Add files using upload-large-folder tool

runs/roboolympics-fun-catch-realgrasp-i00-privileged--aabpmad.json

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+{"slug":"roboolympics-fun-catch-realgrasp-i00-privileged--aabpmad","task":"roboolympics-fun-catch-realgrasp-i00-privileged","bench":"roboolympics-fun","mode":"privileged","run":"antigravity_cli-gemini_4_argon-high","agent":"antigravity_sub:AntigravitySubscription","model":"gemini-4-argon","effort":"high","state":"success","success":1,"reward":{"success":1,"replay_success":1,"deterministic":1,"n_actions":487,"sim_steps":487,"horizon":900,"episode_over":1,"progress":1.0,"stages_reached":2,"stages_total":2,"fell":0,"replay_s":6.47,"bad_trajectory":0,"metric_catch_height_m":1.44,"metric_catch_speed_m_s":9.718,"grader_error":0,"video_rendered":1,"agent_sessions":19,"agent_resets":57,"agent_replays":2,"agent_cost_self_reported":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.691,"peak_processes":7,"peak_disk_gb":0.248,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0,"session_log_tampered":0,"session_log_from_monitor":0},"wall_s":1109,"tokens":{"in":4416146,"cached":4216310,"out":37791,"usd":1.37},"task_text":"","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"roboolympics-fun-catch-realgrasp-i00-privileged--aabpmad/replay.mp4","replay_last":"roboolympics-fun-catch-realgrasp-i00-privileged--aabpmad/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"reads instance.json","code":"/app/instance.json"},{"kind":"shell","label":"reads rfo_task.py","code":"/opt/tools/rfo_task.py"},{"kind":"shell","label":"reads referee.py","code":"/opt/tools/rfo/referee.py"},{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"}],"out":{"text":"File Path: `file:///app/instance.json`\nTotal Lines: 1347\nTotal Bytes: 26990\nShowing lines 1 to 800\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: {\n2:  \"family\": \"catch-realgrasp\",\n3:  \"seed\": 0,\n4:  \"params\": {\n5:   \"launch_time_s\": 1.0,\n6:   \"launch_distance_m\": 40.0,\n7:   \"launch_height_m\": 1.0,\n8:   \"launch_speed_m_s\": 21.35,\n9:   \"launch_elevation_deg\": 45.0,\n10:   \"launch_azimuth_deg\": 1.18,\n11:   \"land_within_m\": 3.0,\n12:   \"hold_s\": 1.0,\n13:   \"catch_window_s\": 0.5,\n14:   \"hold_gap_s\": 0.02,\n15:   \"max_contact_angle_deg\": 45.0,\n16:   \"fall_pelvis_m\": 0.5\n17:  },\n18:  \"title\": \"Baseball: catch a fly ball, real grasp\",\n19:  \"category\": \"throwing-catching-striking\",\n20:  \"time_limit_s\": 9.0,\n21:  \"stages\": [\n22:   \"catch\",\n23:   \"hold\"\n24:  ],\n25:  \"rulebook\": \"Official Baseball Rules (MLB, 2024 edition): 3.01 (the ball), Definitions of Terms: \\\"catch\\\" (secure possession in the hand before the ball touches the ground, held long enough to show control), \\\"in flight\\\"\",\n26:  \"deviations\": [\n27:   \"Definitions (catch): no glove; both hands are Unitree's Dex1-1 two-jaw grippers (sold for the G1, the H2 and the R1, not for the H1-2; mounted on the wrist where the H1-2's palm ends): 90 mm stroke, jaws 80 mm long and 34 mm wide with rubber pads, at most 120 N of grip, opening and cl\n… (87,457 characters left out) …\n         if hands:                                   # a real hand's grip column is its closure command: kept in [0, 1]\n379:             raw = raw.copy()                        # (so the row in force, last_raw, holds what ran)\n380:             for i, s in enumerate(SIDES):\n381:                 if s in self.real_hands:\n382:                     raw[L.R_GRIP.start + i] = min(max(float(raw[L.R_GRIP.start + i]), 0.0), 1.0)\n383:         self.task.before_step(self)\n384:         self._grips(raw[L.R_GRIP] >= 0.5)\n385:         if hands:\n386:             hands.command(raw[L.R_GRIP])            # a real hand: the closure command (realhand.py)\n387:         self._control(raw)\n388:         a.begin_step(d)\n389:         won = self.ref.success\n390:         for j in range(1, SUB + 1):\n391:             a.apply(d, j)\n392:             if hands:\n393:                 hands.substep()\n394:             mujoco.mj_step(m, d)\n395:             if (d.warning[mujoco.mjtWarning.mjWARN_BADQACC].number or not np.all(np.isfinite(d.qpos))\n396:                     or float(np.abs(d.qvel[self._lin_dofs]).max()) > MAX_SPEED):\n397:                 self.unstable = True                # the physics diverged: the attempt ends here, as a failure\n398:                 break\n399:             if hands:\n400:                 hands.update_held()\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":8.0,"say":"","calls":[{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"},{"kind":"shell","label":"reads realhand.py","code":"/opt/tools/rfo/realhand.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo/world.py`\nTotal Lines: 853\nTotal Bytes: 48327\nShowing lines 401 to 853\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n401:             self.ref.substep()\n402:         self.k += 1\n403:         self.last_raw = raw.copy()\n404:         if self.unstable:\n405:             self.ref.void(UNSTABLE, keep_success=won)   # (also a success latched earlier in this control step)\n406:             self.ref.done = True\n407:         else:\n408:             self.ref.step()\n409:         return self.ref.done\n410: \n411:     def _plan(self, groups, Q, QD=None, TAU=None, kp=None, kd=None, rate=None) -> None:\n412:         \"\"\"One row of joint targets for `groups` through the arbiter's plan: clipped into the ranges and to one step\n413:         of the speed limits from where each group's target is (its measured position when it is taken over).\"\"\"\n414:         r, a, d = self.robot, self.robot.arb, self.d\n415:         ix = np.concatenate([a.GROUPS[g] for g in groups])\n416:         ref = a.q_b[ix].copy()\n417:         for g in groups:\n418:             if a.owner[g] not in (\"plan\", \"hold\"):\n419:                 sel = np.isin(ix, a.GROUPS[g])\n420:                 ref[sel] = d.qpos[a.qadr[ix[sel]]]\n421:         step = (r.speed[ix] if rate is None else np.minimum(r.speed[ix], rate)) * CON\n… (49,690 characters left out) …\nf, s, name, closure, keep_q, keep_v, q0, v0, i, n_close, n_settle, qa, va) -> None:\n335:         m, d = self.w.m, self.w.d\n336:         free, settled = False, 0\n337:         for _ in range(n_close + n_settle):\n338:             self.substep()\n339:             mujoco.mj_step(m, d)\n340:             d.qpos[keep_q] = q0[keep_q]\n341:             d.qvel[keep_v] = v0[keep_v]\n342:             if not free:\n343:                 d.qpos[qa:qa + 7] = q0[qa:qa + 7]\n344:                 d.qvel[va:va + 6] = 0.0\n345:                 n = d.ncon\n346:                 g = d.contact.geom[:n]\n347:                 body = m.body(name).id\n348:                 on = set()\n349:                 for a, b in zip(g[:, 0], g[:, 1]):\n350:                     if m.geom_bodyid[b] == body:\n351:                         on.add(int(self.jaw_code[a]))\n352:                     elif m.geom_bodyid[a] == body:\n353:                         on.add(int(self.jaw_code[b]))\n354:                 if {i, i + 1} <= on and abs(self.setpoint[s] - HALF * closure) < 1e-12:\n355:                     free = True                   # both jaws on it and the servo at its command: the full clamp\n356:                     keep_q[qa:qa + 7] = False\n357:                     keep_v[va:va + 6] = False\n358:             else:\n359:                 settled += 1\n360:                 if settled >= n_settle:\n361:                     break\n362:         self._free = free\n363: \nThe above content shows the entire, complete file contents of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":17.0,"say":"","calls":[{"kind":"robot","label":"Simulating ball trajectory","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\ntyp, row = s.hold()\nprint(\"Initial state pelvis:\", s.state()[\"pelvis\"])\nprint(\"Initial grippers:\", s.state()[\"task\"][\"grippers\"])\nfor k in range(500):\n    done = s.step(typ, row)\n    b = s.world.pos(\"ball\")\n    v = s.world.vel(\"ball\")\n    if k >= 100 and (k % 20 == 0 or b[2] < 2.5):\n        print(f\"k={k} t={s.world.t:.2f} pos=({b[0]:.4f}, {b[1]:.4f}, {b[2]:.4f}) vel=({v[0]:.3f}, {v[1]:.3f}, {v[2]:.3f})\")\n    if done:\n        print(\"Done at k=\", k, s.status())\n        break\n'"}],"out":{"text":"The command exited with code 1.\nOutput:\nTraceback (most recent call last):\r\n  File \"<string>\", line 7, in <module>\r\nKeyError: 'pelvis'","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":33.0,"say":"","calls":[{"kind":"robot","label":"Checking ball trajectory and state","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\ntyp, row = s.hold()\nst = s.state()\nprint(\"State keys:\", list(st.keys()))\nfor k, v in st.items():\n    print(\" \", k, \":\", v)\n\nfor k in range(500):\n    done = s.step(typ, row)\n    b = s.world.pos(\"ball\")\n    v = s.world.vel(\"ball\")\n    if k >= 100 and (k % 20 == 0 or b[2] < 2.5):\n        print(f\"k={k} t={s.world.t:.2f} pos=({b[0]:.4f}, {b[1]:.4f}, {b[2]:.4f}) vel=({v[0]:.3f}, {v[1]:.3f}, {v[2]:.3f})\")\n    if done:\n        print(\"Done at k=\", k, s.status())\n        break\ns.save_trajectory()\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nState keys: ['time_s', 'pelvis_xyz_yaw', 'com', 'q', 'dq', 'q_target', 'held', 'left_palm', 'right_palm', 'task', 'real_hands']\r\n  time_s : 0.0\r\n  pelvis_xyz_yaw : [0.0, 0.0, 1.035, 0.0]\r\n  com : [0.02616233581030714, 0.0006851192553336518, 0.9502386086855785]\r\n  q : [0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n  dq : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n  q_target : [0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n  held : {'left': None, 'right': None}\r\n  left_palm : [0.4849999999999999, 0.1694996385533486, 1.1299798788599615]\r\n  right_palm : [0.4849999999999999, -0.1694996385533486, 1.1299798788599615]\r\n  task : {'ball': [40.0, 0.0, 1.0], 'ball_velocity': [0.0, 0.0, 0.0], 'caught_by': None, 'held_by': [], 'launched': False, 'launch_time_s': 1.0, 'launch_position': [40.0, 0.0, 1.0], 'launch_velocity': [-15.093528257846923, -0.31089343765428484, 15.09672977833279], 'grippers': {'left': {'kind': 'dex1', 'command': 0.0, 'opening_m': 0.09, 'opening_speed_m_s': -0.0, 'force_n': 0.0, 'holding': None, 'centre': [0.4849999999999999, 0.1694996385533486, 1.1299798788599615], 'closing_axis': [0.0, -0.9999999999999998, 0.0], 'finger_axis': [0.99999999999999\n… (3,051 characters left out) …\n-11.514, -0.237, -13.094)\r\nk=385 t=3.86 pos=(2.4178, -0.7741, 1.7051) vel=(-11.502, -0.237, -13.178)\r\nk=386 t=3.87 pos=(2.3028, -0.7765, 1.5730) vel=(-11.489, -0.237, -13.262)\r\nk=387 t=3.88 pos=(2.1880, -0.7788, 1.4400) vel=(-11.477, -0.236, -13.346)\r\nk=388 t=3.89 pos=(2.0732, -0.7812, 1.3061) vel=(-11.464, -0.236, -13.429)\r\nk=389 t=3.90 pos=(1.9587, -0.7836, 1.1715) vel=(-11.452, -0.236, -13.512)\r\nk=390 t=3.91 pos=(1.8442, -0.7859, 1.0360) vel=(-11.439, -0.236, -13.596)\r\nk=391 t=3.92 pos=(1.7299, -0.7883, 0.8997) vel=(-11.427, -0.235, -13.679)\r\nk=392 t=3.93 pos=(1.6156, -0.7906, 0.7625) vel=(-11.414, -0.235, -13.762)\r\nk=393 t=3.94 pos=(1.5016, -0.7930, 0.6245) vel=(-11.401, -0.235, -13.844)\r\nk=394 t=3.95 pos=(1.3876, -0.7953, 0.4857) vel=(-11.389, -0.235, -13.927)\r\nk=395 t=3.96 pos=(1.2738, -0.7977, 0.3461) vel=(-11.376, -0.234, -14.010)\r\nk=396 t=3.97 pos=(1.1601, -0.8000, 0.2056) vel=(-11.363, -0.234, -14.092)\r\nk=397 t=3.98 pos=(1.0465, -0.8023, 0.0643) vel=(-11.351, -0.234, -14.174)\r\nk=398 t=3.99 pos=(0.9507, -0.8043, 0.0043) vel=(-6.958, -0.143, 6.461)\r\nDone at k= 398 {'success': False, 'done': True, 'failed': 'the ball touched the ground', 'stages': [], 'stages_total': 2, 'progress': 0.0, 'metrics': {'landed_from_start_m': 1.245}, 'steps': 399, 'time_s': 3.99, 'events': [{'ev': 'launch', 't': 1.0}, {'ev': 'fail', 't': 3.982, 'reason': 'the ball touched the ground', 'x': 1.024, 'y': -0.803}], 'state_sha': '33d34c161acd2a8409ee2a9346cb4249c5b9295fc282df992895b1261b259d73'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":50.0,"say":"","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\nfrom rcb_rfo import Session\n\ndef main():\n    s = Session()\n    typ, row = s.hold()\n    while not s.step(typ, row):\n        pass\n    s.save_trajectory()\n\nif __name__ == \"__main__\":\n    main()\n"},{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\n# Notes — catch-realgrasp i00\n\n- Initial baseline trajectory saved (robot standing still, ball lands at t=3.982s at x=1.024, y=-0.803).\n- Working on walking to the intercept point and catching the ball with the right gripper.\n"}],"out":{"text":"Created file file:///app/output/gen.py with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.\nCreated file file:///app/output/NOTES.md with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":73.0,"say":"","calls":[{"kind":"shell","label":"Listing roboolympics files","code":"ls -la /opt/roboolympics/ /opt/roboolympics/bodies/ /opt/roboolympics/bodies/unitree_h1/ /opt/roboolympics/bodies/control/"}],"out":{"text":"The command exited with code 0.\nOutput:\n/opt/roboolympics/:\r\ntotal 40\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 .\r\ndrwxr-xr-x 5 root root  4096 Oct 19 07:14 ..\r\n-rw-r--r-- 1 root root  1105 Oct 14 19:34 LICENSE.roboolympics\r\n-rw-r--r-- 1 root root  3737 Oct 14 19:34 SOURCE.md\r\ndrwxr-xr-x 3 root root  4096 Oct 14 19:34 athletics\r\ndrwxr-xr-x 6 root root  4096 Oct 14 19:34 bodies\r\n-rw-r--r-- 1 root root 14498 Oct 14 19:34 manifest.sha256\r\n\r\n/opt/roboolympics/bodies/:\r\ntotal 140\r\ndrwxr-xr-x 6 root root  4096 Oct 14 19:34 .\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 ..\r\n-rw-r--r-- 1 root root  3541 Oct 14 19:34 __init__.py\r\n-rw-r--r-- 1 root root  6244 Oct 14 19:34 assembly.py\r\ndrwxr-xr-x 2 root root  4096 Oct 14 19:34 control\r\ndrwxr-xr-x 2 root root  4096 Oct 14 19:34 hands\r\n-rw-r--r-- 1 root root 19017 Oct 14 19:34 limits.py\r\n-rw-r--r-- 1 root root 32420 Oct 14 19:34 selfcollision.py\r\n-rw-r--r-- 1 root root 29598 Oct 14 19:34 servo.py\r\n-rw-r--r-- 1 root root  4145 Oct 14 19:34 sources.py\r\n-rw-r--r-- 1 root root 10712 Oct 14 19:34 trajopt.py\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 unitree_g1\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 unitree_h1\r\n\r\n/opt/roboolympics/bodies/control/:\r\ntotal 64\r\ndrwxr-xr-x 2 root root  4096 Oct 14 19:34 .\r\ndrwxr-xr-x 6 root root  4096 Oct 14 19:34 ..\r\n-rw-r--r-- 1 root root   979 Oct 14 19:34 __init__.py\r\n-rw-r--r-- 1 root root 29841 Oct 14 19:34 arbiter.py\r\n-rw-r--r-- 1 root root 18764 Oct 14 19:34 kinematics.py\r\n\r\n/opt/roboolympics/bodies/unitree_h1/:\r\ntotal 100\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 .\r\ndrwxr-xr-x 6 root root  4096 Oct 14 19:34 ..\r\n-rw-r--r-- 1 root root  1561 Oct 14 19:34 LICENSE\r\n-rw-r--r-- 1 root root     0 Oct 14 19:34 __init__.py\r\n-rw-r--r-- 1 root root 25029 Oct 14 19:34 body.py\r\n-rw-r--r-- 1 root root 16867 Oct 14 19:34 body.toml\r\ndrwxr-xr-x 2 root root  4096 Oct 14 19:34 meshes\r\n-rw-r--r-- 1 root root 31194 Oct 14 19:34 model.xml\r\ndrwxr-xr-x 2 root root  4096 Oct 14 19:34 policy","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":93.0,"say":"","calls":[{"kind":"shell","label":"reads kinematics.py","code":"/opt/roboolympics/bodies/control/kinematics.py"},{"kind":"shell","label":"reads arbiter.py","code":"/opt/roboolympics/bodies/control/arbiter.py"},{"kind":"shell","label":"reads trajopt.py","code":"/opt/roboolympics/bodies/trajopt.py"}],"out":{"text":"File Path: `file:///opt/roboolympics/bodies/control/kinematics.py`\nTotal Lines: 344\nTotal Bytes: 18764\nShowing lines 1 to 344\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"Kinematics library for low-level players of the library's legged robots (optional control library,\n2: bodies/README.md; the \"IK library\" of the low-level toolkit, agent side): the Unitree G1 (29 joints) and H1-2 (27).\n3: \n4: It is self-contained (copied as one file into a player's toolkit): it needs only numpy and mujoco (pip-installable, CPU, deterministic: no random restarts, no threads, a fixed number of\n5: iterations) and the robot-only model (`g1_robot_only.xml`: the floating-base G1, no world, no ball; exported by\n6: pilots/g1_modes/export_model.py from body.robot_only_xml(fixed_base=False)). It knows nothing about any sport or skill.\n7: \n8:     from kinematics import Kinematics, layout\n9:     K = Kinematics(\"g1_robot_only.xml\", robot=\"unitree_g1\")      # or \"unitree_h1\" (layout(robot): joints, groups)\n10:     K.set_state(base_pos, base_quat, q, base_linvel, base_angvel, dq)     # q, dq: the robot's joints in order\n11:     p, R = K.site_pose(\"right_foot\"); c, v = K.com(), K.com_velocity(); Jp, Jr = K.site_jacobian(\"left_foot\")\n12:     tau_g = K.bias()                     # gravity + Coriolis torques at \n… (55,216 characters left out) …\nmargin))) * ramp_pad / dt)) + 2\n178:     base = [Waypoint(n, q=q1, v=v1, tol_q=tol_q, tol_v=tol_v)]\n179:     if via is not None and n > via_steps + 2:\n180:         base.append(Waypoint(n - via_steps, q=np.asarray(via, float), tol_q=via_tol))\n181:         n_str = max(n_str, via_steps + 6)\n182:     if n_follow > 0:\n183:         base.append(Waypoint(n + n_follow, v=np.zeros_like(v1), a=np.zeros_like(v1), tol_v=1e-2, tol_a=0.2))\n184: \n185:     def run(windup):\n186:         wps = list(base)\n187:         if windup:\n188:             wps.append(Waypoint(n - n_str, v=np.zeros_like(v1), a=np.zeros_like(v1), tol_v=2e-2, tol_a=0.3))\n189:         out = plan(q0, v0, a0, n + n_follow, dt, lim, wps, lo=lo, hi=hi, margin=margin, iters=iters)\n190:         vc = out[\"v\"][n - 1]\n191:         vv = float(v1 @ v1)\n192:         scale = float(vc @ v1 / vv) if vv > 1e-12 else 1.0      # the delivered velocity along v1, as a share\n193:         out.update(n_stroke=n_str if windup else 0, scale=scale,\n194:                    contact_err_q=float(np.max(np.abs(out[\"q\"][n - 1] - q1))))\n195:         return out\n196:     out = run(True) if n - n_str >= 6 else None\n197:     if out is None or out[\"contact_err_q\"] > 1e-3 or out[\"scale\"] < 0.97:\n198:         alt = run(False)\n199:         if out is None or (alt[\"contact_err_q\"], -alt[\"scale\"]) < (out[\"contact_err_q\"], -out[\"scale\"]):\n200:             out = alt\n201:     return out\n202: \nThe above content shows the entire, complete file contents of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":106.0,"say":"","calls":[{"kind":"shell","label":"Inspecting ball and hand geoms","code":"python3 -c '\nfrom rcb_rfo import Session\nfrom rfo.scene import OFFICIAL\nprint(\"BALL:\", OFFICIAL[\"baseball\"])\ns = Session()\nm = s.world.m\nfor i in range(m.ngeom):\n    name = m.geom(i).name\n    if \"ball\" in name or \"right_hand\" in name or \"right_wrist\" in name or \"right_elbow\" in name:\n        print(f\"{i:2d} {name:25s} type={m.geom_type[i]} size={m.geom_size[i]} solref={m.geom_solref[i]} solimp={m.geom_solimp[i]} friction={m.geom_friction[i]} prio={m.geom_priority[i]}\")\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nBALL: {'radius': 0.0365, 'mass': 0.145, 'bounce': 0.55, 'drag': 0.35, 'roll': 0.002, 'rgba': (0.97, 0.97, 0.94, 1)}\r\n81 ball                      type=2 size=[0.0365 0.     0.    ] solref=[-62500.        -93.4713] solimp=[9.5e-01 9.9e-01 1.0e-03 5.0e-01 2.0e+00] friction=[0.7   0.003 0.002] prio=1\r\n150 right_elbow_pitch_link_sc0 type=7 size=[0.04260309 0.04604028 0.10094417] solref=[0.02 1.  ] solimp=[9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] friction=[1.e+00 5.e-03 1.e-04] prio=0\r\n152 right_elbow_roll_link_sc0 type=7 size=[0.03733187 0.05083009 0.04905255] solref=[0.02 1.  ] solimp=[9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] friction=[1.e+00 5.e-03 1.e-04] prio=0\r\n154 right_wrist_pitch_link_sc0 type=7 size=[0.03452385 0.04438171 0.0432653 ] solref=[0.02 1.  ] solimp=[9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] friction=[1.e+00 5.e-03 1.e-04] prio=0\r\n157 right_wrist_yaw_link_sc0  type=7 size=[0.02813514 0.04148468 0.07410549] solref=[0.02 1.  ] solimp=[9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] friction=[1.e+00 5.e-03 1.e-04] prio=0\r\n158 right_hand_housing        type=6 size=[0.039  0.0335 0.0315] solref=[0.02 1.  ] solimp=[9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] friction=[8.e-01 5.e-03 1.e-04] prio=0\r\n159 right_hand_jaw_a          type=6 size=[0.0075 0.017  0.04  ] solref=[0.02 1.  ] solimp=[9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] friction=[8.e-01 5.e-03 1.e-04] prio=0\r\n160 right_hand_pad_a0         type=6 size=[0.001     0.009     0.0138333\n… (867 characters left out) …\nio=2\r\n165 right_hand_pad_a5         type=6 size=[0.001     0.009     0.0138333] solref=[0.004 1.   ] solimp=[9.90e-01 9.99e-01 5.00e-04 5.00e-01 2.00e+00] friction=[1.e+00 5.e-03 1.e-04] prio=2\r\n166 right_hand_jaw_b          type=6 size=[0.0075 0.017  0.04  ] solref=[0.02 1.  ] solimp=[9.0e-01 9.5e-01 1.0e-03 5.0e-01 2.0e+00] friction=[8.e-01 5.e-03 1.e-04] prio=0\r\n167 right_hand_pad_b0         type=6 size=[0.001     0.009     0.0138333] solref=[0.004 1.   ] solimp=[9.90e-01 9.99e-01 5.00e-04 5.00e-01 2.00e+00] friction=[1.e+00 5.e-03 1.e-04] prio=2\r\n168 right_hand_pad_b1         type=6 size=[0.001     0.009     0.0138333] solref=[0.004 1.   ] solimp=[9.90e-01 9.99e-01 5.00e-04 5.00e-01 2.00e+00] friction=[1.e+00 5.e-03 1.e-04] prio=2\r\n169 right_hand_pad_b2         type=6 size=[0.001     0.009     0.0138333] solref=[0.004 1.   ] solimp=[9.90e-01 9.99e-01 5.00e-04 5.00e-01 2.00e+00] friction=[1.e+00 5.e-03 1.e-04] prio=2\r\n170 right_hand_pad_b3         type=6 size=[0.001     0.009     0.0138333] solref=[0.004 1.   ] solimp=[9.90e-01 9.99e-01 5.00e-04 5.00e-01 2.00e+00] friction=[1.e+00 5.e-03 1.e-04] prio=2\r\n171 right_hand_pad_b4         type=6 size=[0.001     0.009     0.0138333] solref=[0.004 1.   ] solimp=[9.90e-01 9.99e-01 5.00e-04 5.00e-01 2.00e+00] friction=[1.e+00 5.e-03 1.e-04] prio=2\r\n172 right_hand_pad_b5         type=6 size=[0.001     0.009     0.0138333] solref=[0.004 1.   ] solimp=[9.90e-01 9.99e-01 5.00e-04 5.00e-01 2.00e+00] friction=[1.e+00 5.e-03 1.e-04] prio=2","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":135.0,"say":"","calls":[{"kind":"shell","label":"Checking right jaw frame","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\n# Let us check what happens when we launch the ball right into the right gripper at t=0 (for fast testing)\n# In actual task, ball velocity near z=1.3m is v = (-11.464, -0.236, -13.429), speed = 17.66 m/s\npos_h, R_h = w.jaw_frame(\"right\")\nprint(\"Right jaw centre:\", pos_h)\nprint(\"Right jaw R (col 0=closing x, col 1=across y, col 2=finger z):\\n\", R_h)\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nRight jaw centre: [ 0.485      -0.16949964  1.12997988]\r\nRight jaw R (col 0=closing x, col 1=across y, col 2=finger z):\r\n [[0. 0. 1.]\r\n [1. 0. 0.]\r\n [0. 1. 0.]]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":173.0,"say":"","calls":[{"kind":"robot","label":"Testing right arm pitch kinematics","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\n# Let us pitch the right arm up so the gripper points towards the incoming ball velocity\n# Incoming ball vel at catch is approx (-11.46, -0.24, -13.43), unit vec (-0.649, -0.013, -0.761)\n# So we want finger_axis (+z of jaw) to point along (+0.649, +0.013, +0.761), which is ~49.5 deg above +x!\n# At rest, right_shoulder_pitch=0, right_elbow_pitch=0 -> forearm points along +x.\n# Let us check how right_shoulder_pitch and right_elbow_pitch rotate the jaw_frame!\nfor pitch in [-0.86, 0.86]:\n    s.reset()\n    typ, row = s.hold()\n    # right_shoulder_pitch is index 8 in stand layout, right_elbow_pitch is index 11\n    for _ in range(50):\n        row[8] = pitch\n        s.step(\"stand\", row)\n    pos, R = w.jaw_frame(\"right\")\n    print(f\"pitch={pitch}: pos={pos.round(3)}, finger_axis={R[:, 2].round(3)}, closing_axis={R[:, 0].round(3)}\")\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\npitch=-0.86: pos=[ 0.595 -0.115  1.491], finger_axis=[0.811 0.103 0.575], closing_axis=[-0.082  0.995 -0.063]\r\npitch=0.86: pos=[ 0.047 -0.248  0.859], finger_axis=[ 0.589 -0.162 -0.792], closing_axis=[ 0.167  0.983 -0.077]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":216.0,"say":"","calls":[{"kind":"shell","label":"Finding aligned right arm pose","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\n\n# Let us find an arm pose where finger_axis (+z of jaw) points opposite to v_ball = (-11.464, -0.236, -13.429)\nv_ball = np.array([-11.464, -0.236, -13.429])\nu_ball = v_ball / np.linalg.norm(v_ball)\ntarget_z = -u_ball  # [0.649, 0.013, 0.760]\n\n# Let us use scipy.optimize to find right arm joint angles that align finger_axis with target_z\nfrom scipy.optimize import minimize\n\ndef test_pose(q_arm):\n    w.d.qpos[w.robot.qadr[20:27]] = q_arm\n    mujoco.mj_kinematics(w.m, w.d)\n    pos, R = w.jaw_frame(\"right\")\n    err_z = np.linalg.norm(R[:, 2] - target_z)\n    # Also keep closing_axis horizontal (R[2, 0] == 0)\n    err_x = R[2, 0]**2\n    return err_z**2 + 0.1 * err_x + 0.01 * np.sum(q_arm**2)\n\nres = minimize(test_pose, np.zeros(7), bounds=list(zip(w.robot.lo[20:27], w.robot.hi[20:27])))\nq_arm = res.x\nw.d.qpos[w.robot.qadr[20:27]] = q_arm\nmujoco.mj_kinematics(w.m, w.d)\npos, R = w.jaw_frame(\"right\")\nprint(\"Optimized q_arm:\", np.round(q_arm, 4))\nprint(\"Jaw pos:\", np.round(pos, 4))\nprint(\"Jaw R[:,2] (finger):\", np.round(R[:, 2], 4), \"target:\", np.round(target_z, 4))\nprint(\"Jaw R[:,0] (closing):\", np.round(R[:, 0], 4))\n'"}],"out":{"text":"The command exited with code 1.\nOutput:\nTraceback (most recent call last):\r\n  File \"<string>\", line 15, in <module>\r\nModuleNotFoundError: No module named 'scipy'","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":251.0,"say":"","calls":[{"kind":"shell","label":"Solving right arm orientation with numpy","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.464, -0.236, -13.429])\nu_ball = v_ball / np.linalg.norm(v_ball)\ntarget_z = -u_ball  # [0.649, 0.013, 0.760]\n\n# Simple Gauss-Newton on right arm joints (indices 20..27 in robot.qadr)\nq_arm = np.array([-0.5, 0.0, 0.0, 0.4, 0.0, 0.0, 0.0])\nlo, hi = w.robot.lo[20:27], w.robot.hi[20:27]\nfor it in range(100):\n    w.d.qpos[w.robot.qadr[20:27]] = q_arm\n    mujoco.mj_kinematics(w.m, w.d)\n    pos, R = w.jaw_frame(\"right\")\n    # We want R[:, 2] = target_z, and R[2, 0] = 0\n    r0 = np.r_[R[:, 2] - target_z, R[2, 0], 0.05 * q_arm]\n    J = np.zeros((len(r0), 7))\n    eps = 1e-5\n    for j in range(7):\n        q2 = q_arm.copy()\n        q2[j] += eps\n        w.d.qpos[w.robot.qadr[20:27]] = q2\n        mujoco.mj_kinematics(w.m, w.d)\n        _, R2 = w.jaw_frame(\"right\")\n        r2 = np.r_[R2[:, 2] - target_z, R2[2, 0], 0.05 * q2]\n        J[:, j] = (r2 - r0) / eps\n    dq = -np.linalg.solve(J.T @ J + 1e-4 * np.eye(7), J.T @ r0)\n    q_arm = np.clip(q_arm + dq, lo, hi)\n\nw.d.qpos[w.robot.qadr[20:27]] = q_arm\nmujoco.mj_kinematics(w.m, w.d)\npos, R = w.jaw_frame(\"right\")\nprint(\"Optimized q_arm:\", np.round(q_arm, 4))\nprint(\"Jaw pos:\", np.round(pos, 4))\nprint(\"Jaw R[:,2] (finger):\", np.round(R[:, 2], 4), \"target:\", np.round(target_z, 4))\nprint(\"Jaw R[:,0] (closing):\", np.round(R[:, 0], 4))\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nOptimized q_arm: [-0.2799 -0.0094 -0.028  -0.2964 -0.0092 -0.2961 -0.0252]\r\nJaw pos: [ 0.4511 -0.1562  1.4636]\r\nJaw R[:,2] (finger): [0.6498 0.0135 0.76  ] target: [0.6492 0.0134 0.7605]\r\nJaw R[:,0] (closing): [-0.0208  0.9998  0.    ]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":271.0,"say":"","calls":[{"kind":"robot","label":"Testing ball catch in gripper","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.464, -0.236, -13.429])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\n# Settle robot into q_arm first\ntyp, row = s.hold()\nfor k in range(50):\n    row[8:15] = q_arm\n    s.step(\"stand\", row)\n\npos_h, R_h = w.jaw_frame(\"right\")\nprint(\"Settled jaw pos:\", pos_h, \"R[:,2]:\", R_h[:, 2])\n\n# Save state to test different close timings and pre-closures!\n# Wait: let us test launching ball from 0.35m upstream along -v_ball (takes 20ms = 2 control steps)\nt_flight = 0.025\nb_start = pos_h - v_ball * t_flight - 0.5 * np.array([0, 0, -9.81]) * (t_flight**2)\n\nfor pre_grip in [0.0, 0.10, 0.15, 0.18, 0.20, 0.22]:\n    for close_step in [0, 1, 2, 3]:\n        s.reset()\n        typ, row = s.hold()\n        for k in range(50):\n            row[8:15] = q_arm\n            row[16] = pre_grip\n            s.step(\"stand\", row)\n        pos_h, R_h = w.jaw_frame(\"right\")\n        b_start = pos_h - v_ball * t_flight - 0.5 * np.array([0, 0, -9.81]) * (t_flight**2)\n        w.task.trackers[\"launched\"] = True\n        w.task.trackers[\"falling\"] = True\n        w.launch(\"ball\", b_start, v_ball)\n        for k in range(30):\n            row[8:15] = q_arm\n            row[16] = 1.0 if k >= close_step else pre_grip\n            done = s.step(\"stand\", row)\n            if \"catch\" in w.ref.stages or done:\n                break\n        print(f\"pre_grip={pre_grip:.2f} close_step={close_step}: stages={w.ref.stages} failed={w.ref.failed} held={w.held[\\\"right\\\"]} opening={w.hands.opening(\\\"right\\\"):.4f}\")\n'"}],"out":{"text":"The command exited with code 1.\nOutput:\n  File \"<string>\", line 44\r\n    print(f\"pre_grip={pre_grip:.2f} close_step={close_step}: stages={w.ref.stages} failed={w.ref.failed} held={w.held[\\\"right\\\"]} opening={w.hands.opening(\\\"right\\\"):.4f}\")\r\n                                                                                                                       ^\r\nSyntaxError: unexpected character after line continuation character","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":287.0,"say":"","calls":[{"kind":"robot","label":"Testing ball catch across parameters","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.464, -0.236, -13.429])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nt_flight = 0.025\nfor pre_grip in [0.0, 0.10, 0.15, 0.18, 0.20, 0.22]:\n    for close_step in [0, 1, 2, 3]:\n        s.reset()\n        typ, row = s.hold()\n        for k in range(50):\n            row[8:15] = q_arm\n            row[16] = pre_grip\n            s.step(\"stand\", row)\n        pos_h, R_h = w.jaw_frame(\"right\")\n        b_start = pos_h - v_ball * t_flight - 0.5 * np.array([0, 0, -9.81]) * (t_flight**2)\n        w.task.trackers[\"launched\"] = True\n        w.task.trackers[\"falling\"] = True\n        w.launch(\"ball\", b_start, v_ball)\n        for k in range(120):\n            row[8:15] = q_arm\n            row[16] = 1.0 if k >= close_step else pre_grip\n            done = s.step(\"stand\", row)\n            if done:\n                break\n        held = w.held[\"right\"]\n        op = w.hands.opening(\"right\")\n        print(f\"pre_grip={pre_grip:.2f} close_step={close_step}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} held={held} opening={op:.4f}\")\n'"}],"out":{"text":"Tool is running as a background task with task id: 40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/task-35\nTask Description: python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.464, -0.236, -13.429])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nt_flight = 0.025\nfor pre_grip in [0.0, 0.10, 0.15, 0.18, 0.20, 0.22]:\n    for close_step in [0, 1, 2, 3]:\n        s.reset()\n        typ, row = s.hold()\n        for k in range(50):\n            row[8:15] = q_arm\n            row[16] = pre_grip\n            s.step(\"stand\", row)\n        pos_h, R_h = w.jaw_frame(\"right\")\n        b_start = pos_h - v_ball * t_flight - 0.5 * np.array([0, 0, -9.81]) * (t_flight**2)\n        w.task.trackers[\"launched\"] = True\n        w.task.trackers[\"falling\"] = True\n        w.launch(\"ball\", b_start, v_ball)\n        for k in range(120):\n            row[8:15] = q_arm\n            row[16] = 1.0 if k >= close_step else pre_grip\n            done = s.step(\"stand\", row)\n            if done:\n                break\n        held = w.held[\"right\"]\n        op = w.hands.opening(\"right\")\n        print(f\"pre_grip={pre_grip:.2f} close_step={close_step}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} held={held} opening={op:.4f}\")\n'\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/.system_generated/tasks/task-35.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":307.0,"say":"I have set up the initial baseline files in `/app/output/` and launched a simulation test to analyze the gripper-ball impact mechanics across different pre-closure openings and closing timings. I will wait for the test results to complete.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":317.0,"say":"","calls":[{"kind":"robot","label":"Testing closing lead time from open","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.464, -0.236, -13.429])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nt_flight = 0.025\nfor lead_ms in [0, 10, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 100]:\n    s.reset()\n    typ, row = s.hold()\n    for k in range(50):\n        row[8:15] = q_arm\n        row[16] = 0.0\n        s.step(\"stand\", row)\n    pos_h, R_h = w.jaw_frame(\"right\")\n    # Suppose we start closing from 0.0 (fully open) at `lead_ms` before impact!\n    # Wait: let us step lead_ms/10 steps of closing BEFORE launching, or launch earlier\n    t_f = lead_ms / 1000.0\n    if t_f > 0:\n        b_start = pos_h - v_ball * t_f - 0.5 * np.array([0, 0, -9.81]) * (t_f**2)\n    else:\n        b_start = pos_h - v_ball * 0.025 - 0.5 * np.array([0, 0, -9.81]) * (0.025**2)\n    w.task.trackers[\"launched\"] = True\n    w.task.trackers[\"falling\"] = True\n    w.launch(\"ball\", b_start, v_ball)\n    for k in range(120):\n        row[8:15] = q_arm\n        row[16] = 1.0\n        done = s.step(\"stand\", row)\n        if done:\n            break\n    print(f\"from open (0.0), lead_ms={lead_ms:3d}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} op={w.hands.opening(\\\"right\\\"):.4f}\")\n'"}],"out":{"text":"The command exited with code 1.\nOutput:\n  File \"<string>\", line 35\r\n    print(f\"from open (0.0), lead_ms={lead_ms:3d}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} op={w.hands.opening(\\\"right\\\"):.4f}\")\r\n                                                                                                                                            ^\r\nSyntaxError: unexpected character after line continuation character","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":19,"t":335.0,"say":"","calls":[{"kind":"robot","label":"Testing lead time from open gripper","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.464, -0.236, -13.429])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nfor lead_ms in [30, 40, 50, 60, 65, 70, 75, 80, 85, 90]:\n    s.reset()\n    typ, row = s.hold()\n    for k in range(50):\n        row[8:15] = q_arm\n        row[16] = 0.0\n        s.step(\"stand\", row)\n    pos_h, R_h = w.jaw_frame(\"right\")\n    t_f = lead_ms / 1000.0\n    b_start = pos_h - v_ball * t_f - 0.5 * np.array([0, 0, -9.81]) * (t_f**2)\n    w.task.trackers[\"launched\"] = True\n    w.task.trackers[\"falling\"] = True\n    w.launch(\"ball\", b_start, v_ball)\n    for k in range(120):\n        row[8:15] = q_arm\n        row[16] = 1.0\n        done = s.step(\"stand\", row)\n        if done:\n            break\n    op = w.hands.opening(\"right\")\n    print(f\"from open (0.0), lead_ms={lead_ms:3d}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} op={op:.4f}\")\n'"}],"out":{"text":"Tool is running as a background task with task id: 40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/task-41\nTask Description: python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.464, -0.236, -13.429])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nfor lead_ms in [30, 40, 50, 60, 65, 70, 75, 80, 85, 90]:\n    s.reset()\n    typ, row = s.hold()\n    for k in range(50):\n        row[8:15] = q_arm\n        row[16] = 0.0\n        s.step(\"stand\", row)\n    pos_h, R_h = w.jaw_frame(\"right\")\n    t_f = lead_ms / 1000.0\n    b_start = pos_h - v_ball * t_f - 0.5 * np.array([0, 0, -9.81]) * (t_f**2)\n    w.task.trackers[\"launched\"] = True\n    w.task.trackers[\"falling\"] = True\n    w.launch(\"ball\", b_start, v_ball)\n    for k in range(120):\n        row[8:15] = q_arm\n        row[16] = 1.0\n        done = s.step(\"stand\", row)\n        if done:\n            break\n    op = w.hands.opening(\"right\")\n    print(f\"from open (0.0), lead_ms={lead_ms:3d}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} op={op:.4f}\")\n'\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/.system_generated/tasks/task-41.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":367.0,"say":"I have started a test sweeping the closing lead time from a fully open gripper to find the exact timing window for a successful catch and hold. I will wait for the task to finish.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":22,"t":377.0,"say":"","calls":[{"kind":"robot","label":"Testing walk and stop trajectory","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\ntyp, row = s.hold()\n# Walk layout: vx, vy, wz, torso(1), left_arm(7), right_arm(7), grip_l, grip_r -> 20 floats\nw_row = np.zeros(20)\n# Target pelvis position: around (1.55, -0.60), yaw = 0\nfor k in range(380):\n    px, py, pz, yaw = w.pelvis()\n    if k < 270:\n        # P controller on position in world frame -> robot frame\n        dx = 1.65 - px\n        dy = -0.65 - py\n        c, sn = np.cos(yaw), np.sin(yaw)\n        vx = np.clip(1.5 * (c * dx + sn * dy), -0.8, 0.8)\n        vy = np.clip(1.5 * (-sn * dx + c * dy), -0.5, 0.5)\n        wz = np.clip(-2.0 * yaw, -1.57, 1.57)\n        w_row[:3] = [vx, vy, wz]\n        s.step(\"walk\", w_row)\n    elif k < 320:\n        w_row[:3] = [0.0, 0.0, -1.5 * yaw]\n        s.step(\"walk\", w_row)\n    else:\n        s_row = np.zeros(17)\n        s.step(\"stand\", s_row)\n    if k % 25 == 0 or k == 379:\n        px, py, pz, yaw = w.pelvis()\n        r_pos, _ = w.jaw_frame(\"right\")\n        print(f\"k={k:3d} t={w.t:.2f} pelvis=({px:.3f}, {py:.3f}, {pz:.3f}, yaw={yaw:.3f}) r_jaw=({r_pos[0]:.3f}, {r_pos[1]:.3f}, {r_pos[2]:.3f}) failed={w.ref.failed}\")\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nk=  0 t=0.01 pelvis=(0.000, 0.000, 1.035, yaw=-0.000) r_jaw=(0.485, -0.170, 1.129) failed=None\r\nk= 25 t=0.26 pelvis=(-0.003, -0.001, 1.023, yaw=-0.003) r_jaw=(0.477, -0.176, 1.087) failed=None\r\nk= 50 t=0.51 pelvis=(-0.013, 0.004, 1.020, yaw=0.007) r_jaw=(0.465, -0.165, 1.079) failed=None\r\nk= 75 t=0.76 pelvis=(-0.028, -0.013, 1.011, yaw=0.032) r_jaw=(0.454, -0.172, 1.058) failed=None\r\nk=100 t=1.01 pelvis=(-0.035, -0.012, 1.010, yaw=0.041) r_jaw=(0.452, -0.170, 1.057) failed=None\r\nk=125 t=1.26 pelvis=(0.007, 0.009, 1.005, yaw=0.052) r_jaw=(0.493, -0.126, 1.055) failed=None\r\nk=150 t=1.51 pelvis=(0.117, -0.043, 1.013, yaw=0.051) r_jaw=(0.604, -0.184, 1.059) failed=None\r\nk=175 t=1.76 pelvis=(0.255, -0.125, 1.010, yaw=0.055) r_jaw=(0.745, -0.276, 1.061) failed=None\r\nk=200 t=2.01 pelvis=(0.429, -0.184, 1.003, yaw=0.031) r_jaw=(0.913, -0.337, 1.097) failed=None\r\nk=225 t=2.26 pelvis=(0.595, -0.284, 1.013, yaw=0.031) r_jaw=(1.077, -0.436, 1.075) failed=None\r\nk=250 t=2.51 pelvis=(0.774, -0.409, 1.014, yaw=0.043) r_jaw=(1.261, -0.571, 1.088) failed=None\r\nk=275 t=2.76 pelvis=(0.964, -0.486, 1.000, yaw=0.019) r_jaw=(1.439, -0.650, 1.071) failed=None\r\nk=300 t=3.01 pelvis=(1.134, -0.561, 1.008, yaw=0.007) r_jaw=(1.611, -0.725, 1.069) failed=None\r\nk=325 t=3.26 pelvis=(1.285, -0.656, 1.014, yaw=0.034) r_jaw=(1.767, -0.823, 1.083) failed=None\r\nk=350 t=3.51 pelvis=(1.410, -0.715, 1.027, yaw=0.057) r_jaw=(1.901, -0.862, 1.036) failed=None\r\nk=375 t=3.76 pelvis=(1.549, -0.748, 0.996, yaw=0.058) r_jaw=(2.032, -0.920, 0.958) failed=None\r\nk=379 t=3.80 pelvis=(1.575, -0.751, 0.992, yaw=0.068) r_jaw=(2.062, -0.909, 0.936) failed=None","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":23,"t":419.0,"say":"","calls":[{"kind":"robot","label":"Testing continuous walk mode with arm pose","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nw_row = np.zeros(20)\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nfor k in range(500):\n    px, py, pz, yaw = w.pelvis()\n    if k < 310:\n        vx = 0.8\n        vy = -0.38\n        wz = np.clip(-2.0 * yaw, -1.57, 1.57)\n    else:\n        vx = 0.0\n        vy = 0.0\n        wz = np.clip(-2.0 * yaw, -1.57, 1.57)\n    w_row[:3] = [vx, vy, wz]\n    if k >= 250:\n        alpha = min(1.0, (k - 250) / 50.0)\n        w_row[11:18] = alpha * q_arm\n    done = s.step(\"walk\", w_row)\n    if k in range(375, 400) or k % 50 == 0:\n        r_pos, R_h = w.jaw_frame(\"right\")\n        b_pos = w.pos(\"ball\")\n        print(f\"k={k:3d} t={w.t:.2f} pel=({px:.3f},{py:.3f},{pz:.3f},y={yaw:.2f}) r_jaw=({r_pos[0]:.3f},{r_pos[1]:.3f},{r_pos[2]:.3f}) ball=({b_pos[0]:.3f},{b_pos[1]:.3f},{b_pos[2]:.3f}) diff={np.linalg.norm(r_pos-b_pos):.3f}\")\n    if done:\n        print(\"Done at k=\", k, \"failed=\", w.ref.failed)\n        break\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nk=  0 t=0.01 pel=(0.000,0.000,1.035,y=0.00) r_jaw=(0.485,-0.170,1.129) ball=(40.000,0.000,1.000) diff=39.516\r\nk= 50 t=0.51 pel=(-0.012,0.004,1.020,y=0.01) r_jaw=(0.465,-0.165,1.079) ball=(40.000,0.000,1.000) diff=39.536\r\nk=100 t=1.01 pel=(-0.035,-0.013,1.011,y=0.04) r_jaw=(0.452,-0.171,1.058) ball=(39.864,-0.003,1.135) diff=39.413\r\nk=150 t=1.51 pel=(0.106,-0.023,1.015,y=0.05) r_jaw=(0.599,-0.169,1.060) ball=(32.553,-0.153,7.201) diff=32.539\r\nk=200 t=2.01 pel=(0.413,-0.130,1.002,y=0.03) r_jaw=(0.902,-0.285,1.095) ball=(25.619,-0.296,10.560) diff=26.467\r\nk=250 t=2.51 pel=(0.755,-0.308,1.013,y=0.04) r_jaw=(1.247,-0.473,1.084) ball=(18.987,-0.433,11.372) diff=20.507\r\nk=300 t=3.01 pel=(1.116,-0.422,1.013,y=0.03) r_jaw=(1.598,-0.564,1.403) ball=(12.619,-0.564,9.748) diff=13.824\r\nk=350 t=3.51 pel=(1.487,-0.567,1.008,y=0.01) r_jaw=(1.970,-0.733,1.391) ball=(6.518,-0.690,5.793) diff=6.329\r\nk=375 t=3.76 pel=(1.631,-0.596,1.007,y=-0.00) r_jaw=(2.108,-0.742,1.404) ball=(3.574,-0.750,2.980) diff=2.152\r\nk=376 t=3.77 pel=(1.635,-0.597,1.007,y=-0.00) r_jaw=(2.113,-0.744,1.403) ball=(3.458,-0.753,2.857) diff=1.980\r\nk=377 t=3.78 pel=(1.639,-0.599,1.007,y=-0.00) r_jaw=(2.118,-0.746,1.402) ball=(3.342,-0.755,2.732) diff=1.807\r\nk=378 t=3.79 pel=(1.643,-0.601,1.008,y=-0.00) r_jaw=(2.122,-0.747,1.402) ball=(3.226,-0.757,2.607) diff=1.634\r\nk=379 t=3.80 pel=(1.647,-0.603,1.008,y=-0.00) r_jaw=(2.126,-0.749,1.401) ball=(3.110,-0.760,2.480) diff=1.460\r\nk=380 t=3.8\n… (880 characters left out) …\n9 pel=(1.682,-0.624,1.004,y=0.01) r_jaw=(2.156,-0.772,1.398) ball=(2.131,-0.763,1.369) diff=0.039\r\nk=389 t=3.90 pel=(1.686,-0.626,1.003,y=0.01) r_jaw=(2.155,-0.768,1.386) ball=(2.197,-0.758,1.418) diff=0.054\r\nk=390 t=3.91 pel=(1.690,-0.629,1.001,y=0.01) r_jaw=(2.156,-0.766,1.375) ball=(2.272,-0.754,1.476) diff=0.154\r\nk=391 t=3.92 pel=(1.693,-0.631,1.000,y=0.01) r_jaw=(2.160,-0.767,1.365) ball=(2.347,-0.749,1.532) diff=0.252\r\nk=392 t=3.93 pel=(1.696,-0.633,1.000,y=0.01) r_jaw=(2.167,-0.771,1.357) ball=(2.423,-0.744,1.588) diff=0.346\r\nk=393 t=3.94 pel=(1.699,-0.636,0.999,y=0.01) r_jaw=(2.174,-0.776,1.352) ball=(2.498,-0.739,1.643) diff=0.437\r\nk=394 t=3.95 pel=(1.702,-0.638,1.000,y=0.01) r_jaw=(2.181,-0.783,1.349) ball=(2.573,-0.734,1.696) diff=0.526\r\nk=395 t=3.96 pel=(1.705,-0.640,1.000,y=0.01) r_jaw=(2.188,-0.791,1.349) ball=(2.648,-0.728,1.749) diff=0.613\r\nk=396 t=3.97 pel=(1.707,-0.642,1.000,y=0.01) r_jaw=(2.194,-0.800,1.351) ball=(2.723,-0.722,1.801) diff=0.699\r\nk=397 t=3.98 pel=(1.710,-0.644,1.001,y=0.01) r_jaw=(2.198,-0.808,1.355) ball=(2.798,-0.716,1.851) diff=0.784\r\nk=398 t=3.99 pel=(1.712,-0.646,1.001,y=0.01) r_jaw=(2.201,-0.815,1.361) ball=(2.873,-0.710,1.901) diff=0.869\r\nk=399 t=4.00 pel=(1.714,-0.648,1.002,y=0.01) r_jaw=(2.203,-0.822,1.367) ball=(2.948,-0.704,1.950) diff=0.953\r\nk=400 t=4.01 pel=(1.716,-0.650,1.002,y=0.01) r_jaw=(2.203,-0.827,1.375) ball=(3.023,-0.697,1.997) diff=1.037\r\nDone at k= 438 failed= the ball was not caught in time after it first touched you","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":24,"t":458.0,"say":"","calls":[{"kind":"robot","label":"Recording 1ms ball substeps","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\n\n# First, let us see where the pelvis and right jaw are at k=380..390 with the exact walk from before,\n# and use IK at k=370 to find the exact q_arm that places r_jaw right on the ball trajectory at t=3.883!\n# At t=3.883 (substep 3 of step k=388), untouched ball is at:\n# Wait: let us record untouched ball at every 1ms substep around k=385..392!\nfor k in range(385):\n    s.step(\"stand\", np.zeros(17))\nball_substeps = {}\nfor k in range(385, 392):\n    for sub in range(1, 11):\n        w.robot.arb.apply(w.d, sub)\n        w.hands.substep()\n        mujoco.mj_step(w.m, w.d)\n        t_ms = k * 10 + sub\n        ball_substeps[t_ms] = (w.pos(\"ball\").copy(), w.vel(\"ball\").copy())\nfor t_ms in range(3870, 3895, 2):\n    p, v = ball_substeps[t_ms]\n    print(f\"t_ms={t_ms} pos=({p[0]:.4f}, {p[1]:.4f}, {p[2]:.4f}) vel=({v[0]:.3f}, {v[1]:.3f}, {v[2]:.3f})\")\n'"}],"out":{"text":"Tool is running as a background task with task id: 40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/task-49\nTask Description: python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\n\n# First, let us see where the pelvis and right jaw are at k=380..390 with the exact walk from before,\n# and use IK at k=370 to find the exact q_arm that places r_jaw right on the ball trajectory at t=3.883!\n# At t=3.883 (substep 3 of step k=388), untouched ball is at:\n# Wait: let us record untouched ball at every 1ms substep around k=385..392!\nfor k in range(385):\n    s.step(\"stand\", np.zeros(17))\nball_substeps = {}\nfor k in range(385, 392):\n    for sub in range(1, 11):\n        w.robot.arb.apply(w.d, sub)\n        w.hands.substep()\n        mujoco.mj_step(w.m, w.d)\n        t_ms = k * 10 + sub\n        ball_substeps[t_ms] = (w.pos(\"ball\").copy(), w.vel(\"ball\").copy())\nfor t_ms in range(3870, 3895, 2):\n    p, v = ball_substeps[t_ms]\n    print(f\"t_ms={t_ms} pos=({p[0]:.4f}, {p[1]:.4f}, {p[2]:.4f}) vel=({v[0]:.3f}, {v[1]:.3f}, {v[2]:.3f})\")\n'\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/.system_generated/tasks/task-49.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":25,"t":483.0,"say":"I am recording the exact 1 ms substep positions and velocities of the ball near the catch window (`t = 3.87s` to `3.90s`) so we can align the right gripper with millimeter precision. I will wait for the script to finish.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":27,"t":496.0,"say":"","calls":[{"kind":"robot","label":"Testing closed-loop IK with integral action","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ndef solve_ik_step(w, target_pos, target_z, q_ref):\n    # Solve for 7 right arm joints (indices 20..27 in robot.qadr) on current world state\n    m, d, r = w.m, w.d, w.robot\n    site_id = w.hands.centre[\"right\"]\n    # Use scratch data so we do not touch live d\n    k = w.hands._scratch\n    if k is None:\n        k = w.hands._scratch = mujoco.MjData(m)\n    k.qpos[:] = d.qpos\n    q = d.qpos[r.qadr[20:27]].copy()\n    lo, hi = r.lo[20:27], r.hi[20:27]\n    v_cols = r.vadr[20:27]\n    jp, jr = np.zeros((3, m.nv)), np.zeros((3, m.nv))\n    for _ in range(15):\n        k.qpos[r.qadr[20:27]] = q\n        mujoco.mj_kinematics(m, k)\n        p = k.site_xpos[site_id]\n        R = k.site_xmat[site_id].reshape(3, 3)\n        ep = target_pos - p\n        # We want R[:, 2] -> target_z, and R[2, 0] -> 0 (closing axis horizontal)\n        # Construct target rotation matrix Rt:\n        z_t = target_z / np.linalg.norm(target_z)\n        x_t = np.array([-z_t[1], z_t[0], 0.0])\n        x_t /= np.linalg.norm(x_t)\n        if x_t @ R[:, 0] < 0:\n            x_t = -x_t\n        y_t = np.cross(z_t, x_t)\n        er = 0.5 * (np.cross(R[:, 0], x_t) + np.cross(R[:, 1], y_t) + np.cross(R[:, 2], z_t))\n        mujoco.mj_jacSite(m, k, jp, jr, site_id)\n        J = np.vstack([jp[:, v_cols], jr[:, v_cols]])\n        e = np.r_[ep, er]\n        dq = J.T @ np.linalg.solve(J @ J.T + 1e-4 * np.eye(6), e)\n        q = np.clip(q + dq, lo + 1e-4, hi - 1e-4)\n    return q\n\ns = Session()\nw = s.world\nw_row = np.zeros(20)\ntarget_pos = np.array([2.1535, -0.7795, 1.3999])\nv_ball = np.array([-11.473, -0.236, -13.370])\ntarget_z = -v_ball / np.linalg.norm(v_ball)\nq_arm_init = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nq_int = np.zeros(7)\nfor k in range(388):\n    px, py, pz, yaw = w.pelvis()\n    if k < 310:\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)]\n    else:\n        w_row[:3] = [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n    if 250 <= k < 340:\n        alpha = min(1.0, (k - 250) / 50.0)\n        w_row[11:18] = alpha * q_arm_init\n    elif k >= 340:\n        q_des = solve_ik_step(w, target_pos, target_z, q_arm_init)\n        q_meas = w.d.qpos[w.robot.qadr[20:27]]\n        q_int += 0.3 * (q_des - q_meas)\n        w_row[11:18] = q_des + q_int\n    s.step(\"walk\", w_row)\n    if k >= 375:\n        r_pos, R_h = w.jaw_frame(\"right\")\n        b_pos = w.pos(\"ball\")\n        print(f\"k={k} t={w.t:.2f} r_jaw={np.round(r_pos, 4)} err_pos={np.linalg.norm(r_pos - target_pos):.4f} dot_z={R_h[:,2] @ target_z:.5f}\")\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nk=375 t=3.76 r_jaw=[ 2.1308 -0.7766  1.0698] err_pos=0.3308 dot_z=0.58979\r\nk=376 t=3.77 r_jaw=[ 2.132  -0.7785  1.0583] err_pos=0.3423 dot_z=0.56546\r\nk=377 t=3.78 r_jaw=[ 2.1328 -0.7805  1.0469] err_pos=0.3536 dot_z=0.54086\r\nk=378 t=3.79 r_jaw=[ 2.1333 -0.7825  1.0356] err_pos=0.3648 dot_z=0.51607\r\nk=379 t=3.80 r_jaw=[ 2.1335 -0.7845  1.0245] err_pos=0.3760 dot_z=0.49120\r\nk=380 t=3.81 r_jaw=[ 2.1334 -0.7865  1.0135] err_pos=0.3870 dot_z=0.46633\r\nk=381 t=3.82 r_jaw=[ 2.1331 -0.7886  1.0027] err_pos=0.3978 dot_z=0.44154\r\nk=382 t=3.83 r_jaw=[ 2.1325 -0.7907  0.992 ] err_pos=0.4086 dot_z=0.41686\r\nk=383 t=3.84 r_jaw=[ 2.1318 -0.7928  0.9815] err_pos=0.4192 dot_z=0.39238\r\nk=384 t=3.85 r_jaw=[ 2.1309 -0.7949  0.971 ] err_pos=0.4297 dot_z=0.36817\r\nk=385 t=3.86 r_jaw=[ 2.1298 -0.797   0.9607] err_pos=0.4401 dot_z=0.34432\r\nk=386 t=3.87 r_jaw=[ 2.1286 -0.7991  0.9506] err_pos=0.4504 dot_z=0.32087\r\nk=387 t=3.88 r_jaw=[ 2.1274 -0.8011  0.9405] err_pos=0.4606 dot_z=0.29803","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":28,"t":540.0,"say":"","calls":[{"kind":"robot","label":"Testing fixed closed-loop IK","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ndef solve_ik_step(w, target_pos, target_z, q_ref):\n    m, d, r = w.m, w.d, w.robot\n    site_id = w.hands.centre[\"right\"]\n    k = w.hands._scratch\n    if k is None:\n        k = w.hands._scratch = mujoco.MjData(m)\n    k.qpos[:] = d.qpos\n    q = q_ref.copy()\n    lo, hi = r.lo[20:27], r.hi[20:27]\n    v_cols = r.vadr[20:27]\n    jp, jr = np.zeros((3, m.nv)), np.zeros((3, m.nv))\n    z_t = target_z / np.linalg.norm(target_z)\n    x_t = np.array([-z_t[1], z_t[0], 0.0])\n    x_t /= np.linalg.norm(x_t)\n    y_t = np.cross(z_t, x_t)\n    for _ in range(20):\n        k.qpos[r.qadr[20:27]] = q\n        mujoco.mj_kinematics(m, k)\n        mujoco.mj_comPos(m, k)\n        p = k.site_xpos[site_id]\n        R = k.site_xmat[site_id].reshape(3, 3)\n        ep = target_pos - p\n        er = 0.5 * (np.cross(R[:, 0], x_t) + np.cross(R[:, 1], y_t) + np.cross(R[:, 2], z_t))\n        mujoco.mj_jacSite(m, k, jp, jr, site_id)\n        J = np.vstack([jp[:, v_cols], jr[:, v_cols]])\n        e = np.r_[ep, er]\n        dq = J.T @ np.linalg.solve(J @ J.T + 1e-3 * np.eye(6), e)\n        q = np.clip(q + 0.5 * dq, lo + 1e-4, hi - 1e-4)\n    return q\n\ns = Session()\nw = s.world\nw_row = np.zeros(20)\ntarget_pos = np.array([2.1535, -0.7795, 1.3999])\nv_ball = np.array([-11.473, -0.236, -13.370])\ntarget_z = -v_ball / np.linalg.norm(v_ball)\nq_arm_init = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\nq_int = np.zeros(7)\nq_des = q_arm_init.copy()\nfor k in range(388):\n    px, py, pz, yaw = w.pelvis()\n    if k < 310:\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)]\n    else:\n        w_row[:3] = [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n    if 250 <= k < 320:\n        alpha = min(1.0, (k - 250) / 50.0)\n        w_row[11:18] = alpha * q_arm_init\n    elif k >= 320:\n        q_des = solve_ik_step(w, target_pos, target_z, q_des)\n        q_meas = w.d.qpos[w.robot.qadr[20:27]]\n        if k < 380:\n            q_int += 0.25 * (q_des - q_meas)\n        w_row[11:18] = q_des + q_int\n    s.step(\"walk\", w_row)\n    if k >= 375:\n        r_pos, R_h = w.jaw_frame(\"right\")\n        print(f\"k={k} t={w.t:.2f} r_jaw={np.round(r_pos, 4)} err_pos={np.linalg.norm(r_pos - target_pos):.4f} dot_z={R_h[:,2] @ target_z:.5f}\")\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nk=375 t=3.76 r_jaw=[ 2.1313 -1.025   1.2506] err_pos=0.2882 dot_z=0.60249\r\nk=376 t=3.77 r_jaw=[ 2.1523 -1.015   1.1954] err_pos=0.3119 dot_z=0.53755\r\nk=377 t=3.78 r_jaw=[ 2.1736 -0.9877  1.1399] err_pos=0.3337 dot_z=0.51548\r\nk=378 t=3.79 r_jaw=[ 2.1912 -0.9428  1.0857] err_pos=0.3561 dot_z=0.52007\r\nk=379 t=3.80 r_jaw=[ 2.2026 -0.8838  1.0345] err_pos=0.3831 dot_z=0.52614\r\nk=380 t=3.81 r_jaw=[ 2.2062 -0.8148  0.9868] err_pos=0.4180 dot_z=0.50561\r\nk=381 t=3.82 r_jaw=[ 2.1897 -0.7368  0.9499] err_pos=0.4534 dot_z=0.45302\r\nk=382 t=3.83 r_jaw=[ 2.152  -0.6576  0.9291] err_pos=0.4863 dot_z=0.38086\r\nk=383 t=3.84 r_jaw=[ 2.0963 -0.5849  0.9258] err_pos=0.5156 dot_z=0.30086\r\nk=384 t=3.85 r_jaw=[ 2.03   -0.5271  0.9339] err_pos=0.5442 dot_z=0.21062\r\nk=385 t=3.86 r_jaw=[ 1.9615 -0.4909  0.9452] err_pos=0.5718 dot_z=0.11067\r\nk=386 t=3.87 r_jaw=[ 1.9027 -0.4739  0.9495] err_pos=0.5993 dot_z=0.00346\r\nk=387 t=3.88 r_jaw=[ 1.8594 -0.4679  0.944 ] err_pos=0.6256 dot_z=-0.10175","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":29,"t":566.0,"say":"","calls":[{"kind":"robot","label":"Refining constant q_arm via shooting","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.473, -0.236, -13.370])\ntarget_z = -v_ball / np.linalg.norm(v_ball)\ntarget_pos = np.array([2.1535, -0.7795, 1.3999])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\n# 2 iterations of shooting to align r_jaw at k=387 with target_pos and target_z\nfor it in range(3):\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(388):\n        px, py, pz, yaw = w.pelvis()\n        if k < 310:\n            w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        else:\n            w_row[:3] = [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            alpha = min(1.0, (k - 250) / 50.0)\n            w_row[11:18] = alpha * q_arm\n        s.step(\"walk\", w_row)\n    r_pos, R_h = w.jaw_frame(\"right\")\n    err_p = target_pos - r_pos\n    z_t = target_z\n    x_t = np.array([-z_t[1], z_t[0], 0.0]); x_t /= np.linalg.norm(x_t)\n    y_t = np.cross(z_t, x_t)\n    err_r = 0.5 * (np.cross(R_h[:, 0], x_t) + np.cross(R_h[:, 1], y_t) + np.cross(R_h[:, 2], z_t))\n    print(f\"iter {it}: r_pos={np.round(r_pos, 4)} err_p={np.round(err_p, 4)} dot_z={R_h[:,2]@z_t:.5f}\")\n    # Compute Jacobian at current state\n    jp, jr = np.zeros((3, w.m.nv)), np.zeros((3, w.m.nv))\n    mujoco.mj_jacSite(w.m, w.d, jp, jr, w.hands.centre[\"right\"])\n    v_cols = w.robot.vadr[20:27]\n    J = np.vstack([jp[:, v_cols], jr[:, v_cols]])\n    dq = J.T @ np.linalg.solve(J @ J.T + 1e-3 * np.eye(6), np.r_[err_p, err_r])\n    q_arm = np.clip(q_arm + 0.8 * dq, w.robot.lo[20:27], w.robot.hi[20:27])\n\nprint(\"Refined q_arm:\", repr(np.round(q_arm, 5)))\n'"}],"out":{"text":"Tool is running as a background task with task id: 40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/task-57\nTask Description: python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.473, -0.236, -13.370])\ntarget_z = -v_ball / np.linalg.norm(v_ball)\ntarget_pos = np.array([2.1535, -0.7795, 1.3999])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\n# 2 iterations of shooting to align r_jaw at k=387 with target_pos and target_z\nfor it in range(3):\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(388):\n        px, py, pz, yaw = w.pelvis()\n        if k < 310:\n            w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        else:\n            w_row[:3] = [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            alpha = min(1.0, (k - 250) / 50.0)\n            w_row[11:18] = alpha * q_arm\n        s.step(\"walk\", w_row)\n    r_pos, R_h = w.jaw_frame(\"right\")\n    err_p = target_pos - r_pos\n    z_t = target_z\n    x_t = np.array([-z_t[1], z_t[0], 0.0]); x_t /= np.linalg.norm(x_t)\n    y_t = np.cross(z_t, x_t)\n    err_r = 0.5 * (np.cross(R_h[:, 0], x_t) + np.cross(R_h[:, 1], y_t) + np.cross(R_h[:, 2], z_t))\n    print(f\"iter {it}: r_pos={np.round(r_pos, 4)} err_p={np.round(err_p, 4)} dot_z={R_h[:,2]@z_t:.5f}\")\n    # Compute Jacobian at current state\n    jp, jr = np.zeros((3, w.m.nv)), np.zeros((3, w.m.nv))\n    mujoco.mj_jacSite(w.m, w.d, jp, jr, w.hands.centre[\"right\"])\n    v_cols = w.robot.vadr[20:27]\n    J = np.vstack([jp[:, v_cols], jr[:, v_cols]])\n    dq = J.T @ np.linalg.solve(J @ J.T + 1e-3 * np.eye(6), np.r_[err_p, err_r])\n    q_arm = np.clip(q_arm + 0.8 * dq, w.robot.lo[20:27], w.robot.hi[20:27])\n\nprint(\"Refined q_arm:\", repr(np.round(q_arm, 5)))\n'\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/.system_generated/tasks/task-57.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":30,"t":606.0,"say":"I have launched a shooting-based refinement script to compute the exact constant right-arm joint angles that place the jaw center on the ball's path at `t = 3.883s`. I will wait for the result.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":32,"t":616.0,"say":"","calls":[{"kind":"robot","label":"Testing full episode catch and hold","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\nimport mujoco\n\ns = Session()\nw = s.world\nv_ball = np.array([-11.473, -0.236, -13.370])\ntarget_z = -v_ball / np.linalg.norm(v_ball)\ntarget_pos = np.array([2.1535, -0.7795, 1.3999])\nq_arm = np.array([-0.2799, -0.0094, -0.028, -0.2964, -0.0092, -0.2961, -0.0252])\n\n# 1 iteration to get iter 1 q_arm\ns.reset()\nw_row = np.zeros(20)\nfor k in range(388):\n    px, py, pz, yaw = w.pelvis()\n    w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)] if k < 310 else [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n    if k >= 250:\n        w_row[11:18] = min(1.0, (k - 250) / 50.0) * q_arm\n    s.step(\"walk\", w_row)\nr_pos, R_h = w.jaw_frame(\"right\")\nerr_p = target_pos - r_pos\nz_t = target_z\nx_t = np.array([-z_t[1], z_t[0], 0.0]); x_t /= np.linalg.norm(x_t)\ny_t = np.cross(z_t, x_t)\nerr_r = 0.5 * (np.cross(R_h[:, 0], x_t) + np.cross(R_h[:, 1], y_t) + np.cross(R_h[:, 2], z_t))\njp, jr = np.zeros((3, w.m.nv)), np.zeros((3, w.m.nv))\nmujoco.mj_jacSite(w.m, w.d, jp, jr, w.hands.centre[\"right\"])\nv_cols = w.robot.vadr[20:27]\nJ = np.vstack([jp[:, v_cols], jr[:, v_cols]])\ndq = J.T @ np.linalg.solve(J @ J.T + 1e-3 * np.eye(6), np.r_[err_p, err_r])\nq_arm1 = np.clip(q_arm + 0.8 * dq, w.robot.lo[20:27], w.robot.hi[20:27])\nprint(\"q_arm1:\", repr(q_arm1))\n\nfor close_k in [378, 379, 380, 381, 382, 383]:\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(550):\n        px, py, pz, yaw = w.pelvis()\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)] if k < 310 else [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            w_row[11:18] = min(1.0, (k - 250) / 50.0) * q_arm1\n        w_row[19] = 1.0 if k >= close_k else 0.0\n        done = s.step(\"walk\", w_row)\n        if done:\n            break\n    print(f\"close_k={close_k}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} events={w.ref.events}\")\n    if w.ref.success:\n        s.save_trajectory()\n        print(\"SAVED WINNING TRAJECTORY!\")\n        break\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\nq_arm1: array([-0.29061327, -0.02012636, -0.04413001, -0.19721173,  0.01356607,\r\n       -0.4545992 , -0.0300368 ])\r\nclose_k=378: success=True stages=['catch', 'hold'] failed=None events=[{'ev': 'launch', 't': 1.0}, {'ev': 'stage', 't': 3.88, 'stage': 'catch', 'hand': 'right', 'after_first_touch_s': 0.0}, {'ev': 'stage', 't': 4.87, 'stage': 'hold'}, {'ev': 'success', 't': 4.87}]\r\nSAVED WINNING TRAJECTORY!","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":33,"t":654.0,"say":"","calls":[{"kind":"robot","label":"Checking close_k timing window","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nq_arm1 = np.array([-0.29061327, -0.02012636, -0.04413001, -0.19721173, 0.01356607, -0.4545992, -0.0300368])\n\nfor close_k in range(375, 385):\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(550):\n        px, py, pz, yaw = w.pelvis()\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)] if k < 310 else [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            w_row[11:18] = min(1.0, (k - 250) / 50.0) * q_arm1\n        w_row[19] = 1.0 if k >= close_k else 0.0\n        done = s.step(\"walk\", w_row)\n        if done:\n            break\n    op = w.hands.opening(\"right\")\n    fc = w.hands.force(\"right\")\n    print(f\"close_k={close_k}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} op={op:.4f} force={fc:.1f} events={w.ref.events}\")\n'"}],"out":{"text":"Tool is running as a background task with task id: 40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/task-63\nTask Description: python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nq_arm1 = np.array([-0.29061327, -0.02012636, -0.04413001, -0.19721173, 0.01356607, -0.4545992, -0.0300368])\n\nfor close_k in range(375, 385):\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(550):\n        px, py, pz, yaw = w.pelvis()\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)] if k < 310 else [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            w_row[11:18] = min(1.0, (k - 250) / 50.0) * q_arm1\n        w_row[19] = 1.0 if k >= close_k else 0.0\n        done = s.step(\"walk\", w_row)\n        if done:\n            break\n    op = w.hands.opening(\"right\")\n    fc = w.hands.force(\"right\")\n    print(f\"close_k={close_k}: success={w.ref.success} stages={w.ref.stages} failed={w.ref.failed} op={op:.4f} force={fc:.1f} events={w.ref.events}\")\n'\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/.system_generated/tasks/task-63.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":34,"t":682.0,"say":"I have saved a winning trajectory (`success=True` at `t=4.87s`) to `/app/output/trajectory.npz` and am now evaluating the full timing window (`close_k = 375..384`) to pick the most centered, robust closing step. I will wait for the sweep to finish.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":36,"t":715.0,"say":"","calls":[{"kind":"robot","label":"Checking ball position in jaw frame","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nq_arm1 = np.array([-0.29061327, -0.02012636, -0.04413001, -0.19721173, 0.01356607, -0.4545992, -0.0300368])\n\nfor close_k in range(376, 382):\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(550):\n        px, py, pz, yaw = w.pelvis()\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)] if k < 310 else [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            w_row[11:18] = min(1.0, (k - 250) / 50.0) * q_arm1\n        w_row[19] = 1.0 if k >= close_k else 0.0\n        done = s.step(\"walk\", w_row)\n        if done:\n            break\n    r_pos, R_h = w.jaw_frame(\"right\")\n    b_pos = w.pos(\"ball\")\n    rel = R_h.T @ (b_pos - r_pos)\n    print(f\"close_k={close_k}: rel_ball_in_jaw={np.round(rel, 5)} op={w.hands.opening(\\\"right\\\"):.5f} upright={w.upright():.4f} pelvis_z={w.pelvis()[2]:.4f}\")\n'"}],"out":{"text":"The command exited with code 1.\nOutput:\n  File \"<string>\", line 24\r\n    print(f\"close_k={close_k}: rel_ball_in_jaw={np.round(rel, 5)} op={w.hands.opening(\\\"right\\\"):.5f} upright={w.upright():.4f} pelvis_z={w.pelvis()[2]:.4f}\")\r\n                                                                                       ^\r\nSyntaxError: unexpected character after line continuation character","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":37,"t":750.0,"say":"","calls":[{"kind":"robot","label":"Checking relative ball position in jaw frame","code":"python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nq_arm1 = np.array([-0.29061327, -0.02012636, -0.04413001, -0.19721173, 0.01356607, -0.4545992, -0.0300368])\n\nfor close_k in range(376, 382):\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(550):\n        px, py, pz, yaw = w.pelvis()\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)] if k < 310 else [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            w_row[11:18] = min(1.0, (k - 250) / 50.0) * q_arm1\n        w_row[19] = 1.0 if k >= close_k else 0.0\n        done = s.step(\"walk\", w_row)\n        if done:\n            break\n    r_pos, R_h = w.jaw_frame(\"right\")\n    b_pos = w.pos(\"ball\")\n    rel = R_h.T @ (b_pos - r_pos)\n    op = w.hands.opening(\"right\")\n    print(f\"close_k={close_k}: rel_ball_in_jaw={np.round(rel, 5)} op={op:.5f} upright={w.upright():.4f} pelvis_z={w.pelvis()[2]:.4f}\")\n'"}],"out":{"text":"Tool is running as a background task with task id: 40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/task-69\nTask Description: python3 -c '\nfrom rcb_rfo import Session\nimport numpy as np\n\ns = Session()\nw = s.world\nq_arm1 = np.array([-0.29061327, -0.02012636, -0.04413001, -0.19721173, 0.01356607, -0.4545992, -0.0300368])\n\nfor close_k in range(376, 382):\n    s.reset()\n    w_row = np.zeros(20)\n    for k in range(550):\n        px, py, pz, yaw = w.pelvis()\n        w_row[:3] = [0.8, -0.38, np.clip(-2.0 * yaw, -1.57, 1.57)] if k < 310 else [0.0, 0.0, np.clip(-2.0 * yaw, -1.57, 1.57)]\n        if k >= 250:\n            w_row[11:18] = min(1.0, (k - 250) / 50.0) * q_arm1\n        w_row[19] = 1.0 if k >= close_k else 0.0\n        done = s.step(\"walk\", w_row)\n        if done:\n            break\n    r_pos, R_h = w.jaw_frame(\"right\")\n    b_pos = w.pos(\"ball\")\n    rel = R_h.T @ (b_pos - r_pos)\n    op = w.hands.opening(\"right\")\n    print(f\"close_k={close_k}: rel_ball_in_jaw={np.round(rel, 5)} op={op:.5f} upright={w.upright():.4f} pelvis_z={w.pelvis()[2]:.4f}\")\n'\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/.system_generated/tasks/task-69.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":38,"t":771.0,"say":"I am inspecting the relative position of the caught ball inside the right jaw frame across `close_k = 376..381` to select the most centered grasp. I will wait for the script to complete.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":40,"t":848.0,"say":"","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\nimport numpy as np\nfrom rcb_rfo import Session\n\n# Right-arm joint targets (rad) refined via single-step Jacobian shooting at k=387\n# so right_jaw_centre sits at (2.1540, -0.7797, 1.4002) with finger_axis aligned\n# with -v_ball = (0.6512, 0.0134, 0.7588) at t=3.883s.\nQ_ARM_RIGHT = np.array([\n    -0.29061327,\n    -0.02012636,\n    -0.04413001,\n    -0.19721173,\n     0.01356607,\n    -0.45459920,\n    -0.03003680,\n])\nCLOSE_STEP = 379\n\n\ndef main():\n    s = Session()\n    w = s.world\n    w_row = np.zeros(20, dtype=np.float64)\n\n    for k in range(550):\n        _, _, _, yaw = w.pelvis()\n        wz = float(np.clip(-2.0 * yaw, -1.57, 1.57))\n        if k < 310:\n            w_row[:3] = [0.8, -0.38, wz]\n        else:\n            w_row[:3] = [0.0, 0.0, wz]\n\n        if k >= 250:\n            alpha = min(1.0, (k - 250) / 50.0)\n            w_row[11:18] = alpha * Q_ARM_RIGHT\n\n        w_row[19] = 1.0 if k >= CLOSE_STEP else 0.0\n        if s.step(\"walk\", w_row):\n            break\n\n    assert s.status()[\"success\"], f\"Attempt failed: {s.status()}\"\n    s.save_trajectory()\n\n\nif __name__ == \"__main__\":\n    main()\n"},{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\n# Notes — catch-realgrasp i00\n\n## Final Approach & Why It Works\n- Stay in `walk` mode continuously so the H1-2 walking policy maintains dynamic balance during locomotion, catch impact, and the 1.0 s hold.\n- Walk diagonally (`vx = 0.8`, `vy = -0.38`, heading hold `wz = -2.0 * yaw`) for `k < 310`, then command zero translational velocity (`k >= 310`) so the pelvis settles near `(1.68, -0.62, 1.00)`.\n- Smoothly ramp the 7 right-arm joints over `k = 250..300` to a constant catch pose (`Q_ARM_RIGHT`) refined by Jacobian shooting so `right_jaw_centre` meets the ball at `(2.154, -0.780, 1.400)` (`t = 3.883 s`) with `finger_axis` antiparallel to the ball's velocity (`(-11.47, -0.24, -13.37) m/s`).\n- Command `grip_right = 1.0` at `k = 379` (~90 ms before impact, centered in the `k = 375..382` success window). The jaws narrow to ~73 mm as the ball enters, so the priority-2 critically damped rubber pads (`solref = [0.004, 1]`, `friction = 1.0`) arrest the ball on first contact (`after_first_touch_s = 0.0`) before it can bounce off the priority-0 housing, clamping it at 120 N within 2 mm of `jaw_centre` through `t = 4.87 s`.\n\n## Failed Approaches & Lessons\n- **Late gripper closing (`lead_ms <= 50 ms`)**: Ball hits the priority-0 housing (`bounce = 0.55`) and rebounds out of the 80 mm jaws in ~3 ms before the 375 mm/s jaws close from 90 mm to 73 mm.\n- **Switching from `walk` to `stand` after walking**: Handing the legs back to `stand` while decelerating leaves residual momentum without stepping feedback, causing pelvis drift.\n- **Online integral IK while target is out of reach (`k = 320..375`)**: Integrating arm target errors before the pelvis arrives winds up the joint command; a single-step Jacobian shooting update on a constant arm target placed `right_jaw_centre` within 0.5 mm of the ball path.\n\n## External Material\n- None downloaded or installed (used only standard pre-installed `numpy`, `mujoco`, and `rcb_rfo`).\n"}],"out":{"text":"Created file file:///app/output/gen.py with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.\nCreated file file:///app/output/NOTES.md with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":41,"t":876.0,"say":"","calls":[{"kind":"shell","label":"Running gen.py and verifying replay","code":"python3 /app/output/gen.py && \\\npython3 /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r1.json && \\\npython3 /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r2.json && \\\ncat /tmp/r1.json && echo \"\" && \\\ndiff -u /tmp/r1.json /tmp/r2.json && \\\nwc -l /app/output/NOTES.md && \\\nls -la /app/output/"}],"out":{"text":"Tool is running as a background task with task id: 40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/task-76\nTask Description: python3 /app/output/gen.py && \\\npython3 /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r1.json && \\\npython3 /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r2.json && \\\ncat /tmp/r1.json && echo \"\" && \\\ndiff -u /tmp/r1.json /tmp/r2.json && \\\nwc -l /app/output/NOTES.md && \\\nls -la /app/output/\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/40d3246d-0b6a-4f9b-8da9-3b832a9ad52a/.system_generated/tasks/task-76.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.\n When updating the user, always respond in the language of the user (defaulting to English). Never mix two or more languages in the same response.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":42,"t":894.0,"say":"I have written [gen.py](file:///app/output/gen.py) and [NOTES.md](file:///app/output/NOTES.md) and started a verification run that executes `gen.py` and replays `trajectory.npz` across two independent verifier processes. I will wait for the verification output.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":44,"t":927.0,"say":"","calls":[{"kind":"shell","label":"Checking output files and trajectory.npz","code":"rm -f /tmp/r1.json /tmp/r2.json && wc -l /app/output/NOTES.md && ls -la /app/output/ && python3 -c '\nimport numpy as np\nd = np.load(\"/app/output/trajectory.npz\")\nprint(\"Keys:\", list(d.keys()), \"actions shape:\", d[\"actions\"].shape, \"all finite:\", np.all(np.isfinite(d[\"actions\"])))\n'"}],"out":{"text":"The command exited with code 0.\nOutput:\n15 /app/output/NOTES.md\r\ntotal 564\r\ndrwxr-xr-x 2 root root   4096 Oct 19 07:47 .\r\ndrwxr-xr-x 3 root root   4096 Oct 19 07:17 ..\r\n-rw-r--r-- 1 root root   1941 Oct 19 07:46 NOTES.md\r\n-rw-r--r-- 1 root root   1101 Oct 19 07:46 gen.py\r\n-rw-r--r-- 1 root root   4559 Oct 19 07:47 rcb_session_log.jsonl\r\n-rw-r--r-- 1 root root 549908 Oct 19 07:47 trajectory.npz\r\nKeys: ['actions', 'family'] actions shape: (487, 141) all finite: True","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":45,"t":938.0,"say":"I have completed the task and verified the deliverable files under `/app/output/`:\n\n- **[trajectory.npz](file:///app/output/trajectory.npz)**: 487 control steps (`(487, 141)` finite floats). Verified across two independent `rcb_rfo.py replay` runs with `\"success\": true`, `\"stages\": [\"catch\", \"hold\"]`, and matching terminal `state_sha` (`874795dfdc7ab7c92fcbfe1c7e98940621d47af8a939f478e76a13858f2bf99f`).\n- **[gen.py](file:///app/output/gen.py)**: Self-contained script that generates and saves [trajectory.npz](file:///app/output/trajectory.npz).\n- **[NOTES.md](file:///app/output/NOTES.md)**: 15-line summary of the final approach, failed approaches, and lessons learned.\n\n### Summary of Solution\n1. **Locomotion & Balance**: Keeping the robot continuously in `walk` mode avoids handover transients and maintains active stepping balance during the catch and the 1.0 s hold. We command `vx = 0.8, vy = -0.38, wz = -2.0 * yaw` for steps `k < 310` and `vx = 0, vy = 0, wz = -2.0 * yaw` for `k >= 310`, bringing the pelvis to `(1.68, -0.62, 1.00)`.\n2. **Arm Alignment**: Over `k = 250..300`, the 7 right-arm joints ramp smoothly to a constant catch pose (`Q_ARM_RIGHT`) refined via single-step Jacobian shooting at the `k = 387` robot state so that `right_jaw_centre` sits on the ball's trajectory at `(2.154, -0.780, 1.400)` (`t = 3.883 s`) with `finger_axis` antiparallel to the incoming ball velocity `(-11.47, -0.24, -13.37) m/s`.\n3. **Pre-Close Timing**: Commanding `grip_right = 1.0` at `k = 379` (centered in the `k = 375..382` success window) narrows the jaws to ~73 mm right as the ball arrives. The priority-2 critically damped rubber pads (`solref = [0.004, 1.0]`, `friction = 1.0`) pinch the ball on initial contact (`after_first_touch_s = 0.0` at `t = 3.88 s`) before it can rebound off the priority-0 housing, clamping it at 120 N within 2 mm of `jaw_centre` until `t = 4.87 s`.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}