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runs/dexhand-picture-hang-i00-privileged--lcjsttr.json

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+{"slug":"dexhand-picture-hang-i00-privileged--lcjsttr","task":"dexhand-picture-hang-i00-privileged","bench":"dexhand","mode":"privileged","run":"claude_code-qwen3_8_max-high","agent":"claude-code","model":"qwen3.8-max","effort":"high","state":"failed","success":0,"reward":{"deterministic":0,"infra_error":0,"missing_trajectory":1,"n_actions":0,"sim_steps":0,"success":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":3603,"tokens":{"in":1130656,"cached":918571,"out":192061,"usd":0},"task_text":"# DexHand: Hang a large picture on two wall hooks\n\nHang the framed picture on the two wall hooks. The free 2.0 kg frame (52 x 52 x 6 cm) stands upright on a console; two brass picture hooks are installed on the wall and two D-rings on passive hinges are screwed to the back of the frame. Lift the frame off the console with both hands, engage BOTH D-rings on their matching hooks (left ring on the left hook, right ring on the right hook), then let go: the picture must hang still and level from both hooks with no hand touching it. Success requires, in this order: (1) lift-off: the frame origin (the centre of its bottom edge) at least 0.02 m above its start height z = 0.72 m and no contact with the console; (2) engagement: both rings threaded on their own hooks (the hook's load saddle passes through the ring's D loop, with the ring between the hook's upturned lip and the wall; a ring resting on top of the lip does not count) and each ring touching its hook; (3) a released hang for 50 consecutive controls (1 s): both rings threaded, each hook carrying at least 20 % of the frame's weight vertically through its ring and both hooks together at least 85 %, no hand touching the frame, no frame contact with the console or the floor, the frame's top edge level within 3 degrees, its tilt from upright at most 0.10 rad, its centre-of-mass speed at most 0.02 m/s and its angular speed at most 0.15 rad/s. The episode ends with success at that moment; one engaged hook, or rings left on the hook lips, never counts. The episode ends immediately with failure, checked after every 2 ms physics substep, when the frame touches the floor, when its origin leaves the workspace box x in [0.20, 0.76] m, y in [-0.45, 0.45] m, z in [0.60, 1.30] m, when it tilts more than 0.6 rad from upright, when after lift-off its origin falls more than 0.01 m below its start height, when after both rings were engaged no hand touches the frame while a ring is not threaded (it fell off a hook), when an arm, torso or stand link of the robot touches anything (only the hands may make contact), or when the physics becomes unstable; and when after lift-off the frame is held by nothing (no hand contact, no console contact and not hanging threaded on both hooks with both rings touching them): at the end of any control, or at any substep where its centre of mass is also moving down faster than 0.2 m/s (dropped, even if caught again, released early, dangling from one hook or resting on the hook lips). Later actions cannot undo a failure. Only the robot's actuator targets (14 arm joints and the fingers of both hands) are allowed; no grasp welds, scripted object motion or forces on the frame. The episode allows at most 3000 controls at 50 Hz; reaching that limit without success is a failure.\n\nYou control a fixed dual-arm robot (Tianji Marvin: two 7-joint arms on a stand) with a dexterous hand on each wrist. The arm joints and the fingers are position actuated in the physics engine under native force bounds\n… (6,463 characters left out) …\nphysics and verdict state\ns.render_frame(\"overview\")                # RGB uint8 (480, 640, 3); also \"front\", \"side\", \"hook_closeup\"\ns.reset()                                 # exact frozen reset\ns.replay(actions)                         # reset, run rows until the episode ends, return status()\ns.save_trajectory(actions, \"/app/output/trajectory.npz\")\n```\nRead `/opt/tools/task.json`, `scene.py`, `checker.py` and `runtime.py` for the complete geometry, the failure checks\nand the predicate (`task.json` `predicate` holds every threshold).\n\n## External material\nYou may install packages you need (pip, apt), and you may read anything installed in your container, the simulator's and this benchmark's own source code included. Please solve the task yourself: do not search the web for, or download, a ready-made solution to it, such as published or reference solutions, recorded demonstrations, or policies trained for it. This is an honour rule; trials are reviewed. The network reaches your model's API and the package registries (PyPI, Debian / Ubuntu archives) only.\n\n## Resource limits\nLimits for the whole trial, all its processes together (every simulator you start included): at most **8 GiB of memory**, **512 processes** and **10 GiB** of new files under `/app`, `/tmp` and `/root`; the task has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 2 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 3600 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time a simulator takes to start counts. When it is up you are stopped without warning and only what is in `/app/output/` at that moment is graded, so save a deliverable as soon as you have one and overwrite it whenever you have a better one. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":null,"replay_last":null,"steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"Check time limits and list tool files","code":"cat /run/rcb-limits/usage.json 2>/dev/null; ls /opt/tools/ 2>/dev/null; ls /app 2>/dev/null; wc -l /opt/tools/*.py /opt/tools/*.json 2>/dev/null"}],"out":{"text":"{\n \"t\": 1792843516.41,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.218,\n \"processes\": 5,\n \"disk_gb\": 0.239,\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\": 10.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null,\n \"elapsed_s\": 225.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3375.0,\n \"deadline_utc\": \"2026-10-24T13:01:31Z\"\n}Dockerfile\narm_rig.py\nassets\ncatalog.json\nchecker.py\ndocker-compose.yaml\ngrading.json\nhands.py\ninstance.json\nrcb_dexhand.py\nrcb_monitor\nreplay.py\nruntime.py\nscene.py\ntask.json\noutput\n   659 /opt/tools/arm_rig.py\n   261 /opt/tools/checker.py\n   388 /opt/tools/hands.py\n     5 /opt/tools/rcb_dexhand.py\n   176 /opt/tools/replay.py\n   196 /opt/tools/runtime.py\n   282 /opt/tools/scene.py\n   156 /opt/tools/catalog.json\n     1 /opt/tools/grading.json\n   151 /opt/tools/instance.json\n   151 /opt/tools/task.json\n  2426 total\n\n[stdout]\n{\n \"t\": 1792843516.41,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.218,\n \"processes\": 5,\n \"disk_gb\": 0.239,\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\": 10.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"violations\": [],\n \"emergency_kills\": 0,\n \"last_emergency_kill\": null,\n \"elapsed_s\": 225.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3375.0,\n \"deadline_utc\": \"2026-10-24T13:01:31Z\"\n}Dockerfile\narm_rig.py\nassets\ncatalog.json\nchecker.py\ndocker-compose.yaml\ngrading.json\nhands.py\ninstance.json\nrcb_dexhand.py\nrcb_monitor\nreplay.py\nruntime.py\nscene.py\ntask.json\noutput\n   659 /opt/tools/arm_rig.py\n   261 /opt/tools/checker.py\n   388 /opt/tools/hands.py\n     5 /opt/tools/rcb_dexhand.py\n   176 /opt/tools/replay.py\n   196 /opt/tools/runtime.py\n   282 /opt/tools/scene.py\n   156 /opt/tools/catalog.json\n     1 /opt/tools/grading.json\n   151 /opt/tools/instance.json\n   151 /opt/tools/task.json\n  2426 total","exit":[],"pics":[]},"tok":{"in":18336,"cached":0,"out":11450,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":54.7,"say":"","calls":[{"kind":"shell","label":"reads task.json","code":"/opt/tools/task.json"},{"kind":"shell","label":"reads checker.py","code":"/opt/tools/checker.py"}],"out":{"text":"1\t{\n2\t \"id\": \"picture_hang\",\n3\t \"title\": \"Hang a large picture on two wall hooks\",\n4\t \"description\": \"A fixed dual-arm robot (Tianji Marvin) with a dexterous hand on each arm lifts a free 2 kg 52 x 52 cm framed print from a console, carries it to the wall, engages both of its passive D-rings on the two installed brass wall hooks, releases it and withdraws; the picture must hang level and still from both hooks.\",\n5\t \"instruction\": \"Hang the framed picture on the two wall hooks. The free 2.0 kg frame (52 x 52 x 6 cm) stands upright on a console; two brass picture hooks are installed on the wall and two D-rings on passive hinges are screwed to the back of the frame. Lift the frame off the console with both hands, engage BOTH D-rings on their matching hooks (left ring on the left hook, right ring on the right hook), then let go: the picture must hang still and level from both hooks with no hand touching it. Success requires, in this order: (1) lift-off: the frame origin (the centre of its bottom edge) at least 0.02 m above its start height z = 0.72 m and no contact with the console; (2) engagement: both rings threaded on their own hooks (the hook's load saddle passes through the ring's D loop, with the ring between the hook's upturned lip and the wall; a ring resting on top of the lip does not count) and each ring touching its hook; (3) a released hang for 50 consecutive controls (1 s): both rings threaded, each hook carrying at least 20 % of the frame's weight vertically through\n… (18,178 characters left out) …\n   if self.stage == 1 and both_hanging:\n234\t                self.stage = 2\n235\t            reason = self.failure_reason(f)\n236\t            if reason:\n237\t                self.failure = reason[0]\n238\t                self.failure_detail = {\"detail\": reason[1], \"control\": control}\n239\t            else:\n240\t                shares = f[\"hook_load_share\"]\n241\t                hanging = (\n242\t                    self.stage >= 2\n243\t                    and both_hanging\n244\t                    and min(shares.values()) >= p[\"min_hook_share\"]\n245\t                    and sum(shares.values()) >= p[\"min_total_share\"]\n246\t                    and f[\"hand_contacts\"] == 0\n247\t                    and not f[\"touch_console\"]\n248\t                    and not f[\"touch_floor\"]\n249\t                    and abs(f[\"roll_deg\"]) <= p[\"max_roll_deg\"]\n250\t                    and f[\"tilt_rad\"] <= p[\"max_tilt_rad\"]\n251\t                    and f[\"speed_m_s\"] <= p[\"max_speed_m_s\"]\n252\t                    and f[\"angular_speed_rad_s\"] <= p[\"max_angular_speed_rad_s\"]\n253\t                )\n254\t                self.hold = self.hold + 1 if hanging else 0\n255\t                if self.hold >= p[\"hold_steps\"]:\n256\t                    self.stage = 3\n257\t                    self.success = True\n258\t        f.update(stage=self.stage, hold=self.hold, unsupported=self.unsupported, success=self.success,\n259\t                 failure=self.failure, failure_detail=self.failure_detail)\n260\t        self.last = f\n261\t        return f\n262","exit":[],"pics":[]},"tok":{"in":30244,"cached":18330,"out":99,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":60.7,"say":"","calls":[{"kind":"shell","label":"reads scene.py","code":"/opt/tools/scene.py"},{"kind":"shell","label":"reads runtime.py","code":"/opt/tools/runtime.py"}],"out":{"text":"1\t\"\"\"T21 picture-hanging scene: a free 52 x 52 x 6 cm framed print with two passive hinged D-rings, two installed\n2\tbrass wall hooks, a console and a Tianji Marvin dual-arm robot with a dexterous hand on each arm.\n3\t\n4\tScene geometry, masses and materials follow the accepted T21 source scene\n5\t(``scripts/scene_expansion/repairs/picture_sharpa/meta_delivery_trajectory_r1/hardware.py`` and ``scene.py``).\n6\tThe only physical object that moves is the frame (with its two D-rings on passive hinges); hooks, wall and\n7\tconsole are static. Nothing is attached to a hand.\n8\t\n9\tRobot (wave 3): the shared ``arm_rig.mount_marvin`` stand with two 7-DoF Marvin arms (position servos) stands in\n10\tfront of the console, facing the wall; the genuine Sharpa Wave right hand is on the right flange and its declared\n11\ty-mirror on the left flange (``hand=\"wuji\"``: the genuine right/left Wuji Hand 2.2). The flange mount bodies keep\n12\tthe old stage names ``l_wrist_stage`` / ``r_wrist_stage`` so that every hand geometry lies below them.\n13\t\"\"\"\n14\t\n15\tfrom __future__ import annotations\n16\t\n17\timport hashlib\n18\timport importlib.util\n19\timport json\n20\timport os\n21\tfrom pathlib import Path\n22\timport sys\n23\timport xml.etree.ElementTree as ET\n24\t\n25\timport mujoco\n26\timport numpy as np\n27\t\n28\tHERE = Path(__file__).resolve().parent\n29\t\n30\t\n31\tdef _hands_module():\n32\t    \"\"\"The shared DexHand hand-selection module (copied next to this file in generated task dirs).\"\"\"\n33\t    try:\n34\t        import hands\n35\t\n36\t \n… (22,534 characters left out) …\nures\": self.features}\n169\t\n170\t    def restore(self, snap):\n171\t        mujoco.mj_setState(self.model, self.data, snap[\"state\"], mujoco.mjtState.mjSTATE_INTEGRATION)\n172\t        self.data.ctrl[:] = snap[\"ctrl\"]\n173\t        mujoco.mj_forward(self.model, self.data)\n174\t        self.steps = snap[\"steps\"]\n175\t        c = self.checker\n176\t        c.stage, c.hold, c.unsupported, c.success, c.failure, c.failure_detail = snap[\"checker\"]\n177\t        self.features = snap[\"features\"]\n178\t\n179\t    def save_trajectory(self, actions, path):\n180\t        \"\"\"Write the privileged deliverable: ``actions`` plus this session's ``hand`` and ``task``.\"\"\"\n181\t        hands.write_trajectory(path, actions, hand=self.hand, task=self.task)\n182\t\n183\t    # ------------------------------------------------------------------ rendering\n184\t    def render_frame(self, camera=\"overview\", width=640, height=480, shadows=True):\n185\t        if self.renderer is not None and (self.renderer.width != width or self.renderer.height != height):\n186\t            self.close()\n187\t        if self.renderer is None:\n188\t            self.renderer = mujoco.Renderer(self.model, height=height, width=width)\n189\t        self.renderer.update_scene(self.data, camera=camera)\n190\t        self.renderer.scene.flags[mujoco.mjtRndFlag.mjRND_SHADOW] = shadows\n191\t        return self.renderer.render().copy()\n192\t\n193\t    def close(self):\n194\t        if self.renderer:\n195\t            self.renderer.close()\n196\t            self.renderer = None\n197","exit":[],"pics":[]},"tok":{"in":37635,"cached":30238,"out":79,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":471.3,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46393,"cached":37629,"out":32000,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":938.5,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46437,"cached":46387,"out":32000,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":1556.9,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46477,"cached":12905,"out":32000,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":1924.1,"say":"","calls":[{"kind":"shell","label":"Read arm rig source part 1","code":"sed -n 1,120p /opt/tools/arm_rig.py"},{"kind":"shell","label":"Find actuator definitions in arm rig","code":"grep -n \"actuator\\|motor\\|position\\|kp\\|kv\\|forcerange\\|ctrlrange\" /opt/tools/arm_rig.py | head -50"}],"out":{"text":"\"\"\"Tianji Marvin dual-arm rig for DexHand families (runtime module; stdlib + numpy + mujoco only).\n\n``mount_marvin`` replaces the floating six-axis wrist stage of a family scene by the fixed Tianji Marvin stand with\ntwo 7-DoF arms (the exact kinematics, inertias, meshes, joint limits, damping, armature, contact excludes and\nposition-servo gains of ``pot_shelf_transfer`` / ``sweep_dustpan``: kp 700, kv 48, force limits 108/108/66/66/18/18/18\nN m) and a Sharpa Wave hand on each flange (right: the genuine right model; left: the right model reflected in y, the\nconvention of the accepted bimanual families). ``hand=\"wuji\"`` swaps both Wave hands for the genuine Wuji Hand 2.2\n(``hands.replace_wave_hands``) under the same flange mounts. Both arms and both hands are always present (robot id\n``marvin-bimanual-sharpa-wave``); a one-hand task drives one arm and keeps the other at ``PARK``.\n\nAction layout (one row = every actuator target, model order; identical to pot_shelf_transfer):\n    [ left arm J1..J7 (7) | right arm J1..J7 (7) | left hand fingers | right hand fingers ]\n    sharpa: 14 + 22 + 22 = 58          wuji: 14 + 20 + 20 = 54\nAny other (non-robot) actuators of a scene would follow the hands; DexHand scenes have none.\n\nSee docs/benchmarks/dexhand.md (\"Arm rig\") for the rig's role in the DexHand families; arm_ik.py (authoring only)\nconverts a family's wrist-stage episode into arm rows.\n\"\"\"\n\nfrom __future__ import annotations\n\nimport copy\nimport hashlib\nimport importlib.util\nimpor\n… (34,567 characters left out) …\n7_target\" joint=\"WRIST_ROLL_R_J7\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-1.5707963267948966 1.5707963267948966\" forcelimited=\"true\" forcerange=\"-18.0 18.0\" />\n332: </actuator>\n405:# --------------------------------------------------------------------------------------------- composition\n420:    \"\"\"Mirror local frames in y (S = diag(1, -1, 1)): positions S p, rotations S R S, hinge axes det(S) S a.\"\"\"\n440:    too), else from a fresh ``right_hand.xml``. Returns (body, meshes, excludes, actuators), all new elements.\"\"\"\n454:    actuators = [copy.deepcopy(a) for a in source.find(\"actuator\") if a.get(\"joint\") in mapping]\n456:    for item in [body, *meshes, *excludes, *actuators]:\n465:    return body, meshes, excludes, actuators\n485:    Sharpa body ``right_hand_C_MC`` (anywhere; it is moved) with its defaults, meshes, excludes and finger actuators;\n489:    * ``base_pos`` / ``base_yaw``: world position of the stand origin (floor point under the torso; shoulders are\n507:    world, asset, actuator = root.find(\"worldbody\"), _section(root, \"asset\"), _section(root, \"actuator\")\n517:            body, meshes, excludes, finger_actuators = mirrored_left_wave(root, sharpa_folder)\n520:            actuator.extend(finger_actuators)\n544:    arm = list(template.find(\"actuator\"))\n545:    current = list(actuator)\n547:        actuator.remove(item)\n554:    actuator.extend(ordered)\n566:        \"arm_actuators\": list(ARM_ACTUATORS),\n585:    names = [model.actuator(i).name for i in range(model.nu)]","exit":[],"pics":[]},"tok":{"in":46517,"cached":12905,"out":17975,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":1935.6,"say":"","calls":[{"kind":"shell","label":"Inspect hands.py module","code":"grep -n \"def canonical\\|def selected\\|def info\\|def write_trajectory\\|FINGER\\|finger\" /opt/tools/hands.py | head -30; sed -n 1,60p /opt/tools/hands.py"},{"kind":"shell","label":"Start session and list actuators","code":"mkdir -p /app/output /app/work && cd /app/work && cat > explore1.py <<'EOF'\nimport sys, json\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np\nfrom rcb_dexhand import Session\ns = Session(\"picture_hang\")\nprint(\"hand:\", s.hand, \"dim:\", s.action_dim)\nprint(\"actuators:\")\nfor i, n in enumerate(s.actuator_names):\n    lo, hi = s.model.actuator_ctrlrange[i]\n    print(f\"{i:2d} {n:36s} [{lo:.3f}, {hi:.3f}] init={s.initial_targets[i]:.4f}\")\nEOF\npython -I explore1.py 2>&1 | tail -70"}],"out":{"text":"5:* ``sharpa``: Sharpa Wave (MuJoCo Menagerie ``sharpa_wave``), 22 finger actuators. Default.\n6:* ``wuji``: Wuji Hand 2.2 (``wuji-technology/wuji-description`` ``hand2/hand2_2``), 20 finger actuators.\n32:        \"finger_actuators\": 22,\n40:        \"finger_actuators\": 20,\n47:FINGERS = (\"thumb\", \"index\", \"middle\", \"ring\", \"pinky\")\n48:# Mounting rotations (Wuji native frame -> Wave native frame), per side, mapping fingers, palm normal and thumb side:\n49:# * right: Wave fingers +Z, palm normal +X, thumb +Y; Wuji (right.xml) fingers -Z, palm normal +Y (positive\n51:# * left: the Wave left hand is the right model mirrored in Y (fingers +Z, palm +X, thumb -Y); Wuji left.xml is\n54:# (rotated 180 degrees about the finger axis relative to the Wave it replaces).\n70:def canonical(value) -> str:\n100:def selected(hand=None) -> str:\n109:def info(hand) -> dict:\n214:        fingertip_sites={f: mapping[f\"{side}_{f if f in ('thumb', 'pinky') else f + '_finger'}_tip\"] for f in FINGERS},\n236:    per-side WUJI_TO_WAVE rotation (palm, fingers and thumb side aligned with the Wave's). The wrist stage or arm joints above the mount are untouched, so the same mount controls\n279:def finger_of(name: str) -> str | None:\n282:    The finger is the finger word that comes first in the name: link names put the finger before the link, and a\n283:    later word names the phalanx (Wuji ``r_ring_finger_middle`` is the ring finger's middle phalanx, not the middle\n284:    finger; ``r_pinky_middle`` belongs to the pinky)\n… (13,739 characters left out) …\n6] init=0.0000\n36 right_thumb_CMC_FE                   [-0.174, 1.920] init=0.0000\n37 right_thumb_CMC_AA                   [-0.349, 0.349] init=0.0000\n38 right_thumb_MCP_FE                   [-0.524, 1.396] init=0.0000\n39 right_thumb_MCP_AA                   [-0.349, 0.349] init=0.0000\n40 right_thumb_IP                       [0.000, 1.745] init=0.0000\n41 right_index_MCP_FE                   [-0.175, 1.571] init=0.0000\n42 right_index_MCP_AA                   [-0.349, 0.349] init=0.0000\n43 right_index_PIP                      [0.000, 1.745] init=0.0000\n44 right_index_DIP                      [0.000, 1.396] init=0.0000\n45 right_middle_MCP_FE                  [-0.175, 1.571] init=0.0000\n46 right_middle_MCP_AA                  [-0.349, 0.349] init=0.0000\n47 right_middle_PIP                     [0.000, 1.745] init=0.0000\n48 right_middle_DIP                     [0.000, 1.396] init=0.0000\n49 right_ring_MCP_FE                    [-0.175, 1.571] init=0.0000\n50 right_ring_MCP_AA                    [-0.349, 0.349] init=0.0000\n51 right_ring_PIP                       [0.000, 1.745] init=0.0000\n52 right_ring_DIP                       [0.000, 1.396] init=0.0000\n53 right_pinky_CMC                      [0.000, 0.262] init=0.0000\n54 right_pinky_MCP_FE                   [-0.175, 1.571] init=0.0000\n55 right_pinky_MCP_AA                   [-0.349, 0.349] init=0.0000\n56 right_pinky_PIP                      [0.000, 1.745] init=0.0000\n57 right_pinky_DIP                      [0.000, 1.396] init=0.0000","exit":[],"pics":[]},"tok":{"in":71668,"cached":46511,"out":470,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":1955.1,"say":"","calls":[{"kind":"shell","label":"Inspect initial body positions and sites","code":"cat > explore2.py <<'EOF'\nimport sys\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\ns = Session(\"picture_hang\")\nm, d = s.model, s.data\nnp.set_printoptions(precision=4, suppress=True)\n\nfor bn in [\"l_wrist_stage\",\"r_wrist_stage\",\"picture\",\"l_d_ring\",\"r_d_ring\",\"l_wall_hook\",\"r_wall_hook\"]:\n    b = m.body(bn)\n    print(f\"{bn:14s} xpos={d.xpos[b.id]}\")\n    if \"wrist\" in bn or \"hook\" in bn:\n        print(\"   R=\", d.xmat[b.id].reshape(3,3))\n\n# find fingertip sites/bodies for sharpa\nprint(\"\\nsites:\")\nfor i in range(m.nsite):\n    print(\" \", m.site(i).name, d.site_xpos[i])\nEOF\npython -I explore2.py 2>&1 | tail -40"}],"out":{"text":"l_wrist_stage  xpos=[0.4599 0.335  1.25  ]\n   R= [[ 0.0001 -1.      0.0001]\n [-1.     -0.0001  0.0001]\n [-0.0001 -0.0001 -1.    ]]\nr_wrist_stage  xpos=[ 0.46  -0.335  1.25 ]\n   R= [[-0.  1.  0.]\n [ 1.  0.  0.]\n [ 0.  0. -1.]]\npicture        xpos=[0.5  0.   0.72]\nl_d_ring       xpos=[0.533 0.255 1.198]\nr_d_ring       xpos=[ 0.533 -0.255  1.198]\nl_wall_hook    xpos=[0.74  0.255 1.38 ]\n   R= [[1. 0. 0.]\n [0. 1. 0.]\n [0. 0. 1.]]\nr_wall_hook    xpos=[ 0.74  -0.255  1.38 ]\n   R= [[1. 0. 0.]\n [0. 1. 0.]\n [0. 0. 1.]]\n\nsites:\n  left_flange [0.4599 0.335  1.25  ]\n  left_wrist_site [0.4599 0.335  1.25  ]\n  left_thumb_fingertip [0.5832 0.3196 1.1398]\n  left_index_fingertip [0.4902 0.334  1.0496]\n  left_middle_fingertip [0.4699 0.335  1.0466]\n  left_ring_fingertip [0.4496 0.3335 1.0526]\n  left_pinky_fingertip [0.4288 0.332  1.0586]\n  right_flange [ 0.46  -0.335  1.25 ]\n  wrist_site [ 0.46  -0.335  1.25 ]\n  right_thumb_fingertip [ 0.5833 -0.3196  1.1398]\n  right_index_fingertip [ 0.4903 -0.334   1.0496]\n  right_middle_fingertip [ 0.47   -0.335   1.0466]\n  right_ring_fingertip [ 0.4497 -0.3335  1.0526]\n  right_pinky_fingertip [ 0.4289 -0.332   1.0586]\n\n[stdout]\nl_wrist_stage  xpos=[0.4599 0.335  1.25  ]\n   R= [[ 0.0001 -1.      0.0001]\n [-1.     -0.0001  0.0001]\n [-0.0001 -0.0001 -1.    ]]\nr_wrist_stage  xpos=[ 0.46  -0.335  1.25 ]\n   R= [[-0.  1.  0.]\n [ 1.  0.  0.]\n [ 0.  0. -1.]]\npicture        xpos=[0.5  0.   0.72]\nl_d_ring       xpos=[0.533 0.255 1.198]\nr_d_ring       xpos=[ 0.533 -0.255  1.198]\nl_wall_hook    xpos=[0.74  0.255 1.38 ]\n   R= [[1. 0. 0.]\n [0. 1. 0.]\n [0. 0. 1.]]\nr_wall_hook    xpos=[ 0.74  -0.255  1.38 ]\n   R= [[1. 0. 0.]\n [0. 1. 0.]\n [0. 0. 1.]]\n\nsites:\n  left_flange [0.4599 0.335  1.25  ]\n  left_wrist_site [0.4599 0.335  1.25  ]\n  left_thumb_fingertip [0.5832 0.3196 1.1398]\n  left_index_fingertip [0.4902 0.334  1.0496]\n  left_middle_fingertip [0.4699 0.335  1.0466]\n  left_ring_fingertip [0.4496 0.3335 1.0526]\n  left_pinky_fingertip [0.4288 0.332  1.0586]\n  right_flange [ 0.46  -0.335  1.25 ]\n  wrist_site [ 0.46  -0.335  1.25 ]\n  right_thumb_fingertip [ 0.5833 -0.3196  1.1398]\n  right_index_fingertip [ 0.4903 -0.334   1.0496]\n  right_middle_fingertip [ 0.47   -0.335   1.0466]\n  right_ring_fingertip [ 0.4497 -0.3335  1.0526]\n  right_pinky_fingertip [ 0.4289 -0.332   1.0586]","exit":[],"pics":[]},"tok":{"in":75585,"cached":71662,"out":378,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":2184.3,"say":"Session works. Now let me inspect the Sharpa hand model geometry and write the core tooling (IK + grip).","calls":[{"kind":"shell","label":"Inspect Sharpa hand joints","code":"ls /opt/dexhand/hand/ 2>/dev/null; python -I - <<'EOF'\nimport sys; sys.path.insert(0,\"/opt/tools\")\nimport scene\nf = scene.sharpa_folder()\nprint(\"folder:\", f)\nimport xml.etree.ElementTree as ET\nr = ET.parse(f/\"right_hand.xml\").getroot()\n# joint axes and ranges\nfor j in r.iter(\"joint\"):\n    print(j.get(\"name\"), \"axis=\",j.get(\"axis\"), \"range=\",j.get(\"range\"))\nEOF"}],"out":{"text":"LICENSE\nassets\nright_hand.xml\nfolder: /opt/dexhand/hand\nNone axis= None range= None\nNone axis= None range= None\nNone axis= None range= None\nNone axis= None range= None\nNone axis= None range= None\nright_thumb_CMC_FE axis= 0 0 -1 range= -0.1745 1.9199\nright_thumb_CMC_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_thumb_MCP_FE axis= 0 0 -1 range= -0.5236 1.3963\nright_thumb_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_thumb_IP axis= 0 0 -1 range= 0 1.7453\nright_index_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_index_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_index_PIP axis= 0 0 -1 range= 0 1.7453\nright_index_DIP axis= 0 0 -1 range= 0 1.3963\nright_middle_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_middle_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_middle_PIP axis= 0 0 -1 range= 0 1.7453\nright_middle_DIP axis= 0 0 -1 range= 0 1.3963\nright_ring_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_ring_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_ring_PIP axis= 0 0 -1 range= 0 1.7453\nright_ring_DIP axis= 0 0 -1 range= 0 1.3963\nright_pinky_CMC axis= 0 0 -1 range= 0 0.2618\nright_pinky_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_pinky_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_pinky_PIP axis= 0 0 -1 range= 0 1.7453\nright_pinky_DIP axis= 0 0 -1 range= 0 1.3963\n\n[stdout]\nLICENSE\nassets\nright_hand.xml\nfolder: /opt/dexhand/hand\nNone axis= None range= None\nNone axis= None range= None\nNone axis= None range= None\nNone axis= None range= None\nNone axis= None range= None\nright_thumb_CMC_FE axis= 0 0 -1 range= -0.1745 1.9199\nright_thumb_CMC_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_thumb_MCP_FE axis= 0 0 -1 range= -0.5236 1.3963\nright_thumb_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_thumb_IP axis= 0 0 -1 range= 0 1.7453\nright_index_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_index_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_index_PIP axis= 0 0 -1 range= 0 1.7453\nright_index_DIP axis= 0 0 -1 range= 0 1.3963\nright_middle_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_middle_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_middle_PIP axis= 0 0 -1 range= 0 1.7453\nright_middle_DIP axis= 0 0 -1 range= 0 1.3963\nright_ring_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_ring_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_ring_PIP axis= 0 0 -1 range= 0 1.7453\nright_ring_DIP axis= 0 0 -1 range= 0 1.3963\nright_pinky_CMC axis= 0 0 -1 range= 0 0.2618\nright_pinky_MCP_FE axis= 0 0 -1 range= -0.174533 1.5708\nright_pinky_MCP_AA axis= 0 0 -1 range= -0.3491 0.3491\nright_pinky_PIP axis= 0 0 -1 range= 0 1.7453\nright_pinky_DIP axis= 0 0 -1 range= 0 1.3963","exit":[],"pics":[]},"tok":{"in":76742,"cached":75579,"out":10314,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":2206.8,"say":"","calls":[{"kind":"shell","label":"Check finger actuator force limits","code":"cat > explore3.py <<'EOF'\nimport sys; sys.path.insert(0,\"/opt/tools\")\nimport numpy as np\nfrom rcb_dexhand import Session\ns = Session(\"picture_hang\")\nm = s.model\nfor i in range(14, 58):\n    print(f\"{m.actuator(i).name:28s} force={m.actuator_forcerange[i]} gear={m.actuator_gear[i][:3]} kp={m.actuator_gainprm[i][0]}\")\nEOF\npython -I explore3.py 2>&1 | head -50"}],"out":{"text":"left_thumb_CMC_FE            force=[0. 0.] gear=[1. 0. 0.] kp=6.95\nleft_thumb_CMC_AA            force=[0. 0.] gear=[1. 0. 0.] kp=13.2\nleft_thumb_MCP_FE            force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nleft_thumb_MCP_AA            force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nleft_thumb_IP                force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_index_MCP_FE            force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nleft_index_MCP_AA            force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nleft_index_PIP               force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_index_DIP               force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_middle_MCP_FE           force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nleft_middle_MCP_AA           force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nleft_middle_PIP              force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_middle_DIP              force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_ring_MCP_FE             force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nleft_ring_MCP_AA             force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nleft_ring_PIP                force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_ring_DIP                force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_pinky_CMC               force=[0. 0.] gear=[1. 0. 0.] kp=1.38\nleft_pinky_MCP_FE            force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nleft_pinky_MCP_AA            force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nleft_pinky_PIP               force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nleft_pinky_DIP               force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_thumb_CMC_FE           force=\n… (2,869 characters left out) …\norce=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_thumb_CMC_FE           force=[0. 0.] gear=[1. 0. 0.] kp=6.95\nright_thumb_CMC_AA           force=[0. 0.] gear=[1. 0. 0.] kp=13.2\nright_thumb_MCP_FE           force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nright_thumb_MCP_AA           force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nright_thumb_IP               force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_index_MCP_FE           force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nright_index_MCP_AA           force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nright_index_PIP              force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_index_DIP              force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_middle_MCP_FE          force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nright_middle_MCP_AA          force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nright_middle_PIP             force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_middle_DIP             force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_ring_MCP_FE            force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nright_ring_MCP_AA            force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nright_ring_PIP               force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_ring_DIP               force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_pinky_CMC              force=[0. 0.] gear=[1. 0. 0.] kp=1.38\nright_pinky_MCP_FE           force=[0. 0.] gear=[1. 0. 0.] kp=4.76\nright_pinky_MCP_AA           force=[0. 0.] gear=[1. 0. 0.] kp=6.62\nright_pinky_PIP              force=[0. 0.] gear=[1. 0. 0.] kp=0.9\nright_pinky_DIP              force=[0. 0.] gear=[1. 0. 0.] kp=0.9","exit":[],"pics":[]},"tok":{"in":87737,"cached":76736,"out":288,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":2371.4,"say":"Now I'll write the core library: target-space IK for both arms, finger grip poses, and a logging runner.","calls":[{"kind":"robot","label":"Write IK/grip library","code":"cat > /app/work/lib.py <<'EOF'\n\"\"\"Shared tooling: target-space 6D IK for the Marvin arms + gripper pose helpers.\"\"\"\nimport sys\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np, mujoco\n\nSIDES = (\"l\", \"r\")\nARM_SLICE = {\"l\": slice(0, 7), \"r\": slice(7, 14)}\nFING_SLICE = {\"l\": slice(14, 36), \"r\": slice(36, 58)}   # sharpa: 22 per hand\nSTAGE = {\"l\": \"l_wrist_stage\", \"r\": \"r_wrist_stage\"}\n\n\nclass Arm:\n    def __init__(self, s, side):\n        self.s, self.side = s, side\n        m = s.model\n        self.stage_bid = m.body(STAGE[side]).id\n        sl = ARM_SLICE[side]\n        self.act_idx = np.arange(sl.start, sl.stop)\n        self.jnt_qadr = np.array([m.jnt_qposadr[m.actuator_trnid[i, 0]] for i in self.act_idx])\n        self.jnt_dadr = np.array([m.jnt_dofadr[m.actuator_trnid[i, 0]] for i in self.act_idx])\n        self.lo = s.ctrl_lo[self.act_idx].copy()\n        self.hi = s.ctrl_hi[self.act_idx].copy()\n        self.q = s.initial_targets[self.act_idx].copy()   # IK target state\n        self.q0 = self.q.copy()\n\n    def set_q(self, ctrl):\n        self.q = ctrl[self.act_idx].copy()\n\n    def fk(self, q=None):\n        \"\"\"Pose of wrist stage with arm qpos := q (rest left as-is). Returns (pos, R).\"\"\"\n        s = self.s\n        q = self.q if q is None else q\n        backup = s.data.qpos.copy()\n        s.data.qpos[self.jnt_qadr] = q\n        mujoco.mj_kinematics(s.model, s.data)\n        pos = s.data.xpos[self.stage_bid].copy()\n        R = s.data.xmat[self.stage_bid].reshape(3, 3).copy()\n        s.data.qpos[:] = backup\n        mujoco.mj_kinematics(s.model, s.data)\n        return pos, R\n\n    def jac(self, q):\n        \"\"\"6x7 body Jacobian (linear of stage origin, angular) at arm qpos=q.\"\"\"\n        s = self.s\n        backup_q = s.data.qpos.copy()\n        s.data.qpos[self.jnt_qadr] = q\n        mujoco.mj_kinematics(s.model, s.data)\n        jp = np.zeros((3, s.model.nv)); jr = np.zeros((3, s.model.nv))\n        mujoco.mj_jacBody(s.model, s.data, jp, jr, self.stage_bid)\n        J = np.vstack([jp[:, self.jnt_dadr], jr[:, self.jnt_dadr]])\n        s.data.qpos[:] = backup_q\n        mujoco.mj_kinematics(s.model, s.data)\n        return J\n\n    def step_ik(self, pos_des, R_des=None, gain_p=0.35, gain_r=0.3, lam=0.04,\n                q_ref=None, k_post=0.05, max_dq=0.06):\n        \"\"\"One DLS IK step updating self.q toward the desired stage pose.\"\"\"\n        pos, R = self.fk(self.q)\n        e = np.zeros(6)\n        e[:3] = gain_p * (pos_des - pos)\n        if R_des is not None:\n            Rd = R_des @ R.T\n            ang = np.empty(3); mju_rotmat2Quat_wrap(Rd, ang)\n            e[3:] = gain_r * ang\n        J = self.jac(self.q)\n        JJt = J @ J.T + (lam ** 2) * np.eye(6)\n        dq = J.T @ np.linalg.solve(JJt, e)\n        if q_ref is not None:\n            Jp = np.linalg.solve(JJt, J)          # (J Jt)^-1 J\n            N = np.eye(7) - J.T @ Jp              # hmm shapes: 7x6 @ 6x7\n            dq = dq + k_post * (N @ (q_ref - self.q))\n        dq = np.clip(dq, -max_dq, max_dq)\n        qn = \n… (155 characters left out) …\n2Quat_wrap(R, out_axisangle):\n    q = np.empty(4)\n    mujoco.mju_mat2Quat(q, np.asarray(R, float).ravel())\n    # quaternion -> axis angle (rotation vector)\n    w = np.clip(q[0], -1, 1)\n    ang = 2 * np.arccos(abs(w))\n    vn = np.linalg.norm(q[1:])\n    if vn < 1e-9:\n        out_axisangle[:] = 0\n    else:\n        sgn = 1.0 if w >= 0 else -1.0\n        out_axisangle[:] = sgn * q[1:] / vn * ang\n    return out_axisangle\n\n\n# ------------------------------------------------------------------ finger poses (sharpa, 22 per hand)\nFORDER = [\"thumb_CMC_FE\", \"thumb_CMC_AA\", \"thumb_MCP_FE\", \"thumb_MCP_AA\", \"thumb_IP\",\n          \"index_MCP_FE\", \"index_MCP_AA\", \"index_PIP\", \"index_DIP\",\n          \"middle_MCP_FE\", \"middle_MCP_AA\", \"middle_PIP\", \"middle_DIP\",\n          \"ring_MCP_FE\", \"ring_MCP_AA\", \"ring_PIP\", \"ring_DIP\",\n          \"pinky_CMC\", \"pinky_MCP_FE\", \"pinky_MCP_AA\", \"pinky_PIP\", \"pinky_DIP\"]\n\nOPEN = dict.fromkeys(FORDER, 0.0)\n\ndef grip(thumb_cmc=1.30, thumb_mcp=0.90, thumb_ip=0.55, mcp=1.15, pip=1.35, dip=0.95,\n         pinky_cmc=0.15, aa=0.0):\n    g = dict(OPEN)\n    g.update(thumb_CMC_FE=thumb_cmc, thumb_MCP_FE=thumb_mcp, thumb_IP=thumb_ip,\n             index_MCP_FE=mcp, index_PIP=pip, index_DIP=dip,\n             middle_MCP_FE=mcp, middle_PIP=pip, middle_DIP=dip,\n             ring_MCP_FE=mcp, ring_PIP=pip, ring_DIP=dip,\n             pinky_CMC=pinky_cmc, pinky_MCP_FE=mcp, pinky_PIP=pip, pinky_DIP=dip)\n    if aa:\n        for k in list(g):\n            if k.endswith(\"_AA\"): g[k] = aa\n    return g\n\ndef fingers_from_dict(side, g):\n    out = np.zeros(22)\n    for i, k in enumerate(FORDER):\n        out[i] = g[k]\n    return out\n\ndef assemble(armq_l, armq_r, fing_l, fing_r):\n    row = np.zeros(58)\n    row[0:7] = armq_l; row[7:14] = armq_r\n    row[14:36] = fing_l; row[36:58] = fing_r\n    return row\n\n\nclass Runner:\n    \"\"\"Steps the session with a per-control callback fn(step_idx, status) -> row; records rows.\"\"\"\n    def __init__(self, s):\n        self.s = s\n        self.actions = []\n\n    def run(self, fn, n, stop_on_done=True, report_every=0):\n        st = self.s.status()\n        for i in range(n):\n            if self.s.done and stop_on_done:\n                break\n            row = fn(i, st)\n            row = np.clip(np.asarray(row, float), self.s.ctrl_lo, self.s.ctrl_hi)\n            st = self.s.step(row)\n            self.actions.append(row.copy())\n            if report_every and i % report_every == 0:\n                f = st[\"features\"]\n                print(f\"  t={len(self.actions):4d} stage={st['stage']} org={np.round(f['origin'],4)} \"\n                      f\"roll={f['roll_deg']:+.2f} tilt={f['tilt_rad']:+.3f} hc={f['hand_contacts']} \"\n                      f\"thr={f['threaded']} load=({f['hook_load_share']['l']:+.2f},{f['hook_load_share']['r']:+.2f}) \"\n                      f\"spd={f['speed_m_s']:.3f} fail={st['reason']}\")\n                if f[\"robot_contacts\"]:\n                    print(\"   ROBOT CONTACT:\", f[\"robot_contacts\"][:4])\n        return st\nEOF\necho written"}],"out":{"text":"written\n\n[stdout]\nwritten","exit":[],"pics":[]},"tok":{"in":89322,"cached":87731,"out":9109,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":2437.0,"say":"","calls":[{"kind":"shell","label":"Test finger curl direction kinematically","code":"cat > /app/work/exp1.py <<'EOF'\nimport sys; sys.path.insert(0,\"/app/work\"); sys.path.insert(0,\"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\nfrom lib import *\n\ns = Session(\"picture_hang\")\nnp.set_printoptions(precision=4, suppress=True)\nL, R = Arm(s, \"l\"), Arm(s, \"r\")\nrun = Runner(s)\n\n# verify finger curl direction quickly (kinematics only)\ndef tips():\n    out = {}\n    for side in \"lr\":\n        for f in (\"thumb\",\"index\",\"middle\",\"ring\",\"pinky\"):\n            nm = {\"l\":\"left_\",\"r\":\"right_\"}[side]+f+\"_fingertip\"\n            out[side+f] = s.data.site(s nm if False else nm).xpos.copy() if False else s.data.site(nm).xpos.copy()\n    return out\nEOF\necho \"oops - rewriting cleanly\"\ncat > /app/work/exp1.py <<'EOF'\nimport sys; sys.path.insert(0,\"/app/work\"); sys.path.insert(0,\"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\nfrom lib import *\n\ns = Session(\"picture_hang\")\nnp.set_printoptions(precision=4, suppress=True)\nL, R = Arm(s, \"l\"), Arm(s, \"r\")\nrun = Runner(s)\n\ndef tips():\n    out = {}\n    for side, pre in ((\"l\",\"left_\"),(\"r\",\"right_\")):\n        for f in (\"thumb\",\"index\",\"middle\",\"ring\",\"pinky\"):\n            out[side+f] = s.data.site(pre+f+\"_fingertip\").xpos.copy()\n    return out\n\ndef show_tips(tag):\n    t = tips()\n    print(tag, \" \".join(f\"{k}:{np.round(v,3)}\" for k,v in t.items()))\n\n# 1) curl test: left index + thumb, kinematic\nshow_tips(\"open  \")\nrow = s.hold_action()\nrow[FING_SLICE[\"l\"]] = fingers_from_dict(\"l\", grip(mcp=1.2,pip=1.2,dip=1.0))\ns.data.ctrl[:] = row\ns.data.qpos[s.qadr] = np.clip(row, s.ctrl_lo, s.ctrl_hi)\nmujoco.mj_forward(s.model, s.data)\nshow_tips(\"curled\")\n\n# contacts of hand geoms near picture rail: report min distance hand->rail\npic = s.model.body(\"picture\").id\nprint(\"picture xpos\", s.data.xpos[pic])\nEOF\npython -I exp1.py 2>&1 | tail -8"}],"out":{"text":"oops - rewriting cleanly\nopen   lthumb:[0.583 0.32  1.14 ] lindex:[0.49  0.334 1.05 ] lmiddle:[0.47  0.335 1.047] lring:[0.45  0.333 1.053] lpinky:[0.429 0.332 1.059] rthumb:[ 0.583 -0.32   1.14 ] rindex:[ 0.49  -0.334  1.05 ] rmiddle:[ 0.47  -0.335  1.047] rring:[ 0.45  -0.334  1.053] rpinky:[ 0.429 -0.332  1.059]\ncurled lthumb:[0.462 0.283 1.132] lindex:[0.49  0.276 1.185] lmiddle:[0.47  0.277 1.182] lring:[0.45  0.275 1.188] lpinky:[0.436 0.273 1.194] rthumb:[ 0.583 -0.32   1.14 ] rindex:[ 0.49  -0.334  1.05 ] rmiddle:[ 0.47  -0.335  1.047] rring:[ 0.45  -0.334  1.053] rpinky:[ 0.429 -0.332  1.059]\npicture xpos [0.5  0.   0.72]\n\n[stdout]\noops - rewriting cleanly\nopen   lthumb:[0.583 0.32  1.14 ] lindex:[0.49  0.334 1.05 ] lmiddle:[0.47  0.335 1.047] lring:[0.45  0.333 1.053] lpinky:[0.429 0.332 1.059] rthumb:[ 0.583 -0.32   1.14 ] rindex:[ 0.49  -0.334  1.05 ] rmiddle:[ 0.47  -0.335  1.047] rring:[ 0.45  -0.334  1.053] rpinky:[ 0.429 -0.332  1.059]\ncurled lthumb:[0.462 0.283 1.132] lindex:[0.49  0.276 1.185] lmiddle:[0.47  0.277 1.182] lring:[0.45  0.275 1.188] lpinky:[0.436 0.273 1.194] rthumb:[ 0.583 -0.32   1.14 ] rindex:[ 0.49  -0.334  1.05 ] rmiddle:[ 0.47  -0.335  1.047] rring:[ 0.45  -0.334  1.053] rpinky:[ 0.429 -0.332  1.059]\npicture xpos [0.5  0.   0.72]","exit":[],"pics":[]},"tok":{"in":98448,"cached":89316,"out":1771,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":2657.5,"say":"","calls":[{"kind":"robot","label":"Test clamp grip and lift","code":"cat > /app/work/exp2.py <<'EOF'\nimport sys; sys.path.insert(0,\"/app/work\"); sys.path.insert(0,\"/opt/tools\")\nimport numpy as np, mujoco, imageio.v3 as iio\nfrom rcb_dexhand import Session\nfrom lib import *\n\ns = Session(\"picture_hang\")\nnp.set_printoptions(precision=4, suppress=True)\nL, R = Arm(s, \"l\"), Arm(s, \"r\")\nL.set_q(s.initial_targets); R.set_q(s.initial_targets)\nrun = Runner(s)\nR0_l = L.fk()[1].copy(); R0_r = R.fk()[1].copy()\n\nelbow_bodies = [s.model.body(n).id for n in\n    (\"elbow_pitch_l_j3_link\",\"wrist_pitch_l_j5_link\",\"elbow_pitch_r_j3_link\",\"wrist_pitch_r_j7_link\" if False else \"wrist_pitch_r_j5_link\")]\ndef elbows():\n    return np.array([s.data.xpos[b] for b in elbow_bodies])\n\nPG = grip(thumb_cmc=1.2, thumb_mcp=0.9, thumb_ip=0.7, mcp=0.9, pip=1.05, dip=0.85, pinky_cmc=0.15)\nFING_OPEN = np.zeros(22); FING_GRIP = fingers_from_dict(\"l\", PG)\n\nWP = np.array([0.505, 0.320, 1.235])   # left wrist pre-grip target\nWM = np.array([0.505,-0.320, 1.235])\nSQUEEZE = 0.007\n\nstate = {\"ph\":0}\ndef ctrl(i, st):\n    f = st[\"features\"]\n    global cur\n    if i < 40:      # approach, fingers ramp to grip\n        k = min(1.0, i/30)\n        fl = FING_GRIP*k; fr = fl.copy()\n        tgt_l, tgt_r = WP, WM\n    elif i < 70:    # squeeze preload\n        k = (i-40)/30\n        fl = FING_GRIP.copy(); fr = fl.copy()\n        tgt_l = WP + np.array([0,-SQUEEZE*k,0]); tgt_r = WM + np.array([0,+SQUEEZE*k,0])\n    else:           # lift 10 cm\n        k = min(1.0,(i-70)/50)\n        fl = FING_GRIP.copy(); fr = fl.copy()\n        tgt_l = WP + np.array([0,-SQUEEZE, 0.10*k]); tgt_r = WM + np.array([0,+SQUEEZE, 0.10*k])\n    L.step_ik(tgt_l, R0_l, q_ref=s.initial_targets[0:7], k_post=0.02)\n    R.step_ik(tgt_r, R0_r, q_ref=s.initial_targets[7:14], k_post=0.02)\n    row = assemble(L.q, R.q, fl, fr)\n    return np.clip(row, s.ctrl_lo, s.ctrl_hi)\n\nst = run.run(ctrl, 160, report_every=10)\nprint(\"final stage\", st[\"stage\"], \"reason\", st[\"reason\"], st[\"failure_detail\"])\nprint(\"origin\", st[\"features\"][\"origin\"], \"hand_contacts\", st[\"features\"][\"hand_contacts\"])\nprint(\"touch pairs:\", [c for c in () ])\nprint(\"elbows:\", elbows())\nimg = s.render_frame(\"front\"); iio.imwrite(\"/app/work/exp2_front.png\", img)\nimg = s.render_frame(\"side\"); iio.imwrite(\"/app/work/exp2_side.png\", img)\n# contact details\nm,d = s.model, s.data\nseen=set()\nfor i in range(d.ncon):\n    c=d.contact[i]\n    n1,n2=m.geom(c.geom1).name,m.geom(c.geom2).name\n    if (\"picture\" in (n1+n2) or \"frame\" in (n1+n2) or \"ring\" in (n1+n2)) and (\"hand\" in (n1+n2) or \"finger\" in (n1+n2) or \"thumb\" in (n1+n2) or \"palm\" in (n1+n2)):\n        seen.add((n1,n2))\nfor x in sorted(seen): print(\"CONTACT\", x)\nnp.save(\"/app/work/exp2_actions.npy\", np.array(run.actions))\nEOF\npython -I exp2.py 2>&1 | tail -35"}],"out":{"text":"t=   1 stage=0 org=[ 0.5    -0.      0.7199] roll=-0.00 tilt=+0.000 hc=0 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.001 fail=\n  t=  11 stage=0 org=[0.5  0.   0.72] roll=-0.00 tilt=+0.000 hc=0 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.000 fail=\n  t=  21 stage=0 org=[0.5  0.   0.72] roll=+0.00 tilt=+0.000 hc=0 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.000 fail=\n  t=  31 stage=0 org=[0.4995 0.     0.7205] roll=+0.01 tilt=+0.005 hc=14 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.013 fail=\n  t=  41 stage=0 org=[ 0.5197 -0.0001  0.722 ] roll=-0.04 tilt=+0.062 hc=14 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.005 fail=\n  t=  51 stage=0 org=[0.5313 0.0002 0.7231] roll=-0.01 tilt=+0.095 hc=13 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.008 fail=\n  t=  61 stage=0 org=[0.5354 0.0001 0.7232] roll=-0.01 tilt=+0.107 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.001 fail=\n  t=  71 stage=0 org=[0.5354 0.0001 0.7232] roll=-0.00 tilt=+0.106 hc=13 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.001 fail=\n  t=  81 stage=0 org=[0.5349 0.0001 0.7336] roll=-0.02 tilt=+0.108 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.091 fail=\n  t=  91 stage=1 org=[0.5379 0.0001 0.7536] roll=-0.02 tilt=+0.114 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.097 fail=\n  t= 101 stage=1 org=[0.5397 0.     0.7736] roll=-0.02 tilt=+0.118 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.096 fail=\n  t=\n… (3,077 characters left out) …\n0.7935] roll=-0.03 tilt=+0.119 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.096 fail=\n  t= 121 stage=1 org=[0.5411 0.     0.8133] roll=-0.03 tilt=+0.119 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.096 fail=\n  t= 131 stage=1 org=[ 0.5458 -0.      0.8227] roll=-0.03 tilt=+0.128 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.006 fail=\n  t= 141 stage=1 org=[ 0.5436 -0.      0.8227] roll=-0.04 tilt=+0.123 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.004 fail=\n  t= 151 stage=1 org=[ 0.5415 -0.      0.8227] roll=-0.04 tilt=+0.118 hc=12 thr={'l': False, 'r': False} load=(+0.00,+0.00) spd=0.003 fail=\nfinal stage 1 reason  None\norigin [0.539806573568355, -5.9049990069585205e-05, 0.822643051122661] hand_contacts 12\ntouch pairs: []\nelbows: [[ 0.2122  0.401   1.5426]\n [ 0.5076  0.3248  1.4131]\n [ 0.2121 -0.4025  1.5414]\n [ 0.5076 -0.3248  1.4132]]\nCONTACT ('left_index_fingertip_collision', 'frame_l_rail')\nCONTACT ('left_middle_fingertip_collision', 'frame_l_rail')\nCONTACT ('left_pinky_fingertip_collision', 'frame_l_rail')\nCONTACT ('left_ring_fingertip_collision', 'frame_l_rail')\nCONTACT ('left_thumb_fingertip_collision', 'frame_l_rail')\nCONTACT ('right_index_fingertip_collision', 'frame_r_rail')\nCONTACT ('right_middle_fingertip_collision', 'frame_r_rail')\nCONTACT ('right_pinky_fingertip_collision', 'frame_r_rail')\nCONTACT ('right_ring_fingertip_collision', 'frame_r_rail')\nCONTACT ('right_thumb_fingertip_collision', 'frame_r_rail')","exit":[],"pics":[]},"tok":{"in":100695,"cached":98442,"out":11127,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":19,"t":3081.7,"say":"","calls":[{"kind":"shell","label":"Run full draft trajectory generator","code":"cat > /app/work/gen_draft.py <<'EOF'\nimport sys; sys.path.insert(0,\"/app/work\"); sys.path.insert(0,\"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\nfrom lib import *\n\ns = Session(\"picture_hang\")\nnp.set_printoptions(precision=4, suppress=True)\nL, R = Arm(s, \"l\"), Arm(s, \"r\")\nL.set_q(s.initial_targets); R.set_q(s.initial_targets)\nR0 = {\"l\": L.fk()[1].copy(), \"r\": R.fk()[1].copy()}\nrun = Runner(s)\n\n# ---------------- tunables\nWX = 0.487          # wrist x during grip\nWY = 0.318          # wrist y (approach)\nWZ = 1.235\nSQUEEZE = 0.006     # extra inward wrist y at grip\nGRIP = grip(thumb_cmc=1.2, thumb_mcp=0.9, thumb_ip=0.7, mcp=0.9, pip=1.05, dip=0.85, pinky_cmc=0.15)\nRELAX = dict(GRIP); RELAX.update(thumb_CMC_FE=0.8, thumb_MCP_FE=0.6, thumb_IP=0.5)\nF_OPEN = np.zeros(22); F_GRIP = fingers_from_dict(\"l\", GRIP); F_RELAX = fingers_from_dict(\"l\", RELAX)\n\n# phase boundaries\nT = dict(close_end=90, grip_est=120, lift_end=230, carry_end=380, desc_end=445,\n         slide_end=495, land_end=565, settle_end=625, rel_end=710)\n# frame-origin waypoints\nP_START = np.array([0.50, 0.0, 0.72])\nP_LIFT  = np.array([0.50, 0.0, 0.94])\nP_PRE   = np.array([0.690, 0.0, 0.94])\nP_WIN   = np.array([0.690, 0.0, 0.898])\nP_SLIDE = np.array([0.699, 0.0, 0.898])\nP_LAND  = np.array([0.699, 0.0, 0.884])\n\nX_side = {}     # frame->wrist offsets at grip\ngrip_established = [False]\nretreat_wp = {\"active\": False, \"t0\": 0, \"pos\": {\"l\": None, \"r\": None}}\nrelease_done = [False]\n\ndef frame_pose():\n    j = s.model.joint(\"picture_free\")\n    q = s.data.qpos[s.model.jnt_qposadr[j.id]:]\n    p = q[:3].copy(); qw = q[3:7].copy()\n    Rm = np.empty(9); mujoco.mju_quat2Mat(Rm, qw)\n    return p, Rm.reshape(3,3)\n\ndef rotvec(Rerr):\n    a = np.empty(3); mju_rotmat2Quat_wrap(Rerr, a); return a\n\ndef ctrl(i, st):\n    f = st[\"features\"]\n    p_act, R_act = frame_pose()\n    # ---- desired frame pose\n    if i < T[\"grip_est\"]:\n        p_des, R_des = P_START.copy(), np.eye(3)\n    elif i < T[\"lift_end\"]:\n        k = (i - T[\"grip_est\"]) / (T[\"lift_end\"] - T[\"grip_est\"]); p_des = P_START + (P_LIFT-P_START)*k; R_des = np.eye(3)\n    elif i < T[\"carry_end\"]:\n        k = (i - T[\"lift_end\"]) / (T[\"carry_end\"] - T[\"lift_end\"]); p_des = P_LIFT + (P_PRE-P_LIFT)*k; R_des = np.eye(3)\n    elif i < T[\"desc_end\"]:\n        k = (i - T[\"carry_end\"]) / (T[\"desc_end\"] - T[\"carry_end\"]); p_des = P_PRE + (P_WIN-P_PRE)*k; R_des = np.eye(3)\n    elif i < T[\"slide_end\"]:\n        k = (i - T[\"desc_end\"]) / (T[\"slide_end\"] - T[\"desc_end\"]); p_des = P_WIN + (P_SLIDE-P_WIN)*k; R_des = np.eye(3)\n    elif i < T[\"land_end\"]:\n        k = (i - T[\"slide_end\"]) / (T[\"land_end\"] - T[\"slide_end\"]); p_des = P_SLIDE + (P_LAND-P_SLIDE)*k; R_des = np.eye(3)\n    else:\n        p_des, R_des = None, None   # settle / release: compliant follow\n\n    # ---- fingers\n    if i < 30:\n        fl = F_OPEN.copy()\n    elif i < T[\"close_end\"]:\n        k = min(1.0, (i-30)/(T[\"close_end\"]-40)); fl = F_OPEN + (F_GRIP-F_OPEN)*k\n    elif i < T[\"settle_end\"]:\n\n… (1,579 characters left out) …\n = 0.35 if p_des is not None else 0.08\n            if p_des is None:\n                p_des, R_des = p_act.copy(), R_act.copy()\n            e_pos = p_des - p_act\n            Re = R_des @ R_act.T\n            dR = np.eye(3) + 0.0\n            a = rotvec(Re); n = np.linalg.norm(a)\n            if n > 1e-9:\n                dR = np.eye(3) + np.sin(Kr*n)/n*skew(a) + (1-np.cos(Kr*n))/n**2*(skew(a)@skew(a))\n            for side, arm in ((\"l\", L), (\"r\", R)):\n                off = R_act @ X_side[side][0]\n                wp = p_act + off\n                wp = p_act + dR @ (wp - p_act) + Kp*e_pos\n                p_nom[side] = wp\n                Rn[side] = dR @ (R_act @ X_side[side][1])\n        for side, arm in ((\"l\", L), (\"r\", R)):\n            arm.step_ik(p_nom[side], Rn[side], gain_p=0.4, gain_r=0.35,\n                        q_ref=s.initial_targets[ARM_SLICE[side]], k_post=0.02)\n    else:\n        k = min(1.0, (i - retreat_wp[\"t0\"])/60)\n        for side, arm in ((\"l\", L), (\"r\", R)):\n            tgt = retreat_wp[\"pos\"][side]\n            arm.step_ik(tgt, R0[side], gain_p=0.25, gain_r=0.2,\n                        q_ref=s.initial_targets[ARM_SLICE[side]], k_post=0.03)\n        # trigger check handled outside\n    if f[\"hand_contacts\"] == 0 and i > T[\"settle_end\"] and not retreat_wp[\"active\"]:\n        retreat_wp[\"active\"] = True; retreat_wp[\"t0\"] = i\n        for side, arm in ((\"l\", L), (\"r\", R)):\n            sgn = 1 if side==\"l\" else -1\n            wp = arm.fk()[0].copy()\n            retreat_wp[\"pos\"][side] = wp + np.array([-0.16, sgn*0.13, -0.10])\n    return assemble(L.q, R.q, fl, fr)\n\ndef skew(a):\n    return np.array([[0,-a[2],a[1]],[a[2],0,-a[0]],[-a[1],a[0],0]])\n\nimport builtins; builtins.skew = skew\n\nlog = []\ndef ctrl_logged(i, st):\n    row = ctrl(i, st)\n    f = st[\"features\"]\n    log.append((i, st[\"stage\"], st[\"hold_steps\"], f[\"origin\"], f[\"roll_deg\"], f[\"tilt_rad\"],\n                f[\"threaded\"][\"l\"], f[\"threaded\"][\"r\"], f[\"ring_in_saddle_frame\"][\"l\"], f[\"ring_in_saddle_frame\"][\"r\"],\n                f[\"hook_load_share\"][\"l\"], f[\"hook_load_share\"][\"r\"], f[\"hand_contacts\"], f[\"speed_m_s\"],\n                f[\"robot_contacts\"], st[\"reason\"]))\n    return row\n\nst = run.run(ctrl_logged, 1000, report_every=25)\nprint(\"=== final:\", st[\"reason\"], \"stage\", st[\"stage\"], \"hold\", st[\"hold_steps\"], \"steps\", st[\"steps\"])\nprint(\"detail:\", st[\"failure_detail\"])\nfo = st[\"features\"][\"origin\"]\nprint(\"origin\", np.round(fo,4))\n# print key window log\nfor row in log:\n    i = row[0]\n    if i % 25 == 0 or (T[\"desc_end\"]-15 <= i <= T[\"land_end\"] and i % 5 == 0):\n        print(f\"t={i:4d} st={row[1]} org={np.round(row[3],4)} roll={row[4]:+.2f} tilt={row[5]:+.3f} \"\n              f\"thr=({int(row[6])},{int(row[7])}) loc_l={np.round(row[8]*1000,1)} loc_r={np.round(row[9]*1000,1)} \"\n              f\"load=({row[10]:+.2f},{row[11]:+.2f}) hc={row[12]} spd={row[13]:.3f} rc={len(row[14])} {row[15]}\")\nnp.save(\"/app/work/draft_actions.npy\", np.array(run.actions))\nEOF\npython -I gen_draft.py 2>&1 | tail -60"}],"out":{"text":"t=  75 st=0 org=[0.5    0.     0.7204] roll=-0.00 tilt=+0.016 thr=(0,0) loc_l=[ 0.2 -0.   0.2 ...  0.2 -0.   0.2] loc_r=[ 0.2 -0.   0.2 ...  0.2 -0.   0.2] load=(+0.00,+0.00) hc=16 spd=0.015 rc=0 \nt= 100 st=0 org=[0.5003 0.     0.7207] roll=-0.00 tilt=+0.026 thr=(0,0) loc_l=[ 0.2 -0.   0.2 ...  0.2 -0.   0.2] loc_r=[ 0.2 -0.   0.2 ...  0.2 -0.   0.2] load=(+0.00,+0.00) hc=18 spd=0.004 rc=0 \nt= 125 st=0 org=[0.501  0.     0.7207] roll=-0.00 tilt=+0.024 thr=(0,0) loc_l=[ 0.2 -0.   0.2 ...  0.2 -0.   0.2] loc_r=[ 0.2 -0.   0.2 ...  0.2 -0.   0.2] load=(+0.00,+0.00) hc=16 spd=0.015 rc=0 \nt= 150 st=1 org=[0.5763 0.0001 0.7647] roll=-0.02 tilt=+0.256 thr=(0,0) loc_l=[ 0.3 -0.   0.1 ...  0.3 -0.   0.1] loc_r=[ 0.3 -0.   0.1 ...  0.3 -0.   0.1] load=(+0.00,+0.00) hc=16 spd=0.113 rc=0 \nt= 175 st=1 org=[0.5972 0.0002 0.8302] roll=-0.05 tilt=+0.347 thr=(0,0) loc_l=[ 0.3 -0.  -0.  ...  0.3 -0.  -0. ] loc_r=[ 0.3 -0.  -0.  ...  0.3 -0.  -0. ] load=(+0.00,+0.00) hc=16 spd=0.108 rc=0 \nt= 200 st=1 org=[0.5997 0.0004 0.8845] roll=-0.05 tilt=+0.376 thr=(0,0) loc_l=[ 0.3 -0.  -0.1 ...  0.3 -0.  -0.1] loc_r=[ 0.3 -0.  -0.1 ...  0.3 -0.  -0.1] load=(+0.00,+0.00) hc=16 spd=0.095 rc=0 \nt= 225 st=1 org=[0.5961 0.0003 0.9311] roll=-0.00 tilt=+0.370 thr=(0,0) loc_l=[ 0.3 -0.  -0.1 ...  0.3 -0.  -0.1] loc_r=[ 0.3 -0.  -0.1 ...  0.3 -0.  -0.1] load=(+0.00,+0.00) hc=16 spd=0.089 rc=0 \nt= 250 st=1 org=[0.6004 0.0002 0.9535] roll=+0.00 tilt=+0.337 thr=(0,0) loc_l=[ 0.2 -0.  -0.1 ...  0.2 -0.  -0.1] loc_r=[\n… (20,109 characters left out) …\n(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0 \nt= 825 st=1 org=[0.5717 0.0007 0.728 ] roll=+0.00 tilt=+0.271 thr=(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0 \nt= 850 st=1 org=[0.5717 0.0007 0.728 ] roll=+0.00 tilt=+0.271 thr=(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0 \nt= 875 st=1 org=[0.5717 0.0007 0.728 ] roll=+0.00 tilt=+0.271 thr=(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0 \nt= 900 st=1 org=[0.5716 0.0007 0.728 ] roll=+0.00 tilt=+0.271 thr=(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0 \nt= 925 st=1 org=[0.5716 0.0007 0.728 ] roll=+0.00 tilt=+0.271 thr=(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0 \nt= 950 st=1 org=[0.5716 0.0007 0.728 ] roll=+0.00 tilt=+0.271 thr=(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0 \nt= 975 st=1 org=[0.5716 0.0007 0.728 ] roll=+0.00 tilt=+0.272 thr=(0,0) loc_l=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] loc_r=[-0.1 -0.   0.2 ... -0.1 -0.   0.2] load=(+0.00,+0.00) hc=0 spd=0.000 rc=0","exit":[],"pics":[]},"tok":{"in":113517,"cached":100689,"out":23266,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":3346.3,"say":"","calls":[{"kind":"robot","label":"Debug lift-phase behavior and contacts","code":"cat > /app/work/dbg1.py <<'EOF'\nimport sys; sys.path.insert(0,\"/app/work\"); sys.path.insert(0,\"/opt/tools\")\nimport numpy as np, mujoco, imageio.v3 as iio\nfrom rcb_dexhand import Session\nfrom lib import *\ns = Session(\"picture_hang\")\nnp.set_printoptions(precision=4, suppress=True)\n# probe features at initial state\nf0 = s.status()[\"features\"]\nprint(\"loc_l at start (mm):\", np.array(f0[\"ring_in_saddle_frame\"][\"l\"])*1000)\nprint(\"origin:\", f0[\"origin\"])\n# quick: replay first 250 rows of draft actions and inspect at t=150\nA = np.load(\"/app/work/draft_actions.npy\")\ns.reset()\nfor i in range(200):\n    st = s.step(A[i])\n    if i+1 in (100, 125, 140, 150, 170, 200):\n        f = st[\"features\"]\n        print(f\"\\n== t={i+1} origin={np.round(f['origin'],4)} tilt={f['tilt_rad']:+.3f} roll={f['roll_deg']:+.2f} hc={f['hand_contacts']}\")\n        print(\"   loc_l(mm)\", np.round(np.array(f[\"ring_in_saddle_frame\"][\"l\"])*1000,1),\n              \" loc_r(mm)\", np.round(np.array(f[\"ring_in_saddle_frame\"][\"r\"])*1000,1))\n        print(\"   wrist act L\", np.round(s.data.xpos[s.model.body(\"l_wrist_stage\").id],3),\n              \"target fk:\", np.round(Arm(s,'l').fk(np.clip(A[i][0:7], s.ctrl_lo[0:7], s.ctrl_hi[0:7]))[0],3))\n        m,d = s.model, s.data\n        pairs={}\n        for j in range(d.ncon):\n            c=d.contact[j]\n            n1,n2=m.geom(c.geom1).name,m.geom(c.geom2).name\n            key=tuple(sorted((n1,n2)))\n            if any((\"hand\" in t or \"finger\" in t or \"thumb\" in t or \"palm\" in t or \"MC\" in t or \"PP\" in t or \"MP\" in t or \"DP\" in t) for t in key):\n                pairs[key]=pairs.get(key,0)+1\n        for k,v in sorted(pairs.items()): print(f\"   {k} x{v}\")\n        if i+1==170:\n            iio.imwrite(\"/app/work/dbg_front170.png\", s.render_frame(\"front\"))\n            iio.imwrite(\"/app/work/dbg_side170.png\", s.render_frame(\"side\"))\nEOF\npython -I dbg1.py 2>&1 | tail -60"}],"out":{"text":"('frame_l_rail', 'left_index_fingertip_collision') x1\n   ('frame_l_rail', 'left_middle_fingertip_collision') x1\n   ('frame_l_rail', 'left_pinky_MP_fit') x2\n   ('frame_l_rail', 'left_ring_fingertip_collision') x2\n   ('frame_l_rail', 'left_thumb_fingertip_collision') x1\n   ('frame_r_rail', 'right_index_fingertip_collision') x1\n   ('frame_r_rail', 'right_middle_fingertip_collision') x1\n   ('frame_r_rail', 'right_pinky_MP_fit') x1\n   ('frame_r_rail', 'right_ring_fingertip_collision') x2\n   ('frame_r_rail', 'right_thumb_fingertip_collision') x1\n   ('left_thumb_fingertip_collision', 'picture_backboard') x1\n   ('picture_backboard', 'right_thumb_fingertip_collision') x1\n\n== t=150 origin=[0.5763 0.0001 0.7647] tilt=+0.256 roll=-0.02 hc=16\n   loc_l(mm) [275.1  -0.3  77.5]  loc_r(mm) [275.3  -0.3  77.3]\n   wrist act L [0.461 0.324 1.255] target fk: [0.459 0.312 1.273]\n   ('frame_l_rail', 'left_index_fingertip_collision') x1\n   ('frame_l_rail', 'left_middle_fingertip_collision') x1\n   ('frame_l_rail', 'left_pinky_MP_fit') x2\n   ('frame_l_rail', 'left_ring_fingertip_collision') x2\n   ('frame_l_rail', 'left_thumb_fingertip_collision') x1\n   ('frame_r_rail', 'right_index_fingertip_collision') x1\n   ('frame_r_rail', 'right_middle_fingertip_collision') x1\n   ('frame_r_rail', 'right_pinky_MP_fit') x2\n   ('frame_r_rail', 'right_ring_fingertip_collision') x2\n   ('frame_r_rail', 'right_thumb_fingertip_collision') x1\n   ('left_thumb_fingertip_collision', 'picture_backboard') x1\n   ('picture_backbo\n… (3,592 characters left out) …\nision') x1\n   ('frame_l_rail', 'left_middle_fingertip_collision') x1\n   ('frame_l_rail', 'left_pinky_MP_fit') x2\n   ('frame_l_rail', 'left_ring_fingertip_collision') x2\n   ('frame_l_rail', 'left_thumb_fingertip_collision') x1\n   ('frame_r_rail', 'right_index_fingertip_collision') x1\n   ('frame_r_rail', 'right_middle_fingertip_collision') x1\n   ('frame_r_rail', 'right_pinky_MP_fit') x2\n   ('frame_r_rail', 'right_ring_fingertip_collision') x2\n   ('frame_r_rail', 'right_thumb_fingertip_collision') x1\n   ('left_thumb_fingertip_collision', 'picture_backboard') x1\n   ('picture_backboard', 'right_thumb_fingertip_collision') x1\n\n== t=200 origin=[0.5997 0.0004 0.8845] tilt=+0.376 roll=-0.05 hc=16\n   loc_l(mm) [274.   -0.9 -66.4]  loc_r(mm) [273.8  -0.9 -66.8]\n   wrist act L [0.43  0.321 1.361] target fk: [0.43  0.312 1.376]\n   ('frame_l_rail', 'left_index_fingertip_collision') x1\n   ('frame_l_rail', 'left_middle_fingertip_collision') x1\n   ('frame_l_rail', 'left_pinky_MP_fit') x2\n   ('frame_l_rail', 'left_ring_fingertip_collision') x2\n   ('frame_l_rail', 'left_thumb_fingertip_collision') x1\n   ('frame_r_rail', 'right_index_fingertip_collision') x1\n   ('frame_r_rail', 'right_middle_fingertip_collision') x1\n   ('frame_r_rail', 'right_pinky_MP_fit') x2\n   ('frame_r_rail', 'right_ring_fingertip_collision') x2\n   ('frame_r_rail', 'right_thumb_fingertip_collision') x1\n   ('left_thumb_fingertip_collision', 'picture_backboard') x1\n   ('picture_backboard', 'right_thumb_fingertip_collision') x1","exit":[],"pics":[]},"tok":{"in":144903,"cached":113511,"out":9735,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa","task":"embodied-olympics-fun-dodgeball-i00-standard-realtime","bench":"embodied-olympics-fun","mode":"standard-realtime","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"success","success":1,"reward":{"success":1,"live_success":1,"graded_by_live":1,"replays":0,"live_rule":1,"live_verdict_error":0,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"instance_mismatch":0,"n_actions":1310,"sim_steps":1310,"calls":636,"rows":18901,"resets":0,"reset_budget":5,"sim_startups":1,"elapsed_s":141.4,"video_rendered":1,"first_success":1,"first_reason_code":1,"realtime":1,"slowdown":1.0,"clock_s":13.096,"max_lag_s":0.0057,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":0,"late_steps":0,"requests_refused":1,"request_busy_s":0.964,"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":201,"tokens":{"in":570824,"cached":528531,"out":17312,"usd":0.79},"task_text":"# embodied-olympics dodgeball — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree G1 humanoid robot (29 joints, 1.32 m tall, 33 kg; the Embodied Olympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, you reach it only through a\nclient, and like a real venue it does not wait for you: once an attempt is running, the robot, the ball and the venue\nmove while you think. **Task:** Dodge: five cloth dodgeballs are thrown at you by ball machines that aim at you; do not let a live ball touch you, stay inside your court and on your feet.\n\n**Slowdown: S = 1.** The world runs at 1/S of real speed: one control step (10 ms of robot time) every\nS x 10 ms of wall-clock time (real time). `spec()[\"timing\"][\"slowdown\"]` states it.\n\n## The venue\nA wooden sports floor with the 18 m x 9 m court painted on it; you stand in the middle of your half, 5 m behind the centre line, facing the opponents' half (+x), where the five machines stand in a row 8 m in front of you, their heads at about head height, turning to follow you. The side lines are 4.5 m to your left and right, your back line 4 m behind you.\n\nDirections are from the robot at the start: +x is the way you face, +y is to your left, +z is up; the floor is level.\n\n\n## The rules\n**Rule book:** WDBF Cloth Dodgeball Rules 2026 (World Dodgeball Federation): rule 1.1 (the playing court 18 m x 9 m), 1.3 (lines 5 cm wide, drawn inside the court; the centre line; the neutral zone lines 7 m from the back lines), 1.4 (fair territory, neutral zone), 2.1-2.3 (five balls of textured no-sting cloth over foam over a butyl bladder, 17.78 cm across, 110-125 mbar), 15.1 (a live player is out when hit by a live ball on any part of the body or clothing), 16.2 and 16.6 (a thrown ball is live from the throw until it touches a surface or a dead object that is not a ball), 26.1-26.5 (out of bounds: touching a boundary line, a surface outside them, the opponents' fair territory or the neutral zone line next to it: out). Where this task departs from it:\n\n- Rule 16 (the throwers): the five throws come from five two-wheel ball machines (the shared machine block, one ball each) standing in the opponents' fair territory 3.0 m beyond the centre line, their exits 1.2 m high, each on a turret (a yaw and a pitch joint driven by torque-limited servos, 20.0 and 30.0 N m) whose controller points it, until its feed, at where you are now: your pelvis, at a height of 0.8 m, with the elevation that the ball's drag needs for that distance; it does not lead a moving target. Each throws at 14.0 m/s with no spin, the first fed at 2.0 s and the others 2.5 s apart: an opposing team cannot be simulated.\n- Rules 20-22 (blocks and catches): you hold no ball, so you cannot block, and the robot cannot catch: any contact of a live ball with you is a hit (rule 15.1 counts every part, the head too).\n- Rule 2: the rules give no mass for the ball; it is \n… (19,506 characters left out) …\n run_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal G1 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa/replay.mp4","replay_last":"embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json; ls /app /app/output /opt/tools; pip list 2>/dev/null | grep -i -E \"mujoco|nump","code":"cat /run/rcb-limits/usage.json; ls /app /app/output /opt/tools; pip list 2>/dev/null | grep -i -E \"mujoco|numpy|torch|onnx\"; find / -name \"*.xml\" -path \"*g1*\" 2>/dev/null | head; find / -iname \"*olymp*\" -not -path \"/proc/*\" 2>/dev/null | head"}],"out":{"text":"{\n \"t\": 1792881814.33,\n \"measured\": false,\n \"why\": \"this runner cannot run the resource monitor (its container runtime refuses `pid: host`): usage is not measured and the limits are not enforced; the clock is kept\",\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 \"elapsed_s\": 55.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7145.0,\n \"deadline_utc\": \"2026-10-25T00:42:39Z\"\n}/app:\noutput\n\n/app/output:\n\n/opt/tools:\nrcb1.py\nrcb_client.py\nnumpy              2.5.3\n/usr/share/mime/application/x-sg1000-rom.xml\n/usr/share/mime/image/x-olympus-orf.xml\n\n[stdout]\n{\n \"t\": 1792881814.33,\n \"measured\": false,\n \"why\": \"this runner cannot run the resource monitor (its container runtime refuses `pid: host`): usage is not measured and the limits are not enforced; the clock is kept\",\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 \"elapsed_s\": 55.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7145.0,\n \"deadline_utc\": \"2026-10-25T00:42:39Z\"\n}/app:\noutput\n\n/app/output:\n\n/opt/tools:\nrcb1.py\nrcb_client.py\nnumpy              2.5.3\n/usr/share/mime/application/x-sg1000-rom.xml\n/usr/share/mime/image/x-olympus-orf.xml","exit":[],"pics":[]},"tok":{"in":32396,"cached":18236,"out":3683,"think":null,"usd":0.1481},"sim":{"submit":0,"reset":0}},{"id":3,"t":4.1,"say":"","calls":[{"kind":"shell","label":"r=rcb_client.Robot()","code":"cd /opt/tools && timeout 60 python -c \"\nimport rcb_client, json\nr=rcb_client.Robot()\ns=r.spec()\nprint(json.dumps({k:v for k,v in s.items() if k not in ('robot_facts','proprio_layout','action_types')},indent=1)[:6000])\nprint(s['proprio_layout'])\nprint(r.status())\n\""}],"out":{"text":"{\n \"protocol\": \"eai-standard/2.3\",\n \"control_dt\": 0.01,\n \"max_control_steps\": 1550,\n \"max_chunk_s\": 10.0,\n \"max_watch_s\": 30.0,\n \"max_video_fps\": 30,\n \"max_frames_per_call\": 3000,\n \"budget\": {\n  \"reset\": 5,\n  \"wall_clock_s\": 7200.0\n },\n \"clock\": \"time_s and elapsed_s count from your first request to the service; time_left_s is budget.wall_clock_s minus time_s\",\n \"on_service_error\": \"if a call fails with a connection error or a 5xx, the service may have crashed and resumed the same episode (never a reset): the state is the one after the last call that completed on the service, which you may not have received; check GET /status before continuing\",\n \"simulator\": \"RoboOlympics simulator (MuJoCo 3.3.7 on the CPU, 1 ms physics, 10 ms control)\",\n \"robot\": \"Unitree G1, 29 joints, 1.32 m, 33 kg (RoboOlympics robot library g1-4: MuJoCo Menagerie's unitree_g1 with Unitree's joint, speed and torque limits and motor torque-speed curves)\",\n \"task_text\": \"Dodge: five cloth dodgeballs are thrown at you by ball machines that aim at you; do not let a live ball touch you, stay inside your court and on your feet.\",\n \"rules\": \"You stand in your fair territory on a WDBF cloth dodgeball court (18.0 m x 9.0 m, lines 5 cm wide drawn inside it), 5 m behind the centre line, facing it (+x). Five ball machines stand in the opponents' half, 3.0 m beyond the centre line, 1.5 m apart across the court (at 0, -3, +3, -1.5 and +1.5 m from its middle, in the order they throw), each holding one dodgeball (17.78 \n… (15,863 characters left out) …\norque', 'right_elbow_torque', 'right_wrist_roll_torque', 'right_wrist_pitch_torque', 'right_wrist_yaw_torque', 'left_hip_pitch_target', 'left_hip_roll_target', 'left_hip_yaw_target', 'left_knee_target', 'left_ankle_pitch_target', 'left_ankle_roll_target', 'right_hip_pitch_target', 'right_hip_roll_target', 'right_hip_yaw_target', 'right_knee_target', 'right_ankle_pitch_target', 'right_ankle_roll_target', 'waist_yaw_target', 'waist_roll_target', 'waist_pitch_target', 'left_shoulder_pitch_target', 'left_shoulder_roll_target', 'left_shoulder_yaw_target', 'left_elbow_target', 'left_wrist_roll_target', 'left_wrist_pitch_target', 'left_wrist_yaw_target', 'right_shoulder_pitch_target', 'right_shoulder_roll_target', 'right_shoulder_yaw_target', 'right_elbow_target', 'right_wrist_roll_target', 'right_wrist_pitch_target', 'right_wrist_yaw_target', 'imu_pelvis_qw', 'imu_pelvis_qx', 'imu_pelvis_qy', 'imu_pelvis_qz', 'imu_pelvis_gx', 'imu_pelvis_gy', 'imu_pelvis_gz', 'imu_pelvis_ax', 'imu_pelvis_ay', 'imu_pelvis_az', 'imu_torso_qw', 'imu_torso_qx', 'imu_torso_qy', 'imu_torso_qz', 'imu_torso_gx', 'imu_torso_gy', 'imu_torso_gz', 'imu_torso_ax', 'imu_torso_ay', 'imu_torso_az', 'holding_left', 'holding_right', 'mode', 'cmd_vx', 'cmd_vy', 'cmd_wz', 'time_s']\n{'calls': 0, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 0, 'resets_left': 5, 'elapsed_s': 0.0, 'running': False, 'planned_steps': 0, 'lag_s': 0.0}\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":36461,"cached":32394,"out":264,"think":null,"usd":0.0321},"sim":{"submit":0,"reset":0}},{"id":4,"t":89.3,"say":"","calls":[{"kind":"shell","label":"cd /opt/tools && python -c \"import rcb_client; help(rcb_client)\" | head -300","code":"cd /opt/tools && python -c \"import rcb_client; help(rcb_client)\" | head -300"}],"out":{"text":"Help on module rcb_client:\n\nNAME\n    rcb_client\n\nDESCRIPTION\n    eai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\n    PYTHONPATH).\n\n        from rcb_client import Robot, EpisodeOver\n        r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\n    TIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\n    get_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\n    spec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\n    plan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\n    the last target is held. Whatever you do in between -- think, print, run a model -- the robot keeps executing.\n\n    Calls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n        r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                                 (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                                 units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n                                                 e\n… (18,747 characters left out) …\n------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\n    class Robot(builtins.object)\n     |  Robot(base: 'str | None' = None, timeout: 'float' = 600.0)\n     |\n     |  Methods defined here:\n     |\n     |  __init__(self, base: 'str | None' = None, timeout: 'float' = 600.0)\n     |      Initialize self.  See help(type(self)) for accurate signature.\n     |\n     |  get_obs(self, cameras=None, seconds: 'float' = 0.0, video_fps: 'int' = 10, include_depth: 'bool' = False, video: 'str' = 'frames') -> 'Result'\n     |\n     |  reset(self, cameras=None, include_depth: 'bool' = False) -> 'Result'\n     |\n     |  spec(self) -> 'dict'\n     |\n     |  status(self) -> 'dict'\n     |\n     |  submit(self, action_type: 'str', actions, dt: 'float | None' = None, interpolate: 'str' = 'linear', at: 'int | None' = None, cameras=None, video_fps: 'int' = 10, video: 'str' = 'none', include_depth: 'bool' = False, note: 'str' = '') -> 'Result'\n     |\n     |  ----------------------------------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\nDATA\n    MAX_BODY = 67108864\n    PROTOCOLS = ('eai-standard/2.', 'rcb-limited/2.')\n\nFILE\n    /opt/tools/rcb_client.py\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":41478,"cached":36459,"out":8145,"think":null,"usd":0.1953},"sim":{"submit":0,"reset":0}},{"id":5,"t":94.6,"say":"","calls":[{"kind":"shell","label":"r=rcb_client.Robot()","code":"cd /tmp && timeout 60 python -c \"\nimport rcb_client, json\nr=rcb_client.Robot()\ns=r.spec()\nprint(s.get('timing'))\nprint(json.dumps(s['action_types']['walk'])[:1500])\nprint([k for k in s])\nprint(json.dumps(s.get('links'))[:3000])\nprint(json.dumps(s.get('imu')))\n\""}],"out":{"text":"{'realtime': True, 'slowdown': 1.0, 'control_dt': 0.01, 'wall_s_per_control_step': 0.01, 'clock': 'an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends', 'submit': \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\", 'observe': 'seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan', 'max_ahead_steps': 1000, 'no_images': 'cameras = [] returns no images, only proprioception (the fastest call)'}\n{\"dim\": 22, \"layout\": [\"vx\", \"vy\", \"wz\", \"waist_yaw\", \"waist_roll\", \"waist_pitch\", \"left_shoulder_pitch\", \"left_shoulder_roll\", \"left_shoulder_yaw\", \"left_elbow\", \"left_wrist_roll\", \"left_wrist_pitch\", \"left_wrist_yaw\", \"right_shoulder_pitch\", \"right_shoulder_roll\", \"right_shoulder_yaw\", \"right_elbow\", \"right_wrist_roll\", \"right_wrist_pitch\", \"right_wrist_yaw\", \"grip_left\", \"grip_right\"], \"lower\": [-0.8, -0.5, -1.57, -2.618, -0.52, -0.52, -3.0892, -1.5882, -2.618, -1.0472, -1.9722, -1.6144, -1.6144, -3.0892, -2.2515, -2.618, -1.0472, -1.9722, -1.6144, -1.6144, 0.0, 0.0], \"upper\": [0.8, 0.5, 1.57, 2.618, 0.52, 0.52, 2.6704, 2.25\n… (2,077 characters left out) …\nt_roll\", \"left_wrist_pitch\", \"left_wrist_yaw\", \"right_shoulder_pitch\", \"right_shoulder_roll\", \"right_shoulder_yaw\", \"right_elbow\", \"right_wrist_roll\", \"right_wrist_pitch\", \"right_wrist_yaw\", \"grip_left\", \"grip_right\"], \"lower\": [-0.8, -0.5, -1.57, -2.618, -0.52, -0.52, -3.0892, -1.5882, -2.618, -1.0472, -1.9722, -1.6144, -1.6144, -3.0892, -2.2515, -2.618, -1.0472, -1.9722, -1.6144, -1.6144, 0.0, 0.0], \"upper\": [0.8, 0.5, 1.57, 2.618, 0.52, 0.52, 2.6704, 2.2515, 2.618, 2.0944, 1.9722, 1.6144, 1.6144, 2.6704, 1.5882, 2.618, 2.0944, 1.9722, 1.6144, 1.6144, 1.0, 1.0], \"meaning\": \"Unitree's walking policy drives the legs from the velocity command (vx forward, vy to the left, m/s; wz turning left, rad/s; the robot's own frame); you give the waist and arm joint targets\", \"semantics\": \"rows dt apart (a multiple of control_dt); each control step's command is the row (hold) or a straight line from the command in force (linear); values outside lower/upper are clipped and reported; a joint target moves at most the joint's speed limit per step; joints a type does not name keep their current targets\"}\n['protocol', 'control_dt', 'max_control_steps', 'max_chunk_s', 'max_watch_s', 'max_video_fps', 'max_frames_per_call', 'proprio_layout', 'budget', 'clock', 'on_service_error', 'simulator', 'robot', 'task_text', 'rules', 'episode', 'action_types', 'start_command', 'units', 'cameras', 'depth', 'robot_facts', 'proprio', 'referee', 'reset', 'timing']\nnull\nnull\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":53373,"cached":41476,"out":486,"think":null,"usd":0.0775},"sim":{"submit":0,"reset":0}},{"id":6,"t":102.0,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/output/img && cd /tmp && timeout 60 python -c \"","code":"mkdir -p /app/output/img && cd /tmp && timeout 60 python -c \"\nimport rcb_client, time\nfrom PIL import Image\nr=rcb_client.Robot()\nfor cams in [[],['venue'],['venue','side'],None]:\n    t=time.time(); res=r.get_obs(cameras=cams); print(cams, time.time()-t)\nfor k,v in res.last.items():\n    Image.fromarray(v).save(f'/app/output/img/start_{k}.png')\nprint(res.meta['proprio']['now'][-30:])\n\" 2>&1 | tail -8"}],"out":{"text":"[] 0.0049059391021728516\n['venue'] 0.2850673198699951\n['venue', 'side'] 0.012482166290283203\nNone 0.014943838119506836\n[0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -2.773884671492064e-17, 1.444175160851923e-16, -3.801643678571645e-17, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.670092085324616e-17, -4.371911919033053e-17, 7.57242409043608e-18, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\nShell cwd was reset to /app\n\n[stdout]\n[] 0.0049059391021728516\n['venue'] 0.2850673198699951\n['venue', 'side'] 0.012482166290283203\nNone 0.014943838119506836\n[0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -2.773884671492064e-17, 1.444175160851923e-16, -3.801643678571645e-17, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.670092085324616e-17, -4.371911919033053e-17, 7.57242409043608e-18, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":55031,"cached":53371,"out":707,"think":null,"usd":0.0331},"sim":{"submit":0,"reset":0}},{"id":7,"t":106.0,"say":"","calls":[{"kind":"look","label":"start_venue.png","code":"/app/output/img/start_venue.png"},{"kind":"look","label":"start_side.png","code":"/app/output/img/start_side.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa/s007_0.jpg","embodied-olympics-fun-dodgeball-i00-standard-realtime--gug4ixa/s007_0.jpg"]},"tok":{"in":56073,"cached":55029,"out":153,"think":null,"usd":0.0193},"sim":{"submit":0,"reset":0}},{"id":8,"t":122.9,"say":"","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\n\"\"\"Dodgeball controller: closed-loop on IMU yaw, walk laterally (world y) through every throw.\nUsage: python gen.py [plan.json]  -- plan: list of [t_start, heading_deg, vy_world_sign].\"\"\"\nimport sys, time, json, math, pickle\nimport numpy as np\nsys.path.insert(0, \"/opt/tools\")\nfrom rcb_client import Robot, EpisodeOver\n\nPLAN = [[0.0, 90, +1], [5.5, 90, -1], [13.3, 90, 0]]\nMODE = \"walk\"\nif len(sys.argv) > 1:\n    cfg = json.load(open(sys.argv[1]))\n    PLAN = cfg.get(\"plan\", PLAN); MODE = cfg.get(\"mode\", MODE)\nLIM = {\"walk\": (0.8, 0.5, 1.57), \"walk_falcon\": (0.8, 0.5, 1.0), \"walk_agile\": (0.8, 0.5, 1.0)}[MODE]\n\nr = Robot()\nspec = r.spec()\nL = spec[\"proprio_layout\"]\nI = {k: i for i, k in enumerate(L)}\nARMS = list(spec[\"start_command\"][\"row\"][:17])  # waist 3 + arms 14\n\n\ndef yaw_of(p):\n    w, x, y, z = (p[I[\"imu_pelvis_q\" + c]] for c in \"wxyz\")\n    return math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z))\n\n\ndef plan_at(t):\n    cur = PLAN[0]\n    for seg in PLAN:\n        if t >= seg[0]:\n            cur = seg\n    return math.radians(cur[1]), cur[2]\n\n\nlog, frames = [], []\nres = r.submit(\"stand\", np.array([spec[\"start_command\"][\"row\"]]), at=0, cameras=[])\nyaw_un, prev = 0.0, 0.0\nk = 0\nwhile True:\n    p = res.meta[\"proprio\"][\"now\"]\n    if res.meta.get(\"done\"):\n        break\n    t = p[I[\"time_s\"]]\n    y = yaw_of(p)\n    yaw_un += (y - prev + math.pi) % (2 * math.pi) - math.pi\n    prev = y\n    hd, s = plan_at(t)\n    vxw, vyw = 0.0, float(s)\n    bx = math.cos(yaw_un) * vxw + math.sin(yaw_un) * vyw\n    by = -math.sin(yaw_un) * vxw + math.cos(yaw_un) * vyw\n    sc = min(1e9 if abs(bx) < 1e-6 else LIM[0] / abs(bx), 1e9 if abs(by) < 1e-6 else LIM[1] / abs(by))\n    bx, by = bx * sc if s else 0.0, by * sc if s else 0.0\n    wz = float(np.clip(2.5 * (hd - yaw_un), -LIM[2], LIM[2]))\n    row = np.array([[bx, by, wz] + ARMS + [0.0, 0.0]])\n    cams = [\"venue\", \"side\"] if k % 5 == 0 else []\n    try:\n        res = r.submit(MODE, np.repeat(row, 30, 0), interpolate=\"hold\", cameras=cams)\n    except EpisodeOver:\n        break\n    if cams:\n        frames.append((t, res.last.get(\"venue\"), res.last.get(\"side\")))\n    log.append([t, yaw_un, bx, by, wz] + list(p))\n    k += 1\n    time.sleep(0.015)\n\nst = r.get_obs(cameras=[])\nprint(\"outcome\", st.meta.get(\"outcome\"), st.meta.get(\"stages_reached\"), st.meta.get(\"stages_total\"), st.meta.get(\"reason\"),\n      \"t\", st.meta[\"proprio\"][\"now\"][I[\"time_s\"]])\npickle.dump({\"log\": log, \"frames\": frames, \"meta\": st.meta}, open(\"/app/output/run.pkl\", \"wb\"))\n"}],"out":{"text":"File created successfully at: /app/output/gen.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":56676,"cached":56071,"out":2671,"think":null,"usd":0.0677},"sim":{"submit":0,"reset":0}},{"id":9,"t":133.1,"say":"","calls":[{"kind":"shell","label":"cd /app/output && timeout 60 python gen.py 2>&1 | tail -5","code":"cd /app/output && timeout 60 python gen.py 2>&1 | tail -5"}],"out":{"text":"outcome success 5 5 success t 13.100000381469727\n\n[stdout]\noutcome success 5 5 success t 13.100000381469727","exit":[],"pics":[]},"tok":{"in":59409,"cached":56674,"out":75,"think":null,"usd":0.0265},"sim":{"submit":0,"reset":0}},{"id":10,"t":148.3,"say":"","calls":[{"kind":"shell","label":"cd /tmp && timeout 30 python -c \"","code":"cd /tmp && timeout 30 python -c \"\nimport rcb_client; r=rcb_client.Robot(); print(r.status())\""}],"out":{"text":"{'calls': 636, 'rows': 18901, 'control_steps': 1310, 'done': True, 'reason': 'success', 'episode': 1, 'control_steps_total': 1310, 'resets_left': 0, 'elapsed_s': 143.9, 'running': False, 'planned_steps': 0, 'lag_s': 0.0001}\nShell cwd was reset to /app\n\n[stdout]\n{'calls': 636, 'rows': 18901, 'control_steps': 1310, 'done': True, 'reason': 'success', 'episode': 1, 'control_steps_total': 1310, 'resets_left': 0, 'elapsed_s': 143.9, 'running': False, 'planned_steps': 0, 'lag_s': 0.0001}\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":59557,"cached":59407,"out":119,"think":null,"usd":0.015},"sim":{"submit":0,"reset":0}},{"id":11,"t":155.3,"say":"","calls":[{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\n# Dodgeball i00 — notes\nResult: success on the first attempt (5/5 dodges, t = 13.1 s, no resets used).\n\nApproach (gen.py): a closed-loop controller using Unitree's `walk` policy, streaming one command about every 20 ms.\n- The machines aim at where the pelvis is at the feed and do not lead, and a ball takes about 0.8 s to arrive.\n  The answer is to keep moving sideways (world y) at full walking speed through every throw.\n- The robot turns to face +y. Seen from the machines that leaves its narrow front-to-back depth (smaller clearance\n  needed), and walking forward/backward is faster than sidestepping.\n- Heading comes from the pelvis IMU yaw (wz = 2.5 x heading error). The wanted world velocity is turned into a body-frame\n  (vx, vy) command and scaled to the policy's limits.\n- Plan: move +y from 0 to 5.5 s (throws 1–2), then -y from 5.5 to 13.3 s (throws 3–5; walking backward), then stop.\n  This keeps the robot within about ±3 m of the middle, inside the 4.5 m side lines.\n- Arms stay at the start pose; grips open. Venue and side camera frames are logged to run.pkl for checking.\nNothing failed; nothing was downloaded or installed (only numpy and the given client).\n"}],"out":{"text":"File created successfully at: /app/output/NOTES.md (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":59861,"cached":59555,"out":541,"think":null,"usd":0.0243},"sim":{"submit":0,"reset":0}},{"id":12,"t":161.3,"say":"The first attempt succeeded: all 5 throws were dodged and the referee called it a success at 13.1 s of robot time. A success ends the trial, so that attempt is the graded one; I didn't use any resets.\n\n**What the controller does** (`/app/output/gen.py`):\n- **Why moving works:** the machines aim at where the robot's pelvis is when each ball is fed and don't lead a moving target. A ball takes roughly 0.8 s to arrive (my estimate), so if the robot keeps moving sideways through every throw, each ball passes where it used to be.\n- **Facing:** it turns to face sideways (+y). That shows the machines the robot's narrower front-to-back depth, and walking forward or backward is faster than sidestepping.\n- **Control:** it uses Unitree's `walk` policy in a closed loop on the pelvis IMU's heading, sending a command about every 20 ms. It walks one way for throws 1–2, reverses (walking backward) for throws 3–5, then stops. By my estimate from the walking speed that keeps it within about ±3 m of the middle, inside the side lines at 4.5 m; I didn't measure where it actually went.\n\nI didn't look at the logged venue camera frames or the walking speed the robot actually reached. The margin is unmeasured, and the run only shows this plan worked once.\n\n`/app/output/NOTES.md` records the approach. I didn't download or install anything.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":60509,"cached":59859,"out":468,"think":null,"usd":0.0246},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f","task":"embodied-olympics-fun-freeski-straight-air-i00-standard","bench":"embodied-olympics-fun","mode":"standard","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","state":"failed","success":0,"reward":{"success":0,"live_success":0,"graded_by_live":1,"replays":0,"live_rule":1,"live_verdict_error":0,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"instance_mismatch":0,"n_actions":530,"sim_steps":3115,"calls":31,"rows":313,"resets":5,"reset_budget":5,"sim_startups":1,"elapsed_s":271.9,"video_rendered":1,"first_success":0,"first_reason_code":2,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.334,"peak_processes":9,"peak_disk_gb":0.832,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":309,"tokens":{"in":2037196,"cached":1959680,"out":27494,"usd":0.04},"task_text":"# embodied-olympics freeski-straight-air — instance i00 — STANDARD MODE (robot as a service)\n\nYou control a simulated Unitree G1 humanoid robot (29 joints, 1.32 m tall, 33 kg; the Embodied Olympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, and you reach it only through a\nclient. **Task:** Drop in from the start platform, ride the in-run, take off from the kicker, do a straight air in the air, land on your skis and ride away past the finish line.\n\n## The venue\nx runs down the course from the start platform's back edge; you stand facing +x near the platform's front edge (the start line, 6.0 m from its back) with your boots 0.3 m behind it; the platform is level, 8 m wide. Past the edge the in-run falls at 35.0 degrees for 38.0 m, bends (radius 30.0 m) into a 5.0 m flat, and the kicker (6.0 m wide) rises from it (radius 18.0 m) to a 1.0 m lip at 25.0 degrees; the lip is about 59 m down the course and about 23 m below the platform. Behind the lip the table runs 15.0 m from the lip at the flat's level to the knoll (blue line), the landing falls at 36.0 degrees for 30.0 m (24.0 m wide), bends (radius 30.0 m) into the flat outrun (45.0 m, 30.0 m wide); the finish line (green) is 15.0 m into the outrun. Red lines mark the start line and the lip.\n\nDirections are from the robot at the start: +x is the way you face, +y is to your left, +z is up; the floor is level.\n\n\n## The rules\n**Rule book:** FIS International Competition Rules (ICR) Book VI (Joint Regulations for Snowboard, Freestyle, Freeski and Ski Cross), edition June 2026: 3101.3 (the start platform: a completely flat, level area), 3102.4.1 (the big air site, level A: start area at least 5 m, in-run at least 30 m at 20 degrees or more, a 5-10 m flat before the kicker, a kicker at least 2.0 m high with a take-off angle of 25 degrees or more, at least 15 m from the take-off to the landing, a landing of 28 degrees or more, at least 20 m long and wide, an outrun of at least 25 m), 3402 (big air judging: difficulty, execution, amplitude, the landing), 3610 (the start: the competitor drops in on the start referee's signal); FIS Snowboard & Freeski Park & Pipe Judges Handbook, edition 2025, 8-11 (tricks by their rotation: spins in 180 degree units, flips; a trick counts when it is landed on the skis and ridden away); FIS Specifications for Competition Equipment 2026/27 B.2.2 (freestyle skis: no limits). Where this task departs from it:\n\n- ICR 3402 / Park & Pipe Judges Handbook 8-11 (judges score each jump 0-100 by impression): one task is one trick, pass or fail: the trick is measured, not judged (the method of the Embodied Olympics freeski sport, MIT, with the spin taken from the skis), over the flight only (from the last contact with the snow to the next), so a rotation on the snow never counts and a wobble back and forth cancels; the spin is the skis' heading change (each ski's long axis, tail to tip, followed in the horizontal plane every 1 ms\n… (22,564 characters left out) …\n run_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal G1 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":16,"reset":5},"replay":"embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/replay.mp4","replay_last":"embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll first save a small controller and notes file, then inspect the service spec and current sensor state. I’ll use the available attempts to learn what the movement policies do on the course and keep the final attempt focused on a stable straight air and ride-away.","calls":[{"kind":"shell","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\n\"\"\"Embodied Olympics freeski straight-air controller experiments.\"\"\"\nimport numpy as np\nfrom rcb_client import Robot\n\n# The live controller is assembled here after inspecting the service spec.\nif __name__ == '__main__':\n    r = Robot()\n    print(r.spec())\n    print(r.status())\nPY\ncat > /app/NOTES.md <<'MD'\n# Freeski straight air\n\n- Starting with the service's own G1 movement policies; no external controller or task-specific solution used.\n- Controller scaffold: `/app/output/gen.py`.\n- Approach: inspect sensor/action layouts, then use short live action chunks and the referee's outcome to tune a straight run and landing.\n- Failures/changes: to be updated from attempt observations.\nMD\npython - <<'PY'\nimport sys, json\nsys.path.insert(0, '/opt/tools')\nimport rcb_client\nprint('client', rcb_client.__file__)\nhelp(rcb_client)\nPY\ncat /run/rcb-limits/usage.json\n"}],"out":{"text":"client /opt/tools/rcb_client.py\nHelp on module rcb_client:\n\nNAME\n    rcb_client - eai-standard/2.1 client: your whole interface to the robot (installed at /opt/tools/rcb_client.py, on PYTHONPATH).\n\nDESCRIPTION\n        from rcb_client import Robot, EpisodeOver\n        r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\n    Calls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n        r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                                 (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                                 units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n                                                 episode), \"cameras\" {name: rgb, depth, hw, fovy_deg, pose, mounted},\n                                                 \"proprio_layout\" and \"proprio\" (joints, axes, positions), \"imu\", \"links\"\n                                                 (masses, centres of mass, the feet's boxes), \"depth\", \"budget\" {\"reset\",\n                                                 \"wall_clock_s\"}, \"episode\" (what ends it)\n        r.status()                               GET /status: calls, rows, control_steps, done, reason, elapsed_s\n        r.get_obs(cameras=None, seconds=0.0, video_fps=10, include_depth=False,\n… (6,376 characters left out) …\n\n     |      Initialize self.  See help(type(self)) for accurate signature.\n     |\n     |  get_obs(self, cameras=None, seconds: 'float' = 0.0, video_fps: 'int' = 10, include_depth: 'bool' = False, video: 'str' = 'frames') -> 'Result'\n     |\n     |  reset(self, cameras=None, include_depth: 'bool' = False) -> 'Result'\n     |\n     |  spec(self) -> 'dict'\n     |\n     |  status(self) -> 'dict'\n     |\n     |  submit(self, action_type: 'str', actions, dt: 'float | None' = None, interpolate: 'str' = 'linear', cameras=None, video_fps: 'int' = 10, video: 'str' = 'mp4', include_depth: 'bool' = False, note: 'str' = '') -> 'Result'\n     |\n     |  ----------------------------------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\nDATA\n    MAX_BODY = 67108864\n    PROTOCOLS = ('eai-standard/2.', 'rcb-limited/2.')\n\nFILE\n    /opt/tools/rcb_client.py\n\n\n{\n \"t\": 1792890839.94,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.047,\n \"processes\": 6,\n \"disk_gb\": 0.822,\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 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 \"elapsed_s\": 130.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7070.0,\n \"deadline_utc\": \"2026-10-25T03:11:49Z\"\n}","exit":[],"pics":[]},"tok":{"in":17607,"cached":null,"out":468,"think":121,"usd":0.002},"sim":{"submit":0,"reset":0}},{"id":7,"t":5.7,"say":"","calls":[{"kind":"robot","label":"s=r.spec()","code":"python - <<'PY'\nimport sys,json\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(timeout=60)\ns=r.spec()\nprint(json.dumps({k:s.get(k) for k in ['action_types','control_dt','max_control_steps','max_chunk_s','max_watch_s','cameras','budget','robot_facts','proprio_layout','rules','episode']},indent=2))\nprint('STATUS',json.dumps(r.status(),indent=2))\no=r.get_obs(cameras=['start','venue','kicker','head_left'],video='none',include_depth=False)\nprint('OBS_META',json.dumps(o.meta,indent=2))\nfor c,a in o.last.items():\n import imageio.v3 as iio\n iio.imwrite('/tmp/freeski_'+c+'.png',a)\nprint('IMAGES',list(o.last))\nPY"}],"out":{"text":"Warning: truncated output (original token count: 9494)\nTotal output lines: 1681\n\n{\n  \"action_types\": {\n    \"stand\": {\n      \"dim\": 19,\n      \"layout\": [\n        \"waist_yaw\",\n        \"waist_roll\",\n        \"waist_pitch\",\n        \"left_shoulder_pitch\",\n        \"left_shoulder_roll\",\n        \"left_shoulder_yaw\",\n        \"left_elbow\",\n        \"left_wrist_roll\",\n        \"left_wrist_pitch\",\n        \"left_wrist_yaw\",\n        \"right_shoulder_pitch\",\n        \"right_shoulder_roll\",\n        \"right_shoulder_yaw\",\n        \"right_elbow\",\n        \"right_wrist_roll\",\n        \"right_wrist_pitch\",\n        \"right_wrist_yaw\",\n        \"grip_left\",\n        \"grip_right\"\n      ],\n      \"lower\": [\n        -2.618,\n        -0.52,\n        -0.52,\n        -3.0892,\n        -1.5882,\n        -2.618,\n        -1.0472,\n        -1.9722,\n        -1.6144,\n        -1.6144,\n        -3.0892,\n        -2.2515,\n        -2.618,\n        -1.0472,\n        -1.9722,\n        -1.6144,\n        -1.6144,\n        0.0,\n        0.0\n      ],\n      \"upper\": [\n        2.618,\n        0.52,\n        0.52,\n        2.6704,\n        2.2515,\n        2.618,\n        2.0944,\n        1.9722,\n        1.6144,\n        1.6144,\n        2.6704,\n        1.5882,\n        2.618,\n        2.0944,\n        1.9722,\n        1.6144,\n        1.6144,\n        1.0,\n        1.0\n      ],\n      \"meaning\": \"the platform holds the legs in the stance; you give the waist's 3 and the arms' 14 joint targets (rad)\",\n      \"semantics\": \"rows dt apart (a multiple of control_dt); eac\n… (25,108 characters left out) …\n table), with both skis pointing forwards (down the course, +x) within 45.0 degrees at that first contact; from 0.5 s after it until both boots cross the finish line each ski's heading stays within 90.0 degrees of its heading at that moment (no spinning on the snow); from the first contact until both boots cross the finish line (15.0 m past the start of the outrun) no part of you but the boots touches the snow and you are not down for 1.0 s in all (down: on the snow with your pelvis less than 0.4 m above it, measured along its normal, or your trunk more than 70.0 degrees from its normal; the time down shrinks again at a quarter of the rate while you are up); and at the finish line your pelvis is at least 0.4 m above the snow and both skis point forwards (within 30.0 degrees). You fail: on any other trick (more or less rotation, a flip where none is asked, a different direction of flip, a take-off riding backwards), a landing with a ski pointing more than 45.0 degrees from forwards, a spin on the snow (a ski's heading more than 90.0 degrees from where it was 0.5 s after the landing), on a fall at any time (a part of you other than your boots on the snow, or down for 1.0 s in all), a landing on the table, the body first, a run with no jump, a stop (slower than 0.3 m/s for 3.0 s after the start), no start within 20.0 s, or at 40 s.\",\n  \"episode\": \"one attempt: it ends at the success, at a rule violation (a fall, a foul; the rules say which), or after 40 s (4000 control steps)\"\n}","exit":[],"pics":[]},"tok":{"in":20348,"cached":17408,"out":343,"think":102,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":8,"t":8.6,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:56956,chars:\"\",yield_time_ms:1000,max_output_tokens:2000}); text(r.output);"}],"out":{"text":"Traceback (most recent call last):\n  File \"<stdin>\", line 11, in <module>\nModuleNotFoundError: No module named 'imageio'\n\nSTATUS {\n  \"calls\": 0,\n  \"rows\": 0,\n  \"control_steps\": 0,\n  \"done\": false,\n  \"reason\": null,\n  \"episode\": 1,\n  \"control_steps_total\": 0,\n  \"resets_left\": 5,\n  \"elapsed_s\": 0.0\n}\nOBS_META {\n  \"calls\": 1,\n  \"rows\": 0,\n  \"control_steps\": 0,\n  \"done\": false,\n  \"reason\": null,\n  \"episode\": 1,\n  \"control_steps_total\": 0,\n  \"resets_left\": 5,\n  \"sim_time_s\": 0.0,\n  \"time_s\": 1.56,\n  \"time_left_s\": 7198.4,\n  \"proprio\": {\n    \"layout\": [\n      \"left_hip_pitch_pos\",\n      \"left_hip_roll_pos\",\n      \"left_hip_yaw_pos\",\n      \"left_knee_pos\",\n      \"left_ankle_pitch_pos\",\n      \"left_ankle_roll_pos\",\n      \"right_hip_pitch_pos\",\n      \"right_hip_roll_pos\",\n      \"right_hip_yaw_pos\",\n      \"right_knee_pos\",\n      \"right_ankle_pitch_pos\",\n      \"right_ankle_roll_pos\",\n      \"waist_yaw_pos\",\n      \"waist_roll_pos\",\n      \"waist_pitch_pos\",\n      \"left_shoulder_pitch_pos\",\n      \"left_shoulder_roll_pos\",\n      \"left_shoulder_yaw_pos\",\n      \"left_elbow_pos\",\n      \"left_wrist_roll_pos\",\n      \"left_wrist_pitch_pos\",\n      \"left_wrist_yaw_pos\",\n      \"right_shoulder_pitch_pos\",\n      \"right_shoulder_roll_pos\",\n      \"right_shoulder_yaw_pos\",\n      \"right_elbow_pos\",\n      \"right_wrist_roll_pos\",\n      \"right_wrist_pitch_pos\",\n      \"right_wrist_yaw_pos\",\n      \"left_hip_pitch_vel\",\n      \"left_hip_roll_vel\",\n      \"left_hip_yaw_vel\",\n      \"left_knee_vel\",\n      \"left_ankle\n… (3,766 characters left out) …\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      -0.10000000149011612,\n      0.0,\n      0.0,\n      0.30000001192092896,\n      -0.20000000298023224,\n      0.0,\n      -0.10000000149011612,\n      0.0,\n      0.0,\n      0.30000001192092896,\n      -0.20000000298023224,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.20000000298023224,\n      0.20000000298023224,\n      0.0,\n      1.2799999713897705,\n      0.0,\n      0.0,\n      0.0,\n      0.20000000298023224,\n      -0.20000000298023224,\n      0.0,\n      1.2799999713897705,\n      0.0,\n      0.0,\n      0.0,\n      1.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.8252419233322144,\n      -0.0010684857843443751,\n      8.403785705566406,\n      1.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      -0.25011125206947327,\n      0.0014789781998842955,\n      8.043492317199707,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0,\n      0.0\n    ]\n  },\n  \"obs_id\": 1,\n  \"seconds\": 0.0,\n  \"control_steps_watch\": 0,\n  \"ok\": true\n}\n","exit":[],"pics":[]},"tok":{"in":31272,"cached":20224,"out":78,"think":31,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":9,"t":14.4,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=['start','venue','kicker','head_left'],video='none')","code":"python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(timeout=60)\no=r.get_obs(cameras=['start','venue','kicker','head_left'],video='none')\nprint('shapes', {k:v.shape for k,v in o.last.items()})\ntry:\n from PIL import Image\n for c,a in o.last.items(): Image.fromarray(a).save('/tmp/freeski_'+c+'.png')\n print('saved PIL')\nexcept Exception as e: print(type(e).__name__,e)\nprint('start loc',r.spec()['cameras']['start']['pose_t0'])\nprint('status',r.status())\nPY"}],"out":{"text":"shapes {'start': (270, 480, 3), 'venue': (270, 480, 3), 'kicker': (270, 480, 3), 'head_left': (270, 480, 3)}\nsaved PIL\nstart loc {'frame': 'the robot at t = 0: origin on the floor under the pelvis, x the way it faces, y left, z up', 'position_m': [-4.665, -3.0, 2.5], 'forward': [0.8552, 0.3665, -0.3665], 'up': [0.3369, 0.1444, 0.9304], 'right': [0.3939, -0.9191, 0.0]}\nstatus {'calls': 2, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 0, 'resets_left': 5, 'elapsed_s': 9.2}\n","exit":[0],"pics":[]},"tok":{"in":33814,"cached":31104,"out":630,"think":426,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":10,"t":17.0,"say":"","calls":[{"kind":"look","label":"freeski_venue.png","code":"/tmp/freeski_venue.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s010_0.jpg"]},"tok":{"in":34737,"cached":33664,"out":35,"think":0,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":11,"t":19.1,"say":"","calls":[{"kind":"look","label":"freeski_start.png","code":"/tmp/freeski_start.png"},{"kind":"look","label":"freeski_head_left.png","code":"/tmp/freeski_head_left.png"},{"kind":"look","label":"freeski_kicker.png","code":"/tmp/freeski_kicker.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s011_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s011_1.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s011_2.jpg"]},"tok":{"in":34958,"cached":34560,"out":105,"think":27,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":12,"t":32.8,"say":"The starting view confirms the robot is on the platform facing down the course. I’m using the first attempt to measure the running policy’s acceleration and see whether it stays upright on skis; I’ll keep the early chunk short enough to inspect before it reaches the kicker.","calls":[{"kind":"robot","label":"A=np.tile(np.array([2.5,0,0,0,0],np.float32),(20,1))","code":"python - <<'PY'\nimport sys, numpy as np, json\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(timeout=60)\nA=np.tile(np.array([2.5,0,0,0,0],np.float32),(20,1))\no=r.submit('run',A,dt=.1,interpolate='hold',cameras=['head_left','kicker'],video='none')\nprint('META',json.dumps({k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps_chunk','control_steps','sim_time_s','time_s','time_left_s','clipped']}))\nprint('proprio shape',o.proprio.shape)\nlayout=r.spec()['proprio_layout']; p=o.proprio\nfor ix,row in enumerate(p):\n print(ix, 't',row[layout.index('time_s')], 'cmd',row[[layout.index('cmd_vx'),layout.index('cmd_vy'),layout.index('cmd_wz')]],'mode',row[layout.index('mode')], 'pelvis q',row[layout.index('imu_pelvis_qw'):layout.index('imu_pelvis_qz')+1], 'w',row[layout.index('imu_pelvis_gx'):layout.index('imu_pelvis_gz')+1], 'acc',row[layout.index('imu_pelvis_ax'):layout.index('imu_pelvis_az')+1])\nfrom PIL import Image\nfor c,a in o.last.items(): Image.fromarray(a).save('/tmp/after2_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":35575,"cached":34944,"out":1912,"think":1454,"usd":0.0014},"sim":{"submit":1,"reset":0}},{"id":13,"t":37.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:2707,chars:\"\",yield_time_ms:1000,max_output_tokens:3000}); text(r.output);"}],"out":{"text":"META {\"done\": false, \"reason\": null, \"executed_rows\": 20, \"control_steps_chunk\": 200, \"control_steps\": 200, \"sim_time_s\": 2.0, \"time_s\": 30.93, \"time_left_s\": 7169.1, \"clipped\": []}\nproprio shape (21, 143)\n0 t 0.0 cmd [0. 0. 0.] mode 0.0 pelvis q [1. 0. 0. 0.] w [0. 0. 0.] acc [ 8.2524192e-01 -1.0684858e-03  8.4037857e+00]\n1 t 0.1 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9999266   0.0045818  -0.00989303 -0.00527519] w [ 0.1944901  -0.6314627  -0.18855189] acc [ 2.0090852  -0.17539023  8.133823  ]\n2 t 0.2 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9991248   0.01728193 -0.03021271 -0.02319833] w [ 0.07256083 -0.24474812 -0.4128248 ] acc [ 2.0975025 -0.5813038  8.075665 ]\n3 t 0.3 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9988771   0.01328158 -0.02509139 -0.03792791] w [-0.20025691  0.23075072  0.25697026] acc [ 3.5143542  2.926654  10.700829 ]\n4 t 0.4 cmd [2.5 0.  0. ] mode 2.0 pelvis q [0.9961015  0.02935493 0.06194459 0.05552419] w [0.4029015 2.2566922 2.1364899] acc [-0.08829843 -3.3775232  11.378078  ]\n5 t 0.5 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9816656  -0.01176483  0.15276654  0.11338691] w [-1.1334858   0.75695527  1.1176928 ] acc [-14.641849   5.514748  34.67398 ]\n6 t 0.6 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9769185  -0.02669792  0.17545767  0.11887833] w [ 0.52933455 -1.5140862  -0.1884701 ] acc [6.8702335 2.5101914 8.383626 ]\n7 t 0.7 cmd [2.5 0.  0. ] mode 2.0 pelvis q [0.9907149  0.05447593 0.04744897 0.11517372] w [ 0.9043315  -2.8612516  -0.25681156] acc [ 2.468493\n… (793 characters left out) …\n9222  0.03196458] w [-0.18603516  2.0021534   0.43336388] acc [-5.9294558   0.16626324  5.539794  ]\n13 t 1.3 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 9.9619812e-01  7.3345207e-02 -9.2718758e-05  4.7008112e-02] w [ 0.02109125  1.8003168  -0.249137  ] acc [-1.7301198 -4.6772704 -1.1688346]\n14 t 1.4 cmd [2.5 0.  0. ] mode 2.0 pelvis q [0.9980059  0.04459072 0.03006227 0.03304727] w [-0.24696213  0.49458343 -0.466775  ] acc [-6.1909275  3.1572301 11.180827 ]\n15 t 1.5 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.99007386 -0.01029062  0.13261206 -0.0454079 ] w [-2.014114   2.3971698 -2.6776793] acc [ 2.3912137  1.5770806 -7.325628 ]\n16 t 1.6 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9754143  -0.03441956  0.21348347 -0.04250986] w [8.5723150e-04 3.1269054e+00 5.8173276e-02] acc [-21.541662  -4.208379  36.297115]\n17 t 1.7 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.92487043  0.00421975  0.37892184 -0.03186052] w [0.98359185 2.7524948  0.28243536] acc [5.7470527 0.9360021 8.110378 ]\n18 t 1.8 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9337662  -0.00479279  0.35770744 -0.01015737] w [-1.4648117  -3.3405836   0.95223904] acc [ 4.599771   1.6586576 12.252859 ]\n19 t 1.9 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.9740274  -0.07053505  0.214858    0.01146583] w [-1.6484216  -2.2072923  -0.70353234] acc [-4.4930506 -4.214947  -1.679459 ]\n20 t 2.0 cmd [2.5 0.  0. ] mode 2.0 pelvis q [ 0.98716074 -0.13059539  0.0911363   0.01235731] w [-0.42735416 -2.1386392  -0.05193224] acc [-10.29548    -2.3440514  12.119856 ]\n","exit":[],"pics":[]},"tok":{"in":37545,"cached":35456,"out":58,"think":11,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":14,"t":39.4,"say":"","calls":[{"kind":"look","label":"after2_kicker.png","code":"/tmp/after2_kicker.png"},{"kind":"look","label":"after2_head_left.png","code":"/tmp/after2_head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s014_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s014_1.jpg"]},"tok":{"in":39711,"cached":37376,"out":87,"think":24,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":15,"t":44.8,"say":"","calls":[{"kind":"robot","label":"python - <<'PY'","code":"python - <<'PY'\nimport sys,json\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nr=Robot();print(json.dumps(r.status(),indent=2));o=r.get_obs(cameras=['head_left'],video='none');print('meta', {k:o.meta.get(k) for k in ['done','reason','sim_time_s','time_s','resets_left']})\nPY"}],"out":{"text":"{\n  \"calls\": 3,\n  \"rows\": 20,\n  \"control_steps\": 200,\n  \"done\": false,\n  \"reason\": null,\n  \"episode\": 1,\n  \"control_steps_total\": 200,\n  \"resets_left\": 5,\n  \"elapsed_s\": 39.1\n}\nmeta {'done': False, 'reason': None, 'sim_time_s': 2.0, 'time_s': 39.23, 'resets_left': 5}\n","exit":[0],"pics":[]},"tok":{"in":40147,"cached":39552,"out":399,"think":269,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":16,"t":49.1,"say":"The first 2 seconds did not trigger a referee failure. The runner is making significant corrective motions, so I’m continuing in short chunks and watching for the edge transition rather than committing a long blind run.","calls":[{"kind":"robot","label":"print('META',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','time_s']","code":"python - <<'PY'\nimport sys,numpy as np,json\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();o=r.submit('run',np.tile([2.5,0,0,0,0],(20,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('META',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','time_s']})\nlayout=r.spec()['proprio_layout'];p=o.proprio\nfor ix in [0,5,10,15,20]:\n row=p[ix]; q=row[layout.index('imu_pelvis_qw'):layout.index('imu_pelvis_qz')+1]; w=row[layout.index('imu_pelvis_gx'):layout.index('imu_pelvis_gz')+1]\n print('t',row[layout.index('time_s')], 'q',np.round(q,2),'gyro',np.round(w,1),'cmd',row[layout.index('cmd_vx')])\nfor c,a in o.last.items(): Image.fromarray(a).save('/tmp/after4_'+c+'.png')\nPY"}],"out":{"text":"Traceback (most recent call last):\n  File \"<stdin>\", line 8, in <module>\nIndexError: index 10 is out of bounds for axis 0 with size 6\nMETA {'done': True, 'reason': 'failed', 'executed_rows': 5, 'control_steps': 249, 'sim_time_s': 2.49, 'time_s': 45.65}\nt 2.0 q [ 0.99 -0.13  0.09  0.01] gyro [-0.4 -2.1 -0.1] cmd 2.5\nt 2.49 q [ 0.82 -0.52 -0.08  0.25] gyro [-3.5 -3.1  1. ] cmd 2.5\n","exit":[1],"pics":[]},"tok":{"in":40722,"cached":39936,"out":652,"think":281,"usd":0.0008},"sim":{"submit":1,"reset":0}},{"id":17,"t":54.4,"say":"","calls":[{"kind":"robot","label":"for c,a in o.last.items(): Image.fromarray(a).save('/tmp/fail_'+c+'.png')","code":"python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nr=Robot();o=r.get_obs(cameras=['head_left','start'],video='none');print(o.meta)\nfrom PIL import Image\nfor c,a in o.last.items(): Image.fromarray(a).save('/tmp/fail_'+c+'.png')\nPY"}],"out":{"text":"{'calls': 6, 'rows': 25, 'control_steps': 249, 'done': True, 'reason': 'failed', 'episode': 1, 'control_steps_total': 249, 'resets_left': 5, 'sim_time_s': 2.49, 'time_s': 48.86, 'time_left_s': 7151.1, 'proprio': {'layout': ['left_hip_pitch_pos', 'left_hip_roll_pos', 'left_hip_yaw_pos', 'left_knee_pos', 'left_ankle_pitch_pos', 'left_ankle_roll_pos', 'right_hip_pitch_pos', 'right_hip_roll_pos', 'right_hip_yaw_pos', 'right_knee_pos', 'right_ankle_pitch_pos', 'right_ankle_roll_pos', 'waist_yaw_pos', 'waist_roll_pos', 'waist_pitch_pos', 'left_shoulder_pitch_pos', 'left_shoulder_roll_pos', 'left_shoulder_yaw_pos', 'left_elbow_pos', 'left_wrist_roll_pos', 'left_wrist_pitch_pos', 'left_wrist_yaw_pos', 'right_shoulder_pitch_pos', 'right_shoulder_roll_pos', 'right_shoulder_yaw_pos', 'right_elbow_pos', 'right_wrist_roll_pos', 'right_wrist_pitch_pos', 'right_wrist_yaw_pos', 'left_hip_pitch_vel', 'left_hip_roll_vel', 'left_hip_yaw_vel', 'left_knee_vel', 'left_ankle_pitch_vel', 'left_ankle_roll_vel', 'right_hip_pitch_vel', 'right_hip_roll_vel', 'right_hip_yaw_vel', 'right_knee_vel', 'right_ankle_pitch_vel', 'right_ankle_roll_vel', 'waist_yaw_vel', 'waist_roll_vel', 'waist_pitch_vel', 'left_shoulder_pitch_vel', 'left_shoulder_roll_vel', 'left_shoulder_yaw_vel', 'left_elbow_vel', 'left_wrist_roll_vel', 'left_wrist_pitch_vel', 'left_wrist_yaw_vel', 'right_shoulder_pitch_vel', 'right_shoulder_roll_vel', 'right_shoulder_yaw_vel', 'right_elbow_vel', 'right_wrist_roll_vel', 'right_wrist_pitch_vel\n… (3,398 characters left out) …\n081848145, -6.889976501464844, -8.766209602355957, 1.3208589553833008, -3.6293129920959473, 0.012124769389629364, -0.12235212326049805, 1.1103934049606323, -10.72213363647461, -5.2947773933410645, -0.3397640585899353, -12.84566879272461, 0.02457769215106964, -2.2336134910583496, -1.2721307277679443, -0.9172160625457764, -0.5235990285873413, -0.044321443885564804, 0.4170350134372711, -0.16395917534828186, -0.26179900765419006, 1.708884835243225, 0.49845290184020996, -0.638899564743042, 0.2942480146884918, 0.5235990285873413, 0.26179900765419006, -1.5832269191741943, -0.5199990272521973, -0.5199990272521973, -0.49402686953544617, 0.1280023604631424, -0.22546178102493286, 0.14081460237503052, 0.05122963711619377, -0.21351873874664307, -0.0007880221237428486, 2.6703989505767822, -1.1533429622650146, -0.29543447494506836, 1.447629451751709, -0.701397716999054, -0.20526458323001862, -0.2945408821105957, 0.8155192732810974, -0.5156295299530029, -0.08428553491830826, 0.2488984763622284, -3.4829814434051514, -3.074336528778076, 1.0283496379852295, -1.4390945434570312, -11.670212745666504, 20.861650466918945, 0.6883395910263062, -0.5007867217063904, -0.26903659105300903, -0.45057812333106995, -5.0250349044799805, -11.198884010314941, -3.078813076019287, 31.77054786682129, -10.13318157196045, 13.098048210144043, 0.0, 0.0, 2.0, 2.5, 0.0, 0.0, 2.490000009536743]}, 'outcome': 'fell', 'stages_reached': 0, 'stages_total': 4, 'obs_id': 6, 'seconds': 0.0, 'control_steps_watch': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":41611,"cached":40576,"out":236,"think":112,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":18,"t":63.2,"say":"The first attempt ended in a fall at 2.49 s, before reaching any judged stage. The `run` policy is too aggressive from the ski stance, so I’m resetting and switching to the velocity-height walking policy for a slower, balanced drop-in.","calls":[{"kind":"robot","label":"# walk_agile: vx vy wz, waist 3, rest upper 14, grips","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();print('RESET',r.reset().meta.get('resets_left'))\n# walk_agile: vx vy wz, waist 3, rest upper 14, grips\nrow=np.array([.6,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk_agile',np.tile(row,(30,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('META',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','time_s','resets_left','outcome','stages_reached']})\nlayout=r.spec()['proprio_layout'];p=o.proprio\nfor i in range(0,len(p),5):\n x=p[i]; print(round(float(x[layout.index('time_s')]),2),'cmd',round(float(x[layout.index('cmd_vx')]),2),'pelvisq',np.round(x[layout.index('imu_pelvis_qw'):layout.index('imu_pelvis_qz')+1],2),'omega',np.round(x[layout.index('imu_pelvis_gx'):layout.index('imu_pelvis_gz')+1],1))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/agile3_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":44438,"cached":41472,"out":1257,"think":783,"usd":0.0013},"sim":{"submit":0,"reset":1}},{"id":19,"t":68.1,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:1732,chars:\"\",yield_time_ms:1000,max_output_tokens:1300}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":45753,"cached":44416,"out":53,"think":6,"usd":0.0006},"sim":{"submit":1,"reset":0}},{"id":20,"t":71.1,"say":"","calls":[{"kind":"look","label":"agile3_start.png","code":"/tmp/agile3_start.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s020_0.jpg"]},"tok":{"in":46197,"cached":45696,"out":129,"think":93,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":21,"t":73.9,"say":"","calls":[{"kind":"look","label":"agile3_head_left.png","code":"/tmp/agile3_head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s021_0.jpg"]},"tok":{"in":46512,"cached":46080,"out":205,"think":168,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":22,"t":89.2,"say":"","calls":[{"kind":"robot","label":"o=r.submit('walk_agile',np.tile(row,(15,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();row=np.array([.6,0,-.5,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk_agile',np.tile(row,(15,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('meta',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','resets_left']})\nl=r.spec()['proprio_layout'];\nfor i in range(len(o.proprio)):\n x=o.proprio[i];q=x[l.index('imu_pelvis_qw'):l.index('imu_pelvis_qz')+1];print(round(x[l.index('time_s')],2),np.round(q,2))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/turn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46903,"cached":46464,"out":1730,"think":1418,"usd":0.0014},"sim":{"submit":1,"reset":0}},{"id":23,"t":92.0,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:84029,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":48692,"cached":46720,"out":45,"think":0,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":24,"t":95.1,"say":"","calls":[{"kind":"look","label":"turn_start.png","code":"/tmp/turn_start.png"},{"kind":"look","label":"turn_head_left.png","code":"/tmp/turn_head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s024_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s024_1.jpg"]},"tok":{"in":49163,"cached":48512,"out":84,"think":24,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":25,"t":106.2,"say":"`walk_agile` stays upright through 4.5 s, while the earlier runner fell before leaving the platform. The robot’s heading is drifting, so I’m prioritizing a controlled forward approach and checking its camera view again before the slope.","calls":[{"kind":"robot","label":"o=r.submit('walk_agile',np.tile(row,(30,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();row=np.array([.8,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk_agile',np.tile(row,(30,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('meta',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','outcome','stages_reached']})\nl=r.spec()['proprio_layout'];\nfor i in range(0,len(o.proprio),5):\n x=o.proprio[i]; print(round(float(x[l.index('time_s')]),2),'pelvis',np.round(x[l.index('imu_pelvis_qw'):l.index('imu_pelvis_qz')+1],2),'torso',np.round(x[l.index('imu_torso_qw'):l.index('imu_torso_qz')+1],2))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/agile6_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":49596,"cached":49024,"out":1579,"think":1172,"usd":0.0013},"sim":{"submit":1,"reset":0}},{"id":26,"t":111.3,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:11675,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":51232,"cached":49408,"out":45,"think":0,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":27,"t":115.0,"say":"","calls":[{"kind":"look","label":"agile6_head_left.png","code":"/tmp/agile6_head_left.png"},{"kind":"look","label":"agile6_start.png","code":"/tmp/agile6_start.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s027_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s027_1.jpg"]},"tok":{"in":51533,"cached":51200,"out":340,"think":278,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":28,"t":121.9,"say":"The agile policy reached the start but fell just as it entered the slope; the fixed camera shows it down near the platform edge. I’m testing FALCON next, since its walking controller is trained with upper body movement, and will compare its heading and balance at the same point.","calls":[{"kind":"robot","label":"row=np.array([.6,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();rr=r.reset();print('RESET',rr.meta.get('resets_left'))\nrow=np.array([.6,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk_falcon',np.tile(row,(45,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('META',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','outcome','stages_reached']})\nl=r.spec()['proprio_layout'];\nfor i in range(0,len(o.proprio),5):\n x=o.proprio[i]; print(round(float(x[l.index('time_s')]),2),'pelvis',np.round(x[l.index('imu_pelvis_qw'):l.index('imu_pelvis_qz')+1],2),'gyro',np.round(x[l.index('imu_pelvis_gx'):l.index('imu_pelvis_gz')+1],1))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/falcon45_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":52222,"cached":51456,"out":1005,"think":572,"usd":0.0011},"sim":{"submit":1,"reset":1}},{"id":29,"t":126.6,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:4349,chars:\"\",yield_time_ms:1000,max_output_tokens:1500}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":53284,"cached":52096,"out":45,"think":0,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":30,"t":128.3,"say":"","calls":[{"kind":"look","label":"falcon45_head_left.png","code":"/tmp/falcon45_head_left.png"},{"kind":"look","label":"falcon45_start.png","code":"/tmp/falcon45_start.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s030_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s030_1.jpg"]},"tok":{"in":53512,"cached":53120,"out":76,"think":14,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":31,"t":138.0,"say":"FALCON tipped within 1.25 s, so it is a poor fit for the ski stance. The velocity height policy was the only one that stayed upright long enough to reach the start; I’ll test Unitree `walk` once at a low forward command, then choose between it and a slower agile run for the remaining attempts.","calls":[{"kind":"robot","label":"row=np.array([.6,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();rr=r.reset();print('RESET',rr.meta.get('resets_left'))\nrow=np.array([.6,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk',np.tile(row,(50,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('META',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','outcome','stages_reached']})\nl=r.spec()['proprio_layout'];\nfor i in range(0,len(o.proprio),5):\n x=o.proprio[i]; print(round(float(x[l.index('time_s')]),2),'pelvis',np.round(x[l.index('imu_pelvis_qw'):l.index('imu_pelvis_qz')+1],2),'gyro',np.round(x[l.index('imu_pelvis_gx'):l.index('imu_pelvis_gz')+1],1))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/walk5_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":53937,"cached":53376,"out":1344,"think":901,"usd":0.0013},"sim":{"submit":0,"reset":1}},{"id":32,"t":142.5,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:43059,chars:\"\",yield_time_ms:1000,max_output_tokens:1200}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":55340,"cached":53760,"out":45,"think":0,"usd":0.0007},"sim":{"submit":1,"reset":0}},{"id":33,"t":146.7,"say":"","calls":[{"kind":"look","label":"walk5_start.png","code":"/tmp/walk5_start.png"},{"kind":"look","label":"walk5_head_left.png","code":"/tmp/walk5_head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s033_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s033_1.jpg"]},"tok":{"in":55867,"cached":55168,"out":94,"think":32,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":34,"t":156.8,"say":"","calls":[{"kind":"robot","label":"o=r.submit('walk',np.tile(row,(20,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();row=np.array([.6,0,.5,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk',np.tile(row,(20,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('meta',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','outcome','stages_reached']})\nl=r.spec()['proprio_layout'];\nfor i in range(0,len(o.proprio),2):\n x=o.proprio[i];print(round(float(x[l.index('time_s')]),2),np.round(x[l.index('imu_pelvis_qw'):l.index('imu_pelvis_qz')+1],2))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/walkturn_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":56310,"cached":55680,"out":1148,"think":832,"usd":0.0012},"sim":{"submit":1,"reset":0}},{"id":35,"t":159.9,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:39000,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":57515,"cached":56192,"out":45,"think":0,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":36,"t":162.2,"say":"","calls":[{"kind":"look","label":"walkturn_start.png","code":"/tmp/walkturn_start.png"},{"kind":"look","label":"walkturn_head_left.png","code":"/tmp/walkturn_head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s036_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s036_1.jpg"]},"tok":{"in":57878,"cached":57472,"out":107,"think":45,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":37,"t":184.8,"say":"","calls":[{"kind":"robot","label":"o=r.submit('walk',np.tile(row,(20,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();row=np.array([.6,0,1.57,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk',np.tile(row,(20,1)),dt=.1,interpolate='hold',cameras=['head_left','start'],video='none')\nprint('meta',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','outcome','stages_reached']})\nl=r.spec()['proprio_layout'];\nfor i in range(0,len(o.proprio),4):\n x=o.proprio[i];print(round(float(x[l.index('time_s')]),2),np.round(x[l.index('imu_pelvis_qw'):l.index('imu_pelvis_qz')+1],2))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/walkmax_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":58334,"cached":57728,"out":2502,"think":2184,"usd":0.0019},"sim":{"submit":1,"reset":0}},{"id":38,"t":187.6,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:49189,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":60895,"cached":58240,"out":45,"think":0,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":39,"t":190.2,"say":"","calls":[{"kind":"look","label":"walkmax_start.png","code":"/tmp/walkmax_start.png"},{"kind":"look","label":"walkmax_head_left.png","code":"/tmp/walkmax_head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s039_0.jpg","embodied-olympics-fun-freeski-straight-air-i00-standard--5ayiw6f/s039_1.jpg"]},"tok":{"in":61082,"cached":60800,"out":88,"think":26,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":40,"t":205.1,"say":"The standard walker stayed upright at 0.6 m/s but fell when I tried to correct its yaw aggressively. I have two resets left; I’m using the next one to see whether holding the agile policy at a steady 0.6 m/s carries it over the edge without a command change.","calls":[{"kind":"robot","label":"row=np.array([.6,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nfrom PIL import Image\nr=Robot();rr=r.reset();print('RESET',rr.meta.get('resets_left'))\nrow=np.array([.6,0,0,0,0,0,.2,.2,0,1.28,0,0,0,.2,-.2,0,1.28,0,0,0,0,0],np.float32)\no=r.submit('walk_agile',np.tile(row,(100,1)),dt=.1,interpolate='hold',cameras=['head_left','start','kicker'],video='none')\nprint('META',{k:o.meta.get(k) for k in ['done','reason','executed_rows','control_steps','sim_time_s','outcome','stages_reached','resets_left']})\nl=r.spec()['proprio_layout'];\nfor i in range(0,len(o.proprio),10):\n x=o.proprio[i];print(round(float(x[l.index('time_s')]),2),'pelvis',np.round(x[l.index('imu_pelvis_qw'):l.index('imu_pelvis_qz')+1],2),'gyro',np.round(x[l.index('imu_pelvis_gx'):l.index('imu_pelvis_gz')+1],1))\nfor c,a in o.last.items():Image.fromarray(a).save('/tmp/agile10_'+c+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":61519,"cached":60928,"out":1748,"think":1304,"usd":0.0015},"sim":{"submit":0,"reset":1}},{"id":41,"t":210.6,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:87298,chars:\"\",yield_time_ms:1000,max_output_tokens:1500}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":63325,"cached":61312,"out":53,"think":6,"usd":0.0008},"sim":{"submit":1,"reset":0}},{"id":42,"t":261.6,"say":"The fixed 0.6 m/s agile run still fell at 7.74 s, with the pelvis yawing nearly 90° before it reached take-off. I’m using the final reset for a feedback run: a small counter-yaw command from the IMU, steady forward motion, and a slight forward waist lean. The script will record that controller and report the referee’s final call.","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\n\"\"\"IMU-guided G1 freeski straight-air attempt using the shipped agile walking policy.\"\"\"\nimport math\nimport numpy as np\nfrom rcb_client import Robot\n\n# walk_agile row: vx, vy, wz, waist(3), arms(14), grips(2)\nREST_UPPER = np.array([0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n                       0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0], dtype=np.float32)\n\n\ndef pelvis_yaw(q):\n    qw, qx, qy, qz = map(float, q)\n    return math.atan2(2.0 * (qw * qz + qx * qy),\n                      1.0 - 2.0 * (qy * qy + qz * qz))\n\n\ndef main():\n    r = Robot()\n    status = r.status()\n    if status.get(\"done\"):\n        if status.get(\"resets_left\", 0) <= 0:\n            print(\"No reset available\", status)\n            return\n        r.reset()\n\n    layout = r.spec()[\"proprio_layout\"]\n    q0 = layout.index(\"imu_pelvis_qw\")\n    q1 = layout.index(\"imu_pelvis_qz\") + 1\n    for _ in range(40):\n        # Agile's skis drift left in this setup with wz=0; counter it from the pelvis IMU.\n        obs = r.get_obs(cameras=[], video=\"none\")\n        yaw = pelvis_yaw(obs.meta[\"proprio\"][\"now\"][q0:q1])\n        wz = float(np.clip(-0.70 - 0.30 * yaw, -1.0, 1.0))\n        waist = np.array([0.0, 0.0, 0.10], dtype=np.float32)\n        row = np.concatenate(([0.60, 0.0, wz], waist, REST_UPPER, [0.0, 0.0])).astype(np.float32)\n        actions = np.repeat(row[None, :], 10, axis=0)\n        obs = r.submit(\"walk_agile\", actions, dt=0.1, interpolate=\"hold\",\n                       cameras=[], video=\"none\")\n        p = obs.meta.get(\"proprio\", {}).get(\"now\", [])\n        if len(p) >= q1:\n            yaw = pelvis_yaw(p[q0:q1])\n        print(f\"t={obs.meta.get('sim_time_s', 0):.2f}s yaw={yaw:+.2f} wz={wz:+.2f} \"\n              f\"done={obs.meta.get('done')} reason={obs.meta.get('reason')}\")\n        if obs.meta.get(\"done\"):\n            print(\"REFEREE\", {k: obs.meta.get(k) for k in (\"outcome\", \"stages_reached\", \"stages_total\", \"reason\")})\n            return\n\n\nif __name__ == \"__main__\":\n    main()\nPY\ncat > /app/NOTES.md <<'MD'\n# Freeski straight air\n\n- Controller: `/app/output/gen.py`; uses the built in AGILE velocity height walking policy with IMU yaw feedback.\n- External controllers/packages: none.\n- `run` at 2.5 m/s fell at 2.49 s before take-off.\n- `walk_falcon` fell at 1.25 s; standard `walk` fell while turning at 8.1 s.\n- `walk_agile` at 0.6 m/s stayed up longer, but yaw drift led to falls around 6–8 s before take-off.\n- Final attempt: steady 0.6 m/s, counter-yaw from pelvis IMU, slight forward waist lean; referee outcome to be added.\nMD\npython /app/output/gen.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":63759,"cached":63232,"out":6635,"think":5576,"usd":0.004},"sim":{"submit":1,"reset":1}},{"id":43,"t":270.6,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:62497,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":70453,"cached":63744,"out":65,"think":18,"usd":0.0013},"sim":{"submit":4,"reset":0}},{"id":44,"t":277.9,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:62497,chars:\"\",yield_time_ms:1000,max_output_tokens:1000}); text(r.output);"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":70541,"cached":70400,"out":87,"think":40,"usd":0.0008},"sim":{"submit":1,"reset":0}},{"id":45,"t":290.1,"say":"The final run also ended in a fall before take-off (`stages_reached: 1/4`). The yaw correction overcompensated in the opposite direction, and the service now reports zero resets. I’m updating the record with that outcome and confirming the final status.","calls":[{"kind":"shell","label":"cat > /app/NOTES.md <<'MD'","code":"python - <<'PY'\nimport sys,json\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nr=Robot();print(json.dumps(r.status(),indent=2))\nPY\ncat > /app/NOTES.md <<'MD'\n# Freeski straight air\n\n- Controller: `/app/output/gen.py`; built in AGILE velocity height policy with pelvis IMU yaw feedback.\n- External controllers/packages: none.\n- `run` at 2.5 m/s fell at 2.49 s before take-off.\n- `walk_falcon` fell at 1.25 s; standard `walk` fell while turning at 8.1 s.\n- AGILE at 0.6 m/s without yaw correction fell around 7–8 s; yaw drifted about 90 degrees before take-off.\n- Final AGILE attempt used 0.6 m/s, wz = -0.70 - 0.30*yaw, and 0.10 rad waist pitch.\n- Final referee call: `fell`, stages 1/4, at 5.30 s; yaw correction overcompensated, and no resets remain.\nMD\n"}],"out":{"text":"{\n  \"calls\": 31,\n  \"rows\": 313,\n  \"control_steps\": 530,\n  \"done\": true,\n  \"reason\": \"failed\",\n  \"episode\": 6,\n  \"control_steps_total\": 3115,\n  \"resets_left\": 0,\n  \"elapsed_s\": 286.1\n}\n","exit":[0],"pics":[]},"tok":{"in":70812,"cached":70400,"out":1595,"think":1235,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":46,"t":297.3,"say":"The final attempt failed: the referee called **fell**, with **1/4 stages reached**, at 5.30 s. The service reports zero resets remaining.\n\nThe controller and run notes are saved in [gen.py](/app/output/gen.py) and [NOTES.md](/app/NOTES.md). The final run’s IMU yaw correction overcompensated before take-off.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":72545,"cached":70784,"out":297,"think":211,"usd":0.001},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-header-i00-standard-realtime--7urip72.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-header-i00-standard-realtime--7urip72","task":"embodied-olympics-fun-header-i00-standard-realtime","bench":"embodied-olympics-fun","mode":"standard-realtime","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","state":"failed","success":0,"reward":{"success":0,"live_success":0,"graded_by_live":1,"replays":0,"live_rule":1,"live_verdict_error":0,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"instance_mismatch":0,"n_actions":472,"sim_steps":5242,"calls":33,"rows":11000,"resets":10,"reset_budget":10,"sim_startups":1,"elapsed_s":708.2,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":52.416,"max_lag_s":0.0352,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":0,"late_steps":0,"requests_refused":0,"request_busy_s":0.552,"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":769,"tokens":{"in":4691779,"cached":4577152,"out":55914,"usd":0.09},"task_text":"# embodied-olympics header — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree H1-2 humanoid robot (27 joints, 1.78 m tall, 67 kg; the Embodied Olympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, you reach it only through a\nclient, and like a real venue it does not wait for you: once an attempt is running, the robot, the ball and the venue\nmove while you think. **Task:** Head the cross: meet the football that is crossed to you from the wing with your head and send it into the official goal 5.5 m away, past the goalkeeper dummy.\n\n**Slowdown: S = 1.** The world runs at 1/S of real speed: one control step (10 ms of robot time) every\nS x 10 ms of wall-clock time (real time). `spec()[\"timing\"][\"slowdown\"]` states it.\n\n## The venue\nYou face the goal (+x) from the edge of the goal area. The ball machine stands on the grass about 3 m ahead of you and 20 m to your left, aimed across the goal area. About 2.9 s after the start the cross leaves it; it climbs to about 4.4 m and comes down at about 33 degrees below the horizontal and roughly 11.7 m/s, travelling from your left to your right, almost parallel to the goal line. About 1.8 s after it has left the machine it passes about 0.45 m in front of you at the height of your head (its centre 1.65 m above the grass); untouched it lands about 2 m to your right.\n\nDirections are from the robot at the start: +x is the way you face, +y is to your left, +z is up; the floor is level.\n\n\n## The rules\n**Rule book:** IFAB Laws of the Game 2025/26: Law 1 (the goal 7.32 m x 2.44 m with posts and crossbar 12 cm wide, the goal area 5.5 m deep, the penalty area, the penalty mark), Law 2 (a size-5 ball: 68-70 cm round, 410-450 g), Law 10 (a goal: the whole ball over the goal line between the posts and under the bar), Law 12 (handball) and Law 13 (9.15 m from the ball until it is in play). Where this task departs from it:\n\n- The cross is played by a two-wheel football machine standing on the left wing 20.0 m away instead of a team-mate, the same in every attempt: its wheels drive the ball out 0.5 m above the grass at about 15 m/s with backspin (a lofted cross). Until the ball has left it, neither the ball nor the machine may be touched.\n- The goalkeeper is a dummy: a rigid 80.0 kg board 1.9 m high and 0.6 m wide on a carriage that runs on a rail along the goal line, held at the centre of the goal by a force-limited linear servo (at most 800.0 N): a ball that hits it pushes it aside a little and the servo brings it back. It does not dive or step towards the ball, where a goalkeeper would: an opponent's decisions cannot be simulated.\n- The head: the Unitree H1-2's trunk and head are one rigid shell, so the head is judged by where the ball touches that shell: at or above its neck, 0.53 m above the waist joint along the trunk (about 1.56 m above the ground when the robot stands upright; the top of the head is 0.\n… (17,901 characters left out) …\nun_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal H1-2 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":10},"replay":"embodied-olympics-fun-header-i00-standard-realtime--7urip72/replay.mp4","replay_last":"embodied-olympics-fun-header-i00-standard-realtime--7urip72/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and task spec, then build a timed controller that observes the crossing and uses the available attempt budget efficiently. I’ll save the driver and a concise `NOTES.md` early, and update them from referee outcomes.","calls":[{"kind":"shell","label":"print('CLIENT', rcb_client.__file__)","code":"pwd && ls -la /app && cat /run/rcb-limits/usage.json && python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nimport rcb_client\nprint('CLIENT', rcb_client.__file__)\nprint((rcb_client.__doc__ or '')[:5000])\nPY"}],"out":{"text":"/app\ntotal 0\ndrwxr-xr-x 3 root root  28 Oct 21 08:52 .\ndr-xr-xr-x 1 root root 144 Oct 23 00:10 ..\ndrwxr-xr-x 2 root root   6 Oct 21 08:52 output\n{\n \"t\": 1792714227.33,\n \"measured\": false,\n \"why\": \"this runner cannot run the resource monitor (its container runtime refuses `pid: host`): usage is not measured and the limits are not enforced; the clock is kept\",\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 \"elapsed_s\": 25.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7175.0,\n \"deadline_utc\": \"2026-10-23T02:10:02Z\"\n}CLIENT /opt/tools/rcb_client.py\neai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\nPYTHONPATH).\n\n    from rcb_client import Robot, EpisodeOver\n    r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nTIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\nget_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\nspec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\nplan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\nthe last target is held. Whatever you do in betw\n… (2,679 characters left out) …\ned from `at` on and keeping what is\n                                             planned before it; at most spec()[\"timing\"][\"max_ahead_steps\"] ahead. Rows\n                                             for steps already gone when the request arrives are dropped\n                                             (meta[\"late_steps\"]). The first submit of an episode starts its clock\n    r.reset(cameras=None, include_depth=False)\n                                             POST /reset, only when spec()[\"budget\"][\"reset\"] > 0: abandons the\n                                             running episode and starts a new one, paused, from the same starting state;\n                                             only the last episode is graded, and a success ends the trial\n\ncameras=None means every camera in spec()[\"cameras\"]; cameras=[] means no images at all, only proprioception (the\nfastest call: what a controller loop wants). video: \"mp4\" (one H.264 file per camera), \"frames\" (the images as arrays),\n\"both\" or \"none\" (only the last frame); a submit returns no video (no time passes inside it). include_depth adds depth\nfor the cameras that have it.\n\nResult (what get_obs / submit / reset return):\n    res.meta                 dict: calls, rows, control_steps (steps run in this episode: the next one is this number),\n                             sim_time_s, time_s, time_left_s, proprio {\"layout\", \"now\"}, done, reason (\"success\" |\n                             \"failed\" | \"timeout\" | \"error\"; None whi\n","exit":[],"pics":[]},"tok":{"in":16106,"cached":7552,"out":221,"think":50,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":7,"t":4.0,"say":"","calls":[{"kind":"shell","label":"print(json.dumps(s,indent=2)[:24000])","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport json\nr=Robot(); s=r.spec()\nprint(json.dumps(s,indent=2)[:24000])\nprint('STATUS',r.status())\nPY"}],"out":{"text":"{\n  \"protocol\": \"eai-standard/2.3\",\n  \"control_dt\": 0.01,\n  \"max_control_steps\": 1000,\n  \"max_chunk_s\": 10.0,\n  \"max_watch_s\": 30.0,\n  \"max_video_fps\": 30,\n  \"max_frames_per_call\": 3000,\n  \"proprio_layout\": [\n    \"left_hip_yaw_pos\",\n    \"left_hip_pitch_pos\",\n    \"left_hip_roll_pos\",\n    \"left_knee_pos\",\n    \"left_ankle_pitch_pos\",\n    \"left_ankle_roll_pos\",\n    \"right_hip_yaw_pos\",\n    \"right_hip_pitch_pos\",\n    \"right_hip_roll_pos\",\n    \"right_knee_pos\",\n    \"right_ankle_pitch_pos\",\n    \"right_ankle_roll_pos\",\n    \"torso_pos\",\n    \"left_shoulder_pitch_pos\",\n    \"left_shoulder_roll_pos\",\n    \"left_shoulder_yaw_pos\",\n    \"left_elbow_pitch_pos\",\n    \"left_elbow_roll_pos\",\n    \"left_wrist_pitch_pos\",\n    \"left_wrist_yaw_pos\",\n    \"right_shoulder_pitch_pos\",\n    \"right_shoulder_roll_pos\",\n    \"right_shoulder_yaw_pos\",\n    \"right_elbow_pitch_pos\",\n    \"right_elbow_roll_pos\",\n    \"right_wrist_pitch_pos\",\n    \"right_wrist_yaw_pos\",\n    \"left_hip_yaw_vel\",\n    \"left_hip_pitch_vel\",\n    \"left_hip_roll_vel\",\n    \"left_knee_vel\",\n    \"left_ankle_pitch_vel\",\n    \"left_ankle_roll_vel\",\n    \"right_hip_yaw_vel\",\n    \"right_hip_pitch_vel\",\n    \"right_hip_roll_vel\",\n    \"right_knee_vel\",\n    \"right_ankle_pitch_vel\",\n    \"right_ankle_roll_vel\",\n    \"torso_vel\",\n    \"left_shoulder_pitch_vel\",\n    \"left_shoulder_roll_vel\",\n    \"left_shoulder_yaw_vel\",\n    \"left_elbow_pitch_vel\",\n    \"left_elbow_roll_vel\",\n    \"left_wrist_pitch_vel\",\n    \"left_wrist_yaw_vel\",\n    \"right_shoulder_pitch_vel\",\n    \"\n… (21,212 characters left out) …\n       ],\n        \"right\": [\n          0.0,\n          -1.0,\n          0.0\n        ]\n      }\n    },\n    \"head_right\": {\n      \"rgb\": true,\n      \"depth\": false,\n      \"hw\": [\n        270,\n        480\n      ],\n      \"fovy_deg\": 58.0,\n      \"mounted\": \"head\",\n      \"pose_t0\": {\n        \"frame\": \"the robot at t = 0: origin on the floor under the pelvis, x the way it faces, y left, z up\",\n        \"position_m\": [\n          0.13,\n          -0.025,\n          1.695\n        ],\n        \"forward\": [\n          0.9394,\n          0.0,\n          -0.3429\n        ],\n        \"up\": [\n          0.3429,\n          0.0,\n          0.9394\n        ],\n        \"right\": [\n          0.0,\n          -1.0,\n          0.0\n        ]\n      }\n    },\n    \"venue\": {\n      \"rgb\": true,\n      \"depth\": false,\n      \"hw\": [\n        270,\n        480\n      ],\n      \"fovy_deg\": 60.0,\n      \"mounted\": \"venue (fixed)\",\n      \"pose_t0\": {\n        \"frame\": \"the robot at t = 0: origin on the floor under the pelvis, x the way it faces, y left, z up\",\n        \"position_m\": [\n          -6.0,\n          -7.0,\n          4.0\n        ],\n        \"forward\": [\n          0.7076,\n          0.6704,\n          -0.2235\n        ],\n        \"up\": [\n          0.1622,\n          0.1537,\n          0.9747\n        ],\n        \"right\": [\n         \nSTATUS {'calls': 0, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 0, 'resets_left': 10, 'elapsed_s': 0.0, 'running': False, 'planned_steps': 0, 'lag_s': 0.0}\n","exit":[],"pics":[]},"tok":{"in":17620,"cached":15872,"out":137,"think":46,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":8,"t":31.4,"say":"The service reports 10 resets and a 10 ms control step. The cross should arrive around 4.7 s into an attempt, so I can send one precomputed action plan and inspect the resulting referee call without needing turn by turn steering. I’m checking the camera geometry now to pin down the head contact and target angle.","calls":[{"kind":"robot","label":"print('meta',res.meta)","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot(); res=r.get_obs()\nprint('meta',res.meta)\nprint('last keys',res.last.keys() if res.last else None)\nprint('frames',type(res.frames), None if res.frames is None else (res.frames.keys() if isinstance(res.frames,dict) else len(res.frames)))\nprint('depth',type(res.depth))\nfor k,v in (res.last or {}).items():\n import numpy as np\n print(k,type(v),getattr(v,'shape',None),getattr(v,'dtype',None))\n try:\n  from PIL import Image\n  Image.fromarray(v).save('/app/output/'+k+'.png')\n except Exception as e: print('save err',e)\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":25637,"cached":17408,"out":2993,"think":2706,"usd":0.0025},"sim":{"submit":0,"reset":0}},{"id":9,"t":37.0,"say":"","calls":[{"kind":"look","label":"venue.png","code":"/app/output/venue.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s009_0.jpg"]},"tok":{"in":30659,"cached":25472,"out":42,"think":8,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":10,"t":40.3,"say":"","calls":[{"kind":"look","label":"head_left.png","code":"/app/output/head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s010_0.jpg"]},"tok":{"in":30887,"cached":30464,"out":64,"think":30,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":11,"t":68.9,"say":"","calls":[{"kind":"shell","label":"for root in ['/opt','/usr/local/lib/python3.11/site-packages','/usr/local/lib/python3.12/site-packages']:","code":"find /opt -iname '*h1*' -o -iname '*humanoid*' | head -80; python - <<'PY'\nimport os\nfor root in ['/opt','/usr/local/lib/python3.11/site-packages','/usr/local/lib/python3.12/site-packages']:\n print(root)\nPY"}],"out":{"text":"/opt\n/usr/local/lib/python3.11/site-packages\n/usr/local/lib/python3.12/site-packages\n","exit":[],"pics":[]},"tok":{"in":31137,"cached":30720,"out":3038,"think":2927,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":12,"t":72.4,"say":"","calls":[{"kind":"shell","label":"print(sys.version)","code":"python - <<'PY'\nimport sys,glob,os\nprint(sys.version)\nfor p in sys.path:\n for f in glob.glob(p+'/**/h1*',recursive=True)[:20]: print(f)\nPY\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":34222,"cached":30976,"out":150,"think":59,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":13,"t":115.5,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":34395,"cached":34176,"out":4083,"think":3147,"usd":0.0024},"sim":{"submit":0,"reset":0}},{"id":14,"t":119.3,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"started {\"calls\": 2, \"rows\": 1000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 1, \"control_steps_total\": 0, \"resets_left\": 10, \"sim_time_s\": 0.0, \"time_s\": 115.39, \"time_left_s\": 7084.6, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw_vel\", \"right_hip_pitch_vel\", \"right_hip_roll_vel\", \"right_knee_vel\", \"right_ankle_pitch_vel\", \"right_ankle_roll_vel\", \"torso_vel\", \"left_shoulder_pitch_vel\", \"left_shoulder_roll_vel\", \"left_shoulder_yaw_vel\", \"left_elbow_pitch_vel\", \"left_elbow_roll_vel\", \"left_wrist_pitch_vel\", \"left_wrist_yaw_vel\", \"right_shoulder_pitch_vel\", \"right_shoulder_roll_vel\", \"right_shoulder_yaw_vel\", \"right_elbow_pitch_vel\", \"right_elbow_roll_vel\", \"right_wrist_pitch_vel\", \"right_wrist_yaw_vel\", \"left_hip_yaw_torque\", \"left\n… (1,528 characters left out) …\n\", \"imu_pelvis_az\", \"imu_torso_qw\", \"imu_torso_qx\", \"imu_torso_qy\", \"imu_torso_qz\", \"imu_torso_gx\", \"imu_torso_gy\", \"imu_torso_gz\", \"imu_torso_ax\", \"imu_torso_ay\", \"imu_torso_az\", \"holding_left\", \"holding_right\", \"mode\", \"cmd_vx\", \"cmd_vy\", \"cmd_wz\", \"time_s\"], \"now\": [0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": true, \"planned_steps\": 1000, \"lag_s\": 0.0, \"chunk_id\": 2, \"type\": \"walk\", \"n_rows\": 1000, \"dt\": 0.01, \"interpolate\": \"hold\", \"at\": 0, \"start_step\": 0, \"late_steps\": 0, \"plan_end_step\": 1000, \"clipped\": [], \"n_clipped\": 0, \"ok\": true}\n","exit":[],"pics":[]},"tok":{"in":38502,"cached":34304,"out":240,"think":193,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":15,"t":122.3,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:36926,chars:\"\",yield_time_ms:15000,max_output_tokens:3000});\ntext(r.output)\n"}],"out":{"text":"finished {\"calls\": 3, \"rows\": 1000, \"control_steps\": 470, \"done\": true, \"reason\": \"failed\", \"episode\": 1, \"control_steps_total\": 470, \"resets_left\": 10, \"sim_time_s\": 4.7, \"time_s\": 120.09, \"time_left_s\": 7079.9, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw_vel\", \"right_hip_pitch_vel\", \"right_hip_roll_vel\", \"right_knee_vel\", \"right_ankle_pitch_vel\", \"right_ankle_roll_vel\", \"torso_vel\", \"left_shoulder_pitch_vel\", \"left_shoulder_roll_vel\", \"left_shoulder_yaw_vel\", \"left_elbow_pitch_vel\", \"left_elbow_roll_vel\", \"left_wrist_pitch_vel\", \"left_wrist_yaw_vel\", \"right_shoulder_pitch_vel\", \"right_shoulder_roll_vel\", \"right_shoulder_yaw_vel\", \"right_elbow_pitch_vel\", \"right_elbow_roll_vel\", \"right_wrist_pitch_vel\", \"right_wrist_yaw_vel\", \"left_hip_yaw_torque\n… (3,045 characters left out) …\n29688, -2.430159330368042, -0.6553494930267334, 5.685638427734375, 0.7736245393753052, -1.7549115419387817, -0.749974250793457, 0.07037613540887833, 18.188232421875, -6.591283798217773, -1.3797707557678223, -3.6051948070526123, -3.8854928016662598, -0.020367426797747612, -0.5084409117698669, -0.2059870809316635, 7.069764137268066, -1.0931257009506226, -2.824537992477417, -10.834420204162598, -0.005048408173024654, -0.7643260359764099, -0.15009434521198273, -0.0115235960111022, -0.21963459253311157, 0.07848691940307617, 0.3271423876285553, 0.22334788739681244, -0.04341945797204971, 0.0006522145704366267, -0.18369171023368835, 0.05900086462497711, 0.40897366404533386, -0.19536778330802917, -0.01945914700627327, 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, 0.8856639862060547, -0.0037831985391676426, 0.005202115513384342, 0.46428215503692627, 0.47735244035720825, -0.7045999765396118, -0.13946838676929474, -8.596698760986328, 1.9686287641525269, 3.6957485675811768, 0.8865083456039429, -0.0037926691584289074, 0.005195214878767729, 0.46266794204711914, 0.4799164831638336, -0.7028560638427734, -1.2062771320343018, -38.8288688659668, 4.647926330566406, -1.1673073768615723, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 4.699999809265137]}, \"outcome\": \"the ball touched the body below the head\", \"stages_reached\": 0, \"stages_total\": 2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001, \"obs_id\": 3, \"seconds\": 4.69, \"control_steps_watch\": 469, \"ok\": true}\nsaved 41 frames\n","exit":[],"pics":[]},"tok":{"in":40767,"cached":38400,"out":80,"think":33,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":16,"t":129.6,"say":"","calls":[{"kind":"shell","label":"files=sorted(Path('/app/output').glob('venue_*.png'))","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nfrom pathlib import Path\nfiles=sorted(Path('/app/output').glob('venue_*.png'))\nsel=files[::4]\nthumbs=[]\nfor f in sel:\n im=Image.open(f).resize((480,270))\n d=ImageDraw.Draw(im); d.rectangle((0,0,90,20),fill='black'); d.text((4,3),f.stem,fill='white')\n thumbs.append(im)\nout=Image.new('RGB',(960,270*((len(thumbs)+1)//2)))\nfor i,im in enumerate(thumbs): out.paste(im,((i%2)*480,(i//2)*270))\nout.save('/app/output/montage.png')\nprint(len(files), [f.name for f in files[-6:]])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":43270,"cached":40704,"out":328,"think":94,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":17,"t":131.8,"say":"","calls":[{"kind":"look","label":"montage.png","code":"/app/output/montage.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s017_0.jpg"]},"tok":{"in":43658,"cached":43136,"out":33,"think":0,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":18,"t":170.8,"say":"Attempt 1 reached the cross at 4.7 s but the referee called a body contact below the head. The robot had turned about 55°; the cross appears to have met the side of the shell. I’m reducing the sideways offset and turn angle so the ball meets nearer the head’s forward surface, and capturing the head camera around impact for the next adjustment.","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":45551,"cached":43520,"out":4783,"think":4096,"usd":0.003},"sim":{"submit":0,"reset":0}},{"id":19,"t":177.8,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50358,"cached":45184,"out":209,"think":97,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":20,"t":181.3,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"Warning: truncated output (original token count: 2221)\nTotal output lines: 2\n\nreset {\"calls\": 4, \"rows\": 1000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 2, \"control_steps_total\": 470, \"resets_left\": 9, \"sim_time_s\": 0.0, \"time_s\": 177.32, \"time_left_s\": 7022.7, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw_vel\", \"right_hip_pitch_vel\", \"right_hip_roll_vel\", \"right_knee_vel\", \"right_ankle_pitch_vel\", \"right_ankle_roll_vel\", \"torso_vel\", \"left_shoulder_pitch_vel\", \"left_shoulder_roll_vel\", \"left_shoulder_yaw_vel\", \"left_elbow_pitch_vel\", \"left_elbow_roll_vel\", \"left_wrist_pitch_vel\", \"left_wrist_yaw_vel\", \"right_shoulder_pitch_vel\", \"right_shoulder_roll_vel\", \"right_shoulder_yaw_vel\", \"right_elbow_pitch_vel\", \"right_elbow_roll_vel\",\n… (1,105 characters left out) …\n\"imu_pelvis_az\", \"imu_torso_qw\", \"imu_torso_qx\", \"imu_torso_qy\", \"imu_torso_qz\", \"imu_torso_gx\", \"imu_torso_gy\", \"imu_torso_gz\", \"imu_torso_ax\", \"imu_torso_ay\", \"imu_torso_az\", \"holding_left\", \"holding_right\", \"mode\", \"cmd_vx\", \"cmd_vy\", \"cmd_wz\", \"time_s\"], \"now\": [0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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true}\n","exit":[],"pics":[]},"tok":{"in":50591,"cached":50176,"out":55,"think":8,"usd":0.0006},"sim":{"submit":0,"reset":1}},{"id":21,"t":185.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:59566,chars:\"\",yield_time_ms:15000,max_output_tokens:1000});\ntext(r.output)\n"}],"out":{"text":"Warning: truncated output (original token count: 1524)\nTotal output lines: 2\n\nfinished {\"calls\": 6, \"rows\": 2000, \"control_steps\": 470, \"done\": true, \"reason\": \"failed\", \"episode\": 2, \"control_steps_total\": 940, \"resets_left\": 9, \"sim_time_s\": 4.7, \"time_s\": 182.03, \"time_left_s\": 7018.0, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw_vel\", \"right_hip_pitch_vel\", \"right_hip_roll_vel\", \"right_knee_vel\", \"right_ankle_pitch_vel\", \"right_ankle_roll_vel\", \"torso_vel\", \"left_shoulder_pitch_vel\", \"left_shoulder_roll_vel\", \"left_shoulder_yaw_vel\", \"left_elbow_pitch_vel\", \"left_elbow_roll_vel\", \"left_wrist_pitch_vel\", \"left_wrist_yaw_vel\", \"right_shoulder_pitch_vel\", \"right_shoulder_roll_vel\", \"right_shoulder_yaw_vel\", \"right_elbow_pitch_vel\", \"right_elbow_ro\n… (1,104 characters left out) …\n800254822, 6.285803318023682, 0.9418371319770813, -2.027400255203247, -0.7244164943695068, 0.05142321437597275, 16.503257751464844, -7.015567302703857, -1.3923251628875732, -3.1462197303771973, -3.255429983139038, -0.01918020285665989, -0.4236425459384918, -0.20791082084178925, 3.77237606048584, -1.281347632408142, -2.742030382156372, -7.310415744781494, -0.004000850021839142, -0.7159745097160339, -0.17255999147891998, -0.012172938324511051, -0.21909499168395996, 0.07743512839078903, 0.32572561502456665, 0.21227364242076874, -0.04082360491156578, 0.0012745059793815017, -0.18295349180698395, 0.05770576372742653, 0.4061014652252197, -0.19489505887031555, -0.017189402133226395, 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, 0.9242851734161377, -0.002856059931218624, 0.005716999527066946, 0.38164910674095154, 0.5492831468582153, -0.4650290012359619, -0.13505476713180542, -3.499725818634033, 6.00270414352417, 5.454499244689941, 0.9250414967536926, -0.0028674108907580376, 0.005711314734071493, 0.3798122704029083, 0.5511263608932495, -0.46284306049346924, -1.076353907585144, -14.19636344909668, 7.458526134490967, 3.7197158336639404, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 4.699999809265137]}, \"outcome\": \"the ball was touched by something other than the head\", \"stages_reached\": 0, \"stages_total\": 2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001, \"obs_id\": 6, \"seconds\": 4.68, \"control_steps_watch\": 468, \"ok\": true}\nsaved {'venue': 95, 'head_left': 95} frames\n","exit":[],"pics":[]},"tok":{"in":52547,"cached":50432,"out":58,"think":11,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":22,"t":197.0,"say":"","calls":[{"kind":"shell","label":"files=sorted(Path('/app/output').glob('head_left_*.png'))","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nfrom pathlib import Path\nfiles=sorted(Path('/app/output').glob('head_left_*.png'))\nsel=files[-12:]\nout=Image.new('RGB',(960,270*((len(sel)+1)//2)))\nfor i,f in enumerate(sel):\n im=Image.open(f).resize((480,270)); ImageDraw.Draw(im).text((5,3),f.stem,fill='red',stroke_width=2,stroke_fill='white'); out.paste(im,((i%2)*480,(i//2)*270))\nout.save('/app/output/head_montage.png')\nprint([f.name for f in sel])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":54264,"cached":52352,"out":314,"think":116,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":23,"t":199.6,"say":"","calls":[{"kind":"look","label":"head_montage.png","code":"/app/output/head_montage.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s023_0.jpg"]},"tok":{"in":54685,"cached":54144,"out":34,"think":0,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":24,"t":204.1,"say":"","calls":[{"kind":"look","label":"head_left_093.png","code":"/app/output/head_left_093.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s024_0.jpg"]},"tok":{"in":56579,"cached":54528,"out":120,"think":84,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":25,"t":249.3,"say":"Attempt 2 brought the ball very close to the head camera, but the referee called contact with a non-head part, likely because the larger turn moved the ball onto an arm or shoulder. I’ll remove the turn and use a small forward and right translation, aiming for the rounded front-left edge of the head to supply the diagonal rebound.","calls":[{"kind":"robot","label":"python /app/output/gen.py 0.25 -0.16 0 1.70 2.60","code":"python /app/output/gen.py 0.25 -0.16 0 1.70 2.60"}],"out":{"text":"Warning: truncated output (original token count: 2221)\nTotal output lines: 2\n\nreset {\"calls\": 7, \"rows\": 2000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 3, \"control_steps_total\": 940, \"resets_left\": 8, \"sim_time_s\": 0.0, \"time_s\": 245.61, \"time_left_s\": 6954.4, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw_vel\", \"ri…1721 tokens truncated…0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": true, \"planned_steps\": 1000, \"lag_s\": 0.0001, \"chunk_id\": 8, \"type\": \"walk\", \"n_rows\": 1000, \"dt\": 0.01, \"interpolate\": \"hold\", \"at\": 0, \"start_step\": 0, \"late_steps\": 0, \"plan_end_step\": 1000, \"clipped\": [], \"n_clipped\": 0, \"ok\": true}\n","exit":[],"pics":[]},"tok":{"in":56885,"cached":56064,"out":5146,"think":5007,"usd":0.0032},"sim":{"submit":0,"reset":1}},{"id":26,"t":253.6,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:25084,chars:\"\",yield_time_ms:15000,max_output_tokens:1000});\ntext(r.output)\n"}],"out":{"text":"Warning: truncated output (original token count: 1533)\nTotal output lines: 2\n\nfinished {\"calls\": 9, \"rows\": 3000, \"control_steps\": 490, \"done\": true, \"reason\": \"failed\", \"episode\": 3, \"control_steps_total\": 1430, \"resets_left\": 8, \"sim_time_s\": 4.9, \"time_s\": 250.54, \"time_left_s\": 6949.5, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw_vel\", \"right_hip_pitch_vel\", \"right_hip_roll_vel\", \"right_knee_vel\", \"right_ankle_pitch_vel\", \"right_ankle_roll_vel\", \"torso_vel\", \"left_shoulder_pitch_vel\", \"left_shoulder_roll_vel\", \"left_shoulder_yaw_vel\", \"left_elbow_pitch_vel\", \"left_elbow_roll_vel\", \"left_wrist_pitch_vel\", \"left_wrist_yaw_vel\", \"right_shoulder_pitch_vel\", \"right_shoulder_roll_vel\", \"right_shoulder_yaw_vel\", \"right_elbow_pitch_vel\", \"right_elbow_r\n… (1,104 characters left out) …\n304, -5.91472864151001, 6.13314151763916, -83.55245208740234, -24.178268432617188, 14.209184646606445, -10.872772216796875, 0.9066867828369141, -3.77691388130188, 0.9171241521835327, 0.1814505159854889, -3.6391310691833496, -0.021492566913366318, -0.45315274596214294, 0.00907724816352129, -4.235214710235596, 0.8278858661651611, 0.18847477436065674, -3.4066810607910156, -0.00754336966201663, -0.3812192380428314, 0.010209622792899609, -0.011852259747684002, -0.37689220905303955, -0.02950003556907177, 0.6972969174385071, -0.4153434634208679, 0.021470922976732254, -0.02748846635222435, -0.1572428196668625, -0.355846107006073, 0.2535020411014557, 0.1969100534915924, -0.40176212787628174, 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, 0.9939509630203247, 0.006025115493685007, 0.007182961795479059, 0.10942396521568298, -0.0544271320104599, 0.07564211636781693, 0.045857023447752, 0.0554620660841465, 1.055362582206726, 9.396296501159668, 0.9940294623374939, 0.006019941996783018, 0.007187298033386469, 0.10870824754238129, -0.05453600361943245, 0.07556366175413132, 0.043014269322156906, 0.1416846662759781, 0.7998128533363342, 9.390544891357422, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 4.900000095367432]}, \"outcome\": \"the ball touched the ground before the header\", \"stages_reached\": 0, \"stages_total\": 2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0094, \"obs_id\": 9, \"seconds\": 4.89, \"control_steps_watch\": 489, \"ok\": true}\nsaved {'venue': 99, 'head_left': 99} frames\n","exit":[],"pics":[]},"tok":{"in":63180,"cached":56832,"out":53,"think":6,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":27,"t":271.7,"say":"","calls":[{"kind":"look","label":"head_left_090.png","code":"/app/output/head_left_090.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s027_0.jpg"]},"tok":{"in":64890,"cached":63104,"out":650,"think":614,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":28,"t":276.1,"say":"","calls":[{"kind":"look","label":"venue_094.png","code":"/app/output/venue_094.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s028_0.jpg"]},"tok":{"in":65726,"cached":64768,"out":161,"think":125,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":29,"t":280.9,"say":"","calls":[{"kind":"shell","label":"im=Image.open('/app/output/venue_094.png')","code":"python - <<'PY'\nfrom PIL import Image\nim=Image.open('/app/output/venue_094.png')\nim.crop((190,115,255,205)).resize((650,900)).save('/app/output/venue_crop.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":66073,"cached":65536,"out":181,"think":99,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":30,"t":284.5,"say":"","calls":[{"kind":"look","label":"venue_crop.png","code":"/app/output/venue_crop.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s030_0.jpg"]},"tok":{"in":66277,"cached":65920,"out":33,"think":0,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":31,"t":294.4,"say":"","calls":[{"kind":"shell","label":"s=Robot().spec()","code":"python - <<'PY'\nfrom rcb_client import Robot\ns=Robot().spec()\nprint(s['cameras']['venue'])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":67064,"cached":66176,"out":665,"think":593,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":32,"t":307.0,"say":"","calls":[{"kind":"shell","label":"r=json.load(open('/app/output/result.json')); m=r['meta']; l=m['proprio']['layout']; v=m['proprio']['now']","code":"python - <<'PY'\nimport json\nr=json.load(open('/app/output/result.json')); m=r['meta']; l=m['proprio']['layout']; v=m['proprio']['now']\nprint('outcome',m['outcome'],'stages',m['stages_reached'],'time',v[l.index('time_s')])\nfor n in ['imu_pelvis_qw','imu_pelvis_qx','imu_pelvis_qy','imu_pelvis_qz','imu_torso_qw','imu_torso_qz','imu_pelvis_gx','imu_pelvis_gy','imu_pelvis_gz','cmd_vx','cmd_vy','cmd_wz']:\n print(n,v[l.index(n)])\nPY"}],"out":{"text":"outcome the ball touched the ground before the header stages 0 time 4.900000095367432\nimu_pelvis_qw 0.9939509630203247\nimu_pelvis_qx 0.006025115493685007\nimu_pelvis_qy 0.007182961795479059\nimu_pelvis_qz 0.10942396521568298\nimu_torso_qw 0.9940294623374939\nimu_torso_qz 0.10870824754238129\nimu_pelvis_gx -0.0544271320104599\nimu_pelvis_gy 0.07564211636781693\nimu_pelvis_gz 0.045857023447752\ncmd_vx 0.0\ncmd_vy 0.0\ncmd_wz 0.0\n","exit":[],"pics":[]},"tok":{"in":67907,"cached":66816,"out":1009,"think":818,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":33,"t":317.1,"say":"The third plan missed; the fixed camera shows the ball passing just to the robot’s right at roughly head height. The no-turn walk still drifted about 13° in heading. I’m splitting the difference between the miss and the arm contact with a modest left turn and a small additional rightward offset, to bring the head into that path.","calls":[{"kind":"robot","label":"python /app/output/gen.py 0.25 -0.20 0.30 1.70 2.60","code":"python /app/output/gen.py 0.25 -0.20 0.30 1.70 2.60"}],"out":{"text":"Warning: truncated output (original token count: 2222)\nTotal output lines: 2\n\nreset {\"calls\": 10, \"rows\": 3000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 4, \"control_steps_total\": 1430, \"resets_left\": 7, \"sim_time_s\": 0.0, \"time_s\": 313.41, \"time_left_s\": 6886.6, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos…1822 tokens truncated….0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": true, \"planned_steps\": 1000, \"lag_s\": 0.0094, \"chunk_id\": 11, \"type\": \"walk\", \"n_rows\": 1000, \"dt\": 0.01, \"interpolate\": \"hold\", \"at\": 0, \"start_step\": 0, \"late_steps\": 0, \"plan_end_step\": 1000, \"clipped\": [], \"n_clipped\": 0, \"ok\": true}\n","exit":[],"pics":[]},"tok":{"in":69127,"cached":67712,"out":658,"think":515,"usd":0.0011},"sim":{"submit":0,"reset":1}},{"id":34,"t":323.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:51347,chars:\"\",yield_time_ms:15000,max_output_tokens:500});\ntext(r.output)\n"}],"out":{"text":"Warning: truncated output (original token count: 1537)\nTotal output lines: 2\n\nfinished {\"calls\": 12, \"rows\": 4000, \"control_steps\": 490, \"done\": true, \"reason\": \"failed\", \"episode\": 4, \"control_steps_total\": 1920, \"resets_left\": 7, \"sim_time_s\": 4.9, \"time_s\": 318.34, \"time_left_s\": 6881.7, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw…1037 tokens truncated…978132128715515, -0.4151737093925476, 0.021660851314663887, -0.027391208335757256, -0.1575646549463272, -0.3551488518714905, 0.25324156880378723, 0.19395464658737183, -0.4012320041656494, 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, 0.9769762754440308, 0.005181657616049051, 0.00776168005540967, 0.2131437212228775, -0.05448737367987633, 0.07528737187385559, 0.0458296500146389, 0.055705439299345016, 1.0557479858398438, 9.39004898071289, 0.9771287441253662, 0.005176096223294735, 0.007765389978885651, 0.21244379878044128, -0.054595183581113815, 0.07520923018455505, 0.04290132224559784, 0.14358627796173096, 0.8002604842185974, 9.384580612182617, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 4.900000095367432]}, \"outcome\": \"the ball touched the ground before the header\", \"stages_reached\": 0, \"stages_total\": 2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001, \"obs_id\": 12, \"seconds\": 4.89, \"control_steps_watch\": 489, \"ok\": true}\nsaved {'venue': 99, 'head_left': 99} frames\n","exit":[],"pics":[]},"tok":{"in":70664,"cached":68992,"out":52,"think":6,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":35,"t":333.3,"say":"","calls":[{"kind":"look","label":"venue_094.png","code":"/app/output/venue_094.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s035_0.jpg"]},"tok":{"in":71597,"cached":70528,"out":64,"think":28,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":36,"t":336.2,"say":"","calls":[{"kind":"shell","label":"im=Image.open('/app/output/venue_094.png')","code":"python - <<'PY'\nfrom PIL import Image\nim=Image.open('/app/output/venue_094.png')\nim.crop((190,115,255,205)).resize((650,900)).save('/app/output/venue_crop.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71847,"cached":71424,"out":93,"think":11,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":37,"t":339.9,"say":"","calls":[{"kind":"look","label":"venue_crop.png","code":"/app/output/venue_crop.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s037_0.jpg"]},"tok":{"in":71963,"cached":71680,"out":33,"think":0,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":38,"t":343.2,"say":"","calls":[{"kind":"look","label":"head_left_094.png","code":"/app/output/head_left_094.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s038_0.jpg"]},"tok":{"in":72750,"cached":71808,"out":141,"think":105,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":39,"t":356.0,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py 0.25 -0.16 0.78 1.70 2.60","code":"python /app/output/gen.py 0.25 -0.16 0.78 1.70 2.60"}],"out":{"text":"Warning: truncated output (original token count: 2222)\nTotal output lines: 2\n\nreset {\"calls\": 13, \"rows\": 4000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 5, \"control_steps_total\": 1920, \"resets_left\": 6, \"sim_time_s\": 0.0, \"time_s\": 351.96, \"time_left_s\": 6848.0, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\",…1872 tokens truncated…0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": true, \"planned_steps\": 1000, \"lag_s\": 0.0001, \"chunk_id\": 14, \"type\": \"walk\", \"n_rows\": 1000, \"dt\": 0.01, \"interpolate\": \"hold\", \"at\": 0, \"start_step\": 0, \"late_steps\": 0, \"plan_end_step\": 1000, \"clipped\": [], \"n_clipped\": 0, \"ok\": true}\n","exit":[],"pics":[]},"tok":{"in":73077,"cached":72448,"out":1245,"think":1179,"usd":0.0014},"sim":{"submit":0,"reset":1}},{"id":40,"t":360.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:60888,chars:\"\",yield_time_ms:15000,max_output_tokens:450});\ntext(r.output)\n"}],"out":{"text":"Warning: truncated output (original token count: 1538)\nTotal output lines: 2\n\nfinished {\"calls\": 15, \"rows\": 5000, \"control_steps\": 490, \"done\": true, \"reason\": \"failed\", \"episode\": 5, \"control_steps_total\": 2410, \"resets_left\": 6, \"sim_time_s\": 4.9, \"time_s\": 356.88, \"time_left_s\": 6843.1, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\",…1088 tokens truncated…5, -0.35233673453330994, 0.2523951530456543, 0.19096872210502625, -0.4013071656227112, 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, 0.9218214750289917, 0.003840974997729063, 0.008550768718123436, 0.3875013589859009, -0.05301608890295029, 0.07358260452747345, 0.04595449939370155, 0.06682180613279343, 1.0309808254241943, 9.359675407409668, 0.9220874905586243, 0.0038350995164364576, 0.008553405292332172, 0.3868679702281952, -0.05311714485287666, 0.07350968569517136, 0.04247715324163437, 0.15340951085090637, 0.8022584319114685, 9.355920791625977, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 4.900000095367432]}, \"outcome\": \"the ball touched the ground before the header\", \"stages_reached\": 0, \"stages_total\": 2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001, \"obs_id\": 15, \"seconds\": 4.88, \"control_steps_watch\": 488, \"ok\": true}\nsaved {'venue': 99, 'head_left': 99} frames\n","exit":[],"pics":[]},"tok":{"in":75084,"cached":72832,"out":52,"think":6,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":41,"t":373.6,"say":"","calls":[{"kind":"look","label":"venue_094.png","code":"/app/output/venue_094.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s041_0.jpg"]},"tok":{"in":75939,"cached":75008,"out":203,"think":167,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":42,"t":389.2,"say":"","calls":[{"kind":"shell","label":"for i in [0,5,10,20,30,40,60,80,90,94,98]:","code":"python - <<'PY'\nfrom PIL import Image\nimport numpy as np\nfor i in [0,5,10,20,30,40,60,80,90,94,98]:\n a=np.asarray(Image.open(f'/app/output/venue_{i:03d}.png')).astype(float)\n m=(a[:,:,0]<55)&(a[:,:,1]<60)&(a[:,:,2]<65)\n m[:115]=False; m[200:]=False; m[:,:195]=False; m[:,250:]=False\n yy,xx=np.where(m)\n if len(xx): print(i,len(xx),np.round([xx.mean(),yy.mean()],1), [xx.min(),xx.max(),yy.min(),yy.max()])\nPY"}],"out":{"text":"0 219 [218.1 157. ] [np.int64(212), np.int64(249), np.int64(137), np.int64(180)]\n5 213 [217.8 156.9] [np.int64(212), np.int64(249), np.int64(138), np.int64(180)]\n10 204 [217.7 157. ] [np.int64(211), np.int64(249), np.int64(138), np.int64(180)]\n20 215 [217.5 157.7] [np.int64(211), np.int64(249), np.int64(138), np.int64(180)]\n30 223 [218. 157.] [np.int64(212), np.int64(249), np.int64(138), np.int64(179)]\n40 216 [219.7 156.3] [np.int64(213), np.int64(249), np.int64(138), np.int64(179)]\n60 191 [219.6 155.2] [np.int64(213), np.int64(249), np.int64(137), np.int64(178)]\n80 194 [220.4 156.3] [np.int64(214), np.int64(249), np.int64(137), np.int64(178)]\n90 195 [219.1 156.7] [np.int64(210), np.int64(249), np.int64(137), np.int64(178)]\n94 195 [220.  157.2] [np.int64(213), np.int64(249), np.int64(138), np.int64(178)]\n98 189 [219.9 155.9] [np.int64(213), np.int64(249), np.int64(137), np.int64(178)]\n","exit":[],"pics":[]},"tok":{"in":76328,"cached":75904,"out":1430,"think":1240,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":43,"t":415.0,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78183,"cached":76288,"out":3017,"think":2404,"usd":0.0025},"sim":{"submit":0,"reset":0}},{"id":44,"t":418.7,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"Warning: truncated output (original token count: 1113)\nTotal output lines: 2\n\nreset {\"calls\": 16, \"rows\": 5000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 6, \"control_steps_total\": 2410, \"resets_left\": 5, \"sim_time_s\": 0.0, \"time_s\": 414.67, \"time_left_s\": 6785.3, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_pos\", \"left_elbow_roll_pos\", \"left_wrist_pitch_pos\", \"left_wrist_yaw_pos\", \"right_shoulder_pitch_pos\", \"right_shoulder_roll_pos\", \"right_shoulder_yaw_pos\", \"right_elbow_pitch_pos\", \"right_elbow_roll_pos\", \"right_wrist_pitch_pos\", \"right_wrist_yaw_pos\", \"left_hip_yaw_vel\", \"left_hip_pitch_vel\", \"left_hip_roll_vel\", \"left_knee_vel\", \"left_ankle_pitch_vel\", \"left_ankle_roll_vel\", \"right_hip_yaw_vel\", \"right_hip_pitch_vel\", \"right_hip_roll_vel\", \"right_knee_vel\", \"right_ankle_pitch_vel\", \"right_ankle_roll_vel\", \"torso_vel\", \"left_shoulder_pitch_vel\", \"left_shoulder_roll_vel\", \"left_shoulder_yaw_vel\", \"left_elbow_pitch_vel\", \"left_elbow_roll_vel\", \"left_wrist_pitch_vel\", \"left_wrist_yaw_vel\", \"right_shoulder_pitch_vel\", \"right_shoulder_roll_vel\", \"right_shoulder_yaw_vel\", \"right_elbow_pitch_vel\",…413 tokens truncated…u_torso_qw\", \"imu_torso_qx\", \"imu_torso_qy\", \"imu_torso_qz\", \"imu_torso_gx\", \"imu_torso_gy\", \"imu_torso_gz\", \"imu_torso_ax\", \"imu_torso_ay\", \"imu_torso_az\", \"holding_left\", \"holding_right\", \"mode\", \"cmd_vx\", \"cmd_vy\", \"cmd_wz\", \"time_s\"], \"now\": [0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001, \"ok\": true}\nstarted {'episode': 6, 'control_steps': 0, 'resets_left': 5, 'time_left_s': 6785.3, 'running': True}\n","exit":[],"pics":[]},"tok":{"in":81224,"cached":78080,"out":74,"think":28,"usd":0.0011},"sim":{"submit":0,"reset":1}},{"id":45,"t":422.4,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:9491,chars:\"\",yield_time_ms:15000,max_output_tokens:1000});\ntext(r.output)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":82795,"cached":81152,"out":63,"think":16,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":46,"t":453.7,"say":"","calls":[{"kind":"shell","label":"r=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print(","code":"python - <<'PY'\nimport json,math\nr=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print(m['outcome'],m['stages_reached'],m['time_s'])\nfor n in ['imu_pelvis_qw','imu_pelvis_qz','imu_pelvis_gz','imu_torso_qw','imu_torso_qz','imu_torso_gz','torso_pos','torso_vel','cmd_vx','cmd_vy','cmd_wz','left_hip_pitch_vel','left_hip_roll_vel','right_hip_pitch_vel','right_hip_roll_vel']:\n print(n,round(v[l.index(n)],3))\nPY"}],"out":{"text":"the ball was not headed: it left the head slower than it came 0 419.41\nimu_pelvis_qw 0.927\nimu_pelvis_qz 0.374\nimu_pelvis_gz 0.049\nimu_torso_qw 0.928\nimu_torso_qz 0.373\nimu_torso_gz 0.269\ntorso_pos -0.002\ntorso_vel 0.225\ncmd_vx 0.0\ncmd_vy 0.0\ncmd_wz 0.0\nleft_hip_pitch_vel 0.47\nleft_hip_roll_vel 0.018\nright_hip_pitch_vel 1.049\nright_hip_roll_vel -0.122\n","exit":[],"pics":[]},"tok":{"in":82973,"cached":82688,"out":2478,"think":2285,"usd":0.0021},"sim":{"submit":0,"reset":0}},{"id":47,"t":459.7,"say":"","calls":[{"kind":"look","label":"venue_093.png","code":"/app/output/venue_093.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s047_0.jpg"]},"tok":{"in":85638,"cached":82816,"out":152,"think":116,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":48,"t":464.0,"say":"","calls":[{"kind":"look","label":"head_left_093.png","code":"/app/output/head_left_093.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-header-i00-standard-realtime--7urip72/s048_0.jpg"]},"tok":{"in":85976,"cached":85504,"out":107,"think":71,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":49,"t":490.5,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":86269,"cached":85888,"out":2925,"think":2474,"usd":0.0024},"sim":{"submit":0,"reset":0}},{"id":50,"t":494.5,"say":"Attempt 6 finally contacted the head, but the ball left slower than it arrived. The setup succeeded with about a 44° body turn and movement continuing until 2.6 s. I’m keeping that setup and adding a brief forward/left header drive plus a small torso yaw just before impact to give the head an active strike.","calls":[{"kind":"robot","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"Warning: truncated output (original token count: 1113)\nTotal output lines: 2\n\nreset {\"calls\": 19, \"rows\": 6000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 7, \"control_steps_total\": 2882, \"resets_left\": 4, \"sim_time_s\": 0.0, \"time_s\": 490.86, \"time_left_s\": 6709.1, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_po…813 tokens truncated…, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0008, \"ok\": true}\nstarted {'episode': 7, 'control_steps': 0, 'resets_left': 4, 'time_left_s': 6709.1, 'running': True}\n","exit":[],"pics":[]},"tok":{"in":89218,"cached":86144,"out":134,"think":13,"usd":0.0012},"sim":{"submit":0,"reset":1}},{"id":51,"t":499.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:38615,chars:\"\",yield_time_ms:15000,max_output_tokens:500});\ntext(r.output)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":90034,"cached":89088,"out":52,"think":6,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":52,"t":512.4,"say":"","calls":[{"kind":"shell","label":"r=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print(","code":"python - <<'PY'\nimport json,math\nr=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print(m['outcome'],m['time_s'])\nfor n in ['imu_pelvis_qw','imu_pelvis_qz','imu_pelvis_gz','imu_torso_qw','imu_torso_qz','imu_torso_gz','torso_pos','torso_vel','cmd_vx','cmd_vy','cmd_wz','imu_torso_ax','imu_torso_ay','imu_torso_az']:\n print(n,round(v[l.index(n)],3))\nPY"}],"out":{"text":"the ball was not headed: it left the head slower than it came 495.6\nimu_pelvis_qw 0.931\nimu_pelvis_qz 0.365\nimu_pelvis_gz 0.45\nimu_torso_qw 0.871\nimu_torso_qz 0.491\nimu_torso_gz 0.759\ntorso_pos 0.279\ntorso_vel 0.302\ncmd_vx 0.8\ncmd_vy 0.2\ncmd_wz 0.0\nimu_torso_ax 4.897\nimu_torso_ay 6.821\nimu_torso_az 17.31\n","exit":[],"pics":[]},"tok":{"in":90201,"cached":89856,"out":202,"think":23,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":53,"t":537.9,"say":"The active drive did not change the referee call: it still classified the contact as a head header that lost speed. The robot’s torso yaw target had settled before impact. I’m changing it to a continuing yaw ramp through the contact window so the head is still moving when it meets the ball.","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":90577,"cached":90112,"out":3028,"think":2511,"usd":0.0025},"sim":{"submit":0,"reset":0}},{"id":54,"t":544.4,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"Warning: truncated output (original token count: 1113)\nTotal output lines: 2\n\nreset {\"calls\": 22, \"rows\": 7000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 8, \"control_steps_total\": 3354, \"resets_left\": 3, \"sim_time_s\": 0.0, \"time_s\": 540.46, \"time_left_s\": 6659.5, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\", \"left_shoulder_pitch_pos\", \"left_shoulder_roll_pos\", \"left_shoulder_yaw_pos\", \"left_elbow_pitch_po…813 tokens truncated…, -0.20000000298023224, 0.0, 0.0, -0.1599999964237213, 0.0, 0.36000001430511475, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0007, \"ok\": true}\nstarted {'episode': 8, 'control_steps': 0, 'resets_left': 3, 'time_left_s': 6659.5, 'running': True}\n","exit":[],"pics":[]},"tok":{"in":93629,"cached":90368,"out":52,"think":6,"usd":0.0013},"sim":{"submit":0,"reset":1}},{"id":55,"t":548.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:10924,chars:\"\",yield_time_ms:15000,max_output_tokens:600});\ntext(r.output)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":94364,"cached":93440,"out":52,"think":6,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":56,"t":561.2,"say":"","calls":[{"kind":"shell","label":"r=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print(","code":"python - <<'PY'\nimport json\nr=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print('global',m['time_s'],'attempt',v[l.index('time_s')],m['outcome'])\nfor n in ['imu_pelvis_qw','imu_pelvis_qz','imu_pelvis_gz','imu_torso_qw','imu_torso_qz','imu_torso_gz','torso_pos','torso_vel','cmd_vx','cmd_vy','cmd_wz','left_hip_pitch_vel','right_hip_pitch_vel','imu_torso_ax','imu_torso_ay']:\n print(n,round(v[l.index(n)],3))\nPY"}],"out":{"text":"global 545.2 attempt 4.71999979019165 the ball was not headed: it left the head slower than it came\nimu_pelvis_qw 0.94\nimu_pelvis_qz 0.34\nimu_pelvis_gz -0.015\nimu_torso_qw 0.862\nimu_torso_qz 0.507\nimu_torso_gz 2.41\ntorso_pos 0.371\ntorso_vel 2.402\ncmd_vx 0.8\ncmd_vy 0.2\ncmd_wz 0.0\nleft_hip_pitch_vel 0.268\nright_hip_pitch_vel 0.789\nimu_torso_ax 6.362\nimu_torso_ay 6.079\n","exit":[],"pics":[]},"tok":{"in":94531,"cached":94208,"out":287,"think":91,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":57,"t":583.0,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":95012,"cached":94336,"out":2387,"think":2082,"usd":0.0022},"sim":{"submit":0,"reset":0}},{"id":58,"t":587.3,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"Warning: truncated output (original token count: 1113)\nTotal output lines: 2\n\nreset {\"calls\": 25, \"rows\": 8000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 9, \"control_steps_total\": 3826, \"resets_left\": 2, \"sim_time_s\": 0.0, \"time_s\": 583.28, \"time_left_s\": 6616.7, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos\"…863 tokens truncated…4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0009, \"ok\": true}\nstarted {'episode': 9, 'control_steps': 0, 'resets_left': 2, 'time_left_s': 6616.7, 'running': True}\n","exit":[],"pics":[]},"tok":{"in":97423,"cached":94848,"out":54,"think":8,"usd":0.0012},"sim":{"submit":0,"reset":1}},{"id":59,"t":592.5,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:75697,chars:\"\",yield_time_ms:15000,max_output_tokens:500});\ntext(r.output)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":98080,"cached":97280,"out":52,"think":6,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":60,"t":603.3,"say":"","calls":[{"kind":"shell","label":"r=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print(","code":"python - <<'PY'\nimport json\nr=json.load(open('/app/output/result.json'));m=r['meta'];l=m['proprio']['layout'];v=m['proprio']['now'];print(m['outcome'],'t',v[l.index('time_s')])\nfor n in ['imu_pelvis_qw','imu_pelvis_qz','imu_torso_qw','imu_torso_qz','imu_torso_gz','torso_pos','torso_vel','cmd_vx','cmd_vy','imu_torso_ax','imu_torso_ay']:\n print(n,round(v[l.index(n)],3))\nPY"}],"out":{"text":"the ball was not headed: it left the head slower than it came t 4.71999979019165\nimu_pelvis_qw 0.973\nimu_pelvis_qz 0.227\nimu_torso_qw 0.824\nimu_torso_qz 0.566\nimu_torso_gz 3.42\ntorso_pos 0.747\ntorso_vel 2.951\ncmd_vx 0.8\ncmd_vy 0.2\nimu_torso_ax 12.707\nimu_torso_ay 9.087\n","exit":[],"pics":[]},"tok":{"in":98247,"cached":97920,"out":176,"think":11,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":61,"t":640.4,"say":"The brief torso pulse raised its angular speed to about 3.4 rad/s, but the referee still measured a slower outgoing ball. The remaining likely gap is the head’s velocity along the impact direction. I’ll keep the same head-contact geometry and add more leftward walking velocity to the strike.","calls":[{"kind":"robot","label":"python /app/output/gen.py 0.20 -0.30 0.75 2.60 2.60 1.70 4.52 0.80 0.50 0.75 4.62","code":"python /app/output/gen.py 0.20 -0.30 0.75 2.60 2.60 1.70 4.52 0.80 0.50 0.75 4.62"}],"out":{"text":"Warning: truncated output (original token count: 1114)\nTotal output lines: 2\n\nreset {\"calls\": 28, \"rows\": 9000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 10, \"control_steps_total\": 4298, \"resets_left\": 1, \"sim_time_s\": 0.0, \"time_s\": 636.78, \"time_left_s\": 6563.2, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_pos…864 tokens truncated…, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0003, \"ok\": true}\nstarted {'episode': 10, 'control_steps': 0, 'resets_left': 1, 'time_left_s': 6563.2, 'running': True}\n","exit":[],"pics":[]},"tok":{"in":98573,"cached":98048,"out":3973,"think":3816,"usd":0.003},"sim":{"submit":0,"reset":1}},{"id":62,"t":646.0,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:89286,chars:\"\",yield_time_ms:15000,max_output_tokens:600});\ntext(r.output)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":103144,"cached":98432,"out":52,"think":6,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":63,"t":698.6,"say":"Attempt 10 produced the same valid head contact but no speed increase. With one reset left, I’m preserving that head-contact approach and using a faster, small-amplitude torso yaw swing that peaks in angular velocity at the expected impact time while returning the torso near its original angle.","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":103311,"cached":103040,"out":5546,"think":4969,"usd":0.0038},"sim":{"submit":0,"reset":0}},{"id":64,"t":707.4,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py 0.20 -0.30 0.75 2.60 2.60 1.70 4.52 0.80 0.50 0.75 4.62 0.60 4.0 4.30 4.60 4.72","code":"python /app/output/gen.py 0.20 -0.30 0.75 2.60 2.60 1.70 4.52 0.80 0.50 0.75 4.62 0.60 4.0 4.30 4.60 4.72"}],"out":{"text":"Warning: truncated output (original token count: 1114)\nTotal output lines: 2\n\nreset {\"calls\": 31, \"rows\": 10000, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 11, \"control_steps_total\": 4770, \"resets_left\": 0, \"sim_time_s\": 0.0, \"time_s\": 703.45, \"time_left_s\": 6496.5, \"proprio\": {\"layout\": [\"left_hip_yaw_pos\", \"left_hip_pitch_pos\", \"left_hip_roll_pos\", \"left_knee_pos\", \"left_ankle_pitch_pos\", \"left_ankle_roll_pos\", \"right_hip_yaw_pos\", \"right_hip_pitch_pos\", \"right_hip_roll_pos\", \"right_knee_pos\", \"right_ankle_pitch_pos\", \"right_ankle_roll_pos\", \"torso_po…864 tokens truncated…, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.5746385178352477e-17, 1.0169825642336892e-16, 2.1636399914378566e-18, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.255320448371777e-17, 3.207190199011514e-16, 2.1385150007170178e-17, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0003, \"ok\": true}\nstarted {'episode': 11, 'control_steps': 0, 'resets_left': 0, 'time_left_s': 6496.5, 'running': True}\n","exit":[],"pics":[]},"tok":{"in":108881,"cached":103168,"out":207,"think":97,"usd":0.0017},"sim":{"submit":0,"reset":1}},{"id":65,"t":711.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"const r = await tools.write_stdin({session_id:90527,chars:\"\",yield_time_ms:15000,max_output_tokens:500});\ntext(r.output)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":109685,"cached":108672,"out":52,"think":6,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":66,"t":729.8,"say":"The last attempt ended with the same speed failure after a head contact; the service now reports zero resets left. I’m recording the final result and the tested controller parameters in `NOTES.md`, then I’ll verify the service status and leave the last attempt untouched.","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":109852,"cached":109568,"out":995,"think":828,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":67,"t":736.5,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":110871,"cached":109696,"out":206,"think":10,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":68,"t":743.3,"say":"","calls":[{"kind":"shell","label":"print(json.dumps({k:s.get(k) for k in ('episode','done','reason','control_steps','resets_left','time_left_s','","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport json\nr=Robot(); s=r.status()\nprint(json.dumps({k:s.get(k) for k in ('episode','done','reason','control_steps','resets_left','time_left_s','elapsed_s')},indent=2))\nPY"},{"kind":"shell","label":"r=json.load(open('/app/output/result.json'))","code":"wc -l /app/NOTES.md /app/output/gen.py && cat /app/NOTES.md && python - <<'PY'\nimport json\nr=json.load(open('/app/output/result.json'))\nm=r['meta']\nprint('final result:',m.get('episode'),m.get('outcome'),m.get('stages_reached'),m.get('stages_total'),m.get('resets_left'))\nprint('parameters:',r.get('parameters'))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":111101,"cached":110720,"out":306,"think":49,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":69,"t":748.7,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":111935,"cached":110976,"out":280,"think":129,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":70,"t":753.3,"say":"The final attempt **did not succeed**. The referee recorded head contact, but the ball left the head slower than it arrived. Episode 11 ended at step 472 with zero resets remaining.\n\nI saved the controller at [gen.py](/app/output/gen.py) and the attempt record at [NOTES.md](/app/NOTES.md).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":112239,"cached":111744,"out":154,"think":77,"usd":0.0012},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56","task":"embodied-olympics-fun-juggling-head-i00-standard-realtime","bench":"embodied-olympics-fun","mode":"standard-realtime","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","state":"failed","success":0,"reward":{"success":0,"live_success":0,"graded_by_live":1,"replays":0,"live_rule":1,"live_verdict_error":0,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"instance_mismatch":0,"n_actions":295,"sim_steps":2982,"calls":33,"rows":10001,"resets":10,"reset_budget":10,"sim_startups":1,"elapsed_s":978.9,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":29.81,"max_lag_s":0.0241,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":297,"late_steps":0,"requests_refused":0,"request_busy_s":0.753,"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":1045,"tokens":{"in":8511507,"cached":8360576,"out":79296,"usd":0.14},"task_text":"# embodied-olympics juggling-head — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree G1 humanoid robot (29 joints, 1.32 m tall, 33 kg; the Embodied Olympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, you reach it only through a\nclient, and like a real venue it does not wait for you: once an attempt is running, the robot, the ball and the venue\nmove while you think. **Task:** Juggle the football on your head: a ball machine in front of you lobs it onto your head; keep it in the air with ten headers in a row, touching it with nothing but your head, without it touching the ground.\n\n**Slowdown: S = 1.** The world runs at 1/S of real speed: one control step (10 ms of robot time) every\nS x 10 ms of wall-clock time (real time). `spec()[\"timing\"][\"slowdown\"]` states it.\n\n## The venue\nYou stand at the centre of the 4.572 m grid facing +x, its edges half that to your front, back and sides. A ball machine stands on the grass in front of you, its two wheels 1.0 m ahead of where your pelvis starts and 0.6 m above the ground, aimed up and back towards you, with the ball in its chute. Its gate opens at 1.0 s; about 0.28 s later the ball leaves the wheels, rises to about 2 m and comes down on the top of your head (if you stand still) at about 3.5 m/s, moving towards you at about 1.1 m/s.\n\nDirections are from the robot at the start: +x is the way you face, +y is to your left, +z is up; the floor is level.\n\n\n## The rules\n**Rule book:** Ontario Soccer Association, Technical Benchmark Exercises (2015, for U12-U13 players), exercise 1 'Head Juggling': one attempt, the player in a 5 x 5 yard grid keeps the ball up with the head, each head juggle one point, the count stopped by the ball touching the ground, by another body part, or by stepping out of the grid; the benchmark records the count and sets no pass mark, so the family's standard is 10 consecutive headers (the same standard as the family 'juggling'). IFAB Laws of the Game 2025/26 for the ball (Law 2: size 5, 68-70 cm round, 410-450 g). Where this task departs from it:\n\n- The start: in the benchmark the ball starts in the player's hands and the player throws it up onto the head; the robot has fists and no fingers, so a two-wheel football machine standing on the grass 1.0 m in front of the robot lobs it instead, the same in every attempt: its gate opens at 1.0 s, a ram pushes the ball into the wheels and it leaves them about 0.28 s later, rises steeply and comes down on the head at about 3.5 m/s, still moving towards the robot at about 1.1 m/s (a toss from a coach a metre away arrives the same way). Until the ball has left the machine, neither the ball nor the machine may be touched; afterwards the machine is part of the grid's furniture, and a ball that touches it ends the count.\n- A counter's eye is replaced by numbers: contacts less than 0.05 s apart are one touch, a touch may last at mos\n… (20,987 characters left out) …\n run_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal G1 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":10},"replay":"embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/replay.mp4","replay_last":"embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and simulator spec first, then save a first controller and notes before running an attempt. I’ll use the service’s clock and outcome metadata to iterate within the reset budget.","calls":[{"kind":"shell","label":"print(rcb_client.__file__)","code":"pwd && ls -la && python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nimport rcb_client\nprint(rcb_client.__file__)\nprint(rcb_client.__doc__)\nPY\ncat /run/rcb-limits/usage.json"}],"out":{"text":"/app\ntotal 0\ndrwxr-xr-x 3 root root  28 Oct 21 08:52 .\ndr-xr-xr-x 1 root root 144 Oct 23 00:11 ..\ndrwxr-xr-x 2 root root   6 Oct 21 08:52 output\n/opt/tools/rcb_client.py\neai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\nPYTHONPATH).\n\n    from rcb_client import Robot, EpisodeOver\n    r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nTIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\nget_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\nspec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\nplan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\nthe last target is held. Whatever you do in between -- think, print, run a model -- the robot keeps executing.\n\nCalls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n    r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                             (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                             units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\n… (3,986 characters left out) …\nft\n    res.last[cam]            uint8 H x W x 3: the last frame (unless cameras=[])\n    res.frames[cam]          uint8 N x H x W x 3 (get_obs, video=\"frames\"/\"both\")     res.video[cam]   mp4 bytes\n    res.depth[cam]           float16 N x H x W, metres, 0 = nothing in range (include_depth)\n    res.proprio              float32 rows of spec()[\"proprio_layout\"]: one at the call's start, one every 1/video_fps s\n                             of a watch, one at its end\n    res.done                 the episode is over\n    res.save(dir)            meta.json, <cam>.mp4, last/<cam>.jpg, frames/<cam>/NNN.jpg, depth_<cam>.npy, proprio.npy\n\nErrors: ValueError -- refused, nothing changed (400: wrong type or shape, NaN, a bad dt or at, too many frames, an\nunknown camera; or a request over 64 MB, refused before it is sent); EpisodeOver -- the episode, or the trial, is over\n(409); RuntimeError -- the service failed (5xx: see spec()[\"on_service_error\"]) or the endpoint does not exist in this\nrun (404).\n\n{\n \"t\": 1792714328.44,\n \"measured\": false,\n \"why\": \"this runner cannot run the resource monitor (its container runtime refuses `pid: host`): usage is not measured and the limits are not enforced; the clock is kept\",\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 \"elapsed_s\": 25.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7175.0,\n \"deadline_utc\": \"2026-10-23T02:11:43Z\"\n}","exit":[],"pics":[]},"tok":{"in":17113,"cached":7552,"out":219,"think":63,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":7,"t":4.7,"say":"","calls":[{"kind":"shell","label":"writes gen.py","code":"cat > /app/output/gen.py <<'PY'\n#!/usr/bin/env python3\n\"\"\"Initial controller scaffold for the embodied-olympics juggling-head task.\"\"\"\nimport json\nimport numpy as np\nfrom rcb_client import Robot\n\n\ndef main():\n    r = Robot()\n    spec = r.spec()\n    print(json.dumps({\"timing\": spec.get(\"timing\"), \"budget\": spec.get(\"budget\"),\n                      \"action_types\": spec.get(\"action_types\"),\n                      \"cameras\": spec.get(\"cameras\"),\n                      \"episode\": spec.get(\"episode\")}, indent=2))\n\n\nif __name__ == \"__main__\":\n    main()\nPY\ncat > /app/output/NOTES.md <<'EOF'\n# Juggling-head attempt notes\n\n- Starting from the service specification; use only robot proprioception and listed cameras.\n- First inspect the action layouts, timing, start pose, and remaining resets before starting an attempt.\n- Controller and attempt findings will be recorded here as they develop.\nEOF\npython /app/output/gen.py"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":18957,"cached":16896,"out":367,"think":74,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":8,"t":17.4,"say":"","calls":[{"kind":"robot","label":"o=r.get_obs(cameras=['venue','head_left'],seconds=0,include_depth=True)","code":"python - <<'PY'\nimport sys\nsys.path.insert(0, '/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); s=r.spec(); print('status',r.status())\no=r.get_obs(cameras=['venue','head_left'],seconds=0,include_depth=True)\nprint('meta',o.meta)\no.save('/app/output/start_obs')\nprint('saved', {k:v.shape for k,v in o.last.items()}, {k:v.shape for k,v in o.depth.items()})\nPY\nls -la /app/output/start_obs"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":27408,"cached":18816,"out":1221,"think":1051,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":9,"t":20.4,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/start_obs/last/venue.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s009_0.jpg"]},"tok":{"in":30834,"cached":27264,"out":46,"think":8,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":10,"t":26.2,"say":"The service confirms 10 resets and 100 Hz timing. I have saved the controller scaffold and notes. The start view confirms the ball machine is just ahead; I’m using the first attempt to measure the in-place running policy’s head and pelvis motion through the serve, since that may provide the vertical strike motion while keeping the feet planted.","calls":[{"kind":"robot","label":"res=r.submit('run',np.array([[0.,0.,0.,0.,0.]],dtype=np.float32),interpolate='hold',at=0,cameras=[])","code":"python - <<'PY'\nimport sys, numpy as np\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot()\nres=r.submit('run',np.array([[0.,0.,0.,0.,0.]],dtype=np.float32),interpolate='hold',at=0,cameras=[])\nprint('submit', {k:res.meta.get(k) for k in ['control_steps','plan_end_step','done','reason','resets_left']})\no=r.get_obs(cameras=['venue','head_left'],seconds=3.2,video_fps=10,video='frames',include_depth=True)\nprint('obs', {k:o.meta.get(k) for k in ['control_steps','sim_time_s','done','reason','time_left_s']},'frames', {k:v.shape for k,v in o.frames.items()})\nprint('proprio',o.proprio.shape)\no.save('/app/output/attempt1_run0')\nprint('status',r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":31066,"cached":30592,"out":800,"think":456,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":11,"t":34.0,"say":"","calls":[{"kind":"shell","label":"p='/app/output/attempt1_run0/meta.json'; d=json.load(open(p)); print(d.keys()); print(d.get('meta'))","code":"python - <<'PY'\nimport json, numpy as np\np='/app/output/attempt1_run0/meta.json'; d=json.load(open(p)); print(d.keys()); print(d.get('meta'))\nprint('proprio n',np.load('/app/output/attempt1_run0/proprio.npy').shape)\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":32087,"cached":30848,"out":141,"think":27,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":12,"t":39.8,"say":"","calls":[{"kind":"shell","label":"p='/app/output/attempt1_run0/meta.json'; d=json.load(open(p)); print({k:d.get(k) for k in ('outcome','stages_r","code":"python - <<'PY'\nimport json, numpy as np\np='/app/output/attempt1_run0/meta.json'; d=json.load(open(p)); print({k:d.get(k) for k in ('outcome','stages_reached','stages_total','reason','control_steps','sim_time_s')})\na=np.load('/app/output/attempt1_run0/proprio.npy')\nprint(a.shape)\n# approximate indices layout from spec\nimport sys;sys.path.insert(0,'/opt/tools');from rcb_client import Robot\ns=Robot().spec(); L=s['proprio_layout']\nfor name in ['time_s','imu_pelvis_qw','imu_pelvis_qx','imu_pelvis_qy','imu_pelvis_qz','imu_pelvis_ax','imu_pelvis_ay','imu_pelvis_az','imu_torso_qw','imu_torso_qx','imu_torso_qy','imu_torso_qz','imu_torso_ax','imu_torso_ay','imu_torso_az']:\n i=L.index(name); print(name, np.round(a[:,i][::5],3))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":32352,"cached":32000,"out":294,"think":0,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":13,"t":42.3,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/attempt1_run0/last/venue.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s013_0.jpg"]},"tok":{"in":33258,"cached":32256,"out":85,"think":44,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":14,"t":53.0,"say":"","calls":[{"kind":"shell","label":"p='/app/output/attempt1_run0/frames/venue'","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport json, os\np='/app/output/attempt1_run0/frames/venue'\nfs=sorted(os.listdir(p)); ims=[Image.open(os.path.join(p,f)).resize((240,135)) for f in fs]\nsel=list(range(0,len(ims),3))\nout=Image.new('RGB',(240*4,155*((len(sel)+3)//4)),'white'); d=ImageDraw.Draw(out)\nfor j,i in enumerate(sel):\n x=(j%4)*240;y=(j//4)*155;out.paste(ims[i],(x,y));d.text((x+3,y+136),f'{i/10:.1f}s',fill='black')\nout.save('/app/output/montage.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":33529,"cached":33152,"out":1198,"think":973,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":15,"t":55.4,"say":"","calls":[{"kind":"look","label":"montage.png","code":"/app/output/montage.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s015_0.jpg"]},"tok":{"in":34750,"cached":33408,"out":33,"think":0,"usd":0.0005},"sim":{"submit":0,"reset":0}},{"id":16,"t":60.4,"say":"","calls":[{"kind":"shell","label":"p='/app/output/attempt1_run0/frames/head_left';fs=sorted(os.listdir(p));ims=[Image.open(os.path.join(p,f)).res","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os\np='/app/output/attempt1_run0/frames/head_left';fs=sorted(os.listdir(p));ims=[Image.open(os.path.join(p,f)).resize((240,135)) for f in fs]\nsel=list(range(0,len(ims),3));out=Image.new('RGB',(960,155*((len(sel)+3)//4)),'white');d=ImageDraw.Draw(out)\nfor j,i in enumerate(sel):\n x=(j%4)*240;y=(j//4)*155;out.paste(ims[i],(x,y));d.text((x+3,y+136),f'{i/10:.1f}s',fill='black')\nout.save('/app/output/headmontage.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":35347,"cached":34688,"out":483,"think":264,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":17,"t":62.6,"say":"","calls":[{"kind":"look","label":"headmontage.png","code":"/app/output/headmontage.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s017_0.jpg"]},"tok":{"in":35853,"cached":35200,"out":33,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":18,"t":84.3,"say":"","calls":[{"kind":"shell","label":"ls /app/output/attempt1_run0/frames/venue | head && ls /app/output/attempt1_run0/frames/venue | tail","code":"ls /app/output/attempt1_run0/frames/venue | head && ls /app/output/attempt1_run0/frames/venue | tail"}],"out":{"text":"000.jpg\n001.jpg\n002.jpg\n003.jpg\n004.jpg\n005.jpg\n006.jpg\n007.jpg\n008.jpg\n009.jpg\n021.jpg\n022.jpg\n023.jpg\n024.jpg\n025.jpg\n026.jpg\n027.jpg\n028.jpg\n029.jpg\n030.jpg\n","exit":[],"pics":[]},"tok":{"in":36450,"cached":35840,"out":2323,"think":2247,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":19,"t":87.8,"say":"","calls":[{"kind":"shell","label":"p='/app/output/attempt1_run0/frames/venue'; ids=[10,12,14,16,18,20,22,24,26,28,30]","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\np='/app/output/attempt1_run0/frames/venue'; ids=[10,12,14,16,18,20,22,24,26,28,30]\nout=Image.new('RGB',(720,((len(ids)+1)//2)*220),'white');d=ImageDraw.Draw(out)\nfor j,i in enumerate(ids):\n im=Image.open(f'{p}/{i:03}.jpg').resize((480,270)); x=(j%2)*720;y=(j//2)*220\n im=im.crop((0,0,480,195));out.paste(im,(x,y)); d.text((x+2,y+197),f'{i/10:.1f}s',fill='black')\nout.save('/app/output/near.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":38856,"cached":36352,"out":243,"think":14,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":20,"t":89.7,"say":"","calls":[{"kind":"look","label":"near.png","code":"/app/output/near.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s020_0.jpg"]},"tok":{"in":39122,"cached":38656,"out":32,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":21,"t":125.0,"say":"The first attempt reached the serve but no header counted. The venue frames put the first head-level pass near 2.3–2.5 s; I’m treating that timing as approximate and adding a symmetric crouch-and-extension pulse every 0.68 s, which should give the head upward motion at each expected contact.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":40337,"cached":38912,"out":4041,"think":3922,"usd":0.0026},"sim":{"submit":0,"reset":0}},{"id":22,"t":135.5,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":44402,"cached":39936,"out":1079,"think":0,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":23,"t":139.2,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":45505,"cached":44288,"out":173,"think":121,"usd":0.0007},"sim":{"submit":0,"reset":1}},{"id":24,"t":142.2,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 2, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 9}\nresult {\"episode\": 2, \"control_steps\": 299, \"sim_time_s\": 2.99, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 9, \"time_left_s\": 7059.5}\nstatus {\"calls\": 6, \"rows\": 1001, \"control_steps\": 299, \"done\": true, \"reason\": \"failed\", \"episode\": 2, \"control_steps_total\": 597, \"resets_left\": 9, \"elapsed_s\": 140.7, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0061}\n","exit":[],"pics":[]},"tok":{"in":45732,"cached":45440,"out":162,"think":111,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":25,"t":151.6,"say":"","calls":[{"kind":"shell","label":"p='/app/output/last_attempt/frames/venue'; fs=sorted(os.listdir(p)); print('n',len(fs))","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,numpy as np,json,sys\np='/app/output/last_attempt/frames/venue'; fs=sorted(os.listdir(p)); print('n',len(fs))\nsel=list(range(0,len(fs),2));out=Image.new('RGB',(960,155*((len(sel)+3)//4)),'white');d=ImageDraw.Draw(out)\nfor j,i in enumerate(sel):\n im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/20:.2f}s',fill='black')\nout.save('/app/output/attempt2_montage.png')\nimport sys;sys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout']; a=np.load('/app/output/last_attempt/proprio.npy');print('shape',a.shape)\nfor name in ['time_s','left_knee_pos','left_hip_pitch_pos','left_ankle_pitch_pos','imu_pelvis_qw','imu_pelvis_qx','imu_pelvis_qy','imu_torso_qw','imu_torso_qy','imu_torso_az']:\n i=L.index(name); print(name, np.round(a[:,i],3))\nPY"}],"out":{"text":"Warning: truncated output (original token count: 1042)\nTotal output lines: 67\n\nn 61\nshape (61, 143)\ntime_s [0.01 0.06 0.11 0.16 0.21 0.26 0.31 0.36 0.41 0.46 0.51 0.56 0.61 0.66\n 0.71 0.76 0.81 0.86 0.91 0.96 1.01 1.06 1.11 1.16 1.21 1.26 1.31 1.36\n 1.41 1.46 1.51 1.56 1.61 1.66 1.71 1.76 1.81 1.86 1.91 1.96 2.01 2.06\n 2.11 2.16 2.21 2.26 2.31 2.36 2.41 2.46 2.51 2.56 2.61 2.66 2.71 2.76\n 2.81 2.86 2.91 2.96 2.99]\nleft_knee_pos [0.3   0.31  0.31  0.307 0.306 0.305 0.304 0.304 0.303 0.302 0.302 0.301\n 0.301 0.301 0.3   0.3   0.3   0.3   0.3   0.3   0.301 0.301 0.301 0.302\n 0.302 0.302 0.303 0.303 0.303 0.303 0.303 0.303 0.304 0.304 0.303 0.303\n 0.303 0.303 0.392 0.524 0.65  0.772 0.856 0.73  0.499 0.305 0.131 0.043\n 0.244 0.459 0.671 0.84  0.93  0.889 0.903 0.888 0.796 0.595 0.414 0.248\n 0.145]\nleft_hip_pitch_pos [-0.1   -0.1   -0.097 -0.097 -0.098 -0.098 -0.099 -0.099 -0.099 -0.1\n -0.1   -0.1   -0.1   -0.101 -0.101 -0.101 -0.101 -0.101 -0.101 -0.101\n -0.101 -0.101 -0.1   -0.1   -0.1   -0.1   -0.1   -0.1   -0.1   -0.099\n -0.099 -0.099 -0.099 -0.099 -0.099 -0.099 -0.099 -0.099 -0.093 -0.059\n -0.029 -0.006  0.017  0.019 -0.049 -0.124 -0.164 -0.188 -0.135 -0.082\n -0.038  0.003  0.079  0.064  0.067  0.051  0.026 -0.047 -0.097 -0.122\n -0.139]\nleft_ankle_pitch_pos [-0.2   -0.208 -0.211 -0.211 -0.213 -0.215 -0.218 -0.221 -0.224 -0.227\n -0.23  -0.232 -0.234 -0.236 -0.237 -0.237 -0.238 -0.237 -0.237 -0.236\n -0.235 -0.233 -0.232 -0.23  -0.229 -0.227 -0.226 -0.225 -0.223 -0.223\n -0.222 -\n… (1,104 characters left out) …\n 0.009\n  0.009  0.009  0.009  0.009  0.009  0.009  0.01   0.01  -0.008 -0.04\n -0.066 -0.086 -0.097 -0.056  0.025  0.1    0.165  0.213  0.22   0.227\n  0.234  0.248  0.268  0.318  0.315  0.313  0.309  0.349  0.39   0.426\n  0.449]\nimu_torso_qw [1.    1.    1.    1.    1.    1.    1.    1.    1.    1.    1.    1.\n 1.    1.    1.    1.    1.    1.    1.    1.    1.    1.    1.    1.\n 1.    1.    1.    1.    1.    1.    1.    1.    1.    1.    1.    1.\n 1.    1.    1.    0.999 0.997 0.995 0.993 0.992 0.999 0.995 0.983 0.972\n 0.973 0.975 0.973 0.97  0.98  0.999 0.999 0.993 0.971 0.942 0.916 0.903\n 0.896]\nimu_torso_qy [ 0.    -0.001 -0.005 -0.003 -0.001  0.002  0.004  0.007  0.009  0.012\n  0.014  0.016  0.017  0.019  0.02   0.02   0.021  0.02   0.02   0.019\n  0.019  0.018  0.016  0.015  0.014  0.013  0.011  0.01   0.01   0.009\n  0.008  0.008  0.008  0.008  0.008  0.008  0.009  0.009  0.002 -0.038\n -0.077 -0.1   -0.117 -0.129 -0.033  0.104  0.186  0.235  0.233  0.224\n  0.231  0.242  0.201  0.043  0.047  0.12   0.239  0.336  0.4    0.429\n  0.443]\nimu_torso_az [ 0.    20.919  9.094  9.497  9.806  9.803  9.803  9.802  9.8    9.798\n  9.796  9.795  9.793  9.793  9.792  9.792  9.793  9.793  9.794  9.796\n  9.798  9.8    9.802  9.804  9.806  9.807  9.809  9.811  9.812  9.812\n  9.813  9.813  9.813  9.813  9.812  9.811  9.81   9.81   6.334  9.019\n 10.381 10.351 18.449 20.533  2.256 -1.529  2.454 -2.113 -0.331  0.849\n  1.121  2.36  20.746 28.464 16.247 15.827 15.316 -3.531 -4.599  1.83\n  2.904]\n","exit":[],"pics":[]},"tok":{"in":46125,"cached":45696,"out":512,"think":150,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":26,"t":155.3,"say":"","calls":[{"kind":"look","label":"attempt2_montage.png","code":"/app/output/attempt2_montage.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s026_0.jpg"]},"tok":{"in":49326,"cached":46080,"out":93,"think":55,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":27,"t":194.7,"say":"The leg pulse destabilized the stance and the ball passed without a count. I’m switching to a supported walking policy with stationary feet commands and a small timed torso pitch sweep; that keeps the legs under a balance controller while testing whether torso motion can add enough strike speed.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":50847,"cached":49280,"out":5041,"think":4370,"usd":0.0032},"sim":{"submit":0,"reset":0}},{"id":28,"t":202.3,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":55912,"cached":50560,"out":69,"think":17,"usd":0.0011},"sim":{"submit":0,"reset":1}},{"id":29,"t":205.2,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 3, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 8}\nresult {\"episode\": 3, \"control_steps\": 277, \"sim_time_s\": 2.77, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 8, \"time_left_s\": 6996.8}\nstatus {\"calls\": 9, \"rows\": 2001, \"control_steps\": 277, \"done\": true, \"reason\": \"failed\", \"episode\": 3, \"control_steps_total\": 874, \"resets_left\": 8, \"elapsed_s\": 203.3, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":56035,"cached":55808,"out":49,"think":0,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":30,"t":212.9,"say":"","calls":[{"kind":"shell","label":"p='/app/output/last_attempt/frames/venue';fs=sorted(os.listdir(p));print(len(fs))","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,numpy as np,sys,json\np='/app/output/last_attempt/frames/venue';fs=sorted(os.listdir(p));print(len(fs))\nsel=list(range(0,len(fs),2));out=Image.new('RGB',(960,155*((len(sel)+3)//4)),'white');d=ImageDraw.Draw(out)\nfor j,i in enumerate(sel):\n im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/20:.2f}s',fill='black')\nout.save('/app/output/attempt3_montage.png')\nimport sys;sys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout'];a=np.load('/app/output/last_attempt/proprio.npy'); print('shape',a.shape)\nfor name in ['time_s','imu_pelvis_qy','imu_torso_qy','waist_pitch_pos','waist_pitch_vel','imu_pelvis_az']:\n i=L.index(name);print(name,np.round(a[:,i],3))\nPY"}],"out":{"text":"61\nshape (56, 143)\ntime_s [0.03 0.08 0.13 0.18 0.23 0.28 0.33 0.38 0.43 0.48 0.53 0.58 0.63 0.68\n 0.73 0.78 0.83 0.88 0.93 0.98 1.03 1.08 1.13 1.18 1.23 1.28 1.33 1.38\n 1.43 1.48 1.53 1.58 1.63 1.68 1.73 1.78 1.83 1.88 1.93 1.98 2.03 2.08\n 2.13 2.18 2.23 2.28 2.33 2.38 2.43 2.48 2.53 2.58 2.63 2.68 2.73 2.77]\nimu_pelvis_qy [ 0.011  0.018  0.034  0.056  0.077  0.098  0.111  0.116  0.11   0.091\n  0.064  0.033  0.005 -0.018 -0.034 -0.039 -0.033 -0.02   0.011  0.037\n  0.056  0.066  0.063  0.048  0.027  0.002 -0.019 -0.035 -0.042 -0.037\n -0.024 -0.004  0.019  0.04   0.054  0.06   0.054  0.038  0.015 -0.008\n -0.028 -0.041 -0.044 -0.045 -0.033 -0.013  0.021  0.043  0.056  0.057\n  0.045  0.025  0.    -0.022 -0.038 -0.046]\nimu_torso_qy [ 0.028  0.1    0.155  0.194  0.194  0.168  0.124  0.073  0.022 -0.024\n -0.055 -0.064 -0.05  -0.018  0.021  0.059  0.087  0.096  0.094  0.08\n  0.044 -0.001 -0.041 -0.072 -0.087 -0.08  -0.053 -0.012  0.032  0.072\n  0.098  0.106  0.09   0.061  0.017 -0.026 -0.06  -0.082 -0.087 -0.072\n -0.039  0.004  0.045  0.066  0.083  0.082  0.068  0.04  -0.    -0.042\n -0.075 -0.093 -0.09  -0.067 -0.028  0.008]\nwaist_pitch_pos [ 0.038  0.166  0.244  0.279  0.235  0.139  0.025 -0.088 -0.178 -0.232\n -0.238 -0.193 -0.107  0.002  0.112  0.198  0.241  0.231  0.164  0.085\n -0.026 -0.137 -0.211 -0.241 -0.227 -0.163 -0.065  0.047  0.149  0.22\n  0.244  0.22   0.141  0.041 -0.077 -0.174 -0.229 -0.241 -0.205 -0.126\n -0.02   0.091  0.181  0.224  0.233  0.189  0.093 -0.008 -0.115 -0.201\n -0.24  -0.235 -0.18  -0.088  0.023  0.11 ]\nwaist_pitch_vel [ 2.709  2.06   0.999  0.154 -1.51  -2.032 -2.288 -2.014 -1.404 -0.671\n  0.312  1.205  1.869  2.206  1.959  1.304  0.404 -0.811 -0.844 -1.907\n -2.384 -1.828 -1.045 -0.217  0.75   1.516  2.068  2.139  1.717  0.999\n  0.071 -0.851 -1.733 -2.117 -2.219 -1.534 -0.627  0.045  1.112  1.77\n  2.172  2.028  0.91   0.591 -0.15  -1.404 -1.193 -2.35  -2.062 -1.27\n -0.334  0.474  1.4    1.968  2.206  1.955]\nimu_pelvis_az [-2.055 11.361 10.022 21.375 13.334  8.722 10.02  10.937 10.747  8.266\n  7.479  7.51   7.885  9.257  9.134  9.261  8.797 10.283 17.983 19.701\n 10.332 10.556 10.39   7.942  7.209  7.672  9.152  8.941  8.617  9.38\n  9.752 10.596 12.94  12.125 10.211 10.486 10.085  8.064  7.689  7.734\n  9.822  9.134  6.622 10.281  9.376 11.402 17.428 12.475 11.071  9.715\n  8.672  7.3    7.682  8.852  9.552  8.438]\n","exit":[],"pics":[]},"tok":{"in":56315,"cached":55936,"out":380,"think":50,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":31,"t":215.8,"say":"","calls":[{"kind":"look","label":"attempt3_montage.png","code":"/app/output/attempt3_montage.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s031_0.jpg"]},"tok":{"in":58300,"cached":56192,"out":50,"think":12,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":32,"t":252.4,"say":"","calls":[{"kind":"look","label":"040.jpg","code":"/app/output/last_attempt/frames/venue/040.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s032_0.jpg"]},"tok":{"in":59778,"cached":58240,"out":4183,"think":4142,"usd":0.0028},"sim":{"submit":0,"reset":0}},{"id":33,"t":256.8,"say":"","calls":[{"kind":"look","label":"044.jpg","code":"/app/output/last_attempt/frames/venue/044.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s033_0.jpg"]},"tok":{"in":64147,"cached":59520,"out":103,"think":62,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":34,"t":260.0,"say":"","calls":[{"kind":"look","label":"048.jpg","code":"/app/output/last_attempt/frames/venue/048.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s034_0.jpg"]},"tok":{"in":64436,"cached":64000,"out":92,"think":51,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":35,"t":273.9,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":64714,"cached":64384,"out":1383,"think":1225,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":36,"t":277.4,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":66121,"cached":64640,"out":67,"think":15,"usd":0.0008},"sim":{"submit":0,"reset":1}},{"id":37,"t":280.5,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 4, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 7}\nresult {\"episode\": 4, \"control_steps\": 229, \"sim_time_s\": 2.29, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball was touched by a part other than the head\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 7, \"time_left_s\": 6922.0}\nstatus {\"calls\": 12, \"rows\": 3001, \"control_steps\": 229, \"done\": true, \"reason\": \"failed\", \"episode\": 4, \"control_steps_total\": 1103, \"resets_left\": 7, \"elapsed_s\": 278.4, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":66242,"cached":66048,"out":49,"think":0,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":38,"t":289.9,"say":"The rephased strike made contact, but the referee called it a nonhead body contact at 2.29 s. I’m inspecting the head and venue video to identify which limb intersected the ball; the timing is now close to the collision, so I’ll keep this torso motion and adjust its clearance.","calls":[{"kind":"shell","label":"for cam in ['venue','head_left']:","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,json\nfor cam in ['venue','head_left']:\n p=f'/app/output/last_attempt/frames/{cam}'; fs=sorted(os.listdir(p)); print(cam,len(fs))\n ids=[i for i in range(len(fs)) if 45<=i<=69 and i%2==0]\n out=Image.new('RGB',(960,155*((len(ids)+3)//4)),'white');d=ImageDraw.Draw(out)\n for j,i in enumerate(ids):\n  im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/30:.2f}s',fill='black')\n out.save(f'/app/output/attempt4_{cam}.png')\nprint('meta',json.load(open('/app/output/last_attempt/meta.json')).get('outcome'))\nPY"}],"out":{"text":"venue 77\nhead_left 77\nmeta the ball was touched by a part other than the head\n","exit":[],"pics":[]},"tok":{"in":66529,"cached":66048,"out":608,"think":266,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":39,"t":294.7,"say":"","calls":[{"kind":"look","label":"attempt4_venue.png","code":"/app/output/attempt4_venue.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s039_0.jpg"]},"tok":{"in":67182,"cached":66432,"out":35,"think":0,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":40,"t":297.9,"say":"","calls":[{"kind":"look","label":"attempt4_head_left.png","code":"/app/output/attempt4_head_left.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s040_0.jpg"]},"tok":{"in":67781,"cached":67072,"out":117,"think":80,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":41,"t":309.4,"say":"","calls":[{"kind":"look","label":"068.jpg","code":"/app/output/last_attempt/frames/venue/068.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s041_0.jpg"]},"tok":{"in":68462,"cached":67584,"out":303,"think":262,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":42,"t":314.4,"say":"","calls":[{"kind":"look","label":"066.jpg","code":"/app/output/last_attempt/frames/venue/066.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s042_0.jpg"]},"tok":{"in":68951,"cached":68224,"out":142,"think":101,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":43,"t":328.8,"say":"","calls":[{"kind":"shell","label":"L=Robot().spec()['proprio_layout']; a=np.load('/app/output/last_attempt/proprio.npy')","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout']; a=np.load('/app/output/last_attempt/proprio.npy')\nfor name in ['time_s','waist_pitch_pos','waist_pitch_vel','imu_torso_qy','imu_torso_gx','imu_torso_gy','imu_torso_gz','left_shoulder_pitch_pos','left_shoulder_roll_pos','left_elbow_pos','right_shoulder_pitch_pos','right_shoulder_roll_pos','right_elbow_pos']:\n i=L.index(name)\n print(name,[(round(a[j,L.index('time_s')],3),round(a[j,i],3)) for j in range(len(a)) if abs(a[j,L.index('time_s')]-2.29)<.04])\nPY"}],"out":{"text":"time_s [(np.float32(2.26), np.float32(2.26)), (np.float32(2.29), np.float32(2.29))]\nwaist_pitch_pos [(np.float32(2.26), np.float32(-0.496)), (np.float32(2.29), np.float32(-0.475))]\nwaist_pitch_vel [(np.float32(2.26), np.float32(-0.105)), (np.float32(2.29), np.float32(1.143))]\nimu_torso_qy [(np.float32(2.26), np.float32(-0.176)), (np.float32(2.29), np.float32(-0.195))]\nimu_torso_gx [(np.float32(2.26), np.float32(0.058)), (np.float32(2.29), np.float32(0.038))]\nimu_torso_gy [(np.float32(2.26), np.float32(-1.859)), (np.float32(2.29), np.float32(-0.708))]\nimu_torso_gz [(np.float32(2.26), np.float32(-0.48)), (np.float32(2.29), np.float32(-0.299))]\nleft_shoulder_pitch_pos [(np.float32(2.26), np.float32(0.195)), (np.float32(2.29), np.float32(0.192))]\nleft_shoulder_roll_pos [(np.float32(2.26), np.float32(0.196)), (np.float32(2.29), np.float32(0.197))]\nleft_elbow_pos [(np.float32(2.26), np.float32(1.279)), (np.float32(2.29), np.float32(1.278))]\nright_shoulder_pitch_pos [(np.float32(2.26), np.float32(0.191)), (np.float32(2.29), np.float32(0.192))]\nright_shoulder_roll_pos [(np.float32(2.26), np.float32(-0.194)), (np.float32(2.29), np.float32(-0.194))]\nright_elbow_pos [(np.float32(2.26), np.float32(1.278)), (np.float32(2.29), np.float32(1.277))]\n","exit":[],"pics":[]},"tok":{"in":69279,"cached":68736,"out":1294,"think":1059,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":44,"t":338.2,"say":"","calls":[{"kind":"shell","label":"L=Robot().spec()['proprio_layout']; a=np.load('/app/output/last_attempt/proprio.npy')","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout']; a=np.load('/app/output/last_attempt/proprio.npy')\nfor t,v,w in zip(a[:,L.index('time_s')],a[:,L.index('waist_pitch_pos')],a[:,L.index('waist_pitch_vel')]):\n if 1.95 <= t <= 2.29: print(round(float(t),2),round(float(v),2),round(float(w),2))\nPY"}],"out":{"text":"1.96 0.44 -0.57\n1.99 0.39 -1.88\n2.02 0.3 -3.13\n2.05 0.19 -4.08\n2.08 0.05 -4.54\n2.11 -0.09 -4.38\n2.14 -0.23 -3.96\n2.17 -0.34 -3.25\n2.2 -0.43 -2.35\n2.23 -0.48 -1.09\n2.26 -0.5 -0.1\n2.29 -0.48 1.14\n","exit":[],"pics":[]},"tok":{"in":71096,"cached":69120,"out":711,"think":536,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":45,"t":351.4,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":71974,"cached":71040,"out":1047,"think":919,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":46,"t":354.9,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":73045,"cached":71808,"out":59,"think":7,"usd":0.0009},"sim":{"submit":0,"reset":1}},{"id":47,"t":358.1,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 5, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 6}\nresult {\"episode\": 5, \"control_steps\": 256, \"sim_time_s\": 2.56, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 6, \"time_left_s\": 6844.1}\nstatus {\"calls\": 15, \"rows\": 4001, \"control_steps\": 256, \"done\": true, \"reason\": \"failed\", \"episode\": 5, \"control_steps_total\": 1359, \"resets_left\": 6, \"elapsed_s\": 356.3, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.001}\n","exit":[],"pics":[]},"tok":{"in":73158,"cached":72960,"out":57,"think":6,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":48,"t":366.8,"say":"","calls":[{"kind":"shell","label":"p='/app/output/last_attempt/frames/venue';fs=sorted(os.listdir(p));ids=[i for i in range(45,len(fs)) if i%1==0","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,numpy as np,json\np='/app/output/last_attempt/frames/venue';fs=sorted(os.listdir(p));ids=[i for i in range(45,len(fs)) if i%1==0]\nout=Image.new('RGB',(960,155*((len(ids)+3)//4)),'white');d=ImageDraw.Draw(out)\nfor j,i in enumerate(ids):\n im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/30:.2f}s',fill='black')\nout.save('/app/output/attempt5_venue.png')\nprint(json.load(open('/app/output/last_attempt/meta.json')).get('outcome'),len(fs))\nPY"}],"out":{"text":"the ball touched the ground 86\n","exit":[],"pics":[]},"tok":{"in":73446,"cached":73088,"out":438,"think":192,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":49,"t":370.4,"say":"","calls":[{"kind":"look","label":"attempt5_venue.png","code":"/app/output/attempt5_venue.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s049_0.jpg"]},"tok":{"in":73915,"cached":73344,"out":35,"think":0,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":50,"t":378.1,"say":"","calls":[{"kind":"look","label":"074.jpg","code":"/app/output/last_attempt/frames/venue/074.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s050_0.jpg"]},"tok":{"in":75918,"cached":73856,"out":453,"think":412,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":51,"t":386.3,"say":"","calls":[{"kind":"look","label":"074.jpg","code":"/app/output/last_attempt/frames/head_left/074.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s051_0.jpg"]},"tok":{"in":76557,"cached":75520,"out":403,"think":362,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":52,"t":407.7,"say":"","calls":[{"kind":"shell","label":"ids=[68,70,72,74,75,76,77]","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nids=[68,70,72,74,75,76,77]\nout=Image.new('RGB',(960,300),'white');d=ImageDraw.Draw(out)\nfor j,i in enumerate(ids):\n im=Image.open(f'/app/output/last_attempt/frames/venue/{i:03}.jpg').resize((480,270));x=j%2*480;y=j//2*90\n # paste scaled to 240? easier thumbnails\n im=im.resize((480,270)); im=im.crop((0,30,480,150)).resize((480,120));out.paste(im,(x,y));d.text((x+2,y+121),f'{i/30:.3f}s',fill='black')\nout.save('/app/output/attempt5_detail.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":77146,"cached":76544,"out":2335,"think":2103,"usd":0.002},"sim":{"submit":0,"reset":0}},{"id":53,"t":411.0,"say":"","calls":[{"kind":"look","label":"attempt5_detail.png","code":"/app/output/attempt5_detail.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s053_0.jpg"]},"tok":{"in":79504,"cached":77056,"out":34,"think":0,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":54,"t":415.3,"say":"","calls":[{"kind":"look","label":"075.jpg","code":"/app/output/last_attempt/frames/venue/075.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s054_0.jpg"]},"tok":{"in":79922,"cached":79360,"out":118,"think":77,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":55,"t":426.5,"say":"","calls":[{"kind":"look","label":"075.jpg","code":"/app/output/last_attempt/frames/head_left/075.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s055_0.jpg"]},"tok":{"in":80226,"cached":79744,"out":881,"think":840,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":56,"t":433.9,"say":"","calls":[{"kind":"look","label":"076.jpg","code":"/app/output/last_attempt/frames/head_left/076.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s056_0.jpg"]},"tok":{"in":81293,"cached":80000,"out":162,"think":121,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":57,"t":445.7,"say":"","calls":[{"kind":"look","label":"head_left.jpg","code":"/app/output/start_obs/last/head_left.jpg"}],"out":{"text":"Script failed\nWall time 0.0 seconds\nOutput:\n\nScript error:\nSyntaxError: missing ) after argument list","exit":[],"pics":[]},"tok":{"in":81641,"cached":81024,"out":871,"think":833,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":58,"t":450.0,"say":"","calls":[{"kind":"look","label":"head_left.jpg","code":"/app/output/start_obs/last/head_left.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s058_0.jpg"]},"tok":{"in":82546,"cached":81536,"out":72,"think":34,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":59,"t":457.0,"say":"","calls":[{"kind":"look","label":"000.jpg","code":"/app/output/last_attempt/frames/head_left/000.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s059_0.jpg"]},"tok":{"in":82804,"cached":82432,"out":359,"think":318,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":60,"t":469.9,"say":"","calls":[{"kind":"shell","label":"p='/app/output/last_attempt/depth_head_left.npy';d=np.load(p)","code":"python - <<'PY'\nimport numpy as np\np='/app/output/last_attempt/depth_head_left.npy';d=np.load(p)\nprint(d.shape, d.dtype)\nfor i in [68,70,72,74,75,76,77]:\n if i>=len(d):continue\n a=d[i]\n for box in [(0,0,120,150),(0,150,120,330),(0,250,100,380),(80,0,200,180),(100,250,200,400)]:\n  y1,x1,y2,x2=box;v=a[y1:y2,x1:x2];v=v[v>0]\n  if len(v): print(i,box, np.percentile(v,[10,50,90]).round(2),len(v))\nPY"}],"out":{"text":"Warning: truncated output (original token count: 398)\nTotal output lines: 36\n\n(86, 270, 480) float16\n68 (0, 0, 120, 150) [1.1  3.77 7.89] 12605\n68 (0, 150, 120, 330) [2.83 4.23 7.86] 15388\n68 (0, 250, 100, 380) [3.41 4.86 8.26] 8604\n68 (80, 0, 200, 180) [0.78 1.87 3.44] 21600\n68 (100, 250, 200, 400) [1.67 2.12 2.91] 15000\n70 (0, 0, 120, 150) [0.8  2.3  4.27] 18000\n70 (0, 150, 120, 330) [1.98 2.85 4.72] 21600\n70 (0, 250, 100, 380) [2.3  3.12 4.95] 13000\n70 (80, 0, 200, 180) [0.71 1.38 2.12] 21600\n70 (100, 250, 200, 400) [1.38 1.65 2.03] 15000\n72 (0, 0, 120, 150) [0.78 2.12 3.43] 18000\n72 (0, 150, 120, 330) [0.76 2.38 3.62] 21600\n72 (0, 250, 100, 380) [2.03 2.62 3.69] 130…98 tokens truncated…2.39 3.79] 21600\n75 (0, 250, 100, 380) [0.43 2.54 3.64] 13000\n75 (80, 0, 200, 180) [0.72 1.37 1.92] 21600\n75 (100, 250, 200, 400) [1.32 1.56 1.9 ] 15000\n76 (0, 0, 120, 150) [0.94 2.59 5.18] 18000\n76 (0, 150, 120, 330) [0.52 2.47 5.11] 21600\n76 (0, 250, 100, 380) [0.5  2.5  4.39] 13000\n76 (80, 0, 200, 180) [0.76 1.46 2.27] 21600\n76 (100, 250, 200, 400) [1.43 1.72 2.18] 15000\n77 (0, 0, 120, 150) [1.14 3.32 7.4 ] 15410\n77 (0, 150, 120, 330) [0.68 3.05 7.65] 17346\n77 (0, 250, 100, 380) [0.67 3.49 8.1 ] 9550\n77 (80, 0, 200, 180) [0.82 1.64 2.83] 21600\n77 (100, 250, 200, 400) [1.6  2.01 2.7 ] 15000\n","exit":[],"pics":[]},"tok":{"in":83349,"cached":82688,"out":1202,"think":977,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":61,"t":492.8,"say":"The head camera shows the ball passing close on the robot’s right, and the attempt ended shortly after it reached head height without a counted header. I’m shifting the robot slightly right during the approach and moving the upward pitch pulse to the observed contact window near 2.5 s.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":85407,"cached":83200,"out":2556,"think":2296,"usd":0.0023},"sim":{"submit":0,"reset":0}},{"id":62,"t":498.4,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":87987,"cached":85248,"out":71,"think":19,"usd":0.0012},"sim":{"submit":0,"reset":1}},{"id":63,"t":502.3,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 6, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 5}\nresult {\"episode\": 6, \"control_steps\": 231, \"sim_time_s\": 2.31, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ball machine\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 5, \"time_left_s\": 6700.2}\nstatus {\"calls\": 18, \"rows\": 5001, \"control_steps\": 231, \"done\": true, \"reason\": \"failed\", \"episode\": 6, \"control_steps_total\": 1590, \"resets_left\": 5, \"elapsed_s\": 500.2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":88112,"cached":87808,"out":57,"think":6,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":64,"t":515.7,"say":"","calls":[{"kind":"shell","label":"p='/app/output/last_attempt/frames/venue';fs=sorted(os.listdir(p));print(len(fs),json.load(open('/app/output/l","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,json\np='/app/output/last_attempt/frames/venue';fs=sorted(os.listdir(p));print(len(fs),json.load(open('/app/output/last_attempt/meta.json')).get('outcome'))\nids=list(range(35,len(fs),1));out=Image.new('RGB',(960,155*((len(ids)+3)//4)),'white');d=ImageDraw.Draw(out)\nfor j,i in enumerate(ids):\n im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/30:.2f}',fill='black')\nout.save('/app/output/attempt6_venue.png')\nPY"}],"out":{"text":"86 the ball touched the ball machine\n","exit":[],"pics":[]},"tok":{"in":88402,"cached":87936,"out":632,"think":400,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":65,"t":519.9,"say":"","calls":[{"kind":"look","label":"attempt6_venue.png","code":"/app/output/attempt6_venue.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s065_0.jpg"]},"tok":{"in":89065,"cached":88192,"out":35,"think":0,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":66,"t":546.4,"say":"","calls":[{"kind":"shell","label":"for att in ['attempt1_run0','last_attempt']:","code":"python - <<'PY'\nfrom PIL import Image\nimport numpy as np,os\nfor att in ['attempt1_run0','last_attempt']:\n p=f'/app/output/{att}/frames/venue'\n if not os.path.isdir(p):continue\n print('\\n',att)\n for fn in sorted(os.listdir(p)):\n  im=np.array(Image.open(os.path.join(p,fn)))\n  h,w=im.shape[:2]; y1,y2=0,140;x1,x2=100,400\n  roi=im[y1:y2,x1:x2]\n  # white ball pixels: bright and fairly neutral\n  mask=(roi.min(2)>145)&((roi.max(2)-roi.min(2))<65)\n  # largest group via scipy if present\n  try:\n   from scipy.ndimage import label,find_objects\n   labs,n=label(mask); objs=find_objects(labs); cs=[]\n   for k,sl in enumerate(objs,1):\n    if sl:\n     area=(labs[sl]==k).sum()\n     if 10<area<500:\n      yy,xx=np.where(labs[sl]==k);cs.append((area,x1+sl[1].start+xx.mean(),y1+sl[0].start+yy.mean()))\n   if cs:\n    c=max(cs); print(fn[:3],tuple(round(z,1) for z in c))\n  except Exception as e: print(e); break\nPY"}],"out":{"text":"Warning: truncated output (original token count: 1646)\nTotal output lines: 121\n\n\n attempt1_run0\n000 (np.int64(112), np.float64(120.7), np.float64(6.4))\n001 (np.int64(112), np.float64(120.7), np.float64(6.4))\n002 (np.int64(112), np.float64(120.7), np.float64(6.4))\n003 (np.int64(112), np.float64(120.7), np.float64(6.4))\n004 (np.int64(112), np.float64(120.7), np.float64(6.4))\n005 (np.int64(112), np.float64(120.7), np.float64(6.4))\n006 (np.int64(112), np.float64(120.7), np.float64(6.4))\n007 (np.int64(112), np.float64(120.7), np.float64(6.4))\n008 (np.int64(112), np.float64(120.7), np.float64(6.4))\n009 (np.int64(112), np.float64(120.7), np.float64(6.4))\n010 (np.int64(112), np.float64(120.7), np.float64(6.4))\n011 (np.int64(112), np.float64(120.7), np.float64(6.4))\n012 (np.int64(112), np.float64(120.7), np.float64(6.4))\n013 (np.int64(112), np.float64(120.7), np.float64(6.4))\n014 (np.int64(112), np.float64(120.7), np.float64(6.4))\n015 (np.int64(112), np.float64(120.7), np.float64(6.4))\n016 (np.int64(112), np.float64(120.7), np.float64(6.4))\n017 (np.int64(112), np.float64(1…1146 tokens truncated…int64(112), np.float64(120.7), np.float64(6.4))\n069 (np.int64(112), np.float64(120.7), np.float64(6.4))\n070 (np.int64(112), np.float64(120.7), np.float64(6.4))\n071 (np.int64(112), np.float64(120.7), np.float64(6.4))\n072 (np.int64(112), np.float64(120.7), np.float64(6.4))\n073 (np.int64(112), np.float64(120.7), np.float64(6.4))\n074 (np.int64(112), np.float64(120.7), np.float64(6.4))\n075 (np.int64(112), np.float64(120.7), np.float64(6.4))\n076 (np.int64(112), np.float64(120.7), np.float64(6.4))\n077 (np.int64(112), np.float64(120.7), np.float64(6.4))\n078 (np.int64(112), np.float64(120.7), np.float64(6.4))\n079 (np.int64(112), np.float64(120.7), np.float64(6.4))\n080 (np.int64(112), np.float64(120.7), np.float64(6.4))\n081 (np.int64(112), np.float64(120.7), np.float64(6.4))\n082 (np.int64(112), np.float64(120.7), np.float64(6.4))\n083 (np.int64(112), np.float64(120.7), np.float64(6.4))\n084 (np.int64(112), np.float64(120.7), np.float64(6.4))\n085 (np.int64(112), np.float64(120.7), np.float64(6.4))\n","exit":[],"pics":[]},"tok":{"in":91392,"cached":88832,"out":2798,"think":2425,"usd":0.0025},"sim":{"submit":0,"reset":0}},{"id":67,"t":554.2,"say":"","calls":[{"kind":"look","label":"075.jpg","code":"/app/output/last_attempt/frames/head_left/075.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s067_0.jpg"]},"tok":{"in":95094,"cached":90880,"out":278,"think":237,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":68,"t":567.7,"say":"","calls":[{"kind":"shell","label":"L=Robot().spec()['proprio_layout'];a=np.load('/app/output/last_attempt/proprio.npy')","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout'];a=np.load('/app/output/last_attempt/proprio.npy')\nfor name in ['time_s','waist_pitch_pos','waist_pitch_vel','imu_pelvis_qy','imu_torso_qy','imu_pelvis_az','cmd_vy','left_knee_pos','right_knee_pos']:\n i=L.index(name); print(name,[(round(float(a[j,L.index('time_s')]),2),round(float(a[j,i]),2)) for j in range(len(a)) if 2.0<=a[j,L.index('time_s')]<=2.55])\nPY"}],"out":{"text":"time_s [(2.02, 2.02), (2.05, 2.05), (2.08, 2.08), (2.11, 2.11), (2.14, 2.14), (2.17, 2.17), (2.2, 2.2), (2.23, 2.23), (2.26, 2.26), (2.29, 2.29), (2.31, 2.31)]\nwaist_pitch_pos [(2.02, -0.52), (2.05, -0.51), (2.08, -0.47), (2.11, -0.38), (2.14, -0.27), (2.17, -0.15), (2.2, -0.01), (2.23, 0.14), (2.26, 0.28), (2.29, 0.39), (2.31, 0.45)]\nwaist_pitch_vel [(2.02, -0.4), (2.05, 0.78), (2.08, 1.96), (2.11, 3.14), (2.14, 3.7), (2.17, 3.3), (2.2, 4.89), (2.23, 4.67), (2.26, 3.99), (2.29, 3.09), (2.31, 2.42)]\nimu_pelvis_qy [(2.02, -0.01), (2.05, -0.02), (2.08, -0.03), (2.11, -0.04), (2.14, -0.04), (2.17, -0.04), (2.2, -0.03), (2.23, -0.03), (2.26, -0.03), (2.29, -0.03), (2.31, -0.02)]\nimu_torso_qy [(2.02, -0.27), (2.05, -0.28), (2.08, -0.26), (2.11, -0.23), (2.14, -0.18), (2.17, -0.11), (2.2, -0.04), (2.23, 0.04), (2.26, 0.11), (2.29, 0.17), (2.31, 0.2)]\nimu_pelvis_az [(2.02, 9.93), (2.05, 8.37), (2.08, 8.0), (2.11, 6.07), (2.14, 3.16), (2.17, 6.63), (2.2, 17.82), (2.23, 14.61), (2.26, 10.87), (2.29, 7.73), (2.31, 5.92)]\ncmd_vy [(2.02, -0.15), (2.05, -0.15), (2.08, -0.15), (2.11, -0.15), (2.14, -0.15), (2.17, -0.15), (2.2, -0.15), (2.23, -0.15), (2.26, -0.15), (2.29, -0.15), (2.31, -0.15)]\nleft_knee_pos [(2.02, 0.96), (2.05, 1.15), (2.08, 1.31), (2.11, 1.41), (2.14, 1.4), (2.17, 1.23), (2.2, 1.16), (2.23, 1.21), (2.26, 1.22), (2.29, 1.19), (2.31, 1.16)]\nright_knee_pos [(2.02, 0.85), (2.05, 0.86), (2.08, 0.88), (2.11, 0.91), (2.14, 0.94), (2.17, 0.99), (2.2, 1.05), (2.23, 1.08), (2.26, 1.1), (2.29, 1.14), (2.31, 1.15)]\n","exit":[],"pics":[]},"tok":{"in":95558,"cached":94976,"out":1051,"think":838,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":69,"t":584.1,"say":"","calls":[{"kind":"shell","label":"L=Robot().spec()['proprio_layout'];a=np.load('/app/output/last_attempt/proprio.npy');","code":"python - <<'PY'\nimport sys,numpy as np,json,os\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout'];a=np.load('/app/output/last_attempt/proprio.npy');\nprint(a.shape, a[:,L.index('time_s')][:15],a[:,L.index('time_s')][-5:])\nprint(json.load(open('/app/output/last_attempt/meta.json')))\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":97660,"cached":95360,"out":1501,"think":1352,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":70,"t":595.0,"say":"","calls":[{"kind":"look","label":"069.jpg","code":"/app/output/last_attempt/frames/venue/069.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s070_0.jpg"]},"tok":{"in":99671,"cached":97408,"out":769,"think":728,"usd":0.0016},"sim":{"submit":0,"reset":0}},{"id":71,"t":626.1,"say":"","calls":[{"kind":"look","label":"069.jpg","code":"/app/output/last_attempt/frames/head_left/069.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s071_0.jpg"]},"tok":{"in":100626,"cached":99456,"out":3407,"think":3366,"usd":0.0028},"sim":{"submit":0,"reset":0}},{"id":72,"t":659.9,"say":"The torso pulse was out of phase in the last run: its measured pitch was still moving forward at the observed head-level pass. I’m changing it to a short, faster backward sweep centered at 2.29 s, while keeping the slight lateral approach that brought the ball closer to the camera center.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":104219,"cached":100352,"out":3995,"think":3499,"usd":0.0034},"sim":{"submit":0,"reset":0}},{"id":73,"t":670.2,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":108238,"cached":104064,"out":374,"think":322,"usd":0.0016},"sim":{"submit":0,"reset":1}},{"id":74,"t":674.7,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 7, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 4}\nresult {\"episode\": 7, \"control_steps\": 301, \"sim_time_s\": 3.01, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 4, \"time_left_s\": 6527.1}\nstatus {\"calls\": 21, \"rows\": 6001, \"control_steps\": 301, \"done\": true, \"reason\": \"failed\", \"episode\": 7, \"control_steps_total\": 1891, \"resets_left\": 4, \"elapsed_s\": 673.4, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":108666,"cached":108160,"out":57,"think":6,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":75,"t":685.5,"say":"","calls":[{"kind":"shell","label":"for cam in ['venue','head_left']:","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,sys,json,numpy as np\nfor cam in ['venue','head_left']:\n p=f'/app/output/attempt_7/frames/{cam}'; fs=sorted(os.listdir(p)); print(cam,len(fs))\n ids=list(range(55,min(len(fs),86),2));out=Image.new('RGB',(960,155*((len(ids)+3)//4)),'white');d=ImageDraw.Draw(out)\n for j,i in enumerate(ids):\n  im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/30:.2f}s',fill='black')\n out.save(f'/app/output/attempt7_{cam}.png')\nL=None;sys.path.insert(0,'/opt/tools');from rcb_client import Robot;L=Robot().spec()['proprio_layout'];a=np.load('/app/output/attempt_7/proprio.npy')\nfor name in ['time_s','waist_pitch_pos','waist_pitch_vel','imu_torso_qy','imu_pelvis_az','cmd_vy']:\n i=L.index(name);print(name,[(round(float(a[j,L.index('time_s')]),2),round(float(a[j,i]),2)) for j in range(len(a)) if 2.0<=a[j,L.index('time_s')]<=2.6])\nprint(json.load(open('/app/output/attempt_7/meta.json'))['outcome'])\nPY"}],"out":{"text":"venue 101\nhead_left 101\ntime_s [(2.02, 2.02), (2.05, 2.05), (2.08, 2.08), (2.11, 2.11), (2.14, 2.14), (2.17, 2.17), (2.2, 2.2), (2.23, 2.23), (2.26, 2.26), (2.29, 2.29), (2.32, 2.32), (2.35, 2.35), (2.38, 2.38), (2.41, 2.41), (2.44, 2.44), (2.47, 2.47), (2.5, 2.5), (2.53, 2.53), (2.56, 2.56), (2.59, 2.59)]\nwaist_pitch_pos [(2.02, -0.0), (2.05, -0.0), (2.08, -0.0), (2.11, -0.0), (2.14, 0.02), (2.17, 0.09), (2.2, 0.2), (2.23, 0.34), (2.26, 0.41), (2.29, 0.39), (2.32, 0.27), (2.35, 0.01), (2.38, -0.28), (2.41, -0.39), (2.44, -0.43), (2.47, -0.37), (2.5, -0.19), (2.53, 0.01), (2.56, 0.2), (2.59, 0.38)]\nwaist_pitch_vel [(2.02, -0.0), (2.05, -0.0), (2.08, -0.0), (2.11, -0.04), (2.14, 1.49), (2.17, 2.91), (2.2, 3.85), (2.23, 4.54), (2.26, -0.4), (2.29, -1.96), (2.32, -5.69), (2.35, -11.44), (2.38, -5.59), (2.41, -2.47), (2.44, 0.02), (2.47, 4.27), (2.5, 7.13), (2.53, 6.14), (2.56, 5.67), (2.59, 5.25)]\nimu_torso_qy [(2.02, 0.0), (2.05, 0.0), (2.08, 0.0), (2.11, 0.0), (2.14, 0.01), (2.17, 0.03), (2.2, 0.07), (2.23, 0.12), (2.26, 0.17), (2.29, 0.17), (2.32, 0.13), (2.35, 0.03), (2.38, -0.1), (2.41, -0.19), (2.44, -0.24), (2.47, -0.22), (2.5, -0.17), (2.53, -0.08), (2.56, 0.02), (2.59, 0.11)]\nimu_pelvis_az [(2.02, 9.8), (2.05, 9.7), (2.08, 9.85), (2.11, 0.41), (2.14, 8.68), (2.17, 8.59), (2.2, 8.82), (2.23, 7.84), (2.26, 13.38), (2.29, 10.76), (2.32, 9.38), (2.35, 14.0), (2.38, 12.3), (2.41, -1.59), (2.44, -2.53), (2.47, 14.1), (2.5, 13.23), (2.53, 11.95), (2.56, 9.09), (2.59, 4.5)]\ncmd_vy [(2.02, 0.0), (2.05, 0.0), (2.08, 0.0), (2.11, 0.0), (2.14, 0.0), (2.17, 0.0), (2.2, 0.0), (2.23, 0.0), (2.26, 0.0), (2.29, 0.0), (2.32, 0.0), (2.35, 0.0), (2.38, 0.0), (2.41, 0.0), (2.44, 0.0), (2.47, 0.0), (2.5, 0.0), (2.53, 0.0), (2.56, 0.0), (2.59, 0.0)]\nthe ball touched the ground\n","exit":[],"pics":[]},"tok":{"in":108955,"cached":108544,"out":589,"think":185,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":76,"t":698.9,"say":"The saved proprioception shows about 60 ms of lag: the commanded pitch crossed zero at 2.29 s, while the measured torso crossed near 2.35 s. I’ll lead the next fast sweep by that lag so the measured head motion, rather than just the target, peaks during contact.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":110806,"cached":108800,"out":1185,"think":1028,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":77,"t":703.2,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":112015,"cached":110720,"out":59,"think":7,"usd":0.0013},"sim":{"submit":0,"reset":1}},{"id":78,"t":707.6,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 8, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 3}\nresult {\"episode\": 8, \"control_steps\": 296, \"sim_time_s\": 2.96, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 3, \"time_left_s\": 6494.2}\nstatus {\"calls\": 24, \"rows\": 7001, \"control_steps\": 296, \"done\": true, \"reason\": \"failed\", \"episode\": 8, \"control_steps_total\": 2187, \"resets_left\": 3, \"elapsed_s\": 706.3, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0011}\n","exit":[],"pics":[]},"tok":{"in":112128,"cached":111872,"out":57,"think":6,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":79,"t":718.8,"say":"","calls":[{"kind":"shell","label":"L=Robot().spec()['proprio_layout'];a=np.load('/app/output/attempt_8/proprio.npy')","code":"python - <<'PY'\nimport sys,numpy as np,json,os\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout'];a=np.load('/app/output/attempt_8/proprio.npy')\nfor name in ['time_s','waist_pitch_pos','waist_pitch_vel','imu_torso_qy','imu_pelvis_az']:\n i=L.index(name);print(name,[(round(float(a[j,L.index('time_s')]),2),round(float(a[j,i]),2)) for j in range(len(a)) if 2.05<=a[j,L.index('time_s')]<=2.45])\nprint(json.load(open('/app/output/attempt_8/meta.json'))['outcome'])\nPY"}],"out":{"text":"time_s [(2.05, 2.05), (2.08, 2.08), (2.11, 2.11), (2.14, 2.14), (2.17, 2.17), (2.2, 2.2), (2.23, 2.23), (2.26, 2.26), (2.29, 2.29), (2.32, 2.32), (2.35, 2.35), (2.38, 2.38), (2.41, 2.41), (2.44, 2.44)]\nwaist_pitch_pos [(2.05, -0.0), (2.08, 0.02), (2.11, 0.1), (2.14, 0.21), (2.17, 0.34), (2.2, 0.41), (2.23, 0.38), (2.26, 0.26), (2.29, -0.0), (2.32, -0.29), (2.35, -0.4), (2.38, -0.44), (2.41, -0.38), (2.44, -0.2)]\nwaist_pitch_vel [(2.05, -0.0), (2.08, 1.49), (2.11, 3.09), (2.14, 3.85), (2.17, 4.43), (2.2, -0.45), (2.23, -2.11), (2.26, -5.84), (2.29, -11.62), (2.32, -5.43), (2.35, -2.55), (2.38, 0.12), (2.41, 4.2), (2.44, 7.26)]\nimu_torso_qy [(2.05, 0.0), (2.08, 0.01), (2.11, 0.03), (2.14, 0.07), (2.17, 0.13), (2.2, 0.17), (2.23, 0.17), (2.26, 0.13), (2.29, 0.03), (2.32, -0.11), (2.35, -0.2), (2.38, -0.24), (2.41, -0.23), (2.44, -0.17)]\nimu_pelvis_az [(2.05, 9.7), (2.08, 7.11), (2.11, 0.79), (2.14, 9.92), (2.17, 8.34), (2.2, 13.62), (2.23, 10.95), (2.26, 9.32), (2.29, 14.56), (2.32, 11.95), (2.35, -0.9), (2.38, 3.78), (2.41, 15.03), (2.44, 14.19)]\nthe ball touched the ground\n","exit":[],"pics":[]},"tok":{"in":112417,"cached":112000,"out":280,"think":64,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":80,"t":725.1,"say":"","calls":[{"kind":"shell","label":"for cam in ['venue','head_left']:","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os\nfor cam in ['venue','head_left']:\n p=f'/app/output/attempt_8/frames/{cam}';fs=sorted(os.listdir(p));ids=list(range(63,75,1));out=Image.new('RGB',(960,155*((len(ids)+3)//4)),'white');d=ImageDraw.Draw(out)\n for j,i in enumerate(ids):\n  im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/30:.2f}s',fill='black')\n out.save(f'/app/output/attempt8_{cam}.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":113447,"cached":112256,"out":401,"think":174,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":81,"t":731.3,"say":"","calls":[{"kind":"look","label":"attempt8_venue.png","code":"/app/output/attempt8_venue.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s081_0.jpg"]},"tok":{"in":113871,"cached":113280,"out":35,"think":0,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":82,"t":736.2,"say":"","calls":[{"kind":"look","label":"069.jpg","code":"/app/output/attempt_8/frames/venue/069.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s082_0.jpg"]},"tok":{"in":114470,"cached":113792,"out":67,"think":25,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":83,"t":762.5,"say":"","calls":[{"kind":"shell","label":"L=Robot().spec()['proprio_layout'];a=np.load('/app/output/attempt_8/proprio.npy')","code":"python - <<'PY'\nimport sys,numpy as np\nsys.path.insert(0,'/opt/tools');from rcb_client import Robot\nL=Robot().spec()['proprio_layout'];a=np.load('/app/output/attempt_8/proprio.npy')\nfor n in ['cmd_vy','left_knee_pos','right_knee_pos','imu_pelvis_az','imu_pelvis_qy']:\n i=L.index(n);print(n,[(round(float(a[j,L.index('time_s')]),2),round(float(a[j,i]),2)) for j in range(len(a)) if 1.5<=a[j,L.index('time_s')]<=2.3][::3])\nPY"}],"out":{"text":"cmd_vy [(1.51, -0.15), (1.6, -0.15), (1.69, -0.15), (1.78, -0.15), (1.87, 0.0), (1.96, 0.0), (2.05, 0.0), (2.14, 0.0), (2.23, 0.0)]\nleft_knee_pos [(1.51, 0.75), (1.6, 0.75), (1.69, 0.75), (1.78, 0.75), (1.87, 0.76), (1.96, 0.76), (2.05, 0.77), (2.14, 0.81), (2.23, 0.81)]\nright_knee_pos [(1.51, 0.75), (1.6, 0.75), (1.69, 0.75), (1.78, 0.74), (1.87, 0.74), (1.96, 0.75), (2.05, 0.75), (2.14, 0.8), (2.23, 0.79)]\nimu_pelvis_az [(1.51, 9.82), (1.6, 9.81), (1.69, 9.81), (1.78, 9.81), (1.87, 9.78), (1.96, 9.8), (2.05, 9.7), (2.14, 9.92), (2.23, 10.95)]\nimu_pelvis_qy [(1.51, 0.01), (1.6, 0.01), (1.69, 0.01), (1.78, 0.01), (1.87, 0.01), (1.96, 0.01), (2.05, 0.01), (2.14, -0.03), (2.23, -0.02)]\n","exit":[],"pics":[]},"tok":{"in":114723,"cached":114304,"out":2838,"think":2640,"usd":0.0026},"sim":{"submit":0,"reset":0}},{"id":84,"t":790.9,"say":"The fast pitch sweep now reaches a measured −11.6 rad/s with the torso upright, but the ball still passed without a count. The fixed camera shows it slightly ahead of the head. I’ll use a small forward step to bring the head into that path and let the walking policy add vertical motion.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":118057,"cached":114560,"out":3062,"think":2893,"usd":0.003},"sim":{"submit":0,"reset":0}},{"id":85,"t":797.6,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":121143,"cached":117888,"out":70,"think":18,"usd":0.0015},"sim":{"submit":0,"reset":1}},{"id":86,"t":803.5,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 9, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 2}\nresult {\"episode\": 9, \"control_steps\": 262, \"sim_time_s\": 2.62, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 2, \"time_left_s\": 6398.6}\nstatus {\"calls\": 27, \"rows\": 8001, \"control_steps\": 262, \"done\": true, \"reason\": \"failed\", \"episode\": 9, \"control_steps_total\": 2449, \"resets_left\": 2, \"elapsed_s\": 801.8, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":121267,"cached":121088,"out":57,"think":6,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":87,"t":816.3,"say":"","calls":[{"kind":"shell","label":"for cam in ['venue','head_left']:","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,sys,numpy as np,json\nfor cam in ['venue','head_left']:\n p=f'/app/output/attempt_9/frames/{cam}';fs=sorted(os.listdir(p));ids=list(range(50,min(len(fs),80)))\n out=Image.new('RGB',(960,155*((len(ids)+3)//4)),'white');d=ImageDraw.Draw(out)\n for j,i in enumerate(ids):\n  im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/30:.2f}s',fill='black')\n out.save(f'/app/output/attempt9_{cam}.png')\nL=None;sys.path.insert(0,'/opt/tools');from rcb_client import Robot;L=Robot().spec()['proprio_layout'];a=np.load('/app/output/attempt_9/proprio.npy')\nfor name in ['time_s','cmd_vx','left_knee_pos','right_knee_pos','waist_pitch_pos','waist_pitch_vel','imu_pelvis_az']:\n i=L.index(name);print(name,[(round(float(a[j,L.index('time_s')]),2),round(float(a[j,i]),2)) for j in range(len(a)) if 1.7<=a[j,L.index('time_s')]<=2.5][::3])\nprint('outcome',json.load(open('/app/output/attempt_9/meta.json'))['outcome'])\nPY"}],"out":{"text":"time_s [(1.72, 1.72), (1.81, 1.81), (1.9, 1.9), (1.99, 1.99), (2.08, 2.08), (2.17, 2.17), (2.26, 2.26), (2.35, 2.35), (2.44, 2.44)]\ncmd_vx [(1.72, 0.2), (1.81, 0.2), (1.9, 0.2), (1.99, 0.2), (2.08, 0.0), (2.17, 0.0), (2.26, 0.0), (2.35, 0.0), (2.44, 0.0)]\nleft_knee_pos [(1.72, 0.65), (1.81, 0.73), (1.9, 0.7), (1.99, 0.76), (2.08, 0.68), (2.17, 0.57), (2.26, 0.83), (2.35, 0.85), (2.44, 0.85)]\nright_knee_pos [(1.72, 0.71), (1.81, 0.65), (1.9, 0.67), (1.99, 0.68), (2.08, 0.76), (2.17, 0.83), (2.26, 0.84), (2.35, 0.89), (2.44, 0.85)]\nwaist_pitch_pos [(1.72, -0.0), (1.81, 0.0), (1.9, 0.02), (1.99, 0.34), (2.08, 0.24), (2.17, -0.39), (2.26, -0.09), (2.35, 0.37), (2.44, 0.53)]\nwaist_pitch_vel [(1.72, 0.07), (1.81, -0.03), (1.9, 1.45), (1.99, 4.62), (2.08, -6.84), (2.17, -0.45), (2.26, 5.12), (2.35, 4.59), (2.44, -0.16)]\nimu_pelvis_az [(1.72, 10.01), (1.81, 7.66), (1.9, 11.36), (1.99, 6.5), (2.08, 10.23), (2.17, -0.0), (2.26, 17.31), (2.35, 4.73), (2.44, 12.86)]\noutcome the ball touched the ground\n","exit":[],"pics":[]},"tok":{"in":121556,"cached":121216,"out":599,"think":191,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":88,"t":823.7,"say":"","calls":[{"kind":"look","label":"attempt9_venue.png","code":"/app/output/attempt9_venue.png"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s088_0.jpg"]},"tok":{"in":122843,"cached":121472,"out":141,"think":104,"usd":0.0014},"sim":{"submit":0,"reset":0}},{"id":89,"t":839.0,"say":"","calls":[{"kind":"look","label":"069.jpg","code":"/app/output/attempt_9/frames/head_left/069.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s089_0.jpg"]},"tok":{"in":124412,"cached":122752,"out":1406,"think":1364,"usd":0.0021},"sim":{"submit":0,"reset":0}},{"id":90,"t":847.1,"say":"The forward step brought the trajectory closer but its pitch sweep had already passed by the head-level window. I’ll combine that forward approach with the earlier measured pitch timing from the stationary run, then use the remaining reset for the best observed configuration.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":126004,"cached":124032,"out":562,"think":440,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":91,"t":852.3,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":126590,"cached":125952,"out":58,"think":6,"usd":0.0014},"sim":{"submit":0,"reset":1}},{"id":92,"t":857.4,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 10, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 1}\nresult {\"episode\": 10, \"control_steps\": 238, \"sim_time_s\": 2.38, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 1, \"time_left_s\": 6345.1}\nstatus {\"calls\": 30, \"rows\": 9001, \"control_steps\": 238, \"done\": true, \"reason\": \"failed\", \"episode\": 10, \"control_steps_total\": 2687, \"resets_left\": 1, \"elapsed_s\": 855.3, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":126702,"cached":126464,"out":57,"think":6,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":93,"t":871.0,"say":"","calls":[{"kind":"shell","label":"for cam in ['venue','head_left']:","code":"python - <<'PY'\nfrom PIL import Image,ImageDraw\nimport os,sys,numpy as np,json\nfor cam in ['venue','head_left']:\n p=f'/app/output/attempt_10/frames/{cam}';fs=sorted(os.listdir(p));ids=list(range(45,min(len(fs),75)))\n out=Image.new('RGB',(960,155*((len(ids)+3)//4)),'white');d=ImageDraw.Draw(out)\n for j,i in enumerate(ids):\n  im=Image.open(os.path.join(p,fs[i])).resize((240,135));x=j%4*240;y=j//4*155;out.paste(im,(x,y));d.text((x+2,y+136),f'{i/30:.2f}',fill='black')\n out.save(f'/app/output/attempt10_{cam}.png')\nL=None;sys.path.insert(0,'/opt/tools');from rcb_client import Robot;L=Robot().spec()['proprio_layout'];a=np.load('/app/output/attempt_10/proprio.npy')\nfor n in ['time_s','waist_pitch_pos','waist_pitch_vel','imu_torso_qy','imu_pelvis_az','cmd_vx']:\n i=L.index(n);print(n,[(round(float(a[j,L.index('time_s')]),2),round(float(a[j,i]),2)) for j in range(len(a)) if 2.0<=a[j,L.index('time_s')]<=2.4])\nprint('meta',json.load(open('/app/output/attempt_10/meta.json'))['outcome'])\nPY"}],"out":{"text":"time_s [(2.02, 2.02), (2.05, 2.05), (2.08, 2.08), (2.11, 2.11), (2.14, 2.14), (2.17, 2.17), (2.2, 2.2), (2.23, 2.23), (2.26, 2.26), (2.29, 2.29), (2.32, 2.32), (2.35, 2.35), (2.38, 2.38)]\nwaist_pitch_pos [(2.02, -0.0), (2.05, -0.0), (2.08, 0.02), (2.11, 0.1), (2.14, 0.2), (2.17, 0.34), (2.2, 0.41), (2.23, 0.37), (2.26, 0.24), (2.29, -0.04), (2.32, -0.31), (2.35, -0.39), (2.38, -0.4)]\nwaist_pitch_vel [(2.02, 0.09), (2.05, 0.03), (2.08, 1.57), (2.11, 2.86), (2.14, 3.77), (2.17, 4.52), (2.2, -0.41), (2.23, -2.41), (2.26, -6.29), (2.29, -11.72), (2.32, -5.25), (2.35, -1.14), (2.38, 0.84)]\nimu_torso_qy [(2.02, -0.01), (2.05, -0.01), (2.08, -0.01), (2.11, 0.02), (2.14, 0.05), (2.17, 0.11), (2.2, 0.15), (2.23, 0.15), (2.26, 0.11), (2.29, 0.0), (2.32, -0.13), (2.35, -0.21), (2.38, -0.24)]\nimu_pelvis_az [(2.02, 9.6), (2.05, 9.11), (2.08, 7.34), (2.11, 6.89), (2.14, 9.13), (2.17, 8.17), (2.2, 13.08), (2.23, 10.68), (2.26, 10.67), (2.29, 21.69), (2.32, 6.75), (2.35, -0.31), (2.38, 0.33)]\ncmd_vx [(2.02, 0.2), (2.05, 0.2), (2.08, 0.0), (2.11, 0.0), (2.14, 0.0), (2.17, 0.0), (2.2, 0.0), (2.23, 0.0), (2.26, 0.0), (2.29, 0.0), (2.32, 0.0), (2.35, 0.0), (2.38, 0.0)]\nmeta the ball touched the ground\n","exit":[],"pics":[]},"tok":{"in":126991,"cached":126592,"out":958,"think":559,"usd":0.0018},"sim":{"submit":0,"reset":0}},{"id":94,"t":885.9,"say":"","calls":[{"kind":"shell","label":"for n in ['attempt_7','attempt_8','attempt_9','attempt_10']:","code":"python - <<'PY'\nimport json,os,numpy as np\nfor n in ['attempt_7','attempt_8','attempt_9','attempt_10']:\n d=json.load(open(f'/app/output/{n}/meta.json')); a=np.load(f'/app/output/{n}/proprio.npy');\n print(n,'frames',len(os.listdir(f'/app/output/{n}/frames/venue')),'watch',d.get('seconds'),d.get('control_steps_watch'),'prop',a.shape,a[-1,-1])\nPY"}],"out":{"text":"attempt_7 frames 101 watch 3.0 300 prop (101, 143) 3.01\nattempt_8 frames 100 watch 2.95 295 prop (100, 143) 2.96\nattempt_9 frames 88 watch 2.61 261 prop (88, 143) 2.62\nattempt_10 frames 80 watch 2.37 237 prop (80, 143) 2.38\n","exit":[],"pics":[]},"tok":{"in":128783,"cached":126848,"out":1272,"think":1112,"usd":0.0021},"sim":{"submit":0,"reset":0}},{"id":95,"t":897.0,"say":"","calls":[{"kind":"look","label":"069.jpg","code":"/app/output/attempt_8/frames/head_left/069.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s095_0.jpg"]},"tok":{"in":130178,"cached":128640,"out":864,"think":822,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":96,"t":902.5,"say":"","calls":[{"kind":"look","label":"074.jpg","code":"/app/output/attempt_8/frames/venue/074.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s096_0.jpg"]},"tok":{"in":131228,"cached":130048,"out":229,"think":187,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":97,"t":916.1,"say":"","calls":[{"kind":"look","label":"063.jpg","code":"/app/output/attempt_8/frames/venue/063.jpg"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-juggling-head-i00-standard-realtime--a3w6w56/s097_0.jpg"]},"tok":{"in":131643,"cached":131072,"out":1199,"think":1157,"usd":0.002},"sim":{"submit":0,"reset":0}},{"id":98,"t":963.4,"say":"The remaining evidence points to a head bounce that lacks added upward speed. For the final reset, I’m using one small, symmetric knee and ankle extension pulse timed to the incoming ball. It keeps the torso upright and avoids the large crouch that toppled the earlier direct-joint trial.","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":133028,"cached":131456,"out":5971,"think":5143,"usd":0.0045},"sim":{"submit":0,"reset":0}},{"id":99,"t":975.7,"say":"","calls":[{"kind":"robot","label":"python /app/output/gen.py reset","code":"python /app/output/gen.py reset"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":139023,"cached":132864,"out":428,"think":376,"usd":0.0022},"sim":{"submit":0,"reset":1}},{"id":100,"t":980.7,"say":"","calls":[{"kind":"shell","label":"python /app/output/gen.py","code":"python /app/output/gen.py"}],"out":{"text":"submitted {\"episode\": 11, \"control_steps\": 0, \"plan_end_step\": 1000, \"done\": false, \"reason\": null, \"resets_left\": 0}\nresult {\"episode\": 11, \"control_steps\": 295, \"sim_time_s\": 2.95, \"done\": true, \"reason\": \"failed\", \"outcome\": \"the ball touched the ground\", \"stages_reached\": 0, \"stages_total\": 10, \"resets_left\": 0, \"time_left_s\": 6221.1}\nstatus {\"calls\": 33, \"rows\": 10001, \"control_steps\": 295, \"done\": true, \"reason\": \"failed\", \"episode\": 11, \"control_steps_total\": 2982, \"resets_left\": 0, \"elapsed_s\": 979.4, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":139505,"cached":138880,"out":100,"think":49,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":101,"t":995.8,"say":"","calls":[{"kind":"shell","label":"sed -n '1,220p' /app/output/gen.py && cat /app/output/NOTES.md","code":"sed -n '1,220p' /app/output/gen.py && cat /app/output/NOTES.md"}],"out":{"text":"#!/usr/bin/env python3\n\"\"\"Timed symmetric leg pulse controller for juggling-head.\"\"\"\nimport json\nimport sys\nimport numpy as np\nfrom rcb_client import Robot\n\nDT = 0.01\nNOMINAL = np.array([\n    -0.1, 0, 0, 0.3, -0.2, 0,\n    -0.1, 0, 0, 0.3, -0.2, 0,\n    0, 0, 0,\n    0.2, 0.2, 0, 1.28, 0, 0, 0,\n    0.2, -0.2, 0, 1.28, 0, 0, 0,\n    0, 0,\n], dtype=np.float32)\nCROUCH = NOMINAL.copy()\nPUSH = NOMINAL.copy()\nfor j in (3, 9): CROUCH[j] = 0.55; PUSH[j] = 0.05\nfor j in (4, 10): CROUCH[j] = -0.45; PUSH[j] = 0.05\n\n\ndef lerp(a, b, u):\n    u = min(1.0, max(0.0, u))\n    return a * (1.0-u) + b*u\n\n\ndef pose_at(t):\n    \"\"\"Legs balanced by AGILE; make a short backward pitch stroke at each pass.\"\"\"\n    period = 0.68\n    # Measured torso response lags the target by about 60 ms in this mode.\n    impact = 2.23\n    k = max(0, int(np.floor((t-impact)/period)))\n    c = impact+k*period\n    if k == 0 and t < c-0.18:\n        return 0.0\n    if c-0.18 <= t < c-0.06:\n        return 0.48*(t-(c-0.18))/0.12\n    if c-0.06 <= t < c+0.06:\n        return 0.48-0.96*(t-(c-0.06))/0.12\n    if c+0.06 <= t < c+0.30:\n        return -0.48+0.96*(t-(c+0.06))/0.24\n    return 0.48\n\n\ndef build_plan(seconds=10.0):\n    n = int(round(seconds/DT))\n    rows = np.empty((n, 31), dtype=np.float32)\n    period = 0.68\n    first_contact = 2.35\n    for i in range(n):\n        t = i*DT\n        k = max(0, int(np.floor((t-first_contact)/period)))\n        c = first_contact+k*period\n        if k == 0 and t < c-0.35:\n            q = NOMINAL\n       \n… (409 characters left out) …\n()\n    spec = r.spec()\n    if len(sys.argv) > 1 and sys.argv[1] == 'spec':\n        print(json.dumps({k:spec.get(k) for k in ('timing','budget','action_types','robot_facts')}, indent=2))\n        return\n    if len(sys.argv) > 1 and sys.argv[1] == 'reset':\n        z = r.reset(cameras=[])\n        print(json.dumps({k:z.meta.get(k) for k in ('episode','resets_left','control_steps','done','reason')}))\n        return\n    plan = build_plan(10.0)\n    sub = r.submit('joints', plan, dt=DT, interpolate='hold', at=0, cameras=[])\n    print('submitted', json.dumps({k:sub.meta.get(k) for k in ('episode','control_steps','plan_end_step','done','reason','resets_left')}), flush=True)\n    obs = r.get_obs(cameras=['venue', 'head_left'], seconds=12.0, video_fps=30,\n                    video='frames', include_depth=True)\n    outdir = f\"/app/output/attempt_{sub.meta.get('episode', 'latest')}\"\n    obs.save(outdir)\n    print('result', json.dumps({k:obs.meta.get(k) for k in ('episode','control_steps','sim_time_s','done','reason','outcome','stages_reached','stages_total','resets_left','time_left_s')}), flush=True)\n    print('status', json.dumps(r.status()), flush=True)\n\n\nif __name__ == '__main__':\n    main()\n# Juggling-head attempt notes\n\n- Starting from the service specification; use only robot proprioception and listed cameras.\n- First inspect the action layouts, timing, start pose, and remaining resets before starting an attempt.\n- Controller and attempt findings will be recorded here as they develop.\n","exit":[],"pics":[]},"tok":{"in":139837,"cached":139264,"out":830,"think":761,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":102,"t":1002.4,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":141873,"cached":139648,"out":511,"think":193,"usd":0.0019},"sim":{"submit":0,"reset":0}},{"id":103,"t":1006.8,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":142408,"cached":141696,"out":46,"think":0,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":104,"t":1012.9,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r)\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":142478,"cached":142208,"out":196,"think":0,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":105,"t":1021.0,"say":"The final attempt also ended at 0/10 when the ball reached the ground; the service reported zero resets remaining. I’ve updated the controller and kept the notes under the 20-line limit with the attempt outcomes and materials used.","calls":[{"kind":"shell","label":"print(r.status())","code":"python - <<'PY'\nimport sys\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot()\nprint(r.status())\nPY\nwc -l /app/output/NOTES.md\nls -lh /app/output/gen.py /app/output/NOTES.md /app/output/attempt_11/meta.json"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":142698,"cached":142336,"out":447,"think":271,"usd":0.0017},"sim":{"submit":0,"reset":0}},{"id":106,"t":1029.2,"say":"The juggling attempt did not succeed. The final attempt ended at 2.95 s when the ball touched the ground, with 0 of 10 headers. The service reports the episode is over and no resets remain.\n\nI saved the final controller at [gen.py](/app/output/gen.py) and the 7-line record at [NOTES.md](/app/output/NOTES.md). The final referee metadata is in [attempt_11/meta.json](/app/output/attempt_11/meta.json).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":143351,"cached":142464,"out":361,"think":252,"usd":0.0017},"sim":{"submit":0,"reset":0}}]}