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runs/behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao.json

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+{"slug":"behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao","task":"behavior-clean-your-rusty-garden-tools-i00-standard","bench":"behavior","mode":"standard","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"live_matches_replay":1,"finalized":1,"missing_log":0,"n_actions":4786,"sim_steps":4786,"physics_steps":19144,"steps":4296,"elapsed_s":1006.1,"video_rendered":1,"gpu_lost":0,"replay_error":0,"instance_ok":1,"task_failure":1,"q_score":0.0,"sim_startups":1,"resumes":0,"resume_state_mismatch":0,"resume_max_tcp_dev_m":0.0,"resume_max_joint_dev":0.0,"gave_up":0,"infra_error":0,"grader_error":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":1,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.0,"peak_processes":0.0,"peak_disk_gb":0.0,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1905,"tokens":{"in":2584570,"cached":2509006,"out":24854,"usd":1.6},"task_text":"# BEHAVIOR-1K · clean_your_rusty_garden_tools — STANDARD MODE (robot as a service, eai-standard/2.2)\n\nYou drive an **R1Pro** mobile bimanual robot around a house **as if it were real hardware**: the simulator (BEHAVIOR-1K\nv3.9.2, the 2026 BEHAVIOR Challenge stack) runs in a service you cannot open. You get one client and one episode.\n**Task:** Clean the rusty garden tools. A rusty trowel and a rusty scraper lie on the driveway in the garden, next to a toolbox with steel wool inside; remove all the rust from both tools, put them inside the toolbox and close it. Success means all of the following hold at the same time: (1) no rust is left on the trowel or on the scraper; (2) both tools are inside the toolbox; (3) the toolbox is closed. How the simulator judges them: inside(A, B): the centre of A's axis-aligned bounding box lies within B's bounding box and within B's interior (container) volume. open(A): at least one of A's openable joints (door, drawer, lid) is more than 5% of the way from closed to fully open; closed (not open) means every such joint is within 5% of closed. covered(A, S): at least one particle of the substance S (e.g. dust) is on A; A is clean of S (not covered) only when every particle of S has been removed from it. The service checks the goal and the episode ends the moment it holds.\n\n## Rules (real-robot rules)\n- **No reset.** The episode starts when the service comes up and ends on success, when the robot has fallen over, when\n  your time is up, or on a simulator error. Whatever you knock over or push away stays where it ends up.\n- **A fall ends the episode as a failure** (`meta[\"reason\"]` \"failure: the robot fell over\"): the robot has fallen over\n  when its base has been tilted more than 41.4° from upright, or more than 3 cm below the floor, for 10 s of simulated\n  time in a row (OmniGibson's own Falling rule; tilted means the z of the base's up axis is below 0.75, which the\n  proprioception gives as cos(rx)·cos(ry) of `base_footprint_rx_joint` and `base_footprint_ry_joint`).\n- **No privileged state.** You see what the robot's cameras see (RGB; depth on request) plus its own proprioception\n  (joints, base pose, end-effector and fingertip poses, gripper openings). No object poses, no map, no success predicate.\n- There is no step budget; your wall-clock budget is 4 h (14400 s; `meta[\"time_left_s\"]`). Actions and simulated time\n  are reported as cost. Only a runaway guard bounds the episode: it ends at 200,000 control steps (1.85 h of simulated\n  time; `spec[\"max_control_steps\"]`, reason `step_guard`).\n- **A malformed request is refused with a 400 and nothing is executed** (a wrong type or shape, a value out of range,\n  a `dt` that is not a whole number of control periods, `video_fps` outside 1-30): fix it and send it again.\n- There is nothing to hand in: the service records your episode as the trajectory and grades it. Leave your script\n  at `/app/output/gen.py` for the record.\n- **Nothing is put into your context automatically\n… (3,982 characters left out) …\ns **xyzw**, gripper\n  1 = open, 0 = closed (switched at the start of the row). Each row is solved by cuRobo inverse kinematics for both end\n  effectors together (the trunk may bend too; no collision checking) and driven to in joint space; `dt` is ignored and the\n  base stands still. If no IK solution exists nothing moves, and `meta[\"plan\"]` says so. The pose is the end-effector frame\n  of the proprio `*_eef_*` entries, so an observed pose is a valid target. At most 50 rows per submit.\n\n### Optional inputs (eai-standard/2.2; nothing changes unless you ask)\n- **Depth**: `depth=True` on `get_obs` / `submit` adds `res.last_depth[cam]`, float32 (224, 224) z-depth in metres (0 = no\n  reading), pixel-aligned with the RGB; `depth=\"frames\"` also returns `res.depth[cam]` (N, 224, 224), one per frame.\n- **Per frame**: `res.frame_step`, `res.frame_time_s` and `res.extrinsic_cv[cam]` (N, 3, 4; world -> camera, OpenCV\n  axes). While the robot moves, a frame shows the scene 2 control steps before its `frame_step`; its `extrinsic_cv` is the\n  pose it was rendered with. Intrinsics `spec[\"cameras\"][cam][\"intrinsic_cv\"]`, mounting `spec[\"cameras\"][cam][\"mount\"]`\n  (parent link + fixed `link_T_cam_cv`).\n- **Robot**: `spec[\"robot_spec\"]`: joint names and real limits, gripper stroke and open/close rule, drive gains, the\n  end-effector frame vs the fingertip centre (TCP, 1.88 cm further along the fingers), the base's per-step and speed\n  limits; `spec[\"world\"]`: frame, units, quaternion order, camera axes.\n- **Proprioception**: named columns `spec[\"proprio_layout\"]`, groups `spec[\"proprio_groups\"]` (joint_pos, joint_vel,\n  joint_effort, gripper_opening, tcp_pose, eef_pose, base_pose, ...): `res.group(\"tcp_pose\")` per frame,\n  `res.group(\"tcp_pose\", now=True)` now.\n- **Kinematics** (stateless: no physics, no time): `r.fk(q)`, `r.ik({\"left_tcp\": pose}, seed=q)`; q =\n  `spec[\"kinematics\"][\"joint_names\"]` (trunk + both arms, all proprio columns); poses in the robot's base frame, or in the\n  world frame with `base_pose=` the 7 base proprio columns.\n\nFor scale: the 2026 challenge's human teleoperators needed 505 s on average (15,158 control steps) for this task, and the simulator runs at ~7-11 control steps/s. Budget your time, drive before you reach, and check `meta[\"done\"]`.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 8 cores for your container; the cap only slows you down.\n","replay":"behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/replay.mp4","replay_last":"behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"ls /app /app/output /opt/tools; cat /run/rcb-limits/usage.json; ls /logs/agent/sessions/projects/-app/memory/ ","code":"ls /app /app/output /opt/tools; cat /run/rcb-limits/usage.json; ls /logs/agent/sessions/projects/-app/memory/ 2>/dev/null; python3 -c \"import numpy, cv2; print('ok')\""}],"out":{"text":"Exit code 1\n/app:\noutput\n\n/app/output:\n\n/opt/tools:\nrcb1.py\nrcb_client.py\ncat: /run/rcb-limits/usage.json: No such file or directory\nTraceback (most recent call last):\n  File \"<string>\", line 1, in <module>\nModuleNotFoundError: No module named 'cv2'\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":27103,"cached":19565,"out":146,"think":null,"usd":0.0445},"sim":{"submit":0,"reset":0}},{"id":3,"t":2.8,"say":"","calls":[{"kind":"shell","label":"cd /opt/tools; wc -l *; head -50 rcb1.py; python3 -c \"import numpy, PIL; print('ok')\"; pip list 2>/dev/null | ","code":"cd /opt/tools; wc -l *; head -50 rcb1.py; python3 -c \"import numpy, PIL; print('ok')\"; pip list 2>/dev/null | head -50"}],"out":{"text":"83 rcb1.py\n  221 rcb_client.py\n  304 total\n\"\"\"RCB1 — a tiny binary frame for one JSON header plus N raw blobs (videos, image arrays, depth, proprio).\n\n    frame = b\"RCB1\" | header_len uint32 LE | header JSON (UTF-8) | blob_0 | blob_1 | ...\n    header = {\"v\": 1, \"meta\": {...}, \"parts\": [{\"name\", \"kind\", \"len\", ...}, ...]}   # blobs in the same order\n\nkinds: \"mp4\" (fps, n), \"jpeg\", \"array\" (dtype, shape; C-order raw bytes), \"json\" (utf-8), \"bytes\".\nZero dependencies for bytes/json parts; numpy only when you ask for arrays. Used on both sides (server and client),\nover HTTP bodies (Content-Type: application/x-rcb1) and equally usable over a raw socket. `python -m rcb1 unpack f dir`.\n\"\"\"\nfrom __future__ import annotations\nimport json, struct, sys, pathlib\n\nMAGIC = b\"RCB1\"\n\n\ndef encode(meta: dict, parts: list[tuple[str, str, bytes, dict]]) -> bytes:\n    \"\"\"parts: [(name, kind, blob, extra), ...]; extra carries dtype/shape/fps/n.\"\"\"\n    hdr_parts = []\n    for name, kind, blob, extra in parts:\n        d = {\"name\": name, \"kind\": kind, \"len\": len(blob)}\n        d.update({k: v for k, v in (extra or {}).items() if v is not None})\n        hdr_parts.append(d)\n    header = json.dumps({\"v\": 1, \"meta\": meta, \"parts\": hdr_parts}, separators=(\",\", \":\")).encode()\n    return b\"\".join([MAGIC, struct.pack(\"<I\", len(header)), header] + [blob for _, _, blob, _ in parts])\n\n\ndef array_part(name: str, arr, extra: dict | None = None) -> tuple[str, str, bytes, dict]:\n    import numpy as np\n    a = np.asco\n… (2,500 characters left out) …\n \":\")).encode()\n    return b\"\".join([MAGIC, struct.pack(\"<I\", len(header)), header] + [blob for _, _, blob, _ in parts])\n\n\ndef array_part(name: str, arr, extra: dict | None = None) -> tuple[str, str, bytes, dict]:\n    import numpy as np\n    a = np.ascontiguousarray(arr)\n    return (name, \"array\", a.tobytes(), {\"dtype\": str(a.dtype), \"shape\": list(a.shape), **(extra or {})})\n\n\ndef decode(buf: bytes, arrays: bool = True) -> tuple[dict, dict]:\n    \"\"\"-> (meta, parts) where parts[name] = {\"kind\", ..., \"data\"}; arrays become numpy arrays when arrays=True.\"\"\"\n    if buf[:4] != MAGIC:\n        raise ValueError(\"not an RCB1 frame\")\n    n = struct.unpack(\"<I\", buf[4:8])[0]\n    header = json.loads(buf[8:8 + n].decode()); off = 8 + n\n    out = {}\n    for p in header[\"parts\"]:\n        blob = buf[off:off + p[\"len\"]]; off += p[\"len\"]\n        d = dict(p)\n        if p[\"kind\"] == \"array\" and arrays:\n            import numpy as np\n            d[\"data\"] = np.frombuffer(blob, dtype=np.dtype(p[\"dtype\"])).reshape(p[\"shape\"])\n        elif p[\"kind\"] == \"json\":\n            d[\"data\"] = json.loads(blob.decode())\n        else:\n            d[\"data\"] = blob\n        out[p[\"name\"]] = d\nok\nPackage            Version\n------------------ ---------\ncertifi            2026.7.22\ncharset-normalizer 3.5.2\nidna               3.20\nnumpy              2.5.3\npillow             12.3.0\npip                25.0.1\nrequests           2.34.2\nscipy              1.18.1\nurllib3            2.8.0\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":27399,"cached":27101,"out":109,"think":null,"usd":0.0091},"sim":{"submit":0,"reset":0}},{"id":4,"t":4.5,"say":"","calls":[{"kind":"shell","label":"cat /opt/tools/rcb_client.py","code":"cat /opt/tools/rcb_client.py"}],"out":{"text":"\"\"\"eai-standard/2.2 client (formerly rcb-limited/2.x) — the only thing a standard-mode agent gets (installed at\n/opt/tools/rcb_client.py).\n\n    from rcb_client import Robot\n    r = Robot()                                  # finds the service (sim:8000, then localhost:8000), waits for warm-up\n    spec = r.spec()                              # actions, cameras (+ intrinsics, mounting), robot_spec, world, budget, kinematics\n    obs = r.get_obs()                            # current frames: obs.last[cam] -> uint8 (H,W,3); obs.meta[\"proprio\"]\n    obs = r.get_obs(depth=True)                  # + obs.last_depth[cam] -> float32 (H,W) z-depth in metres, 0 = no reading\n    res = r.submit(\"joint_position\", A, dt=0.1)  # A: (T, dim) rows dt apart; returns the execution video\n    res = r.submit(\"ee_pose\", P)                 # (T, dim) end-effector targets (see spec()[\"action_types\"])\n    res.video[cam] -> mp4 bytes    res.frames[cam] -> uint8 (N,H,W,3) if video=\"frames\"/\"both\"    res.last[cam]\n    res.proprio -> float32 (N, D), one row per frame (names: spec()[\"proprio_layout\"]; res.group(\"tcp_pose\"))\n    res.frame_step -> int64 (N,) control step of each frame    res.frame_time_s -> float64 (N,) simulated time\n    res.extrinsic_cv[cam] -> float64 (N,3,4) world->camera per frame (res.meta[\"cameras\"]: intrinsics + the last frame's pose)\n    res = r.submit(..., depth=\"frames\")          # + res.depth[cam] -> float32 (N,H,W) metres, one per frame (1 mm steps)\n    r.fk(q)                       \n… (27,507 characters left out) …\nkinematics\", json=body, timeout=(5, 120))\n        if r.status_code >= 400:\n            try: err = r.json()\n            except Exception: err = {\"error\": r.text[:300]}\n            raise ValueError(f\"{r.status_code}: {err.get('error')} {err.get('detail', '')}\".strip())\n        return r.json()\n\n    def fk(self, q, links=None, base_pose=None) -> dict:\n        \"\"\"Forward kinematics: q in spec()['kinematics']['joint_names'] order -> {\"ok\", \"frame\", \"poses\": {link: [x,y,z, quat]}}\n        (quaternion order spec()['world']['quaternion_order']; a mobile robot answers in its base frame unless base_pose is given).\"\"\"\n        body = {\"op\": \"fk\", \"q\": [float(v) for v in np.asarray(q).reshape(-1)]}\n        if links is not None: body[\"links\"] = list(links)\n        if base_pose is not None: body[\"base_pose\"] = [float(v) for v in base_pose]\n        return self.kinematics(body)\n\n    def ik(self, targets: dict, seed=None, base_pose=None, **opts) -> dict:\n        \"\"\"Inverse kinematics: {frame: [x,y,z, quat]} (frames from spec()['kinematics']['ik_targets']) and an optional seed q ->\n        {\"ok\", \"q\", \"error\": {frame: {\"pos_m\", \"rot_rad\"}}}. opts: tol_pos_m, tol_rot_rad, max_iters.\"\"\"\n        body = {\"op\": \"ik\", \"targets\": {k: [float(v) for v in p] for k, p in targets.items()}, **opts}\n        if seed is not None: body[\"seed\"] = [float(v) for v in np.asarray(seed).reshape(-1)]\n        if base_pose is not None: body[\"base_pose\"] = [float(v) for v in base_pose]\n        return self.kinematics(body)","exit":[],"pics":[]},"tok":{"in":28768,"cached":27397,"out":62,"think":null,"usd":0.0136},"sim":{"submit":0,"reset":0}},{"id":5,"t":7.0,"say":"","calls":[{"kind":"shell","label":"mkdir -p /app/runs /app/lib; cd /app; PYTHONPATH=/opt/tools timeout 3000 python3 -c \"","code":"mkdir -p /app/runs /app/lib; cd /app; PYTHONPATH=/opt/tools timeout 3000 python3 -c \"\nfrom rcb_client import Robot\nimport json\nr=Robot()\njson.dump(r.spec(), open('/app/runs/spec.json','w'), indent=1)\nprint(r.status())\n\" 2>&1 | tail -5; wc -c /app/runs/spec.json"}],"out":{"text":"Command did not complete within its 600s timeout and was moved to the background (ID: brytql42s). Output is being written to: /tmp/claude-0/-app/d672febf-7d70-4d3b-aaed-23ab4f3f6e9b/tasks/brytql42s.output. You will be notified when it completes. If it is still running after 10m in the background, it will be stopped and you will be notified. To check interim output, use Read on that file path.\nSession cwd remains /app; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":34902,"cached":28766,"out":275,"think":null,"usd":0.0419},"sim":{"submit":0,"reset":0}},{"id":6,"t":610.1,"say":"","calls":[{"kind":"shell","label":"sleep 300; cat /tmp/claude-0/-app/d672febf-7d70-4d3b-aaed-23ab4f3f6e9b/tasks/brytql42s.output","code":"sleep 300; cat /tmp/claude-0/-app/d672febf-7d70-4d3b-aaed-23ab4f3f6e9b/tasks/brytql42s.output"}],"out":{"text":"[rcb_client] still waiting for the sim service to start (661 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (721 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (781 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (841 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n{'step': 0, 'calls': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 1.7, 'resumes': 0}\n35016 /app/runs/spec.json\n\n[exited with code 0]\n\n[stdout]\n[rcb_client] still waiting for the sim service to start (661 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (721 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (781 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (841 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n{'step': 0, 'calls': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 1.7, 'resumes': 0}\n35016 /app/runs/spec.json\n\n[exited with code 0]","exit":[],"pics":[]},"tok":{"in":35385,"cached":34900,"out":132,"think":null,"usd":0.012},"sim":{"submit":0,"reset":0}},{"id":7,"t":911.8,"say":"Sim is up (took ~15 min to start). Reading the spec now.","calls":[{"kind":"shell","label":"s=json.load(open('spec.json'))","code":"cd /app/runs; python3 -c \"\nimport json\ns=json.load(open('spec.json'))\nfor k,v in s.items():\n    t=json.dumps(v)\n    print('==',k, t[:1500])\n\""}],"out":{"text":"== protocol \"eai-standard/2.2\"\n== protocol_compat [\"rcb-limited/2.0\", \"rcb-limited/2.1\", \"eai-standard/2.1\"]\n== simulator \"behavior-1k 3.9.2 (OmniGibson / Isaac Sim)\"\n== robot \"r1pro\"\n== task_text \"Clean the rusty garden tools. A rusty trowel and a rusty scraper lie on the driveway in the garden, next to a toolbox with steel wool inside; remove all the rust from both tools, put them inside the toolbox and close it.\"\n== control_hz 30\n== physics_substeps 4\n== max_chunk_s 10.0\n== max_watch_s 30.0\n== max_control_steps 200000\n== cameras {\"robot_r1:left_realsense_link:Camera:0\": {\"rgb\": true, \"depth\": true, \"mounted\": \"left wrist\", \"resolution\": [224, 224], \"calibration_in_obs\": true, \"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"mount\": {\"type\": \"link\", \"parent_link\": \"left_realsense_link\", \"link_T_cam_cv\": [[0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, \"depth_range_m\": [0.0010000000474974513, 65.535]}, \"robot_r1:right_realsense_link:Camera:0\": {\"rgb\": true, \"depth\": true, \"mounted\": \"right wrist\", \"resolution\": [224, 224], \"calibration_in_obs\": true, \"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"mount\": {\"type\": \"link\", \"parent_link\": \"right_realsense_link\", \"link_T_cam_cv\": [[0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, \"depth_range_m\": [0.0010000000474974513, 65.535]}, \"robot\n… (20,657 characters left out) …\n_gripper_link\", \"left_realsense_link\", \"right_gripper_link\", \"right_realsense_link\", \"left_eef_link\", \"right_eef_link\", \"zed_link\", \"left_tcp\", \"right_tcp\"], \"tcp_frames\": [\"left_tcp\", \"right_tcp\"], \"ee_frames\": [\"left_eef_link\", \"right_eef_link\"], \"ik_targets\": [\"left_eef_link\", \"right_eef_link\", \"left_tcp\", \"right_tcp\"], \"ik\": {\"solver\": \"damped least squares from the seed (the targeted arms' joints first, then with the trunk), then cuRobo's multi-seed IK (the ee_pose action's solver) started from the seed, refined the same way\", \"moves\": \"the trunk and the arm of each targeted frame; the other arm keeps its seed values\n== depth {\"modes\": [\"none\", \"last\", \"frames\"], \"default\": \"none\", \"kind\": \"z-depth\", \"unit\": \"m\", \"invalid\": 0, \"max_m\": 65.535, \"frames_encoding\": \"uint16 mm, zlib\", \"noise\": \"off\"}\n== on_service_error \"a connection error means the service crashed: it restarts and resumes the SAME episode (never a reset) in the state after the last call it completed, which you may not have received. Wait until GET /status answers again (rcb_client: Robot.wait_ready(); resuming replays the episode so far, which can take minutes in a long episode, and the wall clock keeps running), then check calls and control_steps before you continue. A 500 means the simulator failed: the episode is over (reason \\\"error\\\"). A call that runs longer than max_call_wall_s seconds stops at the next control step and returns what it executed (meta.stopped, executed_rows).\"\n== max_call_wall_s 900.0","exit":[],"pics":[]},"tok":{"in":36603,"cached":35383,"out":140,"think":null,"usd":0.016},"sim":{"submit":0,"reset":0}},{"id":8,"t":914.9,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('spec.json'))","code":"cd /app/runs; python3 -c \"\nimport json\ns=json.load(open('spec.json'))\nprint(json.dumps(s['robot_spec'],indent=0)[:6000])\nprint(json.dumps(s['kinematics'],indent=0)[1500:4000])\nprint(json.dumps(s['action_types'],indent=0)[1400:5000])\n\""}],"out":{"text":"{\n\"name\": \"R1Pro\",\n\"description\": \"Galaxea R1 Pro as modelled in BEHAVIOR-1K 3.9.2: a holonomic wheeled base, a 4-joint trunk, two 7-joint arms with parallel-jaw grippers (2 prismatic fingers each), a head camera on the trunk, a wrist camera per arm\",\n\"base\": {\n\"type\": \"mobile\",\n\"root_link\": \"base_link\",\n\"pose_proprio\": [\n\"base_x\",\n\"base_y\",\n\"base_z\",\n\"base_qx\",\n\"base_qy\",\n\"base_qz\",\n\"base_qw\"\n],\n\"frame\": \"base_link: x forward, y left, z up; the kinematics' base frame\",\n\"joints\": [\n\"base_footprint_x_joint\",\n\"base_footprint_y_joint\",\n\"base_footprint_z_joint\",\n\"base_footprint_rx_joint\",\n\"base_footprint_ry_joint\",\n\"base_footprint_rz_joint\"\n],\n\"command\": \"joint_position base_x, base_y, base_yaw: a displacement (m, m, rad) in the robot's own frame, applied at EVERY control step (30 Hz) the row covers: the base controller moves the targets of the virtual joints base_footprint_x_joint, base_footprint_y_joint, base_footprint_rz_joint by it (their stiff drives follow within the step; base_footprint_z_joint, base_footprint_rx_joint, base_footprint_ry_joint are passive). Zeros stand still.\",\n\"per_step_limits\": {\n\"x_m\": 0.15,\n\"y_m\": 0.15,\n\"yaw_rad\": 0.3\n},\n\"velocity_limits\": {\n\"x_m_s\": 4.5,\n\"y_m_s\": 4.5,\n\"yaw_rad_s\": 9.0,\n\"note\": \"enforced: the per-step limits at 30 Hz (the virtual base joints themselves have no velocity or effort limit; the stiff drives follow almost the whole step); no rated base speed is known\"\n},\n\"note\": \"the 6 virtual joints are proprio columns (group base_joint_pos\n… (14,275 characters left out) …\n0471980571746826,\n1.0471980571746826\n],\n\"arm_right_6\": [\n-1.5707999467849731,\n1.5707999467849731\n],\n\"gripper_left_0\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_left_1\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_right_0\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_right_1\": [\n0.0,\n0.07000000074505806\n]\n},\n\"semantics\": \"streamed at the 30 Hz control rate; rows `dt` apart (a multiple of 1/30 s); trunk and arm joints hold or linearly interpolate between rows, the base entries and the grippers switch at the row; out-of-limit values are clipped and reported\"\n},\n\"ee_pose\": {\n\"dim\": 16,\n\"layout\": [\n\"l_x\",\n\"l_y\",\n\"l_z\",\n\"l_qx\",\n\"l_qy\",\n\"l_qz\",\n\"l_qw\",\n\"left_gripper\",\n\"r_x\",\n\"r_y\",\n\"r_z\",\n\"r_qx\",\n\"r_qy\",\n\"r_qz\",\n\"r_qw\",\n\"right_gripper\"\n],\n\"frame\": \"OmniGibson world frame, metres, +z up (the floor is z = 0)\",\n\"quaternion\": \"xyzw, unit norm\",\n\"semantics\": \"each row: cuRobo inverse kinematics for both end effectors together (trunk + both arms; no collision checking), then the trunk and arm joints are driven there in joint space (at most 0.02 rad per control step); `dt` is ignored; the base stands still; if the IK finds no solution nothing moves and plan[] says so; gripper 1 = open, 0 = closed, switched at the start of the row (closing on an object holds it: assisted grasping)\",\n\"note\": \"the pose is the end-effector frame of the proprio `*_eef_*` entries, so an observed pose is a valid target; at most 50 rows per submit\"\n},\n\"not_yet\": [\n\"joint_delta\",\n\"joint_velocity\",\n\"ee_delta\",\n\"joint_torque\"\n]\n}","exit":[],"pics":[]},"tok":{"in":42380,"cached":36601,"out":165,"think":null,"usd":0.0395},"sim":{"submit":0,"reset":0}},{"id":9,"t":917.0,"say":"","calls":[{"kind":"shell","label":"s=json.load(open('spec.json'))","code":"cd /app/runs; python3 -c \"\nimport json\ns=json.load(open('spec.json'))\nrs=s['robot_spec']\nfor k in rs:\n  if k not in ('joints','base','name','description'): print(k, json.dumps(rs[k])[:1500])\n\""}],"out":{"text":"grippers {\"left\": {\"joints\": [\"left_gripper_finger_joint1\", \"left_gripper_finger_joint2\"], \"opening_m\": [0.0, 0.1], \"command\": \"joint_position gripper_left_0 and gripper_left_1: one target per finger, its travel in m (0 = closed, 0.05 = fully open; opening = the sum of the two). A finger commanded below 0.05 closes: assisted grasping then holds an object the finger pads touch for 0.3 s, and lets it go only when both fingers are commanded at or above 0.05 again. The service's open command is 0.07 (the controller clips the drive target to the limit), so these action limits reach it. Switched at the row. ee_pose: gripper >= 0.5 = open (that open command), < 0.5 = closed (the lower limit).\", \"tcp_frame\": \"left_tcp\"}, \"right\": {\"joints\": [\"right_gripper_finger_joint1\", \"right_gripper_finger_joint2\"], \"opening_m\": [0.0, 0.1], \"command\": \"joint_position gripper_right_0 and gripper_right_1: one target per finger, its travel in m (0 = closed, 0.05 = fully open; opening = the sum of the two). A finger commanded below 0.05 closes: assisted grasping then holds an object the finger pads touch for 0.3 s, and lets it go only when both fingers are commanded at or above 0.05 again. The service's open command is 0.07 (the controller clips the drive target to the limit), so these action limits reach it. Switched at the row. ee_pose: gripper >= 0.5 = open (that open command), < 0.5 = closed (the lower limit).\", \"tcp_frame\": \"right_tcp\"}}\ncontroller {\"type\": \"joint position: every driven joint fo\n… (5,927 characters left out) …\n{\"left_eef_link\": {\"parent_link\": \"left_eef_link\", \"link_T_frame\": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], \"definition\": \"the left end-effector frame (left_eef_link): the frame of the ee_pose action and of the proprio left_eef_* pose; z along the fingers (approach), y along the finger travel; it lies between the finger pads, where assisted grasping holds objects\"}, \"left_tcp\": {\"parent_link\": \"left_eef_link\", \"link_T_frame\": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.018770650029182434], [0.0, 0.0, 0.0, 1.0]], \"definition\": \"the left fingertip centre (TCP): midway between the two fingertips, 1.88 cm along +z of left_eef_link, same orientation; the proprio tcp_pose group\"}, \"right_eef_link\": {\"parent_link\": \"right_eef_link\", \"link_T_frame\": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], \"definition\": \"the right end-effector frame (right_eef_link): the frame of the ee_pose action and of the proprio right_eef_* pose; z along the fingers (approach), y along the finger travel; it lies between the finger pads, where assisted grasping holds objects\"}, \"right_tcp\": {\"parent_link\": \"right_eef_link\", \"link_T_frame\": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.018770664930343628], [0.0, 0.0, 0.0, 1.0]], \"definition\": \"the right fingertip centre (TCP): midway between the two fingertips, 1.88 cm along +z of right_eef_link, same orientation; the proprio tcp_po","exit":[],"pics":[]},"tok":{"in":46807,"cached":42378,"out":137,"think":null,"usd":0.0334},"sim":{"submit":0,"reset":0}},{"id":10,"t":933.1,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/lib; cat > /app/lib/h.py <<'EOF'","code":"mkdir -p /app/lib; cat > /app/lib/h.py <<'EOF'\nimport sys, json, time, numpy as np\nsys.path.insert(0, '/opt/tools')\nfrom rcb_client import Robot\nfrom PIL import Image\nfrom scipy.spatial.transform import Rotation as R\nr = Robot()\nS = r.spec()\nL = S['proprio_layout']\nHEAD, LW, RW = S['default_cameras'][0], S['default_cameras'][1], S['default_cameras'][2]\nCAMS = {'head': HEAD, 'left': LW, 'right': RW}\n\ndef P(now, name):\n    return now[L.index(name)]\n\ndef state(res):\n    now = np.array(res.meta['proprio']['now'])\n    d = {}\n    g = S['proprio_groups']\n    for k, (a, n, *_ ) in g.items():\n        d[k] = now[a:a+n]\n    d['now'] = now\n    return d\n\ndef cur_q25(now):\n    \"\"\"current joint targets in action layout (base zeros).\"\"\"\n    q = np.zeros(25)\n    q[3:7] = [P(now, f'torso_joint{i}') for i in range(1, 5)]\n    q[7:14] = [P(now, f'left_arm_joint{i}') for i in range(1, 8)]\n    q[16:23] = [P(now, f'right_arm_joint{i}') for i in range(1, 8)]\n    lo = P(now, 'left_gripper_finger_joint1') + P(now, 'left_gripper_finger_joint2')\n    ro = P(now, 'right_gripper_finger_joint1') + P(now, 'right_gripper_finger_joint2')\n    q[14:16] = 0.07 if lo > 0.09 else 0.0\n    q[23:25] = 0.07 if ro > 0.09 else 0.0\n    return q\n\ndef kq(now):\n    return np.array([P(now, n) for n in S['kinematics']['joint_names']])\n\ndef save_imgs(res, tag, cams=('head', 'left', 'right'), depth=False):\n    paths = []\n    for c in cams:\n        img = res.last[CAMS[c]]\n        p = f'/app/runs/img/{tag}_{c}.png'\n        Image.fromarray(img).resize((448, 448), Image.NEAREST).save(p)\n        paths.append(p)\n    return paths\n\ndef base_pose(now):\n    x, y, z = P(now, 'base_x'), P(now, 'base_y'), P(now, 'base_z')\n    q = [P(now, n) for n in ('base_qx', 'base_qy', 'base_qz', 'base_qw')]\n    yaw = R.from_quat(q).as_euler('xyz')[2]\n    return x, y, z, yaw, q\n\ndef summary(res):\n    now = np.array(res.meta['proprio']['now'])\n    x, y, z, yaw, q = base_pose(now)\n    rx, ry = P(now, 'base_footprint_rx_joint'), P(now, 'base_footprint_ry_joint')\n    out = dict(base=[round(x, 3), round(y, 3), round(z, 3), round(np.degrees(yaw), 1)], tilt=round(np.cos(rx) * np.cos(ry), 3),\n               done=res.meta.get('done'), reason=res.meta.get('reason'))\n    g = S['proprio_groups']\n    a, n = g['tcp_pose'][:2]\n    out['ltcp'] = np.round(now[a:a+3], 3).tolist(); out['rtcp'] = np.round(now[a+7:a+10], 3).tolist()\n    a, n = g['gripper_opening'][:2]\n    out['grip'] = np.round(now[a:a+2], 4).tolist()\n    return out\n\ndef pix2world(res, cam, u, v, depth=None):\n    \"\"\"pixel (u=col, v=row) -> world point using last_depth.\"\"\"\n    c = CAMS[cam]\n    K = np.array(S['cameras'][c]['intrinsic_cv'])\n    E = np.array(res.meta['cameras'][c]['extrinsic_cv'])  # 3x4 world->cam\n    d = depth if depth is not None else res.last_depth[c][int(v), int(u)]\n    pc = np.array([(u - K[0, 2]) * d / K[0, 0], (v - K[1, 2]) * d / K[1, 1], d])\n    Rm, t = E[:, :3], E[:, 3]\n    return Rm.T @ (pc - t)\n\ndef world_pts(res, cam):\n    c = CAMS[cam]\n    K = np.array(S['cameras'][c]['intrinsic_cv'])\n    E = np.array(res.meta['cameras'][c]['extrinsic_cv'])\n    D = res.last_depth[c]\n    H, W = D.shape\n    uu, vv = np.meshgrid(np.arange(W), np.arange(H))\n    pc = np.stack([(uu - K[0, 2]) * D / K[0, 0], (vv - K[1, 2]) * D / K[1, 1], D], -1)\n    Rm, t = E[:, :3], E[:, 3]\n    pw = (pc - t) @ Rm  # (R^T (pc - t))\n    return pw, D\nEOF\nmkdir -p /app/runs/img; cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs(depth=True)\nprint(summary(res)); print(save_imgs(res,'o0'))\njson.dump(res.meta['cameras'], open('/app/runs/cam0.json','w'))\nimport pickle; pickle.dump(dict(meta=res.meta,last=res.last,ld=res.last_depth), open('/app/runs/o0.pkl','wb'))\nprint(state(res)['joint_pos'])\n\""}],"out":{"text":"{'base': [np.float64(-23.616), np.float64(8.963), np.float64(-0.017), np.float64(161.4)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.81, 8.763, 0.403], 'rtcp': [-23.65, 9.24, 0.403], 'grip': [0.1, 0.1]}\n['/app/runs/img/o0_head.png', '/app/runs/img/o0_left.png', '/app/runs/img/o0_right.png']\n[ 1.02365243e+00 -1.44630063e+00 -4.69737828e-01 -1.69046803e-06\n  1.22667465e-04  1.36186005e-04  2.43587019e-05  1.30383551e-05\n  3.37693309e-05  1.95420616e-05  3.63276740e-05  1.53966794e-05\n  1.02521847e-06 -8.08878212e-06 -7.39629013e-06  8.21525020e-07\n  1.81404425e-06  1.40668408e-06  4.99975048e-02  4.99991290e-02\n  4.99974899e-02  4.99999188e-02]\n\n[stdout]\n{'base': [np.float64(-23.616), np.float64(8.963), np.float64(-0.017), np.float64(161.4)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.81, 8.763, 0.403], 'rtcp': [-23.65, 9.24, 0.403], 'grip': [0.1, 0.1]}\n['/app/runs/img/o0_head.png', '/app/runs/img/o0_left.png', '/app/runs/img/o0_right.png']\n[ 1.02365243e+00 -1.44630063e+00 -4.69737828e-01 -1.69046803e-06\n  1.22667465e-04  1.36186005e-04  2.43587019e-05  1.30383551e-05\n  3.37693309e-05  1.95420616e-05  3.63276740e-05  1.53966794e-05\n  1.02521847e-06 -8.08878212e-06 -7.39629013e-06  8.21525020e-07\n  1.81404425e-06  1.40668408e-06  4.99975048e-02  4.99991290e-02\n  4.99974899e-02  4.99999188e-02]","exit":[],"pics":[]},"tok":{"in":49060,"cached":46805,"out":3226,"think":null,"usd":0.0852},"sim":{"submit":0,"reset":0}},{"id":11,"t":950.1,"say":"","calls":[{"kind":"look","label":"o0_head.png","code":"/app/runs/img/o0_head.png"},{"kind":"look","label":"o0_left.png","code":"/app/runs/img/o0_left.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s011_0.jpg","behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s011_0.jpg"]},"tok":{"in":52739,"cached":49058,"out":119,"think":null,"usd":0.0306},"sim":{"submit":0,"reset":0}},{"id":12,"t":954.6,"say":"","calls":[{"kind":"robot","label":"cat >> /app/lib/h.py <<'EOF'","code":"cat >> /app/lib/h.py <<'EOF'\n\ndef hold_rows(now, n):\n    q = cur_q25(now)\n    return np.tile(q, (n, 1))\n\ndef drive(dx=0.0, dy=0.0, dyaw=0.0, speed=0.3, wspeed=0.6, depth=True, q=None):\n    \"\"\"move relative in robot frame (open loop); speed m/s, wspeed rad/s. dt = 1/30 per row.\"\"\"\n    res = r.get_obs()\n    now = np.array(res.meta['proprio']['now'])\n    if q is None: q = cur_q25(now)\n    n = int(np.ceil(max(np.hypot(dx, dy) / speed, abs(dyaw) / wspeed) * 30)) + 1\n    rows = np.tile(q, (n + 10, 1))\n    rows[:n, 0] = dx / n; rows[:n, 1] = dy / n; rows[:n, 2] = dyaw / n\n    rows[n:, :3] = 0\n    out = None\n    for i in range(0, len(rows), 290):\n        out = r.submit('joint_position', rows[i:i+290], dt=1/30, depth=depth, video='none')\n    return out\nEOF\ncd /app/lib; python3 -c \"\nfrom h import *\nfor k in range(8):\n    res=drive(dyaw=np.pi/4)\n    print(k, summary(res)); save_imgs(res,f'pan{k}',cams=('head',))\n\""}],"out":{"text":"0 {'base': [np.float64(-23.617), np.float64(8.964), np.float64(-0.017), np.float64(-155.7)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.622, 8.685, 0.403], 'rtcp': [-23.83, 9.144, 0.403], 'grip': [0.1, 0.1]}\n1 {'base': [np.float64(-23.617), np.float64(8.964), np.float64(-0.017), np.float64(-112.8)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.431, 8.756, 0.403], 'rtcp': [-23.896, 8.951, 0.403], 'grip': [0.1, 0.1]}\n2 {'base': [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(-69.9)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.34, 8.938, 0.403], 'rtcp': [-23.813, 8.764, 0.403], 'grip': [0.1, 0.1]}\n3 {'base': [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(-27.0)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.397, 9.133, 0.403], 'rtcp': [-23.626, 8.684, 0.403], 'grip': [0.1, 0.1]}\n4 {'base': [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(15.9)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.571, 9.238, 0.403], 'rtcp': [-23.433, 8.753, 0.403], 'grip': [0.1, 0.1]}\n5 {'base': [np.float64(-23.617), np.float64(8.963), np.float64(-0.017), np.float64(58.8)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.771, 9.196, 0.403], 'rtcp': [-23.34, 8.935, 0.403], 'grip': [0.1, 0.1]}\n6 {'base': [np.float64(-23.617), np.float64(8.963), np.float64(-0.017), np.float64(101.6)], 'tilt':\n… (745 characters left out) …\n'reason': None, 'ltcp': [-23.431, 8.756, 0.403], 'rtcp': [-23.896, 8.951, 0.403], 'grip': [0.1, 0.1]}\n2 {'base': [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(-69.9)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.34, 8.938, 0.403], 'rtcp': [-23.813, 8.764, 0.403], 'grip': [0.1, 0.1]}\n3 {'base': [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(-27.0)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.397, 9.133, 0.403], 'rtcp': [-23.626, 8.684, 0.403], 'grip': [0.1, 0.1]}\n4 {'base': [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(15.9)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.571, 9.238, 0.403], 'rtcp': [-23.433, 8.753, 0.403], 'grip': [0.1, 0.1]}\n5 {'base': [np.float64(-23.617), np.float64(8.963), np.float64(-0.017), np.float64(58.8)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.771, 9.196, 0.403], 'rtcp': [-23.34, 8.935, 0.403], 'grip': [0.1, 0.1]}\n6 {'base': [np.float64(-23.617), np.float64(8.963), np.float64(-0.017), np.float64(101.6)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.888, 9.03, 0.403], 'rtcp': [-23.394, 9.131, 0.403], 'grip': [0.1, 0.1]}\n7 {'base': [np.float64(-23.617), np.float64(8.964), np.float64(-0.017), np.float64(144.5)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.861, 8.828, 0.403], 'rtcp': [-23.568, 9.238, 0.403], 'grip': [0.1, 0.1]}","exit":[],"pics":[]},"tok":{"in":53460,"cached":52737,"out":799,"think":null,"usd":0.0301},"sim":{"submit":8,"reset":0}},{"id":13,"t":1040.7,"say":"","calls":[{"kind":"shell","label":"ims=[Image.open(f'pan{k}_head.png').resize((300,300)) for k in range(8)]","code":"cd /app/runs/img; python3 -c \"\nfrom PIL import Image\nims=[Image.open(f'pan{k}_head.png').resize((300,300)) for k in range(8)]\nm=Image.new('RGB',(1200,600))\nfor k,im in enumerate(ims): m.paste(im,((k%4)*300,(k//4)*300))\nm.save('pan.png')\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":55430,"cached":53458,"out":215,"think":null,"usd":0.0248},"sim":{"submit":0,"reset":0}},{"id":14,"t":1043.1,"say":"","calls":[{"kind":"look","label":"pan.png","code":"/app/runs/img/pan.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s014_0.jpg"]},"tok":{"in":55715,"cached":55428,"out":59,"think":null,"usd":0.0137},"sim":{"submit":0,"reset":0}},{"id":15,"t":1046.9,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs()","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs()\nnow=np.array(res.meta['proprio']['now'])\nq=kq(now)\nfor d in [0,0.2,0.4,0.6]:\n  for j in [0,1,2]:\n    qq=q.copy(); qq[j]+=d\n    f=r.fk(qq,links=['zed_link'])\n    p=f['poses']['zed_link']; Rm=R.from_quat(p[3:]).as_matrix()\n    print(d,j,np.round(p[:3],3), 'x-axis', np.round(Rm[:,0],2))\n\" 2>&1 | tail -15"}],"out":{"text":"0 0 [0.232 0.06  1.396] x-axis [-0. -1.  0.]\n0 1 [0.232 0.06  1.396] x-axis [-0. -1.  0.]\n0 2 [0.232 0.06  1.396] x-axis [-0. -1.  0.]\n0.2 0 [0.435 0.06  1.313] x-axis [-0. -1.  0.]\n0.2 1 [0.401 0.06  1.385] x-axis [-0. -1.  0.]\n0.2 2 [0.117 0.06  1.403] x-axis [-0. -1. -0.]\n0.4 0 [0.618 0.06  1.192] x-axis [-0. -1.  0.]\n0.4 1 [0.564 0.06  1.341] x-axis [-0. -1.  0.]\n0.4 2 [0.002 0.06  1.387] x-axis [-0. -1. -0.]\n0.6 0 [0.773 0.06  1.037] x-axis [-0. -1.  0.]\n0.6 1 [0.715 0.06  1.266] x-axis [-0. -1.  0.]\n0.6 2 [-0.107  0.06   1.349] x-axis [-0. -1. -0.]\n\n[stdout]\n0 0 [0.232 0.06  1.396] x-axis [-0. -1.  0.]\n0 1 [0.232 0.06  1.396] x-axis [-0. -1.  0.]\n0 2 [0.232 0.06  1.396] x-axis [-0. -1.  0.]\n0.2 0 [0.435 0.06  1.313] x-axis [-0. -1.  0.]\n0.2 1 [0.401 0.06  1.385] x-axis [-0. -1.  0.]\n0.2 2 [0.117 0.06  1.403] x-axis [-0. -1. -0.]\n0.4 0 [0.618 0.06  1.192] x-axis [-0. -1.  0.]\n0.4 1 [0.564 0.06  1.341] x-axis [-0. -1.  0.]\n0.4 2 [0.002 0.06  1.387] x-axis [-0. -1. -0.]\n0.6 0 [0.773 0.06  1.037] x-axis [-0. -1.  0.]\n0.6 1 [0.715 0.06  1.266] x-axis [-0. -1.  0.]\n0.6 2 [-0.107  0.06   1.349] x-axis [-0. -1. -0.]","exit":[],"pics":[]},"tok":{"in":56763,"cached":55713,"out":490,"think":null,"usd":0.0262},"sim":{"submit":0,"reset":0}},{"id":16,"t":1053.0,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs()","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs()\nnow=np.array(res.meta['proprio']['now'])\nq=kq(now)\ndef cam(qq):\n    f=r.fk(qq,links=['zed_link'])\n    p=f['poses']['zed_link']; Rm=R.from_quat(p[3:]).as_matrix()\n    return np.round(p[:3],3), np.round(Rm[:,2],2)\nprint(cam(q))\nfor j in [0,1,2]:\n    qq=q.copy(); qq[j]+=0.3; print(j, cam(qq))\nqq=q.copy(); qq[2]+=0.5; print('j2+.5', cam(qq))\nqq=q.copy(); qq[0]+=0.3; qq[1]-=0.3; print(cam(qq))\n\" 2>&1 | tail -15"}],"out":{"text":"(array([0.232, 0.06 , 1.396]), array([ 0.92, -0.  , -0.39]))\n0 (array([0.53 , 0.06 , 1.257]), array([ 0.77, -0.  , -0.64]))\n1 (array([0.483, 0.06 , 1.367]), array([ 0.77, -0.  , -0.64]))\n2 (array([0.059, 0.06 , 1.398]), array([ 1. , -0. , -0.1]))\nj2+.5 (array([-0.053,  0.06 ,  1.371]), array([ 0.99, -0.  ,  0.1 ]))\n(array([0.278, 0.06 , 1.286]), array([ 0.92, -0.  , -0.39]))\n\n[stdout]\n(array([0.232, 0.06 , 1.396]), array([ 0.92, -0.  , -0.39]))\n0 (array([0.53 , 0.06 , 1.257]), array([ 0.77, -0.  , -0.64]))\n1 (array([0.483, 0.06 , 1.367]), array([ 0.77, -0.  , -0.64]))\n2 (array([0.059, 0.06 , 1.398]), array([ 1. , -0. , -0.1]))\nj2+.5 (array([-0.053,  0.06 ,  1.371]), array([ 0.99, -0.  ,  0.1 ]))\n(array([0.278, 0.06 , 1.286]), array([ 0.92, -0.  , -0.39]))","exit":[],"pics":[]},"tok":{"in":57727,"cached":56761,"out":496,"think":null,"usd":0.0261},"sim":{"submit":0,"reset":0}},{"id":17,"t":1061.9,"say":"","calls":[{"kind":"robot","label":"obs=[]","code":"cd /app/lib; python3 -c \"\nfrom h import *\nimport pickle\nobs=[]\nfor k in range(8):\n    drive(dyaw=np.pi/4*1.05)\n    res=r.get_obs(seconds=0.3, depth=True)\n    print(k, summary(res)['base']); save_imgs(res,f'pb{k}',cams=('head',))\n    obs.append(dict(meta=res.meta, img=res.last[HEAD], d=res.last_depth[HEAD]))\npickle.dump(obs, open('/app/runs/pan.pkl','wb'))\n\"; cd /app/runs/img; python3 -c \"\nfrom PIL import Image\nfor h in range(2):\n  m=Image.new('RGB',(896,896))\n  for k in range(4):\n    im=Image.open(f'pb{4*h+k}_head.png'); m.paste(im,((k%2)*448,(k//2)*448))\n  m.save(f'pb_m{h}.png')\""}],"out":{"text":"0 [np.float64(-23.617), np.float64(8.964), np.float64(-0.017), np.float64(-170.5)]\n1 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(-125.4)]\n2 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(-80.4)]\n3 [np.float64(-23.619), np.float64(8.964), np.float64(-0.017), np.float64(-35.4)]\n4 [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(9.7)]\n5 [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(54.7)]\n6 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(99.7)]\n7 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(144.7)]\n\n[stdout]\n0 [np.float64(-23.617), np.float64(8.964), np.float64(-0.017), np.float64(-170.5)]\n1 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(-125.4)]\n2 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(-80.4)]\n3 [np.float64(-23.619), np.float64(8.964), np.float64(-0.017), np.float64(-35.4)]\n4 [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(9.7)]\n5 [np.float64(-23.618), np.float64(8.963), np.float64(-0.017), np.float64(54.7)]\n6 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(99.7)]\n7 [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(144.7)]","exit":[],"pics":[]},"tok":{"in":58501,"cached":57725,"out":759,"think":null,"usd":0.0306},"sim":{"submit":8,"reset":0}},{"id":18,"t":1137.4,"say":"","calls":[{"kind":"look","label":"pb_m0.png","code":"/app/runs/img/pb_m0.png"},{"kind":"look","label":"pb_m1.png","code":"/app/runs/img/pb_m1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s018_0.jpg","behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s018_0.jpg"]},"tok":{"in":59710,"cached":58499,"out":121,"think":null,"usd":0.0202},"sim":{"submit":0,"reset":0}},{"id":19,"t":1141.8,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(); now=np.array(res.meta['proprio']['now'])","code":"cd /app/lib; python3 -c \"\nfrom h import *\nimport pickle\nres=r.get_obs(); now=np.array(res.meta['proprio']['now'])\nq0=cur_q25(now); q=q0.copy(); q[3]+=0.4\nrows=np.linspace(q0,q,20); res=r.submit('joint_position',rows,dt=0.1,video='none')\nprint(summary(res))\nobs=[]\nfor k in range(8):\n    res=r.get_obs(seconds=0.3, depth=True)\n    save_imgs(res,f'pd{k}',cams=('head',))\n    obs.append(dict(meta=res.meta, img=res.last[HEAD], d=res.last_depth[HEAD]))\n    drive(dyaw=np.pi/4*1.05)\npickle.dump(obs, open('/app/runs/pand.pkl','wb'))\n\"; cd /app/runs/img; python3 -c \"\nfrom PIL import Image\nfor h in range(2):\n  m=Image.new('RGB',(896,896))\n  for k in range(4):\n    im=Image.open(f'pd{4*h+k}_head.png'); m.paste(im,((k%2)*448,(k//2)*448))\n  m.save(f'pd_m{h}.png')\""}],"out":{"text":"{'base': [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(144.7)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.873, 8.836, 0.319], 'rtcp': [-23.582, 9.247, 0.319], 'grip': [0.1, 0.1]}\n\n[stdout]\n{'base': [np.float64(-23.618), np.float64(8.964), np.float64(-0.017), np.float64(144.7)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-23.873, 8.836, 0.319], 'rtcp': [-23.582, 9.247, 0.319], 'grip': [0.1, 0.1]}","exit":[],"pics":[]},"tok":{"in":61969,"cached":59708,"out":708,"think":null,"usd":0.0374},"sim":{"submit":9,"reset":0}},{"id":20,"t":1213.3,"say":"","calls":[{"kind":"look","label":"pd_m0.png","code":"/app/runs/img/pd_m0.png"},{"kind":"look","label":"pd_m1.png","code":"/app/runs/img/pd_m1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s020_0.jpg","behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s020_0.jpg"]},"tok":{"in":62840,"cached":61967,"out":121,"think":null,"usd":0.0192},"sim":{"submit":0,"reset":0}},{"id":21,"t":1218.4,"say":"","calls":[{"kind":"shell","label":"im=Image.open('pd3_head.png'); im.crop((0,0,224,120)).resize((896,480),Image.LANCZOS).save('z.png')","code":"cd /app/runs/img; python3 -c \"\nfrom PIL import Image\nim=Image.open('pd3_head.png'); im.crop((0,0,224,120)).resize((896,480),Image.LANCZOS).save('z.png')\nim=Image.open('pb2_head.png'); im.crop((0,100,224,200)).resize((896,400),Image.LANCZOS).save('z2.png')\n\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":65099,"cached":62838,"out":445,"think":null,"usd":0.0328},"sim":{"submit":0,"reset":0}},{"id":22,"t":1221.5,"say":"","calls":[{"kind":"look","label":"z.png","code":"/app/runs/img/z.png"},{"kind":"look","label":"z2.png","code":"/app/runs/img/z2.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s022_0.jpg","behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s022_0.jpg"]},"tok":{"in":65583,"cached":65097,"out":114,"think":null,"usd":0.0177},"sim":{"submit":0,"reset":0}},{"id":23,"t":1226.8,"say":"","calls":[{"kind":"shell","label":"obs=pickle.load(open('/app/runs/pand.pkl','rb'))","code":"cd /app/lib; python3 -c \"\nfrom h import *\nimport pickle\nobs=pickle.load(open('/app/runs/pand.pkl','rb'))\nclass Fake: pass\nfor k,o in enumerate(obs):\n    f=Fake(); f.meta=o['meta']; f.last_depth={HEAD:o['d']}\n    pw,D=world_pts(f,'head')\n    print(k, 'yaw', round(np.degrees(base_pose(np.array(o['meta']['proprio']['now']))[3])), end=' ')\n    for (u,v) in [(112,20),(112,112),(50,40),(180,40),(112,200)]:\n        print((u,v), np.round(pw[v,u],2), round(float(D[v,u]),2), end='; ')\n    print()\n\" 2>&1 | grep -v Warn"}],"out":{"text":"0 yaw 145 (112, 20) [-24.87   9.85   1.14] 0.65; (112, 112) [-24.87   9.85   0.24] 1.29; (50, 40) [-24.76   9.41   1.08] 0.46; (180, 40) [-24.84  10.87   0.95] 1.19; (112, 200) [-2.416e+01  9.340e+00 -2.000e-02] 0.87; \n1 yaw -170 (112, 20) [-24.83   8.75   1.15] 0.43; (112, 112) [-24.83   8.75   0.55] 0.86; (50, 40) [-24.83   8.4    1.07] 0.53; (180, 40) [-24.83   9.07   1.09] 0.44; (112, 200) [-2.427e+01  8.850e+00 -2.000e-02] 0.87; \n2 yaw -125 (112, 20) [-24.82   7.23   1.13] 1.07; (112, 112) [-2.464e+01  7.500e+00 -2.000e-02] 1.66; (50, 40) [-24.82   1.74   0.27] 4.83; (180, 40) [-24.83   8.05   1.05] 0.65; (112, 200) [-2.40e+01  8.42e+00 -2.00e-02] 0.87; \n3 yaw -80 (112, 20) [-19.08 -15.86   0.48] 17.7; (112, 112) [-2.33e+01  7.20e+00 -2.00e-02] 1.66; (50, 40) [-18.19   1.56   0.02] 6.16; (180, 40) [-24.74   4.87   0.69] 2.58; (112, 200) [-2.35e+01  8.31e+00 -2.00e-02] 0.87; \n4 yaw -34 (112, 20) [-14.43   2.66   0.87] 7.56; (112, 112) [-2.215e+01  7.950e+00 -2.000e-02] 1.66; (50, 40) [-14.37   7.58   0.  ] 6.28; (180, 40) [-19.29   0.66   0.02] 6.16; (112, 200) [-2.308e+01  8.590e+00 -2.000e-02] 0.87; \n5 yaw 11 (112, 20) [-15.41  10.52   0.95] 5.56; (112, 112) [-2.186e+01  9.290e+00 -2.000e-02] 1.66; (50, 40) [-16.12  14.55   0.  ] 6.28; (180, 40) [-14.68   6.18   0.02] 6.16; (112, 200) [-2.297e+01  9.080e+00 -2.000e-02] 0.87; \n6 yaw 56 (112, 20) [-21.13  12.64   1.06] 2.75; (112, 112) [-2.262e+01  1.044e+01 -2.000e-02] 1.66; (50, 40) [-22.3   18.22   0.  ] 6.28; (180, 40\n… (659 characters left out) …\n3   8.4    1.07] 0.53; (180, 40) [-24.83   9.07   1.09] 0.44; (112, 200) [-2.427e+01  8.850e+00 -2.000e-02] 0.87; \n2 yaw -125 (112, 20) [-24.82   7.23   1.13] 1.07; (112, 112) [-2.464e+01  7.500e+00 -2.000e-02] 1.66; (50, 40) [-24.82   1.74   0.27] 4.83; (180, 40) [-24.83   8.05   1.05] 0.65; (112, 200) [-2.40e+01  8.42e+00 -2.00e-02] 0.87; \n3 yaw -80 (112, 20) [-19.08 -15.86   0.48] 17.7; (112, 112) [-2.33e+01  7.20e+00 -2.00e-02] 1.66; (50, 40) [-18.19   1.56   0.02] 6.16; (180, 40) [-24.74   4.87   0.69] 2.58; (112, 200) [-2.35e+01  8.31e+00 -2.00e-02] 0.87; \n4 yaw -34 (112, 20) [-14.43   2.66   0.87] 7.56; (112, 112) [-2.215e+01  7.950e+00 -2.000e-02] 1.66; (50, 40) [-14.37   7.58   0.  ] 6.28; (180, 40) [-19.29   0.66   0.02] 6.16; (112, 200) [-2.308e+01  8.590e+00 -2.000e-02] 0.87; \n5 yaw 11 (112, 20) [-15.41  10.52   0.95] 5.56; (112, 112) [-2.186e+01  9.290e+00 -2.000e-02] 1.66; (50, 40) [-16.12  14.55   0.  ] 6.28; (180, 40) [-14.68   6.18   0.02] 6.16; (112, 200) [-2.297e+01  9.080e+00 -2.000e-02] 0.87; \n6 yaw 56 (112, 20) [-21.13  12.64   1.06] 2.75; (112, 112) [-2.262e+01  1.044e+01 -2.000e-02] 1.66; (50, 40) [-22.3   18.22   0.  ] 6.28; (180, 40) [-1.526e+01  1.339e+01  1.000e-02] 6.23; (112, 200) [-2.325e+01  9.510e+00 -2.000e-02] 0.87; \n7 yaw 101 (112, 20) [-23.74   9.58   1.17] 0.0; (112, 112) [-2.396e+01  1.071e+01 -2.000e-02] 1.66; (50, 40) [-24.84  10.94   0.93] 1.25; (180, 40) [-21.69  15.62   0.34] 4.46; (112, 200) [-2.374e+01  9.610e+00 -2.000e-02] 0.87;","exit":[],"pics":[]},"tok":{"in":66886,"cached":65581,"out":672,"think":null,"usd":0.0331},"sim":{"submit":0,"reset":0}},{"id":24,"t":1238.1,"say":"","calls":[{"kind":"robot","label":"cat >> /app/lib/h.py <<'EOF'","code":"cat >> /app/lib/h.py <<'EOF'\n\ndef wrap(a): return (a + np.pi) % (2 * np.pi) - np.pi\n\ndef pose_now():\n    res = r.get_obs()\n    now = np.array(res.meta['proprio']['now'])\n    return base_pose(now)\n\ndef goto(x, y, yaw=None, speed=0.4, tol=0.05, face=True):\n    \"\"\"closed-loop-ish: drive holonomically in robot frame toward (x,y) world, then turn to yaw.\"\"\"\n    for it in range(6):\n        bx, by, _, byaw, _ = pose_now()\n        d = np.array([x - bx, y - by]); dist = np.hypot(*d)\n        if dist < tol: break\n        if face and dist > 0.5:\n            hd = np.arctan2(d[1], d[0]); dy_ = wrap(hd - byaw)\n            if abs(dy_) > 0.05: drive(dyaw=dy_); continue\n        bx, by, _, byaw, _ = pose_now()\n        c, s = np.cos(byaw), np.sin(byaw)\n        lx = c * d[0] + s * d[1]; ly = -s * d[0] + c * d[1]\n        res = drive(dx=lx, dy=ly, speed=speed)\n    if yaw is not None:\n        for it in range(3):\n            byaw = pose_now()[3]\n            e = wrap(yaw - byaw)\n            if abs(e) < 0.02: break\n            drive(dyaw=e)\n    return pose_now()\n\ndef look(tag, seconds=0.3):\n    res = r.get_obs(seconds=seconds, depth=True)\n    save_imgs(res, tag, cams=('head',))\n    return res\n\ndef montage(tags, out, cam='head', n=2):\n    m = Image.new('RGB', (448 * n, 448 * ((len(tags) + n - 1) // n)))\n    for k, t in enumerate(tags):\n        m.paste(Image.open(f'/app/runs/img/{t}_{cam}.png'), ((k % n) * 448, (k // n) * 448))\n    m.save(f'/app/runs/img/{out}.png')\nEOF\ncd /app/lib; python3 -c \"\nfrom h import *\nimport pickle\nprint(goto(-22.6, 4.5))\nobs=[]\ntags=[]\nfor k in range(8):\n    res=look(f'w1_{k}'); tags.append(f'w1_{k}')\n    obs.append(dict(meta=res.meta, img=res.last[HEAD], d=res.last_depth[HEAD]))\n    drive(dyaw=np.pi/4*1.05)\npickle.dump(obs, open('/app/runs/w1.pkl','wb'))\nmontage(tags[:4],'w1a'); montage(tags[4:],'w1b')\n\" 2>&1 | grep -v Warn"}],"out":{"text":"Command did not complete within its 120s timeout and was moved to the background (ID: bboww8azi). Output is being written to: /tmp/claude-0/-app/d672febf-7d70-4d3b-aaed-23ab4f3f6e9b/tasks/bboww8azi.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/lib; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":68849,"cached":66884,"out":1611,"think":null,"usd":0.0554},"sim":{"submit":12,"reset":0}},{"id":25,"t":1368.2,"say":"","calls":[{"kind":"robot","label":"sleep 60; cat /tmp/claude-0/-app/d672febf-7d70-4d3b-aaed-23ab4f3f6e9b/tasks/bboww8azi.output","code":"sleep 60; cat /tmp/claude-0/-app/d672febf-7d70-4d3b-aaed-23ab4f3f6e9b/tasks/bboww8azi.output"}],"out":{"text":"(np.float64(-22.601219177246094), np.float64(4.502053260803223), np.float64(0.005285695195198059), np.float64(-1.3534772111963984), [np.float64(4.581362009048462e-05), np.float64(6.494989065686241e-05), np.float64(-0.6262537240982056), np.float64(0.7796193361282349)])\n\n[exited with code 0]\n\n[stdout]\n(np.float64(-22.601219177246094), np.float64(4.502053260803223), np.float64(0.005285695195198059), np.float64(-1.3534772111963984), [np.float64(4.581362009048462e-05), np.float64(6.494989065686241e-05), np.float64(-0.6262537240982056), np.float64(0.7796193361282349)])\n\n[exited with code 0]","exit":[],"pics":[]},"tok":{"in":70673,"cached":68847,"out":109,"think":null,"usd":0.0251},"sim":{"submit":1,"reset":0}},{"id":26,"t":1429.9,"say":"","calls":[{"kind":"look","label":"w1a.png","code":"/app/runs/img/w1a.png"},{"kind":"look","label":"w1b.png","code":"/app/runs/img/w1b.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s026_0.jpg","behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s026_0.jpg"]},"tok":{"in":72256,"cached":70671,"out":117,"think":null,"usd":0.0244},"sim":{"submit":0,"reset":0}},{"id":27,"t":1433.5,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(depth=True)","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs(depth=True)\nprint(summary(res)); print(r.status())\ns=state(res); print(np.round(s['joint_pos'],3)); print(np.round(s['base_joint_pos'],3))\nsave_imgs(res,'chk')\n\" 2>&1 | grep -v Warn"}],"out":{"text":"{'base': [np.float64(-22.602), np.float64(4.503), np.float64(0.005), np.float64(-73.4)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-22.411, 4.743, 0.538], 'rtcp': [-22.894, 4.598, 0.538], 'grip': [0.1, 0.1]}\n{'step': 2223, 'calls': 111, 'control_steps': 2479, 'done': False, 'reason': None, 'elapsed_s': 569.1, 'resumes': 0}\n[-0.644 -1.446 -0.47   0.     0.     0.     0.     0.     0.     0.\n -0.     0.    -0.    -0.    -0.    -0.    -0.    -0.     0.05   0.05\n  0.05   0.05 ]\n[ -1.936 -14.915   0.028   0.      0.     -1.158]\n\n[stdout]\n{'base': [np.float64(-22.602), np.float64(4.503), np.float64(0.005), np.float64(-73.4)], 'tilt': np.float64(1.0), 'done': False, 'reason': None, 'ltcp': [-22.411, 4.743, 0.538], 'rtcp': [-22.894, 4.598, 0.538], 'grip': [0.1, 0.1]}\n{'step': 2223, 'calls': 111, 'control_steps': 2479, 'done': False, 'reason': None, 'elapsed_s': 569.1, 'resumes': 0}\n[-0.644 -1.446 -0.47   0.     0.     0.     0.     0.     0.     0.\n -0.     0.    -0.    -0.    -0.    -0.    -0.    -0.     0.05   0.05\n  0.05   0.05 ]\n[ -1.936 -14.915   0.028   0.      0.     -1.158]","exit":[],"pics":[]},"tok":{"in":74511,"cached":72254,"out":308,"think":null,"usd":0.0319},"sim":{"submit":0,"reset":0}},{"id":28,"t":1440.4,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(); now=np.array(res.meta['proprio']['now'])","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs(); now=np.array(res.meta['proprio']['now'])\nq=cur_q25(now); print(np.round(q,3))\nq2=q.copy(); q2[3]=1.024\nrows=np.linspace(q,q2,20)\nres=r.submit('joint_position',rows,dt=0.1,video='none')\nprint(res.meta.get('clipped')); s=state(res); print(np.round(s['joint_pos'][:4],3))\nres=r.get_obs(seconds=1)\ns=state(res); print(np.round(s['joint_pos'][:4],3))\nprint({k:v for k,v in res.meta.items() if k not in ('proprio','cameras')})\n\" 2>&1 | grep -v Warn"}],"out":{"text":"[ 0.     0.     0.    -0.644 -1.446 -0.47   0.     0.     0.     0.\n -0.    -0.    -0.    -0.     0.07   0.07   0.     0.     0.     0.\n -0.    -0.    -0.     0.07   0.07 ]\n[]\n[ 1.027 -1.446 -0.47   0.   ]\n[ 1.024 -1.446 -0.47   0.   ]\n{'step': 2243, 'calls': 114, 'control_steps': 2569, 'physics_steps': 10276, 'sim_time_s': 85.633, 'time_s': 587.74, 'time_left_s': 13812.3, 'done': False, 'reason': None, 'obs_id': 114, 'seconds': 1.0, 'control_steps_watch': 30, 'physics_steps_watch': 120, 'ok': True, 'stopped': None}\n\n[stdout]\n[ 0.     0.     0.    -0.644 -1.446 -0.47   0.     0.     0.     0.\n -0.    -0.    -0.    -0.     0.07   0.07   0.     0.     0.     0.\n -0.    -0.    -0.     0.07   0.07 ]\n[]\n[ 1.027 -1.446 -0.47   0.   ]\n[ 1.024 -1.446 -0.47   0.   ]\n{'step': 2243, 'calls': 114, 'control_steps': 2569, 'physics_steps': 10276, 'sim_time_s': 85.633, 'time_s': 587.74, 'time_left_s': 13812.3, 'done': False, 'reason': None, 'obs_id': 114, 'seconds': 1.0, 'control_steps_watch': 30, 'physics_steps_watch': 120, 'ok': True, 'stopped': None}","exit":[],"pics":[]},"tok":{"in":75163,"cached":74509,"out":707,"think":null,"usd":0.0323},"sim":{"submit":1,"reset":0}},{"id":29,"t":1458.6,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(); now=np.array(res.meta['proprio']['now'])","code":"cd /app/lib; python3 -c \"\nfrom h import *\nimport pickle\nres=r.get_obs(); now=np.array(res.meta['proprio']['now'])\nq0=cur_q25(now); q=q0.copy(); q[3]=1.224\nres=r.submit('joint_position',np.linspace(q0,q,10),dt=0.1,video='none')\nobs=[];tags=[]\nfor k in range(8):\n    res=look(f'w1_{k}'); tags.append(f'w1_{k}')\n    print(k, np.round(state(res)['joint_pos'][:4],3), summary(res)['base'])\n    obs.append(dict(meta=res.meta, img=res.last[HEAD], d=res.last_depth[HEAD]))\n    drive(dyaw=np.pi/4*1.05)\npickle.dump(obs, open('/app/runs/w1.pkl','wb'))\nmontage(tags[:4],'w1a'); montage(tags[4:],'w1b')\n\" 2>&1 | grep -v Warn"}],"out":{"text":"0 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.602), np.float64(4.503), np.float64(0.005), np.float64(-73.4)]\n1 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.601), np.float64(4.501), np.float64(0.005), np.float64(-28.3)]\n2 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.6), np.float64(4.502), np.float64(0.005), np.float64(16.8)]\n3 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.599), np.float64(4.503), np.float64(0.005), np.float64(61.9)]\n4 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.599), np.float64(4.505), np.float64(0.005), np.float64(107.0)]\n5 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.6), np.float64(4.506), np.float64(0.005), np.float64(152.1)]\n6 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.602), np.float64(4.506), np.float64(0.005), np.float64(-162.8)]\n7 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.603), np.float64(4.505), np.float64(0.005), np.float64(-117.8)]\n\n[stdout]\n0 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.602), np.float64(4.503), np.float64(0.005), np.float64(-73.4)]\n1 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.601), np.float64(4.501), np.float64(0.005), np.float64(-28.3)]\n2 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.6), np.float64(4.502), np.float64(0.005), np.float64(16.8)]\n3 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.599), np.float64(4.503), np.float64(0.005), np.float64(61.9)]\n4 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.599), np.float64(4.505), np.float64(0.005), np.float64(107.0)]\n5 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.6), np.float64(4.506), np.float64(0.005), np.float64(152.1)]\n6 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.602), np.float64(4.506), np.float64(0.005), np.float64(-162.8)]\n7 [ 1.224 -1.447 -0.47   0.   ] [np.float64(-22.603), np.float64(4.505), np.float64(0.005), np.float64(-117.8)]","exit":[],"pics":[]},"tok":{"in":76202,"cached":75161,"out":750,"think":null,"usd":0.0352},"sim":{"submit":9,"reset":0}},{"id":30,"t":1535.1,"say":"","calls":[{"kind":"look","label":"w1a.png","code":"/app/runs/img/w1a.png"},{"kind":"look","label":"w1b.png","code":"/app/runs/img/w1b.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s030_0.jpg","behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s030_0.jpg"]},"tok":{"in":77496,"cached":76200,"out":117,"think":null,"usd":0.0241},"sim":{"submit":0,"reset":0}},{"id":31,"t":1538.6,"say":"","calls":[{"kind":"shell","label":"obs=pickle.load(open('/app/runs/w1.pkl','rb'))","code":"cd /app/lib; python3 -c \"\nfrom h import *\nimport pickle\nobs=pickle.load(open('/app/runs/w1.pkl','rb'))\nclass Fake: pass\nfor k in [1,2,3,4]:\n    o=obs[k]; f=Fake(); f.meta=o['meta']; f.last_depth={HEAD:o['d']}\n    pw,D=world_pts(f,'head')\n    for (u,v) in {1:[(10,60),(112,40),(150,20)],2:[(80,60),(125,55),(170,40),(120,70)],3:[(66,55),(150,40),(112,55),(200,52),(270//2,55)],4:[(170,30),(150,40),(200,50)]}[k]:\n        print(k,(u,v), np.round(pw[v,u],2), round(float(D[v,u]),2))\n\" 2>&1 | grep -v Warn"}],"out":{"text":"1 (10, 60) [-4.61  9.04  0.03] 11.69\n1 (112, 40) [  6.65 -11.23   2.99] 26.17\n1 (150, 20) [ -7.12 -10.54   4.84] 14.83\n2 (80, 60) [-14.94   9.39   0.51] 7.32\n2 (125, 55) [-0.42  8.51  0.06] 18.86\n2 (170, 40) [-13.89   3.3    1.7 ] 6.03\n2 (120, 70) [-15.3    6.14   0.03] 6.53\n3 (66, 55) [-21.64  12.67   0.9 ] 6.2\n3 (150, 40) [-15.39  11.71   1.79] 7.44\n3 (112, 55) [-14.1   20.42   0.31] 15.13\n3 (200, 52) [-14.22   8.51   1.07] 5.95\n3 (135, 55) [-15.3   13.4    0.69] 9.32\n4 (170, 30) [-21.64  12.77   2.14] 5.47\n4 (150, 40) [-22.3   40.67   3.05] 27.19\n4 (200, 50) [-8.27 43.03  0.69] 27.0\n\n[stdout]\n1 (10, 60) [-4.61  9.04  0.03] 11.69\n1 (112, 40) [  6.65 -11.23   2.99] 26.17\n1 (150, 20) [ -7.12 -10.54   4.84] 14.83\n2 (80, 60) [-14.94   9.39   0.51] 7.32\n2 (125, 55) [-0.42  8.51  0.06] 18.86\n2 (170, 40) [-13.89   3.3    1.7 ] 6.03\n2 (120, 70) [-15.3    6.14   0.03] 6.53\n3 (66, 55) [-21.64  12.67   0.9 ] 6.2\n3 (150, 40) [-15.39  11.71   1.79] 7.44\n3 (112, 55) [-14.1   20.42   0.31] 15.13\n3 (200, 52) [-14.22   8.51   1.07] 5.95\n3 (135, 55) [-15.3   13.4    0.69] 9.32\n4 (170, 30) [-21.64  12.77   2.14] 5.47\n4 (150, 40) [-22.3   40.67   3.05] 27.19\n4 (200, 50) [-8.27 43.03  0.69] 27.0","exit":[],"pics":[]},"tok":{"in":79751,"cached":77494,"out":534,"think":null,"usd":0.0375},"sim":{"submit":0,"reset":0}},{"id":32,"t":1550.6,"say":"","calls":[{"kind":"robot","label":"def pan(name, n=8):","code":"cd /app/lib; cat > /app/lib/pan.py <<'EOF'\nfrom h import *\nimport pickle, sys\ndef pan(name, n=8):\n    obs=[];tags=[]\n    for k in range(n):\n        res=look(f'{name}_{k}'); tags.append(f'{name}_{k}')\n        obs.append(dict(meta=res.meta, img=res.last[HEAD], d=res.last_depth[HEAD]))\n        drive(dyaw=2*np.pi/n*1.05)\n    pickle.dump(obs, open(f'/app/runs/{name}.pkl','wb'))\n    montage(tags[:4],name+'a'); montage(tags[4:],name+'b')\nEOF\npython3 -c \"\nfrom pan import *\nprint(goto(-19.5, 8.5)); print(goto(-19.5, 15.0))\npan('w2')\n\" 2>&1 | grep -v Warn"}],"out":{"text":"(np.float64(-19.501277923583984), np.float64(8.49813461303711), np.float64(-0.017240241169929504), np.float64(0.9044630517057766), [np.float64(-4.231836646795273e-05), np.float64(6.946920620976016e-05), np.float64(0.43697383999824524), np.float64(0.8994742631912231)])\n(np.float64(-19.498783111572266), np.float64(14.997337341308594), np.float64(-0.017239779233932495), np.float64(1.5462793122511347), [np.float64(-6.392039358615875e-05), np.float64(5.2172254072502255e-05), np.float64(0.6983858346939087), np.float64(0.7157215476036072)])\n\n[stdout]\n(np.float64(-19.501277923583984), np.float64(8.49813461303711), np.float64(-0.017240241169929504), np.float64(0.9044630517057766), [np.float64(-4.231836646795273e-05), np.float64(6.946920620976016e-05), np.float64(0.43697383999824524), np.float64(0.8994742631912231)])\n(np.float64(-19.498783111572266), np.float64(14.997337341308594), np.float64(-0.017239779233932495), np.float64(1.5462793122511347), [np.float64(-6.392039358615875e-05), np.float64(5.2172254072502255e-05), np.float64(0.6983858346939087), np.float64(0.7157215476036072)])","exit":[],"pics":[]},"tok":{"in":80725,"cached":79749,"out":1005,"think":null,"usd":0.0409},"sim":{"submit":17,"reset":0}},{"id":33,"t":1775.4,"say":"","calls":[{"kind":"look","label":"w2a.png","code":"/app/runs/img/w2a.png"},{"kind":"look","label":"w2b.png","code":"/app/runs/img/w2b.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s033_0.jpg","behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/s033_0.jpg"]},"tok":{"in":82001,"cached":80723,"out":117,"think":null,"usd":0.0249},"sim":{"submit":0,"reset":0}},{"id":34,"t":1777.6,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs()","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs()\nprint(summary(res)); print(r.status())\ns=state(res); print(np.round(s['joint_pos'],3)); print(np.round(s['base_joint_pos'],3))\n\" 2>&1 | grep -v Warn"}],"out":{"text":"{'base': [np.float64(-19.485), np.float64(15.017), np.float64(0.411), np.float64(-100.8)], 'tilt': np.float64(-0.331), 'done': False, 'reason': None, 'ltcp': [-19.02, 15.195, 0.052], 'rtcp': [-18.872, 14.972, 0.478], 'grip': [0.0, 0.1]}\n{'step': 4214, 'calls': 196, 'control_steps': 4704, 'done': False, 'reason': None, 'elapsed_s': 913.5, 'resumes': 0}\n[-2.05e-01 -1.40e+00 -4.70e-01  2.40e-02 -8.00e-03  0.00e+00 -0.00e+00\n  0.00e+00  1.00e-03  0.00e+00  1.00e-03  0.00e+00 -0.00e+00  0.00e+00\n  1.00e-03  0.00e+00 -4.00e-03 -0.00e+00  0.00e+00  0.00e+00  5.00e-02\n  5.00e-02]\n[-0.12  -4.1    0.434 -2.89   1.221  1.748]\n\n[stdout]\n{'base': [np.float64(-19.485), np.float64(15.017), np.float64(0.411), np.float64(-100.8)], 'tilt': np.float64(-0.331), 'done': False, 'reason': None, 'ltcp': [-19.02, 15.195, 0.052], 'rtcp': [-18.872, 14.972, 0.478], 'grip': [0.0, 0.1]}\n{'step': 4214, 'calls': 196, 'control_steps': 4704, 'done': False, 'reason': None, 'elapsed_s': 913.5, 'resumes': 0}\n[-2.05e-01 -1.40e+00 -4.70e-01  2.40e-02 -8.00e-03  0.00e+00 -0.00e+00\n  0.00e+00  1.00e-03  0.00e+00  1.00e-03  0.00e+00 -0.00e+00  0.00e+00\n  1.00e-03  0.00e+00 -4.00e-03 -0.00e+00  0.00e+00  0.00e+00  5.00e-02\n  5.00e-02]\n[-0.12  -4.1    0.434 -2.89   1.221  1.748]","exit":[],"pics":[]},"tok":{"in":84256,"cached":81999,"out":184,"think":null,"usd":0.0314},"sim":{"submit":0,"reset":0}},{"id":35,"t":1837.0,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(); now=np.array(res.meta['proprio']['now'])","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs(); now=np.array(res.meta['proprio']['now'])\nx,y,z,yaw,q=base_pose(now)\nRb=R.from_quat(q).as_matrix(); u=Rb[:,2]; print('u',u, 'sim', res.meta['sim_time_s'])\nah=-u[:2]/np.linalg.norm(u[:2]); a=np.array([ah[0],ah[1],0])\n# robot frame via full rotation\nlx=Rb[:,0]@a; ly=Rb[:,1]@a; v=np.array([lx,ly]); v=v/np.linalg.norm(v)*0.15\nprint('cmd',v)\nqq=cur_q25(now)\nrows=np.tile(qq,(36,1)); rows[:6,0]=v[0]; rows[:6,1]=v[1]; rows[6:,:3]=0\nres=r.submit('joint_position',rows,dt=1/30,video='none')\nprint(summary(res), res.meta['sim_time_s'])\nprint(np.round(state(res)['base_joint_pos'],3))\n\" 2>&1 | grep -v Warn"}],"out":{"text":"u [ 0.94299747 -0.0295695  -0.33148367] sim 156.8\ncmd [0.06444233 0.13545179]\n{'base': [np.float64(-19.649), np.float64(15.022), np.float64(0.381), np.float64(-97.6)], 'tilt': np.float64(-0.056), 'done': False, 'reason': None, 'ltcp': [-19.09, 15.152, 0.161], 'rtcp': [-19.083, 14.936, 0.615], 'grip': [0.0, 0.1]} 158.0\n[-0.283 -4.115  0.404 -2.872  1.513  1.733]\n\n[stdout]\nu [ 0.94299747 -0.0295695  -0.33148367] sim 156.8\ncmd [0.06444233 0.13545179]\n{'base': [np.float64(-19.649), np.float64(15.022), np.float64(0.381), np.float64(-97.6)], 'tilt': np.float64(-0.056), 'done': False, 'reason': None, 'ltcp': [-19.09, 15.152, 0.161], 'rtcp': [-19.083, 14.936, 0.615], 'grip': [0.0, 0.1]} 158.0\n[-0.283 -4.115  0.404 -2.872  1.513  1.733]","exit":[],"pics":[]},"tok":{"in":84864,"cached":84254,"out":5420,"think":null,"usd":0.1283},"sim":{"submit":1,"reset":0}},{"id":36,"t":1853.8,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(); now=np.array(res.meta['proprio']['now'])","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs(); now=np.array(res.meta['proprio']['now'])\nx,y,z,yaw,q=base_pose(now)\nRb=R.from_quat(q).as_matrix(); u=Rb[:,2]; print('u',u, 'sim', res.meta['sim_time_s'])\nah=-u[:2]/np.linalg.norm(u[:2]); a=np.array([ah[0],ah[1],0])\nlx=Rb[:,0]@a; ly=Rb[:,1]@a; v=np.array([lx,ly]); v=v/np.linalg.norm(v)*0.15\nqq=cur_q25(now)\nrows=np.tile(qq,(40,1)); rows[:,:3]=0\nsc=np.r_[np.ones(4), np.linspace(1,0,16)]\nrows[:20,0]=v[0]*sc; rows[:20,1]=v[1]*sc\nres=r.submit('joint_position',rows,dt=1/30,video='none')\nprint(summary(res), res.meta['sim_time_s'])\nprint(np.round(state(res)['base_joint_pos'],3))\n\" 2>&1 | grep -v Warn"}],"out":{"text":"u [ 0.99279603 -0.10594574 -0.05596012] sim 158.0\n{'base': [np.float64(-19.698), np.float64(15.016), np.float64(0.378), np.float64(-97.1)], 'tilt': np.float64(-0.012), 'done': False, 'reason': None, 'ltcp': [-19.13, 15.136, 0.18], 'rtcp': [-19.144, 14.927, 0.637], 'grip': [0.0, 0.1]} 159.333\n[-0.331 -4.127  0.401 -2.809  1.558  1.662]\n\n[stdout]\nu [ 0.99279603 -0.10594574 -0.05596012] sim 158.0\n{'base': [np.float64(-19.698), np.float64(15.016), np.float64(0.378), np.float64(-97.1)], 'tilt': np.float64(-0.012), 'done': False, 'reason': None, 'ltcp': [-19.13, 15.136, 0.18], 'rtcp': [-19.144, 14.927, 0.637], 'grip': [0.0, 0.1]} 159.333\n[-0.331 -4.127  0.401 -2.809  1.558  1.662]","exit":[],"pics":[]},"tok":{"in":90529,"cached":84862,"out":816,"think":null,"usd":0.0616},"sim":{"submit":1,"reset":0}},{"id":37,"t":1867.4,"say":"","calls":[{"kind":"robot","label":"res=r.get_obs(); now=np.array(res.meta['proprio']['now'])","code":"cd /app/lib; python3 -c \"\nfrom h import *\nres=r.get_obs(); now=np.array(res.meta['proprio']['now'])\nx,y,z,yaw,q=base_pose(now)\nRb=R.from_quat(q).as_matrix(); u=Rb[:,2]; print('u',u, 'sim', res.meta['sim_time_s'])\nah=u[:2]/np.linalg.norm(u[:2]); a=np.array([ah[0],ah[1],0])\nlx=Rb[:,0]@a; ly=Rb[:,1]@a; v=np.array([lx,ly]); v=v/np.linalg.norm(v)*0.15\nqq=cur_q25(now)\nrows=np.tile(qq,(30,1)); rows[:,:3]=0\nsc=np.r_[np.linspace(0.1,1,10)]\nrows[:10,0]=v[0]*sc; rows[:10,1]=v[1]*sc\nres=r.submit('joint_position',rows,dt=1/30,video='none')\nprint(summary(res), res.meta['sim_time_s'])\nprint(np.round(state(res)['base_joint_pos'],3))\n\" 2>&1 | grep -v Warn"}],"out":{"text":"u [ 0.99302637 -0.11722918 -0.01248819] sim 159.333\n{'base': [np.float64(-19.692), np.float64(15.016), np.float64(0.379), np.float64(-97.2)], 'tilt': np.float64(-0.033), 'done': True, 'reason': 'failure: the robot fell over', 'ltcp': [-19.128, 15.14, 0.169], 'rtcp': [-19.131, 14.932, 0.627], 'grip': [0.0, 0.1]} 159.533\n[-0.325 -4.126  0.402 -2.803  1.536  1.65 ]\n\n[stdout]\nu [ 0.99302637 -0.11722918 -0.01248819] sim 159.333\n{'base': [np.float64(-19.692), np.float64(15.016), np.float64(0.379), np.float64(-97.2)], 'tilt': np.float64(-0.033), 'done': True, 'reason': 'failure: the robot fell over', 'ltcp': [-19.128, 15.14, 0.169], 'rtcp': [-19.131, 14.932, 0.627], 'grip': [0.0, 0.1]} 159.533\n[-0.325 -4.126  0.402 -2.803  1.536  1.65 ]","exit":[],"pics":[]},"tok":{"in":91573,"cached":90527,"out":778,"think":null,"usd":0.0389},"sim":{"submit":1,"reset":0}},{"id":38,"t":1874.8,"say":"","calls":[{"kind":"robot","label":"print(r.status())","code":"cd /app/lib; python3 -c \"\nfrom h import *\nprint(r.status())\ntry:\n    r.submit('joint_position', np.zeros((1,25)), dt=0.1, video='none')\nexcept Exception as e: print(type(e).__name__, e)\n\" 2>&1 | grep -v Warn"}],"out":{"text":"{'step': 4296, 'calls': 202, 'control_steps': 4786, 'done': True, 'reason': 'failure: the robot fell over', 'elapsed_s': 1010.3, 'resumes': 0}\nEpisodeOver failure: the robot fell over\n\n[stdout]\n{'step': 4296, 'calls': 202, 'control_steps': 4786, 'done': True, 'reason': 'failure: the robot fell over', 'elapsed_s': 1010.3, 'resumes': 0}\nEpisodeOver failure: the robot fell over","exit":[],"pics":[]},"tok":{"in":92591,"cached":91571,"out":254,"think":null,"usd":0.0285},"sim":{"submit":0,"reset":0}},{"id":39,"t":1878.2,"say":"The episode has ended in failure (the robot fell over). I'll save the script for the record and note the cause.","calls":[{"kind":"robot","label":"\"\"\"clean_your_rusty_garden_tools, standard mode: the script this episode ran (for the record).","code":"cd /app/output; { cat <<'EOF'\n\"\"\"clean_your_rusty_garden_tools, standard mode: the script this episode ran (for the record).\n\nOUTCOME: FAILURE (\"failure: the robot fell over\") at control step 4786, about 17 min into the 4 h budget.\nThe tools and toolbox were never found. Searched: the start position (-23.6, 9.0) and (-22.6, 4.5) on the driveway,\nwith head pans at two tilts; nothing within roughly 6 m.\n\nCause of the fall: drive() started the holonomic base at full commanded speed (0.4 m/s) on the first control step,\nan acceleration of about 12 m/s^2, while the trunk was bent forward (torso_joint1 at 1.22-1.42 rad). Each time,\nthe trunk joints (100 N m effort limit) gave way: torso_joint1 ended up at -0.64 and then -0.2 rad, so the head\npointed at the sky. drive() re-read the measured joints and held the collapsed posture. Turning the base with the\ntrunk collapsed tipped the robot over at about (-19.5, 15.0). Whipping the base afterwards brought the up-axis z\nfrom -0.33 to about -0.01, which was not enough before the 10 s fall rule fired.\nFix for a future run: ramp base velocity up and down (about 1 m/s^2), keep the trunk upright while driving,\nand command fixed trunk/arm targets instead of re-reading measured ones.\n\"\"\"\n# ---- helper library (/app/lib/h.py) ----\nEOF\ncat /app/lib/h.py; echo; echo \"# ---- pan helper (/app/lib/pan.py) ----\"; grep -v '^from h import' /app/lib/pan.py; cat <<'EOF'\n\n# ---- sequence executed this episode ----\nif __name__ == '__main__':\n    import pickle\n    for k in range(8): drive(dyaw=np.pi / 4)                      # first pan (head at the default tilt)\n    for k in range(8): look(f'pb{k}'); drive(dyaw=np.pi / 4 * 1.05)\n    now = np.array(r.get_obs().meta['proprio']['now']); q0 = cur_q25(now); q = q0.copy(); q[3] += 0.4\n    r.submit('joint_position', np.linspace(q0, q, 20), dt=0.1, video='none')   # bend the trunk to look down\n    for k in range(8): look(f'pd{k}'); drive(dyaw=np.pi / 4 * 1.05)\n    goto(-22.6, 4.5)                                   # trunk collapsed here (abrupt base acceleration)\n    now = np.array(r.get_obs().meta['proprio']['now']); q0 = cur_q25(now); q = q0.copy(); q[3] = 1.224\n    r.submit('joint_position', np.linspace(q0, q, 10), dt=0.1, video='none')\n    pan('w1')\n    goto(-19.5, 8.5); goto(-19.5, 15.0)                # trunk collapsed again; the robot fell during pan('w2')\n    pan('w2')\nEOF\n} > gen.py; python3 -c \"import ast;ast.parse(open('/app/output/gen.py').read());print('ok')\""}],"out":{"text":"ok\n\n[stdout]\nok","exit":[],"pics":[]},"tok":{"in":92965,"cached":92589,"out":1261,"think":null,"usd":0.0456},"sim":{"submit":0,"reset":0}},{"id":40,"t":1895.4,"say":"","calls":[{"kind":"shell","label":"---","code":"cd /logs/agent/sessions/projects/-app/memory/ && cat > r1pro-base-accel-fall.md <<'EOF'\n---\nname: r1pro-base-accel-fall\ndescription: BEHAVIOR R1Pro robot-as-a-service — abrupt base starts collapse the trunk and tip the robot over (episode-ending)\nmetadata:\n  type: feedback\n---\nOn the BEHAVIOR-1K R1Pro service (eai-standard/2.x), commanding the holonomic base at full speed from the first control\nstep (e.g. 0.4 m/s jump = ~12 m/s^2) while the trunk is bent forward (torso_joint1 ~1.2-1.4 rad) made the trunk joints\n(100 N m limit) give way (torso_joint1 fell to -0.6/-0.2 rad); re-reading measured joints as the hold target then locked in\nthe collapse and a later turn tipped the robot over -> episode failed (no reset).\n\n**Why:** happened in clean_your_rusty_garden_tools on 2026-10-10; lost the only episode ~17 min in.\n**How to apply:** ramp base velocity (~1 m/s^2 up and down), keep the trunk at its start pose while driving, hold\nfixed commanded joint targets (not measured ones), and check torso joints + tilt (cos rx * cos ry) after every drive chunk.\nAlso: the sim service took ~15 min to start; the task objects were not within ~6 m of the start pose.\nEOF\necho \"- [R1Pro base accel fall](r1pro-base-accel-fall.md) — ramp base speed, keep trunk upright; abrupt starts collapsed trunk and toppled robot\" >> MEMORY.md; cat MEMORY.md"}],"out":{"text":"- [R1Pro base accel fall](r1pro-base-accel-fall.md) — ramp base speed, keep trunk upright; abrupt starts collapsed trunk and toppled robot\nShell cwd was reset to /app\n\n[stdout]\n- [R1Pro base accel fall](r1pro-base-accel-fall.md) — ramp base speed, keep trunk upright; abrupt starts collapsed trunk and toppled robot\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":94285,"cached":92963,"out":636,"think":null,"usd":0.0379},"sim":{"submit":0,"reset":0}},{"id":41,"t":1903.3,"say":"The task failed. The robot fell over and the service ended the episode (`failure: the robot fell over`) about 17 minutes in, at control step 4786. There is no reset, so no further attempt is possible. I never found the tools or the toolbox, so no rust was removed and nothing was put away.\n\n**What I did**\n- The simulator took about 15 minutes to start. I then read the spec and wrote helpers for driving, panning the head camera and turning depth pixels into world positions.\n- I did 360° head-camera scans at the start point and at two points along the driveway, with the camera both level and tilted down. All I saw was the fence, the house and carport (with a pool beyond it) and a parked van. No tools or toolbox showed up within about 6 m of any scan point.\n\n**Why the robot fell**\n- My drive helper started the base at full speed instantly: about 12 m/s² of acceleration, while the trunk was bent forward so the camera could look down.\n- The trunk joints gave way. The first trunk joint dropped from about 1.4 rad to −0.6 rad, and the head ended up pointing at the sky.\n- My helper held whatever joint angles it measured, so it kept the collapsed posture instead of restoring the commanded one. I didn't catch this until the second time it happened, when the robot tipped over while turning near the van.\n- Once it was down, I tried to flip it back by jerking the base sideways. That got it from upside down to roughly on its side, but not upright before the 10-second fall rule ended the episode.\n\nThe fix for a future run is to speed the base up and slow it down gradually, keep the trunk upright while driving, hold fixed joint targets rather than measured ones, and check the trunk angles and tilt after every move.\n\n**Files**\n- `/app/output/gen.py`: the script as it ran, with a header describing the outcome and cause.\n- I also saved a memory note about the fall cause for future sessions.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":95051,"cached":94283,"out":620,"think":null,"usd":0.0351},"sim":{"submit":0,"reset":0}}]}

runs/behavior-laying-tile-floors-i00-standard--zfbawwq.json

@@ -0,0 +1 @@
+{"slug":"behavior-laying-tile-floors-i00-standard--zfbawwq","task":"behavior-laying-tile-floors-i00-standard","bench":"behavior","mode":"standard","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"live_matches_replay":1,"finalized":1,"missing_log":0,"n_actions":11183,"sim_steps":11183,"physics_steps":44732,"steps":9655,"elapsed_s":1632.8,"video_rendered":1,"gpu_lost":0,"replay_error":0,"instance_ok":1,"task_failure":1,"q_score":0.0,"sim_startups":1,"resumes":0,"resume_state_mismatch":0,"resume_max_tcp_dev_m":0.0,"resume_max_joint_dev":0.0,"gave_up":0,"infra_error":0,"grader_error":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.221,"peak_processes":11,"peak_disk_gb":0.478,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":2198,"tokens":{"in":6614079,"cached":6516959,"out":41239,"usd":2.9},"task_text":"# BEHAVIOR-1K · laying_tile_floors — STANDARD MODE (robot as a service, eai-standard/2.2)\n\nYou drive an **R1Pro** mobile bimanual robot around a house **as if it were real hardware**: the simulator (BEHAVIOR-1K\nv3.9.2, the 2026 BEHAVIOR Challenge stack) runs in a service you cannot open. You get one client and one episode.\n**Task:** Lay the tiles. The four tiles lie on the corridor floor; put all four on the bathroom floor, each tile next to at least one of the other tiles. Success means all of the following hold at the same time: (1) all four tiles are on top of the bathroom floor; (2) every tile is next to at least one of the other tiles. How the simulator judges them: ontop(A, B): A touches B and B is directly below A (and not above it). nextto(A, B): the gap between A's and B's axis-aligned bounding boxes is at most one sixth of the mean of their summed box dimensions, and nothing lies between them along a horizontal axis. The service checks the goal and the episode ends the moment it holds.\n\n## Rules (real-robot rules)\n- **No reset.** The episode starts when the service comes up and ends on success, when the robot has fallen over, when\n  your time is up, or on a simulator error. Whatever you knock over or push away stays where it ends up.\n- **A fall ends the episode as a failure** (`meta[\"reason\"]` \"failure: the robot fell over\"): the robot has fallen over\n  when its base has been tilted more than 41.4° from upright, or more than 3 cm below the floor, for 10 s of simulated\n  time in a row (OmniGibson's own Falling rule; tilted means the z of the base's up axis is below 0.75, which the\n  proprioception gives as cos(rx)·cos(ry) of `base_footprint_rx_joint` and `base_footprint_ry_joint`).\n- **No privileged state.** You see what the robot's cameras see (RGB; depth on request) plus its own proprioception\n  (joints, base pose, end-effector and fingertip poses, gripper openings). No object poses, no map, no success predicate.\n- There is no step budget; your only budget is the time limit (`## Time limit`; `meta[\"time_left_s\"]` is the service's count\n  of it). Actions and simulated time are reported as cost. Only a runaway guard bounds the episode: it ends at 200,000\n  control steps (1.85 h of simulated time; `spec[\"max_control_steps\"]`, reason `step_guard`).\n- **A malformed request is refused with a 400 and nothing is executed** (a wrong type or shape, a value out of range,\n  a `dt` that is not a whole number of control periods, `video_fps` outside 1-30): fix it and send it again.\n- There is nothing to hand in: the service records your episode as the trajectory and grades it. Leave your script\n  at `/app/output/gen.py` for the record.\n- **Nothing is put into your context automatically.** Images and videos come back as arrays/bytes in a Python object;\n  what you look at and where you store it is your code's decision.\n- **If the service crashes** (a connection error or a 5xx answer), it restarts and resumes the SAME episode (never a\n  reset) in the st\n… (4,709 characters left out) …\nits `frame_step`; its `extrinsic_cv` is the\n  pose it was rendered with. Intrinsics `spec[\"cameras\"][cam][\"intrinsic_cv\"]`, mounting `spec[\"cameras\"][cam][\"mount\"]`\n  (parent link + fixed `link_T_cam_cv`).\n- **Robot**: `spec[\"robot_spec\"]`: joint names and real limits, gripper stroke and open/close rule, drive gains, the\n  end-effector frame vs the fingertip centre (TCP, 1.88 cm further along the fingers), the base's per-step and speed\n  limits; `spec[\"world\"]`: frame, units, quaternion order, camera axes.\n- **Proprioception**: named columns `spec[\"proprio_layout\"]`, groups `spec[\"proprio_groups\"]` (joint_pos, joint_vel,\n  joint_effort, gripper_opening, tcp_pose, eef_pose, base_pose, ...): `res.group(\"tcp_pose\")` per frame,\n  `res.group(\"tcp_pose\", now=True)` now.\n- **Kinematics** (stateless: no physics, no time): `r.fk(q)`, `r.ik({\"left_tcp\": pose}, seed=q)`; q =\n  `spec[\"kinematics\"][\"joint_names\"]` (trunk + both arms, all proprio columns); poses in the robot's base frame, or in the\n  world frame with `base_pose=` the 7 base proprio columns.\n\nFor scale: the 2026 challenge's human teleoperators needed 478 s on average (14,351 control steps) for this task, and the simulator runs at ~7-11 control steps/s. Budget your time, drive before you reach, and check `meta[\"done\"]`.\n\n## External material\nYou may install packages you need (pip, apt). Please solve the task yourself: do not look up or download a solution to it, such as this benchmark's own source code, published or reference solutions, recorded demonstrations, or policies trained for it. This is an honour rule; trials are reviewed. The network reaches your model's API and the package registries (PyPI, Debian / Ubuntu archives) only.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 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 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` is its own count of this limit, from the service's start or from your first request, so it can differ from the time you really have left. Installing packages is not cheating (`## External material` above).\n","replay":"behavior-laying-tile-floors-i00-standard--zfbawwq/replay.mp4","replay_last":"behavior-laying-tile-floors-i00-standard--zfbawwq/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"cd /app; ls -la; ls /app/output 2>/dev/null; cat /run/rcb-limits/usage.json; wc -l /opt/tools/rcb_client.py; g","code":"cd /app; ls -la; ls /app/output 2>/dev/null; cat /run/rcb-limits/usage.json; wc -l /opt/tools/rcb_client.py; grep -n \"def \\|class \" /opt/tools/rcb_client.py | head -80"},{"kind":"shell","label":"sed -n 1,80p /opt/tools/rcb_client.py","code":"sed -n 1,80p /opt/tools/rcb_client.py"}],"out":{"text":"total 12\ndrwxr-xr-x 3 root root 4096 Oct 11 02:54 .\ndrwxr-xr-x 1 root root 4096 Oct 13 09:29 ..\ndrwxr-xr-x 2 root root 4096 Oct 11 02:54 output\n{\n \"t\": 1791883789.23,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.092,\n \"processes\": 5,\n \"disk_gb\": 0.478,\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}238 /opt/tools/rcb_client.py\n39:class EpisodeOver(RuntimeError):\n43:def _over(r) -> str:\n56:def _decode_depth_frames(p: dict) -> np.ndarray:\n61:class Result:\n68:    def __init__(self, meta: dict, parts: dict, spec: dict | None = None):\n86:    def done(self) -> bool: return bool(self.meta.get(\"done\"))\n88:    def show(self, camera: str, k: int = -1) -> np.ndarray:\n92:    def group(self, name: str, now: bool = False) -> np.ndarray:\n98:    def save(self, out_dir: str) -> str:\n121:class Robot:\n122:    def __init__(self, base: str | None = None, timeout: float = 3600.0):\n149:    def spec(self) -> dict:\n152:    def _post(self, path: str, meta: dict, parts: list, timeout: float) -> Result:\n163:    def _common(self, cameras, video_fps, depth, include_depth) -> dict:\n171:    def submit(self, action_type: str, actions, dt: float | None = None, interpolate: str = \"linear\", cameras=None,\n186:    def get_obs(self, cameras=None, seconds: float = 0.0, video_fps: int | None = None, depth=None, include_dept\n… (12,409 characters left out) …\n of one spec()[\"proprio_groups\"] group. stopped: None,\n    or why the service stopped the call early (\"max_call_wall_s\": it ran longer than spec()[\"max_call_wall_s\"]); then\n    meta[\"executed_rows\"] < the rows sent, and meta[\"proprio\"][\"now\"] is where the robot is.\"\"\"\n    def __init__(self, meta: dict, parts: dict, spec: dict | None = None):\n        self.meta = meta; self.raw = parts; self._spec = spec or {}; self.stopped = meta.get(\"stopped\")\n        self.video, self.frames, self.last, self.last_depth, self.depth, self.extrinsic_cv = {}, {}, {}, {}, {}, {}\n        self.proprio = None; self.frame_step = None; self.frame_time_s = None\n        for name, p in parts.items():\n            kind, data = p[\"kind\"], p[\"data\"]\n            if name.startswith(\"video/\") and kind == \"mp4\": self.video[name[6:]] = data\n            elif name.startswith(\"frames/\") and kind == \"array\": self.frames[name[7:]] = data\n            elif name.startswith(\"last/\") and kind == \"array\": self.last[name[5:]] = data\n            elif name.startswith(\"last_depth/\") and kind == \"array\": self.last_depth[name[11:]] = np.asarray(data, dtype=np.float32)\n            elif name.startswith(\"depth_frames/\") and p.get(\"codec\") == \"zlib\": self.depth[name[13:]] = _decode_depth_frames(p)\n            elif name.startswith(\"depth/\") and kind == \"array\": self.depth[name[6:]] = np.asarray(data, dtype=np.float32)   # 2.1 form\n            elif name.startswith(\"extrinsic_cv/\") and kind == \"array\": self.extrinsic_cv[name[13:]] = data","exit":[],"pics":[]},"tok":{"in":25951,"cached":18236,"out":349,"think":null,"usd":0.0492},"sim":{"submit":0,"reset":0}},{"id":3,"t":3.3,"say":"","calls":[{"kind":"shell","label":"sed -n 120,238p /opt/tools/rcb_client.py","code":"sed -n 120,238p /opt/tools/rcb_client.py"}],"out":{"text":"class Robot:\n    def __init__(self, base: str | None = None, timeout: float = 3600.0):\n        \"\"\"Connect to the sim service and wait until it answers GET /spec. `timeout` (seconds) is how long to wait for a\n        service that is still starting: the default outlasts every task's start-up watchdog (the longest is 2400 s; an\n        Isaac Sim start on a busy host takes 10-30 minutes), so the first Robot() returns when the simulator is up. The\n        wait is part of your wall-clock budget; progress is printed to stderr once a minute.\"\"\"\n        cands = [base or os.environ.get(\"SIM_URL\"), \"http://sim:8000\", \"http://localhost:8000\"]\n        t0 = time.time(); last = None; told = t0\n        while time.time() - t0 < timeout:\n            for b in [c for c in cands if c]:\n                try:\n                    r = requests.get(b + \"/spec\", timeout=(5, 30))\n                    if r.status_code == 503: last = \"warming up\"; break\n                    if r.status_code == 409: raise EpisodeOver(_over(r))   # it gave up for good: no wait brings it back\n                    r.raise_for_status(); self.base = b; self._spec = r.json()\n                    if not str(self._spec.get(\"protocol\", \"\")).startswith(ACCEPTED):\n                        raise RuntimeError(f\"not a 2.x service: protocol {self._spec.get('protocol')!r}\")\n                    return\n                except requests.exceptions.RequestException as e:\n                    last = e\n            if time.time() - told >= 60:\n          \n… (13,195 characters left out) …\nkinematics\", json=body, timeout=(5, 120))\n        if r.status_code >= 400:\n            try: err = r.json()\n            except Exception: err = {\"error\": r.text[:300]}\n            raise ValueError(f\"{r.status_code}: {err.get('error')} {err.get('detail', '')}\".strip())\n        return r.json()\n\n    def fk(self, q, links=None, base_pose=None) -> dict:\n        \"\"\"Forward kinematics: q in spec()['kinematics']['joint_names'] order -> {\"ok\", \"frame\", \"poses\": {link: [x,y,z, quat]}}\n        (quaternion order spec()['world']['quaternion_order']; a mobile robot answers in its base frame unless base_pose is given).\"\"\"\n        body = {\"op\": \"fk\", \"q\": [float(v) for v in np.asarray(q).reshape(-1)]}\n        if links is not None: body[\"links\"] = list(links)\n        if base_pose is not None: body[\"base_pose\"] = [float(v) for v in base_pose]\n        return self.kinematics(body)\n\n    def ik(self, targets: dict, seed=None, base_pose=None, **opts) -> dict:\n        \"\"\"Inverse kinematics: {frame: [x,y,z, quat]} (frames from spec()['kinematics']['ik_targets']) and an optional seed q ->\n        {\"ok\", \"q\", \"error\": {frame: {\"pos_m\", \"rot_rad\"}}}. opts: tol_pos_m, tol_rot_rad, max_iters.\"\"\"\n        body = {\"op\": \"ik\", \"targets\": {k: [float(v) for v in p] for k, p in targets.items()}, **opts}\n        if seed is not None: body[\"seed\"] = [float(v) for v in np.asarray(seed).reshape(-1)]\n        if base_pose is not None: body[\"base_pose\"] = [float(v) for v in base_pose]\n        return self.kinematics(body)","exit":[],"pics":[]},"tok":{"in":29655,"cached":25949,"out":69,"think":null,"usd":0.0251},"sim":{"submit":0,"reset":0}},{"id":4,"t":5.5,"say":"","calls":[{"kind":"shell","label":"mkdir -p /app/runs /app/output; cd /app; cat > /app/connect.py <<'EOF'","code":"mkdir -p /app/runs /app/output; cd /app; cat > /app/connect.py <<'EOF'\nimport sys, json; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr = Robot()\njson.dump(r.spec(), open('/app/spec.json','w'), indent=1)\nprint(\"ok\")\nEOF\ntimeout 3500 python connect.py 2>&1 | tail -5"}],"out":{"text":"Command running in background with ID: bi9h2ts9k. Output is being written to: /tmp/claude-0/-app/6875c75c-47a7-4d26-85bb-879893bfda12/tasks/bi9h2ts9k.output. You will be notified when it completes. To check interim output, use Read on that file path.\nSession cwd remains /app; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":32793,"cached":29653,"out":278,"think":null,"usd":0.0272},"sim":{"submit":0,"reset":0}},{"id":5,"t":9.6,"say":"","calls":[{"kind":"shell","label":"sleep 30; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1","code":"sleep 30; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1"}],"out":{"text":"Exit code 2\nls: cannot access '/app/spec.json': No such file or directory\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":33240,"cached":32791,"out":101,"think":null,"usd":0.0108},"sim":{"submit":0,"reset":0}},{"id":6,"t":42.9,"say":"","calls":[{"kind":"shell","label":"sleep 120; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1","code":"sleep 120; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1"}],"out":{"text":"Exit code 143\nCommand timed out after 2m 0s\nls: cannot access '/app/spec.json': No such file or directory\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":33405,"cached":33238,"out":256,"think":null,"usd":0.0126},"sim":{"submit":0,"reset":0}},{"id":7,"t":165.2,"say":"Still waiting for the simulator to start (it can take 3–12 min). I'll check back shortly.","calls":[{"kind":"shell","label":"sleep 100; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1","code":"sleep 100; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1"}],"out":{"text":"Exit code 2\nls: cannot access '/app/spec.json': No such file or directory\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":33781,"cached":33403,"out":158,"think":null,"usd":0.0117},"sim":{"submit":0,"reset":0}},{"id":8,"t":268.3,"say":"","calls":[{"kind":"shell","label":"sleep 150; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1","code":"sleep 150; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1"}],"out":{"text":"Exit code 2\nls: cannot access '/app/spec.json': No such file or directory\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":34003,"cached":33779,"out":158,"think":null,"usd":0.011},"sim":{"submit":0,"reset":0}},{"id":9,"t":422.2,"say":"","calls":[{"kind":"shell","label":"sleep 120; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1; curl -s -m 5 -o /dev/n","code":"sleep 120; cat /tmp/claude-0/-app/*/tasks/bi9h2ts9k.output; ls -la /app/spec.json 2>&1; curl -s -m 5 -o /dev/null -w \"%{http_code}\\n\" http://sim:8000/spec"}],"out":{"text":"Exit code 6\n[rcb_client] still waiting for the sim service to start (301 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (361 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (421 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (481 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\nok\n\n[exited with code 0]\n-rw-r--r-- 1 root root 34934 Oct 13 09:38 /app/spec.json\n000\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":34225,"cached":34001,"out":164,"think":null,"usd":0.0112},"sim":{"submit":0,"reset":0}},{"id":10,"t":544.4,"say":"","calls":[{"kind":"shell","label":"for k,v in s.items():","code":"cd /app; python -c \"\nimport json;s=json.load(open('spec.json'))\nfor k,v in s.items():\n  t=json.dumps(v); print('==',k, t[:1500])\n\""}],"out":{"text":"== protocol \"eai-standard/2.2\"\n== protocol_compat [\"rcb-limited/2.0\", \"rcb-limited/2.1\", \"eai-standard/2.1\"]\n== simulator \"behavior-1k 3.9.2 (OmniGibson / Isaac Sim)\"\n== robot \"r1pro\"\n== task_text \"Lay the tiles. The four tiles lie on the corridor floor; put all four on the bathroom floor, each tile next to at least one of the other tiles.\"\n== control_hz 30\n== physics_substeps 4\n== max_chunk_s 10.0\n== max_watch_s 30.0\n== max_control_steps 200000\n== cameras {\"robot_r1:left_realsense_link:Camera:0\": {\"rgb\": true, \"depth\": true, \"mounted\": \"left wrist\", \"resolution\": [224, 224], \"calibration_in_obs\": true, \"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"mount\": {\"type\": \"link\", \"parent_link\": \"left_realsense_link\", \"link_T_cam_cv\": [[0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, \"depth_range_m\": [0.0010000000474974513, 65.535]}, \"robot_r1:right_realsense_link:Camera:0\": {\"rgb\": true, \"depth\": true, \"mounted\": \"right wrist\", \"resolution\": [224, 224], \"calibration_in_obs\": true, \"intrinsic_cv\": [[181.37651096845792, 0.0, 112.0], [0.0, 181.37651096845792, 112.0], [0.0, 0.0, 1.0]], \"mount\": {\"type\": \"link\", \"parent_link\": \"right_realsense_link\", \"link_T_cam_cv\": [[0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, \"depth_range_m\": [0.0010000000474974513, 65.535]}, \"robot_r1:zed_link:Camera:0\": {\"rgb\": true, \"depth\": true, \"mounted\": \"head (moves \n… (20,493 characters left out) …\n_gripper_link\", \"left_realsense_link\", \"right_gripper_link\", \"right_realsense_link\", \"left_eef_link\", \"right_eef_link\", \"zed_link\", \"left_tcp\", \"right_tcp\"], \"tcp_frames\": [\"left_tcp\", \"right_tcp\"], \"ee_frames\": [\"left_eef_link\", \"right_eef_link\"], \"ik_targets\": [\"left_eef_link\", \"right_eef_link\", \"left_tcp\", \"right_tcp\"], \"ik\": {\"solver\": \"damped least squares from the seed (the targeted arms' joints first, then with the trunk), then cuRobo's multi-seed IK (the ee_pose action's solver) started from the seed, refined the same way\", \"moves\": \"the trunk and the arm of each targeted frame; the other arm keeps its seed values\n== depth {\"modes\": [\"none\", \"last\", \"frames\"], \"default\": \"none\", \"kind\": \"z-depth\", \"unit\": \"m\", \"invalid\": 0, \"max_m\": 65.535, \"frames_encoding\": \"uint16 mm, zlib\", \"noise\": \"off\"}\n== on_service_error \"a connection error means the service crashed: it restarts and resumes the SAME episode (never a reset) in the state after the last call it completed, which you may not have received. Wait until GET /status answers again (rcb_client: Robot.wait_ready(); resuming replays the episode so far, which can take minutes in a long episode, and the wall clock keeps running), then check calls and control_steps before you continue. A 500 means the simulator failed: the episode is over (reason \\\"error\\\"). A call that runs longer than max_call_wall_s seconds stops at the next control step and returns what it executed (meta.stopped, executed_rows).\"\n== max_call_wall_s 900.0","exit":[],"pics":[]},"tok":{"in":35431,"cached":34223,"out":135,"think":null,"usd":0.0156},"sim":{"submit":0,"reset":0}},{"id":11,"t":547.4,"say":"","calls":[{"kind":"shell","label":"print(json.dumps(s['robot_spec'],indent=0)[1500:6000])","code":"cd /app; python -c \"\nimport json;s=json.load(open('spec.json'))\nprint(json.dumps(s['robot_spec'],indent=0)[1500:6000])\nprint(json.dumps(s['action_types'],indent=0)[1400:5000])\n\""}],"out":{"text":") relative to the robot's start frame; they have no position limits\"\n},\n\"joints\": [\n{\n\"name\": \"torso_joint1\",\n\"type\": \"revolute\",\n\"unit\": \"rad\",\n\"position_limits\": [\n-1.1344999074935913,\n1.8325998783111572\n],\n\"velocity_limit\": 2.5,\n\"effort_limit\": 100.0,\n\"rated_velocity\": 2.5,\n\"rated_effort\": 100.0,\n\"rated_source\": \"the <limit> of the R1 Pro URDF exported from the manufacturer's CAD (BEHAVIOR dataset: omnigibson-robot-assets models/r1pro/urdf/r1pro_source.urdf)\",\n\"group\": \"trunk\"\n},\n{\n\"name\": \"torso_joint2\",\n\"type\": \"revolute\",\n\"unit\": \"rad\",\n\"position_limits\": [\n-2.7924997806549072,\n2.5306997299194336\n],\n\"velocity_limit\": 2.5,\n\"effort_limit\": 100.0,\n\"rated_velocity\": 2.5,\n\"rated_effort\": 100.0,\n\"rated_source\": \"the <limit> of the R1 Pro URDF exported from the manufacturer's CAD (BEHAVIOR dataset: omnigibson-robot-assets models/r1pro/urdf/r1pro_source.urdf)\",\n\"group\": \"trunk\"\n},\n{\n\"name\": \"torso_joint3\",\n\"type\": \"revolute\",\n\"unit\": \"rad\",\n\"position_limits\": [\n-1.8325998783111572,\n1.5707999467849731\n],\n\"velocity_limit\": 2.5,\n\"effort_limit\": 100.0,\n\"rated_velocity\": 2.5,\n\"rated_effort\": 100.0,\n\"rated_source\": \"the <limit> of the R1 Pro URDF exported from the manufacturer's CAD (BEHAVIOR dataset: omnigibson-robot-assets models/r1pro/urdf/r1pro_source.urdf)\",\n\"group\": \"trunk\"\n},\n{\n\"name\": \"torso_joint4\",\n\"type\": \"revolute\",\n\"unit\": \"rad\",\n\"position_limits\": [\n-3.054299831390381,\n3.054299831390381\n],\n\"velocity_limit\": 2.5,\n\"effort_limit\": 100.0,\n\"rated_velocity\": 2.5,\n\"rated_effor\n… (10,069 characters left out) …\n0471980571746826,\n1.0471980571746826\n],\n\"arm_right_6\": [\n-1.5707999467849731,\n1.5707999467849731\n],\n\"gripper_left_0\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_left_1\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_right_0\": [\n0.0,\n0.07000000074505806\n],\n\"gripper_right_1\": [\n0.0,\n0.07000000074505806\n]\n},\n\"semantics\": \"streamed at the 30 Hz control rate; rows `dt` apart (a multiple of 1/30 s); trunk and arm joints hold or linearly interpolate between rows, the base entries and the grippers switch at the row; out-of-limit values are clipped and reported\"\n},\n\"ee_pose\": {\n\"dim\": 16,\n\"layout\": [\n\"l_x\",\n\"l_y\",\n\"l_z\",\n\"l_qx\",\n\"l_qy\",\n\"l_qz\",\n\"l_qw\",\n\"left_gripper\",\n\"r_x\",\n\"r_y\",\n\"r_z\",\n\"r_qx\",\n\"r_qy\",\n\"r_qz\",\n\"r_qw\",\n\"right_gripper\"\n],\n\"frame\": \"OmniGibson world frame, metres, +z up (the floor is z = 0)\",\n\"quaternion\": \"xyzw, unit norm\",\n\"semantics\": \"each row: cuRobo inverse kinematics for both end effectors together (trunk + both arms; no collision checking), then the trunk and arm joints are driven there in joint space (at most 0.02 rad per control step); `dt` is ignored; the base stands still; if the IK finds no solution nothing moves and plan[] says so; gripper 1 = open, 0 = closed, switched at the start of the row (closing on an object holds it: assisted grasping)\",\n\"note\": \"the pose is the end-effector frame of the proprio `*_eef_*` entries, so an observed pose is a valid target; at most 50 rows per submit\"\n},\n\"not_yet\": [\n\"joint_delta\",\n\"joint_velocity\",\n\"ee_delta\",\n\"joint_torque\"\n]\n}","exit":[],"pics":[]},"tok":{"in":41148,"cached":35429,"out":133,"think":null,"usd":0.0383},"sim":{"submit":0,"reset":0}},{"id":12,"t":549.7,"say":"","calls":[{"kind":"robot","label":"S = r.spec()","code":"cd /app; cat > /app/h.py <<'EOF'\nimport sys, json, numpy as np, os\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nfrom PIL import Image\nr = Robot()\nS = r.spec()\nL = S['proprio_layout']\nHEAD='robot_r1:zed_link:Camera:0'; LW='robot_r1:left_realsense_link:Camera:0'; RW='robot_r1:right_realsense_link:Camera:0'\ndef P(res): \n    return dict(zip(L, res.meta['proprio']['now']))\ndef summary(res):\n    p=P(res)\n    b=[p[k] for k in ['base_x','base_y','base_z','base_qx','base_qy','base_qz','base_qw']]\n    import math\n    yaw=math.atan2(2*(b[6]*b[5]+b[3]*b[4]),1-2*(b[4]**2+b[5]**2))\n    print('base xy %.3f %.3f yaw %.3f'%(b[0],b[1],yaw))\n    print('torso', [round(p['torso_joint%d'%i],3) for i in range(1,5)])\n    for s in ['left','right']:\n        print(s,'arm', [round(p['%s_arm_joint%d'%(s,i)],3) for i in range(1,8)], 'eef', [round(p['%s_eef_%s'%(s,k)],3) for k in ['x','y','z','qx','qy','qz','qw']])\n    print('grip', res.group('gripper_opening',now=True), 'tcp', np.round(res.group('tcp_pose',now=True),3))\n    print('meta', {k:res.meta.get(k) for k in ['done','reason','time_left_s','clipped','plan','control_steps_chunk']})\n    return p, b, yaw\ndef save(res, name, cams=None):\n    os.makedirs('/app/img',exist_ok=True)\n    cams = cams or list(res.last.keys())\n    ims=[res.last[c] for c in cams if c in res.last]\n    im=np.concatenate(ims,axis=1)\n    Image.fromarray(im).resize((im.shape[1]*2,im.shape[0]*2)).save('/app/img/%s.png'%name)\ndef qpos(p):\n    return np.array([p[n] for n in S['kinematics']['joint_names']])\ndef cur_action(p):\n    a=np.zeros(25)\n    a[3:7]=[p['torso_joint%d'%i] for i in range(1,5)]\n    a[7:14]=[p['left_arm_joint%d'%i] for i in range(1,8)]\n    a[16:23]=[p['right_arm_joint%d'%i] for i in range(1,8)]\n    a[14:16]=p['left_gripper_finger_joint1'],p['left_gripper_finger_joint2']\n    a[23:25]=p['right_gripper_finger_joint1'],p['right_gripper_finger_joint2']\n    return a\nEOF\ncat > /app/look.py <<'EOF'\nfrom h import *\no=r.get_obs(depth=True)\nsummary(o)\nsave(o, sys.argv[1] if len(sys.argv)>1 else 'look')\nnp.savez('/app/img/last_obs.npz', **{c.split(':')[1]:o.last_depth[c] for c in o.last_depth}, **{'K_'+c.split(':')[1]:np.array(o.meta['cameras'][c]['intrinsic_cv']) for c in o.meta['cameras']}, **{'E_'+c.split(':')[1]:np.array(o.meta['cameras'][c]['extrinsic_cv']) for c in o.meta['cameras']})\nEOF\npython look.py look0; python -c \"import json;print(json.load(open('/app/spec.json'))['robot_spec'].keys())\""}],"out":{"text":"base xy 2.725 9.211 yaw -1.046\ntorso [1.022, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, 0.0, -0.0] eef [3.003, 9.233, 0.444, -0.499, -0.866, -0.012, 0.021]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [2.567, 8.98, 0.444, -0.499, -0.866, -0.012, 0.021]\ngrip [0.09999906 0.09999876] tcp [ 3.002  9.233  0.426 -0.499 -0.866 -0.012  0.021  2.566  8.981  0.426\n -0.499 -0.866 -0.012  0.021]\nmeta {'done': False, 'reason': None, 'time_left_s': 7161.3, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\ndict_keys(['name', 'description', 'base', 'joints', 'grippers', 'controller', 'tcp'])\n\n[stdout]\nbase xy 2.725 9.211 yaw -1.046\ntorso [1.022, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, 0.0, -0.0] eef [3.003, 9.233, 0.444, -0.499, -0.866, -0.012, 0.021]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [2.567, 8.98, 0.444, -0.499, -0.866, -0.012, 0.021]\ngrip [0.09999906 0.09999876] tcp [ 3.002  9.233  0.426 -0.499 -0.866 -0.012  0.021  2.566  8.981  0.426\n -0.499 -0.866 -0.012  0.021]\nmeta {'done': False, 'reason': None, 'time_left_s': 7161.3, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\ndict_keys(['name', 'description', 'base', 'joints', 'grippers', 'controller', 'tcp'])","exit":[],"pics":[]},"tok":{"in":44607,"cached":41146,"out":1376,"think":null,"usd":0.0531},"sim":{"submit":0,"reset":0}},{"id":13,"t":561.6,"say":"The simulator is up and my helper scripts work. Now I'm looking at the starting camera view.","calls":[{"kind":"look","label":"look0.png","code":"/app/img/look0.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s013_0.jpg"]},"tok":{"in":46433,"cached":44605,"out":145,"think":null,"usd":0.021},"sim":{"submit":0,"reset":0}},{"id":14,"t":567.9,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs()","code":"cd /app; cat > /app/spin.py <<'EOF'\nfrom h import *\nimport math\no=r.get_obs()\np=P(o); base=cur_action(p)\npts=[];cols=[]\nn=int(sys.argv[1]) if len(sys.argv)>1 else 8\nimgs=[]\nfor k in range(n):\n    if k>0:\n        A=np.tile(base,(12,1)); A[:,0:3]=0\n        A[:10,2]=(2*math.pi/n)/30/ (1.0/30*3) /10*3  # placeholder\n        A[:10,2]=(2*math.pi/n)/(10*3)\n        res=r.submit('joint_position',A,dt=0.1,video='none')\n    o=r.get_obs(cameras=[HEAD],depth=True)\n    rgb=o.last[HEAD]; d=o.last_depth[HEAD]\n    imgs.append(rgb)\n    K=np.array(o.meta['cameras'][HEAD]['intrinsic_cv']); E=np.array(o.meta['cameras'][HEAD]['extrinsic_cv'])\n    v,u=np.mgrid[0:224,0:224]; m=(d>0)&(d<8)\n    z=d[m]; x=(u[m]-K[0,2])*z/K[0,0]; y=(v[m]-K[1,2])*z/K[1,1]\n    pc=np.stack([x,y,z],1); R=E[:3,:3]; t=E[:3,3]\n    pw=(pc-t)@R  # R^T (pc - t)\n    pts.append(pw); cols.append(rgb[m])\nsummary(o)\npts=np.concatenate(pts); cols=np.concatenate(cols)\nnp.savez('/app/img/cloud_%s.npz'%(sys.argv[2] if len(sys.argv)>2 else '0'),pts=pts,cols=cols)\nImage.fromarray(np.concatenate(imgs,1)).save('/app/img/spin.png')\nEOF\npython spin.py 8 0"}],"out":{"text":"base xy 2.725 9.211 yaw -2.073\ntorso [1.022, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [2.888, 8.984, 0.444, -0.86, -0.509, -0.021, 0.012]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [2.447, 9.227, 0.444, -0.86, -0.509, -0.021, 0.012]\ngrip [0.09999904 0.09999888] tcp [ 2.889  8.985  0.426 -0.86  -0.509 -0.021  0.012  2.447  9.227  0.426\n -0.86  -0.509 -0.021  0.012]\nmeta {'done': False, 'reason': None, 'time_left_s': 7103.2, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n\n[stdout]\nbase xy 2.725 9.211 yaw -2.073\ntorso [1.022, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [2.888, 8.984, 0.444, -0.86, -0.509, -0.021, 0.012]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [2.447, 9.227, 0.444, -0.86, -0.509, -0.021, 0.012]\ngrip [0.09999904 0.09999888] tcp [ 2.889  8.985  0.426 -0.86  -0.509 -0.021  0.012  2.447  9.227  0.426\n -0.86  -0.509 -0.021  0.012]\nmeta {'done': False, 'reason': None, 'time_left_s': 7103.2, 'clipped': None, 'plan': None, 'control_steps_chunk': None}","exit":[],"pics":[]},"tok":{"in":47389,"cached":46431,"out":1180,"think":null,"usd":0.0377},"sim":{"submit":7,"reset":0}},{"id":15,"t":620.2,"say":"","calls":[{"kind":"look","label":"spin.png","code":"/app/img/spin.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s015_0.jpg"]},"tok":{"in":48935,"cached":47387,"out":164,"think":null,"usd":0.0205},"sim":{"submit":0,"reset":0}},{"id":16,"t":624.0,"say":"","calls":[{"kind":"shell","label":"P=[];C=[]","code":"cd /app; cat > /app/topmap.py <<'EOF'\nimport numpy as np, sys, glob\nimport matplotlib; matplotlib.use('Agg'); import matplotlib.pyplot as plt\nP=[];C=[]\nfor f in sys.argv[2:]:\n    d=np.load(f); P.append(d['pts']); C.append(d['cols'])\nP=np.concatenate(P); C=np.concatenate(C)/255.\nfig,ax=plt.subplots(figsize=(10,10))\nw=(P[:,2]>0.3)&(P[:,2]<2.0)\nax.scatter(P[w,0],P[w,1],s=1,c='red',alpha=0.05)\nf=(P[:,2]<0.3)\nax.scatter(P[f,0],P[f,1],s=2,c=C[f])\nax.set_aspect('equal'); ax.grid(True)\nimport matplotlib.ticker as t; ax.xaxis.set_major_locator(t.MultipleLocator(0.5)); ax.yaxis.set_major_locator(t.MultipleLocator(0.5))\nplt.xticks(rotation=90)\nplt.savefig(sys.argv[1],dpi=80)\nEOF\npython topmap.py img/map0.png img/cloud_0.npz"}],"out":{"text":"Exit code 1\nTraceback (most recent call last):\n  File \"/app/topmap.py\", line 2, in <module>\n    import matplotlib; matplotlib.use('Agg'); import matplotlib.pyplot as plt\n    ^^^^^^^^^^^^^^^^^\nModuleNotFoundError: No module named 'matplotlib'\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":49654,"cached":48933,"out":586,"think":null,"usd":0.0251},"sim":{"submit":0,"reset":0}},{"id":17,"t":629.2,"say":"","calls":[{"kind":"shell","label":"cd /app; pip install -q matplotlib 2>&1 | tail -1; python topmap.py img/map0.png img/cloud_0.npz","code":"cd /app; pip install -q matplotlib 2>&1 | tail -1; python topmap.py img/map0.png img/cloud_0.npz"}],"out":{"text":"[notice] To update, run: pip install --upgrade pip\n\n[stdout]\n[notice] To update, run: pip install --upgrade pip","exit":[],"pics":[]},"tok":{"in":50393,"cached":49652,"out":95,"think":null,"usd":0.0155},"sim":{"submit":0,"reset":0}},{"id":18,"t":638.7,"say":"","calls":[{"kind":"look","label":"map0.png","code":"/app/img/map0.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s018_0.jpg"]},"tok":{"in":50536,"cached":50391,"out":56,"think":null,"usd":0.0119},"sim":{"submit":0,"reset":0}},{"id":19,"t":645.2,"say":"Found the corridor (x ≈ −4.7…12, y ≈ 8.2…10) and four light tile-like squares on its floor, near (−2.6, 9.0), (−0.5, 8.9), (7.9, 8.75), (8.2, 8.7). Now I need to find the bathroom.","calls":[{"kind":"shell","label":"P=[];C=[]","code":"cd /app; cat > /app/topmap.py <<'EOF'\nimport numpy as np, sys, glob\nimport matplotlib; matplotlib.use('Agg'); import matplotlib.pyplot as plt\nP=[];C=[]\nfor f in sys.argv[3:]:\n    d=np.load(f); P.append(d['pts']); C.append(d['cols'])\nP=np.concatenate(P); C=np.concatenate(C)/255.\nx0,x1,y0,y1=[float(v) for v in sys.argv[2].split(',')]\nk=(P[:,0]>x0)&(P[:,0]<x1)&(P[:,1]>y0)&(P[:,1]<y1); P=P[k];C=C[k]\nfig,ax=plt.subplots(figsize=(14,14*(y1-y0)/(x1-x0)+1))\nw=(P[:,2]>0.3)&(P[:,2]<2.0)\nax.scatter(P[w,0],P[w,1],s=1,c='red',alpha=0.1)\nf=(P[:,2]<0.3)\nax.scatter(P[f,0],P[f,1],s=3,c=C[f])\nax.set_aspect('equal'); ax.grid(True)\nimport matplotlib.ticker as t; ax.xaxis.set_major_locator(t.MultipleLocator(0.5)); ax.yaxis.set_major_locator(t.MultipleLocator(0.5))\nplt.xticks(rotation=90)\nplt.savefig(sys.argv[1],dpi=70,bbox_inches='tight')\nEOF\npython topmap.py img/map0.png -5,13,5,11 img/cloud_0.npz"}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":51519,"cached":50534,"out":1045,"think":null,"usd":0.0359},"sim":{"submit":0,"reset":0}},{"id":20,"t":654.0,"say":"","calls":[{"kind":"look","label":"map0.png","code":"/app/img/map0.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s020_0.jpg"]},"tok":{"in":52603,"cached":51517,"out":56,"think":null,"usd":0.0169},"sim":{"submit":0,"reset":0}},{"id":21,"t":659.5,"say":"","calls":[{"kind":"shell","label":"for k in [1,4,5,6]:","code":"cd /app; python -c \"\nfrom PIL import Image; im=Image.open('img/spin.png'); w=224\nfor k in [1,4,5,6]:\n    pass\nimport numpy as np\na=np.array(im); sel=np.concatenate([a[:,k*w:(k+1)*w] for k in [1,2,4,5]],1)\nImage.fromarray(sel).resize((sel.shape[1]*2,sel.shape[0]*2)).save('img/spin_sel.png')\n\""}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":52934,"cached":52601,"out":580,"think":null,"usd":0.0238},"sim":{"submit":0,"reset":0}},{"id":22,"t":663.0,"say":"","calls":[{"kind":"look","label":"spin_sel.png","code":"/app/img/spin_sel.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s022_0.jpg"]},"tok":{"in":53553,"cached":52932,"out":59,"think":null,"usd":0.0149},"sim":{"submit":0,"reset":0}},{"id":23,"t":682.8,"say":"","calls":[{"kind":"robot","label":"def base_state(p):","code":"cd /app; cat >> /app/h.py <<'EOF'\nimport math\ndef base_state(p):\n    qx,qy,qz,qw=[p[k] for k in ['base_qx','base_qy','base_qz','base_qw']]\n    yaw=math.atan2(2*(qw*qz+qx*qy),1-2*(qy**2+qz**2))\n    return p['base_x'],p['base_y'],yaw\ndef wrap(a): return (a+math.pi)%(2*math.pi)-math.pi\ndef goto(xt,yt,yawt=None,vmax=0.4,wmax=0.8,tol=0.03,ytol=0.03,maxit=30,verbose=True):\n    \"\"\"drive base to world (xt,yt,yawt) with feedback; keeps arm/trunk at current\"\"\"\n    o=r.get_obs(cameras=[HEAD],video='none')\n    p=P(o); hold=cur_action(p)\n    for it in range(maxit):\n        x,y,yaw=base_state(p)\n        dx,dy=xt-x,yt-y\n        ex= math.cos(yaw)*dx+math.sin(yaw)*dy\n        ey=-math.sin(yaw)*dx+math.cos(yaw)*dy\n        eyaw=wrap(yawt-yaw) if yawt is not None else 0.0\n        dist=math.hypot(ex,ey)\n        if verbose: print('it',it,'pos %.3f %.3f yaw %.3f  err %.3f %.3f %.3f'%(x,y,yaw,ex,ey,eyaw))\n        if dist<tol and abs(eyaw)<ytol: return p\n        # time to go: \n        T=max(dist/vmax, abs(eyaw)/wmax, 0.2)\n        T=min(T,3.0)\n        n=max(1,int(round(T*30)))\n        frac=min(1.0, 3.0/T) if T>=3.0 else 1.0\n        frac = 1.0 if T<3.0 else min(1.0,(3.0*vmax)/max(dist,1e-6)) if dist/vmax>=abs(eyaw)/wmax else min(1.0,3.0*wmax/abs(eyaw))\n        # per-step displacement, robot frame (approx: ignore rotation coupling by doing yaw small)\n        A=np.tile(hold,(n+6,1)); A[:,0:3]=0\n        A[:n,0]=ex*frac/n; A[:n,1]=ey*frac/n; A[:n,2]=eyaw*frac/n\n        res=r.submit('joint_position',A,dt=1/30,video='none',cameras=[HEAD])\n        p=P(res)\n        if res.meta.get('done'): print('DONE',res.meta.get('reason')); return p\n    return p\ndef look(name,cams=None,depth=False):\n    o=r.get_obs(depth=depth)\n    save(o,name,cams)\n    return o\nEOF\necho ok"}],"out":{"text":"ok\n\n[stdout]\nok","exit":[],"pics":[]},"tok":{"in":54679,"cached":53551,"out":2642,"think":null,"usd":0.0692},"sim":{"submit":0,"reset":0}},{"id":24,"t":694.3,"say":"","calls":[{"kind":"robot","label":"a=[float(v) for v in sys.argv[1:4]]","code":"cd /app; cat > /app/go.py <<'EOF'\nfrom h import *\na=[float(v) for v in sys.argv[1:4]]\np=goto(a[0],a[1],a[2])\no=look(sys.argv[4] if len(sys.argv)>4 else 'go')\nsummary(o)\nEOF\ntime python go.py 4.5 9.1 0 go1"}],"out":{"text":"it 0 pos 2.725 9.211 yaw -2.073  err -0.757 1.609 2.073\nit 1 pos 3.583 9.700 yaw -0.831  err 1.061 0.272 0.831\nit 2 pos 4.607 9.503 yaw -0.036  err -0.092 -0.406 0.036\nit 3 pos 4.508 9.110 yaw -0.003  err -0.008 -0.010 0.003\nbase xy 4.508 9.110 yaw -0.003\ntorso [1.03, -1.445, -0.47, -0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [4.63, 9.362, 0.443, -0.001, -1.0, -0.0, 0.028]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [4.629, 8.858, 0.443, -0.002, -1.0, -0.0, 0.028]\ngrip [0.09999916 0.099999  ] tcp [ 4.629e+00  9.362e+00  4.240e-01 -1.000e-03 -1.000e+00 -0.000e+00\n  2.800e-02  4.628e+00  8.858e+00  4.240e-01 -2.000e-03 -1.000e+00\n -0.000e+00  2.800e-02]\nmeta {'done': False, 'reason': None, 'time_left_s': 7006.6, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n\nreal\t0m19.162s\nuser\t0m0.941s\nsys\t0m0.052s\n\n[stdout]\nit 0 pos 2.725 9.211 yaw -2.073  err -0.757 1.609 2.073\nit 1 pos 3.583 9.700 yaw -0.831  err 1.061 0.272 0.831\nit 2 pos 4.607 9.503 yaw -0.036  err -0.092 -0.406 0.036\nit 3 pos 4.508 9.110 yaw -0.003  err -0.008 -0.010 0.003\nbase xy 4.508 9.110 yaw -0.003\ntorso [1.03, -1.445, -0.47, -0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [4.63, 9.362, 0.443, -0.001, -1.0, -0.0, 0.028]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [4.629, 8.858, 0.443, -0.002, -1.0, -0.0, 0.028]\ngrip [0.09999916 0.099999  ] tcp [ 4.629e+00  9.362e+00  4.240e-01 -1.000e-03 -1.000e+00 -0.000e+00\n  2.800e-02  4.628e+00  8.858e+00  4.240e-01 -2.000e-03 -1.000e+00\n -0.000e+00  2.800e-02]\nmeta {'done': False, 'reason': None, 'time_left_s': 7006.6, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n\nreal\t0m19.162s\nuser\t0m0.941s\nsys\t0m0.052s","exit":[],"pics":[]},"tok":{"in":57352,"cached":54677,"out":264,"think":null,"usd":0.0296},"sim":{"submit":3,"reset":0}},{"id":25,"t":716.6,"say":"Base driving with feedback works (reached the target within 1 cm). Checking the view east down the corridor.","calls":[{"kind":"look","label":"go1.png","code":"/app/img/go1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s025_0.jpg"]},"tok":{"in":58247,"cached":57350,"out":151,"think":null,"usd":0.019},"sim":{"submit":0,"reset":0}},{"id":26,"t":730.3,"say":"","calls":[{"kind":"robot","label":"s=open('/app/h.py').read()","code":"cd /app; python - <<'EOF'\nimport re\ns=open('/app/h.py').read()\ns=s.replace(\"        T=max(dist/vmax, abs(eyaw)/wmax, 0.2)\",\"        if abs(eyaw)>0.3: ex=ey=0.0; dist=0.0\\n        T=max(dist/vmax, abs(eyaw)/wmax, 0.2)\")\nopen('/app/h.py','w').write(s)\nEOF\ncat > /app/cloud.py <<'EOF'\nfrom h import *\ndef grab_cloud(cam=HEAD, zmax=8):\n    o=r.get_obs(cameras=[cam],depth=True)\n    rgb=o.last[cam]; d=o.last_depth[cam]\n    K=np.array(o.meta['cameras'][cam]['intrinsic_cv']); E=np.array(o.meta['cameras'][cam]['extrinsic_cv'])\n    v,u=np.mgrid[0:224,0:224]; m=(d>0)&(d<zmax)\n    z=d[m]; x=(u[m]-K[0,2])*z/K[0,0]; y=(v[m]-K[1,2])*z/K[1,1]\n    pc=np.stack([x,y,z],1); R=E[:3,:3]; t=E[:3,3]\n    pw=(pc-t)@R\n    return o,pw,rgb[m],m\nif __name__=='__main__':\n    o,pw,c,m=grab_cloud()\n    np.savez('/app/img/cloud_%s.npz'%sys.argv[1],pts=pw,cols=c)\n    save(o,sys.argv[1])\nEOF\npython go.py 6.6 9.1 0 go2 | tail -3; python cloud.py c2; python topmap.py img/map2.png 6.5,9.5,8,10.2 img/cloud_c2.npz"}],"out":{"text":"grip [0.09999868 0.09999859] tcp [6.523 9.354 0.56  0.    0.867 0.    0.498 6.523 8.85  0.56  0.    0.867\n 0.    0.498]\nmeta {'done': False, 'reason': None, 'time_left_s': 6970.6, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n\n[stdout]\ngrip [0.09999868 0.09999859] tcp [6.523 9.354 0.56  0.    0.867 0.    0.498 6.523 8.85  0.56  0.    0.867\n 0.    0.498]\nmeta {'done': False, 'reason': None, 'time_left_s': 6970.6, 'clipped': None, 'plan': None, 'control_steps_chunk': None}","exit":[],"pics":[]},"tok":{"in":59209,"cached":58245,"out":1796,"think":null,"usd":0.0524},"sim":{"submit":2,"reset":0}},{"id":27,"t":754.7,"say":"","calls":[{"kind":"look","label":"map2.png","code":"/app/img/map2.png"},{"kind":"look","label":"c2.png","code":"/app/img/c2.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s027_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s027_0.jpg"]},"tok":{"in":61164,"cached":59207,"out":209,"think":null,"usd":0.0258},"sim":{"submit":0,"reset":0}},{"id":28,"t":757.4,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=[HEAD]); p=summary(o)[0]","code":"cd /app; python -c \"\nfrom h import *\no=r.get_obs(cameras=[HEAD]); p=summary(o)[0]\nprint({k:round(p[k],3) for k in L[:10]})\n\""}],"out":{"text":"base xy 6.579 9.102 yaw 0.000\ntorso [-0.067, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.507, 9.354, 0.569, 0.0, 0.867, 0.0, 0.498]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.507, 8.85, 0.569, 0.0, 0.867, 0.0, 0.498]\ngrip [0.09999868 0.09999859] tcp [6.523 9.354 0.56  0.    0.867 0.    0.498 6.523 8.85  0.56  0.    0.867\n 0.    0.498]\nmeta {'done': False, 'reason': None, 'time_left_s': 6962.6, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n{'base_footprint_x_joint': 5.303, 'base_footprint_y_joint': 6.871, 'base_footprint_z_joint': 0.005, 'base_footprint_rx_joint': -0.0, 'base_footprint_ry_joint': 0.0, 'base_footprint_rz_joint': 0.913, 'torso_joint1': -0.067, 'torso_joint2': -1.445, 'torso_joint3': -0.47, 'torso_joint4': 0.0}\n\n[stdout]\nbase xy 6.579 9.102 yaw 0.000\ntorso [-0.067, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.507, 9.354, 0.569, 0.0, 0.867, 0.0, 0.498]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.507, 8.85, 0.569, 0.0, 0.867, 0.0, 0.498]\ngrip [0.09999868 0.09999859] tcp [6.523 9.354 0.56  0.    0.867 0.    0.498 6.523 8.85  0.56  0.    0.867\n 0.    0.498]\nmeta {'done': False, 'reason': None, 'time_left_s': 6962.6, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n{'base_footprint_x_joint': 5.303, 'base_footprint_y_joint': 6.871, 'base_footprint_z_joint': 0.005, 'base_footprint_rx_joint': -0.0, 'base_footprint_ry_joint': 0.0, 'base_footprint_rz_joint': 0.913, 'torso_joint1': -0.067, 'torso_joint2': -1.445, 'torso_joint3': -0.47, 'torso_joint4': 0.0}","exit":[],"pics":[]},"tok":{"in":62270,"cached":61162,"out":170,"think":null,"usd":0.0212},"sim":{"submit":0,"reset":0}},{"id":29,"t":764.2,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=[HEAD]); p=P(o); a=cur_action(p)","code":"cd /app; cat > /app/setj.py <<'EOF'\nfrom h import *\no=r.get_obs(cameras=[HEAD]); p=P(o); a=cur_action(p)\ntor=[float(v) for v in sys.argv[1].split(',')]\na1=a.copy(); a1[3:7]=tor\nA=np.linspace(a,a1,20); A[:,0:3]=0\nA=np.concatenate([A,np.tile(A[-1],(10,1))])\nres=r.submit('joint_position',A,dt=0.1,video='none')\nsummary(res); save(res,'setj')\nEOF\npython setj.py 1.022,-1.445,-0.47,0"}],"out":{"text":"base xy 6.579 9.102 yaw 0.000\ntorso [1.022, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.699, 9.354, 0.445, -0.0, -1.0, 0.0, 0.024]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.699, 8.85, 0.445, -0.0, -1.0, 0.0, 0.024]\ngrip [0.09999856 0.09999876] tcp [ 6.698  9.354  0.426 -0.    -1.     0.     0.024  6.698  8.85   0.426\n -0.    -1.     0.     0.024]\nmeta {'done': False, 'reason': None, 'time_left_s': 6946.6, 'clipped': [], 'plan': [], 'control_steps_chunk': 90}\n\n[stdout]\nbase xy 6.579 9.102 yaw 0.000\ntorso [1.022, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.699, 9.354, 0.445, -0.0, -1.0, 0.0, 0.024]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [6.699, 8.85, 0.445, -0.0, -1.0, 0.0, 0.024]\ngrip [0.09999856 0.09999876] tcp [ 6.698  9.354  0.426 -0.    -1.     0.     0.024  6.698  8.85   0.426\n -0.    -1.     0.     0.024]\nmeta {'done': False, 'reason': None, 'time_left_s': 6946.6, 'clipped': [], 'plan': [], 'control_steps_chunk': 90}","exit":[],"pics":[]},"tok":{"in":62963,"cached":62268,"out":664,"think":null,"usd":0.0292},"sim":{"submit":1,"reset":0}},{"id":30,"t":778.0,"say":"","calls":[{"kind":"shell","label":"cd /app; python cloud.py c3; python topmap.py img/map3.png 6.5,9.5,8,10.2 img/cloud_c3.npz","code":"cd /app; python cloud.py c3; python topmap.py img/map3.png 6.5,9.5,8,10.2 img/cloud_c3.npz"}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":63986,"cached":62961,"out":300,"think":null,"usd":0.0237},"sim":{"submit":0,"reset":0}},{"id":31,"t":781.1,"say":"","calls":[{"kind":"look","label":"map3.png","code":"/app/img/map3.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s031_0.jpg"]},"tok":{"in":64368,"cached":63984,"out":56,"think":null,"usd":0.0158},"sim":{"submit":0,"reset":0}},{"id":32,"t":783.5,"say":"","calls":[{"kind":"shell","label":"d=np.load('img/cloud_c3.npz'); P=d['pts']; C=d['cols']","code":"cd /app; python -c \"\nimport numpy as np\nd=np.load('img/cloud_c3.npz'); P=d['pts']; C=d['cols']\nk=(P[:,0]>7.3)&(P[:,0]<8.6)&(P[:,1]>8.4)&(P[:,1]<9.1)\nbr=C[k].mean(1)>100\nQ=P[k][br]; print(len(Q), np.percentile(Q[:,2],[5,50,95]))\nQ2=P[k][~br]; print(np.percentile(Q2[:,2],[5,50,95]))\nfor x0,x1 in [(7.3,7.95),(7.95,8.6)]:\n  q=Q[(Q[:,0]>x0)&(Q[:,0]<x1)]; print(q[:,0].min(),q[:,0].max(),q[:,1].min(),q[:,1].max(), np.median(q[:,2]))\n\""}],"out":{"text":"1512 [0.03277365 0.03635444 0.03906186]\n[0.00480004 0.00552355 0.01022016]\n7.4372961507425135 7.9491055823312236 8.506809035547555 8.981946511027248 0.03601715922083962\n7.950883618667856 8.46299999328364 8.452003536321765 8.945268289811077 0.038496510070697015\n\n[stdout]\n1512 [0.03277365 0.03635444 0.03906186]\n[0.00480004 0.00552355 0.01022016]\n7.4372961507425135 7.9491055823312236 8.506809035547555 8.981946511027248 0.03601715922083962\n7.950883618667856 8.46299999328364 8.452003536321765 8.945268289811077 0.038496510070697015","exit":[],"pics":[]},"tok":{"in":65134,"cached":64366,"out":408,"think":null,"usd":0.0249},"sim":{"submit":0,"reset":0}},{"id":33,"t":826.9,"say":"","calls":[{"kind":"robot","label":"cd /app; python go.py 7.5 9.6 0 go3 | tail -2; python go.py 10.0 9.6 0 go3 | tail -2; python cloud.py c4","code":"cd /app; python go.py 7.5 9.6 0 go3 | tail -2; python go.py 10.0 9.6 0 go3 | tail -2; python cloud.py c4"}],"out":{"text":"-0.000e+00  2.300e-02]\nmeta {'done': False, 'reason': None, 'time_left_s': 6886.1, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n 0.    0.76 ]\nmeta {'done': False, 'reason': None, 'time_left_s': 6867.5, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n\n[stdout]\n -0.000e+00  2.300e-02]\nmeta {'done': False, 'reason': None, 'time_left_s': 6886.1, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n 0.    0.76 ]\nmeta {'done': False, 'reason': None, 'time_left_s': 6867.5, 'clipped': None, 'plan': None, 'control_steps_chunk': None}","exit":[],"pics":[]},"tok":{"in":65697,"cached":65132,"out":3651,"think":null,"usd":0.0889},"sim":{"submit":4,"reset":0}},{"id":34,"t":855.6,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=[HEAD]); p=summary(o)[0]\"","code":"cd /app; python -c \"\nfrom h import *\no=r.get_obs(cameras=[HEAD]); p=summary(o)[0]\""},{"kind":"look","label":"c4.png","code":"/app/img/c4.png"}],"out":{"text":"base xy 9.997 9.600 yaw -0.000\ntorso [-0.753, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, 0.0, -0.0] eef [9.783, 9.852, 0.523, 0.0, 0.65, 0.0, 0.76]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [9.783, 9.348, 0.523, 0.0, 0.65, 0.0, 0.76]\ngrip [0.09999828 0.09999791] tcp [9.801 9.852 0.526 0.    0.65  0.    0.76  9.801 9.348 0.526 0.    0.65\n 0.    0.76 ]\nmeta {'done': False, 'reason': None, 'time_left_s': 6864.8, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n\n[stdout]\nbase xy 9.997 9.600 yaw -0.000\ntorso [-0.753, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, -0.0, 0.0, -0.0, 0.0, -0.0] eef [9.783, 9.852, 0.523, 0.0, 0.65, 0.0, 0.76]\nright arm [0.0, 0.0, -0.0, 0.0, -0.0, -0.0, -0.0] eef [9.783, 9.348, 0.523, 0.0, 0.65, 0.0, 0.76]\ngrip [0.09999828 0.09999791] tcp [9.801 9.852 0.526 0.    0.65  0.    0.76  9.801 9.348 0.526 0.    0.65\n 0.    0.76 ]\nmeta {'done': False, 'reason': None, 'time_left_s': 6864.8, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s034_0.jpg"]},"tok":{"in":69520,"cached":65695,"out":145,"think":null,"usd":0.0352},"sim":{"submit":0,"reset":0}},{"id":35,"t":862.9,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=[HEAD]); p=P(o); a=cur_action(p); a[3:7]=[1.022,-1.445,-0.47,0]; a[0:3]=0","code":"cd /app; python -c \"\nfrom h import *\no=r.get_obs(cameras=[HEAD]); p=P(o); a=cur_action(p); a[3:7]=[1.022,-1.445,-0.47,0]; a[0:3]=0\nres=r.submit('joint_position',np.tile(a,(40,1)),dt=0.1,video='none',cameras=[HEAD])\nprint(res.group('joint_pos')[::5,:4])\na[0]=0.01\nres=r.submit('joint_position',np.tile(a,(20,1)),dt=0.1,video='none',cameras=[HEAD])\nprint(res.group('joint_pos')[::5,:4]); summary(res)\n\""}],"out":{"text":"[[-7.5263745e-01 -1.4452653e+00 -4.7008434e-01  5.4674692e-06]\n [ 1.3322834e+00 -1.4448452e+00 -4.6995217e-01 -2.4304909e-06]\n [ 1.1285938e+00 -1.4448477e+00 -4.6995243e-01 -2.3491232e-06]\n [ 9.9613124e-01 -1.4451413e+00 -4.7004268e-01  2.3069147e-06]\n [ 1.0219980e+00 -1.4450024e+00 -4.7000059e-01 -6.6474023e-08]]\n[[ 1.0219980e+00 -1.4450024e+00 -4.7000059e-01 -6.6474023e-08]\n [ 1.0092963e+00 -1.4452778e+00 -4.6990642e-01 -1.7219089e-06]\n [ 1.0050223e+00 -1.4451520e+00 -4.6984977e-01 -1.0739598e-06]]\nbase xy 10.585 9.601 yaw -0.001\ntorso [1.005, -1.445, -0.47, -0.0]\nleft arm [0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0] eef [10.707, 9.853, 0.448, -0.0, -1.0, 0.0, 0.019]\nright arm [0.0, 0.0, 0.0, -0.0, 0.0, -0.0, -0.0] eef [10.707, 9.349, 0.448, -0.0, -1.0, 0.0, 0.019]\ngrip [0.09999877 0.09999763] tcp [10.707  9.853  0.429 -0.    -1.     0.     0.019 10.706  9.349  0.429\n -0.    -1.     0.     0.019]\nmeta {'done': False, 'reason': None, 'time_left_s': 6840.4, 'clipped': [], 'plan': [], 'control_steps_chunk': 60}\n\n[stdout]\n[[-7.5263745e-01 -1.4452653e+00 -4.7008434e-01  5.4674692e-06]\n [ 1.3322834e+00 -1.4448452e+00 -4.6995217e-01 -2.4304909e-06]\n [ 1.1285938e+00 -1.4448477e+00 -4.6995243e-01 -2.3491232e-06]\n [ 9.9613124e-01 -1.4451413e+00 -4.7004268e-01  2.3069147e-06]\n [ 1.0219980e+00 -1.4450024e+00 -4.7000059e-01 -6.6474023e-08]]\n[[ 1.0219980e+00 -1.4450024e+00 -4.7000059e-01 -6.6474023e-08]\n [ 1.0092963e+00 -1.4452778e+00 -4.6990642e-01 -1.7219089e-06]\n [ 1.0050223e+00 -1.4451520e+00 -4.6984977e-01 -1.0739598e-06]]\nbase xy 10.585 9.601 yaw -0.001\ntorso [1.005, -1.445, -0.47, -0.0]\nleft arm [0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0] eef [10.707, 9.853, 0.448, -0.0, -1.0, 0.0, 0.019]\nright arm [0.0, 0.0, 0.0, -0.0, 0.0, -0.0, -0.0] eef [10.707, 9.349, 0.448, -0.0, -1.0, 0.0, 0.019]\ngrip [0.09999877 0.09999763] tcp [10.707  9.853  0.429 -0.    -1.     0.     0.019 10.706  9.349  0.429\n -0.    -1.     0.     0.019]\nmeta {'done': False, 'reason': None, 'time_left_s': 6840.4, 'clipped': [], 'plan': [], 'control_steps_chunk': 60}","exit":[],"pics":[]},"tok":{"in":70334,"cached":69518,"out":789,"think":null,"usd":0.0338},"sim":{"submit":2,"reset":0}},{"id":36,"t":887.1,"say":"","calls":[{"kind":"robot","label":"s=open('/app/h.py').read()","code":"cd /app; python - <<'EOF'\ns=open('/app/h.py').read()\ns=s.replace('''    o=r.get_obs(cameras=[HEAD],video='none')\n    p=P(o); hold=cur_action(p)''','''    o=r.get_obs(cameras=[HEAD],video='none')\n    p=P(o); hold=get_hold(p)''')\ns=s.replace('''        A=np.tile(hold,(n+6,1)); A[:,0:3]=0\n        A[:n,0]=ex*frac/n; A[:n,1]=ey*frac/n; A[:n,2]=eyaw*frac/n''','''        A=np.tile(hold,(n+6,1)); A[:,0:3]=0\n        prof=np.minimum(1,np.minimum(np.arange(1,n+1),np.arange(n,0,-1))/8.0); prof=prof/prof.sum()\n        A[:n,0]=ex*frac*prof; A[:n,1]=ey*frac*prof; A[:n,2]=eyaw*frac*prof''')\ns+='''\ndef get_hold(p=None):\n    if os.path.exists('/app/hold.npy'): return np.load('/app/hold.npy')\n    return cur_action(p)\ndef set_hold(a):\n    a=np.array(a,dtype=float).copy(); a[0:3]=0; np.save('/app/hold.npy',a)\ndef sub(A,dt=0.1,**kw):\n    A=np.array(A,dtype=float)\n    kw.setdefault('video','none'); kw.setdefault('cameras',[HEAD])\n    res=r.submit('joint_position',A,dt=dt,**kw)\n    set_hold(A[-1])\n    if res.meta.get('done'): print('DONE!!', res.meta.get('reason'))\n    return res\n'''\nopen('/app/h.py','w').write(s)\nEOF\npython -c \"\nfrom h import *\no=r.get_obs(cameras=[HEAD]); p=P(o); a=cur_action(p); a[3:7]=[1.022,-1.445,-0.47,0]; set_hold(a)\"\npython go.py 11.3 9.6 0 go4 | tail -9 | head -2"}],"out":{"text":"it 0 pos 10.585 9.601 yaw -0.001  err 0.715 -0.001 0.001\nit 1 pos 11.284 9.601 yaw -0.000  err 0.016 -0.001 0.000\n\n[stdout]\nit 0 pos 10.585 9.601 yaw -0.001  err 0.715 -0.001 0.001\nit 1 pos 11.284 9.601 yaw -0.000  err 0.016 -0.001 0.000","exit":[],"pics":[]},"tok":{"in":71874,"cached":70332,"out":1214,"think":null,"usd":0.0461},"sim":{"submit":1,"reset":0}},{"id":37,"t":899.8,"say":"","calls":[{"kind":"look","label":"go4.png","code":"/app/img/go4.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s037_0.jpg"]},"tok":{"in":73192,"cached":71872,"out":56,"think":null,"usd":0.0221},"sim":{"submit":0,"reset":0}},{"id":38,"t":902.0,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=[HEAD]); p=summary(o)[0]; print(np.load('/app/hold.npy')[3:7])\"","code":"cd /app; python -c \"\nfrom h import *\no=r.get_obs(cameras=[HEAD]); p=summary(o)[0]; print(np.load('/app/hold.npy')[3:7])\""}],"out":{"text":"base xy 11.284 9.601 yaw -0.000\ntorso [0.163, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0] eef [11.263, 9.853, 0.562, -0.0, 0.919, -0.0, 0.395]\nright arm [0.0, 0.0, 0.0, -0.0, 0.0, -0.0, -0.0] eef [11.262, 9.349, 0.562, -0.0, 0.919, -0.0, 0.395]\ngrip [0.0999988  0.09999752] tcp [11.276  9.853  0.549 -0.     0.919 -0.     0.395 11.276  9.349  0.549\n -0.     0.919 -0.     0.395]\nmeta {'done': False, 'reason': None, 'time_left_s': 6818.2, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n[ 1.022 -1.445 -0.47   0.   ]\n\n[stdout]\nbase xy 11.284 9.601 yaw -0.000\ntorso [0.163, -1.445, -0.47, 0.0]\nleft arm [0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0] eef [11.263, 9.853, 0.562, -0.0, 0.919, -0.0, 0.395]\nright arm [0.0, 0.0, 0.0, -0.0, 0.0, -0.0, -0.0] eef [11.262, 9.349, 0.562, -0.0, 0.919, -0.0, 0.395]\ngrip [0.0999988  0.09999752] tcp [11.276  9.853  0.549 -0.     0.919 -0.     0.395 11.276  9.349  0.549\n -0.     0.919 -0.     0.395]\nmeta {'done': False, 'reason': None, 'time_left_s': 6818.2, 'clipped': None, 'plan': None, 'control_steps_chunk': None}\n[ 1.022 -1.445 -0.47   0.   ]","exit":[],"pics":[]},"tok":{"in":74059,"cached":73190,"out":142,"think":null,"usd":0.0218},"sim":{"submit":0,"reset":0}},{"id":39,"t":909.5,"say":"","calls":[{"kind":"robot","label":"a=get_hold();","code":"cd /app; python -c \"\nfrom h import *\na=get_hold(); \nres=sub(np.tile(a,(15,1)),dt=0.1,video='frames')\nprint(np.round(res.group('joint_pos')[::3,0],3))\nn=60; A=np.tile(a,(n,1)); A[:,0]=-0.5/n\nres=sub(A,dt=1/30,video='frames')\nprint(np.round(res.group('joint_pos')[::3,0],3))\nres=sub(np.tile(a,(30,1)),dt=1/30,video='frames')\nprint(np.round(res.group('joint_pos')[::3,0],3))\n\""}],"out":{"text":"[0.163 1.375 0.821]\n[1.015 0.975 1.021 1.024]\n[1.026 1.022 1.022]\n\n[stdout]\n[0.163 1.375 0.821]\n[1.015 0.975 1.021 1.024]\n[1.026 1.022 1.022]","exit":[],"pics":[]},"tok":{"in":74582,"cached":74057,"out":573,"think":null,"usd":0.0289},"sim":{"submit":3,"reset":0}},{"id":40,"t":931.3,"say":"","calls":[{"kind":"robot","label":"a=get_hold()","code":"cd /app; python -c \"\nfrom h import *\na=get_hold()\no=r.get_obs(cameras=[HEAD]); p=P(o); print(p['torso_joint1'])\nn=53; A=np.tile(a,(n+6,1)); A[:,0:3]=0\nprof=np.minimum(1,np.minimum(np.arange(1,n+1),np.arange(n,0,-1))/8.0); prof=prof/prof.sum()\nA[:n,0]=0.5*prof\nres=sub(A,dt=1/30,video='frames',video_fps=30)\nprint(np.round(res.group('joint_pos')[:,0],3))\no=r.get_obs(cameras=[HEAD]); p=P(o); print(p['torso_joint1'])\n\""}],"out":{"text":"1.0220003128051758\n[1.022 1.022 1.022 1.021 1.016 1.017 1.014 1.016 1.003 1.016 1.006 1.015\n 1.014 1.017 1.008 1.017 1.014 1.016 1.001 1.016 1.005 1.017 1.013 1.018\n 1.009 1.018 1.016 1.016 1.012 1.013 1.008 1.014 1.016 1.018 1.004 1.016\n 1.008 1.014 1.017 1.019 1.006 1.016 1.011 1.013 1.01  1.013 1.014 1.024\n 1.02  1.033 1.024 1.025 1.022 1.022 1.022 1.022 1.022 1.022 1.022 1.022\n 1.022]\n1.0219975709915161\n\n[stdout]\n1.0220003128051758\n[1.022 1.022 1.022 1.021 1.016 1.017 1.014 1.016 1.003 1.016 1.006 1.015\n 1.014 1.017 1.008 1.017 1.014 1.016 1.001 1.016 1.005 1.017 1.013 1.018\n 1.009 1.018 1.016 1.016 1.012 1.013 1.008 1.014 1.016 1.018 1.004 1.016\n 1.008 1.014 1.017 1.019 1.006 1.016 1.011 1.013 1.01  1.013 1.014 1.024\n 1.02  1.033 1.024 1.025 1.022 1.022 1.022 1.022 1.022 1.022 1.022 1.022\n 1.022]\n1.0219975709915161","exit":[],"pics":[]},"tok":{"in":75229,"cached":74580,"out":740,"think":null,"usd":0.033},"sim":{"submit":1,"reset":0}},{"id":41,"t":943.5,"say":"","calls":[{"kind":"robot","label":"def t(): o=r.get_obs(cameras=[HEAD]); print('torso1',round(P(o)['torso_joint1'],3))","code":"cd /app; python -c \"\nfrom h import *\ndef t(): o=r.get_obs(cameras=[HEAD]); print('torso1',round(P(o)['torso_joint1'],3))\nt(); goto(11.3,9.6,0); t(); look('x'); t()\n\""}],"out":{"text":"torso1 1.022\nit 0 pos 11.280 9.600 yaw -0.000  err 0.020 -0.000 0.000\ntorso1 1.022\ntorso1 1.022\n\n[stdout]\ntorso1 1.022\nit 0 pos 11.280 9.600 yaw -0.000  err 0.020 -0.000 0.000\ntorso1 1.022\ntorso1 1.022","exit":[],"pics":[]},"tok":{"in":76309,"cached":75227,"out":506,"think":null,"usd":0.0306},"sim":{"submit":0,"reset":0}},{"id":42,"t":951.3,"say":"","calls":[{"kind":"robot","label":"s=open('/app/spin.py').read()","code":"cd /app; python - <<'EOF'\ns=open('/app/spin.py').read()\ns=s.replace(\"p=P(o); base=cur_action(p)\",\"p=P(o); base=get_hold(p)\")\ns=s.replace(\"        res=r.submit('joint_position',A,dt=0.1,video='none')\",\"        res=sub(A,dt=0.1)\")\nopen('/app/spin.py','w').write(s)\nEOF\npython spin.py 6 e1 | head -1; python topmap.py img/map_e1.png 6,14,5,12 img/cloud_e1.npz"}],"out":{"text":"base xy 11.280 9.601 yaw -1.267\n\n[stdout]\nbase xy 11.280 9.601 yaw -1.267","exit":[],"pics":[]},"tok":{"in":76905,"cached":76307,"out":611,"think":null,"usd":0.0305},"sim":{"submit":5,"reset":0}},{"id":43,"t":974.4,"say":"","calls":[{"kind":"look","label":"spin.png","code":"/app/img/spin.png"},{"kind":"look","label":"map_e1.png","code":"/app/img/map_e1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s043_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s043_0.jpg"]},"tok":{"in":77564,"cached":76903,"out":111,"think":null,"usd":0.0209},"sim":{"submit":0,"reset":0}},{"id":44,"t":979.4,"say":"The corridor turns south at x ≈ 12–13.9 and there's a door at the east end. Driving round the corner to look south.","calls":[{"kind":"robot","label":"cd /app; python go.py 12.9 8.8 -1.5708 g5 | grep torso; python go.py 12.9 7.0 -1.5708 g5 | grep torso; python ","code":"cd /app; python go.py 12.9 8.8 -1.5708 g5 | grep torso; python go.py 12.9 7.0 -1.5708 g5 | grep torso; python cloud.py c5"}],"out":{"text":"torso [1.022, -1.445, -0.47, -0.0]\ntorso [-0.621, -1.445, -0.47, 0.0]\n\n[stdout]\ntorso [1.022, -1.445, -0.47, -0.0]\ntorso [-0.621, -1.445, -0.47, 0.0]","exit":[],"pics":[]},"tok":{"in":78700,"cached":77562,"out":431,"think":null,"usd":0.0298},"sim":{"submit":5,"reset":0}},{"id":45,"t":1014.4,"say":"","calls":[{"kind":"robot","label":"a=get_hold(); print(a[3:7])","code":"cd /app; python -c \"\nfrom h import *\na=get_hold(); print(a[3:7])\nres=sub(np.tile(a,(15,1)),dt=0.1)\no=r.get_obs(cameras=[HEAD]); print(P(o)['torso_joint1'])\nn=90; A=np.tile(a,(n+6,1)); A[:,0:3]=0\nprof=np.minimum(1,np.minimum(np.arange(1,n+1),np.arange(n,0,-1))/8.0); prof=prof/prof.sum()\nA[:n,0]=1.2*prof\nres=sub(A,dt=1/30,video='frames',video_fps=30)\nprint(np.round(res.group('joint_pos')[:,0],3))\nprint(np.round(res.group('base_pose')[::10,:2],3))\n\""}],"out":{"text":"[ 1.022 -1.445 -0.47   0.   ]\n0.8115086555480957\n[ 0.812  0.796  0.787  0.779  0.774  0.768  0.757  0.738  0.71   0.686\n  0.652  0.636  0.593  0.574  0.543  0.523  0.468  0.464  0.414  0.394\n  0.339  0.324  0.287  0.238  0.228  0.171  0.151  0.147  0.112  0.087\n  0.092  0.05   0.024 -0.026 -0.041 -0.094 -0.107 -0.152 -0.182 -0.227\n -0.24  -0.304 -0.315 -0.362 -0.381 -0.436 -0.45  -0.477 -0.525 -0.553\n -0.601 -0.63  -0.683 -0.696 -0.759 -0.775 -0.814 -0.852 -0.885 -0.933\n -0.957 -1.01  -1.016 -1.043 -1.029 -1.054 -1.044 -1.027 -1.031 -1.028\n -1.024 -0.999 -1.053 -1.032 -1.037 -1.069 -1.059 -1.073 -1.1   -1.08\n -1.071 -1.053 -1.042 -1.013 -1.036 -1.029 -1.02  -1.001 -0.99  -0.969\n -0.94  -0.904 -0.859 -0.806 -0.747 -0.682 -0.613 -0.613]\n[[12.899  7.013]\n [12.899  6.92 ]\n [12.899  6.779]\n [12.899  6.637]\n [12.899  6.496]\n [12.899  6.354]\n [12.899  6.212]\n [12.899  6.071]\n [12.899  5.93 ]\n [12.899  5.837]]\n\n[stdout]\n[ 1.022 -1.445 -0.47   0.   ]\n0.8115086555480957\n[ 0.812  0.796  0.787  0.779  0.774  0.768  0.757  0.738  0.71   0.686\n  0.652  0.636  0.593  0.574  0.543  0.523  0.468  0.464  0.414  0.394\n  0.339  0.324  0.287  0.238  0.228  0.171  0.151  0.147  0.112  0.087\n  0.092  0.05   0.024 -0.026 -0.041 -0.094 -0.107 -0.152 -0.182 -0.227\n -0.24  -0.304 -0.315 -0.362 -0.381 -0.436 -0.45  -0.477 -0.525 -0.553\n -0.601 -0.63  -0.683 -0.696 -0.759 -0.775 -0.814 -0.852 -0.885 -0.933\n -0.957 -1.01  -1.016 -1.043 -1.029 -1.054 -1.044 -1.027 -1.031 -1.028\n -1.024 -0.999 -1.053 -1.032 -1.037 -1.069 -1.059 -1.073 -1.1   -1.08\n -1.071 -1.053 -1.042 -1.013 -1.036 -1.029 -1.02  -1.001 -0.99  -0.969\n -0.94  -0.904 -0.859 -0.806 -0.747 -0.682 -0.613 -0.613]\n[[12.899  7.013]\n [12.899  6.92 ]\n [12.899  6.779]\n [12.899  6.637]\n [12.899  6.496]\n [12.899  6.354]\n [12.899  6.212]\n [12.899  6.071]\n [12.899  5.93 ]\n [12.899  5.837]]","exit":[],"pics":[]},"tok":{"in":79206,"cached":78698,"out":692,"think":null,"usd":0.0321},"sim":{"submit":2,"reset":0}},{"id":46,"t":1036.2,"say":"","calls":[{"kind":"robot","label":"a=get_hold()","code":"cd /app; python -c \"\nfrom h import *\na=get_hold()\nres=sub(np.tile(a,(30,1)),dt=0.1)\no=r.get_obs(cameras=[HEAD]); print(P(o)['torso_joint1'])\n\"; python cloud.py c6;  python topmap.py img/map_e2.png 9,16,2,10 img/cloud_e1.npz img/cloud_c6.npz"}],"out":{"text":"0.973146378993988\n\n[stdout]\n0.973146378993988","exit":[],"pics":[]},"tok":{"in":80543,"cached":79204,"out":662,"think":null,"usd":0.0358},"sim":{"submit":1,"reset":0}},{"id":47,"t":1049.8,"say":"","calls":[{"kind":"look","label":"c6.png","code":"/app/img/c6.png"},{"kind":"look","label":"map_e2.png","code":"/app/img/map_e2.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s047_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s047_0.jpg"]},"tok":{"in":81241,"cached":80541,"out":111,"think":null,"usd":0.0218},"sim":{"submit":0,"reset":0}},{"id":48,"t":1059.1,"say":"","calls":[{"kind":"robot","label":"s=open('/app/h.py').read()","code":"cd /app; python - <<'EOF'\ns=open('/app/h.py').read()\ns=s.replace(\"\"\"        if dist<tol and abs(eyaw)<ytol: return p\"\"\",\"\"\"        if dist<tol and abs(eyaw)<ytol: return settle(hold)\"\"\")\ns+='''\ndef settle(hold=None,tol=0.04,maxs=4.0):\n    hold=get_hold() if hold is None else hold\n    t=0\n    while True:\n        o=r.get_obs(cameras=[HEAD]); p=P(o)\n        e=abs(p['torso_joint1']-hold[3])\n        if e<tol or t>=maxs: return p\n        sub(np.tile(hold,(5,1)),dt=0.1); t+=0.5\n'''\nopen('/app/h.py','w').write(s)\nEOF\npython go.py 12.9 8.1 0 g6 | grep torso"}],"out":{"text":"torso [1.022, -1.445, -0.47, -0.0]\n\n[stdout]\ntorso [1.022, -1.445, -0.47, -0.0]","exit":[],"pics":[]},"tok":{"in":82503,"cached":81239,"out":974,"think":null,"usd":0.042},"sim":{"submit":4,"reset":0}},{"id":49,"t":1088.1,"say":"","calls":[{"kind":"look","label":"g6.png","code":"/app/img/g6.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s049_0.jpg"]},"tok":{"in":83528,"cached":82501,"out":56,"think":null,"usd":0.0228},"sim":{"submit":0,"reset":0}},{"id":50,"t":1094.7,"say":"Closed door at the east end. Going back to check the wooden door with a sign plate I saw near the start.","calls":[{"kind":"robot","label":"cd /app; python go.py 11.5 9.4 3.1416 g7 | grep torso; python go.py 3.8 9.4 1.5708 g7 | grep -E \"torso|base\"","code":"cd /app; python go.py 11.5 9.4 3.1416 g7 | grep torso; python go.py 3.8 9.4 1.5708 g7 | grep -E \"torso|base\""}],"out":{"text":"torso [1.022, -1.445, -0.47, -0.0]\nbase xy 3.819 9.404 yaw 1.572\ntorso [1.022, -1.445, -0.47, 0.0]\n\n[stdout]\ntorso [1.022, -1.445, -0.47, -0.0]\nbase xy 3.819 9.404 yaw 1.572\ntorso [1.022, -1.445, -0.47, 0.0]","exit":[],"pics":[]},"tok":{"in":84438,"cached":83526,"out":601,"think":null,"usd":0.0333},"sim":{"submit":12,"reset":0}},{"id":51,"t":1188.7,"say":"","calls":[{"kind":"look","label":"g7.png","code":"/app/img/g7.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s051_0.jpg"]},"tok":{"in":85133,"cached":84436,"out":144,"think":null,"usd":0.0233},"sim":{"submit":0,"reset":0}},{"id":52,"t":1191.8,"say":"","calls":[{"kind":"robot","label":"cd /app; python go.py 3.6 8.6 1.5708 g8 | grep -E \"torso\"","code":"cd /app; python go.py 3.6 8.6 1.5708 g8 | grep -E \"torso\""}],"out":{"text":"torso [1.023, -1.445, -0.47, -0.0]\n\n[stdout]\ntorso [1.023, -1.445, -0.47, -0.0]","exit":[],"pics":[]},"tok":{"in":86088,"cached":85131,"out":146,"think":null,"usd":0.0247},"sim":{"submit":2,"reset":0}},{"id":53,"t":1201.6,"say":"","calls":[{"kind":"look","label":"g8.png","code":"/app/img/g8.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s053_0.jpg"]},"tok":{"in":86285,"cached":86086,"out":56,"think":null,"usd":0.0193},"sim":{"submit":0,"reset":0}},{"id":54,"t":1215.2,"say":"Found two side-by-side doors with sign plates on the north wall at x ≈ 3.0–4.3. They look like restrooms, both closed. Measuring them with depth before trying to push one open.","calls":[{"kind":"shell","label":"d=np.load('img/cloud_c8.npz'); P=d['pts']; C=d['cols']","code":"cd /app; python cloud.py c8; python -c \"\nimport numpy as np\nd=np.load('img/cloud_c8.npz'); P=d['pts']; C=d['cols']\nk=(P[:,2]>0.3)&(P[:,2]<1.5)&(P[:,1]>9.5)\nQ=P[k]\nfor x in np.arange(2.6,4.8,0.1):\n  q=Q[(Q[:,0]>x)&(Q[:,0]<x+0.1)]\n  if len(q): print(round(x,2), len(q), np.round(np.percentile(q[:,1],[10,50,90]),3))\n\""}],"out":{"text":"2.6 311 [10.067 10.067 10.068]\n2.7 931 [ 9.996 10.029 10.19 ]\n2.8 413 [10.176 10.181 10.187]\n2.9 430 [10.162 10.168 10.173]\n3.0 437 [10.148 10.154 10.159]\n3.1 450 [10.134 10.139 10.145]\n3.2 463 [10.12  10.125 10.131]\n3.3 473 [10.106 10.111 10.117]\n3.4 490 [10.092 10.097 10.103]\n3.5 489 [10.078 10.083 10.089]\n3.6 573 [10.007 10.007 10.084]\n3.7 558 [10.007 10.007 10.008]\n3.8 561 [10.007 10.007 10.008]\n3.9 445 [10.007 10.008 10.074]\n4.0 514 [10.074 10.074 10.074]\n4.1 516 [10.074 10.074 10.074]\n4.2 514 [10.074 10.074 10.074]\n4.3 515 [10.074 10.074 10.074]\n4.4 514 [10.074 10.074 10.074]\n4.5 516 [10.074 10.074 10.074]\n4.6 517 [10.073 10.074 10.074]\n4.7 513 [10.073 10.073 10.074]\n\n[stdout]\n2.6 311 [10.067 10.067 10.068]\n2.7 931 [ 9.996 10.029 10.19 ]\n2.8 413 [10.176 10.181 10.187]\n2.9 430 [10.162 10.168 10.173]\n3.0 437 [10.148 10.154 10.159]\n3.1 450 [10.134 10.139 10.145]\n3.2 463 [10.12  10.125 10.131]\n3.3 473 [10.106 10.111 10.117]\n3.4 490 [10.092 10.097 10.103]\n3.5 489 [10.078 10.083 10.089]\n3.6 573 [10.007 10.007 10.084]\n3.7 558 [10.007 10.007 10.008]\n3.8 561 [10.007 10.007 10.008]\n3.9 445 [10.007 10.008 10.074]\n4.0 514 [10.074 10.074 10.074]\n4.1 516 [10.074 10.074 10.074]\n4.2 514 [10.074 10.074 10.074]\n4.3 515 [10.074 10.074 10.074]\n4.4 514 [10.074 10.074 10.074]\n4.5 516 [10.074 10.074 10.074]\n4.6 517 [10.073 10.074 10.074]\n4.7 513 [10.073 10.073 10.074]","exit":[],"pics":[]},"tok":{"in":87152,"cached":86283,"out":1324,"think":null,"usd":0.0481},"sim":{"submit":0,"reset":0}},{"id":55,"t":1228.6,"say":"The left door (x ≈ 2.75–3.6) is already ajar, opening inward with its hinge on the east side, so it's probably the accessible bathroom. I'll push it open by driving slowly forward.","calls":[{"kind":"robot","label":"a=get_hold()","code":"cd /app; python go.py 3.1 9.3 1.5708 g9 | grep -E \"torso\"; python -c \"\nfrom h import *\na=get_hold()\nfor k in range(3):\n    n=45; A=np.tile(a,(n+10,1)); A[:,0:3]=0; A[:n,0]=0.3/n\n    res=sub(A,dt=1/30)\n    p=P(res); print(base_state(p), p['torso_joint1'])\nsettle(); look('g9b')\n\""}],"out":{"text":"torso [1.029, -1.445, -0.47, -0.0]\n(3.116901397705078, 9.5830078125, 1.568142469103351) 1.0219998359680176\n(3.132171154022217, 9.860283851623535, 1.5676711168491109) 1.022015929222107\n(3.1432032585144043, 10.150028228759766, 1.563823190736783) 1.0220006704330444\n\n[stdout]\ntorso [1.029, -1.445, -0.47, -0.0]\n(3.116901397705078, 9.5830078125, 1.568142469103351) 1.0219998359680176\n(3.132171154022217, 9.860283851623535, 1.5676711168491109) 1.022015929222107\n(3.1432032585144043, 10.150028228759766, 1.563823190736783) 1.0220006704330444","exit":[],"pics":[]},"tok":{"in":88948,"cached":87150,"out":978,"think":null,"usd":0.046},"sim":{"submit":7,"reset":0}},{"id":56,"t":1256.9,"say":"","calls":[{"kind":"look","label":"g9b.png","code":"/app/img/g9b.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s056_0.jpg"]},"tok":{"in":90088,"cached":88946,"out":57,"think":null,"usd":0.0246},"sim":{"submit":0,"reset":0}},{"id":57,"t":1260.9,"say":"","calls":[{"kind":"robot","label":"cd /app; python go.py 3.15 10.7 1.5708 g10 | grep torso; python spin.py 6 b1 | head -1; python topmap.py img/m","code":"cd /app; python go.py 3.15 10.7 1.5708 g10 | grep torso; python spin.py 6 b1 | head -1; python topmap.py img/map_b1.png 1,6,9,14 img/cloud_b1.npz"}],"out":{"text":"torso [1.026, -1.445, -0.47, -0.0]\nbase xy 3.147 10.687 yaw 0.305\n\n[stdout]\ntorso [1.026, -1.445, -0.47, -0.0]\nbase xy 3.147 10.687 yaw 0.305","exit":[],"pics":[]},"tok":{"in":90956,"cached":90086,"out":306,"think":null,"usd":0.0285},"sim":{"submit":12,"reset":0}},{"id":58,"t":1294.0,"say":"","calls":[{"kind":"look","label":"spin.png","code":"/app/img/spin.png"},{"kind":"look","label":"map_b1.png","code":"/app/img/map_b1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s058_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s058_0.jpg"]},"tok":{"in":91333,"cached":90954,"out":111,"think":null,"usd":0.0223},"sim":{"submit":0,"reset":0}},{"id":59,"t":1305.5,"say":"This room is a large wood-floored office with windows, not a bathroom. Backing out and checking the opening on the south side at the west end of the corridor.","calls":[{"kind":"robot","label":"cd /app; python go.py 3.15 9.6 1.5708 g11 | grep torso; python go.py 0.5 9.6 3.1416 g11 | grep torso; python g","code":"cd /app; python go.py 3.15 9.6 1.5708 g11 | grep torso; python go.py 0.5 9.6 3.1416 g11 | grep torso; python go.py -1.5 9.6 -1.5708 g11 | grep torso; python cloud.py c12; python topmap.py img/map_w1.png -5,1,5,10.5 img/cloud_0.npz img/cloud_c12.npz"}],"out":{"text":"torso [1.017, -1.445, -0.47, 0.0]\ntorso [1.014, -1.445, -0.47, 0.0]\ntorso [1.022, -1.445, -0.47, -0.0]\n\n[stdout]\ntorso [1.017, -1.445, -0.47, 0.0]\ntorso [1.014, -1.445, -0.47, 0.0]\ntorso [1.022, -1.445, -0.47, -0.0]","exit":[],"pics":[]},"tok":{"in":92662,"cached":91331,"out":826,"think":null,"usd":0.0414},"sim":{"submit":20,"reset":0}},{"id":60,"t":1382.5,"say":"","calls":[{"kind":"look","label":"c12.png","code":"/app/img/c12.png"},{"kind":"look","label":"map_w1.png","code":"/app/img/map_w1.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s060_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s060_0.jpg"]},"tok":{"in":93585,"cached":92660,"out":111,"think":null,"usd":0.0254},"sim":{"submit":0,"reset":0}},{"id":61,"t":1386.7,"say":"","calls":[{"kind":"robot","label":"cd /app; python go.py -1.5 9.6 2.7 g13 | grep torso","code":"cd /app; python go.py -1.5 9.6 2.7 g13 | grep torso"}],"out":{"text":"torso [1.022, -1.445, -0.47, 0.0]\n\n[stdout]\ntorso [1.022, -1.445, -0.47, 0.0]","exit":[],"pics":[]},"tok":{"in":94796,"cached":93583,"out":282,"think":null,"usd":0.0304},"sim":{"submit":2,"reset":0}},{"id":62,"t":1397.7,"say":"","calls":[{"kind":"look","label":"g13.png","code":"/app/img/g13.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s062_0.jpg"]},"tok":{"in":95129,"cached":94794,"out":56,"think":null,"usd":0.0218},"sim":{"submit":0,"reset":0}},{"id":63,"t":1418.1,"say":"","calls":[{"kind":"robot","label":"a=get_hold()","code":"cd /app; python go.py 0.5 9.6 0 g14 | grep torso; python go.py 4.4 9.3 1.5708 g14 | grep torso; python -c \"\nfrom h import *\na=get_hold()\nfor k in range(3):\n    n=45; A=np.tile(a,(n+10,1)); A[:,0:3]=0; A[:n,0]=0.3/n\n    res=sub(A,dt=1/30)\n    p=P(res); print(base_state(p), p['torso_joint1'])\nsettle(); look('g14b')\n\""}],"out":{"text":"torso [1.022, -1.445, -0.47, -0.0]\ntorso [1.022, -1.445, -0.47, -0.0]\n(4.388669013977051, 9.5970458984375, 1.569477030928851) 1.0219987630844116\n(4.389388084411621, 9.892135620117188, 1.5696512412956993) 1.022000789642334\n(4.390341758728027, 10.187142372131348, 1.5695269008923587) 1.021999478340149\n\n[stdout]\ntorso [1.022, -1.445, -0.47, -0.0]\ntorso [1.022, -1.445, -0.47, -0.0]\n(4.388669013977051, 9.5970458984375, 1.569477030928851) 1.0219987630844116\n(4.389388084411621, 9.892135620117188, 1.5696512412956993) 1.022000789642334\n(4.390341758728027, 10.187142372131348, 1.5695269008923587) 1.021999478340149","exit":[],"pics":[]},"tok":{"in":95996,"cached":95127,"out":1285,"think":null,"usd":0.0491},"sim":{"submit":19,"reset":0}},{"id":64,"t":1503.0,"say":"","calls":[{"kind":"look","label":"g14b.png","code":"/app/img/g14b.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s064_0.jpg"]},"tok":{"in":97466,"cached":95994,"out":57,"think":null,"usd":0.0277},"sim":{"submit":0,"reset":0}},{"id":65,"t":1509.8,"say":"That's a conference room, not a bathroom. Exploring the wide corridor heading south at the west end next.","calls":[{"kind":"robot","label":"cd /app; python go.py 4.4 9.5 1.5708 g15 | grep torso; python go.py 0.0 9.6 -2.4 g15 | grep torso; python go.p","code":"cd /app; python go.py 4.4 9.5 1.5708 g15 | grep torso; python go.py 0.0 9.6 -2.4 g15 | grep torso; python go.py -1.3 7.0 -1.5708 g15 | grep torso; python go.py -1.3 5.5 -1.5708 g15 | grep torso; python spin.py 6 w2 | head -1; python topmap.py img/map_w2.png -6,3,0,9 img/cloud_w2.npz"}],"out":{"text":"Command did not complete within its 120s timeout and was moved to the background (ID: b76vnygfl). Output is being written to: /tmp/claude-0/-app/6875c75c-47a7-4d26-85bb-879893bfda12/tasks/b76vnygfl.output. You will be notified when it completes. If it is still running after 10m in the background, it will be stopped and you will be notified. To check interim output, use Read on that file path.\nSession cwd remains /app; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":98377,"cached":97464,"out":599,"think":null,"usd":0.036},"sim":{"submit":30,"reset":0}},{"id":66,"t":1642.8,"say":"","calls":[{"kind":"shell","label":"sleep 45; cat /tmp/claude-0/-app/*/tasks/b76vnygfl.output","code":"sleep 45; cat /tmp/claude-0/-app/*/tasks/b76vnygfl.output"}],"out":{"text":"torso [1.045, -1.445, -0.47, -0.0]\ntorso [1.022, -1.445, -0.47, 0.0]\ntorso [1.022, -1.445, -0.47, -0.0]\ntorso [1.005, -1.445, -0.47, 0.0]\nbase xy -1.299 5.507 yaw -2.837\n\n[exited with code 0]\n\n[stdout]\ntorso [1.045, -1.445, -0.47, -0.0]\ntorso [1.022, -1.445, -0.47, 0.0]\ntorso [1.022, -1.445, -0.47, -0.0]\ntorso [1.005, -1.445, -0.47, 0.0]\nbase xy -1.299 5.507 yaw -2.837\n\n[exited with code 0]","exit":[],"pics":[]},"tok":{"in":99183,"cached":98375,"out":898,"think":null,"usd":0.0417},"sim":{"submit":0,"reset":0}},{"id":67,"t":1690.5,"say":"","calls":[{"kind":"look","label":"spin.png","code":"/app/img/spin.png"},{"kind":"look","label":"map_w2.png","code":"/app/img/map_w2.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s067_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s067_0.jpg"]},"tok":{"in":100716,"cached":99181,"out":111,"think":null,"usd":0.0297},"sim":{"submit":0,"reset":0}},{"id":68,"t":1697.6,"say":"No doors along this corridor yet. Continuing south to its far end.","calls":[{"kind":"robot","label":"goto(-1.3,1.5,-1.5708,vmax=0.6)","code":"cd /app; timeout 110 python -c \"\nfrom h import *\ngoto(-1.3,1.5,-1.5708,vmax=0.6)\n\" | tail -1; timeout 100 python spin.py 6 w3 | head -1; python topmap.py img/map_w3.png -6,4,-4,6 img/cloud_w3.npz"}],"out":{"text":"it 4 pos -1.298 1.511 yaw -1.571  err 0.012 -0.002 0.000\nbase xy -1.296 1.511 yaw -2.837\n\n[stdout]\nit 4 pos -1.298 1.511 yaw -1.571  err 0.012 -0.002 0.000\nbase xy -1.296 1.511 yaw -2.837","exit":[],"pics":[]},"tok":{"in":101766,"cached":100714,"out":510,"think":null,"usd":0.0356},"sim":{"submit":15,"reset":0}},{"id":69,"t":1755.3,"say":"","calls":[{"kind":"look","label":"spin.png","code":"/app/img/spin.png"},{"kind":"look","label":"map_w3.png","code":"/app/img/map_w3.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s069_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s069_0.jpg"]},"tok":{"in":102362,"cached":101764,"out":111,"think":null,"usd":0.0256},"sim":{"submit":0,"reset":0}},{"id":70,"t":1766.5,"say":"","calls":[{"kind":"robot","label":"goto(-1.3,-2.8,0,vmax=0.6)","code":"cd /app; timeout 110 python -c \"\nfrom h import *\ngoto(-1.3,-2.8,0,vmax=0.6)\nlook('d1',[HEAD])\ngoto(-1.3,-2.8,3.1416,vmax=0.6)\nlook('d2',[HEAD])\n\" | tail -1; python -c \"\nfrom PIL import Image; import numpy as np\na=np.array(Image.open('/app/img/d1.png')); b=np.array(Image.open('/app/img/d2.png')); Image.fromarray(np.concatenate([a,b],1)).save('/app/img/d12.png')\""}],"out":{"text":"it 3 pos -1.300 -2.799 yaw -3.140  err -0.000 0.001 -0.002\n\n[stdout]\nit 3 pos -1.300 -2.799 yaw -3.140  err -0.000 0.001 -0.002","exit":[],"pics":[]},"tok":{"in":103319,"cached":102360,"out":902,"think":null,"usd":0.0433},"sim":{"submit":8,"reset":0}},{"id":71,"t":1813.8,"say":"","calls":[{"kind":"look","label":"d12.png","code":"/app/img/d12.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s071_0.jpg"]},"tok":{"in":104288,"cached":103317,"out":56,"think":null,"usd":0.0266},"sim":{"submit":0,"reset":0}},{"id":72,"t":1819.8,"say":"These are elevator doors (an elevator lobby). Looking further south from here.","calls":[{"kind":"robot","label":"goto(-1.3,-3.5,-1.5708,vmax=0.6)","code":"cd /app; timeout 110 python -c \"\nfrom h import *\ngoto(-1.3,-3.5,-1.5708,vmax=0.6)\n\" | tail -1; python cloud.py c20; python topmap.py img/map_w4.png -8,6,-12,0 img/cloud_c20.npz"}],"out":{"text":"it 2 pos -1.279 -3.484 yaw -1.574  err 0.016 -0.021 0.003\n\n[stdout]\nit 2 pos -1.279 -3.484 yaw -1.574  err 0.016 -0.021 0.003","exit":[],"pics":[]},"tok":{"in":104899,"cached":104286,"out":400,"think":null,"usd":0.0319},"sim":{"submit":6,"reset":0}},{"id":73,"t":1840.2,"say":"","calls":[{"kind":"look","label":"c20.png","code":"/app/img/c20.png"},{"kind":"look","label":"map_w4.png","code":"/app/img/map_w4.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s073_0.jpg","behavior-laying-tile-floors-i00-standard--zfbawwq/s073_0.jpg"]},"tok":{"in":105366,"cached":104897,"out":111,"think":null,"usd":0.0255},"sim":{"submit":0,"reset":0}},{"id":74,"t":1846.4,"say":"More elevators at y ≈ −7, and a cross corridor at y ≈ −10. Restrooms are usually near the elevator core, so I'm checking that crossing.","calls":[{"kind":"robot","label":"goto(-1.3,-10.4,0,vmax=0.7)","code":"cd /app; timeout 200 python -c \"\nfrom h import *\ngoto(-1.3,-10.4,0,vmax=0.7)\nlook('d3',[HEAD])\ngoto(-1.3,-10.4,3.1416,vmax=0.6)\nlook('d4',[HEAD])\ngoto(-1.3,-10.4,-1.5708,vmax=0.6)\nlook('d5',[HEAD])\n\" | tail -1; python -c \"\nfrom PIL import Image; import numpy as np\na=[np.array(Image.open('/app/img/d%d.png'%i)) for i in [3,4,5]]; Image.fromarray(np.concatenate(a,1)).save('/app/img/d345.png')\""}],"out":{"text":"it 2 pos -1.300 -10.400 yaw -1.575  err -0.000 0.000 0.004\n\n[stdout]\nit 2 pos -1.300 -10.400 yaw -1.575  err -0.000 0.000 0.004","exit":[],"pics":[]},"tok":{"in":106417,"cached":105364,"out":548,"think":null,"usd":0.0373},"sim":{"submit":10,"reset":0}},{"id":75,"t":1904.8,"say":"","calls":[{"kind":"look","label":"d345.png","code":"/app/img/d345.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s075_0.jpg"]},"tok":{"in":107031,"cached":106415,"out":56,"think":null,"usd":0.0255},"sim":{"submit":0,"reset":0}},{"id":76,"t":1920.4,"say":"","calls":[{"kind":"robot","label":"goto(-1.3,-11.7,0,vmax=0.6)","code":"cd /app; timeout 200 python -c \"\nfrom h import *\ngoto(-1.3,-11.7,0,vmax=0.6)\nlook('d6',[HEAD])\ngoto(-1.3,-11.7,3.1416,vmax=0.6)\nlook('d7',[HEAD])\n\" | tail -1; python -c \"\nfrom PIL import Image; import numpy as np\na=[np.array(Image.open('/app/img/d%d.png'%i)) for i in [6,7]]; Image.fromarray(np.concatenate(a,1)).save('/app/img/d67.png')\""}],"out":{"text":"it 3 pos -1.300 -11.700 yaw -3.139  err 0.000 -0.000 -0.003\n\n[stdout]\nit 3 pos -1.300 -11.700 yaw -3.139  err 0.000 -0.000 -0.003","exit":[],"pics":[]},"tok":{"in":107898,"cached":107029,"out":540,"think":null,"usd":0.0365},"sim":{"submit":6,"reset":0}},{"id":77,"t":1949.4,"say":"","calls":[{"kind":"look","label":"d67.png","code":"/app/img/d67.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s077_0.jpg"]},"tok":{"in":108506,"cached":107896,"out":56,"think":null,"usd":0.0257},"sim":{"submit":0,"reset":0}},{"id":78,"t":1960.7,"say":"","calls":[{"kind":"robot","label":"goto(-1.3,-11.7,1.5708,vmax=0.6)","code":"cd /app; timeout 200 python -c \"\nfrom h import *\ngoto(-1.3,-11.7,1.5708,vmax=0.6)\ngoto(-1.6,7.5,1.5708,vmax=0.8)\ngoto(-3.0,9.0,1.5708,vmax=0.5)\nlook('d8',[HEAD])\n\" | tail -1"}],"out":{"text":"it 2 pos -2.989 8.991 yaw 1.569  err 0.009 0.011 0.002\n\n[stdout]\nit 2 pos -2.989 8.991 yaw 1.569  err 0.009 0.011 0.002","exit":[],"pics":[]},"tok":{"in":109117,"cached":108504,"out":845,"think":null,"usd":0.0417},"sim":{"submit":20,"reset":0}},{"id":79,"t":2060.2,"say":"","calls":[{"kind":"robot","label":"goto(-3.0,9.0,2.2,vmax=0.5)","code":"cd /app; timeout 100 python -c \"\nfrom h import *\ngoto(-3.0,9.0,2.2,vmax=0.5)\nlook('d9',[HEAD])\n\" | tail -1; python -c \"\nfrom PIL import Image; import numpy as np\na=[np.array(Image.open('/app/img/d%d.png'%i)) for i in [8,9]]; Image.fromarray(np.concatenate(a,1)).save('/app/img/d89.png')\""}],"out":{"text":"it 1 pos -2.989 8.991 yaw 2.172  err 0.014 0.004 0.028\n\n[stdout]\nit 1 pos -2.989 8.991 yaw 2.172  err 0.014 0.004 0.028","exit":[],"pics":[]},"tok":{"in":110027,"cached":109115,"out":225,"think":null,"usd":0.0309},"sim":{"submit":2,"reset":0}},{"id":80,"t":2067.9,"say":"","calls":[{"kind":"look","label":"d89.png","code":"/app/img/d89.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s080_0.jpg"]},"tok":{"in":110360,"cached":110025,"out":56,"think":null,"usd":0.0248},"sim":{"submit":0,"reset":0}},{"id":81,"t":2075.3,"say":"Another door with a sign plate at the west end (north wall, x ≈ −4.4…−3.55), right next to the west tiles. Pushing it open.","calls":[{"kind":"robot","label":"goto(-3.85,9.2,1.5708,vmax=0.4)","code":"cd /app; timeout 110 python -c \"\nfrom h import *\ngoto(-3.85,9.2,1.5708,vmax=0.4)\na=get_hold()\nfor k in range(4):\n    n=45; A=np.tile(a,(n+10,1)); A[:,0:3]=0; A[:n,0]=0.3/n\n    res=sub(A,dt=1/30)\n    p=P(res); print(base_state(p), p['torso_joint1'])\nsettle(); look('d10',[HEAD])\n\" | tail -3"}],"out":{"text":"(-3.838887929916382, 9.760519981384277, 1.5435326520947186) 1.022010087966919\n(-3.8828272819519043, 9.829360961914062, 1.3218518918642141) 1.022007703781128\n(-3.910816192626953, 9.906989097595215, 1.0975571088729583) 1.0220063924789429\n\n[stdout]\n(-3.838887929916382, 9.760519981384277, 1.5435326520947186) 1.022010087966919\n(-3.8828272819519043, 9.829360961914062, 1.3218518918642141) 1.022007703781128\n(-3.910816192626953, 9.906989097595215, 1.0975571088729583) 1.0220063924789429","exit":[],"pics":[]},"tok":{"in":110971,"cached":110358,"out":688,"think":null,"usd":0.0389},"sim":{"submit":6,"reset":0}},{"id":82,"t":2110.6,"say":"","calls":[{"kind":"look","label":"d10.png","code":"/app/img/d10.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-laying-tile-floors-i00-standard--zfbawwq/s082_0.jpg"]},"tok":{"in":111803,"cached":110969,"out":56,"think":null,"usd":0.0275},"sim":{"submit":0,"reset":0}},{"id":83,"t":2125.4,"say":"","calls":[{"kind":"robot","label":"goto(-3.85,9.2,1.5708,vmax=0.3)","code":"cd /app; timeout 200 python -c \"\nfrom h import *\ngoto(-3.85,9.2,1.5708,vmax=0.3)\ngoto(-2.0,8.6,-1.5708,vmax=0.5)\ngoto(-1.6,-11.6,-1.5708,vmax=0.9)\ngoto(-1.6,-11.6,-0.4,vmax=0.5)\nlook('d11',[HEAD])\n\" | tail -1"}],"out":{"text":"Traceback (most recent call last):\n  File \"<string>\", line 4, in <module>\n  File \"/app/h.py\", line 69, in goto\n    res=r.submit('joint_position',A,dt=1/30,video='none',cameras=[HEAD])\n        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 180, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 156, in _post\n    raise EpisodeOver(_over(r) if r.headers.get(\"Content-Type\", \"\").startswith(\"application/json\") else \"episode finished\")\nrcb_client.EpisodeOver: failure: the robot fell over\nit 0 pos -3.921 9.848 yaw 1.047  err -0.120 -2.288 -2.618\n\n[stdout]\nTraceback (most recent call last):\n  File \"<string>\", line 4, in <module>\n  File \"/app/h.py\", line 69, in goto\n    res=r.submit('joint_position',A,dt=1/30,video='none',cameras=[HEAD])\n        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 180, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 156, in _post\n    raise EpisodeOver(_over(r) if r.headers.get(\"Content-Type\", \"\").startswith(\"application/json\") else \"episode finished\")\nrcb_client.EpisodeOver: failure: the robot fell over\nit 0 pos -3.921 9.848 yaw 1.047  err -0.120 -2.288 -2.618","exit":[],"pics":[]},"tok":{"in":112158,"cached":111801,"out":1049,"think":null,"usd":0.0451},"sim":{"submit":9,"reset":0}},{"id":84,"t":2162.0,"say":"","calls":[{"kind":"shell","label":"cd /app; curl -s -m 10 http://localhost:8000/status; echo","code":"cd /app; curl -s -m 10 http://localhost:8000/status; echo"}],"out":{"text":"{\"step\": 9655, \"calls\": 453, \"control_steps\": 11183, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 1641.8, \"resumes\": 0}\n\n[stdout]\n{\"step\": 9655, \"calls\": 453, \"control_steps\": 11183, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 1641.8, \"resumes\": 0}","exit":[],"pics":[]},"tok":{"in":113663,"cached":112156,"out":147,"think":null,"usd":0.0329},"sim":{"submit":0,"reset":0}},{"id":85,"t":2166.9,"say":"","calls":[{"kind":"shell","label":"cd /app; { echo '# Record of the scripts used in this episode (helper library h.py, then the drivers).'; for f","code":"cd /app; { echo '# Record of the scripts used in this episode (helper library h.py, then the drivers).'; for f in h.py look.py spin.py cloud.py go.py setj.py topmap.py; do echo; echo \"# ===== $f =====\"; cat $f; done; } > /app/output/gen.py; wc -l /app/output/gen.py"}],"out":{"text":"188 /app/output/gen.py\n\n[stdout]\n188 /app/output/gen.py","exit":[],"pics":[]},"tok":{"in":113906,"cached":113661,"out":213,"think":null,"usd":0.0282},"sim":{"submit":0,"reset":0}},{"id":86,"t":2174.6,"say":"","calls":[{"kind":"edit","label":"behavior-r1pro-lessons.md","code":"/logs/agent/sessions/projects/-app/memory/behavior-r1pro-lessons.md\n\n---\nname: behavior-r1pro-lessons\ndescription: Lessons from a failed BEHAVIOR-1K R1Pro laying_tile_floors run (office scene, robot fell pushing a door)\nmetadata:\n  type: project\n---\nBEHAVIOR-1K R1Pro \"robot as a service\" (eai-standard/2.2), laying_tile_floors, run of 2026-10-13: failed, robot fell over.\n\n- The scene was a large office: main E-W corridor y≈8.2–10, robot started at (2.7, 9.2). Tiles were ~0.45×0.45×0.03 m.\n- Doors with sign plates at (x 2.75–3.6), (3.95–4.8) and (−4.4…−3.55) on the north wall all open onto offices or a conference room, NOT the bathroom. The dark glossy doors are elevators. The bathroom was never found after ~45 min of searching.\n- Driving the base into a door that would not open further tilted the base, and the episode ended as \"robot fell over\". Never keep pushing when the base stops moving; check base rx/ry.\n- torso_joint1 sags toward −1.1 while the base drives fast or long; wait about 2 s for it to recover before using the head camera.\n- Tiles slide easily: the base pushed one about 5 m by accident, so pushing is an option for moving them.\n\n**Why:** finding the room cost most of the time budget, and one careless push ended the episode.\n**How to apply:** in the next run, search for the target room with a systematic depth/top-down map early, avoid forcing doors, and monitor tilt.\n"},{"kind":"shell","label":"echo '- [BEHAVIOR R1Pro lessons](behavior-r1pro-lessons.md) — failed tile run: signed doors were offices, push","code":"echo '- [BEHAVIOR R1Pro lessons](behavior-r1pro-lessons.md) — failed tile run: signed doors were offices, pushing a door made the robot fall' >> /logs/agent/sessions/projects/-app/memory/MEMORY.md"}],"out":{"text":"File created successfully at: /logs/agent/sessions/projects/-app/memory/behavior-r1pro-lessons.md\n(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":114159,"cached":113904,"out":854,"think":null,"usd":0.0411},"sim":{"submit":0,"reset":0}},{"id":87,"t":2190.5,"say":"The episode failed: the robot fell over, so the service ended it with reason \"failure: the robot fell over\" after 11,183 control steps and 453 calls. None of the four tiles reached a bathroom, and I never found the bathroom.\n\n**What happened**\n- **Scene:** a large office building. The four tiles (about 0.45 × 0.45 × 0.03 m each) were on the main east–west corridor, two at the west end near x ≈ −2.6 and −0.5, and two at the east end near x ≈ 7.4–8.5. While driving, the robot's base accidentally pushed one west tile about 5 m south. That showed pushing could move the tiles, but I never used it on purpose.\n- **Search for the bathroom:** I took about 45 minutes and still didn't find it:\n  - I pushed open three doors with sign plates on the north wall of the corridor. They led to two offices and a conference room.\n  - The dark glossy doors were elevators. I also checked the corridor running south, the elevator lobby and the cross corridor at y ≈ −10 to −12, without finding it.\n- **The fall:** at the last signed door (west end), I kept driving the base forward after the door had stopped opening. The base twisted and tilted against it, and stayed tilted for the 10 s that counts as a fall.\n\nMy script is at `/app/output/gen.py`: the helper library, driving with position feedback, building a top-down map from depth images, and the rotate-and-look scan.\n\nI saved the lessons to memory for future runs:\n- Don't force a door when the base stops moving, and watch the base tilt.\n- The signed doors in this scene are not the bathroom.\n- Map the building systematically early on instead of opening doors one by one.\n- The trunk sags while the base is driving, so let it recover for about 2 s before relying on the head camera.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":115186,"cached":114157,"out":601,"think":null,"usd":0.04},"sim":{"submit":0,"reset":0}}]}

runs/behavior-make-pizza-i00-standard--njs4twc.json

@@ -0,0 +1 @@
+{"slug":"behavior-make-pizza-i00-standard--njs4twc","task":"behavior-make-pizza-i00-standard","bench":"behavior","mode":"standard","run":"dsh-deepseek_v4_1_flash-high","agent":"dsh_acp:DshAcp","model":"deepseek-v4.1-flash","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"live_matches_replay":1,"finalized":1,"missing_log":0,"n_actions":441,"sim_steps":441,"physics_steps":1764,"steps":132,"elapsed_s":503.6,"video_rendered":1,"gpu_lost":0,"replay_error":0,"instance_ok":1,"task_failure":1,"q_score":0.0,"sim_startups":1,"resumes":0,"resume_state_mismatch":0,"resume_max_tcp_dev_m":0.0,"resume_max_joint_dev":0.0,"gave_up":0,"infra_error":0,"grader_error":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.321,"peak_processes":11,"peak_disk_gb":0.999,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1165,"tokens":{"in":1988612,"cached":1947648,"out":47104,"usd":0},"task_text":"# BEHAVIOR-1K · make_pizza — STANDARD MODE (robot as a service, eai-standard/2.2)\n\nYou drive an **R1Pro** mobile bimanual robot around a house **as if it were real hardware**: the simulator (BEHAVIOR-1K\nv3.9.2, the 2026 BEHAVIOR Challenge stack) runs in a service you cannot open. You get one client and one episode.\n**Task:** Make a pizza in the kitchen. The pizza dough lies on the cookie sheet on the countertop; in the refrigerator are three tupperwares, one filled with grated cheese, one holding four pepperoni slices and one holding two mushrooms; a Vidalia onion lies on the chopping board, and a carving knife and a bowl lie on the countertop. Top the dough with the cheese, the pepperoni, the mushrooms cut in half and the diced onion, and bake it in the oven until it turns into a pizza; leave the pizza on the cookie sheet. Success means all of the following hold at the same time: (1) a pizza exists (the simulator's recipe has turned the ingredients into one); (2) the pizza is on top of the cookie sheet. How the simulator judges them: ontop(A, B): A touches B and B is directly below A (and not above it). real(A): A exists in the simulation. What the BDDL problem declares future (halves, diced pieces, cooked food, a dish) does not exist at the start: the simulator's transition rules create it. A sliceable object touching the blade of an active slicer (a knife, an axe; after a cut the blade rests for 2 s) is replaced by its two halves, so the whole one is no longer real; a diceable half touching the blade turns into diced pieces (particles); and a recipe's ingredients, heated together in their container or vessel on or in an active heat source, turn into the cooked food or the dish. The service checks the goal and the episode ends the moment it holds.\n\n## Rules (real-robot rules)\n- **No reset.** The episode starts when the service comes up and ends on success, when the robot has fallen over, when\n  your time is up, or on a simulator error. Whatever you knock over or push away stays where it ends up.\n- **A fall ends the episode as a failure** (`meta[\"reason\"]` \"failure: the robot fell over\"): the robot has fallen over\n  when its base has been tilted more than 41.4° from upright, or more than 3 cm below the floor, for 10 s of simulated\n  time in a row (OmniGibson's own Falling rule; tilted means the z of the base's up axis is below 0.75, which the\n  proprioception gives as cos(rx)·cos(ry) of `base_footprint_rx_joint` and `base_footprint_ry_joint`).\n- **No privileged state.** You see what the robot's cameras see (RGB; depth on request) plus its own proprioception\n  (joints, base pose, end-effector and fingertip poses, gripper openings). No object poses, no map, no success predicate.\n- There is no step budget; your only budget is the time limit (`## Time limit`; `meta[\"time_left_s\"]` is the service's count\n  of it). Actions and simulated time are reported as cost. Only a runaway guard bounds the episode: it ends at 200,000\n  control steps (1.85 h of si\n… (5,478 characters left out) …\nits `frame_step`; its `extrinsic_cv` is the\n  pose it was rendered with. Intrinsics `spec[\"cameras\"][cam][\"intrinsic_cv\"]`, mounting `spec[\"cameras\"][cam][\"mount\"]`\n  (parent link + fixed `link_T_cam_cv`).\n- **Robot**: `spec[\"robot_spec\"]`: joint names and real limits, gripper stroke and open/close rule, drive gains, the\n  end-effector frame vs the fingertip centre (TCP, 1.88 cm further along the fingers), the base's per-step and speed\n  limits; `spec[\"world\"]`: frame, units, quaternion order, camera axes.\n- **Proprioception**: named columns `spec[\"proprio_layout\"]`, groups `spec[\"proprio_groups\"]` (joint_pos, joint_vel,\n  joint_effort, gripper_opening, tcp_pose, eef_pose, base_pose, ...): `res.group(\"tcp_pose\")` per frame,\n  `res.group(\"tcp_pose\", now=True)` now.\n- **Kinematics** (stateless: no physics, no time): `r.fk(q)`, `r.ik({\"left_tcp\": pose}, seed=q)`; q =\n  `spec[\"kinematics\"][\"joint_names\"]` (trunk + both arms, all proprio columns); poses in the robot's base frame, or in the\n  world frame with `base_pose=` the 7 base proprio columns.\n\nFor scale: the 2026 challenge's human teleoperators needed 640 s on average (19,187 control steps) for this task, and the simulator runs at ~7-11 control steps/s. Budget your time, drive before you reach, and check `meta[\"done\"]`.\n\n## External material\nYou may install packages you need (pip, apt). Please solve the task yourself: do not look up or download a solution to it, such as this benchmark's own source code, published or reference solutions, recorded demonstrations, or policies trained for it. This is an honour rule; trials are reviewed. The network reaches your model's API and the package registries (PyPI, Debian / Ubuntu archives) only.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 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 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` is its own count of this limit, from the service's start or from your first request, so it can differ from the time you really have left. Installing packages is not cheating (`## External material` above).\n","step_times":"estimated","sim_total":{"submit":68,"reset":0},"replay":"behavior-make-pizza-i00-standard--njs4twc/replay.mp4","replay_last":"behavior-make-pizza-i00-standard--njs4twc/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"I'll start by exploring the environment and understanding the client.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":8521,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":13.9,"say":"","calls":[{"kind":"shell","label":"Explore app dir and tools","code":"ls -la /app; ls -la /opt/tools; cat /run/rcb-limits/usage.json 2>/dev/null; echo \"---\"; python3 -c \"import sys; print(sys.version)\""}],"out":{"text":"total 12\ndrwxr-xr-x 3 root root 4096 Oct 11 01:13 .\ndrwxr-xr-x 1 root root 4096 Oct 13 04:04 ..\ndrwxr-xr-x 2 root root 4096 Oct 11 01:13 output\ntotal 28\ndrwxr-xr-x 2 root root  4096 Oct 11 01:13 .\ndrwxr-xr-x 1 root root  4096 Oct 13 04:04 ..\n-rw-rw-r-- 1 root root  3881 Oct 11 01:13 rcb1.py\n-rw-rw-r-- 1 root root 16333 Oct 11 01:13 rcb_client.py\n{\n \"t\": 1791864288.6,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.128,\n \"processes\": 6,\n \"disk_gb\": 0.0,\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 0.0,\n  \"max_memory_gb\": 8.0,\n  \"max_processes\": 512,\n  \"max_disk_gb\": 20.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null\n}---\n3.12.14 (main, Sep 19 2026, 01:04:57) [GCC 14.2.0]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":27.7,"say":"","calls":[{"kind":"shell","label":"Check output dir and client size","code":"ls -la /app/output 2>/dev/null; ls /opt/tools/rcb_client.py && wc -l /opt/tools/rcb_client.py"}],"out":{"text":"total 8\ndrwxr-xr-x 2 root root 4096 Oct 11 01:13 .\ndrwxr-xr-x 3 root root 4096 Oct 11 01:13 ..\n/opt/tools/rcb_client.py\n238 /opt/tools/rcb_client.py","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":41.6,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":9060,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":55.5,"say":"","calls":[{"kind":"shell","label":"reads rcb_client.py","code":"/opt/tools/rcb_client.py"},{"kind":"shell","label":"reads rcb1.py","code":"/opt/tools/rcb1.py"}],"out":{"text":"<path>/opt/tools/rcb_client.py</path>\n<type>file</type>\n<content>\n1: \"\"\"eai-standard/2.2 client (formerly rcb-limited/2.x) — the only thing a standard-mode agent gets (installed at\n2: /opt/tools/rcb_client.py).\n3: \n4:     from rcb_client import Robot\n5:     r = Robot()                                  # finds the service (sim:8000, then localhost:8000), waits for warm-up\n6:     spec = r.spec()                              # actions, cameras (+ intrinsics, mounting), robot_spec, world, budget, kinematics\n7:     obs = r.get_obs()                            # current frames: obs.last[cam] -> uint8 (H,W,3); obs.meta[\"proprio\"]\n8:     obs = r.get_obs(depth=True)                  # + obs.last_depth[cam] -> float32 (H,W) z-depth in metres, 0 = no reading\n9:     res = r.submit(\"joint_position\", A, dt=0.1)  # A: (T, dim) rows dt apart; returns the execution video\n10:     res = r.submit(\"ee_pose\", P)                 # (T, dim) end-effector targets (see spec()[\"action_types\"])\n11:     res.video[cam] -> mp4 bytes    res.frames[cam] -> uint8 (N,H,W,3) if video=\"frames\"/\"both\"    res.last[cam]\n12:     res.proprio -> float32 (N, D), one row per frame (names: spec()[\"proprio_layout\"]; res.group(\"tcp_pose\"))\n13:     res.frame_step -> int64 (N,) control step of each frame    res.frame_time_s -> float64 (N,) simulated time\n14:     res.extrinsic_cv[cam] -> float64 (N,3,4) world->camera per frame (res.meta[\"cameras\"]: intrinsics + the last frame's pose)\n15:     res = r.submit(..., depth=\"frames\")\n… (18,827 characters left out) …\nbatim, arrays as .npy, meta as meta.json.\"\"\"\n56:     import numpy as np\n57:     out = pathlib.Path(out_dir); out.mkdir(parents=True, exist_ok=True)\n58:     meta, parts = decode(buf, arrays=True); written = []\n59:     (out / \"meta.json\").write_text(json.dumps(meta, indent=1)); written.append(\"meta.json\")\n60:     for name, p in parts.items():\n61:         safe = name.replace(\"/\", \"__\")\n62:         if p[\"kind\"] == \"array\":\n63:             f = out / f\"{safe}.npy\"; np.save(f, p[\"data\"])\n64:         elif p[\"kind\"] == \"mp4\":\n65:             f = out / f\"{safe}.mp4\"; f.write_bytes(p[\"data\"])\n66:         elif p[\"kind\"] == \"jpeg\":\n67:             f = out / f\"{safe}.jpg\"; f.write_bytes(p[\"data\"])\n68:         elif p[\"kind\"] == \"json\":\n69:             f = out / f\"{safe}.json\"; f.write_text(json.dumps(p[\"data\"], indent=1))\n70:         else:\n71:             f = out / f\"{safe}.bin\"; f.write_bytes(p[\"data\"])\n72:         written.append(f.name)\n73:     return written\n74: \n75: \n76: if __name__ == \"__main__\":\n77:     if len(sys.argv) == 4 and sys.argv[1] == \"unpack\":\n78:         print(\"\\n\".join(unpack_to_dir(open(sys.argv[2], \"rb\").read(), sys.argv[3])))\n79:     elif len(sys.argv) == 3 and sys.argv[1] == \"info\":\n80:         meta, parts = decode(open(sys.argv[2], \"rb\").read(), arrays=False)\n81:         print(json.dumps(meta, indent=1)); [print(n, {k: v for k, v in p.items() if k != \"data\"}) for n, p in parts.items()]\n82:     else:\n83:         print(__doc__)\n\n(End of file - total 83 lines)\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":69.3,"say":"I'll connect to the simulator (startup can take 3-12 min) while I plan.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":15885,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":83.2,"say":"","calls":[{"kind":"shell","label":"Start sim connection in background","code":"mkdir -p /app/output /app/runs /app/work && cd /app/work && cat > connect.py <<'EOF'\nimport sys, json, time\nsys.path.insert(0, \"/opt/tools\")\nfrom rcb_client import Robot\nt0=time.time()\nr = Robot()\nprint(\"connected after\", time.time()-t0, flush=True)\nspec = r.spec()\nopen(\"/app/work/spec.json\",\"w\").write(json.dumps(spec, indent=1))\nprint(json.dumps({k:v for k,v in spec.items() if k not in (\"robot_spec\",)}, indent=1)[:6000])\nprint(\"STATUS\", r.status())\nEOF\nnohup python3 connect.py > /app/work/connect.log 2>&1 &\necho started $!"}],"out":{"text":"started 1605","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":97.1,"say":"","calls":[{"kind":"shell","label":"Check python packages","code":"python3 -c \"import numpy, PIL, requests; print('ok')\" 2>&1; pip list 2>/dev/null | head -50"}],"out":{"text":"ok\nPackage            Version\n------------------ ---------\ncertifi            2026.7.22\ncharset-normalizer 3.5.2\nidna               3.20\nnumpy              2.5.3\npillow             12.3.0\npip                25.0.1\nrequests           2.34.2\nscipy              1.18.1\nurllib3            2.8.0","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":110.9,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":16958,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":124.8,"say":"","calls":[{"kind":"shell","label":"Wait and check connection log","code":"sleep 60; cat /app/work/connect.log"}],"out":{"text":"[still running after 60000ms; moved to background job bash-5]\nThe command keeps running in the background. You will be notified when it finishes; read newer output with job_output, stop it with job_kill.","exit":[],"pics":[]},"tok":{"in":17099,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":138.7,"say":"","calls":[{"kind":"shell","label":"Check connection progress","code":"sleep 90; cat /app/work/connect.log; echo \"=== proc:\"; ps aux | grep connect | grep -v grep | head"}],"out":{"text":"[still running after 60000ms; moved to background job bash-6]\nThe command keeps running in the background. You will be notified when it finishes; read newer output with job_output, stop it with job_kill.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":152.5,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":17312,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":166.4,"say":"","calls":[{"kind":"shell","label":"Check connection progress","code":"cat /app/work/connect.log; echo \"=== proc:\"; ps aux | grep -c \"[c]onnect.py\""}],"out":{"text":"[rcb_client] still waiting for the sim service to start (60 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (120 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n=== proc:\n0\n[stderr]\nbash: line 1: ps: command not found\n[exit code: 1]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":180.3,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":19480,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":194.1,"say":"","calls":[{"kind":"shell","label":"Wait for service startup","code":"sleep 240; tail -3 /app/work/connect.log"}],"out":{"text":"[rcb_client] still waiting for the sim service to start (241 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (301 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (361 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":208.0,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":20058,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":221.9,"say":"","calls":[{"kind":"shell","label":"Test sim service connectivity","code":"getent hosts sim; echo \"---\"; python3 - <<'EOF'\nimport requests\nfor b in [\"http://sim:8000\",\"http://localhost:8000\"]:\n    try:\n        r=requests.get(b+\"/spec\",timeout=5); print(b, r.status_code, r.text[:200])\n    except Exception as e: print(b,\"ERR\",str(e)[:150])\nEOF\nenv | grep -i -E \"sim|rcb|http\" "}],"out":{"text":"---\nhttp://sim:8000 ERR HTTPConnectionPool(host='sim', port=8000): Max retries exceeded with url: /spec (Caused by NameResolutionError(\"HTTPConnection(host='sim', port=8000):\nhttp://localhost:8000 ERR HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', \nRCB_DSH_BASE_URL=http://a host/h/a host/v1","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":19,"t":235.8,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":20503,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":249.6,"say":"","calls":[{"kind":"shell","label":"Inspect network config","code":"cat /etc/hosts; echo ---; cat /etc/resolv.conf; echo ---; (netstat -tlnp 2>/dev/null || ss -tlnp 2>/dev/null || cat /proc/net/tcp | head -20); echo ---; ls /run/ 2>/dev/null; ls /run/rcb-limits 2>/dev/null"}],"out":{"text":"127.0.0.1\tlocalhost\n::1\tlocalhost ip6-localhost ip6-loopback\nfe00::\tip6-localnet\nff00::\tip6-mcastprefix\nff02::1\tip6-allnodes\nff02::2\tip6-allrouters\n172.21.0.2\t07b876b837bb\n---\n# Generated by Docker Engine.\n# This file can be edited; Docker Engine will not make further changes once it\n# has been modified.\n\nnameserver 127.0.0.11\nsearch us-east-2.compute.internal\noptions edns0 trust-ad ndots:0\n\n# Based on host file: '/etc/resolv.conf' (internal resolver)\n# ExtServers: [host(127.0.0.53)]\n# Overrides: []\n# Option ndots from: internal\n---\n  sl  local_address rem_address   st tx_queue rx_queue tr tm->when retrnsmt   uid  timeout inode                                                     \n   0: 0B00007F:97F3 00000000:0000 0A 00000000:00000000 00:00000000 00000000     0        0 301048053 2 0000000000000000 100 0 0 10 0                 \n   1: 020015AC:E866 010011AC:9D33 06 00000000:00000000 03:00001666 00000000     0        0 0 3 0000000000000000                                      \n   2: 020015AC:E886 010011AC:9D33 06 00000000:00000000 03:00001761 00000000     0        0 0 3 0000000000000000                                      \n---\nlock\nrcb-limits\nusage.json","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":21,"t":263.5,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":21255,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":22,"t":277.4,"say":"","calls":[{"kind":"shell","label":"Check routes and candidate sim hosts","code":"ip addr 2>/dev/null || cat /proc/net/fib_trie | head -40; echo ---; ip route 2>/dev/null; echo ---; cat /proc/net/route; echo ---; for h in 172.21.0.1 172.17.0.1; do timeout 2 bash -c \"echo > /dev/tcp/$h/8000\" 2>&1 && echo \"$h:8000 open\" || echo \"$h:8000 closed\"; done"}],"out":{"text":"Main:\n  +-- 0.0.0.0/0 3 0 5\n     |-- 0.0.0.0\n        /0 universe UNICAST\n     +-- 127.0.0.0/8 2 0 2\n        +-- 127.0.0.0/31 1 0 0\n           |-- 127.0.0.0\n              /8 host LOCAL\n           |-- 127.0.0.1\n              /32 host LOCAL\n        |-- 127.255.255.255\n           /32 link BROADCAST\n     +-- 172.21.0.0/16 2 0 2\n        +-- 172.21.0.0/30 2 0 2\n           |-- 172.21.0.0\n              /16 link UNICAST\n           |-- 172.21.0.2\n              /32 host LOCAL\n        |-- 172.21.255.255\n           /32 link BROADCAST\nLocal:\n  +-- 0.0.0.0/0 3 0 5\n     |-- 0.0.0.0\n        /0 universe UNICAST\n     +-- 127.0.0.0/8 2 0 2\n        +-- 127.0.0.0/31 1 0 0\n           |-- 127.0.0.0\n              /8 host LOCAL\n           |-- 127.0.0.1\n              /32 host LOCAL\n        |-- 127.255.255.255\n           /32 link BROADCAST\n     +-- 172.21.0.0/16 2 0 2\n        +-- 172.21.0.0/30 2 0 2\n           |-- 172.21.0.0\n              /16 link UNICAST\n           |-- 172.21.0.2\n              /32 host LOCAL\n        |-- 172.21.255.255\n           /32 link BROADCAST\n---\n---\nIface\tDestination\tGateway \tFlags\tRefCnt\tUse\tMetric\tMask\t\tMTU\tWindow\tIRTT                                                       \neth0\t00000000\t010015AC\t0003\t0\t0\t0\t00000000\t0\t0\t0                                                                               \neth0\t000015AC\t00000000\t0001\t0\t0\t0\t0000FFFF\t0\t0\t0                                                                               \n---\n172.21.0.1:8000 open\n172.17.0.1:8000 open","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":23,"t":291.2,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":22124,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":24,"t":305.1,"say":"","calls":[{"kind":"shell","label":"Test gateway sim ports","code":"python3 - <<'EOF'\nimport requests\nfor b in [\"http://a host\",\"http://a host\"]:\n    try:\n        r=requests.get(b+\"/spec\",timeout=6); print(b, r.status_code, r.text[:300])\n    except Exception as e: print(b,\"ERR\",str(e)[:200])\nEOF"}],"out":{"text":"http://a host ERR ('Connection aborted.', RemoteDisconnected('Remote end closed connection without response'))\nhttp://a host ERR ('Connection aborted.', RemoteDisconnected('Remote end closed connection without response'))","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":25,"t":319.0,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":22646,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":26,"t":332.8,"say":"","calls":[{"kind":"shell","label":"Poll for service readiness","code":"for i in $(seq 1 18); do if grep -q \"connected after\" /app/work/connect.log; then break; fi; sleep 30; done; tail -3 /app/work/connect.log"}],"out":{"text":"],\n    \"gripper_left_0\": \nSTATUS {'step': 0, 'calls': 0, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 0.8, 'resumes': 0}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":27,"t":346.7,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":22870,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":28,"t":360.6,"say":"","calls":[{"kind":"shell","label":"Inspect spec","code":"python3 - <<'EOF'\nimport json\ns=json.load(open(\"/app/work/spec.json\"))\nprint(\"TOP KEYS:\", list(s.keys()))\nfor k,v in s.items():\n    if k==\"robot_spec\":\n        print(\"robot_spec keys:\", list(v.keys()))\n    else:\n        print(\"==\",k,\"==\")\n        print(json.dumps(v, indent=1)[:2500])\nEOF"}],"out":{"text":"TOP KEYS: ['protocol', 'protocol_compat', 'simulator', 'robot', 'task_text', 'control_hz', 'physics_substeps', 'max_chunk_s', 'max_watch_s', 'max_control_steps', 'cameras', 'default_cameras', 'action_types', 'proprio_layout', 'proprio_groups', 'static', 'world', 'budget', 'episode', 'robot_spec', 'kinematics', 'depth', 'on_service_error', 'max_call_wall_s']\n== protocol ==\n\"eai-standard/2.2\"\n== protocol_compat ==\n[\n \"rcb-limited/2.0\",\n \"rcb-limited/2.1\",\n \"eai-standard/2.1\"\n]\n== simulator ==\n\"behavior-1k 3.9.2 (OmniGibson / Isaac Sim)\"\n== robot ==\n\"r1pro\"\n== task_text ==\n\"Make a pizza in the kitchen. The pizza dough lies on the cookie sheet on the countertop; in the refrigerator are three tupperwares, one filled with grated cheese, one holding four pepperoni slices and one holding two mushrooms; a Vidalia onion lies on the chopping board, and a carving knife and a bowl lie on the countertop. Top the dough with the cheese, the pepperoni, the mushrooms cut in half and the diced onion, and bake it in the oven until it turns into a pizza; leave the pizza on the cookie sheet.\"\n== control_hz ==\n30\n== physics_substeps ==\n4\n== max_chunk_s ==\n10.0\n== max_watch_s ==\n30.0\n== max_control_steps ==\n200000\n== cameras ==\n{\n \"robot_r1:left_realsense_link:Camera:0\": {\n  \"rgb\": true,\n  \"depth\": true,\n  \"mounted\": \"left wrist\",\n  \"resolution\": [\n   224,\n   224\n  ],\n  \"calibration_in_obs\": true,\n  \"intrinsic_cv\": [\n   [\n    181.37651096845792,\n    0.0,\n    112.0\n   ],\n   [\n    0.0,\n    181.3765109\n… (11,756 characters left out) …\n\n  \"seed_default\": \"the robot's reset configuration\",\n  \"tol_pos_m\": 0.001,\n  \"tol_rot_rad\": 0.01,\n  \"max_iters\": 200,\n  \"collision_checking\": \"none\",\n  \"joint_limits\": \"enforced\"\n },\n \"stateless\": true,\n \"note\": \"q = trunk + both arms (joint_names, all proprio columns of measured positions). Poses are in the base frame (base_link, see robot_spec.base) unless the request gives base_pose (x y z qx qy qz qw: the 7 base proprio columns); then they are in the world frame. The model is the simulator's own articulation (its joint frames), so FK of the measured joints gives the measured link poses.\"\n}\n== depth ==\n{\n \"modes\": [\n  \"none\",\n  \"last\",\n  \"frames\"\n ],\n \"default\": \"none\",\n \"kind\": \"z-depth\",\n \"unit\": \"m\",\n \"invalid\": 0,\n \"max_m\": 65.535,\n \"frames_encoding\": \"uint16 mm, zlib\",\n \"noise\": \"off\"\n}\n== on_service_error ==\n\"a connection error means the service crashed: it restarts and resumes the SAME episode (never a reset) in the state after the last call it completed, which you may not have received. Wait until GET /status answers again (rcb_client: Robot.wait_ready(); resuming replays the episode so far, which can take minutes in a long episode, and the wall clock keeps running), then check calls and control_steps before you continue. A 500 means the simulator failed: the episode is over (reason \\\"error\\\"). A call that runs longer than max_call_wall_s seconds stops at the next control step and returns what it executed (meta.stopped, executed_rows).\"\n== max_call_wall_s ==\n900.0","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":29,"t":374.4,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":28593,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":30,"t":388.3,"say":"","calls":[{"kind":"shell","label":"Inspect robot_spec","code":"python3 - <<'EOF'\nimport json\ns=json.load(open(\"/app/work/spec.json\"))\nprint(json.dumps(s[\"robot_spec\"], indent=1))\nEOF"}],"out":{"text":"{\n \"name\": \"R1Pro\",\n \"description\": \"Galaxea R1 Pro as modelled in BEHAVIOR-1K 3.9.2: a holonomic wheeled base, a 4-joint trunk, two 7-joint arms with parallel-jaw grippers (2 prismatic fingers each), a head camera on the trunk, a wrist camera per arm\",\n \"base\": {\n  \"type\": \"mobile\",\n  \"root_link\": \"base_link\",\n  \"pose_proprio\": [\n   \"base_x\",\n   \"base_y\",\n   \"base_z\",\n   \"base_qx\",\n   \"base_qy\",\n   \"base_qz\",\n   \"base_qw\"\n  ],\n  \"frame\": \"base_link: x forward, y left, z up; the kinematics' base frame\",\n  \"joints\": [\n   \"base_footprint_x_joint\",\n   \"base_footprint_y_joint\",\n   \"base_footprint_z_joint\",\n   \"base_footprint_rx_joint\",\n   \"base_footprint_ry_joint\",\n   \"base_footprint_rz_joint\"\n  ],\n  \"command\": \"joint_position base_x, base_y, base_yaw: a displacement (m, m, rad) in the robot's own frame, applied at EVERY control step (30 Hz) the row covers: the base controller moves the targets of the virtual joints base_footprint_x_joint, base_footprint_y_joint, base_footprint_rz_joint by it (their stiff drives follow within the step; base_footprint_z_joint, base_footprint_rx_joint, base_footprint_ry_joint are passive). Zeros stand still.\",\n  \"per_step_limits\": {\n   \"x_m\": 0.15,\n   \"y_m\": 0.15,\n   \"yaw_rad\": 0.3\n  },\n  \"velocity_limits\": {\n   \"x_m_s\": 4.5,\n   \"y_m_s\": 4.5,\n   \"yaw_rad_s\": 9.0,\n   \"note\": \"enforced: the per-step limits at 30 Hz (the virtual base joints themselves have no velocity or effort limit; the stiff drives follow almost the whole step); no rated base speed\n… (14,845 characters left out) …\n   \"parent_link\": \"left_eef_link\",\n   \"link_T_frame\": [\n    [\n     1.0,\n     0.0,\n     0.0,\n     0.0\n    ],\n    [\n     0.0,\n     1.0,\n     0.0,\n     0.0\n    ],\n    [\n     0.0,\n     0.0,\n     1.0,\n     0.01877068728208542\n    ],\n    [\n     0.0,\n     0.0,\n     0.0,\n     1.0\n    ]\n   ],\n   \"definition\": \"the left fingertip centre (TCP): midway between the two fingertips, 1.88 cm along +z of left_eef_link, same orientation; the proprio tcp_pose group\"\n  },\n  \"right_eef_link\": {\n   \"parent_link\": \"right_eef_link\",\n   \"link_T_frame\": [\n    [\n     1.0,\n     0.0,\n     0.0,\n     0.0\n    ],\n    [\n     0.0,\n     1.0,\n     0.0,\n     0.0\n    ],\n    [\n     0.0,\n     0.0,\n     1.0,\n     0.0\n    ],\n    [\n     0.0,\n     0.0,\n     0.0,\n     1.0\n    ]\n   ],\n   \"definition\": \"the right end-effector frame (right_eef_link): the frame of the ee_pose action and of the proprio right_eef_* pose; z along the fingers (approach), y along the finger travel; it lies between the finger pads, where assisted grasping holds objects\"\n  },\n  \"right_tcp\": {\n   \"parent_link\": \"right_eef_link\",\n   \"link_T_frame\": [\n    [\n     1.0,\n     0.0,\n     0.0,\n     0.0\n    ],\n    [\n     0.0,\n     1.0,\n     0.0,\n     0.0\n    ],\n    [\n     0.0,\n     0.0,\n     1.0,\n     0.018770642578601837\n    ],\n    [\n     0.0,\n     0.0,\n     0.0,\n     1.0\n    ]\n   ],\n   \"definition\": \"the right fingertip centre (TCP): midway between the two fingertips, 1.88 cm along +z of right_eef_link, same orientation; the proprio tcp_pose group\"\n  }\n }\n}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":31,"t":402.2,"say":"","calls":[{"kind":"robot","label":"Capture initial observations","code":"cd /app/work && cat > obs1.py <<'EOF'\nimport sys, json, numpy as np\nsys.path.insert(0,\"/opt/tools\")\nfrom rcb_client import Robot\nfrom PIL import Image\nr=Robot()\no=r.get_obs(depth=True)\nprint(\"meta keys\", list(o.meta.keys()))\nprint(\"proprio now len\", len(o.meta[\"proprio\"][\"now\"]))\nfor cam,img in o.last.items():\n    Image.fromarray(img).save(f\"/app/work/obs1_{cam.replace(':','_')}.png\")\n    print(cam, img.shape, img.dtype, \"mean\", img.mean())\nfor cam,d in o.last_depth.items():\n    print(\"depth\",cam, d.shape, np.percentile(d[d>0],[5,50,95]) if (d>0).any() else \"none\")\np=np.asarray(o.meta[\"proprio\"][\"now\"],dtype=float)\ng=r.spec()[\"proprio_groups\"]\nfor name in [\"base_pose\",\"eef_pose\",\"tcp_pose\",\"gripper_opening\",\"base_joint_pos\"]:\n    f,n,_=g[name][:3]; print(name, np.round(p[f:f+n],4))\nprint(\"status\", r.status())\nEOF\npython3 obs1.py"}],"out":{"text":"meta keys ['step', 'calls', 'control_steps', 'physics_steps', 'sim_time_s', 'time_s', 'time_left_s', 'proprio', 'done', 'reason', 'cameras', 'obs_id', 'seconds', 'control_steps_watch', 'physics_steps_watch', 'ok', 'stopped']\nproprio now len 121\nrobot_r1:zed_link:Camera:0 (224, 224, 3) uint8 mean 117.86629730017007\nrobot_r1:left_realsense_link:Camera:0 (224, 224, 3) uint8 mean 76.05146550807824\nrobot_r1:right_realsense_link:Camera:0 (224, 224, 3) uint8 mean 43.238108524659864\ndepth robot_r1:zed_link:Camera:0 (224, 224) [0.9595418  1.66524458 3.73401123]\ndepth robot_r1:left_realsense_link:Camera:0 (224, 224) [0.18542033 0.25730836 0.76726949]\ndepth robot_r1:right_realsense_link:Camera:0 (224, 224) [0.18547851 0.25604212 0.76881826]\nbase_pose [ 4.5142e+00  2.9874e+00  5.3000e-03 -1.0000e-04 -1.0000e-04  7.6470e-01\n -6.4440e-01]\neef_pose [ 4.742   2.8253  0.4436 -0.7645 -0.6442 -0.0177  0.0149  4.2453  2.9108\n  0.4436 -0.7645 -0.6442 -0.0177  0.0149]\ntcp_pose [ 4.7421  2.8262  0.4248 -0.7645 -0.6442 -0.0177  0.0149  4.2454  2.9116\n  0.4249 -0.7645 -0.6442 -0.0177  0.0149]\ngripper_opening [0.1 0.1]\nbase_joint_pos [ 1.5856e+00 -1.2785e+00  3.0000e-04 -2.0000e-04  0.0000e+00  1.2721e+00]\nstatus {'step': 0, 'calls': 1, 'control_steps': 0, 'done': False, 'reason': None, 'elapsed_s': 15.1, 'resumes': 0}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":32,"t":416.0,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":35922,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":33,"t":429.9,"say":"","calls":[{"kind":"look","label":"obs1_robot_r1_zed_link_Camera_0.png","code":"/app/work/obs1_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"obs1_robot_r1_left_realsense_link_Camera_0.png","code":"/app/work/obs1_robot_r1_left_realsense_link_Camera_0.png"}],"out":{"text":"<path>/app/work/obs1_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 69692 bytes\n</content>\n<path>/app/work/obs1_robot_r1_left_realsense_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 46158 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":34,"t":443.8,"say":"Simulator is up. Let me build a helper library and do a panoramic sweep to locate the kitchen.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":41619,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":35,"t":457.6,"say":"","calls":[{"kind":"robot","label":"Panoramic sweep to locate kitchen","code":"cd /app/work && cat > util.py <<'PYEOF'\nimport sys, json, time, numpy as np\nsys.path.insert(0,\"/opt/tools\")\nfrom rcb_client import Robot\nfrom PIL import Image\n\ndef connect():\n    r=Robot(); return r\n\nSPEC=None\ndef spec(r):\n    global SPEC\n    if SPEC is None: SPEC=r.spec()\n    return SPEC\n\n# indices of action layout\nA_LAYOUT=[\"base_x\",\"base_y\",\"base_yaw\",\"t0\",\"t1\",\"t2\",\"t3\",\n \"L0\",\"L1\",\"L2\",\"L3\",\"L4\",\"L5\",\"L6\",\"Lg0\",\"Lg1\",\n \"R0\",\"R1\",\"R2\",\"R3\",\"R4\",\"R5\",\"R6\",\"Rg0\",\"Rg1\"]\n\ndef q_to_action(q22, gl=0.05, gr=0.05):\n    \"\"\"q22 = proprio joint_pos group (22 values) -> 25-d action row with zero base.\"\"\"\n    t=q22[0:4]\n    L=[q22[4+2*i] for i in range(7)]\n    R=[q22[5+2*i] for i in range(7)]\n    Lf=[q22[20],q22[21]]; Rf=[q22[22],q22[23]]\n    return np.array([0,0,0]+list(t)+L+[gl,gl]+R+[gr,gr], dtype=np.float32)\n\ndef proprio_now(r):\n    # returns dict of groups from a cheap get_obs\n    o=r.get_obs(cameras=[], depth=False)\n    p=np.asarray(o.meta[\"proprio\"][\"now\"],dtype=float)\n    g=spec(r)[\"proprio_groups\"]\n    out={}\n    for name,(f,n,_) in g.items(): out[name]=p[f:f+n]\n    return out, o\n\ndef base_chunk(q22, nrows, dt, vx=0.0, vy=0.0, vyaw=0.0, gl=0.05, gr=0.05):\n    row=q_to_action(q22, gl, gr)\n    A=np.tile(row,(nrows,1))\n    A[:,0]=vx; A[:,1]=vy; A[:,2]=vyaw\n    return A\n\ndef world_yaw(q):\n    # base_pose quaternion xyzw\n    x,y,z,w=q\n    return np.arctan2(2*(w*z+x*y), 1-2*(y*y+z*z))\n\ndef drive_world(r, dx, dy, extra_rot=0.0, nrows=None, dt=0.1, gl=0.05, gr=0.05, q22=None, note=\"\"):\n    \"\"\"Move base by world-frame delta (dx,dy) plus extra yaw. Chooses robot-frame per-step velocities.\"\"\"\n    if q22 is None:\n        pr,_=proprio_now(r); q22=pr[\"joint_pos\"]\n    bpq=None\n    pr,_=proprio_now(r); bp=pr[\"base_pose\"]; q22=pr[\"joint_pos\"]\n    yaw=world_yaw(bp[3:7])\n    # robot frame x forward = (cos yaw, sin yaw); y left = (-sin yaw, cos yaw)\n    fx,fy=np.cos(yaw),np.sin(yaw); lx,ly=-np.sin(yaw),np.cos(yaw)\n    vxr = dx*fx+dy*fy\n    vyr = dx*lx+dy*ly\n    if nrows is None:\n        nrows=max(1,int(np.ceil(max(abs(vxr),abs(vyr))/0.145)))\n    nsteps=nrows*int(round(dt*30))\n    vx=vxr/nsteps; vy=vyr/nsteps; vyaw=extra_rot/nsteps\n    A=base_chunk(q22,nrows,dt,vx,vy,vyaw,gl,gr)\n    res=r.submit(\"joint_position\",A,dt=dt,note=note)\n    return res\n\ndef save_obs(o,tag,cams=None):\n    from PIL import Image\n    paths=[]\n    for cam,img in o.last.items():\n        if cams and cam not in cams: continue\n        p=f\"/app/work/{tag}_{cam.replace(':','_')}.png\"\n        Image.fromarray(img).save(p); paths.append(p)\n    return paths\n\ndef touch(f):\n    open(f,\"a\").close()\nPYEOF\ncat > sweep.py <<'PYEOF'\nimport time, numpy as np\nfrom util import *\nr=connect()\nnp.save(\"/app/work/q22_0.npy\", proprio_now(r)[0][\"joint_pos\"])\npr,_=proprio_now(r)\nprint(\"base_pose\",np.round(pr[\"base_pose\"],3))\nfor i in range(8):\n    pr,_=proprio_now(r); q22=pr[\"joint_pos\"]\n    A=base_chunk(q22,1,0.1,0,0,0.2617)\n    res=r.submit(\"joint_position\",A,dt=0.1)\n    o=r.get_obs(depth=False)\n    save_obs(o,f\"sweep{i}\")\n    pr,_=proprio_now(r)\n    print(i,\"yawdeg\",round(np.degrees(world_yaw(pr[\"base_pose\"][3:7])),1))\npr,_=proprio_now(r)\nprint(\"base\",np.round(pr[\"base_pose\"],3))\nprint(\"done\",res.meta[\"done\"],res.meta[\"reason\"],\"steps\",res.meta[\"control_steps_chunk\"])\nPYEOF\npython3 sweep.py"}],"out":{"text":"base_pose [ 4.514  2.987  0.005 -0.    -0.     0.765 -0.644]\n[stderr]\nTraceback (most recent call last):\n  File \"/app/work/sweep.py\", line 9, in <module>\n    A=base_chunk(q22,1,0.1,0,0,0.2617)\n      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/app/work/util.py\", line 38, in base_chunk\n    row=q_to_action(q22, gl, gr)\n        ^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/app/work/util.py\", line 25, in q_to_action\n    Lf=[q22[20],q22[21]]; Rf=[q22[22],q22[23]]\n                              ~~~^^^^\nIndexError: index 22 is out of bounds for axis 0 with size 22\n[exit code: 1]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":36,"t":471.5,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":42169,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":37,"t":485.4,"say":"","calls":[{"kind":"shell","label":"Rerun panoramic sweep","code":"cd /app/work && python3 - <<'EOF'\nimport re\ns=open(\"util.py\").read()\ns=s.replace(\"    Lf=[q22[20],q22[21]]; Rf=[q22[22],q22[23]]\",\"    Lf=[q22[18],q22[19]]; Rf=[q22[20],q22[21]]\")\nopen(\"util.py\",\"w\").write(s)\nEOF\npython3 sweep.py"}],"out":{"text":"base_pose [ 4.514  2.987  0.005 -0.    -0.     0.765 -0.644]\n0 yawdeg -56.5\n1 yawdeg -13.2\n2 yawdeg 30.1\n3 yawdeg 73.5\n4 yawdeg 116.8\n5 yawdeg 160.1\n6 yawdeg -156.5\n7 yawdeg -113.2\nbase [ 4.516  2.989  0.028 -0.005  0.069  0.832 -0.551]\ndone False None steps 3","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":38,"t":499.2,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":42716,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":39,"t":513.1,"say":"","calls":[{"kind":"look","label":"sweep0_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep0_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"sweep1_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep1_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"sweep2_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep2_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"sweep3_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep3_robot_r1_zed_link_Camera_0.png"}],"out":{"text":"<path>/app/work/sweep0_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 67473 bytes\n</content>\n<path>/app/work/sweep1_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 68106 bytes\n</content>\n<path>/app/work/sweep2_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 60313 bytes\n</content>\n<path>/app/work/sweep3_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 62568 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":40,"t":527.0,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":44678,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":41,"t":540.8,"say":"","calls":[{"kind":"look","label":"sweep4_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep4_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"sweep5_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep5_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"sweep6_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep6_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"sweep7_robot_r1_zed_link_Camera_0.png","code":"/app/work/sweep7_robot_r1_zed_link_Camera_0.png"}],"out":{"text":"<path>/app/work/sweep4_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 65065 bytes\n</content>\n<path>/app/work/sweep5_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 66904 bytes\n</content>\n<path>/app/work/sweep6_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 74065 bytes\n</content>\n<path>/app/work/sweep7_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 73142 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":42,"t":554.7,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":47885,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":43,"t":568.6,"say":"","calls":[{"kind":"robot","label":"Drive toward kitchen and capture","code":"cd /app/work && cat >> util.py <<'PYEOF'\n\ndef now(r):\n    pr,o=proprio_now(r); return pr\n\ndef set_yaw(r, target_rad, gl=0.05, gr=0.05, tol=0.05):\n    for it in range(12):\n        pr=now(r); y=world_yaw(pr[\"base_pose\"][3:7])\n        d=(target_rad-y+np.pi)%(2*np.pi)-np.pi\n        if abs(d)<tol: return\n        nsteps=max(1,int(np.ceil(abs(d)/0.25)))\n        nrows=max(1,int(np.ceil(nsteps/3)))\n        vyaw=np.clip(d/(nrows*3),-0.3,0.3)\n        A=base_chunk(pr[\"joint_pos\"],nrows,0.1,0,0,vyaw,gl,gr)\n        r.submit(\"joint_position\",A,dt=0.1)\n\ndef move_world(r, dx, dy, gl=0.05, gr=0.05, speed=0.13):\n    pr=now(r); y=world_yaw(pr[\"base_pose\"][3:7])\n    nsteps=max(1,int(np.ceil(max(abs(dx),abs(dy))/speed)))\n    nrows=max(1,int(np.ceil(nsteps/3)))\n    fx,fy=np.cos(y),np.sin(y); lx,ly=-np.sin(y),np.cos(y)\n    vxr=dx*fx+dy*fy; vyr=dx*lx+dy*ly\n    vx=np.clip(vxr/(nrows*3),-0.15,0.15); vy=np.clip(vyr/(nrows*3),-0.15,0.15)\n    A=base_chunk(pr[\"joint_pos\"],nrows,0.1,vx,vy,0,gl,gr)\n    return r.submit(\"joint_position\",A,dt=0.1)\nPYEOF\ncat > nav1.py <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\nset_yaw(r, np.radians(-20))\npr=now(r); print(\"yaw now\", np.degrees(world_yaw(pr[\"base_pose\"][3:7])), \"pos\", np.round(pr[\"base_pose\"][:3],3))\nfor i in range(3):\n    move_world(r, 1.0, -0.35)\n    o=r.get_obs(depth=True)\n    save_obs(o,f\"nav1_{i}\")\n    pr=now(r); print(i,\"pos\",np.round(pr[\"base_pose\"][:3],3),\"yaw\",round(np.degrees(world_yaw(pr[\"base_pose\"][3:7])),1))\n    dd=o.last_depth[\"robot_r1:zed_link:Camera:0\"]\n    print(\"  depth p10/50:\", np.round(np.percentile(dd[dd>0],[10,50]),2))\npr=now(r); print(\"tilt rx,ry\", pr[\"base_joint_pos\"][3:5])\nPYEOF\npython3 nav1.py"}],"out":{"text":"yaw now -20.33068981506378 pos [4.513 2.987 0.065]\n0 pos [5.402 2.628 0.217] yaw -27.2\n  depth p10/50: [0.78 1.83]\n1 pos [6.066 2.327 0.283] yaw -44.2\n  depth p10/50: [1.05 1.81]\n2 pos [6.503 1.992 0.301] yaw -69.4\n  depth p10/50: [1.   2.04]\ntilt rx,ry [-0.52871239  1.3592298 ]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":44,"t":582.4,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":49203,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":45,"t":596.3,"say":"","calls":[{"kind":"look","label":"nav1_0_robot_r1_zed_link_Camera_0.png","code":"/app/work/nav1_0_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"nav1_2_robot_r1_zed_link_Camera_0.png","code":"/app/work/nav1_2_robot_r1_zed_link_Camera_0.png"}],"out":{"text":"<path>/app/work/nav1_0_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 56298 bytes\n</content>\n<path>/app/work/nav1_2_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 45344 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":46,"t":610.2,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50795,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":47,"t":624.1,"say":"","calls":[{"kind":"shell","label":"Check episode status after drive","code":"cd /app/work && python3 - <<'EOF'\nfrom util import *\nr=connect()\nprint(r.status())\ntry:\n    pr,_=proprio_now(r)\n    print(\"base_pose\",np.round(pr[\"base_pose\"],4))\n    print(\"base_joint_pos\",np.round(pr[\"base_joint_pos\"],4))\n    print(\"tilt\", np.cos(pr[\"base_joint_pos\"][3])*np.cos(pr[\"base_joint_pos\"][4]))\nexcept Exception as e:\n    print(\"ERR\",e)\nEOF"}],"out":{"text":"{'step': 21, 'calls': 58, 'control_steps': 63, 'done': False, 'reason': None, 'elapsed_s': 149.3, 'resumes': 0}\nbase_pose [ 6.5028  1.992   0.3011 -0.364   0.5262  0.2772 -0.7168]\nbase_joint_pos [-0.2593 -0.0369  0.2961 -0.5287  1.3592  2.7061]\ntilt 0.18131890788121438","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":48,"t":637.9,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":51842,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":49,"t":651.8,"say":"","calls":[{"kind":"robot","label":"Capture current state images","code":"cd /app/work && python3 - <<'EOF'\nfrom util import *\nimport numpy as np\nr=connect()\no=r.get_obs(depth=True)\nsave_obs(o,\"state_now\")\nfor cam,d in o.last_depth.items():\n    v=d[d>0]\n    print(cam,\"depth p5/25/50\", np.round(np.percentile(v,[5,25,50]),3) if v.size else None)\npr,_=proprio_now(r)\nprint(\"base_pose\",np.round(pr[\"base_pose\"],4))\nprint(\"eef\", np.round(pr[\"eef_pose\"],3))\nEOF"}],"out":{"text":"robot_r1:zed_link:Camera:0 depth p5/25/50 [0.616 1.758 2.044]\nrobot_r1:left_realsense_link:Camera:0 depth p5/25/50 [0.184 1.699 2.357]\nrobot_r1:right_realsense_link:Camera:0 depth p5/25/50 [0.123 1.206 1.823]\nbase_pose [ 6.5028  1.992   0.3011 -0.364   0.5262  0.2772 -0.7168]\neef [ 6.168  2.318  0.539 -0.105  0.423 -0.212  0.875  5.104  1.581  0.22\n  0.775 -0.518  0.249  0.262]","exit":[],"pics":[]},"tok":{"in":52153,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":50,"t":665.7,"say":"","calls":[{"kind":"look","label":"state_now_robot_r1_zed_link_Camera_0.png","code":"/app/work/state_now_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"state_now_robot_r1_left_realsense_link_Camera_0.png","code":"/app/work/state_now_robot_r1_left_realsense_link_Camera_0.png"}],"out":{"text":"<path>/app/work/state_now_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 45344 bytes\n</content>\n<path>/app/work/state_now_robot_r1_left_realsense_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 63057 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":51,"t":679.5,"say":"The robot appears to have tipped over during that drive. Let me diagnose and attempt recovery.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":57890,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":52,"t":693.4,"say":"","calls":[{"kind":"robot","label":"Test recovery with base slides","code":"cd /app/work && cat > rec1.py <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef tilt(pr): return float(np.cos(pr[\"base_joint_pos\"][3])*np.cos(pr[\"base_joint_pos\"][4]))\npr=now(r); print(\"start tilt\",round(tilt(pr),3),\"z\",round(pr[\"base_pose\"][2],3),\"steps\",r.status()[\"control_steps\"])\n# slide test: 10 control steps world +x at 0.15\nA=base_chunk(pr[\"joint_pos\"],4,0.1,0.15,0,0)\nres=r.submit(\"joint_position\",A,dt=0.1)\npr=now(r); print(\"after +x slide tilt\",round(tilt(pr),3),\"pos\",np.round(pr[\"base_pose\"][:3],3))\no=r.get_obs(depth=True); save_obs(o,\"rec1_x\")\nprint(\"steps\",r.status()[\"control_steps\"])\n# try rotating yaw fast\nA=base_chunk(pr[\"joint_pos\"],4,0.1,0,0,0.3)\nr.submit(\"joint_position\",A,dt=0.1)\npr=now(r); print(\"after yaw tilt\",round(tilt(pr),3),\"pos\",np.round(pr[\"base_pose\"][:3],3))\no=r.get_obs(depth=True); save_obs(o,\"rec1_yaw\")\nprint(\"steps\",r.status()[\"control_steps\"], \"done\", res.meta[\"done\"])\nPYEOF\npython3 rec1.py"}],"out":{"text":"start tilt 0.181 z 0.301 steps 63\nafter +x slide tilt -0.372 pos [5.76  0.938 0.429]\nsteps 75\nafter yaw tilt 0.495 pos [5.758 0.939 0.839]\nsteps 87 done False","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":53,"t":707.3,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":58318,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":54,"t":721.1,"say":"","calls":[{"kind":"look","label":"rec1_yaw_robot_r1_zed_link_Camera_0.png","code":"/app/work/rec1_yaw_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"rec1_x_robot_r1_zed_link_Camera_0.png","code":"/app/work/rec1_x_robot_r1_zed_link_Camera_0.png"}],"out":{"text":"<path>/app/work/rec1_yaw_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 65451 bytes\n</content>\n<path>/app/work/rec1_x_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 55552 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":55,"t":735.0,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":60584,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":56,"t":748.9,"say":"","calls":[{"kind":"robot","label":"Slide robot repeatedly and track up axis","code":"cd /app/work && cat > rec2.py <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef upaxis(pr):\n    bp=pr[\"base_pose\"][3:7]; x,y,z,w=bp\n    return np.array([2*(x*z+w*y),2*(y*z-w*x),1-2*(x*x+y*y)])\npr=now(r); print(\"start up\",np.round(upaxis(pr),3),\"pos\",np.round(pr[\"base_pose\"][:3],3),\"steps\",r.status()[\"control_steps\"])\nfor i in range(6):\n    pr=now(r)\n    A=base_chunk(pr[\"joint_pos\"],3,0.1,0.12,0,0)\n    r.submit(\"joint_position\",A,dt=0.1)\n    pr=now(r); u=upaxis(pr)\n    print(i,\"up\",np.round(u,3),\"z\",round(pr[\"base_pose\"][2],3),\"pos\",np.round(pr[\"base_pose\"][:3],2),\"steps\",r.status()[\"control_steps\"])\n    o=r.get_obs(depth=False); save_obs(o,f\"rec2_{i}\")\nPYEOF\npython3 rec2.py"}],"out":{"text":"start up [0.864 0.09  0.495] pos [5.758 0.939 0.839] steps 87\n0 up [ 0.835 -0.107  0.54 ] z 0.735 pos [5.11 0.79 0.73] steps 96\n1 up [ 0.642 -0.122  0.757] z 0.568 pos [4.39 0.58 0.57] steps 105\n2 up [ 0.703 -0.032  0.711] z 0.514 pos [3.57 0.51 0.51] steps 114\n3 up [ 0.661 -0.08   0.746] z 0.407 pos [2.8  0.41 0.41] steps 123\n4 up [ 0.628 -0.053  0.776] z 0.287 pos [2.   0.33 0.29] steps 132\n5 up [ 0.626 -0.046  0.778] z 0.229 pos [1.16 0.28 0.23] steps 141","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":57,"t":762.7,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":61553,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":58,"t":776.6,"say":"","calls":[{"kind":"robot","label":"Continue righting the robot","code":"cd /app/work && python3 - <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef upaxis(pr):\n    bp=pr[\"base_pose\"][3:7]; x,y,z,w=bp\n    return np.array([2*(x*z+w*y),2*(y*z-w*x),1-2*(x*x+y*y)])\nfor i in range(4):\n    pr=now(r)\n    A=base_chunk(pr[\"joint_pos\"],3,0.1,0.12,0,0)\n    r.submit(\"joint_position\",A,dt=0.1)\n    pr=now(r); u=upaxis(pr)\n    print(i,\"up\",np.round(u,3),\"z\",round(pr[\"base_pose\"][2],3),\"pos\",np.round(pr[\"base_pose\"][:3],2),\"steps\",r.status()[\"control_steps\"])\no=r.get_obs(depth=True); save_obs(o,\"rec3\")\npr=now(r); print(\"final up\",np.round(upaxis(pr),3))\nPYEOF"}],"out":{"text":"0 up [ 0.992  0.103 -0.072] z 0.399 pos [1.04 0.64 0.4 ] steps 150\n1 up [ 0.991  0.116 -0.073] z 0.399 pos [1.04 0.64 0.4 ] steps 159\n2 up [ 0.989  0.141 -0.034] z 0.394 pos [1.05 0.64 0.39] steps 168\n3 up [ 0.989  0.141 -0.034] z 0.394 pos [1.05 0.64 0.39] steps 177\nfinal up [ 0.989  0.141 -0.034]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":59,"t":790.5,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":62729,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":60,"t":804.3,"say":"","calls":[{"kind":"look","label":"rec3_robot_r1_zed_link_Camera_0.png","code":"/app/work/rec3_robot_r1_zed_link_Camera_0.png"},{"kind":"look","label":"rec3_robot_r1_left_realsense_link_Camera_0.png","code":"/app/work/rec3_robot_r1_left_realsense_link_Camera_0.png"}],"out":{"text":"<path>/app/work/rec3_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 49211 bytes\n</content>\n<path>/app/work/rec3_robot_r1_left_realsense_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 44231 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":61,"t":818.2,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":65392,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":62,"t":832.1,"say":"","calls":[{"kind":"robot","label":"Roll robot back with -x nudges","code":"cd /app/work && python3 - <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef upaxis(pr):\n    bp=pr[\"base_pose\"][3:7]; x,y,z,w=bp\n    return np.array([2*(x*z+w*y),2*(y*z-w*x),1-2*(x*x+y*y)])\nfor i in range(10):\n    pr=now(r)\n    A=base_chunk(pr[\"joint_pos\"],1,0.1,-0.05,0,0)\n    r.submit(\"joint_position\",A,dt=0.1)\n    pr=now(r); u=upaxis(pr)\n    print(i,\"up\",np.round(u,3),\"z\",round(pr[\"base_pose\"][2],3),\"pos\",np.round(pr[\"base_pose\"][:3],2),\"steps\",r.status()[\"control_steps\"])\n    if u[2]>0.93: print(\"upright enough\"); break\no=r.get_obs(depth=False); save_obs(o,\"rec4\")\nPYEOF"}],"out":{"text":"0 up [ 0.99   0.139 -0.028] z 0.394 pos [1.06 0.56 0.39] steps 180\n1 up [ 0.992  0.129 -0.003] z 0.399 pos [1.06 0.48 0.4 ] steps 183\n2 up [ 0.982  0.175 -0.068] z 0.411 pos [1.07 0.43 0.41] steps 186\n3 up [ 0.974  0.206 -0.093] z 0.414 pos [1.06 0.39 0.41] steps 189\n4 up [ 0.976  0.202 -0.08 ] z 0.412 pos [1.05 0.36 0.41] steps 192\n5 up [ 0.984  0.172 -0.047] z 0.406 pos [1.05 0.34 0.41] steps 195\n6 up [ 0.988  0.154 -0.029] z 0.404 pos [1.04 0.33 0.4 ] steps 198\n7 up [ 0.988  0.15  -0.031] z 0.404 pos [1.04 0.33 0.4 ] steps 201\n8 up [ 0.988  0.148 -0.038] z 0.404 pos [1.04 0.32 0.4 ] steps 204\n9 up [ 0.986  0.153 -0.062] z 0.407 pos [1.04 0.31 0.41] steps 207","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":63,"t":845.9,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":66603,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":64,"t":859.8,"say":"","calls":[{"kind":"look","label":"rec4_robot_r1_zed_link_Camera_0.png","code":"/app/work/rec4_robot_r1_zed_link_Camera_0.png"}],"out":{"text":"<path>/app/work/rec4_robot_r1_zed_link_Camera_0.png</path>\n<type>image</type>\n<content>\nimage/png image, 224x224 px, 50439 bytes\n</content>","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":65,"t":873.7,"say":"","calls":[{"kind":"shell","label":"Look at rec4 view and proprio","code":"cd /app/work && python3 -c \"\nfrom util import *\nr=connect(); st=r.status(); print(st)\npr,_=proprio_now(r); print('eef',np.round(pr['eef_pose'],3)); print('tcp',np.round(pr['tcp_pose'],3)); print('joint_pos',np.round(pr['joint_pos'],3))\n\""}],"out":{"text":"{'step': 69, 'calls': 138, 'control_steps': 207, 'done': False, 'reason': None, 'elapsed_s': 319.7, 'resumes': 0}\neef [ 2.864  0.081  0.867  0.548 -0.031  0.248  0.798  2.1    0.525  1.552\n  0.194 -0.063 -0.24   0.949]\ntcp [ 2.868  0.064  0.875  0.548 -0.031  0.248  0.798  2.096  0.518  1.569\n  0.194 -0.063 -0.24   0.949]\njoint_pos [ 0.483 -0.565 -0.938  1.043 -0.328 -2.946  2.831 -0.205 -0.294 -2.297\n -1.456 -1.053 -0.015  0.819 -0.019  0.312 -0.004  0.051  0.05   0.05\n  0.05   0.05 ]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":66,"t":887.5,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":70157,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":67,"t":901.4,"say":"","calls":[{"kind":"robot","label":"Let physics settle and check orientation","code":"cd /app/work && python3 - <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef R(pr):\n    x,y,z,w=pr[\"base_pose\"][3:7]\n    return np.array([[1-2*(y*y+z*z),2*(x*y-w*z),2*(x*z+w*y)],\n                     [2*(x*y+w*z),1-2*(x*x+z*z),2*(y*z-w*x)],\n                     [2*(x*z-w*y),2*(y*z+w*x),1-2*(x*x+y*y)]])\npr=now(r); M=R(pr)\nprint(\"time_left\", r.status())\nprint(\"robot x->world\",np.round(M[:,0],3),\"robot y->world\",np.round(M[:,1],3),\"robot z->world\",np.round(M[:,2],3))\n# stop, then let physics settle\nA=base_chunk(pr[\"joint_pos\"],1,0.1,0,0,0)\nr.submit(\"joint_position\",A,dt=0.1)\no=r.get_obs(seconds=1.5,video=\"mp4\")\npr=now(r); M=R(pr)\nprint(\"after settle up->world\",np.round(M[:,2],3),\"pos\",np.round(pr[\"base_pose\"][:3],3),\"steps\",r.status()[\"control_steps\"])\nsave_obs(o,\"rec5\")\nPYEOF"}],"out":{"text":"time_left {'step': 69, 'calls': 140, 'control_steps': 207, 'done': False, 'reason': None, 'elapsed_s': 343.9, 'resumes': 0}\nrobot x->world [0.054 0.059 0.997] robot y->world [ 0.156 -0.987  0.05 ] robot z->world [ 0.986  0.153 -0.062]\nafter settle up->world [ 0.986  0.153 -0.064] pos [1.038 0.312 0.407] steps 255","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":68,"t":915.3,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":72879,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":69,"t":929.1,"say":"","calls":[{"kind":"robot","label":"Push base world +x to roll robot upright","code":"cd /app/work && python3 - <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef upw(pr):\n    x,y,z,w=pr[\"base_pose\"][3:7]\n    return np.array([2*(x*z+w*y),2*(y*z-w*x),1-2*(x*x+y*y)])\nfor i in range(14):\n    pr=now(r)\n    res=move_world(r,0.10,0.0,gl=0.05,gr=0.05,speed=0.05)\n    pr=now(r); u=upw(pr)\n    print(i,\"up\",np.round(u,3),\"z\",round(pr[\"base_pose\"][2],3),\"pos\",np.round(pr[\"base_pose\"][:3],2),\"steps\",r.status()[\"control_steps\"])\n    if u[2]>0.9: print(\"UPRIGHT\"); break\no=r.get_obs(depth=False); save_obs(o,\"rec6\")\nPYEOF"}],"out":{"text":"0 up [ 0.984  0.157 -0.085] z 0.41 pos [1.04 0.38 0.41] steps 258\n1 up [ 0.98   0.168 -0.104] z 0.413 pos [1.04 0.41 0.41] steps 261\n2 up [ 0.979  0.173 -0.107] z 0.413 pos [1.04 0.41 0.41] steps 264\n3 up [ 0.979  0.175 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 267\n4 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 270\n5 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 273\n6 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 276\n7 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 279\n8 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 282\n9 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 285\n10 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 288\n11 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 291\n12 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 294\n13 up [ 0.978  0.176 -0.108] z 0.413 pos [1.04 0.41 0.41] steps 297","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":70,"t":943.0,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":74457,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":71,"t":956.9,"say":"","calls":[{"kind":"robot","label":"Try max-force moves in several directions","code":"cd /app/work && python3 - <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef upw(pr):\n    x,y,z,w=pr[\"base_pose\"][3:7]\n    return np.array([2*(x*z+w*y),2*(y*z-w*x),1-2*(x*x+y*y)])\ndef try_dir(r,dx,dy,v=0.15,n=3,label=\"\"):\n    for i in range(n):\n        move_world(r,dx,dy,speed=v)\n    pr=now(r); u=upw(pr)\n    print(label,\"up\",np.round(u,3),\"pos\",np.round(pr[\"base_pose\"][:3],2),\"steps\",r.status()[\"control_steps\"])\n    return pr,u\nfor d in [(1,0),(-1,0),(0,1),(0,-1),(1,1),(-1,-1)]:\n    nrm=np.hypot(*d); pr,u=try_dir(r,d[0]/nrm*1,d[1]/nrm*1,0.15,2,label=str(d))\no=r.get_obs(depth=False); save_obs(o,\"rec7\")\nPYEOF"}],"out":{"text":"(1, 0) up [ 0.978  0.163 -0.134] pos [1.03 0.51 0.42] steps 315\n(-1, 0) up [ 0.986 -0.169  0.006] pos [1.05 0.54 0.34] steps 333\n(0, 1) up [ 0.108 -0.985 -0.135] pos [1.52 0.62 0.37] steps 351\n(0, -1) up [ 0.914 -0.354 -0.197] pos [1.09 0.52 0.41] steps 369\n(1, 1) up [-0.554 -0.764 -0.332] pos [1.98 0.38 0.44] steps 381\n(-1, -1) up [ 0.166 -0.793 -0.586] pos [1.55 0.89 0.44] steps 393","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":72,"t":970.7,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":75833,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":73,"t":984.6,"say":"","calls":[{"kind":"shell","label":"Roll robot continuously, watch up axis","code":"cd /app/work && python3 - <<'PYEOF'\nimport numpy as np\nfrom util import *\nr=connect()\ndef upw(pr):\n    x,y,z,w=pr[\"base_pose\"][3:7]\n    return np.array([2*(x*z+w*y),2*(y*z-w*x),1-2*(x*x+y*y)])\nbest=0\nfor i in range(9):\n    move_world(r,0,1.0,speed=0.15)\n    pr=now(r); u=upw(pr); best=max(best,u[2])\n    print(i,\"up\",np.round(u,3),\"z\",round(pr[\"base_pose\"][2],3),\"pos\",np.round(pr[\"base_pose\"][:3],2),\"steps\",r.status()[\"control_steps\"])\n    if u[2]>0.75:\n        print(\"RESET COUNTER\"); break\nprint(\"best\",round(best,3))\nPYEOF"}],"out":{"text":"0 up [ 0.219 -0.794 -0.568] z 0.444 pos [1.52 0.5  0.44] steps 402\n1 up [ 0.604 -0.059 -0.795] z 0.392 pos [ 1.59 -0.36  0.39] steps 411\n2 up [ 0.313  0.659 -0.684] z 0.603 pos [ 1.62 -0.78  0.6 ] steps 420\n3 up [-0.047  0.999  0.01 ] z 0.525 pos [ 1.41 -0.97  0.52] steps 429\n4 up [-0.028  1.     0.001] z 0.346 pos [ 1.4  -0.96  0.35] steps 438\n5 up [ 0.005  1.    -0.003] z 0.347 pos [ 1.4  -0.96  0.35] steps 441\n[stderr]\nTraceback (most recent call last):\n  File \"<stdin>\", line 9, in <module>\n  File \"/app/work/util.py\", line 101, in move_world\n    return r.submit(\"joint_position\",A,dt=0.1)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 180, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 156, in _post\n    raise EpisodeOver(_over(r) if r.headers.get(\"Content-Type\", \"\").startswith(\"application/json\") else \"episode finished\")\nrcb_client.EpisodeOver: failure: the robot fell over\n[exit code: 1]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":74,"t":998.5,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":77023,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":75,"t":1012.3,"say":"","calls":[{"kind":"shell","label":"Check raw service status after failure","code":"cd /app/work && python3 - <<'PYEOF'\nimport requests, json\nfor path in [\"/status\",\"/spec\"]:\n    r=requests.get(\"http://localhost:8000\"+path,timeout=10)\n    print(path, r.status_code, r.text[:800])\nPYEOF"}],"out":{"text":"/status 200 {\"step\": 132, \"calls\": 250, \"control_steps\": 441, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 512.5, \"resumes\": 0}\n/spec 200 {\"protocol\": \"eai-standard/2.2\", \"protocol_compat\": [\"rcb-limited/2.0\", \"rcb-limited/2.1\", \"eai-standard/2.1\"], \"simulator\": \"behavior-1k 3.9.2 (OmniGibson / Isaac Sim)\", \"robot\": \"r1pro\", \"task_text\": \"Make a pizza in the kitchen. The pizza dough lies on the cookie sheet on the countertop; in the refrigerator are three tupperwares, one filled with grated cheese, one holding four pepperoni slices and one holding two mushrooms; a Vidalia onion lies on the chopping board, and a carving knife and a bowl lie on the countertop. Top the dough with the cheese, the pepperoni, the mushrooms cut in half and the diced onion, and bake it in the oven until it turns into a pizza; leave the pizza on the cookie sheet.\", \"control_hz\": 30, \"physics_substeps\": 4, \"max_chunk_s\": 10.0, \"max_watch_s\": 30.0, \"ma","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":76,"t":1026.2,"say":"The episode ended in failure — the base tipped during a too-fast drive. Let me verify whether the service can serve anything further.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78282,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":77,"t":1040.1,"say":"","calls":[{"kind":"shell","label":"Probe service after episode end","code":"cd /app/work && python3 - <<'PYEOF'\nimport requests, json, numpy as np\n# probe a submit\nbody={\"type\":\"joint_position\",\"dt\":1/30,\"video\":\"none\",\"cameras\":[]}\ntry:\n    r=requests.post(\"http://localhost:8000/submit\",json=body,timeout=20)\n    print(\"submit\",r.status_code,r.text[:400])\nexcept Exception as e: print(\"ERR\",e)\nfor p in [\"/observe\",\"/status\"]:\n    try:\n        r=requests.post(\"http://localhost:8000\"+p,json={},timeout=15) if p==\"/observe\" else requests.get(\"http://localhost:8000\"+p,timeout=15)\n        print(p,r.status_code,r.text[:300])\n    except Exception as e: print(p,\"ERR\",e)\nPYEOF"}],"out":{"text":"submit 409 {\"error\": \"episode finished\", \"reason\": \"failure: the robot fell over\"}\n/observe 200 RCB1�!\u0000\u0000{\"v\":1,\"meta\":{\"step\":132,\"calls\":251,\"control_steps\":441,\"physics_steps\":1764,\"sim_time_s\":14.7,\"time_s\":518.41,\"time_left_s\":6681.6,\"proprio\":{\"layout\":[\"base_footprint_x_joint\",\"base_footprint_y_joint\",\"base_footprint_z_joint\",\"base_footprint_rx_joint\",\"base_footprint_ry_joint\",\"base_foot\n/status 200 {\"step\": 132, \"calls\": 251, \"control_steps\": 441, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 518.5, \"resumes\": 0}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":78,"t":1054.0,"say":"The episode is over — the fall ended it. Let me confirm there's no path forward, then leave the record script as required.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":80916,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":79,"t":1067.8,"say":"","calls":[{"kind":"shell","label":"Start light status monitor","code":"cd /app/work && cat > watch.sh <<'EOF'\nfor i in $(seq 1 40); do\n  curl -s -m 10 http://localhost:8000/status >> /app/work/watch.log 2>&1; echo >> /app/work/watch.log\n  sleep 30\ndone\nEOF\nnohup bash watch.sh >/dev/null 2>&1 &\necho \"monitor started (detects any service recycle)\"; date"}],"out":{"text":"monitor started (detects any service recycle)\nTue Oct 13 04:23:21 UTC 2026","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":80,"t":1081.7,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":87199,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":81,"t":1095.6,"say":"","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\n#!/usr/bin/env python3\n\"\"\"make_pizza driver for the BEHAVIOR-1K / eai-standard/2.2 sim service (R1Pro, one episode, no reset).\n\nThis file is the record of the run. It contains the client wrapper, the motion primitives that were\nvalidated on the real service during the episode, and the full task pipeline that they drive.\n\n===========================================================================================\nWHAT HAPPENED IN THE RECORDED EPISODE (honest account)\n===========================================================================================\nThe service came up, the scene was inspected (3 cameras + proprioception) and a 360 degree\nvisual sweep located the kitchen (kitchen counter ~ -20 deg world yaw from the start pose at\n(4.51, 2.99)). The first navigation leg was then commanded with a per-step base displacement of\n0.13 m. That is 0.13 m * 30 Hz = 3.9 m/s: the R1 Pro drove into the dining chairs at speed,\ntipped past 41.4 deg and, after 300 consecutive tilted control steps (10 s of simulated time),\nthe service declared \"failure: the robot fell over\" and refused every later call with 409.\nNothing could be reset. The episode is graded as it stands.\n\nThe single cause of the failure was base speed. The primitives below therefore hard-limit the\nbase to BASE_STEP_MAX = 0.04 m per control step (1.2 m/s) and the yaw to YAW_STEP_MAX = 0.1 rad\nper control step, they read the base up-axis from proprioception after every chunk, and they\nrefuse to keep driving whenever cos(rx)*cos(ry) < TILT_SAFE (0.9); below TILT_FALL (0.75) they\nstop and try to rock the robot back upright instead of accumulating the 300-step fall timer.\n\n===========================================================================================\nPLAN THE PIPELINE IMPLEMENTS\n===========================================================================================\nObjects (from the task text): cookie sheet with the dough on the countertop; refrigerator with\nthree tupperwares (grated cheese / 4 pepperoni slices / 2 mushrooms); Vidalia onion on the\nchopping board; carving knife and bowl on the countertop; oven in the kitchen.\n\n  1. locate the kitchen and park in front of the countertop            -> find_counter()\n  2. drive to the refrigerator, open it, take the 3 tupperwares out    -> fetch_tupperwares()\n  3. tip the cheese / pepperoni into the bowl, put them on the dough   -> dump_ingredient()\n  4. grasp the knife, slice both mushrooms in half (blade touch)       -> slice_object()\n     and dice the onion halves the same way (diceable half -> particles)\n  5. put cheese + pepperoni + mushroom halves + diced onion on the dough\n  6. grasp the cookie sheet, slide it into the oven, close the door, turn the oven on\n  7. watch until the simulator's recipe turns the load into a pizza and the goal\n     ontop(pizza, cookie_sheet) holds (meta[\"done\"])\n\nTransition rules used: a sliceable object touching the blade of an *active* slicer (a knife held\nby the robot) is rep\n… (15,041 characters left out) …\nry[0] -= 0.12\n            exit_[0] += 0.12\n            self.arm_to(left=entry, grip_l=GRIP_HOLD, nrows=6)\n            self.arm_to(left=mid, grip_l=GRIP_HOLD, nrows=4)      # blade touches the object\n            self.hold_chunk(6, gl=GRIP_HOLD, note=\"cut settles (2 s)\")\n            self.arm_to(left=exit_, grip_l=GRIP_HOLD, nrows=6)\n            self.hold_chunk(6, gl=GRIP_HOLD, note=\"blade rests\")\n        over = list(object_pose)\n        over[2] += 0.2\n        self.arm_to(left=over, grip_l=GRIP_HOLD, nrows=6)\n        self.arm_to(left=over, grip_l=GRIP_OPEN, nrows=2)\n        return True\n\n    def load_and_bake(self, cookie_sheet_pose, oven_pose):\n        \"\"\"Carry the loaded cookie sheet into the oven, shut the door and switch the oven on.\"\"\"\n        grab = list(cookie_sheet_pose)\n        self.approach(grab, dz_above=0.12, grip=GRIP_OPEN, nrows=8)\n        self.arm_to(left=grab, grip_l=GRIP_HOLD, nrows=3)\n        self.arm_to(right=grab, grip_r=GRIP_HOLD, nrows=3)          # two-handed carry\n        lifted = list(grab)\n        lifted[2] += 0.10\n        self.arm_to(left=lifted, right=lifted, grip_l=GRIP_HOLD, grip_r=GRIP_HOLD, nrows=6)\n        into = list(oven_pose)\n        self.arm_to(left=into, right=into, grip_l=GRIP_HOLD, grip_r=GRIP_HOLD, nrows=12)\n        self.arm_to(left=into, right=into, grip_l=GRIP_OPEN, grip_r=GRIP_OPEN, nrows=2)\n        back = list(into)\n        back[2] += 0.18\n        self.arm_to(left=back, right=back, nrows=8)\n        for _ in range(40):\n            self.hold_chunk(10, note=\"baking\")\n            if self.done():\n                return True\n        return self.done()\n\n    # ------------------------------------------------------------------ driver\n    def run(self, poses=None):\n        \"\"\"poses: dict of world eef poses (7-element xyzw) measured from the camera frames; when\n        it is None the script only does the reconnaissance that fits an interactive session.\"\"\"\n        poses = poses or {}\n        try:\n            self.find_counter()\n            if poses:\n                self.dump_ingredient(poses[\"cheese_tub\"], poses[\"dough\"])\n                self.dump_ingredient(poses[\"pepperoni_tub\"], poses[\"dough\"])\n                self.dump_ingredient(poses[\"mushroom_tub\"], poses[\"dough\"])\n                for m in poses.get(\"mushrooms\", []):\n                    self.slice_object(poses[\"knife\"], m)\n                for h in poses.get(\"onion_halves\", []):\n                    self.slice_object(poses[\"knife\"], h, passes=1)\n                    self.slice_object(poses[\"knife\"], h, passes=1)   # half -> diced particles\n                self.load_and_bake(poses[\"cookie_sheet\"], poses[\"oven\"])\n        except EpisodeOver as exc:\n            log(f\"episode over: {exc}\")\n        log(f\"final: done={self.done()} status={self.r.status()}\")\n\n\ndef main() -> int:\n    d = PizzaDriver()\n    d.run(json.load(open(sys.argv[1])) if len(sys.argv) > 1 and os.path.exists(sys.argv[1]) else None)\n    return 0\n\n\nif __name__ == \"__main__\":\n    raise SystemExit(main())\n"}],"out":{"text":"<path>/app/output/gen.py</path>\n<type>file</type>\n<content>\nCreated file\n</content>","exit":[],"pics":[]},"tok":{"in":87340,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":82,"t":1109.4,"say":"","calls":[{"kind":"shell","label":"Compile-check the record script","code":"cd /app/output && python3 -m py_compile gen.py && echo \"compiles OK\"; ls -la /app/output; echo \"--- monitor log:\"; tail -3 /app/work/watch.log 2>/dev/null"}],"out":{"text":"compiles OK\ntotal 40\ndrwxr-xr-x 1 root root  4096 Oct 13 04:23 .\ndrwxr-xr-x 1 root root  4096 Oct 13 04:04 ..\ndrwxr-xr-x 2 root root  4096 Oct 13 04:23 __pycache__\n-rw------- 1 root root 21021 Oct 13 04:23 gen.py\n--- monitor log:\n{\"step\": 132, \"calls\": 251, \"control_steps\": 441, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 533.5, \"resumes\": 0}\n{\"step\": 132, \"calls\": 251, \"control_steps\": 441, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 563.6, \"resumes\": 0}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":83,"t":1123.3,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":88030,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":84,"t":1137.2,"say":"","calls":[{"kind":"shell","label":"Final status check and cleanup","code":"pkill -f watch.sh 2>/dev/null; cd /app/work && python3 - <<'EOF'\nimport requests\nr=requests.get(\"http://localhost:8000/status\",timeout=10); print(\"FINAL STATUS:\", r.text)\nr2=requests.post(\"http://localhost:8000/submit\",json={\"type\":\"joint_position\",\"dt\":0.1},timeout=10)\nprint(\"SUBMIT:\", r2.status_code, r2.text[:200])\nEOF\nrm -rf /app/output/__pycache__; ls -la /app/output"}],"out":{"text":"FINAL STATUS: {\"step\": 132, \"calls\": 251, \"control_steps\": 441, \"done\": true, \"reason\": \"failure: the robot fell over\", \"elapsed_s\": 572.3, \"resumes\": 0}\nSUBMIT: 409 {\"error\": \"episode finished\", \"reason\": \"failure: the robot fell over\"}\ntotal 36\ndrwxr-xr-x 1 root root  4096 Oct 13 04:24 .\ndrwxr-xr-x 1 root root  4096 Oct 13 04:04 ..\n-rw------- 1 root root 21021 Oct 13 04:23 gen.py","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":85,"t":1151.0,"say":"## Outcome: the episode ended in failure — the robot fell over\n\nI have to report this straight: **the trial is lost, and it was my own error.**\n\n### What happened\n\n1. **Connected** to the service after the usual Isaac Sim warm-up (~7 min of my budget, `eai-standard/2.2`, R1Pro).\n2. **Reconnaissance worked well.** Dumped the spec (25-d `joint_position` layout, proprio groups, camera intrinsics/mounts, robot limits), captured head + both wrist cameras with depth, and ran a 360° visual sweep. That located the kitchen unambiguously (countertop ~ −20° world yaw from the start pose at (4.51, 2.99), dining table in front, living room/stairs behind).\n3. **Then I broke it in one move.** The first navigation leg was sent with a per–control-step base displacement of 0.13 m. The base command is re-applied *every* 30 Hz control step, so that is **3.9 m/s** — near the robot's 4.5 m/s limit. The R1Pro drove into the dining chairs at speed, pitched up, and slid onto its side.\n4. **Recovery failed.** The base's `rx`/`ry` joints are passive, so the body attitude is pure physics. My rocking/sliding attempts rolled it through upright once (up-axis briefly 0.78, which did reset the funny tilt timer) but ended with it wedged (`base_link` frozen at (1.04, 0.31, 0.41), up-axis ≈ (0.98, 0.18, −0.11)).\n5. **Fall rule fired**: tilted (cos rx·cos ry < 0.75) for 300 consecutive control steps. The service now answers `/status` with `done: true, reason: \"failure: the robot fell over\"` and every `/submit` with **409 \"episode finished\"**. There is no reset, so nothing further can be executed — ~6,600 s of the budget is unusable.\n\nI verified the terminal state directly against the service rather than assuming:\n\n```\nFINAL STATUS: {\"step\":132,\"calls\":251,\"control_steps\":441,\"done\":true,\n               \"reason\":\"failure: the robot fell over\",\"resumes\":0}\nSUBMIT: 409 {\"error\":\"episode finished\",\"reason\":\"failure: the robot fell over\"}\n```\n\n### The deliverable\n\n`/app/output/gen.py` is in place (compiles clean). It records the working primitives validated on the real service — proprio → 25-d action row mapping, absolute-joint holding while driving, world↔robot-frame translation, yaw control, IK/`ee_pose` helpers, camera/depth capture — and the full intended pipeline (locate counter → fetch the three tupperwares → tip cheese/pepperoni onto the dough → grasp the knife and slice the mushrooms in half and dice the onion halves → load the cookie sheet into the oven, close it, switch it on → watch for `meta[\"done\"]`).\n\nCritically, it bakes in the lesson that killed this run: `BASE_STEP_MAX = 0.04 m` per control step (1.2 m/s), `YAW_STEP_MAX = 0.1 rad` per step, an up-axis guard that refuses to drive below `cos(rx)·cos(ry) = 0.9`, and a `right_itself()` rocking routine triggered at the simulator's own 0.75 fall threshold — none of which existed when I sent the fatal chunk.\n\nThe honest summary: the perception and API work were sound, and the task was reachable, but I never got past the first navigation leg because I commanded base motion at a speed that tips a wheeled bimanual robot.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":89185,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}