.004] v [-0.019 0.124 -0.027] fr [-0.237 -0.172 0.058] pel [-0.221 0.201 0.995 0.026]\n3.31 e [ 0.017 0.069 -0.016] v [ 0.124 -0.743 0.211] fr [-0.285 -0.204 0.113] pel [-0.222 0.241 1.017 0.046]\n3.81 e [-0.01 0.172 -0.015] v [0. 0. 0.] fr [-0.211 -0.119 0.115] pel [-0.233 0.4 0.978 0.03 ]\nleft the lane","exit":[],"pics":[]},"tok":{"in":170305,"cached":168351,"out":319,"think":null,"usd":0.0498},"sim":{"submit":0,"reset":0}},{"id":43,"t":1337.3,"say":"","calls":[{"kind":"shell","label":"sed -i 's/^drv.bal = \"both\"/drv.bal = sys.argv[10]/' t13.py","code":"sed -i 's/^drv.bal = \"both\"/drv.bal = sys.argv[10]/' t13.py\nfor g in \"-5 -1\" \"-10 -2\" \"5 1\" \"0 0\"; do echo \"== $g\"; python t13.py 3 1500 300 300 60 $g 0 0 left 2>&1 | grep -v \"^ \" | tail -4; done"}],"out":{"text":"== -5 -1\n0.31 e [-0.003 -0.006 0.001] v [0. 0. 0.] fr [-0.247 -0.162 0.046] pel [-0.215 -0.008 1.017 -0.021]\n0.81 e [ 0.069 -0.492 -0.702] v [1.04 0.947 0.35 ] fr [-0.189 -1.306 1.287] pel [-0.211 -0.4 0.807 -0.127]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== -10 -2\n0.31 e [ 0.005 -0.138 0.04 ] v [0. 0. 0.] fr [-0.119 -0.882 0.391] pel [-0.213 -0.148 1.061 0.066]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== 5 1\n6.81 e [-0. 0.002 0.001] v [-0.001 -0.002 -0.005] fr [-0.238 -0.168 0.198] pel [-0.21 0.171 1.062 -0.058]\n7.31 e [-0. 0. -0.] v [ 0. -0.001 0.002] fr [-0.238 -0.162 0.194] pel [-0.21 0.168 1.061 -0.057]\n7.81 e [-0. 0.001 0.001] v [ 0. 0.002 -0. ] fr [-0.238 -0.168 0.197] pel [-0.21 0.169 1.062 -0.058]\nNone\n== 0 0\n2.81 e [-0.001 0.014 0.001] v [0.003 0.022 0.018] fr [-0.233 -0.168 0.053] pel [-0.209 0.196 0.994 -0.006]\n3.31 e [-0.003 0.025 0.015] v [ 0.003 0.166 -0.249] fr [-0.255 -0.206 0.108] pel [-0.209 0.24 1.015 -0.029]\n3.81 e [ 0.002 0.171 -0.014] v [0. 0. 0.] fr [-0.237 -0.151 0.141] pel [-0.205 0.412 0.982 -0.025]\nleft the lane\n\n[stdout]\n== -5 -1\n0.31 e [-0.003 -0.006 0.001] v [0. 0. 0.] fr [-0.247 -0.162 0.046] pel [-0.215 -0.008 1.017 -0.021]\n0.81 e [ 0.069 -0.492 -0.702] v [1.04 0.947 0.35 ] fr [-0.189 -1.306 1.287] pel [-0.211 -0.4 0.807 -0.127]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== -10 -2\n0.31 e [ 0.005 -0.138 0.04 ] v [0. 0. 0.] fr [-0.119 -0.882 0.391] pel [-0.213 -0.148 1.061 0.066]\nTraceback (most recent call last):\nRuntimeError: the episode is over\n== 5 1\n6.81 e [-0. 0.002 0.001] v [-0.001 -0.002 -0.005] fr [-0.238 -0.168 0.198] pel [-0.21 0.171 1.062 -0.058]\n7.31 e [-0. 0. -0.] v [ 0. -0.001 0.002] fr [-0.238 -0.162 0.194] pel [-0.21 0.168 1.061 -0.057]\n7.81 e [-0. 0.001 0.001] v [ 0. 0.002 -0. ] fr [-0.238 -0.168 0.197] pel [-0.21 0.169 1.062 -0.058]\nNone\n== 0 0\n2.81 e [-0.001 0.014 0.001] v [0.003 0.022 0.018] fr [-0.233 -0.168 0.053] pel [-0.209 0.196 0.994 -0.006]\n3.31 e [-0.003 0.025 0.015] v [ 0.003 0.166 -0.249] fr [-0.255 -0.206 0.108] pel [-0.209 0.24 1.015 -0.029]\n3.81 e [ 0.002 0.171 -0.014] v [0. 0. 0.] fr [-0.237 -0.151 0.141] pel [-0.205 0.412 0.982 -0.025]\nleft the lane","exit":[],"pics":[]},"tok":{"in":171874,"cached":170303,"out":418,"think":null,"usd":0.0503},"sim":{"submit":0,"reset":0}},{"id":44,"t":1418.6,"say":"","calls":[{"kind":"shell","label":"writes design.py","code":"cat > design.py <<'EOF'\nimport numpy as np, mujoco\nfrom lib import *\ndef P(k, name): # body pos fn\n b = k.m.body(name).id\n return lambda d: d.xpos[b].copy()\ndef mk(k):\n pel = k.pel; la, ra = k.b[\"left\"], k.b[\"right\"]\n leg_bodies = {s: [k.m.body(f\"{s}_{n}\").id for n in (\"hip_yaw_link\",\"hip_pitch_link\",\"hip_roll_link\",\"knee_link\",\"ankle_pitch_link\",\"ankle_roll_link\")] for s in (\"left\",\"right\")}\n return pel, la, ra, leg_bodies\n\ndef plan(k, x0, fl, fr, xp, verbose=True):\n \"\"\"returns list of (name, x, stance dict, support, bal)\"\"\"\n pel, la, ra, LB = mk(k)\n seq = []\n ankL = lambda d: d.xpos[la].copy(); ankR = lambda d: d.xpos[ra].copy()\n pz = lambda d: d.xpos[pel][2]; px = lambda d: d.xpos[pel][0]\n # pelvis upright-ish regularisation\n def upright(wt):\n return lambda d, x: np.r_[x[3:5] * 0].astype(float)\n cL = fl[:2] + [0.04, 0.0]\n x = x0.copy()\n # A1 shift\n x, _ = k.solve(x, {\"left\": fl, \"right\": fr}, com_xy=cL); seq.append((\"A1\", x, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, \"left\", 3.0))\n # A2 lift right foot\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, fr + [0, 0, 0.15], 30)]); seq.append((\"A2\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 1.5))\n # A3 knee high, right ankle behind plane at 1.05\n yR = fr[1]\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[xp - 0.06, yR, 1.07], 30)], mins=[(pz, 1.04, 30)]); seq.append((\"A3\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 2.0))\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[xp + 0.08, yR, 1.07], 30)], mins=[(pz, 1.04, 30)]); seq.append((\"A4\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 1.0))\n frn = np.r_[xp + 0.06, yR, fr[2]]\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, frn + [0.02, 0, 0.04], 30)]); seq.append((\"A5\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 1.5))\n x, _ = k.solve(x, {\"left\": fl, \"right\": frn}, com_xy=cL); seq.append((\"A6\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 0.7))\n cR = frn[:2] + [0.04, 0.0]\n # A7: weight to right foot; pelvis must stay behind plane and low is OK as long as it does not cross\n x, _ = k.solve(x, {\"left\": fl, \"right\": frn}, com_xy=cR, mins=[(lambda d: xp - 0.04 - d.xpos[pel][0], 0, 50)]); seq.append((\"A7\", x, {\"left\": 1.}, {\"right\": 1.0}, \"right\", 3.0))\n return seq\n\nif __name__ == \"__main__\":\n from rcb_rfo import Session\n s = Session(); w = s.world; k = Kin(w); d = w.d\n x0 = k.qpos2x(d.qpos.copy())\n fl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\n xp = fl[0] + 0.37\n seq = plan(k, x0, fl, fr, xp)\n for name, x, *_ in seq:\n dd = k.fk(k.x2qpos(x)); com = k.com()\n print(name, \"pel\", dd.xpos[k.pel].round(3), \"rpy\", x[3:6].round(2), \"ankL\", dd.xpos[k.b['left']].round(3), \"ankR\", dd.xpos[k.b['right']].round(3), \"com\", com.round(3))\n print(\" legs\", x[6:18].round(2), \"torso\", x[18].round(2), \"sc\", k.selfcontacts(k.x2qpos(x))[:3])\nEOF\npython design.py"}],"out":{"text":"A1 pel [-0.224 0.185 1.013] rpy [-0.04 0.01 0.03] ankL [-0.244 0.163 0.065] ankR [-0.244 -0.163 0.065] com [-0.204 0.163 0.929]\n legs [ 0.01 -0.22 -0.19 0.46 -0.25 0.22 -0.01 -0.12 -0.18 0.28 -0.17 0.22] torso 0.01 sc []\nA2 pel [-0.224 0.169 1.076] rpy [-0.35 -0.06 0.01] ankL [-0.244 0.163 0.065] ankR [-0.244 -0.163 0.215] com [-0.204 0.163 0.99 ]\n legs [-0.02 -0.06 0.22 0.33 -0.21 0.13 -0.05 -0.25 0.2 0.68 -0.16 0.22] torso -0.0 sc []\nA3 pel [-0.259 0.145 1.1 ] rpy [-0.62 -0.15 -0.52] ankL [-0.244 0.163 0.065] ankR [ 0.066 -0.163 1.07 ] com [-0.204 0.163 1.084]\n legs [ 0.41 -0.32 0.63 0.34 -0.17 0.01 0.17 -2.7 0.27 2.03 -0.07 0.22] torso -0.02 sc []\nA4 pel [-0.262 0.146 1.098] rpy [-0.6 -0.17 -0.38] ankL [-0.244 0.163 0.065] ankR [ 0.206 -0.163 1.07 ] com [-0.204 0.163 1.083]\n legs [ 0.32 -0.21 0.61 0.34 -0.18 0.02 0.12 -2.45 0.2 1.69 -0.09 0.22] torso -0.02 sc []\nA5 pel [-0.289 0.171 0.832] rpy [0.04 0.21 0.43] ankL [-0.244 0.163 0.065] ankR [ 0.206 -0.163 0.105] com [-0.204 0.163 0.785]\n legs [-0.13 -1.07 -0.39 1.35 -0.45 0.24 -0.17 -1.28 -0.43 0.8 -0.11 0.22] torso 0.11 sc []\nA6 pel [-0.287 0.16 0.811] rpy [-0.06 0.21 0.36] ankL [-0.244 0.163 0.065] ankR [ 0.186 -0.163 0.065] com [-0.204 0.163 0.762]\n legs [-0.2 -1.13 -0.21 1.52 -0.56 0.22 -0.14 -1.17 -0.28 0.73 0.28 0.24] torso 0.19 sc [('torso_link_sc0', 'right_shoulder_yaw_link_sc0', -0.013)]\nA7 pel [ 0.087 -0.171 0.704\n… (421 characters left out) …\n -0.17 0.22] torso 0.01 sc []\nA2 pel [-0.224 0.169 1.076] rpy [-0.35 -0.06 0.01] ankL [-0.244 0.163 0.065] ankR [-0.244 -0.163 0.215] com [-0.204 0.163 0.99 ]\n legs [-0.02 -0.06 0.22 0.33 -0.21 0.13 -0.05 -0.25 0.2 0.68 -0.16 0.22] torso -0.0 sc []\nA3 pel [-0.259 0.145 1.1 ] rpy [-0.62 -0.15 -0.52] ankL [-0.244 0.163 0.065] ankR [ 0.066 -0.163 1.07 ] com [-0.204 0.163 1.084]\n legs [ 0.41 -0.32 0.63 0.34 -0.17 0.01 0.17 -2.7 0.27 2.03 -0.07 0.22] torso -0.02 sc []\nA4 pel [-0.262 0.146 1.098] rpy [-0.6 -0.17 -0.38] ankL [-0.244 0.163 0.065] ankR [ 0.206 -0.163 1.07 ] com [-0.204 0.163 1.083]\n legs [ 0.32 -0.21 0.61 0.34 -0.18 0.02 0.12 -2.45 0.2 1.69 -0.09 0.22] torso -0.02 sc []\nA5 pel [-0.289 0.171 0.832] rpy [0.04 0.21 0.43] ankL [-0.244 0.163 0.065] ankR [ 0.206 -0.163 0.105] com [-0.204 0.163 0.785]\n legs [-0.13 -1.07 -0.39 1.35 -0.45 0.24 -0.17 -1.28 -0.43 0.8 -0.11 0.22] torso 0.11 sc []\nA6 pel [-0.287 0.16 0.811] rpy [-0.06 0.21 0.36] ankL [-0.244 0.163 0.065] ankR [ 0.186 -0.163 0.065] com [-0.204 0.163 0.762]\n legs [-0.2 -1.13 -0.21 1.52 -0.56 0.22 -0.14 -1.17 -0.28 0.73 0.28 0.24] torso 0.19 sc [('torso_link_sc0', 'right_shoulder_yaw_link_sc0', -0.013)]\nA7 pel [ 0.087 -0.171 0.704] rpy [1.34 1.32 1.23] ankL [-0.244 0.163 0.065] ankR [ 0.186 -0.163 0.065] com [ 0.225 -0.163 0.616]\n legs [-0.41 -1.82 0.43 1.18 -0.88 -0.24 -0.06 -2.54 0.12 1.22 -0.17 -0.24] torso -0.17 sc []","exit":[],"pics":[]},"tok":{"in":173062,"cached":171872,"out":5034,"think":null,"usd":0.141},"sim":{"submit":0,"reset":0}},{"id":45,"t":1477.4,"say":"","calls":[{"kind":"shell","label":"writes design.py","code":"cat > design.py <<'EOF'\nimport numpy as np, mujoco\nfrom lib import *\n\ndef plan(k, x0, fl, fr, xp):\n pel, la, ra = k.pel, k.b[\"left\"], k.b[\"right\"]\n m = k.m\n LB = {s: [m.body(f\"{s}_{n}\").id for n in (\"hip_roll_link\", \"knee_link\", \"ankle_pitch_link\", \"ankle_roll_link\")] for s in (\"left\", \"right\")}\n ankL = lambda d: d.xpos[la].copy(); ankR = lambda d: d.xpos[ra].copy()\n pz = lambda d: d.xpos[pel][2]; px = lambda d: d.xpos[pel][0]\n def att(roll=None, pitch=0.0, yaw=0.0, w=(3, 3, 3)):\n def f(d, x):\n out = []\n if roll is not None: out.append((x[3] - roll) * w[0])\n if pitch is not None: out.append((x[4] - pitch) * w[1])\n if yaw is not None: out.append((x[5] - yaw) * w[2])\n return np.array(out)\n return f\n def ymax(side, lim, wt=50):\n return lambda d: lim - np.abs(d.xpos[LB[side]][:, 1])\n seq = []\n cL = fl[:2] + [0.04, 0.0]\n yR, yL = fr[1], fl[1]\n def add(name, x, s0, s1, bal, T, hold=0.3):\n seq.append(dict(name=name, x=x, s0=s0, s1=s1, bal=bal, T=T, hold=hold))\n x = x0.copy()\n x, _ = k.solve(x, {\"left\": fl, \"right\": fr}, com_xy=cL, extra=att(0)); add(\"A1\", x, {\"left\": .5, \"right\": .5}, {\"left\": 1.0}, \"left\", 3.0)\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, fr + [0, 0, 0.15], 30)], extra=att(None)); add(\"A2\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 1.5)\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[xp - 0.06, yR, 1.07], 30)], mins=[(pz, 1.04, 30)], extra=att(None, None, None, (1, 1, 1))); add(\"A3\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 2.0)\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[xp + 0.08, yR, 1.07], 30)], mins=[(pz, 1.04, 30)], extra=att(None, None, None, (1, 1, 1))); add(\"A4\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 1.0)\n frn = np.r_[xp + 0.02, yR, fr[2]]\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, frn + [0.0, 0, 0.04], 30)], mins=[(lambda d: d.xpos[ra][0] - xp - 0.015, 0, 50)], extra=att(None)); add(\"A5\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 1.5)\n x, _ = k.solve(x, {\"left\": fl, \"right\": frn}, com_xy=cL, extra=att(None)); add(\"A6\", x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", 0.7)\n cR = frn[:2] + [0.04, 0.0]\n behind = lambda d: xp - 0.04 - d.xpos[pel][0]\n x, _ = k.solve(x, {\"left\": fl, \"right\": frn}, com_xy=cR, mins=[(behind, 0, 50)], extra=att(0, None, 0)); add(\"A7\", x, {\"left\": 1.}, {\"right\": 1.0}, \"right\", 3.0)\n x, _ = k.solve(x, {\"right\": frn}, com_xy=cR, targets=[(ankL, fl + [0.05, 0, 0.1], 30)], mins=[(behind, 0, 50)], extra=att(0, None, 0)); add(\"A8\", x, {\"right\": 1.}, {\"right\": 1.0}, \"right\", 1.5)\n x, _ = k.solve(x, {\"right\": frn}, com_xy=cR, mins=[(behind, 0, 50), (pz, 1.095, 50), (lambda d: xp - 0.02 - d.xpos[la][0], 0, 50)], extra=att(None, None, 0)); add(\"A9\", x, {\"right\": 1.}, {\"right\": 1.0}, \"right\", 2.0)\n ahead = lambda d: d.xpos[pel][0] - xp - 0.04\n x, _ = k.solve(x, {\"right\": frn}, com_xy=cR, mins=[(ahead, 0, 50), (pz, 1.095, 50), (lambda d: xp - 0.02 - d.xpos[la][0], 0, 50)], extra=att(None, None, 0)); add(\"A10\", x, {\"right\": 1.}, {\"right\": 1.0}, \"right\", 1.5)\n # trail leg: behind plane high, then over\n yl = lambda lim: (lambda d: lim - np.max(np.abs(d.xpos[LB[\"left\"]][:, 1])))\n x, _ = k.solve(x, {\"right\": frn}, com_xy=cR, targets=[(lambda d: d.xpos[la][[0, 2]], np.r_[xp - 0.08, 1.06], 30)], mins=[(ahead, 0, 50), (yl(0.5), 0, 50)], extra=att(None, None, None, (1, 1, 1))); add(\"A11\", x, {\"right\": 1.}, {\"right\": 1.0}, \"right\", 2.0)\n x, _ = k.solve(x, {\"right\": frn}, com_xy=cR, targets=[(lambda d: d.xpos[la][[0, 2]], np.r_[xp + 0.12, 1.06], 30)], mins=[(ahead, 0, 50), (yl(0.5), 0, 50)], extra=att(None, None, None, (1, 1, 1))); add(\"A12\", x, {\"right\": 1.}, {\"right\": 1.0}, \"right\", 1.5)\n fln = np.r_[frn[0], yL, fl[2]]\n x, _ = k.solve(x, {\"right\": frn}, com_xy=cR, targets=[(ankL, fln + [0, 0, 0.05], 30)], mins=[(lambda d: d.xpos[la][0] - xp - 0.03, 0, 50)], extra=att(None, None, 0)); add(\"A13\", x, {\"right\": 1.}, {\"right\": 1.0}, \"right\", 2.0)\n x, _ = k.solve(x, {\"right\": frn, \"left\": fln}, com_xy=cR, extra=att(0, 0, 0)); add(\"A14\", x, {\"right\": 1.}, {\"right\": 1.0}, \"right\", 0.7)\n cM = (frn[:2] + fln[:2]) / 2 + [0.04, 0]\n x, _ = k.solve(x, {\"right\": frn, \"left\": fln}, com_xy=cM, extra=att(0, 0, 0)); add(\"A15\", x, {\"right\": 1.}, {\"right\": .5, \"left\": .5}, \"right\", 2.0)\n return seq\n\ndef show(k, seq, xp):\n for st in seq:\n x = st[\"x\"]\n dd = k.fk(k.x2qpos(x)); com = k.com()\n print(st[\"name\"], \"pel\", (dd.xpos[k.pel] - [xp, 0, 0]).round(3), \"rpy\", x[3:6].round(2), \"ankL\", (dd.xpos[k.b['left']] - [xp, 0, 0]).round(3), \"ankR\", (dd.xpos[k.b['right']] - [xp, 0, 0]).round(3), \"com\", (com - [xp, 0, 0]).round(3))\n print(\" legs\", x[6:18].round(2), \"torso\", x[18].round(2), \"sc\", k.selfcontacts(k.x2qpos(x))[:3])\n\nif __name__ == \"__main__\":\n from rcb_rfo import Session\n s = Session(); w = s.world; k = Kin(w); d = w.d\n x0 = k.qpos2x(d.qpos.copy())\n fl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\n xp = fl[0] + 0.37\n seq = plan(k, x0, fl, fr, xp)\n show(k, seq, xp)\nEOF\npython design.py"}],"out":{"text":"A1 pel [-0.349 0.187 1.014] rpy [-0. 0. 0.] ankL [-0.37 0.163 0.065] ankR [-0.37 -0.163 0.065] com [-0.33 0.163 0.929]\n legs [ 0.04 -0.15 -0.24 0.35 -0.2 0.23 0.03 -0.14 -0.24 0.35 -0.2 0.23] torso 0.02 sc []\nA2 pel [-0.353 0.171 1.076] rpy [-0.31 -0. 0. ] ankL [-0.37 0.163 0.065] ankR [-0.37 -0.163 0.215] com [-0.33 0.163 0.99 ]\n legs [-0.02 -0.09 0.17 0.24 -0.14 0.14 0. -0.36 0.15 0.74 -0.2 0.23] torso 0.0 sc []\nA3 pel [-0.385 0.147 1.103] rpy [-0.62 -0.11 -0.52] ankL [-0.37 0.163 0.065] ankR [-0.06 -0.163 1.07 ] com [-0.33 0.163 1.087]\n legs [ 0.41 -0.33 0.6 0.27 -0.13 0.02 0.17 -2.71 0.23 2.03 -0.12 0.23] torso -0.02 sc []\nA4 pel [-0.389 0.148 1.102] rpy [-0.59 -0.14 -0.37] ankL [-0.37 0.163 0.065] ankR [ 0.08 -0.163 1.07 ] com [-0.33 0.163 1.087]\n legs [ 0.31 -0.21 0.58 0.28 -0.14 0.03 0.13 -2.47 0.16 1.69 -0.14 0.23] torso -0.02 sc []\nA5 pel [-0.406 0.171 0.841] rpy [-0.14 0. 0. ] ankL [-0.37 0.163 0.065] ankR [ 0.02 -0.163 0.105] com [-0.33 0.163 0.792]\n legs [ 0.1 -0.81 -0.14 1.48 -0.67 0.24 0.1 -1.04 -0.15 0.87 -0.15 0.23] torso 0.13 sc []\nA6 pel [-0.405 0.166 0.812] rpy [-0.16 -0. 0. ] ankL [-0.37 0.163 0.065] ankR [ 0.02 -0.163 0.065] com [-0.33 0.163 0.763]\n legs [ 0.1 -0.87 -0.13 1.59 -0.72 0.24 0.11 -0.99 -0.13 0.79 0.2 0.23] torso 0.18 sc [('torso_link_sc0', 'right_shoulder_yaw_link_sc0', -0.009)]\nA7 pel [-0.04 -0.169 0.834] rp\n… (4,141 characters left out) …\n 1.052]\n legs [-0.35 -1.28 0.59 2.03 -0.64 -0.24 0.39 -0.45 -0.75 0.16 0.06 -0.01] torso -0.02 sc []\nA10 pel [ 0.04 -0.164 1.103] rpy [ 0.77 -0.24 0. ] ankL [-0.02 0.464 0.915] ankR [ 0.02 -0.163 0.065] com [ 0.06 -0.163 1.121]\n legs [ 0.13 -1.06 0.95 2.03 -0.64 -0.24 -0.15 0.15 -0.77 0.23 -0.2 -0.01] torso 0.22 sc []\nA11 pel [ 0.04 -0.147 1.101] rpy [ 0.97 -0.19 -0.01] ankL [-0.08 0.5 1.06] ankR [ 0.02 -0.163 0.065] com [ 0.06 -0.163 1.12 ]\n legs [ 0.09 -1.01 1.07 2.03 -0.64 -0.24 -0.13 0.1 -1.05 0.19 -0.16 0.07] torso 0.26 sc []\nA12 pel [ 0.044 -0.153 1.102] rpy [ 0.94 -0.19 -0.28] ankL [0.12 0.5 1.06] ankR [ 0.02 -0.163 0.065] com [ 0.06 -0.163 1.126]\n legs [-0.01 -0.99 1.09 2.03 -0.59 -0.24 -0.01 0.36 -0.96 0.14 -0.16 0.04] torso 0.44 sc []\nA13 pel [-0.02 -0.195 1.007] rpy [ 0.01 0.31 -0. ] ankL [0.027 0.163 0.115] ankR [ 0.02 -0.163 0.065] com [ 0.06 -0.163 0.952]\n legs [-0.39 -0.7 0.42 0.78 -0.55 -0.24 0. -0.31 0.23 -0.24 0.23 -0.24] torso 0.06 sc []\nA14 pel [ 0.02 -0.195 1.019] rpy [-0. 0. 0.] ankL [0.02 0.163 0.065] ankR [ 0.02 -0.163 0.065] com [ 0.06 -0.163 0.975]\n legs [-0.03 -0.11 0.24 0.24 -0.12 -0.24 0.03 0.12 0.24 -0.24 0.12 -0.24] torso -0.01 sc []\nA15 pel [ 0.021 -0.009 1.042] rpy [-0. -0. 0.] ankL [0.02 0.163 0.065] ankR [ 0.02 -0.163 0.065] com [ 0.06 -0. 0.995]\n legs [-0. -0.12 0.01 0.24 -0.12 -0.01 0. 0.12 0.01 -0.24 0.12 -0.01] torso 0.04 sc []","exit":[],"pics":[]},"tok":{"in":179279,"cached":173060,"out":5900,"think":null,"usd":0.1837},"sim":{"submit":0,"reset":0}},{"id":46,"t":1528.3,"say":"","calls":[{"kind":"shell","label":"writes run1.py","code":"cat > run1.py <<'EOF'\nimport numpy as np, sys, mujoco\nfrom rcb_rfo import Session\nfrom lib import *\nfrom design import plan, show\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nx0 = k.qpos2x(d.qpos.copy())\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nxp = fl[0] + 0.37\nseq = plan(k, x0, fl, fr, xp)\ndrv = Driver(s, k); drv.cur_x = x0.copy()\ndrv.kp[:12] = np.array([600, 600, 600, 600, 60, 60] * 2); drv.kd[:12] = np.array([6]*4 + [2]*2) .tolist()*2\ndrv.gain = (1500, 300, 300, 60, 5, 1, 0, 0)\npts = {\"pel\": k.pel, \"L\": k.b[\"left\"], \"R\": k.b[\"right\"]}\nprev = {n: d.xpos[b].copy() for n, b in pts.items()}\ncross = []\ndef cb(i):\n for n, b in pts.items():\n p = d.xpos[b].copy()\n if prev[n][0] < xp <= p[0]: cross.append((n, round(w.t, 2), p.round(3)))\n prev[n] = p\ndrv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\nfor st in seq:\n drv.bal = st[\"bal\"]\n T = st[\"T\"] * float(sys.argv[1]) if len(sys.argv) > 1 else st[\"T\"]\n done = drv.move(st[\"x\"], T, st[\"s0\"], st[\"s1\"], hold=st[\"hold\"], cb=cb)\n dd = k.fk(k.x2qpos(st[\"x\"]))\n print(st[\"name\"], round(w.t, 2), \"pel\", (w.pelvis()[:3] - [xp, 0, 0]).round(3), \"plan\", (dd.xpos[k.pel] - [xp, 0, 0]).round(3), \"e\", drv.ev[0].round(3), \"L\", (d.xpos[k.b['left']] - [xp, 0, 0]).round(3), \"R\", (d.xpos[k.b['right']] - [xp, 0, 0]).round(3), s.status()['failed'])\n if done or w.pelvis()[2] < 0.6: break\nprint(cross)\nEOF\npython run1.py"}],"out":{"text":"A1 3.6 pel [-0.353 0.201 1.003] plan [-0.349 0.187 1.014] e [0. 0.006 0.01 ] L [-0.374 0.168 0.046] R [-0.371 -0.235 0.087] None\nA2 5.4 pel [-0.357 0.172 1.055] plan [-0.353 0.171 1.076] e [-0. 0. -0.001] L [-0.374 0.164 0.044] R [-0.378 -0.156 0.192] None\nA3 7.7 pel [-0.39 0.149 1.082] plan [-0.385 0.147 1.103] e [-0. 0. -0.] L [-0.375 0.165 0.044] R [-0.066 -0.162 1.049] None\nA4 9.0 pel [-0.394 0.15 1.081] plan [-0.389 0.148 1.102] e [-0. -0. -0.] L [-0.375 0.165 0.044] R [ 0.073 -0.164 1.048] None\nA5 10.8 pel [-0.294 0.483 0.818] plan [-0.406 0.171 0.841] e [0.084 0.25 0.021] L [-0.378 0.179 0.056] R [-0.555 -0.36 1.06 ] None\nA6 11.02 pel [-0.213 0.612 0.632] plan [-0.405 0.166 0.812] e [ 0.22 0.474 -0.172] L [-0.455 0.121 0.11 ] R [-0.602 0.417 1.437] left the lane\n[('R', 6.44, array([ 0.128, -0.238, 0.634])), ('R', 8.2, array([ 0.129, -0.164, 1.05 ]))]\n\n[stdout]\nA1 3.6 pel [-0.353 0.201 1.003] plan [-0.349 0.187 1.014] e [0. 0.006 0.01 ] L [-0.374 0.168 0.046] R [-0.371 -0.235 0.087] None\nA2 5.4 pel [-0.357 0.172 1.055] plan [-0.353 0.171 1.076] e [-0. 0. -0.001] L [-0.374 0.164 0.044] R [-0.378 -0.156 0.192] None\nA3 7.7 pel [-0.39 0.149 1.082] plan [-0.385 0.147 1.103] e [-0. 0. -0.] L [-0.375 0.165 0.044] R [-0.066 -0.162 1.049] None\nA4 9.0 pel [-0.394 0.15 1.081] plan [-0.389 0.148 1.102] e [-0. -0. -0.] L [-0.375 0.165 0.044] R [ 0.073 -0.164 1.048] None\nA5 10.8 pel [-0.294 0.483 0.818] plan [-0.406 0.171 0.841] e [0.084 0.25 0.021] L [-0.378 0.179 0.056] R [-0.555 -0.36 1.06 ] None\nA6 11.02 pel [-0.213 0.612 0.632] plan [-0.405 0.166 0.812] e [ 0.22 0.474 -0.172] L [-0.455 0.121 0.11 ] R [-0.602 0.417 1.437] left the lane\n[('R', 6.44, array([ 0.128, -0.238, 0.634])), ('R', 8.2, array([ 0.129, -0.164, 1.05 ]))]","exit":[],"pics":[]},"tok":{"in":187655,"cached":179277,"out":1439,"think":null,"usd":0.1065},"sim":{"submit":0,"reset":0}},{"id":47,"t":1585.5,"say":"","calls":[{"kind":"shell","label":"src=open('design.py').read()","code":"python - <<'EOF'\nsrc=open('design.py').read()\nold=src[src.index(' x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[xp - 0.06'):src.index(' x, _ = k.solve(x, {\"left\": fl, \"right\": frn}, com_xy=cL, extra=att(None)); add(\"A6\"')]\nnew=''' hz = [(pz, 1.04, 30)]\n for nm, tgt, T in [(\"A2b\", (xp - 0.30, 0.55), 1.0), (\"A2c\", (xp - 0.15, 0.9), 1.0), (\"A3\", (xp - 0.06, 1.07), 1.0), (\"A4\", (xp + 0.08, 1.07), 1.0)]:\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[tgt[0], yR, tgt[1]], 30)], mins=hz if tgt[1] > 1 else [], extra=att(None, None, None, (1, 1, 1))); add(nm, x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", T)\n frn = np.r_[xp + 0.03, yR, fr[2]]\n hi = [(pz, 0.93, 30), (lambda d: d.xpos[ra][0] - xp - 0.02, 0, 50)]\n for nm, tgt, T in [(\"A4b\", (xp + 0.10, 0.8), 1.0), (\"A4c\", (xp + 0.07, 0.45), 1.0), (\"A5\", (xp + 0.03, 0.04 + fr[2]), 1.0)]:\n x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[tgt[0], yR, tgt[1]], 30)], mins=hi, extra=att(None)); add(nm, x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", T)\n'''\nsrc=src.replace(old,new)\nopen('design.py','w').write(src)\nsrc=open('run1.py').read()\nsrc=src.replace('''x0 = k.qpos2x(d.qpos.copy())\nfl, fr''','''drv = Driver(s, k); drv.cur_x = k.qpos2x(d.qpos.copy())\ndrv.kp[:12] = np.array([600, 600, 600, 600, 60, 60] * 2); drv.kd[:12] = np.array([6]*4 + [2]*2) .tolist()*2\ndrv.move(drv.cur_x.copy(), 0.01, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5}, hold=0.5)\nx0 = k.qpos2x(d.qpos.copy()); x0[6:] = drv.cur_x[6:]\nfl, fr''')\nsrc=src.replace('''drv = Driver(s, k); drv.cur_x = x0.copy()\ndrv.kp[:12] = np.array([600, 600, 600, 600, 60, 60] * 2); drv.kd[:12] = np.array([6]*4 + [2]*2) .tolist()*2\ndrv.gain''','drv.gain')\nsrc=src.replace('drv.move(x0, 0.3, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5})\\n','')\nopen('run1.py','w').write(src)\nEOF\npython run1.py"}],"out":{"text":"A1 3.81 pel [-0.349 0.201 1.003] plan [-0.349 0.188 0.994] e [0. 0.006 0.01 ] L [-0.37 0.167 0.046] R [-0.367 -0.233 0.086] None\nA2 5.61 pel [-0.354 0.172 1.055] plan [-0.353 0.171 1.056] e [-0. 0. -0.001] L [-0.37 0.164 0.044] R [-0.374 -0.156 0.192] None\nA2b 6.91 pel [-0.348 0.243 1.09 ] plan [-0.351 0.157 1.067] e [-0. 0.066 0.011] L [-0.367 0.178 0.052] R [-0.306 -0.257 0.743] None\nA2c 7.68 pel [0.006 0.612 0.762] plan [-0.315 0.191 1.008] e [ 0.163 0.475 -0.278] L [-0.268 0.007 0.17 ] R [0.125 0.698 1.16 ] left the lane\n[('R', 7.6, array([0.148, 0.412, 1.325])), ('pel', 7.68, array([0.128, 0.611, 0.764]))]\n\n[stdout]\nA1 3.81 pel [-0.349 0.201 1.003] plan [-0.349 0.188 0.994] e [0. 0.006 0.01 ] L [-0.37 0.167 0.046] R [-0.367 -0.233 0.086] None\nA2 5.61 pel [-0.354 0.172 1.055] plan [-0.353 0.171 1.056] e [-0. 0. -0.001] L [-0.37 0.164 0.044] R [-0.374 -0.156 0.192] None\nA2b 6.91 pel [-0.348 0.243 1.09 ] plan [-0.351 0.157 1.067] e [-0. 0.066 0.011] L [-0.367 0.178 0.052] R [-0.306 -0.257 0.743] None\nA2c 7.68 pel [0.006 0.612 0.762] plan [-0.315 0.191 1.008] e [ 0.163 0.475 -0.278] L [-0.268 0.007 0.17 ] R [0.125 0.698 1.16 ] left the lane\n[('R', 7.6, array([0.148, 0.412, 1.325])), ('pel', 7.68, array([0.128, 0.611, 0.764]))]","exit":[],"pics":[]},"tok":{"in":189705,"cached":187653,"out":2203,"think":null,"usd":0.0918},"sim":{"submit":0,"reset":0}},{"id":48,"t":1642.1,"say":"","calls":[{"kind":"shell","label":"python run1.py 2","code":"python run1.py 2"}],"out":{"text":"A1 6.81 pel [-0.349 0.198 0.998] plan [-0.349 0.188 0.994] e [0. 0.005 0.005] L [-0.37 0.168 0.045] R [-0.375 -0.177 0.06 ] None\nA2 10.11 pel [-0.354 0.174 1.055] plan [-0.353 0.171 1.056] e [-0. 0. 0.] L [-0.37 0.165 0.044] R [-0.374 -0.161 0.195] None\nA2b 12.41 pel [-0.347 0.234 1.089] plan [-0.351 0.157 1.067] e [0.002 0.056 0.011] L [-0.369 0.18 0.053] R [-0.305 -0.237 0.705] None\nA2c 13.3 pel [-0.093 0.615 0.815] plan [-0.315 0.191 1.008] e [ 0.033 0.237 -0.186] L [-0.353 0.211 0.058] R [0.033 0.262 1.223] left the lane\n[('R', 13.27, array([0.126, 0.173, 1.211]))]\n\n[stdout]\nA1 6.81 pel [-0.349 0.198 0.998] plan [-0.349 0.188 0.994] e [0. 0.005 0.005] L [-0.37 0.168 0.045] R [-0.375 -0.177 0.06 ] None\nA2 10.11 pel [-0.354 0.174 1.055] plan [-0.353 0.171 1.056] e [-0. 0. 0.] L [-0.37 0.165 0.044] R [-0.374 -0.161 0.195] None\nA2b 12.41 pel [-0.347 0.234 1.089] plan [-0.351 0.157 1.067] e [0.002 0.056 0.011] L [-0.369 0.18 0.053] R [-0.305 -0.237 0.705] None\nA2c 13.3 pel [-0.093 0.615 0.815] plan [-0.315 0.191 1.008] e [ 0.033 0.237 -0.186] L [-0.353 0.211 0.058] R [0.033 0.262 1.223] left the lane\n[('R', 13.27, array([0.126, 0.173, 1.211]))]","exit":[],"pics":[]},"tok":{"in":192347,"cached":189703,"out":285,"think":null,"usd":0.0569},"sim":{"submit":0,"reset":0}},{"id":49,"t":1695.1,"say":"","calls":[{"kind":"shell","label":"sed -i 's/^drv.gain = (1500, 300, 300, 60, 5, 1, 0, 0)/drv.gain = tuple(float(a) for a in sys.argv[2:10]) if l","code":"sed -i 's/^drv.gain = (1500, 300, 300, 60, 5, 1, 0, 0)/drv.gain = tuple(float(a) for a in sys.argv[2:10]) if len(sys.argv) > 2 else (1500, 300, 300, 60, 5, 1, 0, 0)/' run1.py\nsed -i 's/ if done or w.pelvis()\\[2\\] < 0.6: break/ if done or w.pelvis()[2] < 0.6 or st[\"name\"] == STOP: break/' run1.py\nsed -i 's/^seq = plan(k, x0, fl, fr, xp)/seq = plan(k, x0, fl, fr, xp)\\nimport os; STOP = os.environ.get(\"STOP\", \"\")/' run1.py\nfor g in \"1500 300 300 60 15 3 0 0\" \"1500 300 300 60 30 5 0 0\" \"1500 300 600 100 15 3 0 0\"; do echo \"== $g\"; STOP=A3 python run1.py 1 $g 2>&1 | grep -v \"^ \" | tail -5; done"}],"out":{"text":"Command did not complete within its 120s timeout and was moved to the background (ID: bu9yqlm9t). Output is being written to: /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bu9yqlm9t.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.","exit":[],"pics":[]},"tok":{"in":193037,"cached":192345,"out":881,"think":null,"usd":0.0595},"sim":{"submit":0,"reset":0}},{"id":50,"t":1820.5,"say":"","calls":[{"kind":"shell","label":"sleep 60; cat /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bu9yqlm9t.output; date","code":"sleep 60; cat /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bu9yqlm9t.output; date"}],"out":{"text":"== 1500 300 300 60 15 3 0 0\nA1 3.81 pel [-0.35 0.224 1.004] plan [-0.349 0.188 0.994] e [0.002 0.002 0.007] L [-0.373 0.188 0.051] R [-0.395 -0.21 0.085] None\nA2 5.61 pel [-0.346 0.279 1.091] plan [-0.353 0.171 1.056] e [0.009 0.042 0.035] L [-0.382 0.207 0.052] R [-0.686 -0.453 0.643] None\nA2b 6.68 pel [-0.141 0.617 0.742] plan [-0.351 0.157 1.067] e [ 0.132 0.318 -0.411] L [-0.317 0.256 0.157] R [-0.085 0.762 1.333] left the lane\n[]\n== 1500 300 300 60 30 5 0 0\nA1 3.81 pel [-0.35 0.221 1.004] plan [-0.349 0.188 0.994] e [0.002 0.002 0.007] L [-0.373 0.187 0.05 ] R [-0.394 -0.204 0.082] None\nA2 5.61 pel [-0.375 0.273 1.052] plan [-0.353 0.171 1.056] e [0.018 0.035 0.011] L [-0.437 0.204 0.047] R [-1.104 -0.282 0.936] None\nA2b 6.63 pel [-0.298 0.611 0.711] plan [-0.351 0.157 1.067] e [ 0.145 0.507 -0.535] L [-0.489 0.042 0.27 ] R [-0.399 0.945 1.211] left the lane\n[]\n== 1500 300 600 100 15 3 0 0\nA1 3.81 pel [-0.35 0.208 1.002] plan [-0.349 0.188 0.994] e [0.001 0.004 0.008] L [-0.372 0.176 0.045] R [-0.389 -0.203 0.077] None\nA2 5.61 pel [-0.356 0.192 1.054] plan [-0.353 0.171 1.056] e [-0. 0. -0.001] L [-0.374 0.181 0.044] R [-0.414 -0.136 0.193] None\nA2b 6.91 pel [-0.347 0.241 1.057] plan [-0.351 0.157 1.067] e [ 0.004 0.053 -0.018] L [-0.37 0.188 0.049] R [-0.373 -0.361 0.96 ] None\nA2c 7.74 pel [0.058 0.614 0.6 ] plan [-0.315 0.191 1.008] e [ 0.387 0.685 -0.56 ] L [-0.439 -0.153 0.334] R [0.\n… (349 characters left out) …\n2 5.61 pel [-0.346 0.279 1.091] plan [-0.353 0.171 1.056] e [0.009 0.042 0.035] L [-0.382 0.207 0.052] R [-0.686 -0.453 0.643] None\nA2b 6.68 pel [-0.141 0.617 0.742] plan [-0.351 0.157 1.067] e [ 0.132 0.318 -0.411] L [-0.317 0.256 0.157] R [-0.085 0.762 1.333] left the lane\n[]\n== 1500 300 300 60 30 5 0 0\nA1 3.81 pel [-0.35 0.221 1.004] plan [-0.349 0.188 0.994] e [0.002 0.002 0.007] L [-0.373 0.187 0.05 ] R [-0.394 -0.204 0.082] None\nA2 5.61 pel [-0.375 0.273 1.052] plan [-0.353 0.171 1.056] e [0.018 0.035 0.011] L [-0.437 0.204 0.047] R [-1.104 -0.282 0.936] None\nA2b 6.63 pel [-0.298 0.611 0.711] plan [-0.351 0.157 1.067] e [ 0.145 0.507 -0.535] L [-0.489 0.042 0.27 ] R [-0.399 0.945 1.211] left the lane\n[]\n== 1500 300 600 100 15 3 0 0\nA1 3.81 pel [-0.35 0.208 1.002] plan [-0.349 0.188 0.994] e [0.001 0.004 0.008] L [-0.372 0.176 0.045] R [-0.389 -0.203 0.077] None\nA2 5.61 pel [-0.356 0.192 1.054] plan [-0.353 0.171 1.056] e [-0. 0. -0.001] L [-0.374 0.181 0.044] R [-0.414 -0.136 0.193] None\nA2b 6.91 pel [-0.347 0.241 1.057] plan [-0.351 0.157 1.067] e [ 0.004 0.053 -0.018] L [-0.37 0.188 0.049] R [-0.373 -0.361 0.96 ] None\nA2c 7.74 pel [0.058 0.614 0.6 ] plan [-0.315 0.191 1.008] e [ 0.387 0.685 -0.56 ] L [-0.439 -0.153 0.334] R [0.158 0.661 0.998] left the lane\n[('R', 7.6, array([0.13 , 0.389, 1.32 ])), ('pel', 7.67, array([0.126, 0.547, 0.765]))]\n\n[exited with code 0]\nThu Oct 15 18:57:15 UTC 2026","exit":[],"pics":[]},"tok":{"in":194096,"cached":193035,"out":176,"think":null,"usd":0.0474},"sim":{"submit":0,"reset":0}},{"id":51,"t":1889.6,"say":"","calls":[{"kind":"shell","label":"src=open('run1.py').read()","code":"python - <<'EOF'\nsrc=open('run1.py').read()\nsrc=src.replace('seq = plan(k, x0, fl, fr, xp)\\n','''import pickle, os.path\nif os.path.exists(\"plan.pkl\") and not os.environ.get(\"REPLAN\"): seq = pickle.load(open(\"plan.pkl\", \"rb\"))\nelse:\n seq = plan(k, x0, fl, fr, xp); pickle.dump(seq, open(\"plan.pkl\", \"wb\"))\n''')\nsrc=src.replace('''def cb(i):\n''','''def cb(i):\n if os.environ.get(\"VERB\") and i % 20 == 0: print(\" \", round(w.t, 2), drv.ev[0].round(3), drv.ev[1].round(3))\n''')\nopen('run1.py','w').write(src)\nEOF\nREPLAN=1 STOP=A1 python run1.py 1 1500 300 600 100 15 3 0 0 | tail -1; STOP=A2b VERB=1 python run1.py 1 1500 300 600 100 15 3 0 0 | tail -12"}],"out":{"text":"[]\n 5.22 [-0.001 0.001 0.001] [-0.001 -0. -0.005]\n 5.42 [-0. 0. -0.] [ 0.002 -0.001 -0.007]\nA2 5.61 pel [-0.356 0.192 1.054] plan [-0.353 0.171 1.056] e [-0. 0. -0.001] L [-0.374 0.181 0.044] R [-0.414 -0.136 0.193] None\n 5.62 [-0. 0. -0.001] [0. 0. 0.]\n 5.82 [-0.002 -0.001 -0.004] [-0.015 -0.006 -0.031]\n 6.02 [-0.002 -0.001 -0.007] [0.015 0.005 0.02 ]\n 6.22 [ 0.003 -0. 0.005] [ 0.024 -0.029 0.03 ]\n 6.42 [0.004 0.012 0.015] [-0.014 0.052 0.04 ]\n 6.62 [-0.001 0.028 0.001] [-0.012 0.091 -0.034]\n 6.82 [ 0.001 0.045 -0.008] [ 0.032 0.086 -0.089]\nA2b 6.91 pel [-0.347 0.241 1.057] plan [-0.351 0.157 1.067] e [ 0.004 0.053 -0.018] L [-0.37 0.188 0.049] R [-0.373 -0.361 0.96 ] None\n[]\n\n[stdout]\n[]\n 5.22 [-0.001 0.001 0.001] [-0.001 -0. -0.005]\n 5.42 [-0. 0. -0.] [ 0.002 -0.001 -0.007]\nA2 5.61 pel [-0.356 0.192 1.054] plan [-0.353 0.171 1.056] e [-0. 0. -0.001] L [-0.374 0.181 0.044] R [-0.414 -0.136 0.193] None\n 5.62 [-0. 0. -0.001] [0. 0. 0.]\n 5.82 [-0.002 -0.001 -0.004] [-0.015 -0.006 -0.031]\n 6.02 [-0.002 -0.001 -0.007] [0.015 0.005 0.02 ]\n 6.22 [ 0.003 -0. 0.005] [ 0.024 -0.029 0.03 ]\n 6.42 [0.004 0.012 0.015] [-0.014 0.052 0.04 ]\n 6.62 [-0.001 0.028 0.001] [-0.012 0.091 -0.034]\n 6.82 [ 0.001 0.045 -0.008] [ 0.032 0.086 -0.089]\nA2b 6.91 pel [-0.347 0.241 1.057] plan [-0.351 0.157 1.067] e [ 0.004 0.053 -0.018] L [-0.37 0.188 0.049] R [-0.373 -0.361 0.96 ] None\n[]","exit":[],"pics":[]},"tok":{"in":196054,"cached":194094,"out":1011,"think":null,"usd":0.0688},"sim":{"submit":0,"reset":0}},{"id":52,"t":1950.8,"say":"","calls":[{"kind":"shell","label":"writes showplan.py","code":"cat > showplan.py <<'EOF'\nimport pickle, numpy as np\nfrom rcb_rfo import Session\nfrom lib import *\ns = Session(); w = s.world; k = Kin(w)\nseq = pickle.load(open(\"plan.pkl\", \"rb\"))\nxp = -0.244 + 0.37\nfor st in seq:\n x = st[\"x\"]; dd = k.fk(k.x2qpos(x))\n print(st[\"name\"], \"pel\", (dd.xpos[k.pel] - [xp, 0, 0]).round(3), \"rpy\", x[3:6].round(2), \"L\", (dd.xpos[k.b['left']] - [xp, 0, 0]).round(3), \"R\", (dd.xpos[k.b['right']] - [xp, 0, 0]).round(3), \"legs\", x[6:18].round(2), \"arms\", x[19:].round(1))\nEOF\npython showplan.py 2>&1 | head -8"}],"out":{"text":"A1 pel [-0.353 0.188 0.994] rpy [-0. 0. 0.] L [-0.374 0.163 0.045] R [-0.374 -0.162 0.045] legs [ 0.04 -0.15 -0.24 0.35 -0.2 0.23 0.03 -0.14 -0.24 0.35 -0.2 0.23] arms [ 0. 0. 0. 0. 0. 0. 0. -0. 0. 0. 0. 0. 0. 0.]\nA2 pel [-0.357 0.171 1.056] rpy [-0.31 -0. 0. ] L [-0.374 0.163 0.045] R [-0.374 -0.162 0.195] legs [-0.02 -0.09 0.17 0.23 -0.14 0.14 0. -0.36 0.15 0.74 -0.2 0.23] arms [ 0. -0. -0. 0. 0. 0. -0. 0. -0. -0. 0. 0. 0. -0.]\nA2b pel [-0.354 0.157 1.067] rpy [-0.52 -0.26 0.31] L [-0.374 0.163 0.045] R [-0.304 -0.162 0.55 ] legs [-0.16 0.35 0.36 0.21 -0.19 0.09 -0.19 -0.62 0.39 1.94 -0.15 0.23] arms [ 0. -0. -0. 0. 0. 0. -0. 0. -0. -0. 0. 0. 0. -0.]\nA2c pel [-0.318 0.191 1.008] rpy [-1.47 -0.03 1.76] L [-0.374 0.163 0.045] R [-0.154 -0.162 0.9 ] legs [-0.4 1.8 1.06 0.09 -0.29 0.11 -0.41 0.61 0.41 2.03 0.1 0.23] arms [ 0.3 -0. -0. 0. 0. 0. -0. 0.3 -0.1 -0. 0.1 0. 0. -0. ]\nA3 pel [-0.323 0.193 1.04 ] rpy [-1.31 0.22 1.86] L [-0.374 0.163 0.045] R [-0.064 -0.162 1.07 ] legs [-0.37 1.81 1.43 -0.14 -0.14 0.06 -0.27 0.51 0.34 2.03 0.1 0.23] arms [ 0.3 -0. -0. 0.1 0. 0. -0. 0.3 -0.1 -0. 0.1 0. 0. -0. ]\nA4 pel [-0.331 0.189 1.04 ] rpy [-1.31 0.25 1.93] L [-0.374 0.163 0.045] R [ 0.076 -0.162 1.07 ] legs [-0.39 1.87 1.46 -0.15 -0.13 0.06 -0.22 0.37 0.28 1.84 0.09 0.23] arms [ 0.3 -0. -0. 0. 0. 0. -0. 0.3 -0.1 -0. 0. 0\n… (1,081 characters left out) …\n0.31] L [-0.374 0.163 0.045] R [-0.304 -0.162 0.55 ] legs [-0.16 0.35 0.36 0.21 -0.19 0.09 -0.19 -0.62 0.39 1.94 -0.15 0.23] arms [ 0. -0. -0. 0. 0. 0. -0. 0. -0. -0. 0. 0. 0. -0.]\nA2c pel [-0.318 0.191 1.008] rpy [-1.47 -0.03 1.76] L [-0.374 0.163 0.045] R [-0.154 -0.162 0.9 ] legs [-0.4 1.8 1.06 0.09 -0.29 0.11 -0.41 0.61 0.41 2.03 0.1 0.23] arms [ 0.3 -0. -0. 0. 0. 0. -0. 0.3 -0.1 -0. 0.1 0. 0. -0. ]\nA3 pel [-0.323 0.193 1.04 ] rpy [-1.31 0.22 1.86] L [-0.374 0.163 0.045] R [-0.064 -0.162 1.07 ] legs [-0.37 1.81 1.43 -0.14 -0.14 0.06 -0.27 0.51 0.34 2.03 0.1 0.23] arms [ 0.3 -0. -0. 0.1 0. 0. -0. 0.3 -0.1 -0. 0.1 0. 0. -0. ]\nA4 pel [-0.331 0.189 1.04 ] rpy [-1.31 0.25 1.93] L [-0.374 0.163 0.045] R [ 0.076 -0.162 1.07 ] legs [-0.39 1.87 1.46 -0.15 -0.13 0.06 -0.22 0.37 0.28 1.84 0.09 0.23] arms [ 0.3 -0. -0. 0. 0. 0. -0. 0.3 -0.1 -0. 0. 0. 0. -0. ]\nA4b pel [-0.372 0.133 1.09 ] rpy [-0.82 -0. 0. ] L [-0.374 0.163 0.045] R [ 0.096 -0.162 0.8 ] legs [ 0.08 0.07 0.86 -0.23 0.12 -0.05 0.11 -1.98 0.34 1.66 0.1 0.23] arms [ 0.3 -0.1 -0. 0.1 0. 0. -0. 0.3 -0.1 -0. 0.1 0. 0. -0. ]\nA4c pel [-0.372 0.159 1.077] rpy [-0.48 0. 0. ] L [-0.374 0.163 0.045] R [ 0.066 -0.162 0.45 ] legs [ 0.05 0.11 0.4 -0.24 0.12 0.08 0.17 -1.24 0.15 1.05 0.06 0.23] arms [ 0.3 -0.1 -0. 0.1 0. 0. -0. 0.4 -0.1 -0. 0.1 0. 0. -0. ]","exit":[],"pics":[]},"tok":{"in":197597,"cached":196052,"out":627,"think":null,"usd":0.0595},"sim":{"submit":0,"reset":0}},{"id":53,"t":1972.7,"say":"","calls":[{"kind":"shell","label":"src=open('design.py').read()","code":"python - <<'EOF'\nsrc=open('design.py').read()\nsrc=src.replace('extra=att(None, None, None, (1, 1, 1))','extra=att(-0.4, 0, 0, (0.5, 1, 1))')\nsrc=src.replace('extra=att(None)','extra=att(None, 0, 0, (1, 1, 1))')\nopen('design.py','w').write(src)\nsrc=open('lib.py').read()\nsrc=src.replace(''' if len(sides) == 1: q[o + 2] += g[4] * e[1] + g[5] * v[1]''',''' if len(sides) == 1:\n self.ie = getattr(self, \"ie\", 0.0) + e[1] * 0.01\n q[o + 2] += g[4] * e[1] + g[5] * v[1] + g[6] * self.ie''')\nsrc=src.replace(\"q[o + 4] += g[6] * e[0] + g[7] * v[0]\",\"pass\")\nopen('lib.py','w').write(src)\nEOF\ngrep -n \"ie\" lib.py | head; REPLAN=1 STOP=A1 python run1.py 1 1500 300 600 100 15 3 0 0 | tail -1; python showplan.py | cut -c1-150"}],"out":{"text":"173: self.ie = getattr(self, \"ie\", 0.0) + e[1] * 0.01\n174: q[o + 2] += g[4] * e[1] + g[5] * v[1] + g[6] * self.ie\n[]\nA1 pel [-0.353 0.188 0.994] rpy [-0. 0. 0.] L [-0.374 0.163 0.045] R [-0.374 -0.162 0.045] legs [ 0.04 -0.15 -0.24 0.35 -0.2 0.23 0.03 -0.1\nA2 pel [-0.357 0.171 1.056] rpy [-0.31 -0. 0. ] L [-0.374 0.163 0.045] R [-0.374 -0.162 0.195] legs [-0.02 -0.09 0.17 0.23 -0.14 0.14 0. \nA2b pel [-0.374 0.161 1.073] rpy [-0.4 -0. 0. ] L [-0.374 0.163 0.045] R [-0.304 -0.162 0.55 ] legs [-0.02 -0.06 0.3 0.13 -0.07 0.1 -0.01 \nA2c pel [-0.406 0.172 0.761] rpy [-0.38 0.03 -0.2 ] L [-0.374 0.163 0.045] R [-0.152 -0.163 0.9 ] legs [-0.09 -1.01 0.33 1.81 -0.88 0.19 -0.\nA3 pel [-0.399 0.17 1.04 ] rpy [-0.33 0.04 -0.05] L [-0.374 0.163 0.045] R [-0.063 -0.162 1.07 ] legs [-0.02 -0.33 0.2 0.49 -0.21 0.14 -0.4\nA4 pel [-0.409 0.164 1.048] rpy [-0.4 -0. 0. ] L [-0.374 0.163 0.045] R [ 0.076 -0.162 1.07 ] legs [-0.08 -0.28 0.3 0.5 -0.21 0.11 -0.31 -\nA4b pel [-0.42 0.181 1.023] rpy [-0.27 0. 0. ] L [-0.374 0.163 0.045] R [ 0.096 -0.162 0.8 ] legs [-0.04 -0.34 0.11 0.56 -0.22 0.17 -0.\nA4c pel [-0.426 0.203 0.969] rpy [-0.11 0. 0. ] L [-0.374 0.163 0.045] R [ 0.066 -0.162 0.45 ] legs [ 0.06 -0.43 -0.15 0.72 -0.28 0.24 -0.\nA5 pel [-0.353 0.204 0.93 ] rpy [-0.19 -0. 0. ] L [-0.374 0.163 0.045] R [ 0.026 -0.162 0.085] legs [ 0.03 -0.49 -0.06 \n… (3,073 characters left out) …\n0.343 0.194 0.883] rpy [-0.19 -0. -0. ] L [-0.374 0.163 0.045] R [ 0.026 -0.162 0.045] legs [ 0.03 -0.58 -0.06 1.26 -0.67 0.24 0.0\nA7 pel [-0.044 -0.156 0.738] rpy [ 0. 1.52 -0. ] L [-0.374 0.163 0.045] R [ 0.026 -0.162 0.045] legs [ 0.29 -1.73 -0.07 0.89 -0.68 -0.22 0.2\nA8 pel [-0.047 -0.156 0.789] rpy [-0. 1.41 0. ] L [-0.324 0.163 0.145] R [ 0.026 -0.162 0.045] legs [ 0.36 -1.87 -0.12 1.23 -0.68 -0.22 0.2\nA9 pel [-0.038 -0.136 1.088] rpy [0.74 0.21 0.07] L [-0.023 0.441 0.821] R [ 0.026 -0.162 0.047] legs [-0.41 -1.23 0.61 2.03 0.23 -0.24 0.2 -\nA10 pel [ 0.036 -0.14 1.095] rpy [ 0.76 -0.08 -0. ] L [-0.101 0.461 0.915] R [ 0.026 -0.162 0.045] legs [ 0.12 -0.95 0.96 2.03 0.24 -0.24 -0.\nA11 pel [ 0.057 -0.171 0.974] rpy [-0.17 -0. -0.01] L [-0.084 0.231 1.06 ] R [ 0.026 -0.162 0.045] legs [-0.41 0.5 2.43 2.03 0.5 -0.16 0.\nA12 pel [ 0.039 -0.172 0.966] rpy [-0.19 0.09 -0.23] L [0.116 0.253 1.061] R [ 0.026 -0.163 0.045] legs [-0.41 1.04 1.75 2.03 0.5 0.14 0.25 \nA13 pel [ 0.095 -0.158 0.946] rpy [-0.14 -0.5 0. ] L [0.026 0.163 0.095] R [ 0.026 -0.162 0.045] legs [ 0.12 0.14 0.51 0.95 0.43 0.14 0.12 \nA14 pel [ 0.069 -0.141 1.01 ] rpy [-0. -0. -0.] L [0.026 0.163 0.045] R [ 0.026 -0.162 0.045] legs [-0.01 -0.05 0.17 0.21 -0.16 -0.17 0.03 0.16 \nA15 pel [0.069 0.048 1.022] rpy [-0. 0. -0.] L [0.026 0.163 0.045] R [ 0.026 -0.162 0.045] legs [ 0. -0.05 -0.06 0.21 -0.16 0.06 -0.01 0.16 -0.","exit":[],"pics":[]},"tok":{"in":199698,"cached":197595,"out":1630,"think":null,"usd":0.0826},"sim":{"submit":0,"reset":0}},{"id":54,"t":2045.1,"say":"","calls":[{"kind":"shell","label":"src=open('design.py').read()","code":"python - <<'EOF'\nsrc=open('design.py').read()\nsrc=src.replace(\"mins=hz if tgt[1] > 1 else []\",\"mins=hz if tgt[1] > 1 else [(pz, 1.0, 30)]\")\nopen('design.py','w').write(src)\nEOF\nREPLAN=1 STOP=A1 python run1.py 1 1500 300 600 100 15 3 0 0 | tail -1; python showplan.py | cut -c1-110 | sed -n 3,9p\nfor g in \"1500 300 600 100 15 3 0 0\" \"1500 300 600 100 15 3 30 0\" \"1500 300 600 100 5 1 20 0\"; do (STOP=A6 python run1.py 1 $g > out_$(echo $g | tr ' ' _).txt 2>&1 &) ; done; sleep 50; for f in out_*; do echo $f; grep -v \"^ \" $f | tail -9 | cut -c1-200; done"}],"out":{"text":"Command did not complete within its 120s timeout and was moved to the background (ID: bibbflipu). Output is being written to: /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bibbflipu.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.","exit":[],"pics":[]},"tok":{"in":203446,"cached":199696,"out":577,"think":null,"usd":0.0702},"sim":{"submit":0,"reset":0}},{"id":55,"t":2169.5,"say":"","calls":[{"kind":"shell","label":"sleep 30; cat /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bibbflipu.output | cut -c1-220","code":"sleep 30; cat /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bibbflipu.output | cut -c1-220"}],"out":{"text":"[]\nA2b pel [-0.374 0.161 1.073] rpy [-0.4 -0. 0. ] L [-0.374 0.163 0.045] R [-0.304 -0.162 0.55 ] legs [-0\nA2c pel [-0.412 0.203 1. ] rpy [-0.1 0.25 -0.23] L [-0.374 0.163 0.045] R [-0.152 -0.163 0.9 ] legs \nA3 pel [-0.398 0.169 1.04 ] rpy [-0.32 0.04 -0.05] L [-0.374 0.163 0.045] R [-0.063 -0.162 1.07 ] legs [\nA4 pel [-0.408 0.162 1.05 ] rpy [-0.4 -0. 0. ] L [-0.374 0.163 0.045] R [ 0.076 -0.162 1.07 ] legs [-0.\nA4b pel [-0.419 0.18 1.024] rpy [-0.27 0. 0. ] L [-0.374 0.163 0.045] R [ 0.096 -0.162 0.8 ] legs \nA4c pel [-0.424 0.202 0.971] rpy [-0.1 0. 0. ] L [-0.374 0.163 0.045] R [ 0.066 -0.162 0.45 ] legs [ 0\nA5 pel [-0.413 0.181 0.93 ] rpy [-0.01 -0. 0. ] L [-0.374 0.163 0.045] R [ 0.026 -0.162 0.085] legs [\nout_1500_300_600_100_15_3_0_0.txt\nA1 3.81 pel [-0.35 0.208 1.002] plan [-0.349 0.188 0.994] e [0.001 0.004 0.008] L [-0.372 0.176 0.045] R [-0.389 -0.203 0.077] None\nA2 5.61 pel [-0.356 0.192 1.054] plan [-0.353 0.171 1.056] e [-0. 0. -0.001] L [-0.374 0.181 0.044] R [-0.414 -0.136 0.193] None\nA2b 6.91 pel [-0.374 0.184 1.071] plan [-0.37 0.161 1.073] e [-0. 0. -0.001] L [-0.374 0.181 0.044] R [-0.344 -0.144 0.548] None\nA2c 8.21 pel [0.137 0.188 0.472] plan [-0.408 0.203 1. ] e [ 0.298 0.557 -1.032] L [-0.31 -0.343 0.461] R [0.2 0.659 0.536] None\n[('R', 7.77, array([0.125, 0.125, 1.534])), ('R', 8.06, array([0.126, 0.608, 0.521])), ('pel', 8.13, array([0.13 , 0.186,\n… (3,367 characters left out) …\n7] None\nA2 5.61 pel [-0.356 0.18 1.053] plan [-0.353 0.171 1.056] e [-0. -0.001 -0.002] L [-0.373 0.171 0.045] R [-0.396 -0.138 0.187] None\nA2b 6.91 pel [-0.373 0.173 1.072] plan [-0.37 0.161 1.073] e [-0. 0. 0.] L [-0.373 0.173 0.044] R [-0.325 -0.156 0.55 ] None\nA2c 8.21 pel [0.09 0.27 0.541] plan [-0.408 0.203 1. ] e [ 0.174 0.613 -1.053] L [-0.22 -0.349 0.535] R [0.039 0.752 0.564] None\n[('R', 7.78, array([0.127, 0.138, 1.543])), ('R', 8.15, array([0.123, 0.704, 0.591])), ('pel', 8.16, array([0.137, 0.247, 0.601]))]\nout_1500_300_600_100_5_1_20_0.txt\nA1 3.81 pel [-0.349 0.197 0.998] plan [-0.349 0.188 0.994] e [0. 0.003 0.005] L [-0.37 0.166 0.045] R [-0.372 -0.211 0.069] None\nA2 5.61 pel [-0.354 0.167 1.053] plan [-0.353 0.171 1.056] e [-0. -0.003 -0.003] L [-0.37 0.163 0.045] R [-0.375 -0.142 0.183] None\nA2b 6.91 pel [-0.37 0.16 1.071] plan [-0.37 0.161 1.073] e [-0. -0.002 -0.001] L [-0.37 0.164 0.044] R [-0.304 -0.159 0.545] None\nA2c 8.21 pel [-0.067 0.205 0.689] plan [-0.408 0.203 1. ] e [ 0.083 0.402 -0.51 ] L [-0.247 -0.149 0.071] R [-0.228 0.612 0.826] None\nA3 9.51 pel [0.605 0.529 0.215] plan [-0.394 0.169 1.04 ] e [ 0.121 0.606 -0.89 ] L [ 0.3 -0.085 0.081] R [0.551 0.97 0.372] None\n[('R', 7.72, array([ 0.128, -0.105, 1.369])), ('pel', 8.31, array([0.126, 0.217, 0.678])), ('R', 8.47, array([0.13 , 0.62 , 0.855])), ('L', 8.57, array([ 0.127, -0.19 , 0.124]))]\n\n[exited with code 0]","exit":[],"pics":[]},"tok":{"in":204195,"cached":203444,"out":115,"think":null,"usd":0.0467},"sim":{"submit":0,"reset":0}},{"id":56,"t":2265.7,"say":"","calls":[{"kind":"shell","label":"date; python -c \"","code":"date; python -c \"\nfrom rcb_rfo import Session\nimport numpy as np\ns=Session(); m,d=s.world.m,s.world.d\nfor nm in ['pelvis_sc0','left_hip_yaw_link_sc0','left_hip_pitch_link_sc0','left_hip_roll_link_sc0','torso_link_sc0']:\n g=m.geom(nm).id; R=d.geom_xmat[g].reshape(3,3); p=d.geom_xpos[g]\n if m.geom_type[g]==7:\n mid=m.geom_dataid[g]; v=m.mesh_vert[m.mesh_vertadr[mid]:m.mesh_vertadr[mid]+m.mesh_vertnum[mid]]\n wv=v@R.T+p; print(nm, (wv.min(0)-[-0.228,0,1.035]).round(3), (wv.max(0)-[-0.228,0,1.035]).round(3))\n else: print(nm, m.geom_type[g], m.geom_size[g], p)\n\""}],"out":{"text":"Thu Oct 15 19:03:43 UTC 2026\npelvis_sc0 [-0.068 -0.15 -0.081] [0.068 0.154 0.022]\nleft_hip_yaw_link_sc0 5 [0.01 0.01 0. ] [-0.208 0.0875 0.8718]\nleft_hip_pitch_link_sc0 5 [0.02 0.1 0. ] [-0.19613636 0.163 0.67435454]\nleft_hip_roll_link_sc0 5 [0.02 0.005 0. ] [-0.228 0.223 0.8718]\ntorso_link_sc0 [-0.075 -0.155 0. ] [0.125 0.157 0.758]\n\n[stdout]\nThu Oct 15 19:03:43 UTC 2026\npelvis_sc0 [-0.068 -0.15 -0.081] [0.068 0.154 0.022]\nleft_hip_yaw_link_sc0 5 [0.01 0.01 0. ] [-0.208 0.0875 0.8718]\nleft_hip_pitch_link_sc0 5 [0.02 0.1 0. ] [-0.19613636 0.163 0.67435454]\nleft_hip_roll_link_sc0 5 [0.02 0.005 0. ] [-0.228 0.223 0.8718]\ntorso_link_sc0 [-0.075 -0.155 0. ] [0.125 0.157 0.758]","exit":[],"pics":[]},"tok":{"in":207039,"cached":204193,"out":6578,"think":null,"usd":0.1866},"sim":{"submit":0,"reset":0}},{"id":57,"t":2307.9,"say":"","calls":[{"kind":"robot","label":"src=open('design.py').read()","code":"python - <<'EOF'\nsrc=open('design.py').read()\nsrc=src.replace(''' x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[tgt[0], yR, tgt[1]], 30)], mins=hz if tgt[1] > 1 else [(pz, 1.0, 30)], extra=att(-0.4, 0, 0, (0.5, 1, 1))); add(nm, x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", T)''',''' x, _ = k.solve(x, {\"left\": fl}, com_xy=cL, targets=[(ankR, np.r_[tgt[0], yR, tgt[1]], 30)], mins=hz if tgt[1] > 1 else [(pz, 1.0, 30)], extra=att(-0.4, 0, 0, (1, 3, 3)), wreg=0.1); add(nm, x, {\"left\": 1.}, {\"left\": 1.0}, \"left\", T)''')\nopen('design.py','w').write(src)\nEOF\ncat > walkto.py <<'EOF'\nimport numpy as np\ndef walk_to(s, k, xstop, yref=0.0, vmax=0.8):\n \"\"\"walk until pelvis x reaches xstop, then mark time until both feet loaded; returns when stopped.\"\"\"\n w = s.world; d = w.d\n up = np.zeros(15)\n while True:\n x, y, z, yaw = w.pelvis()\n dist = xstop - x\n vx = float(np.clip(1.2 * dist, 0.0, vmax))\n if dist < 0.02: vx = 0.0\n wz = float(np.clip(-2.0 * yaw - 1.0 * (y - yref), -0.6, 0.6))\n vy = float(np.clip(-1.0 * (y - yref), -0.3, 0.3))\n if s.step(\"walk\", np.r_[vx, vy, wz, up, 0, 0]): return False\n if dist < 0.03 and abs(d.qvel[k.fv]) < 0.05: break\n # wait for a double-support moment with feet level\n for i in range(300):\n if s.step(\"walk\", np.r_[0, 0, 0, up, 0, 0]): return False\n fl, fr = d.xpos[k.b[\"left\"]], d.xpos[k.b[\"right\"]]\n if i > 100 and fl[2] < 0.05 and fr[2] < 0.05 and np.abs(d.qvel[k.fv:k.fv + 3]).max() < 0.05:\n return True\n return True\nEOF\ncat > run2.py <<'EOF'\nimport numpy as np, sys, mujoco, os, time\nfrom rcb_rfo import Session\nfrom lib import *\nfrom design import plan\nfrom walkto import walk_to\ns = Session(); w = s.world; k = Kin(w); d = w.d; m = w.m\nXH = 13.72; xp = XH + 0.01\nt0 = time.time()\nok = walk_to(s, k, xp - 0.40 - float(os.environ.get(\"OFF\", \"0\")))\nprint(\"walked\", ok, round(w.t, 2), w.pelvis().round(3), d.xpos[k.b[\"left\"]].round(3), d.xpos[k.b[\"right\"]].round(3), time.time() - t0)\ndrv = Driver(s, k); drv.cur_x = k.qpos2x(d.qpos.copy())\ndrv.kp[:12] = np.array([600, 600, 600, 600, 60, 60] * 2); drv.kd[:12] = np.array([6]*4 + [2]*2) .tolist()*2\ndrv.move(drv.cur_x.copy(), 0.01, {\"left\": .5, \"right\": .5}, {\"left\": .5, \"right\": .5}, hold=0.5)\nx0 = k.qpos2x(d.qpos.copy()); x0[6:] = drv.cur_x[6:]\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nprint(\"feet\", (fl - [xp, 0, 0]).round(3), (fr - [xp, 0, 0]).round(3))\nseq = plan(k, x0, fl, fr, xp)\nSTOP = os.environ.get(\"STOP\", \"\")\ndrv.gain = tuple(float(a) for a in sys.argv[2:10]) if len(sys.argv) > 2 else (1500, 300, 600, 100, 15, 3, 0, 0)\ndef cb(i):\n if os.environ.get(\"VERB\") and i % 20 == 0: print(\" \", round(w.t, 2), drv.ev[0].round(3), drv.ev[1].round(3), \"tilt\", round(w.task.tilt_deg(w, 0), 1))\nfor st in seq:\n drv.bal = st[\"bal\"]\n T = st[\"T\"] * float(sys.argv[1])\n done = drv.move(st[\"x\"], T, st[\"s0\"], st[\"s1\"], hold=st[\"hold\"], cb=cb)\n dd = k.fk(k.x2qpos(st[\"x\"]))\n print(st[\"name\"], round(w.t, 2), \"pel\", (w.pelvis()[:3] - [xp, 0, 0]).round(3), \"plan\", (dd.xpos[k.pel] - [xp, 0, 0]).round(3), \"e\", drv.ev[0].round(3), \"L\", (d.xpos[k.b['left']] - [xp, 0, 0]).round(3), \"R\", (d.xpos[k.b['right']] - [xp, 0, 0]).round(3), \"tilt\", round(w.task.tilt_deg(w, 0), 1), s.status()['failed'], s.status()['stages'])\n if done or w.pelvis()[2] < 0.6 or st[\"name\"] == STOP: break\nEOF\nVERB=1 STOP=A6 timeout 300 python run2.py 1 2>&1 | grep -v \"^ \" | cut -c1-250"}],"out":{"text":"walked False 140.0 [13.237 0.036 1.015 0.019] [13.233 0.191 0.052] [13.234 -0.07 0.044] 100.1539363861084\nTraceback (most recent call last):\nRuntimeError: the episode is over\n\n[stdout]\nwalked False 140.0 [13.237 0.036 1.015 0.019] [13.233 0.191 0.052] [13.234 -0.07 0.044] 100.1539363861084\nTraceback (most recent call last):\nRuntimeError: the episode is over","exit":[],"pics":[]},"tok":{"in":213889,"cached":207037,"out":5176,"think":null,"usd":0.1792},"sim":{"submit":0,"reset":0}},{"id":58,"t":2432.5,"say":"","calls":[{"kind":"shell","label":"sed -i 's/ if dist < 0.03 and abs(d.qvel\\[k.fv\\]) < 0.05: break/ if dist < 0.12: break/' walkto.","code":"sed -i 's/ if dist < 0.03 and abs(d.qvel\\[k.fv\\]) < 0.05: break/ if dist < 0.12: break/' walkto.py\nVERB=1 STOP=A6 timeout 300 python run2.py 1 2>&1 | grep -v \"^ \" | cut -c1-250"}],"out":{"text":"walked True 23.64 [13.095 0.113 1.013 0.097] [13.11 0.225 0.045] [13.118 -0.036 0.049] 17.656548023223877\nfeet [-0.619 0.225 0.045] [-0.608 -0.038 0.046]\nA1 27.45 pel [-0.602 0.241 0.995] plan [-0.601 0.245 0.995] e [ 0. -0.001 0. ] L [-0.62 0.224 0.045] R [-0.6 -0.045 0.046] tilt -0.0 None []\nA2 29.25 pel [-0.606 0.226 1.049] plan [-0.606 0.23 1.051] e [-0. 0. -0.001] L [-0.62 0.223 0.045] R [-0.594 -0.032 0.191] tilt -0.0 None []\nA2b 30.55 pel [-0.633 0.208 1.072] plan [-0.633 0.212 1.073] e [-0.001 0. 0. ] L [-0.62 0.224 0.044] R [-0.282 -0.019 0.55 ] tilt -0.0 None []\nA2c 31.85 pel [-0.631 0.206 1.073] plan [-0.632 0.212 1.074] e [ 0.001 -0. -0.002] L [-0.619 0.223 0.045] R [-0.138 -0.009 0.883] tilt -0.0 None []\nA3 33.15 pel [-0.619 0.207 1.072] plan [-0.631 0.214 1.074] e [ 0.02 0.001 -0.015] L [-0.624 0.218 0.047] R [-0.051 -0.01 0.918] tilt -0.0 None []\nA4 33.29 pel [-0.583 0.205 1.073] plan [-0.641 0.22 1.074] e [ 0.052 -0.001 -0.012] L [-0.624 0.22 0.049] R [ 0.004 -0.015 0.966] tilt -0.0 went under the top of the first hurdle []\n\n[stdout]\nwalked True 23.64 [13.095 0.113 1.013 0.097] [13.11 0.225 0.045] [13.118 -0.036 0.049] 17.656548023223877\nfeet [-0.619 0.225 0.045] [-0.608 -0.038 0.046]\nA1 27.45 pel [-0.602 0.241 0.995] plan [-0.601 0.245 0.995] e [ 0. -0.001 0. ] L [-0.62 0.224 0.045] R [-0.6 -0.045 0.046] tilt -0.0 None []\nA2 29.25 pel [-0.606 0.226 1.049] plan [-0.606 0.23 1.051] e [-0. 0. -0.001] L [-0.62 0.223 0.045] R [-0.594 -0.032 0.191] tilt -0.0 None []\nA2b 30.55 pel [-0.633 0.208 1.072] plan [-0.633 0.212 1.073] e [-0.001 0. 0. ] L [-0.62 0.224 0.044] R [-0.282 -0.019 0.55 ] tilt -0.0 None []\nA2c 31.85 pel [-0.631 0.206 1.073] plan [-0.632 0.212 1.074] e [ 0.001 -0. -0.002] L [-0.619 0.223 0.045] R [-0.138 -0.009 0.883] tilt -0.0 None []\nA3 33.15 pel [-0.619 0.207 1.072] plan [-0.631 0.214 1.074] e [ 0.02 0.001 -0.015] L [-0.624 0.218 0.047] R [-0.051 -0.01 0.918] tilt -0.0 None []\nA4 33.29 pel [-0.583 0.205 1.073] plan [-0.641 0.22 1.074] e [ 0.052 -0.001 -0.012] L [-0.624 0.22 0.049] R [ 0.004 -0.015 0.966] tilt -0.0 went under the top of the first hurdle []","exit":[],"pics":[]},"tok":{"in":219179,"cached":213887,"out":451,"think":null,"usd":0.0783},"sim":{"submit":0,"reset":0}},{"id":59,"t":2534.7,"say":"","calls":[{"kind":"shell","label":"cd /app/work; for off in -0.15 -0.25; do (OFF=$off VERB=1 STOP=A7 timeout 300 python run2.py 1 > o2_$off.txt 2","code":"cd /app/work; for off in -0.15 -0.25; do (OFF=$off VERB=1 STOP=A7 timeout 300 python run2.py 1 > o2_$off.txt 2>&1 &); done; sleep 75; for f in o2_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o2_-0.15.txt\no2_-0.25.txt\n\n[stdout]\no2_-0.15.txt\no2_-0.25.txt","exit":[],"pics":[]},"tok":{"in":220350,"cached":219177,"out":567,"think":null,"usd":0.061},"sim":{"submit":0,"reset":0}},{"id":60,"t":2612.9,"say":"","calls":[{"kind":"shell","label":"sleep 30; cd /app/work; for f in o2_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done","code":"sleep 30; cd /app/work; for f in o2_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o2_-0.15.txt\no2_-0.25.txt\n\n[stdout]\no2_-0.15.txt\no2_-0.25.txt","exit":[],"pics":[]},"tok":{"in":220967,"cached":220348,"out":93,"think":null,"usd":0.049},"sim":{"submit":0,"reset":0}},{"id":61,"t":2644.8,"say":"","calls":[{"kind":"shell","label":"sleep 40; cd /app/work; for f in o2_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done","code":"sleep 40; cd /app/work; for f in o2_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o2_-0.15.txt\nwalked False 140.0 [1.329e+01 1.000e-03 1.014e+00 3.100e-02] [13.203 0.137 0.057] [13.356 -0.103 0.044] 105.91889023780823\nTraceback (most recent call last):\nRuntimeError: the episode is over\no2_-0.25.txt\nwalked False 140.0 [ 1.3283e+01 -1.6000e-02 1.0110e+00 1.1000e-02] [13.355 0.122 0.06 ] [13.343 -0.123 0.044] 105.4492495059967\nTraceback (most recent call last):\nRuntimeError: the episode is over\n\n[stdout]\no2_-0.15.txt\nwalked False 140.0 [1.329e+01 1.000e-03 1.014e+00 3.100e-02] [13.203 0.137 0.057] [13.356 -0.103 0.044] 105.91889023780823\nTraceback (most recent call last):\nRuntimeError: the episode is over\no2_-0.25.txt\nwalked False 140.0 [ 1.3283e+01 -1.6000e-02 1.0110e+00 1.1000e-02] [13.355 0.122 0.06 ] [13.343 -0.123 0.044] 105.4492495059967\nTraceback (most recent call last):\nRuntimeError: the episode is over","exit":[],"pics":[]},"tok":{"in":221110,"cached":220965,"out":131,"think":null,"usd":0.0475},"sim":{"submit":0,"reset":0}},{"id":62,"t":2692.4,"say":"","calls":[{"kind":"shell","label":"s=Session(); w=s.world; k=Kin(w); d=w.d","code":"cd /app/work; python -c \"\nfrom rcb_rfo import Session\nfrom lib import *\ns=Session(); w=s.world; k=Kin(w); d=w.d\nx0=k.qpos2x(d.qpos.copy())\nfor sp, ep in [(0,0),(0,1.2),(0,-0.9),(0.5,1.2),(0.5,-0.9)]:\n x=x0.copy(); x[6+13]=sp; x[6+16]=ep\n dd=k.fk(k.x2qpos(x)); print(sp, ep, dd.site_xpos[w.robot.palm['left']].round(3))\n\""}],"out":{"text":"0 0 [0.199 0.169 1.13 ]\n0 1.2 [-0.08 0.169 0.745]\n0 -0.9 [0.048 0.169 1.464]\n0.5 1.2 [-0.431 0.166 0.758]\n0.5 -0.9 [0.014 0.204 1.336]\n\n[stdout]\n0 0 [0.199 0.169 1.13 ]\n0 1.2 [-0.08 0.169 0.745]\n0 -0.9 [0.048 0.169 1.464]\n0.5 1.2 [-0.431 0.166 0.758]\n0.5 -0.9 [0.014 0.204 1.336]","exit":[],"pics":[]},"tok":{"in":221496,"cached":221108,"out":752,"think":null,"usd":0.0612},"sim":{"submit":0,"reset":0}},{"id":63,"t":2703.6,"say":"","calls":[{"kind":"shell","label":"src=open('walkto.py').read()","code":"cd /app/work; python - <<'EOF'\nsrc=open('walkto.py').read()\nsrc=src.replace(\" up = np.zeros(15)\\n\",\" up = np.zeros(15); up[1] = up[8] = 0.2; up[4] = up[11] = 1.3\\n\")\nopen('walkto.py','w').write(src)\nEOF\nfor off in -0.15 -0.3; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o2_$off.txt 2>&1 &); done; sleep 45; for f in o2_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o2_-0.15.txt\nwalked True 27.57 [13.129 -0.131 1.004 0.285] [1.3124e+01 9.0000e-03 4.4000e-02] [13.201 -0.232 0.045] 23.34018611907959\nfeet [-0.607 0.01 0.045] [-0.532 -0.232 0.049]\no2_-0.25.txt\nwalked False 140.0 [ 1.3283e+01 -1.6000e-02 1.0110e+00 1.1000e-02] [13.355 0.122 0.06 ] [13.343 -0.123 0.044] 105.4492495059967\nTraceback (most recent call last):\nRuntimeError: the episode is over\no2_-0.3.txt\nwalked True 27.87 [13.272 -0.129 1.01 0.26 ] [13.299 0.032 0.045] [13.285 -0.249 0.045] 23.947559595108032\nfeet [-0.441 0.03 0.061] [-0.445 -0.244 0.045]\n\n[stdout]\no2_-0.15.txt\nwalked True 27.57 [13.129 -0.131 1.004 0.285] [1.3124e+01 9.0000e-03 4.4000e-02] [13.201 -0.232 0.045] 23.34018611907959\nfeet [-0.607 0.01 0.045] [-0.532 -0.232 0.049]\no2_-0.25.txt\nwalked False 140.0 [ 1.3283e+01 -1.6000e-02 1.0110e+00 1.1000e-02] [13.355 0.122 0.06 ] [13.343 -0.123 0.044] 105.4492495059967\nTraceback (most recent call last):\nRuntimeError: the episode is over\no2_-0.3.txt\nwalked True 27.87 [13.272 -0.129 1.01 0.26 ] [13.299 0.032 0.045] [13.285 -0.249 0.045] 23.947559595108032\nfeet [-0.441 0.03 0.061] [-0.445 -0.244 0.045]","exit":[],"pics":[]},"tok":{"in":222384,"cached":221494,"out":573,"think":null,"usd":0.0602},"sim":{"submit":0,"reset":0}},{"id":64,"t":2757.2,"say":"","calls":[{"kind":"robot","label":"src=open('walkto.py').read()","code":"cd /app/work; python - <<'EOF'\nsrc=open('walkto.py').read()\nsrc=src.replace(''' for i in range(300):\n if s.step(\"walk\", np.r_[0, 0, 0, up, 0, 0]): return False\n fl, fr = d.xpos[k.b[\"left\"]], d.xpos[k.b[\"right\"]]\n if i > 100 and fl[2] < 0.05 and fr[2] < 0.05 and np.abs(d.qvel[k.fv:k.fv + 3]).max() < 0.05:''',''' for i in range(400):\n x, y, z, yaw = w.pelvis()\n wz = float(np.clip(-2.0 * yaw, -0.6, 0.6))\n vy = float(np.clip(-1.0 * (y - yref), -0.3, 0.3))\n if s.step(\"walk\", np.r_[0, vy, wz, up, 0, 0]): return False\n fl, fr = d.xpos[k.b[\"left\"]], d.xpos[k.b[\"right\"]]\n if i > 100 and fl[2] < 0.05 and fr[2] < 0.05 and np.abs(d.qvel[k.fv:k.fv + 3]).max() < 0.05 and abs(yaw) < 0.03:''')\nopen('walkto.py','w').write(src)\nsrc=open('lib.py').read()\nsrc=src.replace(''' for s, p in stance.items():\n b = self.b[s]\n out.append((d.xpos[b] - p) * 100)\n R = d.xmat[b].reshape(3, 3)\n out.append(np.r_[R[2, 0], R[2, 1], R[1, 0]] * 50)''',''' for s, p in stance.items():\n b = self.b[s]\n out.append((d.xpos[b] - p) * 100)\n R = d.xmat[b].reshape(3, 3)\n R0 = self.foot_R.get(s) if hasattr(self, \"foot_R\") else None\n if R0 is None:\n out.append(np.r_[R[2, 0], R[2, 1], R[1, 0]] * 50)\n else:\n out.append((R - R0)[:, :2].ravel() * 50)''')\nopen('lib.py','w').write(src)\nsrc=open('run2.py').read()\nsrc=src.replace('''fl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nprint(\"feet\"''','''fl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy()\nk.foot_R = {s_: d.xmat[k.b[s_]].reshape(3, 3).copy() for s_ in (\"left\", \"right\")}\nprint(\"feet\"''')\nopen('run2.py','w').write(src)\nEOF\ngrep -n \"foot_R\" design.py | head -2\nfor off in -0.2 -0.3; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o2_$off.txt 2>&1 &); done; sleep 50; for f in o2_-0.2.txt o2_-0.3.txt; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o2_-0.2.txt\nwalked True 28.66 [13.037 -0.019 1.012 0.028] [13.09 0.128 0.045] [13.016 -0.15 0.052] 24.198280811309814\nfeet [-0.648 0.129 0.06 ] [-0.71 -0.143 0.045]\no2_-0.3.txt\n\n[stdout]\no2_-0.2.txt\nwalked True 28.66 [13.037 -0.019 1.012 0.028] [13.09 0.128 0.045] [13.016 -0.15 0.052] 24.198280811309814\nfeet [-0.648 0.129 0.06 ] [-0.71 -0.143 0.045]\no2_-0.3.txt","exit":[],"pics":[]},"tok":{"in":223327,"cached":222382,"out":1627,"think":null,"usd":0.0817},"sim":{"submit":0,"reset":0}},{"id":65,"t":2820.0,"say":"","calls":[{"kind":"robot","label":"sleep 20; cd /app/work; for f in o2_-0.2.txt o2_-0.3.txt; do echo $f; grep -v \"^ \" $f | cut -c1-250; done; pyt","code":"sleep 20; cd /app/work; for f in o2_-0.2.txt o2_-0.3.txt; do echo $f; grep -v \"^ \" $f | cut -c1-250; done; python - <<'EOF'\nsrc=open('/app/work/walkto.py').read()\nsrc=src.replace(''' if s.step(\"walk\", np.r_[0, vy, wz, up, 0, 0]): return False''',''' vx = float(np.clip(1.0 * (xstop - x), -0.3, 0.3))\n if s.step(\"walk\", np.r_[vx, vy, wz, up, 0, 0]): return False''')\nsrc=src.replace(\"and abs(yaw) < 0.03:\",\"and abs(yaw) < 0.03 and abs(x - xstop) < 0.04:\")\nsrc=src.replace(\"for i in range(400):\",\"for i in range(800):\")\nopen('/app/work/walkto.py','w').write(src)\nEOF\ndate"}],"out":{"text":"o2_-0.2.txt\nwalked True 28.66 [13.037 -0.019 1.012 0.028] [13.09 0.128 0.045] [13.016 -0.15 0.052] 24.198280811309814\nfeet [-0.648 0.129 0.06 ] [-0.71 -0.143 0.045]\no2_-0.3.txt\nThu Oct 15 19:13:16 UTC 2026\n\n[stdout]\no2_-0.2.txt\nwalked True 28.66 [13.037 -0.019 1.012 0.028] [13.09 0.128 0.045] [13.016 -0.15 0.052] 24.198280811309814\nfeet [-0.648 0.129 0.06 ] [-0.71 -0.143 0.045]\no2_-0.3.txt\nThu Oct 15 19:13:16 UTC 2026","exit":[],"pics":[]},"tok":{"in":225100,"cached":223325,"out":645,"think":null,"usd":0.0664},"sim":{"submit":0,"reset":0}},{"id":66,"t":2846.6,"say":"","calls":[{"kind":"shell","label":"cd /app/work; pkill -f run2.py; sleep 1; for off in 0.0 0.05; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -","code":"cd /app/work; pkill -f run2.py; sleep 1; for off in 0.0 0.05; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o3_$off.txt 2>&1 &); done; sleep 100; for f in o3_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"Exit code 144\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":225913,"cached":225098,"out":379,"think":null,"usd":0.0567},"sim":{"submit":0,"reset":0}},{"id":67,"t":2849.2,"say":"","calls":[{"kind":"shell","label":"cd /app/work; ls o3_* 2>/dev/null; ps aux | grep run2 | grep -v grep | wc -l","code":"cd /app/work; ls o3_* 2>/dev/null; ps aux | grep run2 | grep -v grep | wc -l"}],"out":{"text":"0\n\n[stdout]\n0","exit":[],"pics":[]},"tok":{"in":226333,"cached":225911,"out":90,"think":null,"usd":0.0491},"sim":{"submit":0,"reset":0}},{"id":68,"t":2851.0,"say":"","calls":[{"kind":"shell","label":"cd /app/work; for off in 0.0 0.05; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o3_$off.txt 2","code":"cd /app/work; for off in 0.0 0.05; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o3_$off.txt 2>&1 &); done; sleep 90; for f in o3_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o3_0.0.txt\nwalked True 32.38 [13.198 0.014 1.006 0.048] [13.24 0.155 0.044] [13.214 -0.113 0.045] 28.353181838989258\nfeet [-0.49 0.156 0.045] [-0.516 -0.112 0.045]\nA1 36.19 pel [-0.456 0.175 0.991] plan [-0.455 0.176 0.991] e [-0. -0.001 0. ] L [-0.49 0.155 0.045] R [-0.52 -0.118 0.046] tilt -0.0 None []\nA2 37.99 pel [-0.459 0.163 1.046] plan [-0.459 0.165 1.048] e [ 0. -0. -0.001] L [-0.49 0.155 0.044] R [-0.518 -0.106 0.192] tilt -0.0 None []\nA2b 39.29 pel [-0.482 0.148 1.072] plan [-0.483 0.148 1.072] e [0. 0.001 0. ] L [-0.49 0.156 0.044] R [-0.299 -0.116 0.552] tilt -0.0 None []\nA2c 40.59 pel [-0.549 0.155 0.999] plan [-0.535 0.148 1. ] e [-0.017 0.003 -0.007] L [-0.494 0.164 0.045] R [-0.152 -0.1 0.925] tilt 0.0 None []\nA3 41.89 pel [-0.553 0.144 1.036] plan [-0.528 0.141 1.04 ] e [-0.012 -0. -0.022] L [-0.497 0.154 0.049] R [-0.092 -0.106 0.952] tilt -0.0 None []\nA4 42.4 pel [-0.551 0.146 1.017] plan [-0.54 0.148 1.043] e [-0.008 -0.014 -0.035] L [-0.498 0.157 0.048] R [ 0.001 -0.092 0.965] tilt 0.3 went under the top of the first hurdle []\no3_0.05.txt\nwalked True 32.32 [1.3148e+01 6.0000e-03 1.0020e+00 5.3000e-02] [13.19 0.155 0.039] [13.164 -0.112 0.045] 28.586490392684937\nfeet [-0.54 0.156 0.045] [-0.566 -0.111 0.045]\n\n[stdout]\no3_0.0.txt\nwalked True 32.38 [13.198 0.014 1.006 0.048] [13.24 0.155 0.044] [13.214 -0.113 0.045] 28.353181838989258\nfeet [-0.49 0.156 0.045] [-0.516 -0.112 0.045]\nA1 36.19 pel [-0.456 0.175 0.991] plan [-0.455 0.176 0.991] e [-0. -0.001 0. ] L [-0.49 0.155 0.045] R [-0.52 -0.118 0.046] tilt -0.0 None []\nA2 37.99 pel [-0.459 0.163 1.046] plan [-0.459 0.165 1.048] e [ 0. -0. -0.001] L [-0.49 0.155 0.044] R [-0.518 -0.106 0.192] tilt -0.0 None []\nA2b 39.29 pel [-0.482 0.148 1.072] plan [-0.483 0.148 1.072] e [0. 0.001 0. ] L [-0.49 0.156 0.044] R [-0.299 -0.116 0.552] tilt -0.0 None []\nA2c 40.59 pel [-0.549 0.155 0.999] plan [-0.535 0.148 1. ] e [-0.017 0.003 -0.007] L [-0.494 0.164 0.045] R [-0.152 -0.1 0.925] tilt 0.0 None []\nA3 41.89 pel [-0.553 0.144 1.036] plan [-0.528 0.141 1.04 ] e [-0.012 -0. -0.022] L [-0.497 0.154 0.049] R [-0.092 -0.106 0.952] tilt -0.0 None []\nA4 42.4 pel [-0.551 0.146 1.017] plan [-0.54 0.148 1.043] e [-0.008 -0.014 -0.035] L [-0.498 0.157 0.048] R [ 0.001 -0.092 0.965] tilt 0.3 went under the top of the first hurdle []\no3_0.05.txt\nwalked True 32.32 [1.3148e+01 6.0000e-03 1.0020e+00 5.3000e-02] [13.19 0.155 0.039] [13.164 -0.112 0.045] 28.586490392684937\nfeet [-0.54 0.156 0.045] [-0.566 -0.111 0.045]","exit":[],"pics":[]},"tok":{"in":226453,"cached":226331,"out":206,"think":null,"usd":0.05},"sim":{"submit":0,"reset":0}},{"id":69,"t":2947.5,"say":"","calls":[{"kind":"shell","label":"cd /app/work; sed -i 's/(\"A3\", (xp - 0.06, 1.07), 1.0), (\"A4\", (xp + 0.08, 1.07), 1.0)/(\"A3\", (xp - 0.06, 1.12","code":"cd /app/work; sed -i 's/(\"A3\", (xp - 0.06, 1.07), 1.0), (\"A4\", (xp + 0.08, 1.07), 1.0)/(\"A3\", (xp - 0.06, 1.12), 1.0), (\"A4\", (xp + 0.08, 1.12), 1.0)/' design.py; grep -c \"1.12\" design.py; for off in -0.13 -0.18; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o4_$off.txt 2>&1 &); done; sleep 100; for f in o4_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"1\no4_-0.13.txt\nwalked True 32.54 [13.333 0.02 1.017 0.033] [13.37 0.154 0.045] [13.314 -0.13 0.072] 26.83869957923889\nfeet [-0.359 0.156 0.046] [-0.397 -0.138 0.045]\nA1 33.72 pel [-0.477 -0.143 1.016] plan [-0.324 0.179 0.987] e [-0.412 -0.126 -0.189] L [0.001 0.115 0.248] R [-0.395 -0.135 0.045] tilt -0.0 went under the top of the first hurdle []\no4_-0.18.txt\nwalked True 32.62 [13.383 0.014 1.017 0.026] [13.42 0.156 0.045] [13.362 -0.127 0.073] 25.76350426673889\nfeet [-0.312 0.157 0.051] [-0.346 -0.124 0.045]\nA1 33.59 pel [-0.428 -0.18 1.021] plan [-0.277 0.177 0.992] e [-0.36 -0.234 -0.195] L [0.009 0.207 0.265] R [-0.344 -0.121 0.045] tilt -0.0 went under the top of the first hurdle []\n\n[stdout]\n1\no4_-0.13.txt\nwalked True 32.54 [13.333 0.02 1.017 0.033] [13.37 0.154 0.045] [13.314 -0.13 0.072] 26.83869957923889\nfeet [-0.359 0.156 0.046] [-0.397 -0.138 0.045]\nA1 33.72 pel [-0.477 -0.143 1.016] plan [-0.324 0.179 0.987] e [-0.412 -0.126 -0.189] L [0.001 0.115 0.248] R [-0.395 -0.135 0.045] tilt -0.0 went under the top of the first hurdle []\no4_-0.18.txt\nwalked True 32.62 [13.383 0.014 1.017 0.026] [13.42 0.156 0.045] [13.362 -0.127 0.073] 25.76350426673889\nfeet [-0.312 0.157 0.051] [-0.346 -0.124 0.045]\nA1 33.59 pel [-0.428 -0.18 1.021] plan [-0.277 0.177 0.992] e [-0.36 -0.234 -0.195] L [0.009 0.207 0.265] R [-0.344 -0.121 0.045] tilt -0.0 went under the top of the first hurdle []","exit":[],"pics":[]},"tok":{"in":227506,"cached":226451,"out":590,"think":null,"usd":0.0624},"sim":{"submit":0,"reset":0}},{"id":70,"t":3055.5,"say":"","calls":[{"kind":"shell","label":"src=open('/app/work/walkto.py').read()","code":"cd /app/work; python - <<'EOF'\nsrc=open('/app/work/walkto.py').read()\nsrc=src.replace(\"and abs(yaw) < 0.03 and abs(x - xstop) < 0.04:\",\"and ((abs(yaw) < 0.04 and abs(x - xstop) < 0.06) or i > 600):\")\nsrc=src.replace(\"for i in range(800):\",\"for i in range(1500):\")\nopen('/app/work/walkto.py','w').write(src)\nEOF\nfor off in -0.13 -0.18; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o4_$off.txt 2>&1 &); done; sleep 110; for f in o4_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o4_-0.13.txt\nwalked True 39.54 [1.3328e+01 1.0000e-02 1.0020e+00 5.2000e-02] [13.37 0.154 0.04 ] [13.344 -0.112 0.045] 33.04197859764099\nfeet [-0.36 0.156 0.045] [-0.386 -0.111 0.045]\nA1 43.35 pel [-0.326 0.174 0.99 ] plan [-0.326 0.177 0.99 ] e [-0. -0.001 0. ] L [-0.36 0.154 0.045] R [-0.388 -0.118 0.046] tilt -0.0 None []\nA2 45.15 pel [-0.329 0.163 1.045] plan [-0.329 0.166 1.047] e [ 0. -0. -0.001] L [-0.36 0.154 0.044] R [-0.39 -0.106 0.192] tilt -0.0 None []\nA2b 46.45 pel [-0.347 0.156 1.069] plan [-0.348 0.163 1.069] e [-0. 0. -0.003] L [-0.36 0.155 0.044] R [-0.3 -0.12 0.551] tilt -0.0 None []\nA2c 47.75 pel [-0.651 0.081 1.033] plan [-0.447 0.102 1.075] e [-0.148 -0.054 -0.063] L [-0.409 0.128 0.092] R [-0.319 0.048 0.766] tilt -0.1 None []\nA3 49.05 pel [-0.352 -0.122 0.95 ] plan [-0.391 0.136 1.039] e [-0.003 -0.279 -0.117] L [-0.338 0.14 0.06 ] R [-0.006 -0.352 0.874] tilt 0.8 None []\nA4 49.06 pel [-0.344 -0.126 0.948] plan [-0.401 0.125 1.054] e [ 0.003 -0.281 -0.119] L [-0.336 0.142 0.06 ] R [ 0. -0.354 0.869] tilt 1.1 went under the top of the first hurdle []\no4_-0.18.txt\nwalked True 39.62 [13.38 0.019 1.011 0.045] [13.42 0.156 0.045] [13.393 -0.112 0.046] 33.0233108997345\nfeet [-0.31 0.157 0.045] [-0.337 -0.112 0.045]\nA1 43.43 pel [-0.274 0.177 0.994] plan [-0.274 0.177 0.994] e [-0. -0.001 0. ] L [-0.309 0.156 0.045] R [-0.34 -0.117 0.046] tilt -0.0 None []\n\n… (1,373 characters left out) …\n.651 0.081 1.033] plan [-0.447 0.102 1.075] e [-0.148 -0.054 -0.063] L [-0.409 0.128 0.092] R [-0.319 0.048 0.766] tilt -0.1 None []\nA3 49.05 pel [-0.352 -0.122 0.95 ] plan [-0.391 0.136 1.039] e [-0.003 -0.279 -0.117] L [-0.338 0.14 0.06 ] R [-0.006 -0.352 0.874] tilt 0.8 None []\nA4 49.06 pel [-0.344 -0.126 0.948] plan [-0.401 0.125 1.054] e [ 0.003 -0.281 -0.119] L [-0.336 0.142 0.06 ] R [ 0. -0.354 0.869] tilt 1.1 went under the top of the first hurdle []\no4_-0.18.txt\nwalked True 39.62 [13.38 0.019 1.011 0.045] [13.42 0.156 0.045] [13.393 -0.112 0.046] 33.0233108997345\nfeet [-0.31 0.157 0.045] [-0.337 -0.112 0.045]\nA1 43.43 pel [-0.274 0.177 0.994] plan [-0.274 0.177 0.994] e [-0. -0.001 0. ] L [-0.309 0.156 0.045] R [-0.34 -0.117 0.046] tilt -0.0 None []\nA2 45.23 pel [-0.277 0.164 1.05 ] plan [-0.277 0.166 1.052] e [ 0. -0. -0.001] L [-0.309 0.156 0.044] R [-0.337 -0.105 0.191] tilt -0.0 None []\nA2b 46.53 pel [-0.282 0.169 1.07 ] plan [-0.282 0.172 1.07 ] e [ 0.002 0.001 -0.002] L [-0.309 0.157 0.044] R [-0.299 -0.115 0.549] tilt -0.0 None []\nA2c 47.83 pel [-0.426 0.019 0.997] plan [-0.406 0.118 1.069] e [ 0.055 0.014 -0.092] L [-0.462 0.09 0.042] R [-0.028 -0.063 0.954] tilt 1.4 None []\nA3 48.99 pel [-0.174 -0.484 0.517] plan [-0.35 0.163 1.037] e [ 0.394 -0.572 -0.496] L [-0.642 0.133 0.086] R [-0.326 -0.137 0.703] tilt 10.1 knocked the first hurdle with a hand, an arm or the trunk []","exit":[],"pics":[]},"tok":{"in":228550,"cached":227504,"out":697,"think":null,"usd":0.0647},"sim":{"submit":0,"reset":0}},{"id":71,"t":3177.1,"say":"","calls":[{"kind":"shell","label":"src=open('lib.py').read()","code":"cd /app/work; python - <<'EOF'\nsrc=open('lib.py').read()\nsrc=src.replace(''' lb = np.r_[-np.inf * np.ones(6), self.lo + 0.02]\n ub = np.r_[np.inf * np.ones(6), self.hi - 0.02]''',''' lb = np.r_[-np.inf * np.ones(6), self.lo + 0.02]\n ub = np.r_[np.inf * np.ones(6), self.hi - 0.02]\n if getattr(self, \"freeze_arms\", None) is not None:\n lb[6 + 13:] = self.freeze_arms - 1e-4; ub[6 + 13:] = self.freeze_arms + 1e-4''')\nopen('lib.py','w').write(src)\nsrc=open('design.py').read()\nsrc=src.replace(''' def att(roll=None, pitch=0.0, yaw=0.0, w=(3, 3, 3)):\n def f(d, x):\n out = []''',''' prevp = [None]\n def att(roll=None, pitch=0.0, yaw=0.0, w=(3, 3, 3)):\n def f(d, x):\n out = []\n if prevp[0] is not None: out.append((x[:2] - prevp[0]) * 5)''')\nsrc=src.replace(''' def add(name, x, s0, s1, bal, T, hold=0.3):\n''',''' def add(name, x, s0, s1, bal, T, hold=0.3):\n prevp[0] = x[:2].copy()\n''')\nsrc=src.replace(''' x = x0.copy()\n''',''' x = x0.copy()\n k.freeze_arms = x0[6 + 13:].copy()\n''',1)\nopen('design.py','w').write(src)\nEOF\ngrep -n \"prevp\\|freeze\" design.py | head; for off in -0.13 -0.18; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o5_$off.txt 2>&1 &); done; sleep 105; for f in o5_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"10: prevp = [None]\n14: if prevp[0] is not None: out.append((x[:2] - prevp[0]) * 5)\n26: prevp[0] = x[:2].copy()\n29: k.freeze_arms = x0[6 + 13:].copy()\no5_-0.13.txt\nwalked True 39.54 [1.3328e+01 1.0000e-02 1.0020e+00 5.2000e-02] [13.37 0.154 0.04 ] [13.344 -0.112 0.045] 33.159292459487915\nfeet [-0.36 0.156 0.045] [-0.386 -0.111 0.045]\nTraceback (most recent call last):\nValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (3,) + inhomogeneous part.\no5_-0.18.txt\nwalked True 39.62 [13.38 0.019 1.011 0.045] [13.42 0.156 0.045] [13.393 -0.112 0.046] 31.935408115386963\nfeet [-0.31 0.157 0.045] [-0.337 -0.112 0.045]\nTraceback (most recent call last):\nValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (3,) + inhomogeneous part.\n\n[stdout]\n10: prevp = [None]\n14: if prevp[0] is not None: out.append((x[:2] - prevp[0]) * 5)\n26: prevp[0] = x[:2].copy()\n29: k.freeze_arms = x0[6 + 13:].copy()\no5_-0.13.txt\nwalked True 39.54 [1.3328e+01 1.0000e-02 1.0020e+00 5.2000e-02] [13.37 0.154 0.04 ] [13.344 -0.112 0.045] 33.159292459487915\nfeet [-0.36 0.156 0.045] [-0.386 -0.111 0.045]\nTraceback (most recent call last):\nValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (3,) + inhomogeneous part.\no5_-0.18.txt\nwalked True 39.62 [13.38 0.019 1.011 0.045] [13.42 0.156 0.045] [13.393 -0.112 0.046] 31.935408115386963\nfeet [-0.31 0.157 0.045] [-0.337 -0.112 0.045]\nTraceback (most recent call last):\nValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (3,) + inhomogeneous part.","exit":[],"pics":[]},"tok":{"in":230627,"cached":228548,"out":1473,"think":null,"usd":0.0856},"sim":{"submit":0,"reset":0}},{"id":72,"t":3291.8,"say":"","calls":[{"kind":"shell","label":"src=open('design.py').read()","code":"cd /app/work; python - <<'EOF'\nsrc=open('design.py').read()\nsrc=src.replace(''' if yaw is not None: out.append((x[5] - yaw) * w[2])\n return np.array(out)''',''' if yaw is not None: out.append((x[5] - yaw) * w[2])\n return np.concatenate([np.atleast_1d(o) for o in out]) if out else np.zeros(0)''')\nopen('design.py','w').write(src)\nEOF\nfor off in -0.13 -0.18; do (OFF=$off VERB=1 STOP=A7 timeout 300 python -u run2.py 1 > o5_$off.txt 2>&1 &); done; sleep 110; for f in o5_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o5_-0.13.txt\nwalked True 39.54 [1.3328e+01 1.0000e-02 1.0020e+00 5.2000e-02] [13.37 0.154 0.04 ] [13.344 -0.112 0.045] 32.33749532699585\nfeet [-0.36 0.156 0.045] [-0.386 -0.111 0.045]\nA1 43.35 pel [-0.326 0.175 0.99 ] plan [-0.325 0.178 0.99 ] e [-0. -0.001 0. ] L [-0.36 0.154 0.045] R [-0.388 -0.118 0.046] tilt -0.0 None []\nA2 45.15 pel [-0.325 0.175 1.03 ] plan [-0.325 0.178 1.032] e [ 0. -0. -0.001] L [-0.36 0.154 0.044] R [-0.389 -0.108 0.192] tilt -0.0 None []\nA2b 46.45 pel [-0.34 0.163 1.063] plan [-0.34 0.164 1.065] e [ 0. 0. -0.001] L [-0.36 0.154 0.044] R [-0.303 -0.109 0.545] tilt -0.0 None []\nA2c 47.75 pel [-0.478 0.175 1.002] plan [-0.396 0.135 1.077] e [ 0.007 0.024 -0.094] L [-0.461 0.18 0.053] R [-0.151 -0.086 1.003] tilt 0.3 None []\nA3 49.05 pel [-0.308 0.155 0.453] plan [-0.359 0.147 1.036] e [-0.002 -0.692 -1.437] L [-0.334 0.848 0.898] R [-0.372 0.312 0.085] tilt -0.0 None []\no5_-0.18.txt\nwalked True 39.62 [13.38 0.019 1.011 0.045] [13.42 0.156 0.045] [13.393 -0.112 0.046] 32.14282536506653\nfeet [-0.31 0.157 0.045] [-0.337 -0.112 0.045]\nA1 43.43 pel [-0.274 0.178 0.994] plan [-0.273 0.179 0.994] e [-0. -0.001 0. ] L [-0.309 0.156 0.045] R [-0.34 -0.116 0.046] tilt -0.0 None []\nA2 45.23 pel [-0.273 0.177 1.032] plan [-0.274 0.179 1.034] e [ 0. -0. -0.001] L [-0.309 0.156 0.045] R [-0.336 -0.106 0.192] tilt -0.0 None []\nA2b 46.53 pel [-0.285 0.165 1.\n… (891 characters left out) …\n[-0.36 0.154 0.044] R [-0.389 -0.108 0.192] tilt -0.0 None []\nA2b 46.45 pel [-0.34 0.163 1.063] plan [-0.34 0.164 1.065] e [ 0. 0. -0.001] L [-0.36 0.154 0.044] R [-0.303 -0.109 0.545] tilt -0.0 None []\nA2c 47.75 pel [-0.478 0.175 1.002] plan [-0.396 0.135 1.077] e [ 0.007 0.024 -0.094] L [-0.461 0.18 0.053] R [-0.151 -0.086 1.003] tilt 0.3 None []\nA3 49.05 pel [-0.308 0.155 0.453] plan [-0.359 0.147 1.036] e [-0.002 -0.692 -1.437] L [-0.334 0.848 0.898] R [-0.372 0.312 0.085] tilt -0.0 None []\no5_-0.18.txt\nwalked True 39.62 [13.38 0.019 1.011 0.045] [13.42 0.156 0.045] [13.393 -0.112 0.046] 32.14282536506653\nfeet [-0.31 0.157 0.045] [-0.337 -0.112 0.045]\nA1 43.43 pel [-0.274 0.178 0.994] plan [-0.273 0.179 0.994] e [-0. -0.001 0. ] L [-0.309 0.156 0.045] R [-0.34 -0.116 0.046] tilt -0.0 None []\nA2 45.23 pel [-0.273 0.177 1.032] plan [-0.274 0.179 1.034] e [ 0. -0. -0.001] L [-0.309 0.156 0.045] R [-0.336 -0.106 0.192] tilt -0.0 None []\nA2b 46.53 pel [-0.285 0.165 1.067] plan [-0.286 0.164 1.069] e [ 0. 0. -0.001] L [-0.309 0.157 0.044] R [-0.301 -0.107 0.545] tilt -0.0 None []\nA2c 47.83 pel [-0.511 0.315 0.718] plan [-0.357 0.148 1.072] e [-0.008 0.366 -0.389] L [-0.472 -0.097 0.058] R [-0.19 0.392 0.963] tilt -0.0 None []\nA3 49.13 pel [-1.015 0.589 0.194] plan [-0.325 0.158 1.034] e [-0.479 0.473 -0.888] L [-0.46 0.1 0.088] R [-1.156 0.981 0.141] tilt -0.1 None []","exit":[],"pics":[]},"tok":{"in":232592,"cached":230625,"out":458,"think":null,"usd":0.0651},"sim":{"submit":0,"reset":0}},{"id":73,"t":3424.1,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/output; cat > /app/output/gen.py <<'EOF'","code":"mkdir -p /app/output; cat > /app/output/gen.py <<'EOF'\n\"\"\"Partial attempt (does not clear a hurdle): walk with Unitree's walking policy (arms lowered, heading/lane held by\nfeedback on the privileged pelvis state) to just before the first hurdle and stop there.\"\"\"\nimport numpy as np\nfrom rcb_rfo import Session\n\ns = Session() # reads /app/instance.json\nw = s.world\nup = np.zeros(15); up[1] = up[8] = 0.2; up[4] = up[11] = 1.3 # arms down and back, clear of the bar\nxstop = 13.72 - 0.27\ndone = False\nwhile not done:\n x, y, z, yaw = w.pelvis()\n vx = float(np.clip(1.2 * (xstop - x), -0.3, 0.8))\n wz = float(np.clip(-2.0 * yaw - 1.0 * y, -0.6, 0.6))\n vy = float(np.clip(-1.0 * y, -0.3, 0.3))\n done = s.step(\"walk\", np.r_[vx, vy, wz, up, 0, 0])\nprint(s.status()[\"failed\"], s.status()[\"metrics\"])\ns.save_trajectory()\nEOF\ncd /app/output && (timeout 600 python -u gen.py > /app/work/gen_out.txt 2>&1 &); date"}],"out":{"text":"Thu Oct 15 19:23:02 UTC 2026\n\n[stdout]\nThu Oct 15 19:23:02 UTC 2026","exit":[],"pics":[]},"tok":{"in":234282,"cached":232590,"out":2261,"think":null,"usd":0.1002},"sim":{"submit":0,"reset":0}},{"id":74,"t":3432.1,"say":"","calls":[{"kind":"shell","label":"cd /app/work; for mul in 1.6 2.2; do (OFF=-0.15 VERB=1 STOP=A6 timeout 400 python -u run2.py $mul > o6_$mul.tx","code":"cd /app/work; for mul in 1.6 2.2; do (OFF=-0.15 VERB=1 STOP=A6 timeout 400 python -u run2.py $mul > o6_$mul.txt 2>&1 &); done; sleep 120; for f in o6_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o6_1.6.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 33.17779898643494\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 45.18 pel [-0.304 0.178 0.991] plan [-0.305 0.179 0.99 ] e [ 0.001 -0. 0.001] L [-0.339 0.156 0.044] R [-0.366 -0.114 0.046] tilt -0.0 None []\nA2 47.88 pel [-0.304 0.178 1.031] plan [-0.305 0.178 1.032] e [ 0. -0. -0.] L [-0.339 0.156 0.044] R [-0.367 -0.109 0.194] tilt -0.0 None []\nA2b 49.78 pel [-0.318 0.164 1.065] plan [-0.318 0.165 1.066] e [ 0. -0. -0.001] L [-0.339 0.156 0.044] R [-0.303 -0.108 0.546] tilt -0.0 None []\nA2c 51.68 pel [-1.126 0.231 0.533] plan [-0.38 0.14 1.075] e [-0.583 0.087 -0.521] L [-0.46 0.167 0.085] R [-1.101 0.206 0.954] tilt -0.0 None []\no6_2.2.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 32.820982456207275\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 46.98 pel [-0.304 0.179 0.99 ] plan [-0.305 0.179 0.99 ] e [0.001 0. 0.001] L [-0.339 0.157 0.044] R [-0.368 -0.113 0.047] tilt -0.0 None []\nA2 50.58 pel [-0.304 0.178 1.031] plan [-0.305 0.178 1.032] e [ 0. -0. -0.] L [-0.339 0.157 0.044] R [-0.367 -0.11 0.194] tilt -0.0 None []\nA2b 53.08 pel [-0.318 0.165 1.065] plan [-0.318 0.165 1.066] e [ 0. -0. -0.] L [-0.339 0.157 0.044] R [-0.302 -0.11 0.548] tilt -0.0 None []\nA2c 55.58 pel [-1.043 0.298 0.522] plan [-0.38 0.14 1.075] e [-0.495 0.1\n… (167 characters left out) …\n43] [13.364 -0.111 0.045] 33.17779898643494\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 45.18 pel [-0.304 0.178 0.991] plan [-0.305 0.179 0.99 ] e [ 0.001 -0. 0.001] L [-0.339 0.156 0.044] R [-0.366 -0.114 0.046] tilt -0.0 None []\nA2 47.88 pel [-0.304 0.178 1.031] plan [-0.305 0.178 1.032] e [ 0. -0. -0.] L [-0.339 0.156 0.044] R [-0.367 -0.109 0.194] tilt -0.0 None []\nA2b 49.78 pel [-0.318 0.164 1.065] plan [-0.318 0.165 1.066] e [ 0. -0. -0.001] L [-0.339 0.156 0.044] R [-0.303 -0.108 0.546] tilt -0.0 None []\nA2c 51.68 pel [-1.126 0.231 0.533] plan [-0.38 0.14 1.075] e [-0.583 0.087 -0.521] L [-0.46 0.167 0.085] R [-1.101 0.206 0.954] tilt -0.0 None []\no6_2.2.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 32.820982456207275\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 46.98 pel [-0.304 0.179 0.99 ] plan [-0.305 0.179 0.99 ] e [0.001 0. 0.001] L [-0.339 0.157 0.044] R [-0.368 -0.113 0.047] tilt -0.0 None []\nA2 50.58 pel [-0.304 0.178 1.031] plan [-0.305 0.178 1.032] e [ 0. -0. -0.] L [-0.339 0.157 0.044] R [-0.367 -0.11 0.194] tilt -0.0 None []\nA2b 53.08 pel [-0.318 0.165 1.065] plan [-0.318 0.165 1.066] e [ 0. -0. -0.] L [-0.339 0.157 0.044] R [-0.302 -0.11 0.548] tilt -0.0 None []\nA2c 55.58 pel [-1.043 0.298 0.522] plan [-0.38 0.14 1.075] e [-0.495 0.163 -0.545] L [-0.458 0.13 0.089] R [-1.053 0.379 0.935] tilt -0.0 None []","exit":[],"pics":[]},"tok":{"in":236620,"cached":234280,"out":308,"think":null,"usd":0.0647},"sim":{"submit":0,"reset":0}},{"id":75,"t":3559.1,"say":"","calls":[{"kind":"shell","label":"s = Session(); w = s.world; k = Kin(w); d = w.d","code":"cd /app/work; cat gen_out.txt; ls -la /app/output; cat > chk.py <<'EOF'\nimport numpy as np\nfrom rcb_rfo import Session\nfrom lib import *\nfrom design import plan\ns = Session(); w = s.world; k = Kin(w); d = w.d\nx0 = k.qpos2x(d.qpos.copy()); x0[6+13] = x0[6+20] = 0.2; x0[6+16] = x0[6+23] = 1.3\nfl, fr = d.xpos[k.b[\"left\"]].copy(), d.xpos[k.b[\"right\"]].copy(); fl[2] = fr[2] = 0.045\nxp = fl[0] + 0.34\nseq = plan(k, x0, fl, fr, xp)\nfor st in seq[:8]:\n qp = k.x2qpos(st[\"x\"]); dd = k.fk(qp)\n print(st[\"name\"], \"R\", (dd.xpos[k.b['right']] - [xp, 0, 0]).round(3), \"legs\", st[\"x\"][6:18].round(2), \"rpy\", st[\"x\"][3:6].round(2), k.selfcontacts(qp))\nEOF\ntimeout 200 python chk.py"}],"out":{"text":"time {'hurdles_cleared': 0, 'distance_m': 13.38}\ntotal 15444\ndrwxr-xr-x 2 root root 4096 Oct 15 19:24 .\ndrwxr-xr-x 4 root root 4096 Oct 15 18:29 ..\n-rw-r--r-- 1 root root 798 Oct 15 19:23 gen.py\n-rw-r--r-- 1 root root 6565 Oct 15 19:23 rcb_session_log.jsonl\n-rw-r--r-- 1 root root 15792540 Oct 15 19:24 trajectory.npz\nA1 R [-0.34 -0.163 0.045] legs [ 0.03 -0.12 -0.24 0.35 -0.23 0.24 0.03 -0.12 -0.24 0.35 -0.23 0.24] rpy [-0. 0. 0.] [('left_hip_roll_link_sc0', 'left_wrist_yaw_link_sc0', -0.005), ('left_hip_roll_link_sc0', 'left_wrist_yaw_link_sc0', -0.005), ('left_hip_roll_link_sc0', 'left_wrist_yaw_link_sc0', -0.005)]\nA2 R [-0.34 -0.163 0.195] legs [-0. 0.02 -0.03 0.06 -0.08 0.2 -0.41 -0.51 -0.08 0.98 -0.22 0.23] rpy [-0.16 -0. -0. ] [('right_hip_pitch_link_sc0', 'right_wrist_yaw_link_sc0', -0.002), ('right_hip_pitch_link_sc0', 'right_wrist_yaw_link_sc0', -0.002), ('right_hip_roll_link_sc0', 'right_wrist_pitch_link_sc0', -0.001), ('right_hip_roll_link_sc0', 'right_wrist_pitch_link_sc0', -0.001), ('right_hip_roll_link_sc0', 'right_wrist_pitch_link_sc0', -0.001), ('right_hip_roll_link_sc0', 'right_wrist_yaw_link_sc0', -0.001)]\nA2b R [-0.3 -0.163 0.55 ] legs [ 0.03 0.13 0.24 -0.19 0.06 0.13 -0.41 -1.1 0.18 2.01 -0.19 0.22] rpy [-0.38 -0. 0. ] [('right_hip_pitch_link_sc0', 'right_wrist_yaw_link_sc0', -0.008)]\nA2c R [-0.129 -0.175 0.888] legs [ 0.03 -0.53 1.18 0.17 0.01 -0.08 0.38 -2.49 0.41 2.03 0.5 -0.01] rpy [-1.08 0\n… (1,235 characters left out) …\n, 'left_wrist_yaw_link_sc0', -0.005)]\nA2 R [-0.34 -0.163 0.195] legs [-0. 0.02 -0.03 0.06 -0.08 0.2 -0.41 -0.51 -0.08 0.98 -0.22 0.23] rpy [-0.16 -0. -0. ] [('right_hip_pitch_link_sc0', 'right_wrist_yaw_link_sc0', -0.002), ('right_hip_pitch_link_sc0', 'right_wrist_yaw_link_sc0', -0.002), ('right_hip_roll_link_sc0', 'right_wrist_pitch_link_sc0', -0.001), ('right_hip_roll_link_sc0', 'right_wrist_pitch_link_sc0', -0.001), ('right_hip_roll_link_sc0', 'right_wrist_pitch_link_sc0', -0.001), ('right_hip_roll_link_sc0', 'right_wrist_yaw_link_sc0', -0.001)]\nA2b R [-0.3 -0.163 0.55 ] legs [ 0.03 0.13 0.24 -0.19 0.06 0.13 -0.41 -1.1 0.18 2.01 -0.19 0.22] rpy [-0.38 -0. 0. ] [('right_hip_pitch_link_sc0', 'right_wrist_yaw_link_sc0', -0.008)]\nA2c R [-0.129 -0.175 0.888] legs [ 0.03 -0.53 1.18 0.17 0.01 -0.08 0.38 -2.49 0.41 2.03 0.5 -0.01] rpy [-1.08 0.04 -0.49] [('right_knee_link_sc0', 'right_elbow_pitch_link_sc0', -0.015)]\nA3 R [-0.053 -0.166 1.122] legs [ 0.11 -0.22 0.04 0.32 -0.18 0.17 -0.41 -3.12 -0.08 2.03 0.5 0.02] rpy [-0.22 0.05 -0.13] []\nA4 R [ 0.08 -0.163 1.12 ] legs [-0.03 -0.12 0.27 0.28 -0.16 0.12 -0.21 -2.79 -0.33 1.91 0.48 0.02] rpy [-0.39 -0. 0. ] []\nA4b R [ 0.1 -0.163 0.8 ] legs [ 0.01 0.14 0.1 -0.24 0.11 0.16 -0.41 -2.2 0.3 1.82 0.35 0.03] rpy [-0.26 -0. -0. ] []\nA4c R [ 0.07 -0.163 0.45 ] legs [ 0.03 0.13 0.24 -0.24 0.11 0.13 -0.41 -1.25 0.41 1.15 0.28 0.03] rpy [-0.37 -0. 0. ] []","exit":[],"pics":[]},"tok":{"in":237934,"cached":236618,"out":838,"think":null,"usd":0.0707},"sim":{"submit":0,"reset":0}},{"id":76,"t":3617.3,"say":"","calls":[{"kind":"shell","label":"src=open('design.py').read()","code":"cd /app/work; python - <<'EOF'\nsrc=open('design.py').read()\nsrc=src.replace(''' x = x0.copy()\n k.freeze_arms = x0[6 + 13:].copy()\n''',''' x = x0.copy()\n x[6 + 13:] = 0.0\n x[6 + 14], x[6 + 21] = 1.3, -1.3\n k.freeze_arms = x[6 + 13:].copy()\n''',1)\nsrc=src.replace(\"extra=att(-0.4, 0, 0, (1, 3, 3)), wreg=0.1)\",\"extra=att(-0.35, 0, 0, (3, 3, 3)), wreg=0.1)\")\nsrc=src.replace('(\"A2c\", (xp - 0.15, 0.9), 1.0)','(\"A2c\", (xp - 0.12, 0.95), 1.0)')\nopen('design.py','w').write(src)\nsrc=open('lib.py').read()\nsrc=src.replace(''' if getattr(self, \"freeze_arms\", None) is not None:''',''' lb[6 + 1] = lb[6 + 7] = -2.7\n if getattr(self, \"freeze_arms\", None) is not None:''')\nopen('lib.py','w').write(src)\nEOF\ntimeout 200 python chk.py"}],"out":{"text":"A1 R [-0.34 -0.163 0.045] legs [ 0.04 -0.15 -0.24 0.35 -0.2 0.24 0.03 -0.14 -0.24 0.35 -0.2 0.24] rpy [-0. 0. 0.] []\nA2 R [-0.34 -0.163 0.195] legs [ 0. 0. -0.07 0.04 -0.05 0.2 -0.41 -0.58 -0.12 1.03 -0.19 0.23] rpy [-0.13 -0. -0. ] []\nA2b R [-0.3 -0.163 0.55 ] legs [ 0.02 0.09 0.21 -0.14 0.06 0.14 -0.41 -1.15 0.15 2.02 -0.16 0.22] rpy [-0.34 -0. 0. ] []\nA2c R [-0.097 -0.183 0.941] legs [ 0.22 -0.43 0.21 0.19 -0.02 0.14 -0.31 -2.7 0.41 2.03 0.5 0.08] rpy [-0.39 0.15 -0.33] []\nA3 R [-0.036 -0.186 1.113] legs [ 0.16 -0.15 0.47 0.28 -0.14 0.07 -0.31 -2.7 0.25 2.03 0.5 -0.01] rpy [-0.52 -0.1 -0.2 ] []\nA4 R [ 0.082 -0.165 1.119] legs [-0. -0.03 0.31 0.16 -0.1 0.09 -0.37 -2.7 0.11 1.88 0.5 -0.02] rpy [-0.4 -0.04 -0. ] []\nA4b R [ 0.1 -0.163 0.8 ] legs [ 0.01 0.13 0.06 -0.24 0.12 0.14 -0.41 -2.25 0.32 1.81 0.4 -0.02] rpy [-0.21 -0. 0. ] []\nA4c R [ 0.07 -0.163 0.45 ] legs [ 0.02 0.12 0.14 -0.24 0.12 0.13 -0.39 -1.34 0.34 1.23 0.34 -0.01] rpy [-0.27 -0. 0. ] []\n\n[stdout]\nA1 R [-0.34 -0.163 0.045] legs [ 0.04 -0.15 -0.24 0.35 -0.2 0.24 0.03 -0.14 -0.24 0.35 -0.2 0.24] rpy [-0. 0. 0.] []\nA2 R [-0.34 -0.163 0.195] legs [ 0. 0. -0.07 0.04 -0.05 0.2 -0.41 -0.58 -0.12 1.03 -0.19 0.23] rpy [-0.13 -0. -0. ] []\nA2b R [-0.3 -0.163 0.55 ] legs [ 0.02 0.09 0.21 -0.14 0.06 0.14 -0.41 -1.15 0.15 2.02 -0.16 0.22] rpy [-0.34 -0. 0. ] []\nA2c R [-0.097 -0.183 0.941] legs [ 0.22 -0.43 0.21 0.19 -0.02 0.14 -0.31 -2.7 0.41 2.03 0.5 0.08] rpy [-0.39 0.15 -0.33] []\nA3 R [-0.036 -0.186 1.113] legs [ 0.16 -0.15 0.47 0.28 -0.14 0.07 -0.31 -2.7 0.25 2.03 0.5 -0.01] rpy [-0.52 -0.1 -0.2 ] []\nA4 R [ 0.082 -0.165 1.119] legs [-0. -0.03 0.31 0.16 -0.1 0.09 -0.37 -2.7 0.11 1.88 0.5 -0.02] rpy [-0.4 -0.04 -0. ] []\nA4b R [ 0.1 -0.163 0.8 ] legs [ 0.01 0.13 0.06 -0.24 0.12 0.14 -0.41 -2.25 0.32 1.81 0.4 -0.02] rpy [-0.21 -0. 0. ] []\nA4c R [ 0.07 -0.163 0.45 ] legs [ 0.02 0.12 0.14 -0.24 0.12 0.13 -0.39 -1.34 0.34 1.23 0.34 -0.01] rpy [-0.27 -0. 0. ] []","exit":[],"pics":[]},"tok":{"in":240238,"cached":237932,"out":1426,"think":null,"usd":0.0876},"sim":{"submit":0,"reset":0}},{"id":77,"t":3694.7,"say":"","calls":[{"kind":"shell","label":"cd /app/work; for mul in 1.0 1.5; do (OFF=-0.15 VERB=1 STOP=A7 timeout 400 python -u run2.py $mul > o7_$mul.tx","code":"cd /app/work; for mul in 1.0 1.5; do (OFF=-0.15 VERB=1 STOP=A7 timeout 400 python -u run2.py $mul > o7_$mul.txt 2>&1 &); done; sleep 115; for f in o7_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"o7_1.0.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 26.957152128219604\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 43.38 pel [-0.315 0.179 0.997] plan [-0.319 0.178 0.991] e [0. 0. 0.005] L [-0.339 0.156 0.045] R [-0.4 -0.126 0.059] tilt -0.0 None []\nA2 45.18 pel [-0.317 0.177 1.026] plan [-0.319 0.177 1.028] e [ 0. -0. -0.002] L [-0.339 0.155 0.044] R [-0.394 -0.1 0.192] tilt -0.0 None []\nA2b 46.48 pel [-0.325 0.167 1.067] plan [-0.326 0.163 1.066] e [0. 0.001 0.001] L [-0.339 0.158 0.045] R [-0.323 -0.114 0.553] tilt -0.0 None []\nA2c 47.78 pel [-0.387 0.185 1.091] plan [-0.396 0.156 1.075] e [0.01 0.016 0.003] L [-0.336 0.174 0.053] R [-0.119 -0.148 0.974] tilt -0.0 None []\nA3 49.08 pel [-0.422 0.167 1.063] plan [-0.379 0.152 1.082] e [-0.027 -0.009 -0.018] L [-0.347 0.158 0.047] R [-0.097 -0.145 0.959] tilt 0.3 None []\nA4 50.09 pel [-0.367 0.172 1.03 ] plan [-0.335 0.138 1.08 ] e [-0.019 -0.014 -0.045] L [-0.353 0.166 0.046] R [ 0.001 -0.148 0.956] tilt 2.1 went under the top of the first hurdle []\no7_1.5.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 26.448301792144775\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 44.88 pel [-0.315 0.207 1.02 ] plan [-0.319 0.178 0.991] e [0.002 0.006 0.019] L [-0.339 0.179 0.055] R [-0.377 -0.177 0.11 ] tilt -0.0 None []\nA2 47.43 pel [-0.316 0.181 \n… (1,871 characters left out) …\n959] tilt 0.3 None []\nA4 50.09 pel [-0.367 0.172 1.03 ] plan [-0.335 0.138 1.08 ] e [-0.019 -0.014 -0.045] L [-0.353 0.166 0.046] R [ 0.001 -0.148 0.956] tilt 2.1 went under the top of the first hurdle []\no7_1.5.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 26.448301792144775\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 44.88 pel [-0.315 0.207 1.02 ] plan [-0.319 0.178 0.991] e [0.002 0.006 0.019] L [-0.339 0.179 0.055] R [-0.377 -0.177 0.11 ] tilt -0.0 None []\nA2 47.43 pel [-0.316 0.181 1.03 ] plan [-0.319 0.177 1.028] e [0.001 0.001 0.003] L [-0.339 0.157 0.045] R [-0.385 -0.124 0.203] tilt -0.0 None []\nA2b 49.23 pel [-0.326 0.165 1.066] plan [-0.326 0.163 1.066] e [0. 0. 0.] L [-0.34 0.156 0.044] R [-0.326 -0.114 0.551] tilt -0.0 None []\nA2c 51.03 pel [-0.395 0.182 1.091] plan [-0.396 0.156 1.075] e [0.003 0.017 0.004] L [-0.338 0.172 0.052] R [-0.114 -0.145 0.974] tilt -0.0 None []\nA3 52.83 pel [-0.425 0.162 1.082] plan [-0.379 0.152 1.082] e [-0.022 0. -0.011] L [-0.347 0.155 0.049] R [-0.105 -0.153 0.968] tilt -0.0 None []\nA4 54.63 pel [-0.381 0.161 1.061] plan [-0.335 0.138 1.08 ] e [-0.018 -0.013 -0.022] L [-0.357 0.169 0.048] R [-0.031 -0.16 0.962] tilt 1.7 None []\nA4b 55.58 pel [-0.374 0.186 1.073] plan [-0.337 0.138 1.046] e [-0.015 0.004 0.008] L [-0.359 0.198 0.051] R [ 0.001 -0.181 0.943] tilt -0.0 went under the top of the first hurdle []","exit":[],"pics":[]},"tok":{"in":242473,"cached":240236,"out":236,"think":null,"usd":0.064},"sim":{"submit":0,"reset":0}},{"id":78,"t":3818.1,"say":"","calls":[{"kind":"shell","label":"cd /app/work; sed -i 's/(\"A2c\", (xp - 0.12, 0.95), 1.0), (\"A3\", (xp - 0.06, 1.12), 1.0), (\"A4\", (xp + 0.08, 1.","code":"cd /app/work; sed -i 's/(\"A2c\", (xp - 0.12, 0.95), 1.0), (\"A3\", (xp - 0.06, 1.12), 1.0), (\"A4\", (xp + 0.08, 1.12), 1.0)/(\"A2c\", (xp - 0.26, 0.95), 1.0), (\"A3\", (xp - 0.22, 1.16), 1.0), (\"A4\", (xp + 0.06, 1.15), 1.2)/' design.py; grep -c '\"A2c\", (xp - 0.26' design.py; timeout 200 python chk.py 2>&1 | tail -5 | cut -c1-200"}],"out":{"text":"1\nA2c R [-0.228 -0.214 0.933] legs [ 0.41 -0.59 0.11 0.16 0.02 0.2 -0.41 -2.7 0.41 2.03 0.5 -0.02] rpy [-0.45 0.23 -0.55] []\nA3 R [-0.189 -0.224 1.159] legs [ 0.25 -0.43 0.65 0.73 -0.36 0.07 -0.41 -2.7 0.29 2.03 0.5 -0.02] rpy [-0.65 -0.19 -0.46] []\nA4 R [ 0.065 -0.167 1.147] legs [ 0.02 0.03 0.38 0.16 -0.11 0.08 -0.37 -2.7 0.09 1.94 0.5 -0.06] rpy [-0.46 -0.09 -0. ] []\nA4b R [ 0.1 -0.163 0.8 ] legs [ 0. 0.13 0.04 -0.24 0.11 0.15 -0.41 -2.26 0.3 1.82 0.39 -0.06] rpy [-0.19 -0. 0. ] []\nA4c R [ 0.07 -0.163 0.45 ] legs [ 0.02 0.12 0.13 -0.24 0.12 0.13 -0.41 -1.35 0.34 1.24 0.33 -0.05] rpy [-0.26 -0. 0. ] []\n\n[stdout]\n1\nA2c R [-0.228 -0.214 0.933] legs [ 0.41 -0.59 0.11 0.16 0.02 0.2 -0.41 -2.7 0.41 2.03 0.5 -0.02] rpy [-0.45 0.23 -0.55] []\nA3 R [-0.189 -0.224 1.159] legs [ 0.25 -0.43 0.65 0.73 -0.36 0.07 -0.41 -2.7 0.29 2.03 0.5 -0.02] rpy [-0.65 -0.19 -0.46] []\nA4 R [ 0.065 -0.167 1.147] legs [ 0.02 0.03 0.38 0.16 -0.11 0.08 -0.37 -2.7 0.09 1.94 0.5 -0.06] rpy [-0.46 -0.09 -0. ] []\nA4b R [ 0.1 -0.163 0.8 ] legs [ 0. 0.13 0.04 -0.24 0.11 0.15 -0.41 -2.26 0.3 1.82 0.39 -0.06] rpy [-0.19 -0. 0. ] []\nA4c R [ 0.07 -0.163 0.45 ] legs [ 0.02 0.12 0.13 -0.24 0.12 0.13 -0.41 -1.35 0.34 1.24 0.33 -0.05] rpy [-0.26 -0. 0. ] []","exit":[],"pics":[]},"tok":{"in":244224,"cached":242471,"out":853,"think":null,"usd":0.0743},"sim":{"submit":0,"reset":0}},{"id":79,"t":3845.6,"say":"","calls":[{"kind":"shell","label":"src=open('design.py').read()","code":"cd /app/work; python - <<'EOF'\nsrc=open('design.py').read()\nold='''targets=[(ankR, np.r_[tgt[0], yR, tgt[1]], 30)], mins=hz if tgt[1] > 1 else [(pz, 1.0, 30)]'''\nnew='''targets=[(ankR, np.r_[tgt[0], yR, tgt[1]], 30), (lambda d: d.qpos[k.qadr[10]], -0.7, 5)], mins=hz if tgt[1] > 1 else [(pz, 1.0, 30)]'''\nassert old in src\nsrc=src.replace(old,new)\nopen('design.py','w').write(src)\nEOF\ntimeout 200 python chk.py 2>&1 | tail -5 | cut -c1-200\nfor mul in 1.0 1.4; do (OFF=-0.15 VERB=1 STOP=A7 timeout 400 python -u run2.py $mul > o8_$mul.txt 2>&1 &); done; sleep 100; for f in o8_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"Command did not complete within its 120s timeout and was moved to the background (ID: bxgd22nt9). Output is being written to: /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bxgd22nt9.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/work; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":245597,"cached":244222,"out":632,"think":null,"usd":0.0684},"sim":{"submit":0,"reset":0}},{"id":80,"t":3970.5,"say":"","calls":[{"kind":"shell","label":"sleep 60; cat /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bxgd22nt9.output | cut -c1-250; da","code":"sleep 60; cat /tmp/claude-0/-app/63b262f9-3b2c-4683-a3e8-f533647b6a8e/tasks/bxgd22nt9.output | cut -c1-250; date"}],"out":{"text":"A2c R [-0.224 -0.218 0.933] legs [ 0.41 -0.66 0.11 0.19 0.03 0.2 -0.41 -2.7 0.41 2.03 -0.7 -0.02] rpy [-0.47 0.25 -0.57] []\nA3 R [-0.187 -0.226 1.16 ] legs [ 0.28 -0.47 0.62 0.73 -0.35 0.09 -0.41 -2.7 0.31 2.03 -0.71 -0.01] rpy [-0.63 -0.18 -0.49] []\nA4 R [ 0.065 -0.167 1.147] legs [ 0.02 0.03 0.37 0.17 -0.11 0.08 -0.37 -2.7 0.09 1.98 -0.7 -0.04] rpy [-0.45 -0.08 -0. ] []\nA4b R [ 0.1 -0.163 0.8 ] legs [-0. 0.13 0.08 -0.22 0.1 0.14 -0.27 -2.23 0.07 1.93 -0.67 0.01] rpy [-0.22 0. 0.01] []\nA4c R [ 0.07 -0.163 0.45 ] legs [-0.05 0.11 -0. -0.22 0.1 0.17 -0.18 -1.44 -0.03 1.43 -0.6 0.16] rpy [-0.16 0.01 0.05] []\no8_1.0.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 27.328120946884155\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 43.38 pel [-0.315 0.179 0.997] plan [-0.319 0.178 0.991] e [0. 0. 0.005] L [-0.339 0.156 0.045] R [-0.4 -0.126 0.059] tilt -0.0 None []\nA2 45.18 pel [-0.317 0.177 1.026] plan [-0.319 0.177 1.028] e [ 0. -0. -0.002] L [-0.339 0.155 0.044] R [-0.394 -0.1 0.192] tilt -0.0 None []\nA2b 46.48 pel [-0.317 0.17 1.072] plan [-0.318 0.166 1.071] e [0. 0.001 0.001] L [-0.339 0.159 0.045] R [-0.326 -0.119 0.548] tilt -0.0 None []\nA2c 47.7 pel [-0.431 0.248 0.788] plan [-0.434 0.187 1.067] e [ 0.164 0.41 -0.455] L [-0.599 -0.19 0.191] R [-0.358 0.475 1.178] tilt 10.4 knocked the first hurdle with a hand,\n… (1,819 characters left out) …\n 0.991] e [0. 0. 0.005] L [-0.339 0.156 0.045] R [-0.4 -0.126 0.059] tilt -0.0 None []\nA2 45.18 pel [-0.317 0.177 1.026] plan [-0.319 0.177 1.028] e [ 0. -0. -0.002] L [-0.339 0.155 0.044] R [-0.394 -0.1 0.192] tilt -0.0 None []\nA2b 46.48 pel [-0.317 0.17 1.072] plan [-0.318 0.166 1.071] e [0. 0.001 0.001] L [-0.339 0.159 0.045] R [-0.326 -0.119 0.548] tilt -0.0 None []\nA2c 47.7 pel [-0.431 0.248 0.788] plan [-0.434 0.187 1.067] e [ 0.164 0.41 -0.455] L [-0.599 -0.19 0.191] R [-0.358 0.475 1.178] tilt 10.4 knocked the first hurdle with a hand, an arm or the trunk []\no8_1.4.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 27.088485717773438\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 44.58 pel [-0.314 0.199 1.01 ] plan [-0.319 0.178 0.991] e [0.002 0.002 0.011] L [-0.338 0.173 0.054] R [-0.385 -0.144 0.082] tilt -0.0 None []\nA2 46.98 pel [-0.316 0.179 1.03 ] plan [-0.319 0.177 1.028] e [0. 0. 0.003] L [-0.339 0.157 0.045] R [-0.386 -0.12 0.203] tilt -0.0 None []\nA2b 48.68 pel [-0.318 0.169 1.069] plan [-0.318 0.166 1.071] e [ 0. 0. -0.001] L [-0.34 0.158 0.044] R [-0.329 -0.112 0.541] tilt -0.0 None []\nA2c 50.05 pel [-0.601 0.396 0.914] plan [-0.434 0.187 1.067] e [-0.489 0.05 -0.148] L [0.018 0.322 0.11 ] R [-0.503 -0.018 1.018] tilt -0.0 went under the top of the first hurdle []\n\n[exited with code 0]\nThu Oct 15 19:33:05 UTC 2026","exit":[],"pics":[]},"tok":{"in":246443,"cached":245595,"out":119,"think":null,"usd":0.0557},"sim":{"submit":0,"reset":0}},{"id":81,"t":4038.4,"say":"","calls":[{"kind":"shell","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'EOF'\n# 50 m hurdles, H1-2: result is a partial attempt (no hurdle gets cleared)\n- `trajectory.npz` / `gen.py`: walk with Unitree's walking policy (arms lowered so the forearms clear the bar, heading\n and lane held by feedback on the pelvis state) to just before hurdle 1 and stop. It does not clear a hurdle, so it scores 0.\n- The approach I worked on (not finished; the code is in /app/work, not in gen.py): quasi-static hurdling with my own\n whole-body controller in `lowcmd`.\n * IK (scipy least_squares on base pose + 27 joints): stance feet fixed, CoM over the stance foot, ankle/pelvis targets.\n * Gravity feed-forward: `mj_inverse` with contacts off, foot wrench chosen with the CoP kept central, stiff hips/knees\n (kp 600) and soft ankles (kp 60).\n * Balance: CoM error -> ankle torques, plus a stance hip-roll strategy for the lateral direction.\n * With this the robot stands on one leg with the other knee raised to ~1 m. A \"hip hike\" (pelvis rolled ~0.4 rad\n over a straight stance leg) puts the pelvis at 1.08-1.10 m, which is above the 1.067 m bar; with a level pelvis and\n straight legs it only reaches 1.048 m.\n- What failed and what it showed:\n * PD standing without feed-forward rocks and falls: the sole hull is not flat, so stiff ankles chatter. Soft ankles\n plus correct feed-forward fix that. Contacts must be off in `mj_inverse`, otherwise the feed-forward is wrong.\n * The lead foot gets blocked under the bar: the toe reaches 0.17 m ahead of the ankle, so the ankle has to be above\n about 1.12 m while it is still about 0.2 m behind the plane. IK via-points that do this needed extreme poses, and the\n robot fell.\n * Unsolved: the pelvis/trunk would touch a standing bar, which is a fault, so the hurdle has to be knocked over by a\n leg first. A slow push only tips it about 10-20 deg and it swings back; it needs about 4 m/s at the bar to fall.\n * The trail leg needs about 2.4 rad of hip abduction to keep the ankle above 1 m near the plane.\n- Nothing downloaded; installed scipy (pip).\nEOF\nwc -l /app/output/NOTES.md; date"}],"out":{"text":"22 /app/output/NOTES.md\nThu Oct 15 19:33:21 UTC 2026\n\n[stdout]\n22 /app/output/NOTES.md\nThu Oct 15 19:33:21 UTC 2026","exit":[],"pics":[]},"tok":{"in":248858,"cached":246441,"out":1506,"think":null,"usd":0.0915},"sim":{"submit":0,"reset":0}},{"id":82,"t":4049.0,"say":"","calls":[{"kind":"shell","label":"t=open('NOTES.md').read().splitlines()","code":"cd /app/output && python - <<'EOF'\nt=open('NOTES.md').read().splitlines()\n# merge continuation lines into bullets until <=20\nout=[]\nfor l in t:\n if l.startswith(' ') and out: out[-1]+=' '+l.strip()\n else: out.append(l)\nopen('NOTES.md','w').write('\\n'.join(out)+'\\n')\nprint(len(out))\nEOF\ncat NOTES.md | head -3"}],"out":{"text":"15\n# 50 m hurdles, H1-2: result is a partial attempt (no hurdle gets cleared)\n- `trajectory.npz` / `gen.py`: walk with Unitree's walking policy (arms lowered so the forearms clear the bar, heading\n and lane held by feedback on the pelvis state) to just before hurdle 1 and stop. It does not clear a hurdle, so it scores 0.\n\n[stdout]\n15\n# 50 m hurdles, H1-2: result is a partial attempt (no hurdle gets cleared)\n- `trajectory.npz` / `gen.py`: walk with Unitree's walking policy (arms lowered so the forearms clear the bar, heading\n and lane held by feedback on the pelvis state) to just before hurdle 1 and stop. It does not clear a hurdle, so it scores 0.","exit":[],"pics":[]},"tok":{"in":250428,"cached":248856,"out":227,"think":null,"usd":0.0622},"sim":{"submit":0,"reset":0}},{"id":83,"t":4055.9,"say":"","calls":[{"kind":"shell","label":"for mul in 1.0 1.4; do (OFF=-0.15 VERB=1 STOP=A7 timeout 400 python -u run2.py $mul > o9_$mul.txt 2>&1 &); don","code":"cd /app/work; sed -i 's/(\"A2c\", (xp - 0.26, 0.95), 1.0), (\"A3\", (xp - 0.22, 1.16), 1.0)/(\"A2c\", (xp - 0.30, 0.85), 1.2), (\"A2d\", (xp - 0.28, 1.05), 1.2), (\"A3\", (xp - 0.22, 1.16), 1.2)/' design.py; grep -c A2d design.py\nfor mul in 1.0 1.4; do (OFF=-0.15 VERB=1 STOP=A7 timeout 400 python -u run2.py $mul > o9_$mul.txt 2>&1 &); done; sleep 110; for f in o9_*; do echo $f; grep -v \"^ \" $f | cut -c1-250; done"}],"out":{"text":"1\no9_1.0.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 27.267510414123535\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 43.38 pel [-0.315 0.179 0.997] plan [-0.319 0.178 0.991] e [0. 0. 0.005] L [-0.339 0.156 0.045] R [-0.4 -0.126 0.059] tilt -0.0 None []\nA2 45.18 pel [-0.317 0.177 1.026] plan [-0.319 0.177 1.028] e [ 0. -0. -0.002] L [-0.339 0.155 0.044] R [-0.394 -0.1 0.192] tilt -0.0 None []\nA2b 46.48 pel [-0.317 0.17 1.072] plan [-0.318 0.166 1.071] e [0. 0.001 0.001] L [-0.339 0.159 0.045] R [-0.326 -0.119 0.548] tilt -0.0 None []\nA2c 47.69 pel [-0.249 0.213 0.888] plan [-0.193 0.24 0.982] e [-0.338 0.249 -0.195] L [ 0.019 -0.045 0.145] R [-0.391 0.414 1.278] tilt -0.0 went under the top of the first hurdle []\no9_1.4.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 27.413973569869995\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 44.58 pel [-0.314 0.199 1.01 ] plan [-0.319 0.178 0.991] e [0.002 0.002 0.011] L [-0.338 0.173 0.054] R [-0.385 -0.144 0.082] tilt -0.0 None []\nA2 46.98 pel [-0.316 0.179 1.03 ] plan [-0.319 0.177 1.028] e [0. 0. 0.003] L [-0.339 0.157 0.045] R [-0.386 -0.12 0.203] tilt -0.0 None []\nA2b 48.68 pel [-0.318 0.169 1.069] plan [-0.318 0.166 1.071] e [ 0. 0. -0.001] L [-0.34 0.158 0.044] R [-0.329 -0.112 0.541] tilt -0.0 None []\nA2c 50.07 pel [-0.282 0\n… (355 characters left out) …\n045]\nA1 43.38 pel [-0.315 0.179 0.997] plan [-0.319 0.178 0.991] e [0. 0. 0.005] L [-0.339 0.156 0.045] R [-0.4 -0.126 0.059] tilt -0.0 None []\nA2 45.18 pel [-0.317 0.177 1.026] plan [-0.319 0.177 1.028] e [ 0. -0. -0.002] L [-0.339 0.155 0.044] R [-0.394 -0.1 0.192] tilt -0.0 None []\nA2b 46.48 pel [-0.317 0.17 1.072] plan [-0.318 0.166 1.071] e [0. 0.001 0.001] L [-0.339 0.159 0.045] R [-0.326 -0.119 0.548] tilt -0.0 None []\nA2c 47.69 pel [-0.249 0.213 0.888] plan [-0.193 0.24 0.982] e [-0.338 0.249 -0.195] L [ 0.019 -0.045 0.145] R [-0.391 0.414 1.278] tilt -0.0 went under the top of the first hurdle []\no9_1.4.txt\nwalked True 39.57 [13.348 0.014 1.005 0.049] [13.39 0.156 0.043] [13.364 -0.111 0.045] 27.413973569869995\nfeet [-0.34 0.157 0.045] [-0.366 -0.111 0.045]\nA1 44.58 pel [-0.314 0.199 1.01 ] plan [-0.319 0.178 0.991] e [0.002 0.002 0.011] L [-0.338 0.173 0.054] R [-0.385 -0.144 0.082] tilt -0.0 None []\nA2 46.98 pel [-0.316 0.179 1.03 ] plan [-0.319 0.177 1.028] e [0. 0. 0.003] L [-0.339 0.157 0.045] R [-0.386 -0.12 0.203] tilt -0.0 None []\nA2b 48.68 pel [-0.318 0.169 1.069] plan [-0.318 0.166 1.071] e [ 0. 0. -0.001] L [-0.34 0.158 0.044] R [-0.329 -0.112 0.541] tilt -0.0 None []\nA2c 50.07 pel [-0.282 0.495 0.661] plan [-0.193 0.24 0.982] e [-0.164 0.427 -0.345] L [-0.225 0.007 0.049] R [-0.367 0.88 0.913] tilt -0.0 a leg beside the first hurdle below its top []","exit":[],"pics":[]},"tok":{"in":250848,"cached":250426,"out":655,"think":null,"usd":0.0653},"sim":{"submit":0,"reset":0}},{"id":84,"t":4171.5,"say":"","calls":[{"kind":"shell","label":"cd /app/work; timeout 300 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output","code":"cd /app/work; timeout 300 python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r.json > /dev/null 2>&1; python -c \"\nimport json; r=json.load(open('/tmp/r.json')); print({k: r[k] for k in r if k in ('success','failed','metrics','stages','state_sha')} if isinstance(r, dict) else r)\" | cut -c1-400; date"}],"out":{"text":"{'success': False, 'failed': 'time', 'stages': [], 'metrics': {'hurdles_cleared': 0, 'distance_m': 13.38}, 'state_sha': 'aee5fae22d632033f999035c947a66f9127a9c52501f418f544b6f8d5213cb49'}\nThu Oct 15 19:37:23 UTC 2026\n\n[stdout]\n{'success': False, 'failed': 'time', 'stages': [], 'metrics': {'hurdles_cleared': 0, 'distance_m': 13.38}, 'state_sha': 'aee5fae22d632033f999035c947a66f9127a9c52501f418f544b6f8d5213cb49'}\nThu Oct 15 19:37:23 UTC 2026","exit":[],"pics":[]},"tok":{"in":252559,"cached":250846,"out":362,"think":null,"usd":0.066},"sim":{"submit":0,"reset":0}},{"id":85,"t":4300.7,"say":"I didn't get the robot over a single hurdle, so the trajectory I saved scores 0. I'm stopping with about 40 minutes left because I couldn't see a way to clear all four hurdles in that time.\n\n**What's in `/app/output/`**\n- `trajectory.npz`: the robot walks with Unitree's walking policy to just before hurdle 1 (13.38 m) and stands there until the 140 s limit. The verifier's replay runs cleanly and fails with `time`, 0 hurdles cleared.\n- `gen.py`: reproduces that file, reading only `/app/instance.json`. The arms are lowered so the forearms don't touch the bar, and heading and lane are held from the pelvis state.\n- `NOTES.md`: 15 lines on the approach, what failed, and that I installed scipy. Nothing was downloaded.\n- `rcb_session_log.jsonl` is left in place.\n\n**What I built (in `/app/work`, not used by `gen.py`)**\nThe plan was to step over each hurdle slowly, under my own whole-body control in `lowcmd`:\n- **Pose solver:** finds body poses with the stance feet fixed, the centre of mass over the stance foot, and targets for the ankles and pelvis.\n- **Controller:** gravity-compensating torques with stiff hips and knees and soft ankles. Balance comes from ankle torques plus a hip-roll correction for sideways balance.\n- **What worked:**\n - The robot walks up to the hurdle and stops.\n - It shifts its weight onto one leg and stands there.\n - It raises the other knee to about 1 m height without falling.\n- **Pelvis height:** with level hips and straight legs the pelvis only reaches 1.048 m, below the 1.067 m bar. Hitching up the hip on the free-leg side over a straight stance leg gives 1.08–1.10 m in the solver.\n\n**Why it isn't finished**\n- **Lead foot:** the toe sticks out 0.17 m ahead of the ankle, so it gets caught under the bar. The ankle has to be about 1.12 m up while still about 0.2 m behind the bar. The poses that do this jump around between neighbouring steps, and the robot fell in every run.\n- **Knocking the hurdle down:** the pelvis and trunk would touch a standing bar, which is a fault, so a leg has to knock the hurdle over first. A slow push only tips it 10–20° and it swings back. It needs a kick of roughly 4 m/s to fall.\n- **Not attempted in simulation:** the trailing leg needs about 2.4 rad of sideways hip lift to cross. Shifting weight onto the front foot while crossing the pelvis high, and handing back to the walking policy, were never run.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":253076,"cached":252557,"out":1139,"think":null,"usd":0.0759},"sim":{"submit":0,"reset":0}}]} \ No newline at end of file diff --git a/runs/roboolympics-fun-jump-rope-i00-privileged--5wesqul/replay.mp4 b/runs/roboolympics-fun-jump-rope-i00-privileged--5wesqul/replay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..894ac8ea648d63e2663b3892b66d14d6650b1114 --- /dev/null +++ b/runs/roboolympics-fun-jump-rope-i00-privileged--5wesqul/replay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c119b125de97475b67b97e63de238de6f13945de08bd550e0a88a5a530bce2a6 +size 204782 diff --git a/runs/roboolympics-fun-jump-rope-i00-privileged--5wesqul/replay_last.jpg b/runs/roboolympics-fun-jump-rope-i00-privileged--5wesqul/replay_last.jpg new file mode 100644 index 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+{"slug":"roboolympics-fun-layup-i00-privileged--fuzg3ze","task":"roboolympics-fun-layup-i00-privileged","bench":"roboolympics-fun","mode":"privileged","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","effort":"high","state":"success","success":1,"reward":{"success":1,"replay_success":1,"deterministic":1,"n_actions":188,"sim_steps":188,"horizon":1500,"episode_over":1,"progress":1.0,"stages_reached":3,"stages_total":3,"fell":0,"replay_s":3.87,"bad_trajectory":0,"metric_ball_height_m":2.783,"metric_pelvis_to_ring_m":0.31,"metric_steps":1.0,"grader_error":0,"video_rendered":1,"agent_sessions":149,"agent_resets":26937,"agent_replays":11,"agent_cost_self_reported":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":2.738,"peak_processes":21,"peak_disk_gb":0.857,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":7202,"tokens":{"in":19785368,"cached":19563904,"out":122693,"usd":27.91},"task_text":"# roboolympics layup — instance i00\n\nYou control a simulated Unitree H1-2 humanoid robot (27 joints, 1.78 m tall, 67 kg; the RoboOlympics simulator on MuJoCo)\nvia Python. **Task:** Make a layup: with the basketball in your right hand take at most two steps towards the basket, jump, and let go of the ball in the air close to the ring so that it enters the basket from above.\n\nThis is a *fixed instance*: the same venue and start every time. You may reset and retry as many times as you want.\nYour deliverable is **one replayable trajectory**, not a general policy.\n\n## The venue\nA FIBA court. You stand in the restricted area facing the basket (+x); the point under the ring's centre is 3.0 m ahead of your pelvis, the backboard's face 0.375 m beyond it. Painted on the floor: the restricted area, the free-throw line and circle behind you, and the no-charge semi-circle (1.25 m round the point under the ring, open towards the end line). The ball is against the end of your right fist. A ball is released when the hand's grip is switched off.\n\nFrame: metres; the origin is on the floor under your pelvis at the start, +x is the way you face at the start, +y is\nto your left, +z is up; the floor is z = 0. \n\n## The rules\n**Rule book:** FIBA Official Basketball Rules 2024: Art. 2 (court, no-charge semi-circle), Art. 3 and the Basketball Equipment appendix (backboard, ring, size-7 ball), Art. 16 (goal), Art. 25 (travelling). Where this task departs from it:\n\n- Art. 3 (equipment): the hand holds the ball by a grip switched on and off, not by fingers; the ball is released when the grip is switched off.\n- Basketball Equipment (basket): the ring is rigid (no pressure release) and the net is only drawn: it does not slow the ball. A goal is judged at the ring: the ball's centre down through the ring's plane and on to one ball diameter below it.\n- Art. 25.2.1: you start standing with the ball in the hand and are judged as a player who has just ended a dribble while moving: two steps are allowed (a standing player would have a pivot foot instead), since no dribble precedes the layup here. After the two steps no foot may touch the floor again while the ball is held: pivoting after a stop is not offered.\n- The layup itself is not defined by the rule book: here it is a shot let go in the air (after a real take-off) with the ball inside the no-charge semi-circle's radius of the ring (1.25 m, Art. 2.4.7); a shot from further out or from the floor is not a layup.\n- One attempt, no opponent, no rebound: touching the ball after the release ends the attempt.\n\nThe official basket: a rigid ring of 0.45 m inner diameter (0.018 m metal), its top edge 3.05 m above the floor, its centre 0.375 m in front of a backboard 1.8 m wide and 1.05 m high whose lower edge is 2.9 m above the floor. The ball is a size-7 basketball (0.239 m across, 0.62 kg, it keeps 0.85 of its speed in a bounce on the floor); it flies in air (drag and spin lift). It starts gripped in your right hand. Travelling: while \n… (12,051 characters left out) …\nries a fist pad (a box of 4.4 × 8 × 10 cm beyond the wrist, the\n 10 cm along the forearm) with a grip: while `grip_left` / `grip_right` ≥ 0.5 the hand holds the nearest grippable\n object whose surface is within 3.5 cm of the palm point (the middle of the pad, 4.5 cm beyond the wrist flange along\n the forearm) and that moves at most 6 m/s relative to it; below 0.5 it lets go at once. Since the palm point is inside\n the pad, an object can be gripped where it touches one of the pad's two broad faces, not at its narrow sides or its\n far end. What is grippable is the task's own equipment, named in the rules.\n- **A tool on a hand** (a racket, a paddle, a club; where the task has one) is fixed to the wrist in place of the pad.\n It collides with the world, the ball and the rest of your own body.\n- **The air** is real: balls and implements feel drag and, when they spin, lift.\n- **If the physics diverges** (a numerical blow-up, typically from a violent joint command), the attempt ends as a\n failure: \"the simulation became unstable\".\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for the whole trial, all its processes together (every simulator you start included): at most **13 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; the task 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\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time 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 `date` now, and again before you decide that time is short; work out the time left from those readings, never from a guess. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"roboolympics-fun-layup-i00-privileged--fuzg3ze/replay.mp4","replay_last":"roboolympics-fun-layup-i00-privileged--fuzg3ze/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll save an initial trajectory immediately, then inspect the simulator and build a repeatable approach, jump, and release. I’ll use fresh-process replays to verify any successful attempt.","calls":[{"kind":"shell","label":"date -u","code":"date -u\nls -la /app\nsed -n '1,220p' /opt/tools/rcb_rfo.py"}],"out":{"text":"Thu Oct 15 14:28:23 UTC 2026\ntotal 40\ndrwxr-xr-x 3 root root 4096 Oct 15 14:26 .\ndr-xr-xr-x 20 root root 4096 Oct 15 14:27 ..\n-rw-rw-r-- 1 root root 25504 Oct 15 14:25 instance.json\ndrwxr-xr-x 2 root root 4096 Oct 15 14:26 output\n\"\"\"rcb_rfo.py -- RoboOlympics tooling for robot coding bench (docs/benchmarks/roboolympics.md).\n\nOne module, copied unchanged into every RoboOlympics task: the privileged environment (`Session`), the privileged\nverifier (`replay`) and the standard sim service (`Episode`, driven by sim/server.py). The world is the `rfo` package\nnext to it (the RoboOlympics Unitree G1 or H1-2 in a sports venue, rfo/world.py) with the family's own rules,\n`rfo_task.py`.\n\nA control step is 10 ms (10 physics steps of 1 ms). An action is a row of one of the action types\n(`Session.action_types`; the widths below are the G1's, 29 joints with a 3-joint waist; the H1-2 has 27 joints, a\n1-joint waist and no running policy and no FALCON / AGILE, so no `run` / `run_arms` / `walk_falcon` / `walk_agile`):\n\n stand waist 3 + arms 14 joint targets + grips 2 the platform holds the legs in the stance\n walk vx, vy, wz + waist 3 + arms 14 + grips 2 Unitree's walking policy drives the legs\n run vx, vy, wz + grips 2 the running policy drives all 29 joints\n run_arms vx, vy, wz + arms 14 + grips 2 the running policy drives legs and waist\n wal\n… (8,810 characters left out) …\n {\"reach_m\": W.GRIP_REACH, \"max_relative_speed_m_s\": W.GRIP_SPEED,\n \"rule\": \"a closed grip holds the nearest grippable object whose surface is within reach_m of \"\n \"the palm (a point 4.5 cm beyond the wrist flange along the forearm) and that moves \"\n \"no faster than max_relative_speed_m_s relative to it; opening the grip lets it go\"}}\n return facts\n\n def close(self) -> None:\n self.world.close()\n\n\ndef replay(instance: dict, rows, video: str | None = None, camera: str | None = None) -> dict:\n \"\"\"The sim rows from the frozen start in this process's own fresh world, until the referee ends the episode or\n the rows run out. success = the referee's verdict there (a success is latched the moment it happens and ends the\n episode, so the rows must reach it).\"\"\"\n t = time.time()\n ep = Episode(instance)\n check = ep.instance_check(instance)\n rows = np.asarray(rows, dtype=np.float64)\n if rows.ndim != 2 or rows.shape[1] != ep.raw_dim:\n raise ValueError(f\"rows must be (T, {ep.raw_dim}), got {list(rows.shape)}\")\n frames, every = [], 4\n cam = camera or (\"venue\" if \"venue\" in ep.cameras else ep.cameras[0])\n\n def film():\n if video and ep.steps % every == 0:\n frames.append(ep.image(cam, 360, 640))\n\n n, bad_row = 0, None\n film()\n for row in rows:\n if ep.done:\n break\n try:\n ep.step_raw(row)\n","exit":[0],"pics":[]},"tok":{"in":15125,"cached":8320,"out":98,"think":0,"usd":0.0813},"sim":{"submit":0,"reset":0}},{"id":7,"t":8.1,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\nfrom rcb_rfo import Session\ns=Session()\ntyp,row=s.hold()\ns.step(typ,row)\ns.save_trajectory()\nprint(s.status())\nPY\npython /app/output/gen.py\ncat > /app/output/NOTES.md <<'EOF'\nInitial standing trajectory; development in progress.\nNo downloads or installations.\nEOF\nrg -n 'class|takeoff|release|step|travel|ring' /opt/tools/rfo_task.py"}],"out":{"text":"{'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 3, 'progress': 0.0, 'metrics': {'pelvis_to_ring_m': 3.0, 'ball_height_m': 1.13, 'steps': 0}, 'steps': 1, 'time_s': 0.01, 'events': [], 'state_sha': '5565c7548854c512f5a49758a230aed3cff7f236a62277400d609ee89a9ce004'}\n1:\"\"\"Basketball layup (FIBA): with the ball in the hand take at most two steps towards the basket, jump, let go of the\n2:ball in the air close to the ring, and it enters the basket from above. Official court, backboard, ring and size-7\n18:# wide) and its appendix Basketball Equipment (backboard, ring). The ring's centre is 1.575 m from the end line and the\n19:# backboard's face 1.20 m, so the centre is 0.375 m in front of the face and the ring's inner edge 0.150 m (the\n20:# equipment appendix: 151 mm +- 2). Ring metal 16-20 mm: 18 mm. The ring's rebound: the equipment appendix asks for an\n22:# on this ring with this ball: 0.76, with the contact's nominal value 0.81; tests/test_free_throw.py).\n23:COURT = dict(length=28.0, width=15.0, line=0.05, ring_x=1.575, board_x=1.20, ft_line=5.80, key_half=2.45,\n38: \"\"\"The FIBA court from one end line to 6 m beyond the centre line, the ring's centre above (hx, hy). The basket\n41: and circle. Built: the backboard, the ring with its plate, a net and a support (the last two visual only).\"\"\"\n44: X = lambda d: hx + sg * d # noqa: E731 -- d: from the ring's centre towards the end line\n45: de = C[\"ring_x\"] \n… (7,904 characters left out) …\nz\"] = round(float(w.d.qvel[w.robot.fv + 2]), 4)\n326: bad = tr[\"travel\"].update()\n332: return ref.fail(\"the ball came up through the ring from below\")\n333: if tr[\"released\"] is None:\n335: return ref.fail(bad, steps=tr[\"travel\"].steps)\n341: tr[\"released\"] = ref.time\n342: bad = tr[\"travel\"].stop()\n347: if tr[\"takeoff_vz\"] is None or tr[\"takeoff_vz\"] < p[\"takeoff_speed_m_s\"]:\n348: return ref.fail(\"the ball was let go in the air without a take-off\", takeoff_vz=tr[\"takeoff_vz\"])\n350: return ref.fail(\"the ball was let go too far from the ring\", ball_to_ring_m=round(d, 3))\n352: ref.stage(\"release in the air\", ball_height_m=round(float(b[2]), 3), ball_to_ring_m=round(d, 3),\n353: air_s=round(ref.time - fl.cur[\"t0\"], 3), takeoff_speed_m_s=tr[\"takeoff_vz\"])\n355: if ref.time - tr[\"released\"] > p[\"retouch_grace_s\"] and ref.touching(self.ball, self.robot):\n356: ref.fail(\"the ball was touched again after the release\", parts=sorted(ref.parts_touching(self.ball)))\n360: if ref.stage(\"through the ring\"):\n363: def step(self, w, ref):\n364: ref.metrics[\"pelvis_to_ring_m\"] = round(self._off_axis(w.pelvis()), 3)\n366: ref.metrics[\"steps\"] = len(self.trackers[\"travel\"].steps)\n371: \"steps\": len(tr[\"travel\"].steps), \"airborne\": bool(tr[\"flights\"].air),\n372: \"released\": tr[\"released\"] is not None}\n","exit":[0],"pics":[]},"tok":{"in":18669,"cached":14976,"out":139,"think":0,"usd":0.0589},"sim":{"submit":0,"reset":0}},{"id":8,"t":17.9,"say":"","calls":[{"kind":"shell","label":"sed -n '295,380p' /opt/tools/rfo_task.py","code":"sed -n '295,380p' /opt/tools/rfo_task.py\nrg -n 'stand|gravity|lowcmd|class Actions|def step|qadr|dofadr' /opt/tools/rfo/world.py"}],"out":{"text":" hx = p[\"start_to_ring_m\"]\n self.hoop = build_court(sc, hx, 0.0, p)\n sc.ball(\"ball\", \"basketball\", (0.6, -0.17, 1.13), grippable=True)\n sc.camera(\"venue\", (hx - 3.4, -4.6, 2.6), (hx - 0.8, 0.0, 1.7), fovy=55)\n\n def reset(self, w):\n ball_in_hand(w)\n\n def referee_reset(self, w, ref):\n p, h = self.p, self.hoop\n self.ball = ref.geoms(body=\"ball\")\n self.robot = ref.part(\"robot\")\n travel = Travel(w, ref, p[\"step_gap_s\"], int(p[\"max_steps\"]), p[\"foot_slide_m\"])\n travel.start(\"steps\")\n self.trackers = {\"hoop\": HoopPass((h[\"x\"], h[\"y\"], h[\"z\"]), h[\"inner_radius\"], BALL[\"radius\"]),\n \"up\": Crossing((0, 0, 1), h[\"z\"], direction=1), \"flights\": Flights(ref, min_air=p[\"air_min_s\"]),\n \"travel\": travel, \"takeoff_vz\": None, \"released\": None}\n\n def may_grip(self, w, side, name):\n return self.trackers.get(\"released\") is None # one shot: the ball cannot be gripped again\n\n def _off_axis(self, b) -> float:\n return math.hypot(b[0] - self.hoop[\"x\"], b[1] - self.hoop[\"y\"])\n\n def substep(self, w, ref):\n tr, p, h = self.trackers, self.p, self.hoop\n fl = tr[\"flights\"]\n was_air = fl.air\n fl.update()\n if fl.air and not was_air and tr[\"released\"] is None:\n tr[\"takeoff_vz\"] = round(float(w.d.qvel[w.robot.fv + 2]), 4)\n bad = tr[\"travel\"].update()\n b = w.pos(\"ball\")\n was_in = tr[\"hoop\"].e\n… (3,330 characters left out) …\ndr[j]))\n212: load_body(self.robot_name).mount(root, \"\", (x, y, 0.0), yaw, hand=None, lod=\"standard\",\n267: r.rig.place(d, r.rig.rest, pos=(x, y, r.stand_z), yaw=yaw)\n298: \"\"\"The legs on the arbiter's hold (stand gains, gravity support) at the stance: how the robot stands at t = 0.\"\"\"\n306: a.q_a[L] = a.q_b[L] = d.qpos[a.qadr[L]]\n307: a._set_owner(\"legs\", \"hold\", \"stand\")\n323: def step(self, raw) -> bool:\n370: ref[sel] = d.qpos[a.qadr[ix[sel]]]\n408: d.qpos[r.qadr], d.qvel[r.vadr], self.cmd,\n422: sd[s[\"gyro_pelvis\"]:s[\"gyro_pelvis\"] + 3], d.qpos[r.qadr],\n570: return np.r_[d.qpos[r.qadr], d.qvel[r.vadr], d.ctrl[a.aid], a.target(), imu(\"pelvis\"), imu(\"torso\"),\n629:class Actions:\n645: \"stand\": dict(layout=_names(L.UPPER) + GRIPS, bounds=cat(sub(L.UPPER), g01),\n658: \"lowcmd\": dict(layout=[f\"{n}_{k}\" for k in (\"q\", \"dq\", \"tau\", \"kp\", \"kd\") for n in _names(slice(0, L.NJ))] + GRIPS,\n693: if typ == \"stand\":\n710: elif typ == \"lowcmd\":\n727: mode = {\"stand\": STAND, \"walk\": WALK, \"run\": RUN, \"run_arms\": RUN_ARMS, \"joints\": JOINT, \"lowcmd\": JOINT,\n733: if typ == \"stand\":\n750: torques, as a `lowcmd` row) stay as they are with zero target velocities.\"\"\"\n751: typ = {STAND: \"stand\", WALK: \"walk\", RUN: \"run\", RUN_ARMS: \"run_arms\", JOINT: \"lowcmd\",\n756: elif typ == \"lowcmd\":\n","exit":[0],"pics":[]},"tok":{"in":22055,"cached":18432,"out":97,"think":21,"usd":0.0595},"sim":{"submit":0,"reset":0}},{"id":9,"t":27.1,"say":"","calls":[{"kind":"shell","label":"sed -n '323,396p' /opt/tools/rfo/world.py","code":"sed -n '323,396p' /opt/tools/rfo/world.py\nsed -n '629,749p' /opt/tools/rfo/world.py\nsed -n '117,142p' /opt/tools/rfo_task.py\npython - <<'PY'\nfrom rcb_rfo import Session\ns=Session()\nprint(s.state())\nprint(s.world.robot.__dict__.keys())\nPY"}],"out":{"text":" def step(self, raw) -> bool:\n \"\"\"One control step of a sim row. Returns True when the episode is over.\"\"\"\n if self.ref.done:\n raise RuntimeError(\"the episode is over\")\n raw = np.asarray(raw, dtype=np.float64)\n L = self.L\n if raw.shape != (L.RAW_DIM,) or not np.all(np.isfinite(raw)):\n raise ValueError(f\"a sim row is {L.RAW_DIM} finite floats\")\n if raw[R_MODE] not in self.robot.modes: # checked before anything changes\n raise ValueError(f\"a sim row's first value is the mode, one of {sorted(self.robot.modes)} \"\n f\"({', '.join(MODES[i] for i in sorted(self.robot.modes))})\")\n m, d, a = self.m, self.d, self.robot.arb\n for name, pose in self.pins.items(): # a pinned body stays where the task put it\n qa, va = self.free[name]\n d.qpos[qa:qa + 7] = pose\n d.qvel[va:va + 6] = 0.0\n self.task.before_step(self)\n self._grips(raw[L.R_GRIP] >= 0.5)\n self._control(raw)\n a.begin_step(d)\n won = self.ref.success\n for j in range(1, SUB + 1):\n a.apply(d, j)\n mujoco.mj_step(m, d)\n if (d.warning[mujoco.mjtWarning.mjWARN_BADQACC].number or not np.all(np.isfinite(d.qpos))\n or float(np.abs(d.qvel[self._lin_dofs]).max()) > MAX_SPEED):\n self.unstable = True # the physics diverged: the attempt ends here, as a failure\n \n… (10,930 characters left out) …\n return None\n\n def state(self) -> list:\n return [self.down, self.t_last]\n\n\nclass Travel:\n{'time_s': 0.0, 'pelvis_xyz_yaw': [0.0, 0.0, 1.035, 0.0], 'com': [0.020184339678257574, 0.0006965835562052129, 0.9476013691689388], 'q': [0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'dq': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'q_target': [0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'held': {'left': None, 'right': 'ball'}, 'left_palm': [0.4269999999999999, 0.1694996385533486, 1.1299798788599615], 'right_palm': [0.4269999999999999, -0.1694996385533486, 1.1299798788599615], 'task': {'ball': [0.6064999999999998, -0.1694996385533486, 1.1299798788599615], 'ball_velocity': [0.0, 0.0, 0.0], 'hoop': {'x': 3.0, 'y': 0.0, 'z': 3.05, 'inner_radius': 0.225, 'end_line_x': 4.575, 'free_throw_line_x': -1.2249999999999996, 'board_face_x': 3.375}, 'steps': 0, 'airborne': False, 'released': False}}\ndict_keys(['m', 'name', 'info', 'B', 'bm', 'stand_z', 'rig', 'arb', 'L', 'has_run', 'modes', 'walkers', 'qadr', 'vadr', 'fq', 'fv', 'lo', 'hi', 'speed', 'tau_max', 'kp_max', 'kd_max', 'stance', 'rest', 'kp0', 'kd0', 'sens', 'pelvis', 'torso', 'bodies', 'mount', 'palm', 'foot_site', 'head_site', 'mass'])\n","exit":[0],"pics":[]},"tok":{"in":24297,"cached":21888,"out":201,"think":84,"usd":0.056},"sim":{"submit":0,"reset":0}},{"id":10,"t":61.6,"say":"","calls":[{"kind":"robot","label":"writes explore.py","code":"cat > /app/output/explore.py <<'PY'\nimport numpy as np, sys, json, time\nfrom rcb_rfo import Session\ns=Session(); w=s.world; r=w.robot\nq0=np.array(s.state()['q'])\ndef pose(h,k,a,arm=0):\n q=q0.copy();q[[1,7]]=h;q[[3,9]]=k;q[[4,10]]=a;q[[13,20]]=arm;return q\nframes=[(0,q0),(.5,pose(-.7,1.4,-.7)),(.7,pose(-.7,1.4,-.7)),(.85,pose(0,0,.3)),(1.1,pose(0,0,.3)),(1.3,pose(-.4,.8,-.4)),(2,pose(-.4,.8,-.4))]\nif len(sys.argv)>1: frames=[(t,pose(*p)) for t,p in json.loads(sys.argv[1])]\nt0=time.time()\nfor i in range(250):\n t=i*.01\n for j in range(len(frames)-1):\n t1,q1=frames[j];t2,q2=frames[j+1]\n if t1<=t list:\n return [round(float(x), 4) for x in self.w.d.site_xpos[self.w.robot.foot_site[side]][:2]]\n\n def _same_foot(self, final: bool = False) -> str | None:\n st = self.steps\n if len(st) >= 2 and st[-1][1] == st[-2][1] and (final or self.ref.time - st[-1][0] > self.gap):\n return \"travelling: the same foot touched the floor twice in a row\"\n return None\n\n def update(self) -> str | None:\n ev = {s: f.update() for s, f in self.feet.items()}\n if self.mode is None:\n return None\n t = self.ref.time\n for s in (\"left\", \"right\"): # a foot on the floor stays where it is\n if ev[s] == \"down\":\n self.anchor[s] = self._xy(s)\n elif ev[s] == \"lift\":\n self.anchor[s] = None\n elif self.anchor[s] is not None and (self.mode == \"steps\" or self.pivot is None):\n x, y = self._xy(s)\n if math.hypot(x - self.anchor[s][0], y - self.anchor[s][1]) > self.slide:\n return \"travelling: a foot slid along the floor\"\n if self.mode == \"pivot\":\n for s, o in ((\"left\", \"right\"), (\"right\", \"left\")):\n if ev[s] == \"lift\":\n if self.pivot is None:\n self.pivot, self.pivot_xy = o, self._xy(o)\n elif s == self.pivot:\n self.pivot_up = True\n \n… (6,520 characters left out) …\n(29 joints, Isaac Lab order) 29\n/opt/roboolympics/bodies/unitree_g1/agile.py:29:u, the arbiter's plans or holds). AGILE has no waist or arm output and no residual: it reads all 29 joints' measured\n/opt/roboolympics/bodies/unitree_g1/agile.py:54:TERMS = (\"velocity_height_commands\", \"base_ang_vel\", \"projected_gravity\", \"joint_pos\", \"joint_vel\", \"actions\")\n/opt/roboolympics/bodies/unitree_g1/agile.py:70: self.gravity = z[\"gravity\"].astype(float)\n/opt/roboolympics/bodies/unitree_g1/agile.py:97: w); gravity by Isaac Lab's quat_apply_inverse: v - w t + xyz x t, t = 2 xyz x v.\"\"\"\n/opt/roboolympics/bodies/unitree_g1/agile.py:99: t = 2.0 * np.cross(xyz, self.gravity)\n/opt/roboolympics/bodies/unitree_g1/agile.py:100: grav = self.gravity - w * t + np.cross(xyz, t)\n/opt/roboolympics/bodies/unitree_g1/falcon.py:9:replayed on the arms and external forces on the hands (x, y within +-40 N, z within -50..5 N). policy/falcon_g1_29dof.npz holds the ONNX graph's weights\n/opt/roboolympics/bodies/unitree_g1/falcon.py:20: [69:98] joint speeds x 0.05 [98:101] gravity (0, 0, -1) in the pelvis frame\n/opt/roboolympics/bodies/unitree_g1/falcon.py:24:sport's (the rig's u, the arbiter's plans or holds): FALCON gets the arm targets and the waist's yaw as its commands\n/opt/roboolympics/bodies/unitree_g1/falcon.py:58:def gravity_in(quat):\n/opt/roboolympics/bodies/unitree_g1/falcon.py:137: f[98:101] = gravity_in(quat)\nscipy None\ncma None\ntorch None\n","exit":[0],"pics":[]},"tok":{"in":31084,"cached":28928,"out":313,"think":140,"usd":0.0661},"sim":{"submit":0,"reset":0}},{"id":12,"t":103.7,"say":"","calls":[{"kind":"shell","label":"pip -q install scipy cma","code":"pip -q install scipy cma\nOPENBLAS_NUM_THREADS=1 python /app/output/explore.py '[[0,[-0.16,0.36,-0.2]],[0.6,[-0.9,1.9,-0.9]],[0.8,[-0.9,1.9,-0.9]],[1.0,[-0.3,-0.1,0.4]],[1.15,[-0.3,-0.1,0.4]],[1.4,[-0.5,1.0,-0.5]],[2,[-0.5,1.0,-0.5]]]'"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":34342,"cached":30848,"out":418,"think":244,"usd":0.0867},"sim":{"submit":0,"reset":0}},{"id":13,"t":118.9,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:47034,chars:\"\",yield_time_ms:1000,max_output_tokens:3000}));\n"}],"out":{"text":"WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.\n\n[notice] A new release of pip is available: 25.0.1 -> 26.2.1\n[notice] To update, run: pip install --upgrade pip\n0 p [-0. 0. 1.034 -0. ] v [-0. 0. -0.1 -0. -0. -0. ] ball [ 0.61 -0.17 1.13] air True step 0\n10 p [-0.005 0. 0.985 0.001] v [-0.02 0.01 -0.37 0.01 -0.06 0.02] ball [ 0.6 -0.17 1.06] air False step 0\n20 p [-0.004 0.001 0.953 0.004] v [-0.04 0.02 -0.45 0.02 0.1 0.01] ball [ 0.58 -0.17 0.95] air False step 0\n30 p [-0.005 0.003 0.901 -0. ] v [ 0.01 0.01 -0.57 -0.04 -0.17 -0.05] ball [ 0.58 -0.17 0.92] air False step 0\n40 p [-0.005 0.004 0.837 -0. ] v [-0.01 0.01 -0.68 -0.01 -0.04 0.03] ball [ 0.6 -0.17 0.91] air False step 0\n50 p [-0.006 0.006 0.764 0.003] v [-0.02 0.02 -0.77 -0.03 -0.03 0.02] ball [ 0.6 -0.16 0.84] air False step 0\n60 p [-0.014 0.009 0.691 0.008] v [-0.11 0.04 -0.68 -0.11 -0.27 0.06] ball [ 0.58 -0.16 0.73] air False step 0\n70 p [-0.032 0.015 0.664 0.015] v [-0.32 0.06 0.14 -0.1 -0.35 0.05] ball [ 0.55 -0.16 0.68] air False step 0\n80 p [-0.07 0.02 0.68 0.012] v [-0.36 0.04 0.02 -0.08 -0.73 -0.03] ball [ 0.52 -0.15 0\n… (212 characters left out) …\n1] ball [ 0.4 -0.13 1.14] air True step 0\n110 p [-0.28 0.059 1.197 -0.024] v [-0.66 0.15 1.01 0.01 0.36 0.08] ball [ 0.35 -0.12 1.28] air True step 0\n120 p [-0.366 0.074 1.246 -0.028] v [-0.86 0.14 0. -0.01 1.3 -0.11] ball [ 0.25 -0.11 1.2 ] air True step 0\n130 p [-0.445 0.088 1.191 -0.036] v [-0.83 0.15 -1.06 -0.02 1.23 0.02] ball [ 0.13 -0.09 1.03] air True step 0\n140 p [-0.532 0.103 1.033 -0.044] v [-0.85 0.15 -2.1 -0.01 1.23 -0.02] ball [ 0.04 -0.1 0.83] air True step 0\n150 p [-0.614 0.118 0.785 -0.06 ] v [-0.7 0.17 -2.69 0.06 1.92 -0.21] ball [-0.06 -0.08 0.52] air False step 1\n160 p [-0.557 0.136 0.673 -0.068] v [ 1.78 0.11 -0.13 -0.48 1.4 0.19] ball [-0.28 -0.05 0.17] air False step 1\n170 p [-0.37 0.143 0.627 0.022] v [ 1.83 0.1 -0.86 -0.2 2.15 0.52] ball [-0.4 -0.03 0.12] air True step 1\n180 p [-0.187 0.156 0.494 -0.068] v [ 1.82 0.13 -1.78 -0.13 1.88 -0.62] ball [-0.28 -0.06 0.12] air True step 1\n182 p [-0.151 0.158 0.457 -0.131] v [ 1.81 0.13 -1.94 -0.16 1.87 -0.73] ball [-0.26 -0.07 0.12] air False step 1\n{'success': False, 'done': True, 'failed': 'fell', 'stages': [], 'stages_total': 3, 'progress': 0.0, 'metrics': {'pelvis_to_ring_m': 3.155, 'ball_height_m': 0.12, 'steps': 1}, 'steps': 183, 'time_s': 1.83, 'events': [{'ev': 'fail', 't': 1.83, 'reason': 'fell', 'on_the_ground': ['left_hand']}], 'state_sha': 'bf21c61754acca6af360243e6260e95263db5a6a7aebbd7878146a22a769f78a'}\nwall 1.4666905403137207\n","exit":[0],"pics":[]},"tok":{"in":34818,"cached":34176,"out":39,"think":0,"usd":0.0425},"sim":{"submit":0,"reset":0}},{"id":14,"t":125.8,"say":"","calls":[{"kind":"shell","label":"date -u","code":"date -u\nsed -n '350,380p' /opt/roboolympics/bodies/control/arbiter.py\nsed -n '525,545p' /opt/roboolympics/bodies/control/arbiter.py\nsed -n '480,500p' /opt/roboolympics/bodies/control/arbiter.py"}],"out":{"text":"Thu Oct 15 14:30:28 UTC 2026\n rig = self.rig\n R = d.xmat[rig.base_body].reshape(3, 3)\n tilt = math.acos(max(-1.0, min(1.0, R[2, 2])))\n om = float(np.linalg.norm(d.qvel[rig.fvadr + 3:rig.fvadr + 6]))\n self.mj.mj_subtreeVel(self.m, d)\n vcom = float(np.linalg.norm(d.subtree_linvel[rig.base_body][:2]))\n return tilt, om, vcom\n\n def _support_ff(self, d):\n \"\"\"Leg torques that carry the weight on both feet (shared by where the CoM is between them): bias - J^T F.\"\"\"\n mj, m, rig = self.mj, self.m, self.rig\n com = d.subtree_com[rig.base_body]\n W = float(m.body_subtreemass[rig.base_body]) * 9.81\n pl, pr = d.site_xpos[self.foot_site[\"left\"]], d.site_xpos[self.foot_site[\"right\"]]\n ax = pl[:2] - pr[:2]\n t = float(np.clip((com[:2] - pr[:2]) @ ax / max(ax @ ax, 1e-9), 0.0, 1.0))\n gen = np.zeros(m.nv)\n jp, jr = np.zeros((3, m.nv)), np.zeros((3, m.nv))\n for side, w in ((\"left\", t), (\"right\", 1.0 - t)):\n if w <= 0:\n continue\n p = d.site_xpos[self.foot_site[side]]\n F = np.array([0.0, 0.0, w * W])\n r = np.array([com[0] - p[0], com[1] - p[1], 0.0])\n mj.mj_jacSite(m, d, jp, jr, self.foot_site[side])\n gen += jp.T @ F + jr.T @ np.cross(r, F)\n L = self.vadr[self.GROUPS[\"legs\"]]\n return d.qfrc_bias[L] - gen[L]\n\n def _handover_step(self, d):\n \"\"\"The blend: leg targets from where the legs are to the policy's stance at the stand gains with gravity\n seq = [OWNERS[c[0]] for c in self.owner_log]\n seq = [(\"walk\" if o == \"handover\" else o) for o in seq]\n return sum(1 for a, b in zip(seq, seq[1:]) if a != b)\n self.q_b[L] = t\n self.q_a[L] = t # as G1Rig: the kick's targets held over the step\n self.qd_des[L] = 0.0\n self.kp[L], self.kd[L], self.ff[L] = self.kicker.kp, self.kicker.kd, self.kicker.ff\n if self.kicker.done:\n self._event(\"legs\", \"skill_done\", \"kick\")\n self._start_handover(d, \"kick done\")\n elif o == \"handover\":\n self._handover_step(d)\n elif o == \"hold\":\n self.q_a[L] = self.q_b[L]\n self.qd_des[L] = 0.0\n self.kp[L], self.kd[L] = self.stand_kp, self.stand_kd\n self.ff[L] = self._support_ff(d)\n if self.residual: # FALCON's wrist residual while it has the legs, as on the rig\n A = self.GROUPS[\"arms\"]\n self.wrist_ff[A] = self.rig.policy.wrist_torque(self.kp[A]) if self.owner[\"legs\"] == \"walk\" else 0.0\n self.owner_log.append((CODE[self.owner[\"legs\"]], CODE[self.owner[\"waist\"]], CODE[self.owner[\"arms\"]]))\n self.step_i += 1\n\n def envelope(self, tau, qd):\n","exit":[0],"pics":[]},"tok":{"in":36642,"cached":34688,"out":122,"think":19,"usd":0.0603},"sim":{"submit":0,"reset":0}},{"id":15,"t":199.6,"say":"","calls":[{"kind":"robot","label":"writes search_jump.py","code":"cat > /app/output/search_jump.py <<'PY'\nimport os\nos.environ['OPENBLAS_NUM_THREADS']='1'\nimport numpy as np, json, time, multiprocessing as mp\nfrom rcb_rfo import Session\nimport cma\nS=None\n# 3 crouch, 3 extend, 3 air, crouch time, hold time, extension time, flight time, arm crouch, arm extension, arm air\nLO=np.array([-1.6,.6,-.897, -.7,-.26,-.897, -1.5,0,-.8, .25,0,.08,.08, -1.7,-2.5,-2.7])\nHI=np.array([-.1,2.05,.1, .8,.7,.523, .5,1.8,.5, .9,.4,.35,.65, .5,.3,.3])\nX0=np.array([-.7,1.4,-.7, 0,0,.3, -.4,.8,-.4, .5,.15,.15,.3, 0,-.6,-1.2])\ndef unscale(x):return LO+np.array(x)*(HI-LO)\ndef init():\n global S\n S=Session()\ndef rollout(x,save=False):\n global S\n if S is None:init()\n s=S;s.reset();w=s.world;r=w.robot\n p=unscale(x);q0=np.array(s.state()['q'])\n qs=[q0]\n for v,arm in zip([p[:3],p[3:6],p[6:9]],p[13:16]):\n q=q0.copy();q[[1,7]]=v[0];q[[3,9]]=v[1];q[[4,10]]=v[2];q[[13,20]]=arm;qs.append(q)\n tc,th,te,tf=p[9:13];ts=np.cumsum([0,tc,th,te,tf]);poses=[qs[0],qs[1],qs[1],qs[2],qs[3]]\n hist=[]\n for i in range(int(round(ts[-1]/.01))):\n t=i*.01;j=min(np.searchsorted(ts,t,side='right')-1,3);a=np.clip((t-ts[j])/(ts[j+1]-ts[j]),0,1)\n q=poses[j]*(1-a)+poses[j+1]*a\n done=s.step('joints',np.r_[q,0,1])\n if done:break\n b=w.pos('ball');bv=w.vel('ball');pel=w.pelvis();vel=w.d.qvel[r.fv:r.fv+6]\n R=w.d.xmat[r.pelvis].reshape(3,3);tilt=np.arccos(np.clip(R[2,2],-1,1))\n fl=w.task.trackers['flights'];airtime=0 if not fl.air or fl.cur is None else w.ref.time-fl.cur['t0']\n take=w.task.trackers['takeoff_vz'] or 0\n # favour a high, forward, stable airborne release position\n loss=12*max(0,1.85-b[0])**2+8*(b[1])**2+5*max(0,2.1-b[2])**2\n loss+=2*max(0,tilt-.4)**2+.15*np.sum(vel[3:5]**2)\n loss+=10*max(0,.07-airtime)+5*max(0,.8-take)**2\n loss+=.3*max(0,-bv[2])**2\n if s.done:loss+=30+10*max(0,ts[-1]-w.t)\n if save:\n s.save_trajectory();np.savez('/app/output/jump_best.npz',x=x)\n json.dump({'p':p.tolist(),'loss':loss,'status':s.status(),'ball':b.tolist(),'bv':bv.tolist(),'pel':pel.tolist(),'vel':vel.tolist(),'tilt':tilt,'air':airtime},open('/app/output/jump_best.json','w'),indent=2)\n return float(loss)\nif __name__=='__main__':\n import sys\n if '--show' in sys.argv:\n x=np.load('/app/output/jump_best.npz')['x'];print(rollout(x,True));print(open('/app/output/jump_best.json').read());exit()\n x=(X0-LO)/(HI-LO)\n if os.path.exists('/app/output/jump_best.npz'):x=np.load('/app/output/jump_best.npz')['x']\n es=cma.CMAEvolutionStrategy(x,.16,{'bounds':[0,1],'popsize':24,'verbose':-9,'seed':42,'maxiter':200})\n best=1e9;t=time.time()\n with mp.Pool(6,initializer=init) as pool:\n for gen in range(200):\n xs=es.ask();fs=pool.map(rollout,xs);es.tell(xs,fs)\n idx=np.argmin(fs)\n if fs[idx] /app/output/search_jump.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":37801,"cached":36480,"out":1798,"think":516,"usd":0.1396},"sim":{"submit":0,"reset":0}},{"id":16,"t":215.2,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\nfrom pathlib import Path\nimport numpy as np\nfrom rcb_rfo import Session\nif Path('/app/output/jump_best.npz').exists():\n from search_jump import rollout\n rollout(np.load('/app/output/jump_best.npz')['x'],True)\nelse:\n s=Session();typ,row=s.hold();s.step(typ,row);s.save_trajectory()\nPY\ncat > /app/output/NOTES.md <<'EOF'\nDirect joint control: crouch, extend the legs, then raise the arms in flight.\nCurrent trajectory is the best approach/jump found so far; shot search is ongoing.\nEarly shallow jumps travelled too little and pitched forward.\nA deeper symmetric crouch increased height but initially moved backward.\nInstalled scipy and cma for numerical trajectory optimisation; no external controllers.\nEOF\nsleep 10\ntail -75 /app/output/search_jump.log"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":39657,"cached":37632,"out":258,"think":22,"usd":0.0708},"sim":{"submit":0,"reset":0}},{"id":17,"t":222.5,"say":"","calls":[{"kind":"shell","label":"tail -85 /app/output/search_jump.log","code":"tail -85 /app/output/search_jump.log\ncat /run/rcb-limits/usage.json\nsed -n '430,500p' /opt/tools/rcb_rfo.py"}],"out":{"text":"/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\nBEST 0 3.5168 wall 11.1 {\n \"p\": [\n -0.6765577363482804,\n 1.2206611697125629,\n -0.6960901125654934,\n 0.11952071040031553,\n 0.2228984443704592,\n 0.5026350616781057,\n 0.28903130561956036,\n 0.5789990675457202,\n -0.2185527714380867,\n 0.5190681048796968,\n 0.2901517674002295,\n 0.11508031372907292,\n 0.22341449609056513,\n -0.21099478268523297,\n -1.5515469137576237,\n -1.452374240172011\n ],\n \"loss\": 3.5168341950367936,\n \"status\": {\n \"success\": false,\n \"done\": false,\n \"failed\": null,\n \"stages\": [],\n \"stages_total\": 3,\n \"progress\": 0.0,\n \"metrics\": {\n \"pelvis_to_ring_m\": 2.397,\n \"ball_height_m\": 1.461,\n \"steps\": 0\n },\n \"steps\": 115,\n \"time_s\": 1.15,\n \"events\": [],\n \"state_sha\": \"424d2768681e516a0ef0bc6530c746351e9602a305ea88d60dbe48c7c40b061f\"\n },\n \"ball\": [\n 1.5531566283547475,\n 0.06769587867101116,\n 1.4608056310687954\n ],\n \"bv\": [\n -2.1207967691876006,\n 0.05869496124318855,\n 5.709501050043033\n ],\n \"pel\": [\n 0.6032048360762677,\n 0.014588403303209095,\n 0.9752540229342941,\n -0.10204340920253366\n ],\n \"vel\": [\n 1.351650886411219,\n 0.00017820547193743742,\n -1.0198492525935794,\n -0.07684705904876513,\n 1.5783290856905667,\n 0.29324067252344405\n ],\n \"tilt\": 0.45186067536109553,\n \"air\": 0.18400000000000016\n}\n{\n \"t\": 1792074724.26,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 2.009,\n \"processes\": 17,\n \"disk_gb\": 0.824,\n \"enforced\": 0,\n \"limits\": {\n \"max_gpu_memory_gb\": 0.0,\n \"max_memory_gb\": 13.0,\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":[0],"pics":[]},"tok":{"in":39973,"cached":39424,"out":86,"think":18,"usd":0.0492},"sim":{"submit":0,"reset":0}},{"id":18,"t":234.9,"say":"The first search has moved the held ball to about 1.55 m from the start while airborne, with no steps counted. I’m tuning the crouch, leg extension, and arm timing together to reach the release zone with enough height and upward ball speed.","calls":[{"kind":"shell","label":"tail -85 /app/output/search_jump.log","code":"tail -85 /app/output/search_jump.log\nrg -n 'def vel|def pos|def state|class Session|def save_trajectory' /opt/tools/rcb_rfo.py /opt/tools/rfo/world.py"}],"out":{"text":" -0.06895526810270697\n ],\n \"vel\": [\n 1.4257493648308144,\n 0.006714433428324818,\n -1.3462075628826675,\n 0.10477012562715443,\n 1.4748225438392786,\n 0.0918258774236776\n ],\n \"tilt\": 0.3397379090721116,\n \"air\": 0.29100000000000004\n}\nBEST 6 1.4075 wall 34.7 {\n \"p\": [\n -0.9367332175049362,\n 1.1009260068945461,\n -0.8918666129131727,\n 0.2708450095771847,\n 0.09689814805978986,\n 0.1762540258338574,\n 0.4948757101809851,\n 1.6421267290228148,\n 0.028900477245049738,\n 0.2835734583363214,\n 0.3440320764300031,\n 0.09253288079300216,\n 0.34946556686584823,\n -0.5837637373139513,\n -1.5764559966640102,\n -2.6809771871255523\n ],\n \"loss\": 1.4075373628507624,\n \"status\": {\n \"success\": false,\n \"done\": false,\n \"failed\": null,\n \"stages\": [\n \"approach\"\n ],\n \"stages_total\": 3,\n \"progress\": 0.3333,\n \"metrics\": {\n \"pelvis_to_ring_m\": 1.914,\n \"ball_height_m\": 1.684,\n \"steps\": 0\n },\n \"steps\": 107,\n \"time_s\": 1.07,\n \"events\": [\n {\n \"ev\": \"stage\",\n \"t\": 0.931,\n \"stage\": \"approach\"\n }\n ],\n \"state_sha\": \"80f663272ab749201e6d9b32c47e0022dda07505b3e576a7e009c69e64536a3d\"\n },\n \"ball\": [\n 1.8810266798109654,\n 0.1279695320556536,\n 1.6839680079043102\n ],\n \"bv\": [\n -6.158372568689647,\n -1.4997272734234233,\n 1.833081453135563\n ],\n \"pel\": [\n 1.0861777953300904,\n -0.0173800964297143,\n 0.7569187012903851,\n -0.07331704945045443\n ],\n \"vel\": [\n 1.9715307357832794,\n -0.00791355091040964,\n -2.2403885902587666,\n -0.48021565980240777,\n 1.1355265102734518,\n -0.48556491399494656\n ],\n \"tilt\": 0.7025810066915041,\n \"air\": 0.3600000000000001\n}\n/opt/tools/rcb_rfo.py:131: def state_sha(self) -> str:\n/opt/tools/rcb_rfo.py:268:def save_trajectory(rows, family: str, path: str = \"/app/output/trajectory.npz\", raw_dim: int | None = None) -> None:\n/opt/tools/rcb_rfo.py:280:class Session:\n/opt/tools/rcb_rfo.py:328: def state(self) -> dict:\n/opt/tools/rcb_rfo.py:348: def save_trajectory(self, rows=None, path: str = \"/app/output/trajectory.npz\") -> None:\n/opt/tools/rfo/world.py:530: def pos(self, name: str) -> np.ndarray:\n/opt/tools/rfo/world.py:533: def vel(self, name: str) -> np.ndarray:\n/opt/tools/rfo/world.py:596: def state_sha(self) -> str:\n","exit":[0],"pics":[]},"tok":{"in":41005,"cached":39808,"out":231,"think":96,"usd":0.0633},"sim":{"submit":0,"reset":0}},{"id":19,"t":260.2,"say":"","calls":[{"kind":"shell","label":"rg -n 'right_shoulder_pitch|right_elbow_pitch' /opt/roboolympics/bodies/unitree_h1_2 -g '*.xml' -g '*.py' | he","code":"rg -n 'right_shoulder_pitch|right_elbow_pitch' /opt/roboolympics/bodies/unitree_h1_2 -g '*.xml' -g '*.py' | head\nsed -n '280,358p' /opt/tools/rcb_rfo.py\nsed -n '530,540p' /opt/tools/rfo/world.py\ntail -25 /app/output/search_jump.log"}],"out":{"text":"rg: /opt/roboolympics/bodies/unitree_h1_2: IO error for operation on /opt/roboolympics/bodies/unitree_h1_2: No such file or directory (os error 2)\nclass Session:\n \"\"\"Privileged mode: the frozen instance with unlimited resets, logged to /app/output/rcb_session_log.jsonl.\"\"\"\n\n def __init__(self, instance: str = \"/app/instance.json\"):\n self.instance = load_instance(instance)\n self.ep = Episode(self.instance)\n atexit.register(self.close)\n if not self.ep.instance_check(self.instance)[\"ok\"]:\n raise RuntimeError(\"this environment does not rebuild the frozen instance's starting state\")\n self.rows: list[np.ndarray] = []\n self.typed: list[tuple[str, np.ndarray]] = [] # the same steps as (action type, row), where they were typed\n self._log({\"ev\": \"session_start\", \"family\": self.ep.family})\n\n @property\n def world(self):\n return self.ep.world\n\n @property\n def action_types(self) -> dict:\n return self.ep.actions.spec()\n\n @property\n def done(self) -> bool:\n return self.ep.done\n\n def reset(self) -> None:\n self._log({\"ev\": \"reset\", \"sim_steps\": self.ep.steps})\n self.ep.reset()\n self.rows, self.typed = [], []\n\n def step(self, typ: str, row) -> bool:\n row = self.ep.clip(typ, np.asarray(row, dtype=np.float64))\n self.rows.append(self.ep.step(typ, row))\n self.typed.append((typ, row))\n return self.ep.done\n\n def step_raw(self, raw) -> b\n… (1,193 characters left out) …\n rows is None else rows\n self._log({\"ev\": \"replay\", \"rows\": int(len(rows))})\n return replay(self.instance, np.asarray(rows, dtype=np.float64).reshape(-1, self.ep.raw_dim))\n\n def save_trajectory(self, rows=None, path: str = \"/app/output/trajectory.npz\") -> None:\n save_trajectory(self.rows if rows is None else rows, self.ep.family, path, raw_dim=self.ep.raw_dim)\n\n def close(self) -> None:\n self.ep.close()\n\n @staticmethod\n def _log(ev: dict) -> None:\n if not SESSION_LOG:\n return\n try:\n def pos(self, name: str) -> np.ndarray:\n return self.d.xpos[self.m.body(name).id].copy()\n\n def vel(self, name: str) -> np.ndarray:\n \"\"\"A free body's linear velocity in the world.\"\"\"\n _, va = self.free[name]\n return self.d.qvel[va:va + 3].copy()\n\n # ------------------------------------------------------------------ the robot's state (privileged)\n def pelvis(self) -> np.ndarray:\n \"\"\"x, y, z, yaw of the pelvis.\"\"\"\n 1.9342714726135748\n ],\n \"bv\": [\n -3.087155650709699,\n -0.5342979405811324,\n 0.5078401405519357\n ],\n \"pel\": [\n 0.9560077623698487,\n 0.023667802765188706,\n 1.0885497291826278,\n 0.015021512176582938\n ],\n \"vel\": [\n 1.7868799248198544,\n 0.06769670203891962,\n -1.5702830157448224,\n 0.11054290373241145,\n 0.7197935635978475,\n 0.12795501717186492\n ],\n \"tilt\": 0.43395876233568775,\n \"air\": 0.3810000000000001\n}\nGEN 10 1.3752135562549883 49.4\n","exit":[0],"pics":[]},"tok":{"in":42348,"cached":40832,"out":481,"think":365,"usd":0.08},"sim":{"submit":0,"reset":0}},{"id":20,"t":269.4,"say":"","calls":[{"kind":"shell","label":"rg --files /opt/roboolympics/bodies | head -35","code":"rg --files /opt/roboolympics/bodies | head -35\ncat /app/output/jump_best.json\nps -eo pid,ppid,args | rg 'search_jump.py'"}],"out":{"text":"/opt/roboolympics/bodies/unitree_h1/policy/motion.npz\n/opt/roboolympics/bodies/unitree_h1/policy/h1_2_deploy_mujoco.yaml\n/opt/roboolympics/bodies/unitree_h1/policy/LICENSE.unitree_rl_gym\n/opt/roboolympics/bodies/unitree_h1/model.xml\n/opt/roboolympics/bodies/unitree_h1/meshes/wrist_yaw_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/torso_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_wrist_pitch_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_shoulder_yaw_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_shoulder_roll_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_shoulder_pitch_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_knee_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_hip_yaw_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_hip_roll_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_hip_pitch_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_elbow_roll_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_elbow_pitch_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_ankle_roll_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/right_ankle_pitch_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/pelvis.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/logo_link.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/link22_R.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/link22_L.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/link21_R.stl\n/opt/roboolympics/bodies/unitree_h1/mesh\n… (516 characters left out) …\nstl\n/opt/roboolympics/bodies/unitree_h1/meshes/link16_L.stl\n/opt/roboolympics/bodies/unitree_h1/meshes/link15_R.stl\n{\n \"p\": [\n -1.4204546919913397,\n 1.721536357443075,\n -0.8338272628582291,\n -0.15041482974376108,\n -0.043767137994349586,\n 0.46148249377443307,\n 0.33099544474426223,\n 1.3022243707214627,\n -0.350058286183539,\n 0.3485158477632731,\n 0.27738029287883403,\n 0.0801959421508654,\n 0.43480571902998677,\n -0.5019956409221797,\n -0.5990210134755367,\n -1.5140673474613537\n ],\n \"loss\": 1.3752135562549883,\n \"status\": {\n \"success\": false,\n \"done\": false,\n \"failed\": null,\n \"stages\": [],\n \"stages_total\": 3,\n \"progress\": 0.0,\n \"metrics\": {\n \"pelvis_to_ring_m\": 2.044,\n \"ball_height_m\": 1.934,\n \"steps\": 1\n },\n \"steps\": 114,\n \"time_s\": 1.14,\n \"events\": [],\n \"state_sha\": \"b2ec68bcdc742903da05dfb94b3e7810fcca7c3b0f757b1726ce5cfaff88ef1f\"\n },\n \"ball\": [\n 1.5401641799234174,\n 0.022500656193666833,\n 1.9342714726135748\n ],\n \"bv\": [\n -3.087155650709699,\n -0.5342979405811324,\n 0.5078401405519357\n ],\n \"pel\": [\n 0.9560077623698487,\n 0.023667802765188706,\n 1.0885497291826278,\n 0.015021512176582938\n ],\n \"vel\": [\n 1.7868799248198544,\n 0.06769670203891962,\n -1.5702830157448224,\n 0.11054290373241145,\n 0.7197935635978475,\n 0.12795501717186492\n ],\n \"tilt\": 0.43395876233568775,\n \"air\": 0.3810000000000001\n}/bin/bash: line 3: ps: command not found\n","exit":[1],"pics":[]},"tok":{"in":44206,"cached":42112,"out":166,"think":97,"usd":0.0714},"sim":{"submit":0,"reset":0}},{"id":21,"t":292.9,"say":"","calls":[{"kind":"shell","label":"rg -n 'air|drag|magnus|lift' /opt/tools/rfo/world.py","code":"rg -n 'air|drag|magnus|lift' /opt/tools/rfo/world.py\nrg -n 'right_elbow_pitch|right_shoulder_pitch' /opt/roboolympics/bodies/unitree_h1/model.xml\ncat /app/output/jump_best.json | tail -30\nwc -l /app/output/search_jump.log"}],"out":{"text":"250: # robot itself: explicit pairs make it collide with every hull but those of the arm that carries it (the\n259: ET.SubElement(contact, \"pair\", name=f\"toolcol_{tool}_{hull}\", geom1=tool, geom2=hull, condim=\"3\")\n41: \n44: \n259: \n261: \n262: \n263: \n274: \n276: \n277: \n278: \n \"events\": [],\n \"state_sha\": \"b2ec68bcdc742903da05dfb94b3e7810fcca7c3b0f757b1726ce5cfaff88ef1f\"\n },\n \"ball\": [\n 1.5401641799234174,\n 0.022500656193666833,\n 1.9342714726135748\n ],\n \"bv\": [\n -3.087155650709699,\n -0.5342979405811324,\n 0.5078401405519357\n ],\n \"pel\": [\n 0.9560077623698487,\n 0.023667802765188706,\n 1.0885497291826278,\n 0.015021512176582938\n ],\n \"vel\": [\n 1.7868799248198544,\n 0.06769670203891962,\n -1.5702830157448224,\n 0.11054290373241145,\n 0.7197935635978475,\n 0.12795501717186492\n ],\n \"tilt\": 0.43395876233568775,\n \"air\": 0.3810000000000001\n}268 /app/output/search_jump.log\n","exit":[0],"pics":[]},"tok":{"in":45888,"cached":44032,"out":439,"think":338,"usd":0.0845},"sim":{"submit":0,"reset":0}},{"id":22,"t":299.7,"say":"","calls":[{"kind":"shell","label":"date -u","code":"date -u\npython - <<'PY'\nfrom pathlib import Path\nfor p in Path('/proc').glob('[0-9]*/cmdline'):\n try:\n s=p.read_text().replace('\\0',' ')\n if s.startswith('python'):print(p,s)\n except:pass\nPY\ntail -3 /app/output/search_jump.log"}],"out":{"text":"Thu Oct 15 14:33:22 UTC 2026\n/proc/1668/cmdline python /app/output/search_jump.py \n/proc/1671/cmdline python /app/output/search_jump.py \n/proc/1672/cmdline python /app/output/search_jump.py \n/proc/1673/cmdline python /app/output/search_jump.py \n/proc/1674/cmdline python /app/output/search_jump.py \n/proc/1675/cmdline python /app/output/search_jump.py \n/proc/1676/cmdline python /app/output/search_jump.py \n/proc/1759/cmdline python - \n}\nGEN 10 1.3752135562549883 49.4\nGEN 20 1.3752135562549883 84.8\n","exit":[0],"pics":[]},"tok":{"in":47124,"cached":45696,"out":134,"think":27,"usd":0.0667},"sim":{"submit":0,"reset":0}},{"id":23,"t":338.8,"say":"The robot can now reach the no-charge semicircle in a single jump. The remaining problem is the shot: the arm swing sometimes carries the ball backward at the intended release time. I’m adding the ball’s flight path to the search objective.","calls":[{"kind":"robot","label":"writes search_shot.py","code":"cat > /app/output/search_shot.py <<'PY'\nimport os\nos.environ['OPENBLAS_NUM_THREADS']='1'\nimport numpy as np,json,time,multiprocessing as mp\nfrom rcb_rfo import Session\nimport cma\nS=None\nLO=np.array([-1.6,.6,-.897, -.7,-.26,-.897, -1.5,0,-.8, .25,0,.08,.08, -1.7,-2.5,-2.7, -.95,-.95,-.95, -.3,-.3,-.3])\nHI=np.array([-.1,2.05,.1, .8,.7,.523, .5,1.8,.5, .9,.4,.35,.65, .5,.3,.3, 1.8,1.8,1.8, .38,.38,.38])\ndef unscale(x):return LO+np.array(x)*(HI-LO)\ndef init():\n global S\n S=Session()\ndef rollout(x,save=False):\n global S\n if S is None:init()\n s=S;s.reset();w=s.world;r=w.robot\n p=unscale(x);q0=np.array(s.state()['q']);qs=[q0]\n for z in range(3):\n v=p[z*3:z*3+3];q=q0.copy();q[[1,7]]=v[0];q[[3,9]]=v[1];q[[4,10]]=v[2]\n q[[13,20]]=p[13+z];q[[16,23]]=p[16+z];q[21]=p[19+z];q[14]=-p[19+z]\n qs.append(q)\n tc,th,te,tf=p[9:13];ts=np.cumsum([0,tc,th,te,tf]);poses=[qs[0],qs[1],qs[1],qs[2],qs[3]]\n for i in range(int(round(ts[-1]/.01))):\n t=i*.01;j=min(np.searchsorted(ts,t,side='right')-1,3);a=np.clip((t-ts[j])/(ts[j+1]-ts[j]),0,1)\n q=poses[j]*(1-a)+poses[j+1]*a\n if s.step('joints',np.r_[q,0,1]):break\n b=w.pos('ball');bv=w.vel('ball');pel=w.pelvis();vel=w.d.qvel[r.fv:r.fv+6]\n R=w.d.xmat[r.pelvis].reshape(3,3);tilt=np.arccos(np.clip(R[2,2],-1,1))\n fl=w.task.trackers['flights'];airtime=0 if not fl.air or fl.cur is None else w.ref.time-fl.cur['t0']\n take=w.task.trackers['takeoff_vz'] or 0\n dist=np.linalg.norm(b[:2]-[3,0]);fail_pre=s.done\n loss=35*max(0,dist-1.20)**2+20*max(0,.06-airtime)+10*max(0,.6-take)**2\n loss+=.3*max(0,tilt-.5)**2+.03*np.sum(vel[3:5]**2)\n if fail_pre:loss+=40+10*max(0,ts[-1]-w.t)\n else:\n s.step('joints',np.r_[qs[-1],0,0]);b=w.pos('ball');bv=w.vel('ball')\n # approximate ballistic landing through the rim\n apex=b[2]+max(0,bv[2])**2/19.62\n disc=bv[2]**2+19.62*(b[2]-3.05)\n flight=(bv[2]+np.sqrt(max(0,disc)))/9.81\n cross=b[:2]+bv[:2]*max(0,flight)\n loss+=15*max(0,3.15-apex)**2+3*np.sum((cross-[3,0])**2)\n loss+=2*max(0,flight-.7)**2+3*max(0,.15-flight)**2\n release_status=s.status();survival=0.;mind=100.\n # continue valid releases, so eventual scoring also reflects real survival\n if not s.done:\n t0=w.t\n for i in range(110):\n done=s.step('joints',np.r_[qs[-1],0,0]);survival=w.t-t0\n bb=w.pos('ball')\n if w.vel('ball')[2]<0:mind=min(mind,float(np.linalg.norm(bb-[3,0,3.05])))\n if done:break\n loss+=8*max(0,flight+.10-survival)**2\n if s.status()['success']:loss=-100.\n if save:\n s.save_trajectory();np.savez('/app/output/shot_best.npz',x=x)\n json.dump({'p':p.tolist(),'loss':loss,'status':s.status(),'release_status':release_status,'ball':b.tolist(),'bv':bv.tolist(),'pel':pel.tolist(),'vel':vel.tolist(),'tilt':tilt,'air':airtime,'cross':cross.tolist(),'apex':apex,'flight':flight,'survival':survival,'mind':mind},open('/app/output/shot_best.json','w'),indent=2)\n return float(loss)\nif __name__=='__main__':\n import sys\n if '--show' in sys.argv:\n x=np.load('/app/output/shot_best.npz')['x'];print(rollout(x,True));print(open('/app/output/shot_best.json').read());exit()\n if os.path.exists('/app/output/shot_best.npz'):x=np.load('/app/output/shot_best.npz')['x']\n else:\n import search_jump as j\n p=np.r_[j.unscale(np.load('/app/output/jump_best.npz')['x']),0,0,0,0,0,0];x=(p-LO)/(HI-LO)\n sigma=float(sys.argv[1]) if len(sys.argv)>1 else .12\n es=cma.CMAEvolutionStrategy(x,sigma,{'bounds':[0,1],'popsize':28,'verbose':-9,'seed':123,'maxiter':400})\n best=1e9;t=time.time()\n with mp.Pool(6,initializer=init) as pool:\n for gen in range(400):\n xs=es.ask();fs=pool.map(rollout,xs);es.tell(xs,fs);idx=np.argmin(fs)\n if fs[idx]1 and v[1]==b'/app/output/search_jump.py':os.kill(int(f.parent.name),signal.SIGTERM)\n except (OSError,ProcessLookupError):pass\nPY\ncp /app/output/trajectory.npz /app/output/approach_trajectory.npz\nOPENBLAS_NUM_THREADS=1 python /app/output/search_shot.py > /app/output/search_shot.log 2>&1"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50607,"cached":49664,"out":205,"think":27,"usd":0.0693},"sim":{"submit":0,"reset":0}},{"id":26,"t":408.3,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\nfrom pathlib import Path\nimport numpy as np\nfrom rcb_rfo import Session\nif Path('/app/output/shot_best.npz').exists():\n from search_shot import rollout\n rollout(np.load('/app/output/shot_best.npz')['x'],True)\nelif Path('/app/output/jump_best.npz').exists():\n from search_jump import rollout\n rollout(np.load('/app/output/jump_best.npz')['x'],True)\nelse:\n s=Session();typ,row=s.hold();s.step(typ,row);s.save_trajectory()\nPY\nsed -n '1,100p' /opt/tools/rfo/physics.py 2>/dev/null\nrg -n 'aero|Magnus|magnus|drag' /opt/tools/rfo -g '*.py'"}],"out":{"text":"/opt/tools/rfo/scene.py:42:# restitution on a hard floor that the rule book's drop test gives (rebound height / drop height, square root); drag =\n/opt/tools/rfo/scene.py:43:# the sphere's drag coefficient C_d at playing speeds (MuJoCo's ellipsoid fluid model takes C_d / 2 as its blunt-drag\n/opt/tools/rfo/scene.py:44:# coefficient; its Kutta and Magnus lift terms are on at 1.0, as in Google DeepMind's system-identified table-tennis\n/opt/tools/rfo/scene.py:49: \"football\": dict(radius=0.110, mass=0.430, bounce=0.85, drag=0.25, roll=0.006, rgba=(0.95, 0.95, 0.95, 1)),\n/opt/tools/rfo/scene.py:51: \"basketball\": dict(radius=0.1195, mass=0.620, bounce=0.85, drag=0.54, roll=0.004, rgba=(0.90, 0.45, 0.12, 1)),\n/opt/tools/rfo/scene.py:53: \"volleyball\": dict(radius=0.105, mass=0.270, bounce=0.75, drag=0.30, roll=0.004, rgba=(0.98, 0.90, 0.25, 1)),\n/opt/tools/rfo/scene.py:55: \"tennis\": dict(radius=0.0335, mass=0.0577, bounce=0.745, drag=0.55, roll=0.002, rgba=(0.80, 0.95, 0.20, 1)),\n/opt/tools/rfo/scene.py:57: \"tabletennis\": dict(radius=0.020, mass=0.0027, bounce=0.90, drag=0.47, roll=0.001, rgba=(1.0, 0.55, 0.1, 1),\n/opt/tools/rfo/scene.py:60: \"baseball\": dict(radius=0.0365, mass=0.145, bounce=0.55, drag=0.35, roll=0.002, rgba=(0.97, 0.97, 0.94, 1)),\n/opt/tools/rfo/scene.py:62: \"golf\": dict(radius=0.02135, mass=0.0459, bounce=0.60, drag=0.25, roll=0.0016, rgba=(1, 1, 1, 1)),\n/opt/tools/rfo/scene.py:64: \"shot\": dict(radius=0.060, mass=7.260, bounce=0.10, drag=0.47, roll=0.010, rgba=(0.35, 0.35, 0.38, 1)),\n/opt/tools/rfo/scene.py:66: \"bowling\": dict(radius=0.109, mass=2.72, bounce=0.10, drag=0.47, roll=0.0010, rgba=(0.15, 0.2, 0.6, 1)),\n/opt/tools/rfo/scene.py:92: \"\"\"air: the venue's air (AIR): every body feels MuJoCo's fluid forces, the official balls their drag and\n/opt/tools/rfo/scene.py:93: Magnus lift (the ellipsoid model).\"\"\"\n/opt/tools/rfo/scene.py:180: if \"drag\" in p: # an official ball: drag and lift in the venue's air\n/opt/tools/rfo/scene.py:181: fluid = dict(fluidshape=\"ellipsoid\", fluidcoef=p.get(\"fluidcoef\", (p[\"drag\"] / 2, 0.25, 0.0, 1.0, 1.0)))\n","exit":[0],"pics":[]},"tok":{"in":50870,"cached":50432,"out":220,"think":10,"usd":0.0658},"sim":{"submit":0,"reset":0}},{"id":27,"t":416.9,"say":"","calls":[{"kind":"robot","label":"j.rollout(np.load('/app/output/jump_best.npz')['x'])","code":"OPENBLAS_NUM_THREADS=1 python - <<'PY'\nimport sys\nsys.path.insert(0,'/app/output')\nimport search_jump as j\nimport numpy as np\nfrom PIL import Image\nj.rollout(np.load('/app/output/jump_best.npz')['x'])\nImage.fromarray(j.S.image('venue')).save('/app/output/jump.png')\nPY"}],"out":{"text":"/usr/local/lib/python3.12/site-packages/cma/s.py:17: UserWarning: Could not import matplotlib.pyplot, therefore ``cma.plot()`` etc. is not available\n _warnings.warn('Could not import matplotlib.pyplot, therefore'\n","exit":[0],"pics":[]},"tok":{"in":52049,"cached":50688,"out":149,"think":39,"usd":0.0717},"sim":{"submit":0,"reset":0}},{"id":28,"t":430.9,"say":"","calls":[{"kind":"look","label":"jump.png","code":"/app/output/jump.png"},{"kind":"shell","label":"tail -70 /app/output/search_shot.log","code":"tail -70 /app/output/search_shot.log"}],"out":{"text":" \"release in the air\"\n ],\n \"stages_total\": 3,\n \"progress\": 0.6667,\n \"metrics\": {\n \"pelvis_to_ring_m\": 2.202,\n \"ball_height_m\": 1.529,\n \"steps\": 1\n },\n \"steps\": 94,\n \"time_s\": 0.94,\n \"events\": [\n {\n \"ev\": \"stage\",\n \"t\": 0.922,\n \"stage\": \"approach\"\n },\n {\n \"ev\": \"release\",\n \"t\": 0.93,\n \"hand\": \"right\",\n \"object\": \"ball\"\n },\n {\n \"ev\": \"stage\",\n \"t\": 0.931,\n \"stage\": \"release in the air\",\n \"ball_height_m\": 1.476,\n \"ball_to_ring_m\": 1.236,\n \"air_s\": 0.239,\n \"takeoff_speed_m_s\": 2.1449\n }\n ],\n \"state_sha\": \"01967f44397cffb44ce6156b50d0f2eede12e22a575b4b7d9fcd6784537ae430\"\n },\n \"ball\": [\n 1.7776774114631892,\n 0.08496982673273797,\n 1.5294559956776084\n ],\n \"bv\": [\n 1.2026050543420475,\n 0.10445115680743083,\n 5.886218056162343\n ],\n \"pel\": [\n 0.779058268483547,\n 0.007002480231441943,\n 1.1073486978548144,\n -0.014511995674790666\n ],\n \"vel\": [\n 1.8643699550046184,\n 0.016633000340030884,\n -3.8135317654297323,\n 0.08096141606354715,\n 1.3747808086205813,\n 0.05497095832849721\n ],\n \"tilt\": 0.3500053676194391,\n \"air\": 0.238,\n \"cross\": [\n 2.7682528465798972,\n 0.17100534581640886\n ],\n \"apex\": 3.2953868317984845,\n \"flight\": 0.8236913952258897,\n \"survival\": 0.38,\n \"mind\": 100.0\n}\n","exit":[0],"pics":["roboolympics-fun-layup-i00-privileged--fuzg3ze/s028_0.jpg"]},"tok":{"in":52308,"cached":51840,"out":56,"think":0,"usd":0.0593},"sim":{"submit":0,"reset":0}},{"id":29,"t":455.4,"say":"","calls":[{"kind":"shell","label":"head -65 /app/output/shot_best.json","code":"head -65 /app/output/shot_best.json\nrg 'BEST|GEN' /app/output/search_shot.log | tail -10"}],"out":{"text":"{\n \"p\": [\n -1.109517775801281,\n 1.3489110919297798,\n -0.748211111331394,\n -0.5221595552295476,\n 0.32370844972190205,\n 0.3816639400046056,\n 0.26183813804959977,\n 1.2330461227130862,\n 0.28264429053030526,\n 0.2517638460856742,\n 0.35398407807943566,\n 0.11318583624056941,\n 0.249620766787499,\n -0.8344957498672554,\n -1.8515753033533724,\n -2.0966070743032774,\n 0.6089963528851463,\n -0.042252070078898085,\n -0.1931641299311201,\n -0.06566019404600879,\n 0.02084824598910434,\n 0.011780164800667792\n ],\n \"loss\": 2.5077928841670936,\n \"status\": {\n \"success\": false,\n \"done\": true,\n \"failed\": \"the ball was let go too far from the ring\",\n \"stages\": [],\n \"stages_total\": 3,\n \"progress\": 0.0,\n \"metrics\": {\n \"pelvis_to_ring_m\": 2.434,\n \"ball_height_m\": 1.297,\n \"steps\": 0\n },\n \"steps\": 98,\n \"time_s\": 0.98,\n \"events\": [\n {\n \"ev\": \"release\",\n \"t\": 0.97,\n \"hand\": \"right\",\n \"object\": \"ball\"\n },\n {\n \"ev\": \"fail\",\n \"t\": 0.971,\n \"reason\": \"the ball was let go too far from the ring\",\n \"ball_to_ring_m\": 1.31\n }\n ],\n \"state_sha\": \"f448b5f9dd33e01c844ef097556c536c4423bd30eefe5a8c015da3236ab77d31\"\n },\n \"release_status\": {\n \"success\": false,\n \"done\": true,\n \"failed\": \"the ball was let go too far from the ring\",\n \"stages\": [],\n \"stages_total\": 3,\n \"progress\": 0.0,\n \"metrics\": {\n \"pelvis_to_ring_m\": 2.434,\nBEST 0 2.74237 wall 13.5 {\nBEST 7 2.50779 wall 51.7 {\n","exit":[0],"pics":[]},"tok":{"in":53241,"cached":52096,"out":368,"think":312,"usd":0.0819},"sim":{"submit":0,"reset":0}},{"id":30,"t":486.9,"say":"","calls":[{"kind":"robot","label":"for f in Path('/proc').glob('[0-9]*/cmdline'):","code":"python - <<'PY'\nimport os,signal\nfrom pathlib import Path\nfor f in Path('/proc').glob('[0-9]*/cmdline'):\n try:\n v=f.read_bytes().split(b'\\0')\n if len(v)>1 and v[1]==b'/app/output/search_shot.py':os.kill(int(f.parent.name),signal.SIGTERM)\n except OSError:pass\np=Path('/app/output/search_shot.py');t=p.read_text()\nt=t.replace(\"-.3,-.3,-.3])\",\"-.3,-.3,-.3, -1.5,0,-.8,.08,-2.7])\")\nt=t.replace(\".38,.38,.38])\",\".38,.38,.38, .5,1.8,.5,.5,.5])\")\nt=t.replace(\"r.fv:r.fv+6]\",\"r.fv:r.fv+6].copy()\")\nt=t.replace(\"release_status=s.status();survival=0.;mind=100.\",\"release_status=s.status();survival=0.;mind=100.\\n if s.done and not fail_pre:loss+=5.\\n qland=qs[-1].copy();qland[[1,7]]=p[22];qland[[3,9]]=p[23];qland[[4,10]]=p[24];qland[[13,20]]=p[26]\")\nt=t.replace(\"done=s.step('joints',np.r_[qs[-1],0,0]);survival=w.t-t0\", \"a=min(1,(i+1)*.01/p[25]);ql=qs[-1]*(1-a)+qland*a\\n done=s.step('joints',np.r_[ql,0,0]);survival=w.t-t0\")\nt=t.replace('shot_best','land_best')\nt=t.replace(\"import search_jump as j\\n p=np.r_[j.unscale(np.load('/app/output/jump_best.npz')['x']),0,0,0,0,0,0];x=(p-LO)/(HI-LO)\",\"p=np.r_[json.load(open('/app/output/valid_shot.json'))['p'],-.5,.8,-.3,.2,-1.0];x=(p-LO)/(HI-LO)\")\nt=t.replace(\"'seed':123\",\"'seed':456\")\nPath('/app/output/search_land.py').write_text(t)\nimport json\ns=Path('/app/output/search_shot.log').read_text();dec=json.JSONDecoder();objs=[]\nfor b in s.split('BEST')[1:]:\n try:\n o,_=dec.raw_decode(b[b.index('{'):]);\n if len(o['release_status']['stages'])>=2:objs.append(o)\n except Exception:pass\nbest=min(objs,key=lambda x:x['loss']);Path('/app/output/valid_shot.json').write_text(json.dumps(best))\nprint(best['loss'])\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/search_land.py > /app/output/search_land.log 2>&1"}],"out":{"text":"2.742370905736428\n","exit":[],"pics":[]},"tok":{"in":54348,"cached":53120,"out":955,"think":236,"usd":0.1132},"sim":{"submit":0,"reset":0}},{"id":31,"t":498.7,"say":"","calls":[{"kind":"robot","label":"p='/app/output/gen.py'","code":"python - <<'PY'\np='/app/output/gen.py'\ns=open(p).read().replace(\"if Path('/app/output/shot_best.npz').exists():\", \"if Path('/app/output/land_best.npz').exists():\\n from search_land import rollout\\n rollout(np.load('/app/output/land_best.npz')['x'],True)\\nelif Path('/app/output/shot_best.npz').exists():\")\nopen(p,'w').write(s)\nPY\ncat > /app/output/NOTES.md <<'EOF'\nDirect joint control: crouch, extend the legs, swing the arms, release in flight.\nSearch has found a legal airborne release inside the no-charge semicircle.\nThe remaining work is shot accuracy and surviving until the ball reaches the hoop.\nEarly shallow jumps travelled too little and pitched forward.\nDeeper crouches increased height; arm timing strongly affects release velocity.\nInstalled scipy and cma for numerical trajectory optimisation; no external controllers.\nEOF\nsleep 15\ntail -50 /app/output/search_land.log"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":55367,"cached":54272,"out":278,"think":18,"usd":0.0791},"sim":{"submit":0,"reset":0}},{"id":32,"t":519.3,"say":"A trial has achieved a legal release in the air, and its predicted shot comes close to the ring. It falls before the ball arrives, so I’m now tuning a separate motion after release to bring the feet forward and support the landing.","calls":[{"kind":"shell","label":"tail -70 /app/output/search_land.log","code":"tail -70 /app/output/search_land.log\ndate -u"}],"out":{"text":" \"release in the air\"\n ],\n \"stages_total\": 3,\n \"progress\": 0.6667,\n \"metrics\": {\n \"pelvis_to_ring_m\": 2.15,\n \"ball_height_m\": 1.494,\n \"steps\": 1\n },\n \"steps\": 97,\n \"time_s\": 0.97,\n \"events\": [\n {\n \"ev\": \"stage\",\n \"t\": 0.925,\n \"stage\": \"approach\"\n },\n {\n \"ev\": \"release\",\n \"t\": 0.96,\n \"hand\": \"right\",\n \"object\": \"ball\"\n },\n {\n \"ev\": \"stage\",\n \"t\": 0.961,\n \"stage\": \"release in the air\",\n \"ball_height_m\": 1.44,\n \"ball_to_ring_m\": 1.149,\n \"air_s\": 0.299,\n \"takeoff_speed_m_s\": 2.2426\n }\n ],\n \"state_sha\": \"f22ef21333742a4c196473099471fd0c807e9590b9dc29878625b19e94442ad6\"\n },\n \"ball\": [\n 1.8669044801228556,\n 0.08657020781582075,\n 1.4938195637318583\n ],\n \"bv\": [\n 1.470435910599314,\n 0.22555405850899168,\n 5.896105489415402\n ],\n \"pel\": [\n 0.8329961018467804,\n -0.003708970846927363,\n 1.135091291099426,\n 0.05169516584745694\n ],\n \"vel\": [\n 1.670640101399889,\n 0.02276382601616779,\n -0.8411063309878932,\n 0.3865183349270352,\n 1.2876628207853562,\n 0.29027720678681057\n ],\n \"tilt\": 0.39741497837527523,\n \"air\": 0.29799999999999993,\n \"cross\": [\n 3.059027698076216,\n 0.2694331453392843\n ],\n \"apex\": 3.26568806232077,\n \"flight\": 0.810727764032558,\n \"survival\": 0.3500000000000001,\n \"mind\": 100.0\n}\nThu Oct 15 14:37:03 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":55702,"cached":55296,"out":412,"think":315,"usd":0.08},"sim":{"submit":0,"reset":0}},{"id":33,"t":532.1,"say":"","calls":[{"kind":"shell","label":"head -95 /app/output/land_best.json","code":"head -95 /app/output/land_best.json\nrg 'BEST|GEN' /app/output/search_land.log | tail -8"}],"out":{"text":"{\n \"p\": [\n -1.4684785934949987,\n 1.6026793578882645,\n -0.8796510671271521,\n -0.0764675120300462,\n 0.17948977260762178,\n -0.15366211442141808,\n 0.4633285894478638,\n 1.7532309661438108,\n 0.10489232645365065,\n 0.2652900837709669,\n 0.30118769486303265,\n 0.1424115833261435,\n 0.24354976206836937,\n -0.3238951221695001,\n -1.6479287999963392,\n -1.2933152031455701,\n -0.4785551682730427,\n 0.36250181625083755,\n -0.09764506447562815,\n 0.04643650538260663,\n 0.01277161542855526,\n 0.007224643927977503,\n -0.06332027739272328,\n 0.42404804323354106,\n -0.1699699103761455,\n 0.1640388359799875,\n -1.0365484078728775\n ],\n \"loss\": 1.77493411813469,\n \"status\": {\n \"success\": false,\n \"done\": true,\n \"failed\": \"fell\",\n \"stages\": [\n \"approach\",\n \"release in the air\"\n ],\n \"stages_total\": 3,\n \"progress\": 0.6667,\n \"metrics\": {\n \"pelvis_to_ring_m\": 1.388,\n \"ball_height_m\": 2.884,\n \"steps\": 1\n },\n \"steps\": 135,\n \"time_s\": 1.35,\n \"events\": [\n {\n \"ev\": \"stage\",\n \"t\": 0.93,\n \"stage\": \"approach\"\n },\n {\n \"ev\": \"release\",\n \"t\": 0.95,\n \"hand\": \"right\",\n \"object\": \"ball\"\n },\n {\n \"ev\": \"stage\",\n \"t\": 0.951,\n \"stage\": \"release in the air\",\n \"ball_height_m\": 1.402,\n \"ball_to_ring_m\": 1.207,\n \"air_s\": 0.247,\n \"takeoff_speed_m_s\": 2.2878\n },\n {\n \"ev\": \"fail\",\n \"t\": 1.35,\n \"reason\": \"fell\",\n \"on_the_ground\": [\n \"left_hand\"\n ]\n }\n ],\n \"state_sha\": \"cd596465e9073a88acabfa8b2d89bfc88cefb8557da743690a3a897991a0d5c6\"\n },\n \"release_status\": {\n \"success\": false,\n \"done\": false,\n \"failed\": null,\n \"stages\": [\n \"approach\",\n \"release in the air\"\n ],\n \"stages_total\": 3,\n \"progress\": 0.6667,\n \"metrics\": {\n \"pelvis_to_ring_m\": 2.163,\n \"ball_height_m\": 1.453,\n \"steps\": 1\n },\nBEST 0 9.55052 wall 11.2 {\nBEST 1 8.11484 wall 16.6 {\nBEST 3 2.82231 wall 26.7 {\nBEST 6 1.77493 wall 43.0 {\n","exit":[0],"pics":[]},"tok":{"in":56844,"cached":55680,"out":215,"think":160,"usd":0.0781},"sim":{"submit":0,"reset":0}},{"id":34,"t":572.1,"say":"","calls":[{"kind":"shell","label":"writes inspect.py","code":"cat > /app/output/inspect.py <<'PY'\nfrom rcb_rfo import Session\nimport numpy as np\nfrom PIL import Image\ns=Session();w=s.world;r=w.robot\nrows=np.load('/app/output/trajectory.npz')['actions']\nfor i,row in enumerate(rows):\n done=s.step_raw(row)\n if i%5==4:\n R=w.d.xmat[r.pelvis].reshape(3,3);pitch=np.arctan2(R[0,2],R[2,2])\n print(i+1,np.round(w.pelvis()[:3],2),round(pitch,2),np.round(w.d.qvel[r.fv:r.fv+6],2),np.round(w.d.qpos[r.qadr][[1,3,4,13,16]],2),w.task.trackers['flights'].air)\n if i in [95,110,125,130]:Image.fromarray(s.image('venue')).save('/app/output/inspect%d.png'%i)\n if done:break\nprint(s.status())\nPY\nOPENBLAS_NUM_THREADS=1 python /app/output/inspect.py > /app/output/inspect.log"}],"out":{"text":"Traceback (most recent call last):\n File \"/app/output/inspect.py\", line 4, in \n s=Session();w=s.world;r=w.robot\n ^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 285, in __init__\n self.ep = Episode(self.instance)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 68, in __init__\n from rfo import world as W\n File \"/opt/tools/rfo/world.py\", line 33, in \n import mujoco\n File \"/usr/local/lib/python3.12/site-packages/mujoco/__init__.py\", line 23, in \n from typing_extensions import TypeAlias\n File \"/usr/local/lib/python3.12/site-packages/typing_extensions.py\", line 8, in \n import inspect\n File \"/app/output/inspect.py\", line 4, in \n s=Session();w=s.world;r=w.robot\n ^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 285, in __init__\n self.ep = Episode(self.instance)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/opt/tools/rcb_rfo.py\", line 73, in __init__\n self.world = W.World(load_task(self.family), instance)\n ^^^^^^^\nAttributeError: partially initialized module 'rfo.world' has no attribute 'World' (most likely due to a circular import)\n","exit":[1],"pics":[]},"tok":{"in":58051,"cached":56704,"out":754,"think":462,"usd":0.1079},"sim":{"submit":0,"reset":0}},{"id":35,"t":578.0,"say":"","calls":[{"kind":"shell","label":"mv /app/output/inspect.py /app/output/inspect_trial.py","code":"mv /app/output/inspect.py /app/output/inspect_trial.py\nOPENBLAS_NUM_THREADS=1 python /app/output/inspect_trial.py > /app/output/inspect.log"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":59219,"cached":57984,"out":92,"think":21,"usd":0.0749},"sim":{"submit":0,"reset":0}},{"id":36,"t":584.7,"say":"","calls":[{"kind":"shell","label":"tail -12 /app/output/inspect.log","code":"tail -12 /app/output/inspect.log\nrg 'BEST|GEN' /app/output/search_land.log | tail -10\ndate -u"}],"out":{"text":"85 [ 0.62 -0.01 1.12] 0.4 [ 2.18 0.01 0.49 -0.12 -0.03 -0.53] [ 0.18 0.96 -0.08 -1.6 0.21] True\n90 [ 0.73 -0.01 1.12] 0.41 [ 2. 0. -0.07 0.02 0.28 0.39] [ 0.33 1.3 -0.01 -1.77 -0.17] True\n95 [ 0.82 -0.01 1.11] 0.44 [ 1.8 0.01 -0.44 0.27 1. 0.55] [ 0.44 1.62 0.04 -1.81 -0.18] True\n100 [ 0.92 -0.01 1.09] 0.51 [ 2.12 -0.01 -0.33 0.54 2.55 0.49] [ 0.52 1.57 0.08 -1.59 -0.14] True\n105 [ 1.02 -0.01 1.08] 0.73 [ 1.9 -0.07 -0.11 0.25 5.51 0.13] [ 0.24 1.09 0.03 -1.27 -0.08] True\n110 [ 1.12 -0.01 1.05] 0.96 [ 1.96 -0.07 -1.04 -0.02 3.32 -0.43] [-0.03 0.66 -0.06 -1.07 0.06] True\n115 [ 1.21 -0.01 0.98] 1.1 [ 2.01 -0.03 -1.88 -0.09 2.16 -0.04] [-0.12 0.41 -0.13 -0.96 0.07] True\n120 [ 1.32 -0.01 0.86] 1.16 [ 2.05 0.01 -2.76 0.19 0.58 0.62] [-0.11 0.41 -0.16 -0.96 -0.06] True\n125 [ 1.42 -0.01 0.71] 1.2 [ 1.93 -0.01 -3.16 0.26 1.58 0.47] [-0.06 0.43 -0.17 -1.07 -0.12] True\n130 [ 1.51 -0.02 0.55] 1.29 [ 1.94 -0.05 -3.54 0.11 1.69 0.07] [-0.06 0.42 -0.17 -1.1 -0.13] True\n135 [ 1.61 -0.02 0.36] 1.37 [ 2. -0.02 -4.03 0.07 1.5 0.1 ] [-0.06 0.42 -0.17 -1.04 -0.09] False\n{'success': False, 'done': True, 'failed': 'fell', 'stages': ['approach', 'release in the air'], 'stages_total': 3, 'progress': 0.6667, 'metrics': {'pelvis_to_ring_m': 1.388, 'ball_height_m': 2.884, 'steps': 1}, 'steps': 135, 'time_s': 1.35, 'events': [{'ev': 'stage', 't': 0.93, 'stage': 'approach'}, {'ev': 'release', 't': 0.95, 'hand': 'right', 'object': 'ball'}, {'ev': 'stage', 't': 0.951, 'stage': 'release in the air', 'ball_height_m': 1.402, 'ball_to_ring_m': 1.207, 'air_s': 0.247, 'takeoff_speed_m_s': 2.2878}, {'ev': 'fail', 't': 1.35, 'reason': 'fell', 'on_the_ground': ['left_hand']}], 'state_sha': 'cd596465e9073a88acabfa8b2d89bfc88cefb8557da743690a3a897991a0d5c6'}\nBEST 0 9.55052 wall 11.2 {\nBEST 1 8.11484 wall 16.6 {\nBEST 3 2.82231 wall 26.7 {\nBEST 6 1.77493 wall 43.0 {\nGEN 10 1.77493411813469 62.5\nThu Oct 15 14:38:07 UTC 2026\n","exit":[0],"pics":[]},"tok":{"in":59368,"cached":59136,"out":68,"think":9,"usd":0.0649},"sim":{"submit":0,"reset":0}},{"id":37,"t":612.4,"say":"","calls":[{"kind":"shell","label":"s=Session();d=s.world.d","code":"OPENBLAS_NUM_THREADS=1 python - <<'PY'\nfrom rcb_rfo import Session\ns=Session();d=s.world.d\nprint([a for a in dir(d) if 'subtree' in a])\nPY\nrg 'BEST|GEN' /app/output/search_land.log | tail -6"}],"out":{"text":"['subtree_angmom', 'subtree_com', 'subtree_linvel']\nBEST 1 8.11484 wall 16.6 {\nBEST 3 2.82231 wall 26.7 {\nBEST 6 1.77493 wall 43.0 {\nGEN 10 1.77493411813469 62.5\nBEST 19 1.62429 wall 107.9 {\nGEN 20 1.6242878202209035 112.9\n","exit":[0],"pics":[]},"tok":{"in":60678,"cached":59264,"out":594,"think":499,"usd":0.1031},"sim":{"submit":0,"reset":0}},{"id":38,"t":646.9,"say":"","calls":[{"kind":"shell","label":"tail -60 /app/output/land_best.json","code":"tail -60 /app/output/land_best.json\nsed -n '1,45p' /opt/roboolympics/bodies/unitree_h1/model.xml"}],"out":{"text":" \"time_s\": 0.95,\n \"events\": [\n {\n \"ev\": \"stage\",\n \"t\": 0.932,\n \"stage\": \"approach\"\n },\n {\n \"ev\": \"release\",\n \"t\": 0.94,\n \"hand\": \"right\",\n \"object\": \"ball\"\n },\n {\n \"ev\": \"stage\",\n \"t\": 0.941,\n \"stage\": \"release in the air\",\n \"ball_height_m\": 1.26,\n \"ball_to_ring_m\": 1.227,\n \"air_s\": 0.216,\n \"takeoff_speed_m_s\": 2.5791\n }\n ],\n \"state_sha\": \"453d1a84c01f312c0b5a4bbbb3037f9d1f387877292159960719c60b7ff903eb\"\n },\n \"ball\": [\n 1.8041267371935312,\n 0.14609031805151035,\n 1.3108818505989197\n ],\n \"bv\": [\n 2.3680921154837606,\n -0.6097710409968112,\n 5.6518841662201185\n ],\n \"pel\": [\n 0.7639225854327825,\n -0.01174280505077048,\n 1.1385208021717217,\n -0.06633585220162003\n ],\n \"vel\": [\n 1.9496224310461854,\n -0.0666648548202617,\n 0.13232184477471995,\n -0.020944144715486102,\n 1.1140812708081498,\n 0.566275394683171\n ],\n \"tilt\": 0.778388255553849,\n \"air\": 0.21500000000000008,\n \"cross\": [\n 3.168467443784089,\n -0.20522010922977774\n ],\n \"apex\": 2.9390059397105244,\n \"flight\": 0.5761349812660671,\n \"survival\": 0.39,\n \"mind\": 100.0\n}\n