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runs/behavior-setting-the-fire-i00-standard--mx3mwim.json

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+{"slug":"behavior-setting-the-fire-i00-standard--mx3mwim","task":"behavior-setting-the-fire-i00-standard","bench":"behavior","mode":"standard","run":"claude_code-qwen3_8_max-high","agent":"claude-code","model":"qwen3.8-max","effort":"high","state":"failed","success":0,"reward":{"success":0,"live_success":0,"graded_by_live":1,"replays":0,"finalized":1,"missing_log":0,"n_actions":1229,"sim_steps":1229,"physics_steps":4916,"steps":410,"elapsed_s":747.9,"video_rendered":1,"video_live":1,"video_pending":0,"settled_success":0,"settle_steps":0,"sim_breakdown":0,"instance_ok":1,"task_failure":1,"sim_error":0,"sim_crashed_on_call":0,"q_score":0.0,"goal_first_step":0,"sim_startups":1,"resumes":0,"resume_state_mismatch":0,"resume_max_tcp_dev_m":0.0,"resume_max_joint_dev":0.0,"gave_up":0,"infra_error":0,"grader_error":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":1,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.0,"peak_processes":0.0,"peak_disk_gb":0.0,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1508,"tokens":{"in":2143014,"cached":2018273,"out":53924,"usd":3.14},"task_text":"# BEHAVIOR-1K · setting_the_fire — STANDARD MODE (robot as a service, eai-standard/2.2)\n\nYou drive an **R1Pro** mobile bimanual robot around a house **as if it were real hardware**: the simulator (BEHAVIOR-1K\nv3.9.2, the 2026 BEHAVIOR Challenge stack) runs in a service you cannot open. You get one client and one episode.\n**Task:** Light a fire in the living-room fireplace. Two pieces of firewood lie on the floor, and a newspaper and a cigar lighter lie on the table; put the newspaper inside the fireplace with both pieces of firewood on top of it, set the newspaper and both pieces of firewood on fire, and switch the lighter off again. Success means all of the following hold at the same time: (1) both pieces of firewood are on fire, on top of the newspaper and inside the fireplace; (2) the newspaper is on fire; (3) the cigar lighter is not switched on. How the simulator judges them: inside(A, B): the centre of A's axis-aligned bounding box lies within B's bounding box and within B's interior (container) volume. ontop(A, B): A touches B and B is directly below A (and not above it). toggled_on(A): A's switch is on. It flips when a robot finger touches A's toggle button for 5 consecutive control steps; touch it again, after letting go, to flip it back. on_fire(A): A's temperature has reached its ignition temperature (250 °C by default); once lit, it stays on fire and heats what is near it. The service checks the goal; it counts once it has held for 1 s, released and at rest (Rules).\n\n## Rules (real-robot rules)\n- **No reset.** The episode starts when the service comes up and ends on success, when the robot has fallen over, when\n  your time is up, on a simulator error or breakdown, or at the runaway guard. Whatever you knock over or push away stays where it ends up.\n- **Success is a settled scene**: the goal has held for 1 s of simulated time in a row (30 control steps) with no goal\n  object in a gripper (assisted grasping lets go only when both fingers are commanded open) and every goal object at\n  rest (slower than 0.05 m/s); then the episode ends (`meta[\"reason\"]` \"success\"). An object still in the hand, or a\n  goal that holds for one frame, is not success. Open the gripper, move clear and let the robot stand (e.g.\n  `r.get_obs(seconds=2.0)`). The goal objects are every object the goal names, a tool or appliance it names (even\n  inside a `not`) included. When your episode is still running at the end of your time (you stopped early, or your\n  time ran out), the service holds the robot still (your last command, the\n  base at 0) for up to 5 s more on the same simulator, and a goal that settles there counts; the service judges the\n  episode itself, nothing is replayed.\n- A simulator breakdown (a non-finite or runaway robot or goal-object state, e.g. after the robot tumbles; reason\n  \"failure: simulator breakdown\") ends the episode as a failure.\n- **A fall ends the episode as a failure** (`meta[\"reason\"]` \"failure: the robot fell over\"): the robot has fa\n… (7,270 characters left out) …\nall proprio columns); poses in the robot's base frame, or in the\n  world frame with `base_pose=` the 7 base proprio columns.\n\nFor scale: the 2026 challenge's human teleoperators needed 304 s on average (9,118 control steps) for this task, and the simulator runs at ~7-11 control steps/s. Budget your time, drive before you reach, and check `meta[\"done\"]`.\n\n## External material\nYou may install packages you need (pip, apt), 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 your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 8 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` 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":21,"reset":0},"replay":null,"replay_last":null,"steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"Check time budget and list directories","code":"date; cat /run/rcb-limits/usage.json 2>/dev/null; echo ---; ls /app /opt/tools 2>/dev/null"},{"kind":"shell","label":"Check installed Python packages","code":"pip list 2>/dev/null | grep -i -E \"gibson|behavior|omni|isaac|torch|numpy|opencv|scipy\"; python3 -V"}],"out":{"text":"Fri Oct 23 16:47:04 UTC 2026\n{\n \"t\": 1792774023.86,\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\": 85.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7115.0,\n \"deadline_utc\": \"2026-10-23T18:45:38Z\"\n}---\n/app:\noutput\n\n/opt/tools:\nrcb1.py\nrcb_client.py\n\n[stdout]\nFri Oct 23 16:47:04 UTC 2026\n{\n \"t\": 1792774023.86,\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\": 85.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7115.0,\n \"deadline_utc\": \"2026-10-23T18:45:38Z\"\n}---\n/app:\noutput\n\n/opt/tools:\nrcb1.py\nrcb_client.py\nnumpy              2.5.3\nscipy              1.18.1\nPython 3.12.14\n\n[stdout]\nnumpy              2.5.3\nscipy              1.18.1\nPython 3.12.14","exit":[],"pics":[]},"tok":{"in":18580,"cached":12906,"out":3877,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":6.2,"say":"","calls":[{"kind":"shell","label":"Check client file sizes","code":"wc -l /opt/tools/rcb_client.py /opt/tools/rcb1.py; ls /app/output"}],"out":{"text":"243 /opt/tools/rcb_client.py\n   83 /opt/tools/rcb1.py\n  326 total\n\n[stdout]\n  243 /opt/tools/rcb_client.py\n   83 /opt/tools/rcb1.py\n  326 total","exit":[],"pics":[]},"tok":{"in":22769,"cached":18574,"out":97,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":10.4,"say":"","calls":[{"kind":"shell","label":"reads rcb_client.py","code":"/opt/tools/rcb_client.py"},{"kind":"shell","label":"reads rcb1.py","code":"/opt/tools/rcb1.py"}],"out":{"text":"1\t\"\"\"eai-standard/2.2 client (formerly rcb-limited/2.x) — the only thing a standard-mode agent gets (installed at\n2\t/opt/tools/rcb_client.py).\n3\t\n4\t    from rcb_client import Robot\n5\t    r = Robot()                                  # finds the service (sim:8000, then localhost:8000), waits for warm-up\n6\t    spec = r.spec()                              # actions, cameras (+ intrinsics, mounting), robot_spec, world, budget, kinematics\n7\t    obs = r.get_obs()                            # current frames: obs.last[cam] -> uint8 (H,W,3); obs.meta[\"proprio\"]\n8\t    obs = r.get_obs(depth=True)                  # + obs.last_depth[cam] -> float32 (H,W) z-depth in metres, 0 = no reading\n9\t    res = r.submit(\"joint_position\", A, dt=0.1)  # A: (T, dim) rows dt apart; returns the execution video\n10\t    res = r.submit(\"ee_pose\", P)                 # (T, dim) end-effector targets (see spec()[\"action_types\"])\n11\t    res.video[cam] -> mp4 bytes    res.frames[cam] -> uint8 (N,H,W,3) if video=\"frames\"/\"both\"    res.last[cam]\n12\t    res.proprio -> float32 (N, D), one row per frame (names: spec()[\"proprio_layout\"]; res.group(\"tcp_pose\"))\n13\t    res.frame_step -> int64 (N,) control step of each frame    res.frame_time_s -> float64 (N,) simulated time\n14\t    res.extrinsic_cv[cam] -> float64 (N,3,4) world->camera per frame (res.meta[\"cameras\"]: intrinsics + the last frame's pose)\n15\t    res = r.submit(..., depth=\"frames\")          # + res.depth[cam] -> float32 (N,H,W) metres, one per frame (1 mm steps\n… (18,883 characters left out) …\nt[str]:\n55\t    \"\"\"Write a frame's parts as files: mp4/jpeg/bytes verbatim, arrays as .npy, meta as meta.json.\"\"\"\n56\t    import numpy as np\n57\t    out = pathlib.Path(out_dir); out.mkdir(parents=True, exist_ok=True)\n58\t    meta, parts = decode(buf, arrays=True); written = []\n59\t    (out / \"meta.json\").write_text(json.dumps(meta, indent=1)); written.append(\"meta.json\")\n60\t    for name, p in parts.items():\n61\t        safe = name.replace(\"/\", \"__\")\n62\t        if p[\"kind\"] == \"array\":\n63\t            f = out / f\"{safe}.npy\"; np.save(f, p[\"data\"])\n64\t        elif p[\"kind\"] == \"mp4\":\n65\t            f = out / f\"{safe}.mp4\"; f.write_bytes(p[\"data\"])\n66\t        elif p[\"kind\"] == \"jpeg\":\n67\t            f = out / f\"{safe}.jpg\"; f.write_bytes(p[\"data\"])\n68\t        elif p[\"kind\"] == \"json\":\n69\t            f = out / f\"{safe}.json\"; f.write_text(json.dumps(p[\"data\"], indent=1))\n70\t        else:\n71\t            f = out / f\"{safe}.bin\"; f.write_bytes(p[\"data\"])\n72\t        written.append(f.name)\n73\t    return written\n74\t\n75\t\n76\tif __name__ == \"__main__\":\n77\t    if len(sys.argv) == 4 and sys.argv[1] == \"unpack\":\n78\t        print(\"\\n\".join(unpack_to_dir(open(sys.argv[2], \"rb\").read(), sys.argv[3])))\n79\t    elif len(sys.argv) == 3 and sys.argv[1] == \"info\":\n80\t        meta, parts = decode(open(sys.argv[2], \"rb\").read(), arrays=False)\n81\t        print(json.dumps(meta, indent=1)); [print(n, {k: v for k, v in p.items() if k != \"data\"}) for n, p in parts.items()]\n82\t    else:\n83\t        print(__doc__)\n84","exit":[],"pics":[]},"tok":{"in":22911,"cached":22763,"out":84,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":73.7,"say":"","calls":[{"kind":"shell","label":"Install pillow and opencv, create directories","code":"pip install -q pillow opencv-python-headless 2>&1 | tail -1; mkdir -p /app/output /app/runs /app/work"}],"out":{"text":"[notice] To update, run: pip install --upgrade pip\n\n[stdout]\n[notice] To update, run: pip install --upgrade pip","exit":[],"pics":[]},"tok":{"in":29657,"cached":29651,"out":2695,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":190.5,"say":"","calls":[{"kind":"edit","label":"explore.py","code":"/app/work/explore.py\n\nimport sys, json, time\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np\nfrom rcb_client import Robot\n\nt0 = time.time()\nr = Robot()\nprint(\"connected after %.1f s\" % (time.time() - t0), flush=True)\nspec = r.spec()\nwith open(\"/app/runs/spec.json\", \"w\") as f:\n    json.dump(spec, f, indent=1)\nprint(\"SPEC KEYS:\", list(spec.keys()), flush=True)\nfor k in (\"budget\", \"robot_spec\", \"cameras\", \"proprio_groups\", \"action_types\", \"kinematics\", \"world\", \"on_service_error\", \"control_hz\", \"default_cameras\", \"max_call_wall_s\", \"max_control_steps\", \"proprio_layout\"):\n    v = spec.get(k)\n    s = json.dumps(v)\n    print(\"== %s ==\" % k, flush=True)\n    print(s[:4000], flush=True)\n\nst = r.status()\nprint(\"STATUS:\", json.dumps(st)[:2000], flush=True)\n\nobs = r.get_obs(depth=True)\nobs.save(\"/app/runs/000\")\nprint(\"obs saved; time_left_s =\", obs.meta.get(\"time_left_s\"), flush=True)\nlayout = spec[\"proprio_layout\"]\nnow = np.asarray(obs.meta[\"proprio\"][\"now\"], dtype=np.float64)\nfor i, n in enumerate(layout):\n    print(\"proprio %-40s %10.4f\" % (n, now[i]), flush=True)\ncammeta = obs.meta.get(\"cameras\", {})\nfor cam, cm in cammeta.items():\n    print(\"CAM\", cam, json.dumps(cm)[:800], flush=True)\nprint(\"DONE explore\", flush=True)\n"}],"out":{"text":"File created successfully at: /app/work/explore.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":32381,"cached":29651,"out":6858,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":202.7,"say":"","calls":[{"kind":"shell","label":"Start connection/exploration script in background","code":"cd /app/work && nohup python3 -I explore.py > explore.log 2>&1 &\necho started; sleep 20; tail -5 explore.log"}],"out":{"text":"Exit code 1\nstarted\ntail: cannot open 'explore.log' for reading: No such file or directory\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":39282,"cached":32375,"out":101,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":253.9,"say":"","calls":[{"kind":"shell","label":"Check whether explore script started","code":"ls -la /app/work/; ps aux | grep -c explore"}],"out":{"text":"total 4\ndrwxr-xr-x 2 root root   55 Oct 23 16:50 .\ndrwxr-xr-x 1 root root   42 Oct 23 16:48 ..\n-rw-r--r-- 1 root root    0 Oct 23 16:50 explore.log\n-rw-r--r-- 1 root root 1214 Oct 23 16:50 explore.py\n5\n\n[stdout]\ntotal 4\ndrwxr-xr-x 2 root root   55 Oct 23 16:50 .\ndrwxr-xr-x 1 root root   42 Oct 23 16:48 ..\n-rw-r--r-- 1 root root    0 Oct 23 16:50 explore.log\n-rw-r--r-- 1 root root 1214 Oct 23 16:50 explore.py\n5","exit":[],"pics":[]},"tok":{"in":39423,"cached":39276,"out":151,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":260.8,"say":"","calls":[{"kind":"shell","label":"Try downloading omnigibson source from PyPI","code":"pip download --no-deps --no-binary :all: omnigibson -d /tmp/ogsrc 2>&1 | tail -2; ls /tmp/ogsrc 2>/dev/null"},{"kind":"shell","label":"Search filesystem for omnigibson sources or task files","code":"find / -name \"*.py\" -path \"*omnigibson*\" 2>/dev/null | head; find / -iname \"*setting_the_fire*\" 2>/dev/null | head; ls /opt 2>/dev/null"}],"out":{"text":"[notice] A new release of pip is available: 25.0.1 -> 26.2.2\n[notice] To update, run: pip install --upgrade pip\nomnigibson-1.1.1.tar.gz\n\n[stdout]\n[notice] A new release of pip is available: 25.0.1 -> 26.2.2\n[notice] To update, run: pip install --upgrade pip\nomnigibson-1.1.1.tar.gz\ntools\nvkclamp\n\n[stdout]\ntools\nvkclamp","exit":[],"pics":[]},"tok":{"in":39701,"cached":39417,"out":269,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":273.0,"say":"","calls":[{"kind":"shell","label":"Extract omnigibson source and try downloading behavior package","code":"mkdir -p /tmp/ogsrc/x && tar xzf /tmp/ogsrc/omnigibson-1.1.1.tar.gz -C /tmp/ogsrc/x && ls /tmp/ogsrc/x; pip download --no-deps behavior -d /tmp/behsrc 2>&1 | tail -3"}],"out":{"text":"<persisted-output>\nOutput too large (39.8KB). Full output saved to: /logs/agent/sessions/projects/-app/85924c60-d84e-49d3-9753-6b5977a1d32c/tool-results/bgjs4nzz6.txt\n\nPreview (first 2KB):\ntar: omnigibson-1.1.1/LICENSE: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/MANIFEST.in: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/PKG-INFO: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/README.md: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/.gitignore: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/__init__.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/action_primitives/action_primitive_set_base.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/action_primitives/curobo.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/action_primitives/starter_semantic_action_primitives.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/action_primitives/symbolic_semantic_action_primitives.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/action_primitives: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.\n… (29,169 characters left out) …\naphs/graph_builder.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/scene_graphs: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/scenes/__init__.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/scenes/interactive_traversable_scene.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/scenes/scene_base.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/scenes/static_traversable_scene.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/scenes/traversable_scene.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/scenes: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/sensors/__init__.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/sensors/dropout_sensor_noise.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/sensors/scan_sensor.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/sensors/sensor_base.py: Cannot change ownership to uid 1001, gid 127: Invalid argument\ntar: omnigibson-1.1.1/omnigibson/sensors/sensor_noise_base.py: Cannot change ownership","exit":[],"pics":[]},"tok":{"in":40049,"cached":39695,"out":252,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":280.1,"say":"","calls":[{"kind":"shell","label":"Check extracted sources for task references","code":"ls /tmp/behsrc 2>/dev/null; ls /tmp/ogsrc/x/omnigibson-1.1.1/omnigibson | head -30; grep -rl \"setting_the_fire\\|SettingTheFire\" /tmp/ogsrc/x 2>/dev/null | head"}],"out":{"text":"__init__.py\naction_primitives\nconfigs\ncontrollers\ndownload_datasets.py\nenvs\nexamples\ninstall.py\nkit_file_changes.patch\nlazy.py\nmacros.py\nmaps\nobject_states\nobjects\nomnigibson_2023_1_1.kit\nomnigibson_4_0_0.kit\nomnigibson_4_1_0.kit\nomnigibson_gym.kit\nprims\nrenderer_settings\nreward_functions\nrobots\nscene_graphs\nscenes\nsensors\nsimulator.py\nsystems\ntasks\ntermination_conditions\ntransition_rules.py\n\n[stdout]\n__init__.py\naction_primitives\nconfigs\ncontrollers\ndownload_datasets.py\nenvs\nexamples\ninstall.py\nkit_file_changes.patch\nlazy.py\nmacros.py\nmaps\nobject_states\nobjects\nomnigibson_2023_1_1.kit\nomnigibson_4_0_0.kit\nomnigibson_4_1_0.kit\nomnigibson_gym.kit\nprims\nrenderer_settings\nreward_functions\nrobots\nscene_graphs\nscenes\nsensors\nsimulator.py\nsystems\ntasks\ntermination_conditions\ntransition_rules.py","exit":[],"pics":[]},"tok":{"in":41102,"cached":40043,"out":168,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":291.1,"say":"","calls":[{"kind":"shell","label":"Find ignition temperature mechanism in omnigibson source","code":"grep -rn \"ignition\" /tmp/ogsrc/x/omnigibson-1.1.1/omnigibson --include=*.py | head -30"},{"kind":"shell","label":"Find OnFire state implementation","code":"grep -rn \"OnFire\\|on_fire\" /tmp/ogsrc/x/omnigibson-1.1.1/omnigibson --include=*.py | grep -v test | head -40"}],"out":{"text":"/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/examples/object_states/onfire_demo.py:56:                abilities={\"flammable\": {\"ignition_temperature\": 100, \"distance_threshold\": 0.5}},\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:19:    Once the temperature is above ignition_temperature, OnFire will become True and stay True.\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:28:        ignition_temperature=None,\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:36:            ignition_temperature (float): The temperature threshold above which on fire will become true.\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:43:        ignition_temperature = (\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:44:            ignition_temperature if ignition_temperature is not None else m.DEFAULT_IGNITION_TEMPERATURE\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:49:        assert fire_temperature > ignition_temperature, \"fire temperature should be higher than ignition temperature.\"\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:60:        self.ignition_temperature = ignition_temperature\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:87:        return self.obj.states[Temperature].get_value() >= self.ignition_temperature\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:93:            # We'll set the temperature just one degree below i\n… (2,813 characters left out) …\np/ogsrc/x/omnigibson-1.1.1/omnigibson/objects/stateful_object.py:304:                link = self.states[OnFire].link\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/utils/bddl_utils.py:240:    \"on_fire\": get_unary_predicate_for_state(object_states.OnFire, \"on_fire\"),\n\n[stdout]\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/__init__.py:21:from omnigibson.object_states.on_fire import OnFire\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/factory.py:31:    \"flammable\": AbilityDependencies(states=[OnFire], requirements=[]),\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/factory.py:58:        OnFire,\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:15:class OnFire(HeatSourceOrSink):\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:19:    Once the temperature is above ignition_temperature, OnFire will become True and stay True.\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py:96:    # Nothing needs to be done to save/load OnFire\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/objects/stateful_object.py:26:from omnigibson.object_states.on_fire import OnFire\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/objects/stateful_object.py:302:            if OnFire in self.states:\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/objects/stateful_object.py:304:                link = self.states[OnFire].link\n/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/utils/bddl_utils.py:240:    \"on_fire\": get_unary_predicate_for_state(object_states.OnFire, \"on_fire\"),","exit":[],"pics":[]},"tok":{"in":41418,"cached":41096,"out":383,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":306.9,"say":"","calls":[{"kind":"shell","label":"reads on_fire.py","code":"/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/on_fire.py"},{"kind":"shell","label":"reads heat_source_sink.py","code":"/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/heat_source_sink.py"}],"out":{"text":"1\tfrom omnigibson.macros import create_module_macros\n2\tfrom omnigibson.object_states.heat_source_or_sink import HeatSourceOrSink\n3\tfrom omnigibson.object_states.temperature import Temperature\n4\t\n5\t# Create settings for this module\n6\tm = create_module_macros(module_path=__file__)\n7\t\n8\t# TODO: Delete default values for this and make them required.\n9\tm.DEFAULT_IGNITION_TEMPERATURE = 250\n10\tm.DEFAULT_FIRE_TEMPERATURE = 1000\n11\tm.DEFAULT_HEATING_RATE = 0.04\n12\tm.DEFAULT_DISTANCE_THRESHOLD = 0.2\n13\t\n14\t\n15\tclass OnFire(HeatSourceOrSink):\n16\t    \"\"\"\n17\t    This state indicates the heat source is currently on fire.\n18\t\n19\t    Once the temperature is above ignition_temperature, OnFire will become True and stay True.\n20\t    Its temperature will further raise to fire_temperature, and start heating other objects around it.\n21\t    It may include a heatsource_link annotation (e.g. candle wick), in which case the fire visualization will be placed\n22\t    under that meta link. Otherwise (e.g. charcoal), the fire visualization will be placed under the root link.\n23\t    \"\"\"\n24\t\n25\t    def __init__(\n26\t        self,\n27\t        obj,\n28\t        ignition_temperature=None,\n29\t        fire_temperature=None,\n30\t        heating_rate=None,\n31\t        distance_threshold=None,\n32\t    ):\n33\t        \"\"\"\n34\t        Args:\n35\t            obj (StatefulObject): The object with the heat source ability.\n36\t            ignition_temperature (float): The temperature threshold above which on fire will become true.\n37\t\n… (1,260 characters left out) …\nreshold,\n56\t            requires_toggled_on=False,\n57\t            requires_closed=False,\n58\t            requires_inside=False,\n59\t        )\n60\t        self.ignition_temperature = ignition_temperature\n61\t\n62\t    @classmethod\n63\t    def requires_metalink(cls, **kwargs):\n64\t        # Does not require metalink to be specified\n65\t        return False\n66\t\n67\t    @property\n68\t    def _default_link(self):\n69\t        # Fallback to root link\n70\t        return self.obj.root_link\n71\t\n72\t    @classmethod\n73\t    def get_dependencies(cls):\n74\t        deps = super().get_dependencies()\n75\t        deps.add(Temperature)\n76\t        return deps\n77\t\n78\t    def _update(self):\n79\t        # Call super first\n80\t        super()._update()\n81\t\n82\t        # If it's on fire, maintain the fire temperature\n83\t        if self.get_value():\n84\t            self.obj.states[Temperature].set_value(self.temperature)\n85\t\n86\t    def _get_value(self):\n87\t        return self.obj.states[Temperature].get_value() >= self.ignition_temperature\n88\t\n89\t    def _set_value(self, new_value):\n90\t        if new_value:\n91\t            return self.obj.states[Temperature].set_value(self.temperature)\n92\t        else:\n93\t            # We'll set the temperature just one degree below ignition.\n94\t            return self.obj.states[Temperature].set_value(self.ignition_temperature - 1)\n95\t\n96\t    # Nothing needs to be done to save/load OnFire\n97\nFile does not exist. Note: your current working directory is /app.\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":42804,"cached":41412,"out":236,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":320.1,"say":"","calls":[{"kind":"shell","label":"reads heat_source_or_sink.py","code":"/tmp/ogsrc/x/omnigibson-1.1.1/omnigibson/object_states/heat_source_or_sink.py"}],"out":{"text":"1\timport torch as th\n2\t\n3\timport omnigibson as og\n4\tfrom omnigibson.macros import create_module_macros, macros\n5\tfrom omnigibson.object_states.aabb import AABB\n6\tfrom omnigibson.object_states.inside import Inside\n7\tfrom omnigibson.object_states.link_based_state_mixin import LinkBasedStateMixin\n8\tfrom omnigibson.object_states.object_state_base import AbsoluteObjectState\n9\tfrom omnigibson.object_states.open_state import Open\n10\tfrom omnigibson.object_states.toggle import ToggledOn\n11\tfrom omnigibson.object_states.update_state_mixin import UpdateStateMixin\n12\tfrom omnigibson.utils.constants import PrimType\n13\tfrom omnigibson.utils.python_utils import classproperty\n14\t\n15\t# Create settings for this module\n16\tm = create_module_macros(module_path=__file__)\n17\t\n18\tm.HEATSOURCE_LINK_PREFIX = \"heatsource\"\n19\tm.HEATING_ELEMENT_MARKER_SCALE = [1.0] * 3\n20\t\n21\t# TODO: Delete default values for this and make them required.\n22\tm.DEFAULT_TEMPERATURE = 200\n23\tm.DEFAULT_HEATING_RATE = 0.04\n24\tm.DEFAULT_DISTANCE_THRESHOLD = 0.2\n25\t\n26\t\n27\tclass HeatSourceOrSink(AbsoluteObjectState, LinkBasedStateMixin, UpdateStateMixin):\n28\t    \"\"\"\n29\t    This state indicates the heat source or heat sink state of the object.\n30\t\n31\t    Currently, if the object is not an active heat source/sink, this returns (False, None).\n32\t    Otherwise, it returns True and the position of the heat source element, or (True, None) if the heat source has no\n33\t    heating element / only checks for Inside.\n34\t    E.g. on a stov\n… (10,502 characters left out) …\nes as well\n270\t                cloth_objs = tuple(self.obj.scene.object_registry(\"prim_type\", PrimType.CLOTH, []))\n271\t                n_cloth_objs = len(cloth_objs)\n272\t                if n_cloth_objs > 0:\n273\t                    cloth_positions = th.zeros((n_cloth_objs, 3))\n274\t                    for i, obj in enumerate(cloth_objs):\n275\t                        cloth_positions[i] = obj.get_position_orientation()[0]\n276\t                    for idx in th.where(\n277\t                        th.norm(heat_source_pos.reshape(1, 3) - cloth_positions, dim=-1) <= self.distance_threshold\n278\t                    )[0]:\n279\t                        # Only add if object has temperature\n280\t                        if cloth_objs[idx] in Temperature.OBJ_IDXS:\n281\t                            affected_objects.add(cloth_objs[idx])\n282\t\n283\t        # Remove self (we cannot affect ourselves) and update the internal set of objects, and remove self\n284\t        if self.obj in affected_objects:\n285\t            affected_objects.remove(self.obj)\n286\t        self._affected_objects = affected_objects\n287\t\n288\t        # Propagate the affected objects' temperatures\n289\t        if len(self._affected_objects) > 0:\n290\t            Temperature.update_temperature_from_heatsource_or_sink(\n291\t                objs=self._affected_objects,\n292\t                temperature=self.temperature,\n293\t                rate=self.heating_rate,\n294\t            )\n295\t\n296\t    # Nothing needs to be done to save/load HeatSource\n297","exit":[],"pics":[]},"tok":{"in":44107,"cached":42798,"out":76,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":459.2,"say":"","calls":[{"kind":"shell","label":"Check exploration script progress","code":"sleep 45; cat /app/work/explore.log | head -50"}],"out":{"text":"[rcb_client] still waiting for the sim service to start (60 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (120 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\n[rcb_client] still waiting for the sim service to start (180 s of at most 3600 s; last answer: HTTPConnectionPool(host='localhost', port=8000): Max retries exceeded with url: /spec (Caused by NewConnectionError(\"HTTPConnection(host='localhost', port=8000): Failed to establish a new connection: )\nconnected after 216.4 s\nSPEC KEYS: ['protocol', 'protocol_compat', 'simulator', 'robot', 'task_text', 'control_hz', 'physics_substeps', 'max_chunk_s', 'max_watch_s', 'max_control_steps', 'cameras', 'default_cameras', 'action_types', 'proprio_layout', 'proprio_groups', 'static', 'world', 'budget', 'episode', 'robot_spec', 'kinematics', 'depth', 'on_service_error', 'max_call_wall_s']\n== budget ==\n{\"reset\": 0, \"steps\": null, \"wall_clock_s\": 7200.0, \"clock\": \"meta time_s / time_left_s count from your first request to the service (any endpoint), not from the service's start, and keep running through a restar\n… (35,987 characters left out) …\night_arm_joint4_effort\", \"left_arm_joint5_effort\", \"right_arm_joint5_effort\", \"left_arm_joint6_effort\", \"right_arm_joint6_effort\", \"left_arm_joint7_effort\", \"right_arm_joint7_effort\", \"left_gripper_finger_joint1_effort\", \"left_gripper_finger_joint2_effort\", \"right_gripper_finger_joint1_effort\", \"right_gripper_finger_joint2_effort\"]\nSTATUS: {\"step\": 0, \"calls\": 0, \"control_steps\": 0, \"done\": false, \"reason\": null, \"elapsed_s\": 1.2, \"resumes\": 0}\nobs saved; time_left_s = 7200.0\nproprio base_footprint_x_joint                       0.4138\nproprio base_footprint_y_joint                      -0.1704\nproprio base_footprint_z_joint                       0.0003\nproprio base_footprint_rx_joint                     -0.0002\nproprio base_footprint_ry_joint                     -0.0000\nproprio base_footprint_rz_joint                      1.6943\nproprio torso_joint1                                 1.0242\nproprio torso_joint2                                -1.4477\nproprio torso_joint3                                -0.4699\nproprio torso_joint4                                -0.0000\nproprio left_arm_joint1                              0.0001\nproprio right_arm_joint1                             0.0001\nproprio left_arm_joint2                              0.0000\nproprio right_arm_joint2                             0.0000\nproprio left_arm_joint3                             -0.0000\nproprio right_arm_joint3                            -0.0000\nproprio left_arm_joint4                              0.0000","exit":[],"pics":[]},"tok":{"in":47718,"cached":44101,"out":10322,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":512.7,"say":"","calls":[{"kind":"shell","label":"View rest of explore log and saved files","code":"sed -n '50,120p' /app/work/explore.log; ls /app/runs/000 /app/runs/000/last 2>/dev/null"}],"out":{"text":"proprio left_arm_joint4                              0.0000\nproprio right_arm_joint4                             0.0000\nproprio left_arm_joint5                             -0.0000\nproprio right_arm_joint5                            -0.0000\nproprio left_arm_joint6                             -0.0000\nproprio right_arm_joint6                            -0.0000\nproprio left_arm_joint7                             -0.0000\nproprio right_arm_joint7                            -0.0000\nproprio left_gripper_finger_joint1                   0.0500\nproprio left_gripper_finger_joint2                   0.0500\nproprio right_gripper_finger_joint1                  0.0500\nproprio right_gripper_finger_joint2                  0.0500\nproprio base_x                                       5.1540\nproprio base_y                                       5.0433\nproprio base_z                                       0.0053\nproprio base_qx                                     -0.0001\nproprio base_qy                                      0.0000\nproprio base_qz                                      0.9735\nproprio base_qw                                      0.2287\nproprio left_eef_x                                   4.9334\nproprio left_eef_y                                   4.8715\nproprio left_eef_z                                   0.4437\nproprio left_eef_qx                                  0.9732\nproprio left_eef_qy                                 -0.2287\nproprio left_eef_qz                                  0.0227\n\n… (6,229 characters left out) …\n    0.0046\nproprio right_arm_joint5_vel                         0.0122\nproprio left_arm_joint6_vel                         -0.0005\nproprio right_arm_joint6_vel                         0.0001\nproprio left_arm_joint7_vel                          0.0004\nproprio right_arm_joint7_vel                         0.0005\nproprio left_gripper_finger_joint1_vel              -0.0000\nproprio left_gripper_finger_joint2_vel               0.0000\nproprio right_gripper_finger_joint1_vel              0.0000\nproprio right_gripper_finger_joint2_vel              0.0000\nproprio left_gripper_opening                         0.1000\nproprio right_gripper_opening                        0.1000\nproprio left_tcp_x                                   4.9342\nproprio left_tcp_y                                   4.8711\nproprio left_tcp_z                                   0.4249\nproprio left_tcp_qx                                  0.9732\nproprio left_tcp_qy                                 -0.2287\nproprio left_tcp_qz                                  0.0227\nproprio left_tcp_qw                                  0.0053\nproprio right_tcp_x                                  5.1587\n/app/runs/000:\nframe_meta.npz\nframes\nlast\nlast_depth_robot_r1:left_realsense_link:Camera:0.npy\nlast_depth_robot_r1:right_realsense_link:Camera:0.npy\nlast_depth_robot_r1:zed_link:Camera:0.npy\nmeta.json\nproprio.npy\n\n/app/runs/000/last:\nrobot_r1:left_realsense_link:Camera:0.jpg\nrobot_r1:right_realsense_link:Camera:0.jpg\nrobot_r1:zed_link:Camera:0.jpg","exit":[],"pics":[]},"tok":{"in":65204,"cached":47712,"out":337,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":526.9,"say":"The simulator is connected (~6800 s left). Let me look at what the robot sees.","calls":[{"kind":"look","label":"robot_r1:zed_link:Camera:0.jpg","code":"/app/runs/000/last/robot_r1:zed_link:Camera:0.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-setting-the-fire-i00-standard--mx3mwim/s017_0.jpg"]},"tok":{"in":66795,"cached":65198,"out":555,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":563.5,"say":"The scene is a living room — sofa, coffee table (with something on it), but no fireplace in view yet. Let me build my driver utilities and scan around.","calls":[{"kind":"edit","label":"util.py","code":"/app/work/util.py\n\n\"\"\"Driver utilities for the R1Pro fire task.\"\"\"\nimport sys, json, time, math, os\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np\nfrom rcb_client import Robot\n\nHEAD = \"robot_r1:zed_link:Camera:0\"\nLW = \"robot_r1:left_realsense_link:Camera:0\"\nRW = \"robot_r1:right_realsense_link:Camera:0\"\nALLC = [HEAD, LW, RW]\n\nSPEC = json.load(open(\"/app/runs/spec.json\"))\nJL = SPEC[\"action_types\"][\"joint_position\"][\"limits\"]\n\n\nclass Bot:\n    def __init__(self):\n        self.r = Robot()\n        self.spec = self.r.spec()\n        self.q = None          # dict of current joint state\n        self.last_obs = None\n\n    # ---------- state ----------\n    def proprio_now(self, obs=None):\n        obs = obs or self.last_obs\n        return np.asarray(obs.meta[\"proprio\"][\"now\"], dtype=np.float64)\n\n    def read_state(self, obs=None):\n        p = self.proprio_now(obs)\n        L = self.spec[\"proprio_layout\"]\n        idx = {n: i for i, n in enumerate(L)}\n        s = {}\n        s[\"trunk\"] = p[6:10].copy()\n        arms = {}\n        for side, off in ((\"L\", 10), (\"R\", 11)):\n            a = []\n            for j in range(1, 8):\n                a.append(p[idx[f\"{'left' if side=='L' else 'right'}_arm_joint{j}\"]])\n            arms[side] = np.array(a)\n        s[\"armL\"], s[\"armR\"] = arms[\"L\"], arms[\"R\"]\n        s[\"gripL\"] = p[idx[\"left_gripper_finger_joint1\"]:idx[\"left_gripper_finger_joint2\"] + 1].copy()\n        s[\"gripR\"] = p[idx[\"right_gripper_finger_joint1\"]:idx[\"right_gripper_finger_joint2\"] + 1].copy()\n        s[\"base_pose\"] = p[28:35].copy()\n        s[\"eefL\"] = p[35:42].copy()\n        s[\"eefR\"] = p[42:49].copy()\n        s[\"tcpL\"] = p[79:86].copy()\n        s[\"tcpR\"] = p[86:93].copy()\n        s[\"openingL\"] = p[idx[\"left_gripper_opening\"]]\n        s[\"openingR\"] = p[idx[\"right_gripper_opening\"]]\n        self.q = s\n        return s\n\n    def base_xy_yaw(self, s=None):\n        s = s or self.q\n        x, y, z, qx, qy, qz, qw = s[\"base_pose\"]\n        yaw = math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy ** 2 + qz ** 2))\n        return np.array([x, y]), yaw\n\n    # ---------- observation ----------\n    def obs(self, cams=ALLC, depth=True, seconds=0.0, video=\"frames\", fps=None):\n        o = self.r.get_obs(cameras=cams, depth=depth, seconds=seconds, video=video, video_fps=fps)\n        self.last_obs = o\n        self.read_state(o)\n        return o\n\n    # ---------- actions ----------\n    def jp(self, rows, dt=0.1, cams=[HEAD], video=\"none\", depth=False):\n        res = self.r.submit(\"joint_position\", np.asarray(rows, np.float32), dt=dt, cameras=cams, video=video, depth=depth)\n        self.last_obs = res\n        self.read_state(res)\n        return res\n\n    def ee(self, rows, cams=[HEAD], video=\"none\", depth=False):\n        res = self.r.submit(\"ee_pose\", np.asarray(rows, np.float32), cameras=cams, video=video, depth=depth)\n        self.last_obs = res\n        self.read_state(res)\n        return res\n\n    def row(self, base=(0.0, 0.0, 0.0), trunk=None, armL=None, armR=None, gripL=None, \n… (215 characters left out) …\ne else np.asarray(armR, float)\n        gripL = s[\"gripL\"] if gripL is None else np.asarray(gripL, float)\n        gripR = s[\"gripR\"] if gripR is None else np.asarray(gripR, float)\n        return np.concatenate([np.asarray(base, float), trunk, armL, gripL, armR, gripR])\n\n    def hold(self, seconds=0.5, cams=[HEAD], video=\"none\"):\n        n = max(1, int(round(seconds / 0.1)))\n        return self.jp([self.row()] * n, dt=0.1, cams=cams, video=video)\n\n    def drive(self, dx=0.0, dy=0.0, dyaw=0.0, seconds=1.0, dt=0.1, cams=[HEAD], video=\"none\"):\n        n = max(1, int(round(seconds / dt)))\n        rows = [self.row(base=(dx, dy, dyaw)) for _ in range(n)]\n        return self.jp(rows, dt=dt, cams=cams, video=video)\n\n    def status(self):\n        return self.r.status()\n\n\n# ---------- projection ----------\ndef pixel_to_world(u, v, z, K, ext):\n    \"\"\"u,v pixel; z depth in m; K 3x3 intrinsic; ext 3x4 world->cam. Returns world xyz.\"\"\"\n    K = np.asarray(K, float); ext = np.asarray(ext, float)\n    x = (u - K[0, 2]) / K[0, 0] * z\n    y = (v - K[1, 2]) / K[1, 1] * z\n    p = np.array([x, y, z])\n    R = ext[:3, :3]; t = ext[:3, 3]\n    return R.T @ (p - t)\n\n\ndef depth_at(obs, cam, u, v, win=3):\n    d = obs.last_depth[cam]\n    u = int(round(u)); v = int(round(v))\n    patch = d[max(0, v - win):v + win + 1, max(0, u - win):u + win + 1]\n    pz = patch[patch > 0.01]\n    if len(pz) == 0:\n        return 0.0\n    return float(np.median(pz))\n\n\ndef cam_params(obs, cam):\n    K = np.asarray(obs.meta[\"cameras\"][cam][\"intrinsic_cv\"], float)\n    ext = np.asarray(obs.meta[\"cameras\"][cam][\"extrinsic_cv\"], float)\n    return K, ext\n\n\ndef overlay_grid(img, path, step=16):\n    import cv2\n    img = img.copy()\n    h, w = img.shape[:2]\n    for x in range(0, w, step):\n        col = (0, 255, 0) if x % 64 == 0 else (0, 128, 0)\n        cv2.line(img, (x, 0), (x, h), col, 1)\n    for y in range(0, h, step):\n        col = (0, 255, 0) if y % 64 == 0 else (0, 128, 0)\n        cv2.line(img, (0, y), (w, y), col, 1)\n    for x in range(0, w, 64):\n        for y in range(0, h, 64):\n            cv2.putText(img, f\"{x},{y}\", (x + 1, y + 10), cv2.FONT_HERSHEY_SIMPLEX, 0.3, (255, 0, 255), 1)\n    cv2.imwrite(path, img)\n    return path\n\n\ndef quat_mul(a, b):\n    ax, ay, az, aw = a; bx, by, bz, bw = b\n    return np.array([\n        aw * bx + ax * bw + ay * bz - az * by,\n        aw * by - ax * bz + ay * bw + az * bx,\n        aw * bz + ax * by - ay * bx + az * bw,\n        aw * bw - ax * bx - ay * by - az * bz])\n\n\ndef quat_from_axis_angle(axis, ang):\n    axis = np.asarray(axis, float); axis = axis / np.linalg.norm(axis)\n    return np.array([axis[0] * np.sin(ang / 2), axis[1] * np.sin(ang / 2), axis[2] * np.sin(ang / 2), np.cos(ang / 2)])\n\n\ndef R_of(q):\n    x, y, z, w = q\n    return np.array([\n        [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)],\n        [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)],\n        [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)]])\n"}],"out":{"text":"File created successfully at: /app/work/util.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":67389,"cached":12866,"out":3616,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":19,"t":633.2,"say":"","calls":[{"kind":"edit","label":"scan.py","code":"/app/work/scan.py\n\nimport sys, time, math\nsys.path.insert(0, \"/app/work\")\nimport numpy as np\nfrom util import *\n\nb = Bot()\no = b.obs(cams=[HEAD], depth=False)\nprint(\"state:\", b.q[\"trunk\"], time.time())\nos.makedirs(\"/app/runs/scan\", exist_ok=True)\n\ntargets = [-2.6, -1.6, -0.6, 0.4, 1.4, 2.4]\nt4 = b.q[\"trunk\"][3]\nfor i, tgt in enumerate(targets):\n    t0 = time.time()\n    n = max(2, int(abs(tgt - t4) / 2.0 / 0.1) + 1)\n    rows = []\n    for k in range(1, n + 1):\n        tr = b.q[\"trunk\"].copy(); tr[3] = t4 + (tgt - t4) * k / n\n        rows.append(b.row(trunk=tr))\n    res = b.jp(rows, dt=0.1, cams=[HEAD], video=\"none\")\n    o = b.obs(cams=[HEAD], depth=False)\n    img = o.last[HEAD]\n    overlay_grid(img, f\"/app/runs/scan/scan_{i}.jpg\")\n    t4 = tgt\n    print(f\"scan {i} tgt={tgt} wall={time.time()-t0:.1f}s done={res.meta.get('done')}\")\nprint(\"OK\")\n"}],"out":{"text":"File created successfully at: /app/work/scan.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":71046,"cached":71040,"out":693,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":646.2,"say":"","calls":[{"kind":"robot","label":"Run torso yaw scan to look around the room","code":"cd /app/work && timeout 300 python3 -I scan.py 2>&1 | tail -12"}],"out":{"text":"state: [ 1.02423120e+00 -1.44772434e+00 -4.69882965e-01 -8.58030035e-07] 1792774670.8968236\nscan 0 tgt=-2.6 wall=26.8s done=False\nscan 1 tgt=-1.6 wall=1.6s done=False\nscan 2 tgt=-0.6 wall=1.5s done=False\nscan 3 tgt=0.4 wall=1.6s done=False\nscan 4 tgt=1.4 wall=1.2s done=False\nscan 5 tgt=2.4 wall=1.6s done=False\nOK\n\n[stdout]\nstate: [ 1.02423120e+00 -1.44772434e+00 -4.69882965e-01 -8.58030035e-07] 1792774670.8968236\nscan 0 tgt=-2.6 wall=26.8s done=False\nscan 1 tgt=-1.6 wall=1.6s done=False\nscan 2 tgt=-0.6 wall=1.5s done=False\nscan 3 tgt=0.4 wall=1.6s done=False\nscan 4 tgt=1.4 wall=1.2s done=False\nscan 5 tgt=2.4 wall=1.6s done=False\nOK","exit":[],"pics":[]},"tok":{"in":71781,"cached":71040,"out":180,"think":null,"usd":0},"sim":{"submit":6,"reset":0}},{"id":21,"t":702.9,"say":"Scan took ~35 s. Let me view the six views.","calls":[{"kind":"look","label":"scan_0.jpg","code":"/app/runs/scan/scan_0.jpg"},{"kind":"look","label":"scan_1.jpg","code":"/app/runs/scan/scan_1.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-setting-the-fire-i00-standard--mx3mwim/s021_0.jpg","behavior-setting-the-fire-i00-standard--mx3mwim/s021_0.jpg"]},"tok":{"in":72186,"cached":71775,"out":134,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":22,"t":713.4,"say":"","calls":[{"kind":"look","label":"scan_2.jpg","code":"/app/runs/scan/scan_2.jpg"},{"kind":"look","label":"scan_3.jpg","code":"/app/runs/scan/scan_3.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-setting-the-fire-i00-standard--mx3mwim/s022_0.jpg","behavior-setting-the-fire-i00-standard--mx3mwim/s022_0.jpg"]},"tok":{"in":72472,"cached":72180,"out":187,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":23,"t":725.9,"say":"","calls":[{"kind":"look","label":"scan_4.jpg","code":"/app/runs/scan/scan_4.jpg"},{"kind":"look","label":"scan_5.jpg","code":"/app/runs/scan/scan_5.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-setting-the-fire-i00-standard--mx3mwim/s023_0.jpg","behavior-setting-the-fire-i00-standard--mx3mwim/s023_0.jpg"]},"tok":{"in":72811,"cached":72466,"out":230,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":24,"t":766.9,"say":"Found the fireplace (brick chimney with a dark opening) and possible firewood on the floor. Let me capture depth-annotated views of each target.","calls":[{"kind":"edit","label":"loc.py","code":"/app/work/loc.py\n\nimport sys, time, math, json\nsys.path.insert(0, \"/app/work\")\nimport numpy as np\nfrom util import *\n\nb = Bot()\nb.obs(cams=[HEAD], depth=False)\n\ndef set_trunk4(tgt, pitch2=None):\n    t4 = b.q[\"trunk\"][3]\n    n = max(2, int(abs(tgt - t4) / 2.0 / 0.1) + 1)\n    rows = []\n    for k in range(1, n + 1):\n        tr = b.q[\"trunk\"].copy(); tr[3] = t4 + (tgt - t4) * k / n\n        if pitch2 is not None:\n            tr[1] = b.q[\"trunk\"][1] + (pitch2 - b.q[\"trunk\"][1]) * k / n\n        rows.append(b.row(trunk=tr))\n    b.jp(rows, dt=0.1, cams=[HEAD], video=\"none\")\n\nviews = [(\"fp\", -2.0, None), (\"wood\", 1.4, None), (\"table\", 0.0, None), (\"table_down\", 0.0, -0.6)]\nos.makedirs(\"/app/runs/loc\", exist_ok=True)\nfor name, t4, p2 in views:\n    set_trunk4(t4, p2)\n    o = b.obs(cams=[HEAD], depth=True)\n    img = o.last[HEAD]\n    overlay_grid(img, f\"/app/runs/loc/{name}.jpg\")\n    np.save(f\"/app/runs/loc/{name}_depth.npy\", o.last_depth[HEAD])\n    K, ext = cam_params(o, HEAD)\n    json.dump({\"K\": K.tolist(), \"ext\": ext.tolist(), \"base_pose\": b.q[\"base_pose\"].tolist()},\n              open(f\"/app/runs/loc/{name}_cam.json\", \"w\"))\n    d = o.last_depth[HEAD]\n    print(name, \"depth stats:\", np.percentile(d[d > 0], [5, 50, 95]).round(2), \"t_left\", o.meta.get(\"time_left_s\"))\nprint(\"OK\")\n"}],"out":{"text":"File created successfully at: /app/work/loc.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":73193,"cached":72805,"out":1582,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":25,"t":790.9,"say":"","calls":[{"kind":"robot","label":"Capture depth views of fireplace, firewood, table","code":"timeout 300 python3 -I loc.py 2>&1 | tail -8"}],"out":{"text":"fp depth stats: [0.9  1.26 2.12] t_left 6822.8\nwood depth stats: [1.02 2.03 5.32] t_left 6818.6\ntable depth stats: [1.03 1.84 3.87] t_left 6816.9\ntable_down depth stats: [0.98 1.82 3.29] t_left 6816.4\nOK\n\n[stdout]\nfp depth stats: [0.9  1.26 2.12] t_left 6822.8\nwood depth stats: [1.02 2.03 5.32] t_left 6818.6\ntable depth stats: [1.03 1.84 3.87] t_left 6816.9\ntable_down depth stats: [0.98 1.82 3.29] t_left 6816.4\nOK","exit":[],"pics":[]},"tok":{"in":74817,"cached":73187,"out":122,"think":null,"usd":0},"sim":{"submit":4,"reset":0}},{"id":26,"t":811.2,"say":"","calls":[{"kind":"look","label":"fp.jpg","code":"/app/runs/loc/fp.jpg"},{"kind":"look","label":"wood.jpg","code":"/app/runs/loc/wood.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-setting-the-fire-i00-standard--mx3mwim/s026_0.jpg","behavior-setting-the-fire-i00-standard--mx3mwim/s026_0.jpg"]},"tok":{"in":75076,"cached":74811,"out":95,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":27,"t":848.2,"say":"","calls":[{"kind":"look","label":"table_down.jpg","code":"/app/runs/loc/table_down.jpg"},{"kind":"look","label":"table.jpg","code":"/app/runs/loc/table.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["behavior-setting-the-fire-i00-standard--mx3mwim/s027_0.jpg","behavior-setting-the-fire-i00-standard--mx3mwim/s027_0.jpg"]},"tok":{"in":75323,"cached":75070,"out":1314,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":28,"t":951.5,"say":"","calls":[{"kind":"shell","label":"Compute world coordinates of clicked pixels","code":"timeout 60 python3 -I -c \"\nimport sys; sys.path.insert(0,'/app/work')\nimport numpy as np, json\nfrom util import *\nfor name, pts in [('fp',[(95,130),(120,120),(75,120),(160,160)]),\n                  ('wood',[(110,158),(132,152),(100,150)]),\n                  ('table_down',[(105,120),(110,125),(90,150),(140,160)])]:\n    cam = json.load(open(f'/app/runs/loc/{name}_cam.json')); K=np.array(cam['K']); ext=np.array(cam['ext'])\n    d = np.load(f'/app/runs/loc/{name}_depth.npy')\n    for (u,v) in pts:\n        z = depth_at(type('O',(),{'last_depth':{HEAD:d}})(), HEAD, u, v)\n        w = pixel_to_world(u,v,z,K,ext) if z>0 else None\n        print(name,(u,v),'z=%.2f'%z, None if w is None else np.round(w,3))\n\""}],"out":{"text":"fp (95, 130) z=2.35 [6.196 6.945 0.188]\nfp (120, 120) z=1.27 [5.941 5.938 0.888]\nfp (75, 120) z=2.24 [5.842 7.245 0.446]\nfp (160, 160) z=1.26 [6.217 5.429 0.419]\nwood (110, 158) z=1.69 [4.115 4.076 0.036]\nwood (132, 152) z=1.84 [3.709 4.263 0.009]\nwood (100, 150) z=1.92 [4.1   3.763 0.01 ]\ntable_down (105, 120) z=1.69 [3.545 5.698 0.434]\ntable_down (110, 125) z=1.58 [3.698 5.724 0.421]\ntable_down (90, 150) z=1.65 [3.693 5.339 0.007]\ntable_down (140, 160) z=1.49 [4.22  5.991 0.007]\n\n[stdout]\nfp (95, 130) z=2.35 [6.196 6.945 0.188]\nfp (120, 120) z=1.27 [5.941 5.938 0.888]\nfp (75, 120) z=2.24 [5.842 7.245 0.446]\nfp (160, 160) z=1.26 [6.217 5.429 0.419]\nwood (110, 158) z=1.69 [4.115 4.076 0.036]\nwood (132, 152) z=1.84 [3.709 4.263 0.009]\nwood (100, 150) z=1.92 [4.1   3.763 0.01 ]\ntable_down (105, 120) z=1.69 [3.545 5.698 0.434]\ntable_down (110, 125) z=1.58 [3.698 5.724 0.421]\ntable_down (90, 150) z=1.65 [3.693 5.339 0.007]\ntable_down (140, 160) z=1.49 [4.22  5.991 0.007]","exit":[],"pics":[]},"tok":{"in":76789,"cached":75317,"out":4010,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":29,"t":1011.2,"say":"World positions estimated. Now I'll build a closed-loop base driver and approach the fireplace for a close look.","calls":[{"kind":"edit","label":"navlib.py","code":"/app/work/navlib.py\n\nimport sys, math\nsys.path.insert(0, \"/app/work\")\nimport numpy as np\nfrom util import *\n\n\ndef wrap(a):\n    return (a + math.pi) % (2 * math.pi) - math.pi\n\n\ndef base_state(b):\n    x, y, z, qx, qy, qz, qw = b.q[\"base_pose\"]\n    yaw = math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy ** 2 + qz ** 2))\n    return np.array([x, y]), yaw\n\n\ndef fwd_clear(b, min_d=0.35):\n    o = b.last_obs\n    if o is None or HEAD not in getattr(o, \"last_depth\", {}):\n        return True\n    d = o.last_depth[HEAD]\n    reg = d[110:210, 70:155]\n    pz = reg[reg > 0.02]\n    if len(pz) == 0:\n        return True\n    return float(np.percentile(pz, 5)) > min_d\n\n\ndef drive_to(b, txy, tyaw=None, tol=0.07, tol_yaw=0.10, max_iter=25, speed=0.010, yaw_speed=0.012, cams=[HEAD]):\n    \"\"\"Closed-loop holonomic drive to world (x,y) and yaw. Returns final err.\"\"\"\n    for it in range(max_iter):\n        pos, yaw = base_state(b)\n        e = np.asarray(txy, float) - pos\n        dist = np.linalg.norm(e)\n        cerr = wrap(tyaw - yaw) if tyaw is not None else 0.0\n        if dist < tol and abs(cerr) < tol_yaw:\n            return dist\n        c, s = math.cos(yaw), math.sin(yaw)\n        dx = c * e[0] + s * e[1]\n        dy = -s * e[0] + c * e[1]\n        if tyaw is not None and abs(cerr) > 0.5 and dist > 0.3:\n            bx, by = 0.0, 0.0\n        else:\n            g = min(1.0, dist / 0.3)\n            bx = float(np.clip(dx / max(dist, 1e-6) * speed * g, -speed, speed))\n            by = float(np.clip(dy / max(dist, 1e-6) * speed * g, -speed, speed))\n        byw = float(np.clip(cerr * 0.15, -yaw_speed, yaw_speed)) if tyaw is not None else 0.0\n        if (bx > 0 or by != 0) and not fwd_clear(b):\n            print(\"  fwd blocked, stop\", flush=True)\n            return dist\n        rows = [b.row(base=(bx, by, byw)) for _ in range(30)]\n        b.jp(rows, dt=0.1, cams=cams, video=\"none\")\n        print(f\"  drive it{it} dist={dist:.2f} yaw_err={cerr:.2f} pos={np.round(pos,2)}\", flush=True)\n    pos, yaw = base_state(b)\n    return float(np.linalg.norm(np.asarray(txy, float) - pos))\n"}],"out":{"text":"File created successfully at: /app/work/navlib.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":81219,"cached":76783,"out":2590,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":30,"t":1039.0,"say":"","calls":[{"kind":"shell","label":"Enable depth in drive loop for obstacle checking","code":"python3 - <<'EOF'\nimport re\np='/app/work/navlib.py'\ns=open(p).read()\ns=s.replace(\"b.jp(rows, dt=0.1, cams=cams, video=\\\"none\\\")\",\"b.jp(rows, dt=0.1, cams=cams, video=\\\"none\\\", depth=True)\")\nopen(p,'w').write(s)\nEOF\ngrep -n \"depth=True\" /app/work/navlib.py"}],"out":{"text":"52:        b.jp(rows, dt=0.1, cams=cams, video=\"none\", depth=True)\n\n[stdout]\n52:        b.jp(rows, dt=0.1, cams=cams, video=\"none\", depth=True)","exit":[],"pics":[]},"tok":{"in":83851,"cached":81213,"out":415,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":31,"t":1051.9,"say":"","calls":[{"kind":"edit","label":"approach_fp.py","code":"/app/work/approach_fp.py\n\nimport sys, math, json\nsys.path.insert(0, \"/app/work\")\nimport numpy as np\nfrom util import *\nfrom navlib import *\n\nb = Bot()\nb.obs(cams=[HEAD], depth=True)\nF = np.array([6.15, 6.85])\npos, yaw = base_state(b)\nu = (F - pos) / np.linalg.norm(F - pos)\ntgt = F - 0.85 * u\ntyaw = math.atan2(u[1], u[0])\nprint(\"from\", np.round(pos, 2), \"to\", np.round(tgt, 2), \"yaw\", round(tyaw, 2), flush=True)\nd = drive_to(b, tgt, tyaw)\nprint(\"arrived err\", d, np.round(base_state(b)[0], 2), flush=True)\n\nos.makedirs(\"/app/runs/fp2\", exist_ok=True)\nfor name, p2 in [(\"eye\", None), (\"down\", -0.9), (\"down2\", -1.4)]:\n    if p2 is not None:\n        t = b.q[\"trunk\"].copy(); t[1] = p2\n        n = 8\n        rows = []\n        for k in range(1, n + 1):\n            tr = b.q[\"trunk\"].copy()\n            tr[1] = b.q[\"trunk\"][1] + (p2 - b.q[\"trunk\"][1]) * k / n\n            rows.append(b.row(trunk=tr))\n        b.jp(rows, dt=0.1, cams=[HEAD], video=\"none\")\n    o = b.obs(cams=[HEAD], depth=True)\n    overlay_grid(o.last[HEAD], f\"/app/runs/fp2/{name}.jpg\")\n    np.save(f\"/app/runs/fp2/{name}_depth.npy\", o.last_depth[HEAD])\n    K, ext = cam_params(o, HEAD)\n    json.dump({\"K\": K.tolist(), \"ext\": ext.tolist()}, open(f\"/app/runs/fp2/{name}_cam.json\", \"w\"))\n    print(name, \"saved\", flush=True)\nprint(\"base now\", np.round(base_state(b)[0], 3), round(base_state(b)[1], 3))\n"}],"out":{"text":"File created successfully at: /app/work/approach_fp.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":84661,"cached":83845,"out":666,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":32,"t":1076.9,"say":"","calls":[{"kind":"robot","label":"Drive to fireplace viewpoint and capture views","code":"python3 - <<'EOF'\np='/app/work/approach_fp.py'\ns=open(p).read()\ns=s.replace('[(\"eye\", None), (\"down\", -0.9), (\"down2\", -1.4)]','[(\"eye\", None), (\"down\", -0.6), (\"down2\", -0.1)]')\nopen(p,'w').write(s)\nEOF\ntimeout 400 python3 -I /app/work/approach_fp.py 2>&1 | tail -20"}],"out":{"text":"drive it6 dist=0.24 yaw_err=1.73 pos=[5.57 6.28]\n  drive it7 dist=0.17 yaw_err=1.14 pos=[5.58 6.16]\n  drive it8 dist=0.11 yaw_err=1.40 pos=[5.76 6.  ]\n  drive it9 dist=0.28 yaw_err=2.82 pos=[5.47 6.14]\n  drive it10 dist=0.73 yaw_err=-1.45 pos=[5.14 6.52]\nTraceback (most recent call last):\n  File \"/app/work/approach_fp.py\", line 15, in <module>\n    d = drive_to(b, tgt, tyaw)\n        ^^^^^^^^^^^^^^^^^^^^^^\n  File \"/app/work/navlib.py\", line 52, in drive_to\n    b.jp(rows, dt=0.1, cams=cams, video=\"none\", depth=True)\n  File \"/app/work/util.py\", line 68, in jp\n    res = self.r.submit(\"joint_position\", np.asarray(rows, np.float32), dt=dt, cameras=cams, video=video, depth=depth)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 185, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 161, in _post\n    raise EpisodeOver(_over(r) if r.headers.get(\"Content-Type\", \"\").startswith(\"application/json\") else \"episode finished\")\nrcb_client.EpisodeOver: failure: the robot fell over\n\n[stdout]\n  drive it6 dist=0.24 yaw_err=1.73 pos=[5.57 6.28]\n  drive it7 dist=0.17 yaw_err=1.14 pos=[5.58 6.16]\n  drive it8 dist=0.11 yaw_err=1.40 pos=[5.76 6.  ]\n  drive it9 dist=0.28 yaw_err=2.82 pos=[5.47 6.14]\n  drive it10 dist=0.73 yaw_err=-1.45 pos=[5.14 6.52]\nTraceback (most recent call last):\n  File \"/app/work/approach_fp.py\", line 15, in <module>\n    d = drive_to(b, tgt, tyaw)\n        ^^^^^^^^^^^^^^^^^^^^^^\n  File \"/app/work/navlib.py\", line 52, in drive_to\n    b.jp(rows, dt=0.1, cams=cams, video=\"none\", depth=True)\n  File \"/app/work/util.py\", line 68, in jp\n    res = self.r.submit(\"joint_position\", np.asarray(rows, np.float32), dt=dt, cameras=cams, video=video, depth=depth)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 185, in submit\n    res = self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 161, in _post\n    raise EpisodeOver(_over(r) if r.headers.get(\"Content-Type\", \"\").startswith(\"application/json\") else \"episode finished\")\nrcb_client.EpisodeOver: failure: the robot fell over","exit":[],"pics":[]},"tok":{"in":85370,"cached":84655,"out":844,"think":null,"usd":0},"sim":{"submit":11,"reset":0}},{"id":33,"t":1233.3,"say":"The robot fell over — the episode is over as a failure. Let me confirm the service state.","calls":[{"kind":"shell","label":"Check episode status after fall","code":"timeout 60 python3 -I -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nimport requests\ntry:\n    r = Robot(timeout=30)\n    print('status:', r.status())\nexcept Exception as e:\n    print('EXC:', type(e).__name__, str(e)[:300])\n\""}],"out":{"text":"status: {'step': 410, 'calls': 35, 'control_steps': 1229, 'done': True, 'reason': 'failure: the robot fell over', 'elapsed_s': 816.9, 'resumes': 0}\n\n[stdout]\nstatus: {'step': 410, 'calls': 35, 'control_steps': 1229, 'done': True, 'reason': 'failure: the robot fell over', 'elapsed_s': 816.9, 'resumes': 0}","exit":[],"pics":[]},"tok":{"in":87064,"cached":85364,"out":3053,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":34,"t":1305.7,"say":"Episode confirmed as **finished — failure: robot tipped over** (control step 1229). Due to the fall rule, the trial ends here; no reset will be performed. My blind closed-loop driving pushed into the protrusion of the fireplace's brick/hearth stone, and the robot tipped over.\n\nI'll write up the solution script for the record. I'll incorporate the safety fixes that this failure revealed (directional depth proximity guard, tilt guard, lower speed, confirmation via visual inspection before approaching).","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\n#!/usr/bin/env python3\n\"\"\"BEHAVIOR-1K setting_the_fire — R1Pro solution script (record copy).\n\nTask: put the newspaper inside the living-room fireplace with both pieces of firewood on top of\nit, set newspaper + both firewood on fire with the cigar lighter, then switch the lighter off.\n\nPipeline (all perception from the robot's own RGB-D cameras + proprioception; no privileged state):\n  1. recon      : torso-yaw panorama + depth; pixel clicks -> world points (camera calibration\n                  arrives with every frame, so pixels/depth/pose always agree).\n  2. navigate   : closed-loop holonomic base driving to stand-off poses, gated by a directional\n                  depth proximity guard (front wedge + low band for curbs) and a base-tilt guard.\n  3. manipulate : ee_pose (cuRobo IK) grasp/place primitives: approach from above, assisted-grasp\n                  close, lift; placements released only with both fingers at the open command.\n  4. ignite     : hold the lighter (right hand), press its toggle button with the LEFT fingertip\n                  (5+ control steps of contact flips it), bring the flame within the 0.2 m heating\n                  radius of the newspaper, wait for visible fire, touch the flame to each firewood,\n                  press the button again (after letting go) to switch it off, set the lighter down.\n  5. settle     : open grippers, back away, stand still; the service counts success once the goal\n                  holds 1 s with every goal object at rest and out of the grippers.\n\nPhysics the plan relies on (OmniGibson heat model): OnFire latches at 250 degC; a burning object\nsits at 1000 degC and heats everything within 0.2 m at 4 %/s of the difference, so the burning\nnewspaper ignites both firewood pieces resting on it in ~10 s of simulated time.\n\nSafety lessons baked in after the trial run (the robot fell over driving blind into the fireplace\nhearth): never drive without a proximity gate on the actual direction of travel, keep the base\nslow (<=0.2 m/s, <=0.4 rad/s), re-plan every 0.5 s, stop on any base tilt, and stand off ~1 m from\nuncertain targets until a close-up view confirms free space.\n\"\"\"\nimport sys, os, math, json, time\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np\nfrom rcb_client import Robot, EpisodeOver\n\nHEAD = \"robot_r1:zed_link:Camera:0\"\nLW = \"robot_r1:left_realsense_link:Camera:0\"\nRW = \"robot_r1:right_realsense_link:Camera:0\"\nOUT = \"/app/runs/gen\"\n\n# --- world waypoints measured by pixel-clicking RGB-D frames from the trial's recon views ---\nFIREPLACE = np.array([6.15, 6.85])     # brick chimney / firebox, ~2.3 m NE of the start pose\nHEARTH_Z = 0.10                        # firebox floor height (confirm from the close-up view)\nWOOD = [np.array([4.10, 3.95]), np.array([3.75, 4.20])]   # the two logs on the floor\nTABLE = np.array([3.62, 5.71])         # coffee table top z ~0.42 with newspaper + lighter on it\nOPEN_FING = 0.07                       # the service's open command (finger \n… (9,233 characters left out) …\nf quat)\n\n\ndef main():\n    os.makedirs(OUT, exist_ok=True)\n    b = Bot()\n    b.obs()\n    print(\"[start] base\", np.round(b.q[\"base_pose\"][:2], 2), \"time_left\",\n          b.last.meta.get(\"time_left_s\"), flush=True)\n\n    # 1. newspaper: table -> hearth ------------------------------------------------------\n    tgt, yaw = b.face(TABLE, 0.55)\n    b.drive_to(tgt, yaw)\n    o = b.obs()\n    news = b.pixel_world(o, HEAD, *NEWS_PX)            # click from the close-up view in a live run\n    b.grasp_above(\"R\", news, z_grasp=news[2] + 0.005)\n    tgt, yaw = b.face(FIREPLACE, 0.75)\n    b.drive_to(tgt, yaw)\n    b.place(\"R\", [HEARTH[0], HEARTH[1], HEARTH_Z + 0.02])\n\n    # 2. firewood x2: floor -> on top of the newspaper ------------------------------------\n    for i, w in enumerate(WOOD):\n        tgt, yaw = b.face(w, 0.45)\n        b.drive_to(tgt, yaw)\n        o = b.obs()\n        p = b.pixel_world(o, HEAD, *WOOD_PX[i])\n        b.grasp_above(\"R\", p, z_grasp=p[2] + 0.01)\n        tgt, yaw = b.face(FIREPLACE, 0.75)\n        b.drive_to(tgt, yaw)\n        b.place(\"R\", [HEARTH[0] + OFFS[i][0], HEARTH[1] + OFFS[i][1], HEARTH_Z + 0.07])\n\n    # 3. lighter: pick, toggle on with the other hand, ignite, toggle off, set down -------\n    tgt, yaw = b.face(TABLE, 0.55)\n    b.drive_to(tgt, yaw)\n    o = b.obs()\n    lit = b.pixel_world(o, HEAD, *LIGHTER_PX)\n    b.grasp_above(\"R\", lit, z_grasp=lit[2] + 0.01)\n    tgt, yaw = b.face(FIREPLACE, 0.70)\n    b.drive_to(tgt, yaw)\n    b.press_with(\"L\", lit + [0, 0, 0.06], seconds=0.5)          # flips the toggle ON\n    # hold the flame over the newspaper until it burns, then touch each firewood\n    flame = [HEARTH[0], HEARTH[1], HEARTH_Z + 0.12]\n    b.move_ee(\"R\", [(flame, QUAT_DOWN)], 0.0)\n    for _ in range(40):\n        o = b.obs(cams=(HEAD, RW))\n        if b.fire_pixels(o, HEAD) + b.fire_pixels(o, RW) > 30:\n            break\n        b.hold(1.0, cams=(HEAD,))\n    for i in range(2):\n        b.move_ee(\"R\", [([HEARTH[0] + OFFS[i][0], HEARTH[1] + OFFS[i][1], HEARTH_Z + 0.12], QUAT_DOWN)], 0.0)\n        b.hold(2.0, cams=(HEAD,))\n    b.press_with(\"L\", b.q[\"tcpR\"][:3] + [0, 0, 0.05], seconds=0.5)   # toggle OFF (after let-go)\n    b.place(\"R\", [HEARTH[0] - 0.9, HEARTH[1] - 0.9, 0.03])          # set the lighter on the floor\n\n    # 4. settle: clear of everything, grippers open, stand still --------------------------\n    pos, yaw = b.base_xy_yaw()\n    b.drive_to(pos - 0.5 * (FIREPLACE - pos) / np.linalg.norm(FIREPLACE - pos), yaw)\n    b.hold(3.0, cams=(HEAD,))\n    st = b.r.status()\n    print(\"[end]\", st, flush=True)\n\n\n# pixel clicks / hearth frame are filled in during a live run from the close-up views\nNEWS_PX = (105, 120)\nLIGHTER_PX = (115, 118)\nWOOD_PX = [(110, 158), (132, 152)]\nHEARTH = np.array([6.05, 6.75])\nOFFS = [(-0.10, 0.0), (0.10, 0.0)]\n\nif __name__ == \"__main__\":\n    try:\n        main()\n    except EpisodeOver as e:\n        print(\"[episode over]\", e, flush=True)\n    except Exception as e:\n        print(\"[halt]\", type(e).__name__, e, flush=True)\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":90193,"cached":90187,"out":6586,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":35,"t":1408.3,"say":"","calls":[{"kind":"shell","label":"Syntax-check the record script","code":"python3 -I -m py_compile /app/output/gen.py && echo COMPILES; ls -la /app/output/"}],"out":{"text":"COMPILES\ntotal 16\ndrwxr-xr-x 1 root root    51 Oct 23 17:10 .\ndrwxr-xr-x 1 root root    60 Oct 23 16:48 ..\ndrwxr-xr-x 2 root root    33 Oct 23 17:10 __pycache__\n-rw-r--r-- 1 root root 15215 Oct 23 17:10 gen.py\n\n[stdout]\nCOMPILES\ntotal 16\ndrwxr-xr-x 1 root root    51 Oct 23 17:10 .\ndrwxr-xr-x 1 root root    60 Oct 23 16:48 ..\ndrwxr-xr-x 2 root root    33 Oct 23 17:10 __pycache__\n-rw-r--r-- 1 root root 15215 Oct 23 17:10 gen.py","exit":[],"pics":[]},"tok":{"in":96820,"cached":90187,"out":99,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":36,"t":1424.7,"say":"The trial is over and it failed. Full accounting:\n\n## Outcome\n**Episode ended in failure — \"the robot fell over\"** at control step 1,229 (~13.5 min in). Service status confirms `done: true`, and per the no-reset rule the episode is graded as it stands. There is no second attempt.\n\n## What happened\n1. **Connected** (sim warm-up ~216 s) and read the spec: R1Pro, holonomic base, ee_pose via cuRobo IK, assisted grasping, 30 Hz.\n2. **Recon worked.** A torso-yaw panorama plus RGB-D pixel-clicking (camera calibration arrives with each frame, so depth back-projection is metric) localized everything in world coordinates: fireplace/brick chimney ≈ (6.15, 6.85), the two firewood logs ≈ (4.10, 3.95) and (3.75, 4.20) on the floor, coffee table with the newspaper+lighter ≈ (3.62, 5.71) at z≈0.42.\n3. **The failure:** my closed-loop base driver headed to a 0.85 m stand-off in front of the fireplace. Its proximity gate only inspected a mid-height wedge of the head camera at a 0.35 m threshold, so the low brick/hearth protrusion along the path was never gated; sideways motion wasn't gated at all. The robot drove into it around drive iteration 8 and kept pushing while turning; iterations 9–10's wild pose/yaw readings were the base already tipping. Tilt > 41.4° for 10 s → fall rule → episode over.\n\n## What I left behind\n`/app/output/gen.py` (compiles; the record copy) — the complete intended solution pipeline with this failure's lessons baked in:\n- **Navigation:** directional depth proximity gate (forward wedge *plus* a low floor band for curbs/hearths), turn-in-place before translating, ≤0.2 m/s and ≤0.4 rad/s, re-plan every 0.5 s, hard stop on any base tilt (`cos(rx)·cos(ry) < 0.90`), ~1 m stand-off until a close-up view confirms free space.\n- **Manipulation:** ee_pose grasp/place primitives (approach from above, assisted-grasp close, lift; release only with both fingers at the 0.07 open command).\n- **Ignition plan** (grounded in the OmniGibson heat model I verified in the simulator source): OnFire latches at 250 °C; a burning object sits at 1000 °C and heats everything within 0.2 m at 4 %/s — so the burning newspaper ignites both logs resting on it in ~10 s sim time. Toggle = a fingertip touching the lighter's button for 5+ control steps; the script presses it with the *other* hand (on, then off after letting go), verifies fire via an orange-pixel flame detector, then sets the lighter down on the floor and backs off to let the goal settle for 1 s.\n\nBottom line: perception and planning were sound; a blind-spot in the driving safety gate cost the episode. The record script documents both the solution and the fix.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":97052,"cached":96814,"out":1047,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}

runs/dexhand-bicycle-pump-stroke-i00-privileged--a3preup.json

@@ -0,0 +1 @@
+{"slug":"dexhand-bicycle-pump-stroke-i00-privileged--a3preup","task":"dexhand-bicycle-pump-stroke-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":1211573,"cached":952796,"out":174762,"usd":0},"task_text":"# DexHand: Inflate a tire with a portable bicycle pump\n\nInflate the bicycle tire with the portable bicycle pump, using the right hand of the Tianji Marvin robot that stands at the bench (stand at the world origin, facing +x; the left arm stays parked). A mini floor pump (Topeak Mini Morph type, 154 g class, barrel 0.25 m tall) stands free on its folding foot on the bench next to a 406 (20 inch) wheel lying on the bench; as in the source scene, the pump's hose head starts disconnected from the wheel's Schrader valve and the tire is at 200.0 kPa gauge. The head (TRK-RP04 type) sits on the valve stem's axis 17.5 mm out from its seat (an 8 mm gap to the stem tip) with its thumb lock open (lever pointing up). The head moves only along the stem axis: a passive slide guided by the hose, with 2 N of friction and an end stop at the seat; pushing it 17.5 mm toward the rim seats it on the stem. The thumb lock is a passive hinge on the head (axis along world y, at the lever's foot, 0.004 N m friction) that turns 1.65 rad from up (open) to lying flat toward the wheel hub (closed). The pump's T handle rests at the top of its 0.20 m travel: the piston is a passive slide whose compressed-air spring pushes the handle back up (about 6 N at the top and 46 N at the bottom of the stroke) with viscous damping and 1 N seal friction. A stroke counts only while the head is connected (see stage 1), when the handle is pushed down to a piston depth of at least 0.18 m (90 % of the travel) and then returns to a depth of at most 0.04 m (20 %); shallower strokes never count and are not failures. The tire pressure is a checker quantity, not simulated air: every counted stroke adds 380 Pa (the mean rise per stroke of the source gas model, which reaches 210.6 kPa after its 28 strokes). Success requires, in this order: (1) the head connected: seated within 0.5 mm of its 17.5 mm travel while the thumb lock is closed to within 0.15 rad of its 1.65 rad stop (this latches; a stroke is armed and counted only while the head is seated and locked like this at that very moment); (2) at least 28 counted strokes; (3) tire pressure at least 210.6 kPa gauge; (4) the head disconnected again, as at the end of the source: the thumb lock opened to at most 0.5 rad and the head pulled at least 12.5 mm back off its seat (off the 9.5 mm stem engagement; this latches; the pressure stays, since only counted strokes change it); (5) the handle released at the top: piston depth at most 0.01 m, no contact of any robot part (hands, arms, stand) with any part of the pump or the head, pump tilt at most 0.0873 rad (5 degrees) from upright, pump centre-of-mass speed at most 0.02 m/s and handle speed at most 0.02 m/s, held continuously for 50 consecutive controls (1 s). The episode ends with success at that moment. The episode ends immediately with failure, checked after every 2 ms physics substep, when the pump tilts more than 0.2618 rad (15 degrees) from upright, when its base moves more than 0.03 m horizontally\n… (6,847 characters left out) …\nn metres and angles in radians. The bench top is at z = 0.70 m; the\npump body is `pump` (free joint `pump_free`), its piston slide `piston_extension` (0.20 m = handle up, at rest) and the\nT handle geom `t_handle`. The hose head is the body `pump_head` on the slide `head_slide` (0 at reset, -0.0175 m =\nseated; axis (0.981, 0, 0.196), pointing from the rim toward the hub) with the thumb lock `thumb_lock` on the hinge\n`lever_angle` (0 = up/open at reset, 1.65 rad = closed); at reset the lever's foot is near world (0.547, -0.129, 0.747).\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":"List tool directories and check time left","code":"ls -la /opt/tools/ /app/ 2>&1; cat /run/rcb-limits/usage.json 2>/dev/null; echo; python -c \"import rcb_dexhand; print(rcb_dexhand.__file__)\" 2>&1"},{"kind":"shell","label":"Check sizes of task files","code":"wc -c /opt/tools/task.json /opt/tools/scene.py /opt/tools/arm_rig.py /opt/tools/checker.py /opt/tools/runtime.py 2>&1"}],"out":{"text":"/app/:\ntotal 12\ndrwxr-xr-x  3 root root 4096 Oct 24 10:42 .\ndr-xr-xr-x 20 root root 4096 Oct 24 10:42 ..\ndrwxr-xr-x  2 root root 4096 Oct 24 10:42 output\n\n/opt/tools/:\ntotal 200\ndrwxr-xr-x 4 root root  4096 Oct 24 10:41 .\ndrwxr-xr-x 4 root root  4096 Oct 24 10:41 ..\n-rw-rw-r-- 1 root root  1239 Nov 17  2001 Dockerfile\n-rw-r--r-- 1 root root 52065 Oct 11  2007 arm_rig.py\ndrwxr-xr-x 3 root root  4096 Oct 24 10:41 assets\n-rw-r--r-- 1 root root 10141 Jul  8  2014 catalog.json\n-rw-r--r-- 1 root root 13280 Oct 31  2011 checker.py\n-rw-rw-r-- 1 root root  1345 Mar  6  2018 docker-compose.yaml\n-rw-r--r-- 1 root root   106 Jun 28  2008 grading.json\n-rw-r--r-- 1 root root 19435 Sep  5  2013 hands.py\n-rw-r--r-- 1 root root  9125 Sep 19  2010 instance.json\n-rw-r--r-- 1 root root    94 Oct 25  2005 rcb_dexhand.py\ndrwxr-xr-x 2 root root  4096 Oct 18 23:55 rcb_monitor\n-rw-r--r-- 1 root root  8203 Mar 14  2007 replay.py\n-rw-r--r-- 1 root root  9444 Jan 16  2005 runtime.py\n-rw-r--r-- 1 root root 18433 Dec 18  2005 scene.py\n-rw-r--r-- 1 root root  9125 Mar 27  2017 task.json\n{\n \"t\": 1792838679.27,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.226,\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\": 135.0,\n \"time_limit_s\": 3600,\n \"time_left_\n… (487 characters left out) …\n4096 Oct 24 10:41 assets\n-rw-r--r-- 1 root root 10141 Jul  8  2014 catalog.json\n-rw-r--r-- 1 root root 13280 Oct 31  2011 checker.py\n-rw-rw-r-- 1 root root  1345 Mar  6  2018 docker-compose.yaml\n-rw-r--r-- 1 root root   106 Jun 28  2008 grading.json\n-rw-r--r-- 1 root root 19435 Sep  5  2013 hands.py\n-rw-r--r-- 1 root root  9125 Sep 19  2010 instance.json\n-rw-r--r-- 1 root root    94 Oct 25  2005 rcb_dexhand.py\ndrwxr-xr-x 2 root root  4096 Oct 18 23:55 rcb_monitor\n-rw-r--r-- 1 root root  8203 Mar 14  2007 replay.py\n-rw-r--r-- 1 root root  9444 Jan 16  2005 runtime.py\n-rw-r--r-- 1 root root 18433 Dec 18  2005 scene.py\n-rw-r--r-- 1 root root  9125 Mar 27  2017 task.json\n{\n \"t\": 1792838679.27,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.226,\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\": 135.0,\n \"time_limit_s\": 3600,\n \"time_left_s\": 3465.0,\n \"deadline_utc\": \"2026-10-24T11:42:24Z\"\n}\n/opt/tools/rcb_dexhand.py\n9125 /opt/tools/task.json\n 18433 /opt/tools/scene.py\n 52065 /opt/tools/arm_rig.py\n 13280 /opt/tools/checker.py\n  9444 /opt/tools/runtime.py\n102347 total\n\n[stdout]\n  9125 /opt/tools/task.json\n 18433 /opt/tools/scene.py\n 52065 /opt/tools/arm_rig.py\n 13280 /opt/tools/checker.py\n  9444 /opt/tools/runtime.py\n102347 total","exit":[],"pics":[]},"tok":{"in":18440,"cached":0,"out":7159,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":122.1,"say":"","calls":[{"kind":"shell","label":"Read task.json","code":"cat /opt/tools/task.json"},{"kind":"shell","label":"Read checker.py","code":"cat /opt/tools/checker.py"}],"out":{"text":"{\n  \"schema_version\": 1,\n  \"id\": \"bicycle_pump_stroke\",\n  \"title\": \"Inflate a tire with a portable bicycle pump\",\n  \"category\": \"tool_use\",\n  \"description\": \"Connect and use a portable bicycle pump with a dexterous hand on a Tianji Marvin arm (Sharpa Wave by default, or Wuji Hand 2.2): push the disconnected hose head onto the Schrader valve and close its thumb lock, pump 28 full strokes of the passive air-spring piston (200.0 to 210.6 kPa), then open the lock, pull the head off the valve and release the handle at the top; tipping or shifting the free-standing pump or losing the connection early fails the episode at once.\",\n  \"difficulty\": \"medium\",\n  \"mechanism\": \"free pump body with a passive air-spring piston (slide joint); pump head on a passive slide along the valve stem with a passive thumb-lock hinge\",\n  \"instruction\": \"Inflate the bicycle tire with the portable bicycle pump, using the right hand of the Tianji Marvin robot that stands at the bench (stand at the world origin, facing +x; the left arm stays parked). A mini floor pump (Topeak Mini Morph type, 154 g class, barrel 0.25 m tall) stands free on its folding foot on the bench next to a 406 (20 inch) wheel lying on the bench; as in the source scene, the pump's hose head starts disconnected from the wheel's Schrader valve and the tire is at 200.0 kPa gauge. The head (TRK-RP04 type) sits on the valve stem's axis 17.5 mm out from its seat (an 8 mm gap to the stem tip) with its thumb lock open (lever pointing up). The \n… (41,829 characters left out) …\n           \"released_hold_steps\": self.hold,\n            \"stage\": self.stage,\n            \"stroke_controls\": list(self.stroke_log),\n            \"success\": self.success,\n            \"failure\": self.failure,\n            \"failure_detail\": self.failure_detail,\n        }\n\n    def control(self, model, data):\n        \"\"\"Advance the ordered stages after one control step; return the feature dict.\"\"\"\n        f = self.features(model, data)\n        if self.failure:\n            return f\n        release = self.config[\"release\"]\n        stage = 0\n        if self.connected:\n            stage = 1\n            if self.strokes >= self.required:\n                stage = 2\n                if self.pressure >= self.target:\n                    stage = 3\n                    if self.disconnected:\n                        stage = 4\n        released = (\n            stage == 4\n            and f[\"hand_head_contacts\"] == 0\n            and f[\"piston_depth_m\"] <= self.release_depth\n            and f[\"hand_pump_contacts\"] == 0\n            and f[\"pump_tilt_rad\"] <= release[\"max_tilt_rad\"]\n            and f[\"pump_speed_m_s\"] <= release[\"max_pump_speed_m_s\"]\n            and f[\"handle_speed_m_s\"] <= release[\"max_handle_speed_m_s\"]\n        )\n        self.hold = self.hold + 1 if released else 0\n        if self.hold >= release[\"hold_steps\"]:\n            stage = 5\n            self.success = True\n        self.stage = stage\n        f.update(stage=stage, released_hold_steps=self.hold, success=self.success)\n        return f","exit":[],"pics":[]},"tok":{"in":26545,"cached":18434,"out":108,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":139.1,"say":"","calls":[{"kind":"shell","label":"Read scene.py","code":"cat /opt/tools/scene.py"},{"kind":"shell","label":"Read runtime.py and rcb_dexhand.py","code":"cat /opt/tools/runtime.py /opt/tools/rcb_dexhand.py"}],"out":{"text":"\"\"\"T50 portable bicycle pump scene: a free Mini Morph pump with a passive piston, a connected wheel and one hand.\n\nStatic props (bench, wheel, Schrader valve, locked pump head and hose) are frozen at the approved T50 film pose\n(``assets/t50_scene.json``, copied from the scene-v4 export with sha256 manifest). The pump itself is a free rigid\nbody standing on its foot; its piston rod and T handle slide on a passive joint (200 mm travel) whose stiffness,\ndamping and seal friction model the compressed-air spring of the chamber. The hand (Sharpa Wave by default, or the\ngenuine Wuji Hand 2.2) is carried by the right arm of a Tianji Marvin robot standing at the bench (left arm parked).\n\"\"\"\n\nfrom __future__ import annotations\n\nimport importlib.util\nimport json\nimport os\nfrom pathlib import Path\nimport sys\nimport xml.etree.ElementTree as ET\n\nimport mujoco\nimport numpy as np\n\n\ndef _hands_module():\n    \"\"\"The shared DexHand hand-selection module (copied next to this file in generated task dirs).\"\"\"\n    try:\n        import hands\n\n        return hands\n    except ModuleNotFoundError:\n        path = Path(__file__).resolve().parents[2] / \"shared/hands.py\"\n        spec = importlib.util.spec_from_file_location(\"hands\", path)\n        module = importlib.util.module_from_spec(spec)\n        sys.modules[\"hands\"] = module\n        spec.loader.exec_module(module)\n        return module\n\n\nhands = _hands_module()\n\n\ndef _arm_rig_module():\n    \"\"\"The shared Marvin arm rig (copied next to this file in genera\n… (52,961 characters left out) …\n self.data, state, mujoco.mjtState.mjSTATE_INTEGRATION)\n        digest = hashlib.sha256(state.astype(\"<f8\").tobytes())\n        c = self.checker\n        predicate = {\"connected\": c.connected, \"disconnected\": c.disconnected, \"strokes\": c.strokes, \"armed\": c.armed,\n                     \"hold\": c.hold, \"stage\": c.stage,\n                     \"failure\": c.failure, \"success\": c.success, \"steps\": self.steps}\n        digest.update(json.dumps(predicate, sort_keys=True).encode())\n        # Only the physics/predicate parameters of the frozen instance: editing texts never changes evidence hashes.\n        digest.update(json.dumps({k: self.config[k] for k in HASHED_CONFIG_KEYS}, sort_keys=True).encode())\n        digest.update(self.hand.encode())\n        return digest.hexdigest()\n\n    def render_frame(self, camera=\"overview\", width=640, height=480, shadows=True):\n        if self.renderer is not None and (self.renderer.width != width or self.renderer.height != height):\n            self.close()\n        if self.renderer is None:\n            self.renderer = mujoco.Renderer(self.model, height=height, width=width)\n        self.renderer.update_scene(self.data, camera=camera)\n        self.renderer.scene.flags[mujoco.mjtRndFlag.mjRND_SHADOW] = shadows\n        return self.renderer.render().copy()\n\n    def close(self):\n        if self.renderer:\n            self.renderer.close()\n            self.renderer = None\n\"\"\"Public privileged-mode entry point.\"\"\"\n\nfrom runtime import Session\n\n__all__ = [\"Session\"]","exit":[],"pics":[]},"tok":{"in":33490,"cached":26539,"out":120,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":202.5,"say":"Now let me look at the scene assets and the arm rig / hands modules.","calls":[{"kind":"shell","label":"Inspect t50_scene.json key geometry","code":"ls -R /opt/tools/assets/ | head -50; python3 -I -c \"\nimport json\nsrc = json.load(open('/opt/tools/assets/t50_scene.json'))\nprint('keys:', list(src.keys()))\nprint('pump_origin_world:', src.get('pump_origin_world'))\nprint('wheel_center_world:', src.get('wheel_center_world'))\nprint('wheel_rotation_world:', src.get('wheel_rotation_world'))\nprint('camera:', src.get('camera'))\nnames = [(g['name'], g['body'], g['type'], g.get('pos'), g.get('size')) for g in src['geoms']]\nfor n in names:\n    if n[0] in ('t_handle','valve_stem','core_tip','barrel','bottom_housing','upper_cap','foot_pad','piston_rod','hub','axle','lock_lever','lock_eccentric','continuous_hollow_head','continuous_collar','hose_neck','core_pusher'):\n        print(n)\n\""}],"out":{"text":"/opt/tools/assets/:\nmanifest.json\nmeshes\nt50_scene.json\n\n/opt/tools/assets/meshes:\ncontinuous_collar.obj\ncontinuous_hollow_head.obj\nrim.obj\nsmooth_full_tire.obj\nkeys: ['source', 'source_sha256', 'frame', 'pump_origin_world', 'wheel_center_world', 'wheel_rotation_world', 'camera', 'lights', 'geoms']\npump_origin_world: [0.42, 0.08, 0.7]\nwheel_center_world: [0.68, -0.12, 0.7738458587562638]\nwheel_rotation_world: [[-0.98055149865641, -1.2246467991473532e-16, -0.1962619639223775], [1.2008292542287127e-16, -1.0000000000000002, 2.403515859119129e-17], [-0.1962619639223775, 3.0814879110195774e-33, 0.98055149865641]]\ncamera: {'target': [0.62, -0.03, 0.88], 'position': [-0.12, -1.35, 1.71], 'lens': 45}\n('barrel', 'pump_barrel', 'cylinder', [0.0, 0.0, 0.129], [0.011, 0.108, 0.0])\n('bottom_housing', 'pump_barrel', 'cylinder', [0.0, 0.0, 0.02200000000000002], [0.014, 0.019, 0.0])\n('upper_cap', 'pump_barrel', 'cylinder', [0.0, 0.0, 0.242], [0.0125, 0.007, 0.0])\n('foot_pad', 'pump_barrel', 'box', [0.020000000000000018, 0.0, 0.0040000000000000036], [0.035, 0.014, 0.003])\n('piston_rod', 'piston', 'cylinder', [0.0, 0.0, 0.345], [0.0035, 0.105, 0.0])\n('t_handle', 'piston', 'capsule', [0.0, 0.0, 0.44999999999999996], [0.01, 0.024, 0.0])\n('hose_neck', 'pump_head', 'capsule', [0.5322307374882879, -0.12799999999999997, 0.7452889846846024], [0.004, 0.009, 0.0])\n('core_pusher', 'pump_head', 'cylinder', [0.5216409329669898, -0.11999999999999998, 0.7421495515827997], [0.0012, 0.0015, 0.0])\n('lock_lever\n… (1,855 characters left out) …\n0.0, 0.0, 0.242], [0.0125, 0.007, 0.0])\n('foot_pad', 'pump_barrel', 'box', [0.020000000000000018, 0.0, 0.0040000000000000036], [0.035, 0.014, 0.003])\n('piston_rod', 'piston', 'cylinder', [0.0, 0.0, 0.345], [0.0035, 0.105, 0.0])\n('t_handle', 'piston', 'capsule', [0.0, 0.0, 0.44999999999999996], [0.01, 0.024, 0.0])\n('hose_neck', 'pump_head', 'capsule', [0.5322307374882879, -0.12799999999999997, 0.7452889846846024], [0.004, 0.009, 0.0])\n('core_pusher', 'pump_head', 'cylinder', [0.5216409329669898, -0.11999999999999998, 0.7421495515827997], [0.0012, 0.0015, 0.0])\n('lock_lever', 'thumb_lock', 'capsule', [0.543387427817105, -0.12899999999999998, 0.7453725514443549], [0.003, 0.012, 0.0])\n('lock_eccentric', 'thumb_lock', 'sphere', [0.5326629638958671, -0.12599999999999997, 0.7440974539570763], [0.004, 0.0, 0.0])\n('axle', 'wheel_axle_mount', 'cylinder', [0.68, -0.12, 0.7738458587562638], [0.004, 0.074, 0.0])\n('hub', 'wheel', 'cylinder', [0.68, -0.12, 0.7738458587562638], [0.022, 0.04, 0.0])\n('valve_stem', 'schrader_stem', 'cylinder', [0.500559075745877, -0.11999999999999997, 0.7379299193584687], [0.004, 0.02, 0.0])\n('core_tip', 'valve_pin', 'cylinder', [0.5191895542203488, -0.11999999999999997, 0.7416588966729939], [0.0008, 0.001, 0.0])\n('continuous_hollow_head', 'pump_head', 'mesh', [0.5285047934575846, -0.11999999999999998, 0.7435233853302564], [1.0, 1.0, 1.0])\n('continuous_collar', 'pump_head', 'mesh', [0.5137965209777384, -0.11999999999999998, 0.7405794558714207], [1.0, 1.0, 1.0])","exit":[],"pics":[]},"tok":{"in":41760,"cached":33484,"out":3699,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":401.0,"say":"Now let me examine the arm rig and hands modules.","calls":[{"kind":"shell","label":"Outline arm_rig.py","code":"grep -n \"PARK\\|def \\|ROBOT_ID\\|SHOULDER\\|class \\|layout\" /opt/tools/arm_rig.py | head -60"},{"kind":"shell","label":"Outline hands.py and get handle quat","code":"grep -n \"def \\|class \\|SHARPA\\|WUJI\\|canonical\\|selected\\|info\" /opt/tools/hands.py | head -40; python3 -I -c \"\nimport json\nsrc = json.load(open('/opt/tools/assets/t50_scene.json'))\nfor g in src['geoms']:\n    if g['name'] in ('t_handle','lock_lever','continuous_hollow_head','continuous_collar'):\n        print(g['name'], g['quat'], g['pos'], g.get('size'))\n\""}],"out":{"text":"9:``marvin-bimanual-sharpa-wave``); a one-hand task drives one arm and keeps the other at ``PARK``.\n11:Action layout (one row = every actuator target, model order; identical to pot_shelf_transfer):\n33:ROBOT_ID = \"marvin-bimanual-sharpa-wave\"\n36:    \"left\": [\"SHOULDER_PITCH_L_J1\", \"SHOULDER_ROLL_L_J2\", \"ELBOW_PITCH_L_J3\", \"ELBOW_YAW_L_J4\",\n38:    \"right\": [\"SHOULDER_PITCH_R_J1\", \"SHOULDER_ROLL_R_J2\", \"ELBOW_PITCH_R_J3\", \"ELBOW_YAW_R_J4\",\n48:SHOULDER = {\"left\": (0.0, 0.2215, 1.121), \"right\": (0.0, -0.2215, 1.121)}\n52:PARK = {\n171:     <joint name=\"SHOULDER_PITCH_L_J1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.10669 3.10669\" actuatorfrcrange=\"-108 108\" damping=\"2\" armature=\"0.02\" />\n181:      <joint name=\"SHOULDER_ROLL_L_J2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.0944 2.0944\" actuatorfrcrange=\"-108 108\" damping=\"2\" armature=\"0.02\" />\n242:     <joint name=\"SHOULDER_PITCH_R_J1\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-3.10669 3.10669\" actuatorfrcrange=\"-108 108\" damping=\"2\" armature=\"0.02\" />\n252:      <joint name=\"SHOULDER_ROLL_R_J2\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-2.0944 2.0944\" actuatorfrcrange=\"-108 108\" damping=\"2\" armature=\"0.02\" />\n318:  <position name=\"SHOULDER_PITCH_L_J1_target\" joint=\"SHOULDER_PITCH_L_J1\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-3.1066860685499065 3.1066860685499065\" forcelimited=\"true\" forcerange=\"-108.0 108.0\" />\n319:  <position name=\"SHOULDER_ROLL_L_J2_target\" joint=\"SHOULDER_ROLL_L_J2\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-2.0943951023931953 2.0943951\n… (9,299 characters left out) …\n and thumb side aligned with the Wave's). The wrist stage or arm joints above the mount are untouched, so the same mount controls\n239:    hand = canonical(hand)\n254:        records.append(merge_wuji(root, wrapper, side, quat=WUJI_MOUNT_QUAT[side], folder=folder))\n263:def _drop_unreferenced_meshes(root) -> None:\n279:def finger_of(name: str) -> str | None:\n295:def _read_member(archive: zipfile.ZipFile, member: zipfile.ZipInfo, *, numeric: bool, max_items: int):\n314:def _single_string(value: np.ndarray, key: str) -> str:\n320:def read_trajectory(path, *, widths: dict, max_rows: int | None, task: str | None = None,\n335:        entries = archive.infolist()\n361:    hand = require_offered(canonical(hand))\n376:def write_trajectory(path, actions, *, hand, task=None, actuator_names=None) -> None:\n381:    extra = {\"hand\": np.array(canonical(hand))}\nt_handle [0.7071067811865477, 0.0, 0.7071067811865475, 0.0] [0.0, 0.0, 0.44999999999999996] [0.01, 0.024, 0.0]\nlock_lever [0.46955708328289747, -0.5286928650349446, -0.5286928650349447, 0.46955708328289736] [0.543387427817105, -0.12899999999999998, 0.7453725514443549] [0.003, 0.012, 0.0]\ncontinuous_hollow_head [0.5468688060043235, 0.44825719070574394, 0.4482571907057438, 0.5468688060043235] [0.5285047934575846, -0.11999999999999998, 0.7435233853302564] [1.0, 1.0, 1.0]\ncontinuous_collar [0.5468688060043235, 0.44825719070574394, 0.4482571907057438, 0.5468688060043235] [0.5137965209777384, -0.11999999999999998, 0.7405794558714207] [1.0, 1.0, 1.0]","exit":[],"pics":[]},"tok":{"in":47116,"cached":41754,"out":12910,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":418.3,"say":"","calls":[{"kind":"shell","label":"Read arm_rig.py header and constants","code":"sed -n 1,170p /opt/tools/arm_rig.py"},{"kind":"shell","label":"Read arm XML template","code":"sed -n 170,340p /opt/tools/arm_rig.py"}],"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… (71,912 characters left out) …\nR_PITCH_R_J1\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-3.1066860685499065 3.1066860685499065\" forcelimited=\"true\" forcerange=\"-108.0 108.0\" />\n  <position name=\"SHOULDER_ROLL_R_J2_target\" joint=\"SHOULDER_ROLL_R_J2\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-2.0943951023931953 2.0943951023931953\" forcelimited=\"true\" forcerange=\"-108.0 108.0\" />\n  <position name=\"ELBOW_PITCH_R_J3_target\" joint=\"ELBOW_PITCH_R_J3\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-3.1066860685499065 3.1066860685499065\" forcelimited=\"true\" forcerange=\"-66.0 66.0\" />\n  <position name=\"ELBOW_YAW_R_J4_target\" joint=\"ELBOW_YAW_R_J4\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-2.530727415391778 1.0471975511965976\" forcelimited=\"true\" forcerange=\"-66.0 66.0\" />\n  <position name=\"WRIST_PITCH_R_J5_target\" joint=\"WRIST_PITCH_R_J5\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-3.1066860685499065 3.1066860685499065\" forcelimited=\"true\" forcerange=\"-18.0 18.0\" />\n  <position name=\"WRIST_YAW_R_J6_target\" joint=\"WRIST_YAW_R_J6\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-1.0471975511965976 1.0471975511965976\" forcelimited=\"true\" forcerange=\"-18.0 18.0\" />\n  <position name=\"WRIST_ROLL_R_J7_target\" joint=\"WRIST_ROLL_R_J7\" kp=\"700\" kv=\"48\" ctrllimited=\"true\" ctrlrange=\"-1.5707963267948966 1.5707963267948966\" forcelimited=\"true\" forcerange=\"-18.0 18.0\" />\n </actuator>\n</marvin>\"\"\"\n\n\nclass RigError(ValueError):\n    \"\"\"An asset, scene or argument of the arm rig is invalid.\"\"\"\n\n\ndef _hands_module():","exit":[],"pics":[]},"tok":{"in":62817,"cached":47110,"out":470,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":427.9,"say":"","calls":[{"kind":"shell","label":"Read mount_marvin and layout functions","code":"sed -n 468,680p /opt/tools/arm_rig.py"},{"kind":"shell","label":"Read hands.py header and catalog","code":"sed -n 1,60p /opt/tools/hands.py; python3 -I -c \"\nimport json\nc = json.load(open('/opt/tools/catalog.json'))\nprint(json.dumps(c, indent=1)[:3000])\n\""}],"out":{"text":"def _find_body(root, name):\n    for parent in root.iter():\n        for child in parent.findall(\"body\"):\n            if child.get(\"name\") == name:\n                return parent, child\n    return None, None\n\n\ndef _yaw_quat(yaw):\n    return (np.cos(yaw / 2), 0.0, 0.0, np.sin(yaw / 2))\n\n\ndef mount_marvin(root, base_pos=(0.0, 0.0, 0.0), base_yaw=0.0, hand=\"sharpa\", active=(\"right\",), *,\n                 sharpa_folder=None, tianji_folder=None, wuji_folder=None, mount_names=None, wave_roots=None):\n    \"\"\"Mount the Marvin stand, both arms and both hands into the MJCF tree ``root`` (in place); return a record.\n\n    ``root`` is the family's scene tree started from ``right_hand.xml`` (``sharpa_root()``), i.e. it holds the right\n    Sharpa body ``right_hand_C_MC`` (anywhere; it is moved) with its defaults, meshes, excludes and finger actuators;\n    a ``left_hand_C_MC`` body is used if present, otherwise the mirrored left Wave is added. Do not create a wrist\n    stage. Apply your own hand tweaks (fingertip friction, finger bias) after this call, then compile.\n\n    * ``base_pos`` / ``base_yaw``: world position of the stand origin (floor point under the torso; shoulders are\n      1.121 m above it) and its heading (rad about +z; 0 = the robot faces world +x).\n    * ``hand``: ``sharpa`` or ``wuji`` (genuine Wuji Hand 2.2 on both flanges via ``hands.replace_wave_hands``).\n    * ``active``: the arm(s) the task drives; the others should be held at ``PARK`` (``default_targets``).\n    * ``mount_na\n… (26,213 characters left out) …\n its thumb lock open (lever pointing up). The head moves only along the stem axis: a passive slide guided by the hose, with 2 N of friction and an end stop at the seat; pushing it 17.5 mm toward the rim seats it on the stem. The thumb lock is a passive hinge on the head (axis along world y, at the lever's foot, 0.004 N m friction) that turns 1.65 rad from up (open) to lying flat toward the wheel hub (closed). The pump's T handle rests at the top of its 0.20 m travel: the piston is a passive slide whose compressed-air spring pushes the handle back up (about 6 N at the top and 46 N at the bottom of the stroke) with viscous damping and 1 N seal friction. A stroke counts only while the head is connected (see stage 1), when the handle is pushed down to a piston depth of at least 0.18 m (90 % of the travel) and then returns to a depth of at most 0.04 m (20 %); shallower strokes never count and are not failures. The tire pressure is a checker quantity, not simulated air: every counted stroke adds 380 Pa (the mean rise per stroke of the source gas model, which reaches 210.6 kPa after its 28 strokes). Success requires, in this order: (1) the head connected: seated within 0.5 mm of its 17.5 mm travel while the thumb lock is closed to within 0.15 rad of its 1.65 rad stop (this latches; a stroke is armed and counted only while the head is seated and locked like this at that very moment); (2) at least 28 counted strokes; (3) tire pressure at least 210.6 kPa gauge; (4) the head disconnecte","exit":[],"pics":[]},"tok":{"in":79764,"cached":62811,"out":364,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":437.4,"say":"Now let me set up a session and inspect the scene state numerically.","calls":[{"kind":"shell","label":"Inspect actuators and initial state","code":"mkdir -p /app/work /app/output && cd /app/work && cat > inspect1.py <<'EOF'\nimport sys\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np\nfrom rcb_dexhand import Session\n\ns = Session(\"bicycle_pump_stroke\")\nm, d = s.model, s.data\nprint(\"hand:\", s.hand, \"action_dim:\", s.action_dim)\nprint(\"actuators:\")\nfor i, n in enumerate(s.actuator_names):\n    lo, hi = m.actuator_ctrlrange[i]\n    print(f\"  {i:2d} {n:28s} [{lo:8.3f}, {hi:8.3f}]  qpos0={d.qpos[s.qadr[i]]:8.4f}\")\nEOF\npython3 -I inspect1.py 2>&1 | tail -70"}],"out":{"text":"hand: sharpa action_dim: 58\nactuators:\n   0 SHOULDER_PITCH_L_J1_target   [  -3.107,    3.107]  qpos0=  1.5708\n   1 SHOULDER_ROLL_L_J2_target    [  -2.094,    2.094]  qpos0= -1.5708\n   2 ELBOW_PITCH_L_J3_target      [  -3.107,    3.107]  qpos0=  0.0000\n   3 ELBOW_YAW_L_J4_target        [  -2.531,    1.047]  qpos0=  0.0000\n   4 WRIST_PITCH_L_J5_target      [  -3.107,    3.107]  qpos0=  0.0000\n   5 WRIST_YAW_L_J6_target        [  -1.047,    1.047]  qpos0=  0.0000\n   6 WRIST_ROLL_L_J7_target       [  -1.571,    1.571]  qpos0=  0.0000\n   7 SHOULDER_PITCH_R_J1_target   [  -3.107,    3.107]  qpos0= -0.3509\n   8 SHOULDER_ROLL_R_J2_target    [  -2.094,    2.094]  qpos0= -0.7398\n   9 ELBOW_PITCH_R_J3_target      [  -3.107,    3.107]  qpos0=  1.0752\n  10 ELBOW_YAW_R_J4_target        [  -2.531,    1.047]  qpos0= -2.0237\n  11 WRIST_PITCH_R_J5_target      [  -3.107,    3.107]  qpos0= -1.4211\n  12 WRIST_YAW_R_J6_target        [  -1.047,    1.047]  qpos0= -0.8265\n  13 WRIST_ROLL_R_J7_target       [  -1.571,    1.571]  qpos0= -0.4432\n  14 left_thumb_CMC_FE            [  -0.174,    1.920]  qpos0=  0.0000\n  15 left_thumb_CMC_AA            [  -0.349,    0.349]  qpos0=  0.0000\n  16 left_thumb_MCP_FE            [  -0.524,    1.396]  qpos0=  0.0000\n  17 left_thumb_MCP_AA            [  -0.349,    0.349]  qpos0=  0.0000\n  18 left_thumb_IP                [   0.000,    1.745]  qpos0=  0.0000\n  19 left_index_MCP_FE            [  -0.175,    1.571]  qpos0=  0.0000\n  20 left_index_MCP_AA            [  -0.3\n… (5,323 characters left out) …\n=  0.0000\n  37 right_thumb_CMC_AA           [  -0.349,    0.349]  qpos0=  0.0000\n  38 right_thumb_MCP_FE           [  -0.524,    1.396]  qpos0=  0.0000\n  39 right_thumb_MCP_AA           [  -0.349,    0.349]  qpos0=  0.0000\n  40 right_thumb_IP               [   0.000,    1.745]  qpos0=  0.0000\n  41 right_index_MCP_FE           [  -0.175,    1.571]  qpos0=  0.0000\n  42 right_index_MCP_AA           [  -0.349,    0.349]  qpos0=  0.0000\n  43 right_index_PIP              [   0.000,    1.745]  qpos0=  0.0000\n  44 right_index_DIP              [   0.000,    1.396]  qpos0=  0.0000\n  45 right_middle_MCP_FE          [  -0.175,    1.571]  qpos0=  0.0000\n  46 right_middle_MCP_AA          [  -0.349,    0.349]  qpos0=  0.0000\n  47 right_middle_PIP             [   0.000,    1.745]  qpos0=  0.0000\n  48 right_middle_DIP             [   0.000,    1.396]  qpos0=  0.0000\n  49 right_ring_MCP_FE            [  -0.175,    1.571]  qpos0=  0.0000\n  50 right_ring_MCP_AA            [  -0.349,    0.349]  qpos0=  0.0000\n  51 right_ring_PIP               [   0.000,    1.745]  qpos0=  0.0000\n  52 right_ring_DIP               [   0.000,    1.396]  qpos0=  0.0000\n  53 right_pinky_CMC              [   0.000,    0.262]  qpos0=  0.0000\n  54 right_pinky_MCP_FE           [  -0.175,    1.571]  qpos0=  0.0000\n  55 right_pinky_MCP_AA           [  -0.349,    0.349]  qpos0=  0.0000\n  56 right_pinky_PIP              [   0.000,    1.745]  qpos0=  0.0000\n  57 right_pinky_DIP              [   0.000,    1.396]  qpos0=  0.0000","exit":[],"pics":[]},"tok":{"in":84552,"cached":79758,"out":361,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":458.6,"say":"","calls":[{"kind":"shell","label":"Inspect scene body positions at reset","code":"cat > inspect2.py <<'EOF'\nimport sys\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\n\ns = Session(\"bicycle_pump_stroke\")\nm, d = s.model, s.data\nnp.set_printoptions(precision=4, suppress=True)\n\n# wrist_stage frame at reset\nb = m.body(\"wrist_stage\")\nprint(\"wrist_stage xpos:\", d.xpos[b.id], \"\\n  xmat:\", d.xmat[b.id].reshape(3,3))\n# key object positions\nfor name in (\"pump\", \"piston\", \"pump_head\", \"thumb_lock\"):\n    print(name, \"xpos:\", d.xpos[m.body(name).id])\nfor name in (\"t_handle_top\", \"pump_top\"):\n    print(name, \"site xpos:\", d.site_xpos[m.site(name).id])\n# handle geom\ng = m.geom(\"t_handle\")\nprint(\"t_handle geom pos (world):\", d.geom_xpos[g.id], \"mat:\", d.geom_xmat[g.id].reshape(3,3), \"size:\", g.size)\ng = m.geom(\"lock_lever\")\nprint(\"lock_lever geom pos:\", d.geom_xpos[g.id], \"size:\", g.size)\nprint(\"lever mat:\", d.geom_xmat[g.id].reshape(3,3))\ng = m.geom(\"continuous_hollow_head\")\nprint(\"head mesh pos:\", d.geom_xpos[g.id])\n# hand bodies: list right-hand bodies with positions\nfrom scene import robot_body_ids\nrb = m.body(\"wrist_stage\").id\nprint(\"\\nRight hand bodies (id, name, xpos):\")\nfor bid in range(m.nbody):\n    x = bid\n    while x > 0 and x != rb:\n        x = int(m.body_parentid[x])\n    if x == rb and bid != rb:\n        print(f\"  {bid:3d} {m.body(bid).name:36s} {d.xpos[bid]}\")\nEOF\npython3 -I inspect2.py 2>&1 | tail -60"}],"out":{"text":"wrist_stage xpos: [ 0.2999 -0.1501  1.3   ] \n  xmat: [[-0.0006 -1.      0.0007]\n [ 0.0004  0.0007  1.    ]\n [-1.      0.0006  0.0004]]\npump xpos: [0.42 0.08 0.7 ]\npiston xpos: [0.42 0.08 1.15]\npump_head xpos: [0. 0. 0.]\nthumb_lock xpos: [ 0.5466 -0.129   0.7472]\nt_handle_top site xpos: [0.42 0.08 1.16]\npump_top site xpos: [0.42  0.08  0.949]\nt_handle geom pos (world): [0.42 0.08 1.15] mat: [[ 0.  0.  1.]\n [ 0.  1.  0.]\n [-1.  0.  0.]] size: [0.01  0.024 0.   ]\nlock_lever geom pos: [ 0.5438 -0.129   0.761 ] size: [0.003 0.012 0.   ]\nlever mat: [[-0.      0.9806  0.1963]\n [ 1.      0.      0.    ]\n [ 0.      0.1963 -0.9806]]\nhead mesh pos: [ 0.5457 -0.12    0.747 ]\n\nRight hand bodies (id, name, xpos):\n   46 right_hand_C_MC                      [ 0.2999 -0.1501  1.3   ]\n   47 right_thumb_CMC_VL                   [ 0.2739 -0.1287  1.29  ]\n   48 right_thumb_MC                       [ 0.2739 -0.1287  1.295 ]\n   49 right_thumb_MCP_VL                   [ 0.2237 -0.0869  1.2847]\n   50 right_thumb_PP                       [ 0.2237 -0.0869  1.2847]\n   51 right_thumb_DP                       [ 0.1961 -0.0593  1.2847]\n   52 right_index_MCP_VL                   [ 0.2696 -0.0542  1.2991]\n   53 right_index_PP                       [ 0.2696 -0.0542  1.2991]\n   54 right_index_MP                       [ 0.2697 -0.0072  1.2991]\n   55 right_index_DP                       [0.2697 0.0243 1.2991]\n   56 right_middle_MCP_VL                  [ 0.2899 -0.0512  1.3001]\n   57 right_middle_PP              \n… (1,577 characters left out) …\n right_thumb_CMC_VL                   [ 0.2739 -0.1287  1.29  ]\n   48 right_thumb_MC                       [ 0.2739 -0.1287  1.295 ]\n   49 right_thumb_MCP_VL                   [ 0.2237 -0.0869  1.2847]\n   50 right_thumb_PP                       [ 0.2237 -0.0869  1.2847]\n   51 right_thumb_DP                       [ 0.1961 -0.0593  1.2847]\n   52 right_index_MCP_VL                   [ 0.2696 -0.0542  1.2991]\n   53 right_index_PP                       [ 0.2696 -0.0542  1.2991]\n   54 right_index_MP                       [ 0.2697 -0.0072  1.2991]\n   55 right_index_DP                       [0.2697 0.0243 1.2991]\n   56 right_middle_MCP_VL                  [ 0.2899 -0.0512  1.3001]\n   57 right_middle_PP                      [ 0.2899 -0.0512  1.3001]\n   58 right_middle_MP                      [ 0.29   -0.0042  1.3001]\n   59 right_middle_DP                      [0.29   0.0273 1.3001]\n   60 right_ring_MCP_VL                    [ 0.3102 -0.0572  1.2986]\n   61 right_ring_PP                        [ 0.3102 -0.0572  1.2986]\n   62 right_ring_MP                        [ 0.3103 -0.0102  1.2986]\n   63 right_ring_DP                        [0.3103 0.0213 1.2986]\n   64 right_pinky_MC                       [ 0.3262 -0.0632  1.2887]\n   65 right_pinky_MCP_VL                   [ 0.331  -0.0633  1.297 ]\n   66 right_pinky_PP                       [ 0.331  -0.0633  1.297 ]\n   67 right_pinky_MP                       [ 0.331  -0.0163  1.2971]\n   68 right_pinky_DP                       [0.3311 0.0152 1.2971]","exit":[],"pics":[]},"tok":{"in":87356,"cached":84546,"out":695,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":1110.8,"say":"Let me inspect the detailed geometry — object bboxes, hand geoms, fingertip positions — and render views.","calls":[{"kind":"shell","label":"Inspect geom bounding boxes","code":"cat > inspect3.py <<'EOF'\nimport sys\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\n\ns = Session(\"bicycle_pump_stroke\")\nm, d = s.model, s.data\nnp.set_printoptions(precision=4, suppress=True)\n\nprint(\"=== object geoms (world aabb at reset) ===\")\nfor name in (\"continuous_hollow_head\",\"continuous_collar\",\"hose_neck\",\"lock_lever\",\"lock_eccentric\",\n             \"t_handle\",\"piston_rod\",\"barrel\",\"upper_cap\",\"bottom_housing\",\"foot_pad\",\"valve_stem\",\"core_tip\",\"hub\"):\n    try:\n        g = m.geom(name)\n    except KeyError:\n        print(name, \"MISSING\"); continue\n    c, sz = d.geom_aabb[g.id, :3], d.geom_aabb[g.id, 3:]\n    print(f\"{name:24s} type={g.type} center={c} halfsize={sz}  x[{c[0]-sz[0]:.4f},{c[0]+sz[0]:.4f}] y[{c[1]-sz[1]:.4f},{c[1]+sz[1]:.4f}] z[{c[2]-sz[2]:.4f},{c[2]+sz[2]:.4f}] contype={g.contype}\")\n\nprint(\"\\n=== right hand geoms at reset (world) ===\")\nrb = m.body(\"wrist_stage\").id\nhand_bodies = set()\nfor bid in range(m.nbody):\n    x = bid\n    while x > 0 and x != rb:\n        x = int(m.body_parentid[x])\n    if x == rb:\n        hand_bodies.add(bid)\nfor gid in range(m.ngeom):\n    if int(m.geom_bodyid[gid]) in hand_bodies and m.geom_contype[gid]:\n        c, sz = d.geom_aabb[gid, :3], d.geom_aabb[gid, 3:]\n        print(f\"{m.geom(gid).name:42s} type={m.geom_type[gid]} c={c} hs={sz}\")\nEOF\npython3 -I inspect3.py 2>&1 | tail -60"}],"out":{"text":"=== object geoms (world aabb at reset) ===\nTraceback (most recent call last):\n  File \"/app/work/inspect3.py\", line 17, in <module>\n    c, sz = d.geom_aabb[g.id, :3], d.geom_aabb[g.id, 3:]\n            ^^^^^^^^^^^\nAttributeError: 'mujoco._structs.MjData' object has no attribute 'geom_aabb'\n\n[stdout]\n=== object geoms (world aabb at reset) ===\nTraceback (most recent call last):\n  File \"/app/work/inspect3.py\", line 17, in <module>\n    c, sz = d.geom_aabb[g.id, :3], d.geom_aabb[g.id, 3:]\n            ^^^^^^^^^^^\nAttributeError: 'mujoco._structs.MjData' object has no attribute 'geom_aabb'","exit":[],"pics":[]},"tok":{"in":89291,"cached":87350,"out":30465,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":1152.1,"say":"","calls":[{"kind":"shell","label":"Inspect geom bounding boxes (fixed)","code":"cat > inspect3.py <<'EOF'\nimport sys\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\n\ns = Session(\"bicycle_pump_stroke\")\nm, d = s.model, s.data\nnp.set_printoptions(precision=4, suppress=True)\n\ndef world_aabb(gid):\n    # approximate world aabb via sampling local aabb corners\n    c, hs = m.geom_aabb[gid, :3], m.geom_aabb[gid, 3:]\n    R, p = d.geom_xmat[gid].reshape(3,3), d.geom_xpos[gid]\n    pts = []\n    for sx in (-1,1):\n        for sy in (-1,1):\n            for sz in (-1,1):\n                pts.append(p + R @ (c + hs*np.array([sx,sy,sz])))\n    pts = np.array(pts)\n    return pts.min(0), pts.max(0)\n\nprint(\"=== object geoms (world aabb at reset) ===\")\nfor name in (\"continuous_hollow_head\",\"continuous_collar\",\"hose_neck\",\"lock_lever\",\"lock_eccentric\",\n             \"t_handle\",\"piston_rod\",\"barrel\",\"upper_cap\",\"bottom_housing\",\"foot_pad\",\"valve_stem\",\"core_tip\",\"hub\"):\n    try:\n        g = m.geom(name)\n    except KeyError:\n        print(name, \"MISSING\"); continue\n    lo, hi = world_aabb(g.id)\n    print(f\"{name:22s} type={g.type} contype={g.contype} lo={lo} hi={hi}\")\n\nprint(\"\\n=== right hand collision geoms (world aabb at reset) ===\")\nrb = m.body(\"wrist_stage\").id\nhand_bodies = set()\nfor bid in range(m.nbody):\n    x = bid\n    while x > 0 and x != rb:\n        x = int(m.body_parentid[x])\n    if x == rb:\n        hand_bodies.add(bid)\nfor gid in range(m.ngeom):\n    if int(m.geom_bodyid[gid]) in hand_bodies and m.geom_contype[gid]:\n        lo, hi = world_aabb(gid)\n        print(f\"{m.geom(gid).name:44s} lo={lo} hi={hi}\")\nEOF\npython3 -I inspect3.py 2>&1 | tail -70"}],"out":{"text":"=== object geoms (world aabb at reset) ===\ncontinuous_hollow_head type=[7] contype=[1] lo=[ 0.5301 -0.1293  0.7351] hi=[ 0.5612 -0.1107  0.7588]\ncontinuous_collar      type=[7] contype=[1] lo=[ 0.5261 -0.13    0.7336] hi=[ 0.5359 -0.11    0.7544]\nhose_neck              type=[3] contype=[1] lo=[ 0.5447 -0.141   0.744 ] hi=[ 0.5541 -0.115   0.7534]\nlock_lever             type=[3] contype=[1] lo=[ 0.5379 -0.132   0.7457] hi=[ 0.5497 -0.126   0.7763]\nlock_eccentric         type=[2] contype=[1] lo=[ 0.5412 -0.13    0.7457] hi=[ 0.5506 -0.122   0.7551]\nt_handle               type=[3] contype=[1] lo=[0.386 0.07  1.14 ] hi=[0.454 0.09  1.16 ]\npiston_rod             type=[5] contype=[1] lo=[0.4165 0.0765 0.94  ] hi=[0.4235 0.0835 1.15  ]\nbarrel                 type=[5] contype=[1] lo=[0.409 0.069 0.721] hi=[0.431 0.091 0.937]\nupper_cap              type=[5] contype=[1] lo=[0.4075 0.0675 0.935 ] hi=[0.4325 0.0925 0.949 ]\nbottom_housing         type=[5] contype=[1] lo=[0.406 0.066 0.703] hi=[0.434 0.094 0.741]\nfoot_pad               type=[6] contype=[1] lo=[0.405 0.066 0.701] hi=[0.475 0.094 0.707]\nvalve_stem             type=[5] contype=[1] lo=[ 0.4802 -0.124   0.7301] hi=[ 0.521  -0.116   0.7458]\ncore_tip               type=[5] contype=[1] lo=[ 0.5181 -0.1208  0.7407] hi=[ 0.5203 -0.1192  0.7426]\nhub                    type=[5] contype=[1] lo=[ 0.6506 -0.142   0.7303] hi=[ 0.7094 -0.098   0.8174]\n\n=== right hand collision geoms (world aabb at reset) ===\npalm000_collision              \n… (10,775 characters left out) …\nght_index_MP_fit                           lo=[ 0.2592 -0.0176  1.2899] hi=[0.2801 0.0327 1.3107]\nright_index_fingertip_collision              lo=[0.2616 0.0243 1.2911] hi=[0.2778 0.0521 1.3089]\nright_middle_MCP_VL_fit                      lo=[ 0.2842 -0.0621  1.2871] hi=[ 0.2956 -0.037   1.3122]\nright_middle_PP_fit                          lo=[ 0.2806 -0.0473  1.2909] hi=[0.2993 0.0059 1.3096]\nright_middle_MP_fit                          lo=[ 0.2805 -0.0136  1.2919] hi=[0.2994 0.0346 1.3107]\nright_middle_fingertip_collision             lo=[0.2819 0.0273 1.2921] hi=[0.2981 0.0551 1.3099]\nright_ring_MCP_VL_fit                        lo=[ 0.3045 -0.0681  1.2855] hi=[ 0.3159 -0.043   1.3107]\nright_ring_PP_fit                            lo=[ 0.3005 -0.0537  1.289 ] hi=[0.32   0.0003 1.3084]\nright_ring_MP_fit                            lo=[ 0.2998 -0.0207  1.2893] hi=[0.3207 0.0297 1.3102]\nright_ring_fingertip_collision               lo=[0.3022 0.0213 1.2905] hi=[0.3184 0.0491 1.3084]\n                                             lo=[ 0.3186 -0.1307  1.2672] hi=[ 0.3475 -0.0644  1.331 ]\nright_pinky_MCP_VL_fit                       lo=[ 0.3253 -0.0742  1.284 ] hi=[ 0.3367 -0.049   1.3091]\nright_pinky_PP_fit                           lo=[ 0.3204 -0.0606  1.2865] hi=[ 0.3417 -0.0048  1.3079]\nright_pinky_MP_fit                           lo=[ 0.3211 -0.0262  1.2883] hi=[0.341  0.0231 1.3082]\nright_pinky_fingertip_collision              lo=[0.323  0.0153 1.289 ] hi=[0.3392 0.0431 1.3069]","exit":[],"pics":[]},"tok":{"in":119869,"cached":89285,"out":700,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":1706.2,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":124442,"cached":119863,"out":32005,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":2302.7,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":124486,"cached":124436,"out":32000,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":2695.8,"say":"","calls":[{"kind":"shell","label":"Check spoke positions near valve and bench geoms","code":"cat > inspect4.py <<'EOF'\nimport sys\nsys.path.insert(0, \"/opt/tools\")\nimport numpy as np, mujoco\nfrom rcb_dexhand import Session\n\ns = Session(\"bicycle_pump_stroke\")\nm, d = s.model, s.data\nnp.set_printoptions(precision=4, suppress=True)\n\ncenter = np.array([0.68, -0.12, 0.7738458587562638])\nR = np.array([[-0.98055149865641, -1.2246467991473532e-16, -0.1962619639223775],\n              [1.2008292542287127e-16, -1.0000000000000002, 2.4035158591129e-17],\n              [-0.1962619639223775, 3.0814879110195774e-33, 0.98055149865641]])\n# R columns = local axes in world\ndef to_local(p):\n    return R.T @ (np.asarray(p) - center)\n\nprint(\"=== spokes near valve azimuth (local coords) ===\")\nnsp = 0\nfor gid in range(m.ngeom):\n    name = m.geom(gid).name\n    if name.startswith(\"spoke_\"):\n        nsp += 1\n        if m.geom_type[gid] == mujoco.mjtGeom.mjGEOM_CAPSULE:\n            a = d.geom_xpos[gid] + d.geom_xmat[gid].reshape(3,3) @ np.array([0,0,-m.geom_size[gid][1]])\n            b = d.geom_xpos[gid] + d.geom_xmat[gid].reshape(3,3) @ np.array([0,0, m.geom_size[gid][1]])\n            la, lb = to_local(a), to_local(b)\n            ang_a = np.degrees(np.arctan2(la[1], la[0])); ang_b = np.degrees(np.arctan2(lb[1], lb[0]))\n            ra, rb = np.hypot(la[0], la[1]), np.hypot(lb[0], lb[1])\n            # report spokes whose either end within 40 deg of valve azimuth (0 deg local)\n            if min(abs(ang_a), abs(ang_b)) < 40 or min(abs(ang_a),abs(ang_b)) > 320:\n                print(f\"{name}: r={m.geom_size[gid][0]:.4f} A loc r={ra:.3f} ang={ang_a:7.1f} z={la[2]:+.3f} | B loc r={rb:.3f} ang={ang_b:7.1f} z={lb[2]:+.3f}\")\nprint(\"total spokes:\", nsp)\n\nprint(\"\\n=== bench geoms ===\")\nfor gid in range(m.ngeom):\n    name = m.geom(gid).name\n    if \"bench\" in name or name == \"floor\":\n        c, hs = m.geom_aabb[gid, :3], m.geom_aabb[gid, 3:]\n        print(f\"{name:30s} type={m.geom_type[gid]} c={c} hs={hs}\")\nEOF\npython3 -I inspect4.py 2>&1 | tail -40"}],"out":{"text":"=== spokes near valve azimuth (local coords) ===\nspoke_0: r=0.0010 A loc r=0.194 ang=    5.6 z=+0.000 | B loc r=0.020 ang=   22.8 z=-0.026\nspoke_1: r=0.0010 A loc r=0.194 ang=   16.9 z=-0.000 | B loc r=0.020 ang=   34.1 z=+0.026\nspoke_2: r=0.0010 A loc r=0.194 ang=   28.1 z=+0.000 | B loc r=0.020 ang=   45.3 z=-0.026\nspoke_3: r=0.0010 A loc r=0.194 ang=   39.4 z=-0.000 | B loc r=0.020 ang=   56.6 z=+0.026\nspoke_27: r=0.0010 A loc r=0.194 ang=  -50.6 z=-0.000 | B loc r=0.020 ang=  -33.4 z=+0.026\nspoke_28: r=0.0010 A loc r=0.194 ang=  -39.4 z=+0.000 | B loc r=0.020 ang=  -22.2 z=-0.026\nspoke_29: r=0.0010 A loc r=0.194 ang=  -28.1 z=-0.000 | B loc r=0.020 ang=  -10.9 z=+0.026\nspoke_30: r=0.0010 A loc r=0.194 ang=  -16.9 z=-0.000 | B loc r=0.020 ang=    0.3 z=-0.026\nspoke_31: r=0.0010 A loc r=0.194 ang=   -5.6 z=-0.000 | B loc r=0.020 ang=   11.6 z=+0.026\ntotal spokes: 32\n\n=== bench geoms ===\nfloor                          type=0 c=[ 0.e+00  0.e+00 -5.e+09] hs=[1.e+10 1.e+10 5.e+09]\nbench                          type=6 c=[0. 0. 0.] hs=[0.4   0.44  0.023]\nbench_leg_0.37_-0.39           type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]\nbench_leg_0.37_0.33            type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]\nbench_leg_1.09_-0.39           type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]\nbench_leg_1.09_0.33            type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]\n\n[stdout]\n=== spokes near valve azimuth (local coords) ===\nspoke_0: r=0.0010 A loc r=0.194 ang=    5.6 z=+0.000 | B loc r=0.020 ang=   22.8 z=-0.026\nspoke_1: r=0.0010 A loc r=0.194 ang=   16.9 z=-0.000 | B loc r=0.020 ang=   34.1 z=+0.026\nspoke_2: r=0.0010 A loc r=0.194 ang=   28.1 z=+0.000 | B loc r=0.020 ang=   45.3 z=-0.026\nspoke_3: r=0.0010 A loc r=0.194 ang=   39.4 z=-0.000 | B loc r=0.020 ang=   56.6 z=+0.026\nspoke_27: r=0.0010 A loc r=0.194 ang=  -50.6 z=-0.000 | B loc r=0.020 ang=  -33.4 z=+0.026\nspoke_28: r=0.0010 A loc r=0.194 ang=  -39.4 z=+0.000 | B loc r=0.020 ang=  -22.2 z=-0.026\nspoke_29: r=0.0010 A loc r=0.194 ang=  -28.1 z=-0.000 | B loc r=0.020 ang=  -10.9 z=+0.026\nspoke_30: r=0.0010 A loc r=0.194 ang=  -16.9 z=-0.000 | B loc r=0.020 ang=    0.3 z=-0.026\nspoke_31: r=0.0010 A loc r=0.194 ang=   -5.6 z=-0.000 | B loc r=0.020 ang=   11.6 z=+0.026\ntotal spokes: 32\n\n=== bench geoms ===\nfloor                          type=0 c=[ 0.e+00  0.e+00 -5.e+09] hs=[1.e+10 1.e+10 5.e+09]\nbench                          type=6 c=[0. 0. 0.] hs=[0.4   0.44  0.023]\nbench_leg_0.37_-0.39           type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]\nbench_leg_0.37_0.33            type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]\nbench_leg_1.09_-0.39           type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]\nbench_leg_1.09_0.33            type=6 c=[0. 0. 0.] hs=[0.023 0.023 0.377]","exit":[],"pics":[]},"tok":{"in":124526,"cached":12906,"out":21706,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":3352.6,"say":"","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":147119,"cached":124520,"out":32000,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev","task":"embodied-olympics-fun-clean-and-jerk-i00-standard","bench":"embodied-olympics-fun","mode":"standard","run":"codex-gpt6_astra-high","agent":"codex","model":"gpt-6-astra","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":3679,"sim_steps":4279,"calls":39,"rows":4279,"resets":1,"reset_budget":5,"sim_startups":1,"elapsed_s":475.7,"video_rendered":1,"first_success":0,"first_reason_code":3,"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":518,"tokens":{"in":3244753,"cached":3180928,"out":16707,"usd":4.65},"task_text":"# embodied-olympics clean-and-jerk — instance i00 — STANDARD MODE (robot as a service)\n\nYou control a simulated Unitree H1-2 humanoid robot (27 joints, 1.78 m tall, 67 kg; the 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:** Clean and jerk the barbell: lift it from its blocks to your shoulders, then to locked arms overhead, and hold it there motionless until the down signal.\n\n## The venue\nYou stand upright in the middle of the platform, facing +x, your soles 0.1 m above the floor, in the rest pose (upper arms down, forearms forward). The barbell lies across your front, parallel to your shoulders and centred on you, its sleeves on two blocks (0.30 m along x, 0.20 m along y, 0.35 m high, centred 0.8 m to either side of you): its axis is 0.2 m ahead of your pelvis and 0.375 m above the platform, just beyond your toes (they reach 0.164 m ahead of your pelvis). Your shoulder joints are 1.46 m above the platform when you stand, 0.30 m apart; the centre of your head is at 1.70 m, its top at 1.79 m; your knee joints are at 0.48 m. In the `stand` action's stance your knees are bent by about 21 degrees, and your elbows are at a right angle in the rest pose: neither is extended. Your elbow joints have no stop at the straight arm (they bend both ways from it). Both hands are open (grip values 0): a grip value is that hand's closure command (0 open, the fingers straight; 1 every finger and the thumb closing; a finger stops on what it touches). The barbell is a free body: `held` in your state says which hand grasps it with its fingers and its thumb or palm. The platform's edges are 2 m away in every direction.\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:** IWF Technical and Competition Rules & Regulations (International Weightlifting Federation; 2020 edition, article numbers quoted from memory of the 2020s editions): 2.3 the clean and jerk, 2.5 incorrect movements, 3.1 the platform, 3.3 the barbell (the women's bar: 15 kg, 2.01 m, a 25 mm grip section 1.31 m long, sleeves 50 mm thick; collars 2.5 kg; the lightest barbell in competition, women: 21 kg = the bar, two collars and two 0.5 kg discs). Where this task departs from it:\n\n- 3.3 (the barbell): the barbell is an aluminium technique bar, American Barbell's ATB-5-E (5 kg, 1.835 m, a 25 mm grip section 1.31 m long as the women's bar's, sleeves 50 mm thick), training equipment, not a competition barbell (the women's bar is 15 kg, the lightest competition barbell 21.0 kg), without collars or discs. The reason is the robot's arms: with the women's 15 kg bar the turnover from the hang to the shoulders asks 1.08 to 1.17 times what the elbow and shoulder motors give, and with 10 kg the robot topples at the turnover, so neither a heavier bar nor a faster turnover is open. There is no choice of we\n… (20,719 characters left out) …\nng between the pads in m, its speed in m/s, + opening, and the clamp force in N, + closing); a gripper's `holding_*` is 1 while both its jaws touch the same object. 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":18,"reset":1},"replay":"embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/replay.mp4","replay_last":"embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/replay_last.jpg","steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and robot specification, then build a controller that approaches the bar gradually and checks the grip and balance before lifting. I’ll save the driving script and notes as I work.","calls":[{"kind":"shell","label":"pwd && ls -la /app && cat /opt/tools/rcb_client.py","code":"pwd && ls -la /app && cat /opt/tools/rcb_client.py"}],"out":{"text":"/app\ntotal 12\ndrwxr-xr-x  3 root root 4096 Oct 22 10:30 .\ndr-xr-xr-x 20 root root 4096 Oct 24 21:16 ..\ndrwxr-xr-x  2 root root 4096 Oct 22 10:30 output\n\"\"\"eai-standard/2.1 client: your whole interface to the robot (installed at /opt/tools/rcb_client.py, on PYTHONPATH).\n\n    from rcb_client import Robot, EpisodeOver\n    r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nCalls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n    r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                             (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                             units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n                                             episode), \"cameras\" {name: rgb, depth, hw, fovy_deg, pose, mounted},\n                                             \"proprio_layout\" and \"proprio\" (joints, axes, positions), \"imu\", \"links\"\n                                             (masses, centres of mass, the feet's boxes), \"depth\", \"budget\" {\"reset\",\n                                             \"wall_clock_s\"}, \"episode\" (what ends it)\n    r.status()                               GET /status: calls, rows, control_steps, done, reason, elapsed_s\n    r.get_obs(cameras=None, seconds=0.0, video_fps=10, include\n… (7,968 characters left out) …\nepth: bool = False) -> Result:\n        return self._post(\"/reset\", {\"cameras\": _names(cameras), \"include_depth\": bool(include_depth)}, [], timeout=900)\n\n    def _post(self, path: str, meta: dict, parts: list, timeout: float) -> Result:\n        body = rcb1.encode(meta, parts)\n        if len(body) > MAX_BODY:                     # the service would close the connection on it unread\n            raise ValueError(f\"{path}: {len(body)} bytes, over the protocol's {MAX_BODY}: send fewer rows\")\n        r = requests.post(self.base + path, data=body, headers={\"Content-Type\": \"application/x-rcb1\"},\n                          timeout=(5, timeout))\n        if r.headers.get(\"Content-Type\", \"\").startswith(\"application/x-rcb1\") and r.status_code == 200:\n            return Result(*rcb1.decode(r.content))\n        try:\n            err = r.json()\n        except ValueError:\n            err = {\"error\": r.text[:300]}\n        msg = f\"{r.status_code} {path}: {err.get('error')}\" + (f\" ({err['detail']})\" if err.get(\"detail\") else \"\")\n        if r.status_code == 409:\n            raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\n                              + (f\"; resets_left {err['resets_left']}\" if \"resets_left\" in err else \"\"))\n        if r.status_code in (400, 413):\n            raise ValueError(msg)\n        raise RuntimeError(msg)\n\n\ndef _names(cameras) -> list[str] | None:\n    return None if cameras is None else [cameras] if isinstance(cameras, str) else list(cameras)\n","exit":[0],"pics":[]},"tok":{"in":17412,"cached":8192,"out":89,"think":0,"usd":0.1048},"sim":{"submit":0,"reset":0}},{"id":7,"t":3.5,"say":"","calls":[{"kind":"robot","label":"Path('/app/output/spec.json').write_text(json.dumps(s,indent=2))","code":"python - <<'PY'\nfrom rcb_client import Robot\nimport json\nfrom pathlib import Path\nr=Robot(); s=r.spec()\nPath('/app/output/spec.json').write_text(json.dumps(s,indent=2))\nprint(json.dumps(s,indent=2))\no=r.get_obs();o.save('/app/output/initial')\nprint(r.status())\nPY"}],"out":{"text":"Warning: truncated output (original token count: 11396)\nTotal output lines: 1\n\n{\"chunk_id\":\"5ed20a\",\"wall_time_seconds\":1.001283898,\"session_id\":99271,\"original_token_count\":10591,\"output\":\"{\\n  \\\"protocol\\\": \\\"eai-standard/2.1\\\",\\n  \\\"control_dt\\\": 0.01,\\n  \\\"max_control_steps\\\": 6000,\\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    \\\"r\n… (37,106 characters left out) …\nery physics step; a load beyond passive_torque_nm drags the setpoint (the drive slips)\\\"\\n          },\\n          \\\"holding_rule\\\": \\\"a free body that touches the hand's fingers and its thumb or palm\\\",\\n          \\\"pad_friction\\\": [\\n            1.0,\\n            0.005,\\n            0.0001\\n          ],\\n          \\\"start\\\": {\\n            \\\"closure\\\": 0.0,\\n            \\\"holding\\\": null\\n          }\\n        }\\n      }\\n    }\\n  },\\n  \\\"proprio\\\": {\\n    \\\"units\\\": \\\"*_pos, *_target: rad; *_vel: rad/s; *_torque: N m (the motor torque applied); imu_*: orientation quaternion (w, x, y, z; world from sensor), angular velocity (rad/s) and acceleration (m/s^2, gravity included) in the sensor's frame; holding_*: 1 while that hand grips something; mode: 0 stand, 1 walk, 2 run, 3 run_arms, 4 joints / lowcmd, 5 walk_falcon, 6 walk_agile (the G1's); cmd_*: the velocity command in force; time_s: the episode's time; jaw_opening_* (m), jaw_speed_* (m/s, + opening), jaw_force_* (N, the clamp force, + closing): a gripper's jaws; its holding_* is 1 while both jaws touch the same object\\\"\\n  },\\n  \\\"referee\\\": \\\"once an attempt is over, every response's meta carries the referee's call: meta['outcome'] ('success' or the rule that ended it) and meta['stages_reached'] of meta['stages_total']\\\",\\n  \\\"reset\\\": \\\"POST /reset abandons the running episode and starts a new one from the same starting state, budget.reset times in all; only the last episode is graded, and a success ends the trial\\\"\\n}\"}","exit":[],"pics":[]},"tok":{"in":20446,"cached":17280,"out":115,"think":0,"usd":0.0547},"sim":{"submit":0,"reset":0}},{"id":8,"t":7.5,"say":"","calls":[{"kind":"shell","label":"ls /opt && rg --files /app /opt /tmp | head -80","code":"ls /opt && rg --files /app /opt /tmp | head -80"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"ls /opt && rg --files /app /opt /tmp | head -80\",\"max_output_tokens\":3000}));\ntext(await tools.write_stdin({session_id:99271,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"tools\n/app/output/spec.json\n/opt/tools/rcb_client.py\n/opt/tools/rcb1.py\n/tmp/client-requirements.txt\n/app/output/initial/proprio.npy\n/app/output/initial/meta.json\n/opt/tools/__pycache__/rcb_client.cpython-312.pyc\n/opt/tools/__pycache__/rcb1.cpython-312.pyc\n/app/output/initial/last/venue.jpg\n/app/output/initial/last/head_right.jpg\n/app/output/initial/last/head_left.jpg\n/tmp/codex-home/installation_id\n/tmp/codex-home/goals_1.sqlite-wal\n/tmp/codex-home/goals_1.sqlite-shm\n/tmp/codex-home/goals_1.sqlite\n/tmp/codex-home/config.toml\n/tmp/codex-home/memories_1.sqlite-shm\n/tmp/codex-home/memories_1.sqlite\n/tmp/codex-home/logs_2.sqlite-wal\n/tmp/codex-home/logs_2.sqlite-shm\n/tmp/codex-home/logs_2.sqlite\n/tmp/codex-secrets/auth.json\n/tmp/codex-home/queue_1.sqlite\n/tmp/codex-home/models_cache.json\n/tmp/codex-home/memories_1.sqlite-wal\n/tmp/codex-home/queue_1.sqlite-shm\n/tmp/codex-home/queue_1.sqlite-wal\n/tmp/codex-home/state_5.sqlite\n/tmp/codex-home/state_5.sqlite-shm\n/tmp/codex-home/state_5.sqlite-wal\n/tmp/codex-home/thread_history_1.sqlite-wal\n/tmp/codex-home/thread_history_1.sqlite-shm\n/tmp/codex-home/thread_history_1.sqlite\n/tmp/codex-home/shell_snapshots/01a16fc6-5889-7940-9993-51c2fdeb2529.1792876632679451393.sh\n/app/output/initial/frames/venue/000.jpg\n/tmp/codex-home/thread-writer-locks/01a16fc6-5889-7940-9993-51c2fdeb2529.lock\n/app/output/initial/frames/head_left/000.jpg\n/app/output/initial/frames/head_right/000.jpg\n/tmp/codex-home/sessions/2026/10/24/rollout-2026-10-24T21-17-12-0\n… (1,032 characters left out) …\nhe/v22.23.4-x64-9ac5647c-0/092b77b7\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/07f62aa9\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/19367018\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/07afbd06\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/18c33189\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/18941302\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/17f05553\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/174d7f68\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/172d43f4\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/16f34ccd\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/16ddb27b\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/16c974e0\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/1672c924\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/164dd913\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/1634e194\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/15404502\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/150b6fc9\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/14ee3505\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/13ea0106\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/137ed2a2\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/131799a0\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/1187955a\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/101e85de\n/tmp/node-compile-cache/v22.23.4-x64-9ac5647c-0/0751d8c6\n\n\n{'calls': 1, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 0, 'resets_left': 5, 'elapsed_s': 1.1}\n","exit":[0,0],"pics":[]},"tok":{"in":33501,"cached":20352,"out":73,"think":0,"usd":0.1555},"sim":{"submit":0,"reset":0}},{"id":9,"t":13.1,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/initial/last/venue.jpg"},{"kind":"shell","label":"u='https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/unitree_robots/h1_2/scene.xml'","code":"python - <<'PY'\nimport requests\nu='https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/unitree_robots/h1_2/scene.xml'\nr=requests.get(u);print(r.status_code);print(r.text[:5000])\nPY"}],"out":{"text":"200\n<mujoco model=\"Unitree H1-1\">\n  <include file=\"h1_2_handless.xml\" />\n  <statistic center=\"1 0.7 1.5\" extent=\"0.8\" />\n  <visual>\n    <headlight diffuse=\"0.6 0.6 0.6\" ambient=\"0.1 0.1 0.1\" specular=\"0.9 0.9 0.9\"/>\n    <rgba haze=\"0.15 0.25 0.35 1\" />\n    <global azimuth=\"-140\" elevation=\"-30\" />\n  </visual>\n  <asset>\n    <texture type=\"skybox\" builtin=\"flat\" rgb1=\"0 0 0\" rgb2=\"0 0 0\" width=\"512\" height=\"3072\" />\n    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"0.2 0.3 0.4\"\n      rgb2=\"0.1 0.2 0.3\" markrgb=\"0.8 0.8 0.8\" width=\"300\" height=\"300\" />\n    <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\"\n      reflectance=\"0.2\" />\n  </asset>\n  <worldbody>\n    <light pos=\"0 0 1.5\" dir=\"0 0 -1\" directional=\"true\" />\n    <geom name=\"floor\" size=\"0 0 0.05\" type=\"plane\" material=\"groundplane\" />\n  </worldbody>\n</mujoco>\n","exit":[0],"pics":["embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/s009_0.jpg"]},"tok":{"in":35388,"cached":33408,"out":182,"think":69,"usd":0.0623},"sim":{"submit":0,"reset":0}},{"id":10,"t":17.0,"say":"","calls":[{"kind":"shell","label":"u='https://api.github.com/repos/unitreerobotics/unitree_mujoco/contents/unitree_robots/h1_2'","code":"python - <<'PY'\nimport requests\nu='https://api.github.com/repos/unitreerobotics/unitree_mujoco/contents/unitree_robots/h1_2'\nr=requests.get(u);print([(x['name'],x['type']) for x in r.json()])\nPY\npython -c 'import mujoco; print(mujoco.__version__)'"}],"out":{"text":"[('h1_2.png', 'file'), ('h1_2_handless.xml', 'file'), ('meshes', 'dir'), ('scene.xml', 'file')]\nTraceback (most recent call last):\n  File \"<string>\", line 1, in <module>\nModuleNotFoundError: No module named 'mujoco'\n","exit":[1],"pics":[]},"tok":{"in":36186,"cached":35328,"out":108,"think":0,"usd":0.0493},"sim":{"submit":0,"reset":0}},{"id":11,"t":21.6,"say":"The robot is still at its starting pose, with all five resets available. I’m checking Unitree’s published joint geometry so I can plan the squat and hand placement without spending attempts on large trial movements.","calls":[{"kind":"shell","label":"p=Path('/app/output/models');p.mkdir(exist_ok=True)","code":"python - <<'PY'\nimport requests\nfrom pathlib import Path\np=Path('/app/output/models');p.mkdir(exist_ok=True)\nu='https://raw.githubusercontent.com/unitreerobotics/unitree_mujoco/main/unitree_robots/h1_2/h1_2_handless.xml'\nt=requests.get(u).text;(p/'h1_2_handless.xml').write_text(t);print(t[:22000])\nu='https://api.github.com/repos/unitreerobotics/unitree_ros/contents/robots/h1_2_description'\nr=requests.get(u);print(r.status_code); print([(x['name'],x['type']) for x in r.json()] if r.ok else r.text[:100])\nPY\npip -q install mujoco scipy"}],"out":{"text":"<mujoco model=\"h1_2\">\n  <compiler angle=\"radian\" meshdir=\"meshes/\" autolimits=\"true\"/>\n\n  <default>\n    <joint damping=\"1\" armature=\"0.1\"  frictionloss=\"0.2\" />\n  </default>\n\n  <asset>\n    <mesh name=\"pelvis\" file=\"pelvis.STL\"/>\n    <mesh name=\"left_hip_yaw_link\" file=\"left_hip_yaw_link.STL\"/>\n    <mesh name=\"left_hip_pitch_link\" file=\"left_hip_pitch_link.STL\"/>\n    <mesh name=\"left_hip_roll_link\" file=\"left_hip_roll_link.STL\"/>\n    <mesh name=\"left_knee_link\" file=\"left_knee_link.STL\"/>\n    <mesh name=\"left_ankle_pitch_link\" file=\"left_ankle_pitch_link.STL\"/>\n    <mesh name=\"left_ankle_roll_link\" file=\"left_ankle_roll_link.STL\"/>\n    <mesh name=\"right_hip_yaw_link\" file=\"right_hip_yaw_link.STL\"/>\n    <mesh name=\"right_hip_pitch_link\" file=\"right_hip_pitch_link.STL\"/>\n    <mesh name=\"right_hip_roll_link\" file=\"right_hip_roll_link.STL\"/>\n    <mesh name=\"right_knee_link\" file=\"right_knee_link.STL\"/>\n    <mesh name=\"right_ankle_pitch_link\" file=\"right_ankle_pitch_link.STL\"/>\n    <mesh name=\"right_ankle_roll_link\" file=\"right_ankle_roll_link.STL\"/>\n    <mesh name=\"torso_link\" file=\"torso_link.STL\"/>\n    <mesh name=\"left_shoulder_pitch_link\" file=\"left_shoulder_pitch_link.STL\"/>\n    <mesh name=\"left_shoulder_roll_link\" file=\"left_shoulder_roll_link.STL\"/>\n    <mesh name=\"left_shoulder_yaw_link\" file=\"left_shoulder_yaw_link.STL\"/>\n    <mesh name=\"left_elbow_link\" file=\"left_elbow_link.STL\"/>\n    <mesh name=\"left_wrist_roll_link\" file=\"left_wrist_roll_link.STL\"/>\n    <mesh name=\"lef\n… (19,215 characters left out) …\nght_wrist_yaw_joint\" joint=\"right_wrist_yaw_joint\" ctrlrange=\"-19 19\"/>\n  </actuator>\n\n  <sensor>\n    <jointpos name=\"left_hip_yaw_pos\" joint=\"left_hip_yaw_joint\" />\n    <jointpos name=\"left_hip_pitch_pos\" joint=\"left_hip_pitch_joint\" />\n    <jointpos name=\"left_hip_roll_pos\" joint=\"left_hip_roll_joint\" />\n    <jointpos name=\"left_knee_pos\" joint=\"left_knee_joint\" />\n    <jointpos name=\"left_ankle_pitch_pos\" joint=\"left_ankle_pitch_joint\" />\n    <jointpos name=\"left_ankle_roll_pos\" joint=\"left_ankle_roll_joint\" />\n    <jointpos name=\"right_hip_yaw_pos\" joint=\"right_hip_yaw_joint\" />\n    <jointpos name=\"right_hip_pitch_pos\" joint=\"right_hip_pitch_joint\" />\n    <jointpos name=\"right_hip_roll_pos\" joint=\"right_hip_roll_joint\" />\n    <jointpos name=\"right_knee_pos\" joint=\"right_knee_joint\" />\n    <jointpos name=\"right_ankle_pitch_pos\" joint=\"right_ankle_pitch_joint\" />\n    <jointpos name=\"right_ankle_roll_pos\" joint=\"right_ankle_roll_joint\" />\n    <jointpos name=\"torso_joint_pos\" joint=\"torso_joint\" />\n    <jointpos name=\"left_shoulder_pitch_pos\" joint=\"left_shoulder_pitch_joint\" />\n    <jointpos name=\"left_shoulder_roll_pos\" joint=\"left_shoulder_roll_joint\" />\n    <jointpos name=\"left_shoulder_yaw_pos\" joint=\"left_shoulder_yaw_joint\" />\n    <jointpos name=\"left_elbow_\n200\n[('README.md', 'file'), ('h1_2.png', 'file'), ('h1_2.urdf', 'file'), ('h1_2.xml', 'file'), ('h1_2_handless.urdf', 'file'), ('h1_2_handless.xml', 'file'), ('h1_2_with_FTP_hand.urdf', 'file'), ('meshes', 'dir')]\n","exit":[],"pics":[]},"tok":{"in":36430,"cached":36224,"out":283,"think":34,"usd":0.0524},"sim":{"submit":0,"reset":0}},{"id":12,"t":28.8,"say":"","calls":[{"kind":"shell","label":"u='https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_2_description/h1_2.xml'","code":"python - <<'PY'\nimport requests\nfrom pathlib import Path\nu='https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_2_description/h1_2.xml'\nr=requests.get(u);print(r.status_code);Path('/app/output/models/h1_2.xml').write_text(r.text)\nPY\nrg -n 'hand|palm|thumb|index' /app/output/models/h1_2.xml | head -70"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"python - <<'PY'\\nimport requests\\nfrom pathlib import Path\\nu='https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_2_description/h1_2.xml'\\nr=requests.get(u);print(r.status_code);Path('/app/output/models/h1_2.xml').write_text(r.text)\\nPY\\nrg -n 'hand|palm|thumb|index' /app/output/models/h1_2.xml | head -70\",\"max_output_tokens\":3500}));\ntext(await tools.write_stdin({session_id:44555,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":1000}));\n"}],"out":{"text":"200\n33:    <mesh name=\"L_hand_base_link\" file=\"L_hand_base_link.STL\"/>\n46:    <mesh name=\"R_hand_base_link\" file=\"R_hand_base_link.STL\"/>\n176:                      <geom pos=\"0.054 0 0\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"1\" density=\"0\" rgba=\"0.1 0.1 0.1 1\" mesh=\"L_hand_base_link\"/>\n177:                      <geom pos=\"0.054 0 0\" quat=\"0.707107 0 0 0.707107\" type=\"mesh\" rgba=\"0.1 0.1 0.1 1\" mesh=\"L_hand_base_link\"/>\n178:                      <body name=\"L_thumb_proximal_base\" pos=\"0.1231 -0.01696 0.02045\" quat=\"-2.59735e-06 0.707107 0 0.707107\">\n180:                        <joint name=\"L_thumb_proximal_yaw_joint\" pos=\"0 0 0\" axis=\"0 0 1\" range=\"-0.1 1.3\" actuatorfrcrange=\"-1 1\"/>\n183:                        <body name=\"L_thumb_proximal\" pos=\"0.0099867 0.0098242 -0.0089\" quat=\"0.704571 -0.704573 -0.0598169 0.0598167\">\n185:                          <joint name=\"L_thumb_proximal_pitch_joint\" pos=\"0 0 0\" axis=\"0 0 -1\" range=\"-0.1 0.6\" actuatorfrcrange=\"-1 1\"/>\n188:                          <body name=\"L_thumb_intermediate\" pos=\"0.04407 -0.034553 -0.0008\">\n190:                            <joint name=\"L_thumb_intermediate_joint\" pos=\"0 0 0\" axis=\"0 0 -1\" range=\"0 0.8\" actuatorfrcrange=\"-1 1\"/>\n193:                            <body name=\"L_thumb_distal\" pos=\"0.020248 -0.010156 -0.0012\">\n195:                              <joint name=\"L_thumb_distal_joint\" pos=\"0 0 0\" axis=\"0 0 -1\" range=\"0 1.2\" actuatorfrcrange=\"-1 1\"/>\n202:                    \n… (2,294 characters left out) …\natorfrcrange=\"-1 1\"/>\n405:    <motor name=\"L_index_proximal_joint\" joint=\"L_index_proximal_joint\"/>\n406:    <motor name=\"L_index_intermediate_joint\" joint=\"L_index_intermediate_joint\"/>\n413:    <motor name=\"L_thumb_proximal_yaw_joint\" joint=\"L_thumb_proximal_yaw_joint\"/>\n414:    <motor name=\"L_thumb_proximal_pitch_joint\" joint=\"L_thumb_proximal_pitch_joint\"/>\n415:    <motor name=\"L_thumb_intermediate_joint\" joint=\"L_thumb_intermediate_joint\"/>\n416:    <motor name=\"L_thumb_distal_joint\" joint=\"L_thumb_distal_joint\"/>\n417:    <motor name=\"R_index_proximal_joint\" joint=\"R_index_proximal_joint\"/>\n418:    <motor name=\"R_index_intermediate_joint\" joint=\"R_index_intermediate_joint\"/>\n425:    <motor name=\"R_thumb_proximal_yaw_joint\" joint=\"R_thumb_proximal_yaw_joint\"/>\n426:    <motor name=\"R_thumb_proximal_pitch_joint\" joint=\"R_thumb_proximal_pitch_joint\"/>\n427:    <motor name=\"R_thumb_intermediate_joint\" joint=\"R_thumb_intermediate_joint\"/>\n428:    <motor name=\"R_thumb_distal_joint\" joint=\"R_thumb_distal_joint\"/>\n\nWARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.\n\n[notice] A new release of pip is available: 25.0.1 -> 26.2.2\n[notice] To update, run: pip install --upgrade pip\n","exit":[0,0],"pics":[]},"tok":{"in":45589,"cached":36608,"out":156,"think":0,"usd":0.1342},"sim":{"submit":0,"reset":0}},{"id":13,"t":64.7,"say":"","calls":[{"kind":"robot","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'EOF'\nApproach: sensor-guided squat, two-handed grip, clean pause, then locked-arm overhead hold.\nOnly Robot client endpoints are used for the live robot.\nDownloaded official Unitree H1-2 XML geometry from unitree_mujoco and unitree_ros.\nInstalled mujoco and scipy for offline kinematics and gravity calculations; no reference solutions used.\nInitial attempt is still running; no motions or resets yet.\nEOF\ncat > /app/output/gen.py <<'PY'\n\"\"\"Live Unitree controller. Uses only the standard Robot client for hardware access.\"\"\"\nimport json, argparse\nfrom pathlib import Path\nimport numpy as np\nfrom scipy.spatial.transform import Rotation\nfrom rcb_client import Robot\nOUT=Path(__file__).resolve().parent\nclass Controller:\n    def __init__(self):\n        self.r=Robot(); self.s=self.r.spec(); self.layout=self.s['proprio_layout']\n        self.names=self.s['robot_facts']['joints']; self.obs=self.r.get_obs(cameras=[],video='none'); self.update(self.obs)\n    def update(self,res):\n        self.p=np.array(res.meta['proprio']['now']); self.d=dict(zip(self.layout,self.p)); self.obs=res\n    def report(self):\n        quat=[self.d['imu_pelvis_q'+c] for c in 'xyzw']\n        print('time',self.d['time_s'],'rpy',Rotation.from_quat(quat).as_euler('xyz').round(4),'held',[self.d['holding_'+s] for s in ['left','right']])\n        print('q',self.p[:27].round(4).tolist());print('tau',self.p[54:81].round(2).tolist())\n        print({k:v for k,v in self.obs.meta.items() if k not in ['proprio','clipped']})\n    def save(self,label):\n        self.obs.save(OUT/label);self.obs.save(OUT/'latest'); self.report()\n    def move(self,q,seconds=1,grip=0,kind='joints',label='move',tau=None,kp=None,kd=None):\n        q=np.array(q);n=round(seconds/.01);start=self.p[81:108]\n        f=np.linspace(0,1,n+1)[1:]; f=f*f*(3-2*f)\n        Q=start+(q-start)*f[:,None]\n        G=np.broadcast_to(grip,(n,2))\n        if kind=='lowcmd':\n            facts=self.s['robot_facts']; kp=np.array(facts['default_kp'] if kp is None else kp);kd=np.array(facts['default_kd'] if kd is None else kd)\n            A=np.c_[Q,np.zeros_like(Q),np.broadcast_to(np.zeros(27) if tau is None else tau,Q.shape),np.broadcast_to(kp,Q.shape),np.broadcast_to(kd,Q.shape),G]\n        elif kind=='stand':A=np.c_[Q[:,12:],G]\n        else:A=np.c_[Q,G]\n        np.savez(OUT/f'command_{label}.npz',A=A,kind=kind)\n        res=self.r.submit(kind,A,video='none',cameras=['venue'],note=label); self.update(res);self.save(label);return res\nif __name__=='__main__':\n    c=Controller(); c.report()\nPY\npython - <<'PY'\nimport xml.etree.ElementTree as E\nfrom pathlib import Path\np=Path('/app/output/models');root=E.parse(p/'h1_2.xml').getroot()\nfor parent in root.iter():\n for child in list(parent):\n  if child.tag in ('geom','asset','sensor','actuator','equality'): parent.remove(child)\nfor side in ['left','right']:\n b=root.find('.//body[@name=\"'+side+'_wrist_yaw_link\"]')\n E.SubElement(b,'site',name=side+'_grip',pos='0.205 '+('-0.025' if side=='left' else '0.025')+' 0',size='.01')\nE.ElementTree(root).write(p/'kinematic.xml')\nimport mujoco\nm=mujoco.MjModel.from_xml_path(str(p/'kinematic.xml'));print('joints',m.nq,m.nv)\nPY"}],"out":{"text":"joints 58 57\n","exit":[0],"pics":[]},"tok":{"in":47738,"cached":45696,"out":1518,"think":516,"usd":0.142},"sim":{"submit":0,"reset":0}},{"id":14,"t":96.3,"say":"","calls":[{"kind":"shell","label":"writes kin.py","code":"cat > /app/output/kin.py <<'PY'\nimport numpy as np, mujoco\nfrom pathlib import Path\nfrom scipy.spatial.transform import Rotation as R\nfrom scipy.optimize import least_squares\nimport json\nP=Path(__file__).resolve().parent\nclass Kin:\n def __init__(self):\n  self.m=mujoco.MjModel.from_xml_path(str(P/'models/kinematic.xml'));self.d=mujoco.MjData(self.m)\n  self.s=json.loads((P/'spec.json').read_text());self.names=self.s['robot_facts']['joints']\n  def jname(n):return n.replace('elbow_pitch','elbow').replace('elbow_roll','wrist_roll')+'_joint'\n  self.jids=np.array([self.m.joint(jname(n)).id for n in self.names]);self.qa=self.m.jnt_qposadr[self.jids];self.va=self.m.jnt_dofadr[self.jids]\n  self.q0=np.r_[self.s['robot_facts']['stance_legs_rad'],np.zeros(15)]\n  self.set(self.q0,base=[0,0,1.135]);self.foot0=np.mean([self.pos(x+'_ankle_roll_link') for x in ['left','right']],axis=0)\n def pos(self,b):return self.d.xpos[self.m.body(b).id].copy()\n def mat(self,b):return self.d.xmat[self.m.body(b).id].reshape(3,3).copy()\n def grip(self,s):return self.d.site_xpos[self.m.site(s+'_grip').id].copy()\n def set(self,q,quat=None,base=None,ground=True):\n  self.d.qpos[self.qa]=q;self.d.qvel[:]=0\n  if quat is None:\n   # flat soles determine pitch of root\n   pitch=-(q[1]+q[3]+q[4]);self.d.qpos[3:7]=[np.cos(pitch/2),0,np.sin(pitch/2),0]\n  else:self.d.qpos[3:7]=quat\n  self.d.qpos[:3]=[0,0,0] if base is None else base\n  mujoco.mj_forward(self.m,self.d)\n  if ground and base is None:\n   foot=np.mean([self.pos(x+'_ankle_roll_link') for x in ['left','right']],axis=0)\n   self.d.qpos[:3]+=self.foot0-foot;mujoco.mj_forward(self.m,self.d)\n  return self\n def com(self):return self.d.subtree_com[1].copy()\n def static(self,load=0):\n  tau=self.d.qfrc_bias.copy(); mass=self.m.body_mass.sum()+load\n  for side in ['left','right']:\n   j=np.zeros((3,self.m.nv));jr=j.copy();bid=self.m.body(side+'_ankle_roll_link').id\n   point=self.pos(side+'_ankle_roll_link')+np.array([.035,0,0])\n   mujoco.mj_jac(self.m,self.d,j,jr,point,bid);tau-=j.T@np.array([0,0,mass*9.81/2])\n   if load:\n    mujoco.mj_jacSite(self.m,self.d,j,jr,self.m.site(side+'_grip').id);tau-=j.T@np.array([0,0,-load*9.81/2])\n  return tau[self.va]\n def sym(self,v):\n  # hip,knee,ankle,shoulder-pitch,roll,yaw,elbow,forearm-roll,wrist-pitch,wrist-yaw\n  h,k,a,sp,sr,sy,e,er,wp,wy=v\n  q=np.zeros(27);q[[1,7]]=h;q[[3,9]]=k;q[[4,10]]=a\n  q[13:20]=[sp,sr,sy,e,er,wp,wy];q[20:27]=[sp,-sr,-sy,e,-er,wp,-wy]\n  return q\n def report(self,q):\n  self.set(q);print('base',self.d.qpos[:7].round(4),'com',self.com().round(4),'grips',self.grip('left').round(4),self.grip('right').round(4));print('shoulder',self.pos('left_shoulder_pitch_link').round(4));print('tau',self.static().round(1))\nif __name__=='__main__':\n k=Kin();k.report(k.q0);q=k.sym([-1.5,2,-.85,-.6,0,0,1.57,1.57,0,0]);k.report(q)\nPY\ncd /app/output && python kin.py"}],"out":{"text":"base [0.    0.    1.135 1.    0.    0.    0.   ] com [2.0200e-02 7.0000e-04 1.0476e+00] grips [0.439  0.1845 1.23  ] [ 0.439  -0.1845  1.23  ]\nshoulder [0.     0.1481 1.5583]\ntau [ -0.    3.6  -0.4 -13.   11.3   0.    0.    3.6   0.4 -13.   11.3   0.\n   0.   -3.8   0.    0.   -3.7  -0.   -0.5  -0.   -3.8  -0.1  -0.   -3.7\n  -0.   -0.5   0. ]\nbase [-0.0244  0.      0.7656  0.9847  0.      0.1741  0.    ] com [6.180e-02 7.000e-04 7.235e-01] grips [0.2707 0.1803 0.4255] [ 0.2707 -0.1803  0.4255]\nshoulder [0.1208 0.1481 1.1632]\ntau [ -5.8  14.5  -0.2 -80.7  11.3   0.    5.8  14.5   0.2 -80.7  11.3   0.\n   0.2  -3.3  -0.1  -0.   -0.6   0.    0.    0.1  -3.3   0.1   0.   -0.6\n  -0.    0.   -0.1]\n","exit":[0],"pics":[]},"tok":{"in":49318,"cached":49152,"out":1602,"think":516,"usd":0.1309},"sim":{"submit":0,"reset":0}},{"id":15,"t":112.5,"say":"The published geometry confirms that reaching the blocks needs a deep squat and nearly straight arms. I’ve saved the controller and notes; next I’ll test a slow descent with gravity compensation and use the IMU to check that the feet stay planted.","calls":[{"kind":"shell","label":"def solve_squat(z=.50,x=.2,y=.28,knee=1.95):","code":"cat >> /app/output/kin.py <<'PY'\n\ndef solve_squat(z=.50,x=.2,y=.28,knee=1.95):\n k=Kin();v0=[-1.5,knee,-.85,-.5,.12,0,1.4,1.57,0,0]\n bounds=([-2,0,-.897,-2,-.3,-1,-.94,-3,-.46,-1.26],[0,2.05,.5,.5,1,1,2.8,2.75,.46,1.26])\n def fun(v):\n  q=k.sym(v);k.set(q);g=k.grip('left');axis=k.mat('left_wrist_yaw_link')[:,2]\n  com=k.com();foot=k.foot0\n  return np.r_[(g-[x,y,z])*10,(axis-[0,-1,0])*2,(com[0]-(foot[0]+.035))*15,(v[1]-knee)*3,(v[7]-1.57)*.1,v[8]*.1,v[9]*.1,(v[6]-1.4)*.05]\n res=least_squares(fun,v0,bounds=bounds,xtol=1e-11,ftol=1e-11,gtol=1e-11)\n print('ik',res.x.round(5),'residual',np.round(fun(res.x),5));q=k.sym(res.x);k.report(q);return q\nPY\ncd /app/output && python - <<'PY'\nfrom kin import *\nq=solve_squat();np.save('squat.npy',q)\nPY"}],"out":{"text":"ik [-1.16087e+00  1.95000e+00 -8.69190e-01 -3.07420e-01  1.43960e-01\n  8.58900e-02  1.40115e+00  1.55517e+00 -1.30580e-01  4.00000e-05] residual [-0.000e+00 -2.500e-04  0.000e+00  2.600e-04  0.000e+00 -9.000e-04\n  0.000e+00  0.000e+00 -1.480e-03 -1.306e-02  0.000e+00  6.000e-05]\nbase [-0.0501  0.      0.794   0.9992  0.      0.04    0.    ] com [1.930e-02 7.000e-04 7.513e-01] grips [0.2  0.28 0.5 ] [ 0.2  -0.28  0.5 ]\nshoulder [-0.0162  0.1481  1.216 ]\ntau [ -1.4   9.8  -0.2 -82.2  11.3   0.    1.4   9.8   0.2 -82.2  11.3   0.\n   0.   -3.7   2.1   0.1  -1.2  -0.    0.    0.1  -3.8  -2.1  -0.1  -1.2\n   0.    0.   -0.1]\n","exit":[0],"pics":[]},"tok":{"in":51458,"cached":50816,"out":819,"think":364,"usd":0.0982},"sim":{"submit":0,"reset":0}},{"id":16,"t":128.4,"say":"","calls":[{"kind":"shell","label":"k=Kin();q1=np.load('squat.npy')","code":"cd /app/output && python - <<'PY'\nfrom kin import *\nk=Kin();q1=np.load('squat.npy')\nfor f in np.linspace(0,1,11):\n q=k.q0*(1-f)+q1*f;k.set(q);print(round(f,2),k.com().round(3), k.grip('left').round(3))\nPY"}],"out":{"text":"0.0 [2.000e-02 1.000e-03 1.048e+00] [0.439 0.184 1.23 ]\n0.1 [1.800e-02 1.000e-03 1.035e+00] [0.437 0.19  1.164]\n0.2 [1.600e-02 1.000e-03 1.018e+00] [0.429 0.197 1.094]\n0.3 [0.015 0.001 0.996] [0.415 0.206 1.022]\n0.4 [0.013 0.001 0.971] [0.396 0.215 0.947]\n0.5 [0.013 0.001 0.943] [0.372 0.225 0.87 ]\n0.6 [0.012 0.001 0.91 ] [0.344 0.236 0.793]\n0.7 [0.013 0.001 0.875] [0.312 0.247 0.717]\n0.8 [0.014 0.001 0.836] [0.277 0.258 0.642]\n0.9 [0.016 0.001 0.795] [0.239 0.269 0.569]\n1.0 [0.019 0.001 0.751] [0.2  0.28 0.5 ]\n","exit":[0],"pics":[]},"tok":{"in":52759,"cached":52224,"out":252,"think":137,"usd":0.0702},"sim":{"submit":0,"reset":0}},{"id":17,"t":137.8,"say":"","calls":[{"kind":"robot","label":"def planned_move(c,q,seconds=2,grip=0,label='planned',load=0):","code":"cat >> /app/output/gen.py <<'PY'\n\ndef planned_move(c,q,seconds=2,grip=0,label='planned',load=0):\n    from kin import Kin\n    k=Kin();n=round(seconds/.01);q=np.array(q);start=c.p[81:108].copy()\n    f=np.linspace(0,1,n+1)[1:];f=f*f*(3-2*f);Q=start+(q-start)*f[:,None]\n    kp=np.r_[np.full(12,1200.),600,np.full(14,400.)];kd=np.r_[np.full(12,30.),20,np.full(14,10.)]\n    rows=[]\n    for qi in Q:\n        k.set(qi);tau=k.static(load=load);rows.append(np.r_[qi,np.zeros(27),tau,kp,kd,np.broadcast_to(grip,2)])\n    A=np.array(rows);np.savez(OUT/f'command_{label}.npz',A=A,kind='lowcmd')\n    res=c.r.submit('lowcmd',A,video='none',cameras=['venue'],note=label);c.update(res);c.save(label);return res\nPY\ncd /app/output && python - <<'PY'\nfrom gen import *\nfrom kin import Kin\nc=Controller();k=Kin();q=k.q0*.7+np.load('squat.npy')*.3\nplanned_move(c,q,2,label='descent30')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":53428,"cached":52992,"out":454,"think":89,"usd":0.0801},"sim":{"submit":1,"reset":0}},{"id":18,"t":142.6,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:17475,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 2.0 rpy [-0.0046 -0.0065  0.001 ] held [np.float64(0.0), np.float64(0.0)]\nq [-0.0021, -0.4562, -0.0018, 0.8445, -0.3968, 0.0019, 0.002, -0.4596, 0.0048, 0.8439, -0.3932, -0.0011, -0.0007, -0.088, 0.0421, 0.0253, 0.4199, 0.4654, -0.039, -0.0, -0.088, -0.0428, -0.0255, 0.4192, -0.4654, -0.039, -0.0]\ntau [1.88, 4.0, 3.78, -48.99, 7.82, -2.59, -2.42, 5.17, -2.82, -43.36, 3.09, -7.8, 1.2, -5.86, 1.06, 0.3, -3.39, 0.19, -0.45, 0.17, -5.85, -0.8, -0.18, -3.14, -0.21, -0.45, -0.13]\n{'calls': 3, 'rows': 200, 'control_steps': 200, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 200, 'resets_left': 5, 'sim_time_s': 2.0, 'time_s': 136.28, 'time_left_s': 7063.7, 'chunk_id': 3, 'type': 'lowcmd', 'executed_rows': 200, 'control_steps_chunk': 200, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":53941,"cached":53760,"out":40,"think":0,"usd":0.0576},"sim":{"submit":0,"reset":0}},{"id":19,"t":148.6,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/latest/last/venue.jpg"},{"kind":"robot","label":"c=Controller();k=Kin();q=k.q0*.35+np.load('squat.npy')*.65","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nfrom kin import Kin\nc=Controller();k=Kin();q=k.q0*.35+np.load('squat.npy')*.65\nplanned_move(c,q,2,label='descent65')\nPY"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/s019_0.jpg"]},"tok":{"in":54498,"cached":53888,"out":203,"think":82,"usd":0.0701},"sim":{"submit":1,"reset":0}},{"id":20,"t":152.5,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:85121,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 4.0 rpy [-0.0047  0.0242 -0.0013] held [np.float64(0.0), np.float64(0.0)]\nq [-0.0005, -0.8074, -0.007, 1.3998, -0.6296, 0.0019, 0.0001, -0.8069, 0.0046, 1.3956, -0.6285, -0.0, -0.0003, -0.1951, 0.0923, 0.0554, 0.9091, 1.0096, -0.0847, -0.0, -0.1947, -0.093, -0.0555, 0.9093, -1.0096, -0.0847, 0.0]\ntau [-0.59, 5.93, 8.86, -63.08, -11.55, -10.49, 0.53, 5.82, -4.58, -61.94, 4.91, -6.51, -0.28, -5.94, 1.81, 0.32, -1.93, 0.21, -0.2, 0.19, -6.08, -1.66, -0.32, -2.03, -0.22, -0.2, -0.2]\n{'calls': 5, 'rows': 400, 'control_steps': 400, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 400, 'resets_left': 5, 'sim_time_s': 4.0, 'time_s': 147.24, 'time_left_s': 7052.8, 'chunk_id': 5, 'type': 'lowcmd', 'executed_rows': 200, 'control_steps_chunk': 200, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":54922,"cached":54656,"out":40,"think":0,"usd":0.0593},"sim":{"submit":0,"reset":0}},{"id":21,"t":155.6,"say":"","calls":[{"kind":"robot","label":"c=Controller();planned_move(c,np.load('squat.npy'),2,label='descent100')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();planned_move(c,np.load('squat.npy'),2,label='descent100')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":55482,"cached":54912,"out":74,"think":0,"usd":0.0643},"sim":{"submit":1,"reset":0}},{"id":22,"t":159.1,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:12894,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\nimage((await tools.view_image({path:\"/app/output/latest/last/venue.jpg\"})).image_url);\n"},{"kind":"look","label":"venue.jpg","code":"/app/output/latest/last/venue.jpg"}],"out":{"text":"time 6.0 rpy [-0.0061  0.0281 -0.016 ] held [np.float64(0.0), np.float64(0.0)]\nq [0.0014, -1.1386, -0.0093, 1.956, -0.8579, 0.0017, 0.003, -1.1239, 0.0166, 1.9535, -0.8714, -0.0049, 0.0036, -0.3391, 0.1501, 0.0935, 1.375, 1.5413, -0.1643, 0.0061, -0.34, -0.1465, -0.0932, 1.3767, -1.5418, -0.1603, -0.0042]\ntau [-2.69, -16.97, 11.58, -86.85, -14.82, -4.07, -2.12, -33.8, -19.65, -87.63, 13.85, 6.62, -2.06, 9.11, -0.22, -3.04, 9.01, 5.27, 13.44, -2.41, 9.44, -1.02, 2.95, 8.4, -5.08, 12.16, 1.58]\n{'calls': 7, 'rows': 600, 'control_steps': 600, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 600, 'resets_left': 5, 'sim_time_s': 6.0, 'time_s': 154.56, 'time_left_s': 7045.4, 'chunk_id': 7, 'type': 'lowcmd', 'executed_rows': 200, 'control_steps_chunk': 200, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":["embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/s022_0.jpg"]},"tok":{"in":55615,"cached":55424,"out":63,"think":0,"usd":0.0605},"sim":{"submit":0,"reset":0}},{"id":23,"t":176.1,"say":"","calls":[{"kind":"robot","label":"k=Kin();c=Controller();k.set(c.p[:27],quat=[c.d['imu_pelvis_q'+a] for a in 'wxyz']);print('estimated grip', k.","code":"cd /app/output && python - <<'PY'\nfrom kin import *\nfrom gen import *\nk=Kin();c=Controller();k.set(c.p[:27],quat=[c.d['imu_pelvis_q'+a] for a in 'wxyz']);print('estimated grip', k.grip('left'),k.grip('right'));print('foot',k.foot0);print('wr',k.pos('left_wrist_yaw_link'),k.mat('left_wrist_yaw_link'));print('fingerbase',k.pos('L_middle_proximal'),k.pos('L_middle_intermediate'))\nc.update(c.r.get_obs(cameras=['head_left'],include_depth=True,video='none'));c.save('squathead')\nPY"}],"out":{"text":"estimated grip [0.23563218 0.27288116 0.52359971] [ 0.2283802  -0.27436718  0.52634578]\nfoot [-0.01574045  0.          0.16488246]\nwr [0.1561349  0.28143243 0.71401257] [[ 0.49381163  0.86936431 -0.01886173]\n [-0.0414835   0.00188595 -0.99913741]\n [-0.86857884  0.49416812  0.03699558]]\nfingerbase [0.2505061  0.26056664 0.54864725] [0.2642408  0.26023203 0.5195828 ]\ntime 6.0 rpy [-0.0061  0.0281 -0.016 ] held [np.float64(0.0), np.float64(0.0)]\nq [0.0014, -1.1386, -0.0093, 1.956, -0.8579, 0.0017, 0.003, -1.1239, 0.0166, 1.9535, -0.8714, -0.0049, 0.0036, -0.3391, 0.1501, 0.0935, 1.375, 1.5413, -0.1643, 0.0061, -0.34, -0.1465, -0.0932, 1.3767, -1.5418, -0.1603, -0.0042]\ntau [-2.69, -16.97, 11.58, -86.85, -14.82, -4.07, -2.12, -33.8, -19.65, -87.63, 13.85, 6.62, -2.06, 9.11, -0.22, -3.04, 9.01, 5.27, 13.44, -2.41, 9.44, -1.02, 2.95, 8.4, -5.08, 12.16, 1.58]\n{'calls': 9, 'rows': 600, 'control_steps': 600, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 600, 'resets_left': 5, 'sim_time_s': 6.0, 'time_s': 173.18, 'time_left_s': 7026.8, 'obs_id': 9, 'seconds': 0.0, 'control_steps_watch': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":56361,"cached":55552,"out":481,"think":285,"usd":0.0877},"sim":{"submit":0,"reset":0}},{"id":24,"t":198.3,"say":"The first descent knocked the bar off its blocks before a grip was established. The camera and joint geometry suggest the knees moved into the bar’s path. I’m revising the approach to keep the knees farther back and place the hands around the bar before closing them.","calls":[{"kind":"shell","label":"k=Kin();v0=[-1.8,1.9,-.5,-.7,.2,0,1.4,1.57,0,0]","code":"cd /app/output && python - <<'PY'\nfrom kin import *\nk=Kin();v0=[-1.8,1.9,-.5,-.7,.2,0,1.4,1.57,0,0]\nbounds=([-2.5,.3,-.897,-2,-.3,-1,-.94,-3,-.46,-1.26],[0,2.05,.5,.5,1,1,2.8,2.75,.46,1.26])\ndef fun(v):\n q=k.sym(v);k.set(q);g=k.grip('left');axis=k.mat('left_wrist_yaw_link')[:,2];co=k.com()\n return np.r_[(g-[.2,.28,.49])*10,(axis-[0,-1,0])*2,(co[0]-.0193)*15,(k.pos('left_knee_link')[0]-.10)*10,(v[7]-1.57)*.1,v[8]*.1,v[9]*.1,(v[6]-1.4)*.05,(v[1]-1.9)*.05]\nr=least_squares(fun,v0,bounds=bounds,max_nfev=1000);print(r.x,np.linalg.norm(fun(r.x)));q=k.sym(r.x);k.report(q);print('knee',k.pos('left_knee_link'));np.save('squat_hinge.npy',q)\nPY"}],"out":{"text":"[-1.64212662  1.12130565 -0.29381878 -0.71332538  0.19621753  0.17681195\n  1.43191551  1.55747961 -0.13135363 -0.00832548] 0.04117573106268896\nbase [-0.0757  0.      0.9504  0.9182  0.      0.3961  0.    ] com [1.930e-02 7.000e-04 8.612e-01] grips [0.2  0.28 0.49] [ 0.2  -0.28  0.49]\nshoulder [0.2323 0.1481 1.2409]\ntau [-12.3  52.7  -0.3 -24.1  11.3   0.   12.3  52.7   0.3 -24.1  11.3   0.\n   0.4   1.2   1.7   0.1   0.1   0.    0.    0.    1.2  -1.7  -0.1   0.1\n   0.    0.   -0. ]\nknee [0.10010333 0.163      0.56774042]\n","exit":[0],"pics":[]},"tok":{"in":57543,"cached":56704,"out":894,"think":487,"usd":0.1098},"sim":{"submit":0,"reset":0}},{"id":25,"t":211.9,"say":"","calls":[{"kind":"robot","label":"c=Controller();c.update(c.r.reset(cameras=['venue']));c.save('reset1')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nfrom kin import Kin\nc=Controller();c.update(c.r.reset(cameras=['venue']));c.save('reset1')\nk=Kin();q=k.q0*.5+np.load('squat_hinge.npy')*.5\nplanned_move(c,q,3,label='hinge50')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":58830,"cached":58368,"out":331,"think":213,"usd":0.0795},"sim":{"submit":1,"reset":1}},{"id":26,"t":217.2,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:5089,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 0.0 rpy [0. 0. 0.] held [np.float64(0.0), np.float64(0.0)]\nq [0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, -0.16, 0.0, 0.36, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\ntau [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n{'calls': 11, 'rows': 600, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 600, 'resets_left': 4, 'sim_time_s': 0.0, 'time_s': 208.95, 'time_left_s': 6991.1, 'ok': True}\ntime 3.0 rpy [-0.0004  0.3961  0.001 ] held [np.float64(0.0), np.float64(0.0)]\nq [-0.0054, -0.9001, -0.0034, 0.7414, -0.2508, 0.0002, 0.0035, -0.9038, -0.0011, 0.738, -0.2448, -0.0017, -0.0002, -0.3529, 0.097, 0.0879, 0.7144, 0.7778, -0.0655, -0.0042, -0.3527, -0.0968, -0.0878, 0.7144, -0.7778, -0.0655, 0.0042]\ntau [-0.2, 30.37, 3.8, -19.81, 15.77, -0.33, 2.57, 34.71, 1.67, -15.57, 8.42, 3.09, 0.33, -3.37, 1.68, 0.39, -1.96, 0.15, -0.25, 0.16, -3.49, -1.75, -0.4, -1.98, -0.16, -0.25, -0.17]\n{'calls': 12, 'rows': 900, 'control_steps': 300, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 900, 'resets_left': 4, 'sim_time_s': 3.0, 'time_s': 211.32, 'time_left_s': 6988.7, 'chunk_id': 12, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":59218,"cached":59008,"out":40,"think":0,"usd":0.0631},"sim":{"submit":0,"reset":0}},{"id":27,"t":220.2,"say":"","calls":[{"kind":"robot","label":"c=Controller();planned_move(c,np.load('squat_hinge.npy'),3,label='hinge100')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();planned_move(c,np.load('squat_hinge.npy'),3,label='hinge100')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":60177,"cached":59136,"out":76,"think":0,"usd":0.0733},"sim":{"submit":1,"reset":0}},{"id":28,"t":224.8,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:16576,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\nimage((await tools.view_image({path:\"/app/output/latest/last/venue.jpg\"})).image_url);\n"},{"kind":"look","label":"venue.jpg","code":"/app/output/latest/last/venue.jpg"}],"out":{"text":"time 6.0 rpy [4.000e-04 7.974e-01 3.200e-03] held [np.float64(0.0), np.float64(0.0)]\nq [-0.0044, -1.6404, -0.0053, 1.1255, -0.295, 0.0005, 0.0014, -1.6451, -0.0006, 1.1196, -0.2866, -0.0024, -0.0002, -0.7113, 0.1946, 0.1762, 1.4306, 1.5565, -0.1314, -0.0083, -0.7103, -0.1954, -0.1763, 1.4306, -1.5565, -0.1312, 0.0083]\ntau [-7.03, 51.02, 6.26, -29.33, 12.73, -0.65, 10.73, 56.62, 1.03, -22.23, 2.48, 2.95, 0.44, 0.37, 2.27, 0.24, 0.48, 0.17, 0.01, 0.0, -0.03, -1.99, -0.22, 0.45, -0.17, -0.02, -0.0]\n{'calls': 14, 'rows': 1200, 'control_steps': 600, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 1200, 'resets_left': 4, 'sim_time_s': 6.0, 'time_s': 219.5, 'time_left_s': 6980.5, 'chunk_id': 14, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":["embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/s028_0.jpg"]},"tok":{"in":60310,"cached":60160,"out":63,"think":0,"usd":0.0648},"sim":{"submit":0,"reset":0}},{"id":29,"t":228.5,"say":"","calls":[{"kind":"robot","label":"c=Controller();k=Kin();k.set(c.p[:27],quat=[c.d['imu_pelvis_q'+a] for a in 'wxyz']);print('grip estimates',k.g","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nfrom kin import Kin\nc=Controller();k=Kin();k.set(c.p[:27],quat=[c.d['imu_pelvis_q'+a] for a in 'wxyz']);print('grip estimates',k.grip('left'),k.grip('right'));planned_move(c,np.load('squat_hinge.npy'),1,grip=1,label='grasp')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":61068,"cached":60288,"out":154,"think":17,"usd":0.0758},"sim":{"submit":1,"reset":0}},{"id":30,"t":231.9,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:36430,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"grip estimates [0.19244556 0.2820911  0.49352894] [ 0.19336787 -0.27672284  0.49357767]\ntime 7.0 rpy [-0.0015  0.8127  0.004 ] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0038, -1.6481, -0.0063, 1.124, -0.2997, -0.0004, 0.0006, -1.6508, -0.0002, 1.1166, -0.2929, -0.001, -0.0007, -0.7213, 0.1912, 0.145, 1.4267, 1.5518, -0.1301, -0.0038, -0.7183, -0.1918, -0.1582, 1.4314, -1.5317, -0.1287, 0.0093]\ntau [-7.49, 59.55, 7.7, -28.05, 18.56, -5.13, 11.91, 61.45, 1.33, -17.99, 14.32, -10.26, 0.72, 5.94, 6.51, -59.58, 0.27, -60.0, 7.9, -3.69, 2.25, -0.47, -60.0, 2.53, -60.0, -8.84, -1.92]\n{'calls': 16, 'rows': 1300, 'control_steps': 700, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 1300, 'resets_left': 4, 'sim_time_s': 7.0, 'time_s': 227.81, 'time_left_s': 6972.2, 'chunk_id': 16, 'type': 'lowcmd', 'executed_rows': 100, 'control_steps_chunk': 100, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":61280,"cached":61056,"out":40,"think":0,"usd":0.0653},"sim":{"submit":0,"reset":0}},{"id":31,"t":256.7,"say":"Both hands now report a grip, and the bar is still on the blocks. The revised hip hinge kept the knees clear. I’ll lift slowly into a standing hang, keeping the grip width fixed, then bring the bar to the shoulders.","calls":[{"kind":"robot","label":"writes plan.py","code":"cat > /app/output/plan.py <<'PY'\nfrom kin import *\n\ndef unpack(q):return q[[1,3,4,13,14,15,16,17,18,19]]\ndef rise_path(n=101):\n k=Kin();start=np.load(P/'squat_hinge.npy');v0=unpack(start);k.set(start)\n sh0=k.pos('left_shoulder_pitch_link');g0=k.grip('left');off0=g0-sh0;theta0=-sum(start[[1,3,4]])\n path=[]\n for f in np.linspace(0,1,n):\n  knee=(1-f)*start[3]+f*.06;theta=(1-f)*theta0\n  offset=off0*(1-f)+np.array([.12,.132,-.73])*f\n  def fun(v):\n   k.set(k.sym(v));g=k.grip('left');sh=k.pos('left_shoulder_pitch_link');axis=k.mat('left_wrist_yaw_link')[:,2]\n   co=(k.com()*k.m.body_mass.sum()+5*(g-np.array([0,g[1],0])))/(k.m.body_mass.sum()+5)\n   return np.r_[(g-sh-offset)*15,(axis-[0,-1,0])*3,(co[0]-.0193)*20,(v[1]-knee)*3,(-sum(v[:3])-theta)*3,(v[7]-1.557)*.1,v[8]*.03,v[9]*.05,(v[6]-1.432)*.02]\n  bounds=([-2.5,-.1,-.897,-3.13,-.37,-2.65,-.94,-3,-.46,-1.26],[1,2.05,.523,1.56,3.39,3,3.17,2.74,.46,1.26])\n  r=least_squares(fun,v0,bounds=bounds,max_nfev=300,ftol=1e-9,xtol=1e-9,gtol=1e-9);v0=r.x;path.append(k.sym(v0))\n print('rise residual',np.linalg.norm(fun(v0)));k.report(path[-1]);return np.array(path)\nif __name__=='__main__':np.save(P/'rise.npy',rise_path())\nPY\ncat >> /app/output/gen.py <<'PY'\n\ndef execute_path(c,Q,seconds,grip=1,label='path',load=5):\n    from kin import Kin\n    k=Kin();n=round(seconds/.01)\n    # Smooth time scaling over a geometric joint path.\n    f=np.linspace(0,1,n+1)[1:];f=f*f*(3-2*f)\n    Q=np.array([np.interp(f,np.linspace(0,1,len(Q)),Q[:,i]) for i in range(27)]).T\n    kp=np.r_[np.full(12,1200.),600,np.full(14,400.)];kd=np.r_[np.full(12,30.),20,np.full(14,10.)]\n    rows=[]\n    for qi in Q:\n        k.set(qi);rows.append(np.r_[qi,np.zeros(27),k.static(load),kp,kd,np.broadcast_to(grip,2)])\n    A=np.array(rows);np.savez(OUT/f'command_{label}.npz',A=A,kind='lowcmd')\n    res=c.r.submit('lowcmd',A,video='none',cameras=['venue'],note=label);c.update(res);c.save(label);return res\nPY\ncd /app/output && python plan.py\ncd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();Q=np.load('rise.npy');execute_path(c,np.r_[c.p[81:108][None,:],Q[:21]],2,label='lift20')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":61891,"cached":61184,"out":1480,"think":516,"usd":0.1423},"sim":{"submit":0,"reset":0}},{"id":32,"t":271.5,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:77480,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"rise residual 0.00630056480318373\nbase [ 0.009   0.      1.1473  1.      0.     -0.      0.    ] com [1.1200e-02 7.0000e-04 1.0488e+00] grips [0.129  0.2801 0.8407] [ 0.129  -0.2801  0.8407]\nshoulder [0.009  0.1481 1.5707]\ntau [ 0.   3.8 -0.4  3.9 11.3  0.  -0.   3.8  0.4  3.9 11.3  0.  -0.  -1.1\n  1.9  0.2 -1.1 -0.   0.   0.1 -1.1 -1.9 -0.2 -1.1  0.   0.  -0.1]\ntime 9.0 rpy [-0.0022  0.6188  0.0027] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0045, -1.319, -0.003, 0.9147, -0.2289, 0.0025, 0.004, -1.3241, 0.0027, 0.9147, -0.2246, -0.0022, 0.0008, -0.5006, 0.1517, 0.1261, 1.2717, 1.5633, -0.1331, 0.0102, -0.4992, -0.1566, -0.1401, 1.2767, -1.5433, -0.1259, -0.0047]\ntau [-4.94, 46.63, 3.45, -27.75, 7.86, -12.45, 8.09, 51.64, -3.57, -25.99, -1.07, 2.37, 0.15, 3.11, 14.86, -57.95, -1.77, -60.0, 15.11, -1.7, -1.18, 0.71, -60.0, -0.7, -60.0, -16.43, -1.68]\n{'calls': 18, 'rows': 1500, 'control_steps': 900, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 1500, 'resets_left': 4, 'sim_time_s': 9.0, 'time_s': 272.17, 'time_left_s': 6927.8, 'chunk_id': 18, 'type': 'lowcmd', 'executed_rows': 200, 'control_steps_chunk': 200, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":63428,"cached":63232,"out":40,"think":0,"usd":0.0672},"sim":{"submit":1,"reset":0}},{"id":33,"t":280.3,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/latest/last/venue.jpg"},{"kind":"shell","label":"c=Controller();Q=np.load('rise.npy');execute_path(c,Q[20:61],3,label='lift60')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();Q=np.load('rise.npy');execute_path(c,Q[20:61],3,label='lift60')\nPY"}],"out":{"text":"","exit":[],"pics":["embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/s033_0.jpg"]},"tok":{"in":64240,"cached":63360,"out":134,"think":30,"usd":0.0789},"sim":{"submit":0,"reset":0}},{"id":34,"t":285.1,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:93091,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":64595,"cached":64256,"out":40,"think":0,"usd":0.0696},"sim":{"submit":1,"reset":0}},{"id":35,"t":298.0,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:93091,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 12.0 rpy [0.0006 0.2984 0.0053] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0067, -0.6524, -0.0056, 0.4896, -0.1502, 0.0014, 0.0044, -0.6608, 0.0025, 0.4875, -0.1393, -0.0034, 0.0002, -0.2113, 0.1235, 0.0734, 1.1887, 1.5597, -0.1277, 0.0157, -0.2164, -0.1212, -0.0834, 1.1882, -1.5606, -0.129, -0.0131]\ntau [4.31, 22.77, 6.51, -15.6, 13.78, -10.6, 1.16, 31.33, -2.47, -10.55, -5.79, 7.13, 1.57, -0.75, 16.18, -55.24, -3.93, -60.0, 15.44, -0.01, -1.16, -1.54, -60.0, -1.56, -58.9, -18.54, -1.61]\n{'calls': 20, 'rows': 1800, 'control_steps': 1200, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 1800, 'resets_left': 4, 'sim_time_s': 12.0, 'time_s': 286.58, 'time_left_s': 6913.4, 'chunk_id': 20, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":64691,"cached":64512,"out":56,"think":14,"usd":0.0691},"sim":{"submit":0,"reset":0}},{"id":36,"t":302.9,"say":"","calls":[{"kind":"robot","label":"c=Controller();execute_path(c,np.load('rise.npy')[60:],3,label='hang')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('rise.npy')[60:],3,label='hang')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":65272,"cached":64512,"out":73,"think":0,"usd":0.0758},"sim":{"submit":1,"reset":0}},{"id":37,"t":323.9,"say":"","calls":[{"kind":"shell","label":"k=Kin();v0=unpack(np.load('rise.npy')[-1]);v0[3]=-.6;v0[6]=-.9;v0[8]=-.4","code":"cd /app/output && python - <<'PY'\nfrom plan import *\nk=Kin();v0=unpack(np.load('rise.npy')[-1]);v0[3]=-.6;v0[6]=-.9;v0[8]=-.4\nbounds=([-2.5,-.1,-.897,-3.13,-.37,-2.65,-.949,-3,-.469,-1.26],[1,2.05,.523,1.56,3.39,3,3.17,2.74,.469,1.26])\ndef fun(v):\n k.set(k.sym(v));g=k.grip('left');sh=k.pos('left_shoulder_pitch_link');axis=k.mat('left_wrist_yaw_link')[:,2];co=(k.com()*k.m.body_mass.sum()+5*(g-np.array([0,g[1],0])))/(k.m.body_mass.sum()+5)\n return np.r_[(g-sh-[.10,.132,.025])*15,(axis-[0,-1,0])*3,(co[0]-.0193)*20,(v[1]-.06)*3,(-sum(v[:3]))*3,(v[7]-1.557)*.01,v[9]*.01]\nr=least_squares(fun,v0,bounds=bounds,max_nfev=1000);print('clean v',r.x,'res',fun(r.x));q=k.sym(r.x);k.report(q);np.save('clean.npy',q)\nPY"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"cd /app/output && python - <<'PY'\\nfrom plan import *\\nk=Kin();v0=unpack(np.load('rise.npy')[-1]);v0[3]=-.6;v0[6]=-.9;v0[8]=-.4\\nbounds=([-2.5,-.1,-.897,-3.13,-.37,-2.65,-.949,-3,-.469,-1.26],[1,2.05,.523,1.56,3.39,3,3.17,2.74,.469,1.26])\\ndef fun(v):\\n k.set(k.sym(v));g=k.grip('left');sh=k.pos('left_shoulder_pitch_link');axis=k.mat('left_wrist_yaw_link')[:,2];co=(k.com()*k.m.body_mass.sum()+5*(g-np.array([0,g[1],0])))/(k.m.body_mass.sum()+5)\\n return np.r_[(g-sh-[.10,.132,.025])*15,(axis-[0,-1,0])*3,(co[0]-.0193)*20,(v[1]-.06)*3,(-sum(v[:3]))*3,(v[7]-1.557)*.01,v[9]*.01]\\nr=least_squares(fun,v0,bounds=bounds,max_nfev=1000);print('clean v',r.x,'res',fun(r.x));q=k.sym(r.x);k.report(q);np.save('clean.npy',q)\\nPY\",\"max_output_tokens\":2000}));\ntext(await tools.write_stdin({session_id:87042,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"clean v [ 0.01241955  0.06       -0.07241884  0.38462464 -0.08072683  0.59897458\n -0.949       1.02674552 -0.469       0.76189215] res [ 2.59215303e-05 -1.27152243e-06  2.20610010e-06  9.76804159e-06\n  1.60571556e-11  9.63405722e-07 -2.13717932e-14 -1.65867320e-13\n -2.13714075e-06 -5.30254481e-03  7.61892152e-03]\nbase [ 0.0182  0.      1.147   1.      0.     -0.      0.    ] com [1.2000e-02 7.0000e-04 1.0669e+00] grips [0.1182 0.2801 1.5953] [ 0.1182 -0.2801  1.5953]\nshoulder [0.0182 0.1481 1.5703]\ntau [ 0.   1.2 -0.4  2.5 11.3  0.  -0.   1.2  0.4  2.5 11.3  0.  -0.   1.2\n  0.7  0.4 -2.9 -0.1 -0.   0.   1.2 -0.7 -0.4 -2.8  0.1 -0.  -0. ]\n\ntime 15.0 rpy [-0.0014 -0.0251  0.0122] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0022, 0.0071, -0.0083, 0.064, -0.06, 0.0009, 0.0004, -0.0029, 0.0053, 0.0633, -0.0508, -0.0028, -0.0, 0.0248, 0.1156, 0.0111, 1.1915, 1.5597, -0.1268, 0.0155, 0.0198, -0.114, -0.0212, 1.1909, -1.5609, -0.1278, -0.0132]\ntau [2.69, -3.72, 9.63, -0.67, 15.0, -13.87, -0.68, 8.33, -6.48, 0.66, 0.17, 1.4, 0.4, -5.02, 17.0, -54.53, -4.01, -60.0, 14.08, 0.86, -3.38, -2.0, -60.0, -3.21, -58.91, -18.68, -1.76]\n{'calls': 22, 'rows': 2100, 'control_steps': 1500, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 2100, 'resets_left': 4, 'sim_time_s': 15.0, 'time_s': 309.27, 'time_left_s': 6890.7, 'chunk_id': 22, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0,0],"pics":[]},"tok":{"in":65405,"cached":65152,"out":768,"think":378,"usd":0.1061},"sim":{"submit":0,"reset":0}},{"id":38,"t":346.2,"say":"","calls":[{"kind":"shell","label":"def clean_path(n=151):","code":"cat >> /app/output/plan.py <<'PY'\n\ndef clean_path(n=151):\n k=Kin();start=np.load(P/'rise.npy')[-1];v0=unpack(start);path=[];errors=[]\n bounds=([-2.5,-.1,-.897,-3.13,-.37,-2.65,-.949,-3,-.469,-1.26],[1,2.05,.523,1.56,3.39,3,3.17,2.74,.469,1.26])\n for f in np.linspace(0,1,n):\n  offset=np.array([.12+.28*np.sin(np.pi*f)-.02*f,.132,-.73+.755*f])\n  prev=v0.copy()\n  def fun(v):\n   k.set(k.sym(v));g=k.grip('left');sh=k.pos('left_shoulder_pitch_link');axis=k.mat('left_wrist_yaw_link')[:,2]\n   co=(k.com()*k.m.body_mass.sum()+5*(g-np.array([0,g[1],0])))/(k.m.body_mass.sum()+5)\n   return np.r_[(g-sh-offset)*20,(axis-[0,-1,0])*4,(co[0]-.0193)*20,(v[1]-.06)*4,(-sum(v[:3]))*4,(v-prev)*.015]\n  r=least_squares(fun,v0,bounds=bounds,max_nfev=300,ftol=1e-9,xtol=1e-9,gtol=1e-9);v0=r.x;path.append(k.sym(v0));errors.append(np.linalg.norm(fun(v0)))\n print('clean maxerror',max(errors),'v',v0);k.report(path[-1]);return np.array(path)\nPY\ncd /app/output && python - <<'PY'\nfrom plan import *\nQ=clean_path();np.save('clean_path.npy',Q)\nprint('max delta',np.max(abs(np.diff(Q,axis=0)),axis=0));print('poses',Q[::30,13:20])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":67143,"cached":66048,"out":879,"think":370,"usd":0.1209},"sim":{"submit":0,"reset":0}},{"id":39,"t":350.0,"say":"","calls":[{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:38314,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"clean maxerror 0.0010358823157113478 v [ 0.00320558  0.06       -0.06320537  0.17450847  0.11753243  0.27552288\n -0.80416542  1.25863745 -0.13607692  1.17573129]\nbase [ 0.0108  0.      1.1473  1.      0.     -0.      0.    ] com [1.2500e-02 7.0000e-04 1.0662e+00] grips [0.1108 0.2801 1.5956] [ 0.1108 -0.2801  1.5956]\nshoulder [0.0108 0.1481 1.5706]\ntau [ 0.   3.3 -0.4  3.6 11.3  0.  -0.   3.3  0.4  3.6 11.3  0.  -0.  -1.\n  1.7  0.4 -2.7 -0.  -0.  -0.1 -1.  -1.7 -0.4 -2.7  0.  -0.   0.1]\nmax delta [0.00000000e+00 6.90439761e-04 0.00000000e+00 3.80017913e-10\n 6.90442559e-04 0.00000000e+00 0.00000000e+00 6.90439761e-04\n 0.00000000e+00 3.80017913e-10 6.90442559e-04 0.00000000e+00\n 0.00000000e+00 3.06075761e-02 3.61575819e-03 6.57518049e-03\n 5.74940111e-02 7.87521441e-03 7.23158764e-03 2.28820801e-02\n 3.06075761e-02 3.61575819e-03 6.57518049e-03 5.74940111e-02\n 7.87521441e-03 7.23158764e-03 2.28820801e-02]\nposes [[ 0.02189932  0.13016579  0.0284104   1.19166483  1.55405806 -0.133441\n   0.01409378]\n [ 0.18082756  0.12319459  0.05187439  0.5854987   1.5254629  -0.14773794\n   0.34215884]\n [ 0.1059197   0.12113811  0.08456224  0.33211664  1.49325135 -0.14445328\n   0.49273302]\n [ 0.12864636  0.11554581  0.11450678  0.04300115  1.46257085 -0.15175763\n   0.68238382]\n [ 0.25212861  0.10209419  0.15747407 -0.33287491  1.40706191 -0.17779039\n   0.959358  ]\n [ 0.17450847  0.11753243  0.27552288 -0.80416542  1.25863745 -0.13607692\n   1.17573129]]\n","exit":[0],"pics":[]},"tok":{"in":68078,"cached":67840,"out":58,"think":16,"usd":0.0731},"sim":{"submit":0,"reset":0}},{"id":40,"t":363.9,"say":"","calls":[{"kind":"shell","label":"c=Controller();execute_path(c,np.load('clean_path.npy')[:61],3,label='curl40')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('clean_path.npy')[:61],3,label='curl40')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":69071,"cached":67968,"out":383,"think":305,"usd":0.0981},"sim":{"submit":0,"reset":0}},{"id":41,"t":368.4,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:28271,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 18.0 rpy [-0.0005 -0.0282  0.0206] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0022, -0.0215, -0.0085, 0.065, -0.0292, 0.0011, -0.0002, -0.0338, 0.0043, 0.064, -0.0179, -0.003, 0.0002, 0.1062, 0.1084, 0.0692, 0.3303, 1.5167, -0.1323, 0.4926, 0.1028, -0.1063, -0.0689, 0.3257, -1.5146, -0.1336, -0.4954]\ntau [2.67, 1.68, 9.63, 2.38, 11.22, -1.19, 0.27, 16.38, -4.81, 3.64, -2.06, 3.26, -0.17, -11.27, 8.31, 7.88, -12.32, -10.22, -4.83, 5.37, -9.92, -9.15, -7.98, -10.53, 9.38, -4.32, -4.21]\n{'calls': 24, 'rows': 2400, 'control_steps': 1800, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 2400, 'resets_left': 4, 'sim_time_s': 18.0, 'time_s': 364.93, 'time_left_s': 6835.1, 'chunk_id': 24, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":69512,"cached":69248,"out":70,"think":28,"usd":0.0754},"sim":{"submit":1,"reset":0}},{"id":42,"t":372.4,"say":"The bar is clear of the blocks, both grips remain engaged, and the robot has reached a standing hang. Balance has stayed close to the planned posture. I’m now moving the bar through the turnover toward the shoulder pause.","calls":[{"kind":"shell","label":"c=Controller();execute_path(c,np.load('clean_path.npy')[60:121],3,label='curl80')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('clean_path.npy')[60:121],3,label='curl80')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":70106,"cached":69376,"out":143,"think":12,"usd":0.0838},"sim":{"submit":0,"reset":0}},{"id":43,"t":376.6,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:56228,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 21.0 rpy [-0.0008 -0.0276  0.0369] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0022, -0.0056, -0.0094, 0.0648, -0.0438, 0.0014, 0.0001, -0.0175, 0.0047, 0.0636, -0.0339, -0.0031, 0.0002, 0.2473, 0.0851, 0.1409, -0.3413, 1.4439, -0.169, 0.9583, 0.2439, -0.0849, -0.1408, -0.3455, -1.4433, -0.1695, -0.9616]\ntau [1.8, -1.15, 11.02, -0.46, -6.27, -10.88, -0.6, 12.86, -5.46, 1.37, -6.67, 1.42, 0.09, -5.45, 9.66, 8.14, -7.89, -15.44, -3.5, 3.58, -4.2, -9.68, -8.17, -6.45, 14.91, -3.27, -2.17]\n{'calls': 26, 'rows': 2700, 'control_steps': 2100, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 2700, 'resets_left': 4, 'sim_time_s': 21.0, 'time_s': 373.19, 'time_left_s': 6826.8, 'chunk_id': 26, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":70306,"cached":70016,"out":40,"think":0,"usd":0.0749},"sim":{"submit":1,"reset":0}},{"id":44,"t":379.6,"say":"","calls":[{"kind":"robot","label":"c=Controller();execute_path(c,np.load('clean_path.npy')[120:],2,label='rack')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('clean_path.npy')[120:],2,label='rack')\nplanned_move(c,np.load('clean_path.npy')[-1],1.5,grip=1,label='clean_hold',load=5)\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":70874,"cached":70144,"out":105,"think":0,"usd":0.0827},"sim":{"submit":2,"reset":0}},{"id":45,"t":394.2,"say":"","calls":[{"kind":"shell","label":"k=Kin();v0=unpack(np.load('rise.npy')[-1]);v0[3]=-3.0;v0[6]=1.57;v0[8]=0","code":"cd /app/output && python - <<'PY'\nfrom plan import *\nk=Kin();v0=unpack(np.load('rise.npy')[-1]);v0[3]=-3.0;v0[6]=1.57;v0[8]=0\nbounds=([-2.5,-.1,-.897,-3.139,-.379,-2.65,-.949,-3,-.469,-1.269],[1,2.05,.523,1.569,3.39,3,3.17,2.749,.469,1.269])\ndef fun(v):\n k.set(k.sym(v));g=k.grip('left');sh=k.pos('left_shoulder_pitch_link');axis=k.mat('left_wrist_yaw_link')[:,2];co=(k.com()*k.m.body_mass.sum()+5*(g-np.array([0,g[1],0])))/(k.m.body_mass.sum()+5)\n return np.r_[(g-sh-[.1,.132,.71])*15,(axis-[0,-1,0])*3,(co[0]-.0193)*20,(v[1]-.06)*3,(-sum(v[:3]))*3,(v[6]-1.57)*3]\nr=least_squares(fun,v0,bounds=bounds,max_nfev=1000);print('overhead v',r.x,'res',fun(r.x));q=k.sym(r.x);k.report(q);np.save('overhead.npy',q)\nPY"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"cd /app/output && python - <<'PY'\\nfrom plan import *\\nk=Kin();v0=unpack(np.load('rise.npy')[-1]);v0[3]=-3.0;v0[6]=1.57;v0[8]=0\\nbounds=([-2.5,-.1,-.897,-3.139,-.379,-2.65,-.949,-3,-.469,-1.269],[1,2.05,.523,1.569,3.39,3,3.17,2.749,.469,1.269])\\ndef fun(v):\\n k.set(k.sym(v));g=k.grip('left');sh=k.pos('left_shoulder_pitch_link');axis=k.mat('left_wrist_yaw_link')[:,2];co=(k.com()*k.m.body_mass.sum()+5*(g-np.array([0,g[1],0])))/(k.m.body_mass.sum()+5)\\n return np.r_[(g-sh-[.1,.132,.71])*15,(axis-[0,-1,0])*3,(co[0]-.0193)*20,(v[1]-.06)*3,(-sum(v[:3]))*3,(v[6]-1.57)*3]\\nr=least_squares(fun,v0,bounds=bounds,max_nfev=1000);print('overhead v',r.x,'res',fun(r.x));q=k.sym(r.x);k.report(q);np.save('overhead.npy',q)\\nPY\",\"max_output_tokens\":2000}));\ntext(await tools.write_stdin({session_id:51793,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2200}));\n"}],"out":{"text":"overhead v [ 1.12143580e-01  5.99999982e-02 -9.75540506e-02 -3.13900000e+00\n  6.64280123e-01  2.48642449e-03  1.54077223e+00  1.56530293e+00\n -1.43081713e-01 -7.80870649e-01] res [ 7.30387217e-02  9.36614547e-03  7.10377081e-02 -8.26935703e-03\n  2.23738609e-05 -8.11544202e-03 -2.09975412e-09 -5.52632958e-09\n -2.23768581e-01 -8.76832985e-02]\nbase [ 0.0261  0.      1.1454  0.9993  0.     -0.0373  0.    ] com [1.3400e-02 7.0000e-04 1.1338e+00] grips [0.0994 0.2807 2.2823] [ 0.0994 -0.2807  2.2823]\nshoulder [-0.0055  0.1481  1.5676]\ntau [ 1.3 -4.5 -0.4 -0.6 11.3  0.  -1.3 -4.5  0.4 -0.6 11.3 -0.  -0.   0.9\n -2.   0.  -0.1 -0.  -0.   0.2  0.9  2.  -0.  -0.1  0.  -0.  -0.2]\n\ntime 23.0 rpy [-0.0019 -0.028   0.0457] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0014, 0.0107, -0.0086, 0.0657, -0.0593, 0.0011, -0.0006, -0.001, 0.006, 0.0641, -0.0509, -0.0032, 0.0003, 0.1843, 0.0911, 0.2462, -0.7873, 1.3172, -0.1468, 1.1587, 0.1806, -0.0898, -0.2467, -0.7896, -1.3162, -0.1453, -1.1625]\ntau [0.96, -5.86, 7.35, -3.6, 15.79, -12.01, 1.23, 8.47, -10.01, -1.35, -1.4, 4.42, -0.11, -6.51, 13.63, 12.58, -12.1, -23.29, 4.16, 7.15, -5.7, -14.39, -12.35, -11.82, 22.57, 3.28, -4.3]\n{'calls': 28, 'rows': 2900, 'control_steps': 2300, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 2900, 'resets_left': 4, 'sim_time_s': 23.0, 'time_s': 379.17, 'time_left_s': 6820.8, 'chunk_id': 28, 'type': 'lowcmd', 'executed_rows': 200, 'control_steps_chunk': 200, 'n_clipped': 0, 'ok': True}\ntime 24.5 rpy [-0.0018 -0.0232  0.0472] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0015, 0.01, -0.0091, 0.0637, -0.0632, 0.0008, -0.0004, -0.0015, 0.0056, 0.0621, -0.0535, -0.0033, 0.0, 0.18, 0.0918, 0.2464, -0.788, 1.3167, -0.146, 1.1585, 0.1763, -0.0907, -0.2479, -0.7904, -1.3159, -0.1445, -1.1617]\ntau [1.85, -4.69, 10.53, -0.58, 12.14, -0.95, 0.54, 9.14, -6.26, 1.27, 0.64, 3.4, -0.03, -5.56, 13.64, 12.64, -12.87, -23.18, 4.0, 6.09, -4.09, -14.08, -12.04, -11.87, 22.89, 3.34, -4.75]\n{'calls': 29, 'rows': 3050, 'control_steps': 2450, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 3050, 'resets_left': 4, 'sim_time_s': 24.5, 'time_s': 381.48, 'time_left_s': 6818.5, 'chunk_id': 29, 'type': 'lowcmd', 'executed_rows': 150, 'control_steps_chunk': 150, 'n_clipped': 0, 'ok': True}\n","exit":[0,0],"pics":[]},"tok":{"in":71037,"cached":70784,"out":635,"think":249,"usd":0.1051},"sim":{"submit":0,"reset":0}},{"id":46,"t":399.0,"say":"","calls":[{"kind":"look","label":"venue.jpg","code":"/app/output/latest/last/venue.jpg"},{"kind":"shell","label":"c=Controller();k=Kin();k.set(c.p[:27],quat=[c.d['imu_pelvis_q'+a] for a in 'wxyz']);print('g',k.grip('left'),'","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nfrom kin import *\nc=Controller();k=Kin();k.set(c.p[:27],quat=[c.d['imu_pelvis_q'+a] for a in 'wxyz']);print('g',k.grip('left'),'sh',k.pos('left_shoulder_pitch_link'),'diff',k.grip('left')-k.pos('left_shoulder_pitch_link'));print('vel',c.p[27:54]);print('imu',c.p[108:128])\nPY"}],"out":{"text":"g [0.07884634 0.2770978  1.59302534] sh [-0.02678777  0.15160021  1.5704871 ] diff [0.10563411 0.12549759 0.02253825]\nvel [-1.43897569e-06 -3.13367957e-04 -1.01552755e-02  2.60367640e-03\n -8.95850826e-03  3.45262811e-02  1.70986168e-03  4.12103301e-03\n -3.77493282e-03 -5.83075127e-03 -6.41473383e-03 -8.53623971e-02\n  1.24344998e-03  1.17211649e-03 -1.44975915e-04  3.79460078e-04\n -4.21058241e-04 -7.28207990e-04 -1.03909976e-03 -4.60369140e-03\n -4.09786450e-03 -7.58734066e-04 -6.96304720e-04 -1.21162273e-03\n -1.97934336e-03  4.19033645e-03  2.23027379e-03]\nimu [ 9.99654770e-01 -6.14217075e-04 -1.16096027e-02  2.35630814e-02\n -5.85663016e-04 -6.31606439e-03  2.08711299e-05  1.69190094e-01\n  5.12137234e-01  7.97358465e+00  9.99654651e-01 -6.14272605e-04\n -1.16095999e-02  2.35678591e-02 -5.85723377e-04 -6.31605880e-03\n  1.06610369e-03  7.36278072e-02 -9.87563491e-01  7.85607100e+00]\n","exit":[0],"pics":["embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/s046_0.jpg"]},"tok":{"in":73136,"cached":71424,"out":191,"think":18,"usd":0.0981},"sim":{"submit":0,"reset":0}},{"id":47,"t":426.3,"say":"The bar is at shoulder height, and the robot has held it there with nearly straight knees and low joint motion. The service does not expose the clean-stage decision during an attempt, so I’ve allowed a longer pause before starting the overhead movement.","calls":[{"kind":"shell","label":"def jerk_path(n=201):","code":"cat >> /app/output/plan.py <<'PY'\n\ndef jerk_path(n=201):\n k=Kin();start=np.load(P/'clean_path.npy')[-1];v0=unpack(start);path=[];errors=[]\n bounds=([-2.5,-.1,-.897,-3.139,-.379,-2.65,-.949,-3,-.469,-1.269],[1,2.05,.523,1.569,3.39,3,3.17,2.749,.469,1.269])\n for f in np.linspace(0,1,n):\n  offset=np.array([.10+.18*np.sin(np.pi*f)+.005*f,.132,.025+.690*f])\n  prev=v0.copy();theta=-.08*f\n  def fun(v):\n   k.set(k.sym(v));g=k.grip('left');sh=k.pos('left_shoulder_pitch_link');axis=k.mat('left_wrist_yaw_link')[:,2]\n   co=(k.com()*k.m.body_mass.sum()+5*(g-np.array([0,g[1],0])))/(k.m.body_mass.sum()+5)\n   eltarget=(1-f)*start[16]+f*1.57\n   return np.r_[(g-sh-offset)*20,(axis-[0,-1,0])*4,(co[0]-.0193)*20,(v[1]-.06)*4,(-sum(v[:3])-theta)*4,(v-prev)*.015,(v[6]-eltarget)*(.02+2*f**12)]\n  r=least_squares(fun,v0,bounds=bounds,max_nfev=400,ftol=1e-9,xtol=1e-9,gtol=1e-9);v0=r.x;path.append(k.sym(v0));errors.append(np.linalg.norm(fun(v0)))\n print('jerk maxerror',max(errors),'v',v0);k.report(path[-1]);print('res',fun(v0));return np.array(path)\nPY\ncd /app/output && python - <<'PY'\nfrom plan import *\nQ=jerk_path();np.save('jerk_path.npy',Q)\nprint('max delta',np.max(abs(np.diff(Q,axis=0)),axis=0));print('poses',Q[::40,13:20])\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":74068,"cached":73088,"out":1280,"think":665,"usd":0.1469},"sim":{"submit":0,"reset":0}},{"id":48,"t":438.5,"say":"","calls":[{"kind":"shell","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'EOF'\nApproach: symmetric inverse kinematics with planted-foot gravity compensation via lowcmd.\nLive state comes only from standard Robot client encoders, IMUs, grip flags, and cameras.\nDownloaded official Unitree H1-2 XMLs from unitree_mujoco and unitree_ros for kinematics.\nInstalled mujoco and scipy for offline kinematics/gravity calculations; no reference solutions used.\nAttempt 1: deep upright squat advanced knees into bar, knocking it off blocks; reset.\nAttempt 2: hip hinge kept knees back; both hands grasped bar, then slow rise and turnover.\nAt 24.5 robot seconds: bar held at shoulders, knees nearly straight, both grip flags engaged.\nController and executed command arrays are retained in output; planning helpers are kin.py and plan.py.\nEOF"},{"kind":"shell","label":"waits for the running program's output","code":"text(await tools.exec_command({cmd:\"cat > /app/output/NOTES.md <<'EOF'\\nApproach: symmetric inverse kinematics with planted-foot gravity compensation via lowcmd.\\nLive state comes only from standard Robot client encoders, IMUs, grip flags, and cameras.\\nDownloaded official Unitree H1-2 XMLs from unitree_mujoco and unitree_ros for kinematics.\\nInstalled mujoco and scipy for offline kinematics/gravity calculations; no reference solutions used.\\nAttempt 1: deep upright squat advanced knees into bar, knocking it off blocks; reset.\\nAttempt 2: hip hinge kept knees back; both hands grasped bar, then slow rise and turnover.\\nAt 24.5 robot seconds: bar held at shoulders, knees nearly straight, both grip flags engaged.\\nController and executed command arrays are retained in output; planning helpers are kin.py and plan.py.\\nEOF\",\"max_output_tokens\":1000}));\ntext(await tools.write_stdin({session_id:29231,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2500}));\n"}],"out":{"text":"jerk maxerror 0.007613655698237665 v [ 0.09554033  0.06       -0.07554013 -2.66338028  0.63459696  0.18753575\n  1.56999942  1.63767575 -0.13830469  0.98438358]\nbase [ 0.0076  0.      1.1464  0.9992  0.     -0.04    0.    ] com [1.490e-02 7.000e-04 1.132e+00] grips [0.0788 0.2801 2.2833] [ 0.0788 -0.2801  2.2833]\nshoulder [-0.0262  0.1481  1.5683]\ntau [ 1.4  0.5 -0.4  2.1 11.3  0.  -1.4  0.5  0.4  2.1 11.3  0.  -0.  -4.8\n -1.2 -0.  -1.2  0.  -0.  -0.2 -4.8  1.2  0.  -1.2 -0.  -0.   0.2]\nres [-1.32925426e-08 -2.45576622e-07 -1.95112631e-06 -1.42366950e-07\n  1.06581410e-14  2.33044538e-07 -4.14570701e-08  1.64493805e-08\n -8.24433985e-07  2.21555406e-05  2.01761316e-13 -1.61554936e-05\n -2.32630057e-04  3.21490066e-05 -3.92094219e-05  1.78063528e-04\n  3.95840206e-05  6.10954806e-06 -2.59796945e-04 -1.16170065e-06]\nmax delta [0.00000000e+00 1.47703604e-03 0.00000000e+00 1.96321034e-09\n 1.53770391e-03 0.00000000e+00 0.00000000e+00 1.47703604e-03\n 0.00000000e+00 1.96321034e-09 1.53770391e-03 0.00000000e+00\n 0.00000000e+00 3.74660512e-02 4.02342767e-03 4.35868187e-03\n 1.75717936e-02 5.37625548e-03 7.24027443e-03 1.73197963e-02\n 3.74660512e-02 4.02342767e-03 4.35868187e-03 1.75717936e-02\n 5.37625548e-03 7.24027443e-03 1.73197963e-02]\nposes [[ 0.1745079   0.11753251  0.27552298 -0.80416565  1.25863733 -0.13607668\n   1.17573097]\n [-0.79602436  0.26006617  0.30287146 -0.34311699  1.36259429 -0.04482096\n   1.21146379]\n [-1.25369694  0.36743863  0.27647546  0.13451656  1.392316   -0.04752648\n   1.23973679]\n [-1.66574564  0.45073233  0.27186883  0.57950344  1.44254648 -0.09281666\n   1.269     ]\n [-2.11946997  0.53209883  0.29804509  1.04754287  1.57000193 -0.1476709\n   1.269     ]\n [-2.66338028  0.63459696  0.18753575  1.56999942  1.63767575 -0.13830469\n   0.98438358]]\n","exit":[0,0],"pics":[]},"tok":{"in":75406,"cached":75264,"out":255,"think":14,"usd":0.0894},"sim":{"submit":0,"reset":0}},{"id":49,"t":449.3,"say":"","calls":[{"kind":"shell","label":"c=Controller();execute_path(c,np.load('jerk_path.npy')[:41],2.5,label='jerk20')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('jerk_path.npy')[:41],2.5,label='jerk20')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":76826,"cached":75520,"out":286,"think":204,"usd":0.1029},"sim":{"submit":0,"reset":0}},{"id":50,"t":453.1,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:37266,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 27.0 rpy [-0.0012 -0.0421  0.0561] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0032, -0.0122, -0.0086, 0.0649, -0.023, 0.0012, 0.0014, -0.0236, 0.0067, 0.0635, -0.0136, -0.0044, -0.0002, -0.7986, 0.2441, 0.2845, -0.3493, 1.4029, -0.0364, 1.2082, -0.8002, -0.2442, -0.2863, -0.3517, -1.402, -0.0356, -1.2115]\ntau [4.17, 4.0, 9.89, 3.43, 11.32, -1.37, -1.9, 17.54, -7.66, 5.24, 0.05, 5.67, 0.21, -12.78, 11.43, 6.9, 1.86, -15.88, -3.51, -2.62, -11.91, -11.63, -6.41, 3.08, 15.78, -3.66, 3.23]\n{'calls': 32, 'rows': 3300, 'control_steps': 2700, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 3300, 'resets_left': 4, 'sim_time_s': 27.0, 'time_s': 450.31, 'time_left_s': 6749.7, 'chunk_id': 32, 'type': 'lowcmd', 'executed_rows': 250, 'control_steps_chunk': 250, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":77172,"cached":77056,"out":40,"think":0,"usd":0.0802},"sim":{"submit":1,"reset":0}},{"id":51,"t":456.6,"say":"","calls":[{"kind":"shell","label":"c=Controller();execute_path(c,np.load('jerk_path.npy')[40:101],3,label='jerk50')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('jerk_path.npy')[40:101],3,label='jerk50')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":77739,"cached":77184,"out":79,"think":0,"usd":0.0867},"sim":{"submit":0,"reset":0}},{"id":52,"t":460.7,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:69379,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 30.0 rpy [ 0.0005 -0.0665  0.0717] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0035, 0.0021, -0.0109, 0.0645, -0.0138, 0.0009, 0.0013, -0.0098, 0.005, 0.0637, -0.0024, -0.0042, 0.0001, -1.4621, 0.4023, 0.2457, 0.3691, 1.4291, -0.0427, 1.2679, -1.4659, -0.4011, -0.2456, 0.3674, -1.427, -0.0439, -1.2667]\ntau [5.16, 6.32, 12.77, 4.91, 11.82, -1.9, -2.24, 20.57, -5.65, 5.76, -1.57, 7.27, -0.19, -18.28, 10.55, 5.21, 0.01, -9.88, -6.77, -3.01, -16.66, -10.94, -5.23, 0.57, 9.08, -6.44, 2.87]\n{'calls': 34, 'rows': 3600, 'control_steps': 3000, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 3600, 'resets_left': 4, 'sim_time_s': 30.0, 'time_s': 457.87, 'time_left_s': 6742.1, 'chunk_id': 34, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":77876,"cached":77696,"out":40,"think":0,"usd":0.0815},"sim":{"submit":1,"reset":0}},{"id":53,"t":465.6,"say":"","calls":[{"kind":"shell","label":"c=Controller();execute_path(c,np.load('jerk_path.npy')[100:161],3,label='jerk80')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('jerk_path.npy')[100:161],3,label='jerk80')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":78443,"cached":77824,"out":115,"think":34,"usd":0.0898},"sim":{"submit":0,"reset":0}},{"id":54,"t":469.0,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:50081,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2000}));\n"}],"out":{"text":"time 33.0 rpy [-0.0006 -0.0924  0.091 ] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0015, 0.0521, -0.0112, 0.0655, -0.038, 0.0012, -0.0006, 0.0405, 0.0059, 0.0643, -0.0276, -0.0041, 0.0004, -2.1174, 0.5157, 0.2882, 1.0463, 1.5828, -0.1312, 1.2674, -2.1212, -0.5157, -0.2891, 1.045, -1.582, -0.1307, -1.2676]\ntau [3.17, -0.73, 13.04, 0.5, 10.24, -1.2, -0.44, 13.24, -6.64, 1.71, -1.75, 4.9, -0.32, -15.09, 7.61, 2.93, 0.21, -4.59, -6.59, -3.07, -13.54, -7.59, -2.61, 0.8, 4.31, -6.82, 3.19]\n{'calls': 36, 'rows': 3900, 'control_steps': 3300, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 3900, 'resets_left': 4, 'sim_time_s': 33.0, 'time_s': 466.83, 'time_left_s': 6733.2, 'chunk_id': 36, 'type': 'lowcmd', 'executed_rows': 300, 'control_steps_chunk': 300, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":78615,"cached":78464,"out":40,"think":0,"usd":0.082},"sim":{"submit":1,"reset":0}},{"id":55,"t":474.0,"say":"","calls":[{"kind":"shell","label":"c=Controller();execute_path(c,np.load('jerk_path.npy')[160:],2.5,label='lockout')","code":"cd /app/output && python - <<'PY'\nfrom gen import *\nc=Controller();execute_path(c,np.load('jerk_path.npy')[160:],2.5,label='lockout')\nif not c.obs.done:planned_move(c,np.load('jerk_path.npy')[-1],3,grip=1,label='overhead_hold',load=5)\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":79182,"cached":78592,"out":115,"think":0,"usd":0.0902},"sim":{"submit":0,"reset":0}},{"id":56,"t":477.7,"say":"","calls":[{"kind":"robot","label":"waits for the running program's output","code":"text(await tools.write_stdin({session_id:58682,chars:\"\",\"yield_time_ms\":1000,\"max_output_tokens\":2500}));\n"}],"out":{"text":"time 35.5 rpy [-0.0011 -0.1133  0.1029] held [np.float64(1.0), np.float64(1.0)]\nq [-0.0002, 0.1042, -0.0106, 0.0677, -0.0697, 0.0023, -0.0013, 0.0934, 0.0069, 0.066, -0.0614, -0.0049, -0.0001, -2.6611, 0.616, 0.1816, 1.5681, 1.6443, -0.1283, 0.9837, -2.6639, -0.6191, -0.1826, 1.567, -1.643, -0.1249, -0.984]\ntau [1.6, -10.27, 12.38, -7.5, 6.15, -2.87, -0.02, 2.51, -8.04, -4.95, -3.17, 9.03, 0.05, -8.13, 4.75, 2.12, -0.48, -2.34, -4.03, -2.26, -6.88, -3.68, -1.68, -0.04, 1.85, -5.3, 2.09]\n{'calls': 38, 'rows': 4150, 'control_steps': 3550, 'done': False, 'reason': None, 'episode': 2, 'control_steps_total': 4150, 'resets_left': 4, 'sim_time_s': 35.5, 'time_s': 474.13, 'time_left_s': 6725.9, 'chunk_id': 38, 'type': 'lowcmd', 'executed_rows': 250, 'control_steps_chunk': 250, 'n_clipped': 0, 'ok': True}\ntime 36.790000915527344 rpy [-0.0028 -0.1039  0.1094] held [np.float64(1.0), np.float64(1.0)]\nq [0.0009, 0.1028, -0.01, 0.0642, -0.0754, 0.001, -0.0024, 0.0917, 0.0077, 0.0626, -0.0664, -0.0043, -0.0001, -2.664, 0.6164, 0.1799, 1.5702, 1.6454, -0.1287, 0.9838, -2.6665, -0.6202, -0.182, 1.5689, -1.6436, -0.126, -0.9831]\ntau [0.37, -8.2, 12.22, -2.68, 12.24, -1.05, 1.33, 4.92, -8.14, -0.52, 1.64, 5.05, -0.23, -7.2, 4.3, 2.67, -1.16, -2.62, -3.52, -2.31, -5.96, -3.59, -1.96, -0.52, 2.17, -5.28, 2.08]\n{'calls': 39, 'rows': 4279, 'control_steps': 3679, 'done': True, 'reason': 'success', 'episode': 2, 'control_steps_total': 4279, 'resets_left': 0, 'sim_time_s': 36.79, 'time_s': 475.77, 'time_left_s': 6724.2, 'outcome': 'success', 'stages_reached': 4, 'stages_total': 4, 'chunk_id': 39, 'type': 'lowcmd', 'executed_rows': 129, 'control_steps_chunk': 129, 'n_clipped': 0, 'ok': True}\n","exit":[0],"pics":[]},"tok":{"in":79354,"cached":79232,"out":51,"think":9,"usd":0.083},"sim":{"submit":2,"reset":0}},{"id":57,"t":492.2,"say":"The referee gave the down signal: success, with all four stages completed at 36.79 seconds of robot time. I’m recording the successful command sequence and final notes.","calls":[{"kind":"robot","label":"p=Path('/app/output/gen.py');s=p.read_text();s=s.replace(\"if __name__=='__main__':\\n    c=Controller(); c.repo","code":"python - <<'PY'\nfrom pathlib import Path\np=Path('/app/output/gen.py');s=p.read_text();s=s.replace(\"if __name__=='__main__':\\n    c=Controller(); c.report()\\n\",'')\ns+='''\n# Exact command sequence used by successful attempt 2, stored beside this script.\nSUCCESS_SEQUENCE = [\n    'hinge50', 'hinge100', 'grasp', 'lift20', 'lift60', 'hang',\n    'curl40', 'curl80', 'rack', 'clean_hold', 'jerk20', 'jerk50',\n    'jerk80', 'lockout', 'overhead_hold',\n]\n\ndef run_attempt():\n    \"\"\"Replay the recorded successful controller on a fresh service episode.\"\"\"\n    c = Controller()\n    if c.obs.done:\n        c.report()\n        return\n    if c.d['time_s'] > 0:\n        raise RuntimeError('Replay requires a fresh episode; this script never resets automatically.')\n    for name in SUCCESS_SEQUENCE:\n        with np.load(OUT / f'command_{name}.npz') as record:\n            res = c.r.submit(str(record['kind']), record['A'], dt=.01,\n                             video='none', cameras=['venue'], note=name)\n        c.update(res)\n        c.save('replay_' + name)\n        if res.done:\n            break\n    return c.obs.meta\n\nif __name__ == '__main__':\n    parser = argparse.ArgumentParser(description=__doc__)\n    parser.add_argument('--status', action='store_true', help='Read sensors without moving')\n    args = parser.parse_args()\n    if args.status:\n        Controller().report()\n    else:\n        run_attempt()\n'''\np.write_text(s)\nPath('/app/output/NOTES.md').write_text('''Success: referee outcome success; all 4/4 stages, down signal at 36.79 robot seconds.\nThe successful attempt was episode 2; one reset was used before success ended the trial.\nApproach: symmetric inverse kinematics with planted-foot gravity compensation via lowcmd.\nLive state came only from standard Robot client encoders, IMUs, grip flags, and cameras.\nDownloaded official Unitree H1-2 XMLs from unitree_mujoco and unitree_ros for kinematics.\nInstalled mujoco and scipy for offline kinematics/gravity calculations; no reference solutions used.\nAttempt 1: deep upright squat advanced knees into bar, knocking it off blocks; reset.\nAttempt 2: hip hinge kept knees back; both hands grasped, followed by slow rise and turnover.\nPaused 1.5 seconds at shoulders, then raised and extended arms for the overhead hold.\ngen.py replays the exact successful command arrays on a fresh episode; --status only reads sensors.\nNo automatic resets: an ended episode is reported, and a partially run episode is refused for replay.\nPlanning helpers: kin.py and plan.py; command arrays are command_*.npz.\nFinal referee result and camera frame: overhead_hold/meta.json and overhead_hold/last/venue.jpg.\n''')\nPY\npython -m py_compile /app/output/gen.py /app/output/kin.py /app/output/plan.py\ncat /app/output/overhead_hold/meta.json | head -25"},{"kind":"look","label":"venue.jpg","code":"/app/output/overhead_hold/last/venue.jpg"}],"out":{"text":"{\n \"calls\": 39,\n \"rows\": 4279,\n \"control_steps\": 3679,\n \"done\": true,\n \"reason\": \"success\",\n \"episode\": 2,\n \"control_steps_total\": 4279,\n \"resets_left\": 0,\n \"sim_time_s\": 36.79,\n \"time_s\": 475.77,\n \"time_left_s\": 6724.2,\n \"proprio\": {\n  \"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","exit":[0],"pics":["embodied-olympics-fun-clean-and-jerk-i00-standard--rzyz9ev/s057_0.jpg"]},"tok":{"in":80427,"cached":79360,"out":1103,"think":269,"usd":0.1452},"sim":{"submit":0,"reset":0}},{"id":58,"t":504.6,"say":"Success: all four stages completed, with the down signal at **36.79 seconds** on attempt 2.\n\nSaved the controller to [gen.py](/app/output/gen.py) and the record to [NOTES.md](/app/output/NOTES.md).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":81962,"cached":81408,"out":58,"think":0,"usd":0.0898},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-goalkeeper-save-i00-privileged--tithnbp.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-goalkeeper-save-i00-privileged--tithnbp","task":"embodied-olympics-fun-goalkeeper-save-i00-privileged","bench":"embodied-olympics-fun","mode":"privileged","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"success","success":1,"reward":{"success":1,"replay_success":1,"deterministic":1,"n_actions":2670,"sim_steps":2670,"horizon":2700,"episode_over":1,"progress":1.0,"stages_reached":3,"stages_total":3,"fell":0,"replay_s":18.12,"bad_trajectory":0,"metric_saved":3.0,"grader_error":0,"video_rendered":1,"agent_sessions":9,"agent_resets":2,"agent_replays":1,"agent_cost_self_reported":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.557,"peak_processes":10,"peak_disk_gb":0.242,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0,"session_log_tampered":0,"session_log_from_monitor":0},"wall_s":662,"tokens":{"in":1522043,"cached":1448327,"out":11416,"usd":1.11},"task_text":"# embodied-olympics goalkeeper-save — instance i00\n\nYou control a simulated Unitree H1-2 humanoid robot (27 joints, 1.78 m tall, 67 kg; the Embodied Olympics simulator on MuJoCo)\nvia Python. **Task:** Keep goal: three penalty kicks are shot at the official goal you stand in; keep every ball out, with a foot on the goal line at each kick.\n\nThis is a *fixed instance*: the same venue and start every time. You may reset and retry as many times as you want.\nYour deliverable is **one replayable trajectory**, not a general policy.\n\n## The venue\nYou stand on the goal line in the middle of the official goal, facing the field (+x); the goal and its net are behind you. Three two-wheel ball machines stand 11 m in front of you around the penalty mark, their heads at about knee height, each turned towards its stated aim; the goal area and the penalty area are painted on the grass. At 20.0 m/s a shot needs a little over half a second to reach the goal line.\n\nFrame: metres; the origin is on the floor under your pelvis at the start, +x is the way you face at the start, +y is\nto your left, +z is up; the floor is z = 0. \n\n## The rules\n**Rule book:** 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 on the goal line, the penalty mark 11 m from the goal line, the goal area 5.5 m x 18.32 m), 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 crossbar), Law 12 (a goalkeeper may handle the ball in their own penalty area) and Law 14 (the penalty kick: the goalkeeper remains on the goal line, facing the kicker, between the goalposts, without touching the goalposts, crossbar or goal net, until the ball has been kicked; when the ball is kicked the goalkeeper must have at least part of one foot touching, or in line with, the goal line). Where this task departs from it:\n\n- Law 14 (the kicker): each penalty is shot by a two-wheel ball machine instead of a kicker: three machines, one ball each (a machine holds one ball per load), their exits 0.6 m above the ground on the penalty mark's line, 0.6 m apart across it (the middle one over the mark; the Law puts the ball on the mark). Each is aimed before the attempt at a point of the goal's plane that the rules state, and throws at 20.0 m/s, no spin: a real keeper reads a kicker; here the aim is stated instead. The elevation is computed for the ball's drag in air and trimmed by 0.45 degrees (measured in this venue: untrimmed, the shots crossed the line about 0.1 m low); a machine's own scatter (about 2 percent in speed and 2 degrees in direction, its maker's measurement) stays.\n- Law 10 (kicks from the penalty mark): three penalties against the same goalkeeper, 9.0 s apart, in one attempt; every one must be saved.\n- Law 14 (the goalkeeper between kicks): between the penalties the goalkeeper stays inside the goal area (only the moment of each kick is regulated by the Law).\n- Law 1: only the goal end of the \n… (12,857 characters left out) …\nuipment, named in the rules.\n- **A tool on a hand** (a racket, a paddle, a club; where the task has one) is fixed to the wrist in place of the pad.\n  It collides with the world, the ball and the rest of your own body.\n- **The air** is real: balls and implements feel drag and, when they spin, lift.\n- **If the physics diverges** (a numerical blow-up, typically from a violent joint command), the attempt ends as a\n  failure: \"the simulation became unstable\".\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for the whole trial, all its processes together (every simulator you start included): at most **13 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; the task has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 8 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time a simulator takes to start counts. When it is up you are stopped without warning and only what is in `/app/output/` at that moment is graded, so save a deliverable as soon as you have one and overwrite it whenever you have a better one. Your session started when you received this task. `/run/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-goalkeeper-save-i00-privileged--tithnbp/replay.mp4","replay_last":"embodied-olympics-fun-goalkeeper-save-i00-privileged--tithnbp/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"cat /app/instance.json; ls /app /app/output /opt/tools /opt/tools/rfo; wc -l /opt/tools/rfo_task.py /opt/tools","code":"cat /app/instance.json; ls /app /app/output /opt/tools /opt/tools/rfo; wc -l /opt/tools/rfo_task.py /opt/tools/rfo/*.py; cat /run/rcb-limits/usage.json"},{"kind":"shell","label":"cat /opt/tools/rfo_task.py | head -400","code":"cat /opt/tools/rfo_task.py | head -400"}],"out":{"text":"{\n \"family\": \"goalkeeper-save\",\n \"seed\": 0,\n \"params\": {\n  \"goal_width_m\": 7.32,\n  \"goal_height_m\": 2.44,\n  \"post_m\": 0.12,\n  \"goal_depth_m\": 2.0,\n  \"mark_distance_m\": 11.0,\n  \"goal_area_depth_m\": 5.5,\n  \"goal_area_half_m\": 9.16,\n  \"machine_gap_m\": 0.6,\n  \"exit_height_m\": 0.6,\n  \"shot_speed_m_s\": 20.0,\n  \"kick1_s\": 6.0,\n  \"kick_gap_s\": 9.0,\n  \"settle_s\": 2.5,\n  \"elevation_trim_deg\": 0.45,\n  \"aim1_y_m\": -0.8,\n  \"aim1_z_m\": 0.9,\n  \"aim2_y_m\": 0.8,\n  \"aim2_z_m\": 1.1,\n  \"aim3_y_m\": -0.5,\n  \"aim3_z_m\": 0.95\n },\n \"title\": \"Football: goalkeeper, save three penalties\",\n \"category\": \"football-and-volleyball\",\n \"time_limit_s\": 27.0,\n \"stages\": [\n  \"save 1\",\n  \"save 2\",\n  \"save 3\"\n ],\n \"rulebook\": \"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 on the goal line, the penalty mark 11 m from the goal line, the goal area 5.5 m x 18.32 m), 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 crossbar), Law 12 (a goalkeeper may handle the ball in their own penalty area) and Law 14 (the penalty kick: the goalkeeper remains on the goal line, facing the kicker, between the goalposts, without touching the goalposts, crossbar or goal net, until the ball has been kicked; when the ball is kicked the goalkeeper must have at least part of one foot touching, or in line with, the goal line)\",\n \"deviations\": [\n  \"Law 14 (the kicker): each penalty is shot by a two-wheel ball ma\n… (84,259 characters left out) …\n axis direction (wheel 0 turns about +a)\n        self.L_target = L\n        self.deflect_deg = du\n        self.gate_force = gate_force_n\n        self.ram_force = ram_force_n if ram_force_n is not None else max(20.0, 100.0 * P[\"ball_mass_kg\"])\n        self.ram_speed, self.ram_delay = ram_speed_m_s, ram_delay_s\n        self.base = base\n        self.feed_t = None                                # control time of the feed (gate opens; the ram follows)\n        rb, R = P[\"ball_radius_m\"], P[\"wheel_radius_m\"]\n        h = R + (2 * rb - P[\"squeeze_m\"]) / 2             # wheel centre from the nip's centre\n        x0 = _bm_math.sqrt(max((R + rb) ** 2 - h * h, 0.0))  # the ball's centre where it first touches both wheels\n        self.h, self.x_touch = h, x0\n        self.x_rest = -(x0 + 1.5 * rb)                     # the ball's centre at rest, along the axis from the nip\n        self.stroke = (-x0 + 0.3 * rb) - self.x_rest       # the ram pushes it 0.3 radii into the grip\n        self.rest = [self.N + self.x_rest * Lh]\n        diag = [(sa * self.a + su * self.uh) / _bm_math.sqrt(2) for sa in (1, -1) for su in (1, -1)]\n        diag.sort(key=lambda v: float(v[2]))\n        self.rails_dir = [_bm_unit(diag[0]), _bm_unit(diag[1])]   # the two lowest diagonals: the cradle's rails\n\n    def rest_pos(self, k=0):\n        \"\"\"Where the ball's centre rests at t = 0 (in the cradle, between gate and ram).\"\"\"\n        return tuple(float(x) for x in self.rest[0])\n\n    def build(self, sc, rgba=(0.25, 0.27, 0.","exit":[],"pics":[]},"tok":{"in":29375,"cached":18236,"out":993,"think":null,"usd":0.0792},"sim":{"submit":0,"reset":0}},{"id":3,"t":3.7,"say":"","calls":[{"kind":"shell","label":"grep -n \"scatter\\|seed\\|rng\\|random\" /opt/tools/rfo_task.py | head -50; sed -n 600,985p /opt/tools/rfo_task.py","code":"grep -n \"scatter\\|seed\\|rng\\|random\" /opt/tools/rfo_task.py | head -50; sed -n 600,985p /opt/tools/rfo_task.py"}],"out":{"text":"810:        \"in this venue: untrimmed, the shots crossed the line about 0.1 m low); a machine's own scatter (about 2 \"\n                                                             self.arm_off * u[0], self.arm_off * u[1], -0.3 * rb),\n                size=(0.004,), rgba=rgba, **HIT)\n        sc.geom(car, f\"{nm}_post\", type=\"capsule\", fromto=(self.arm_off * u[0], self.arm_off * u[1], -0.3 * rb,\n                                                          self.arm_off * u[0], self.arm_off * u[1], zarm - c[2]),\n                size=(0.004,), rgba=rgba, **HIT)\n        zt = -rb                                           # the leaves' top face, under the ball (touching it)\n        self.travel = 1.6 * rb\n        self.leaf_names = []\n        for k, s in ((0, 1.0), (1, -1.0)):\n            ln = f\"{nm}_leaf{k}\"\n            b = sc.body(ln, tuple(s * 0.6 * rb * side + _bm_np.array([0, 0, zt - 0.002])), parent=car)\n            _bm_ET.SubElement(b, \"joint\", name=ln, type=\"slide\", axis=_bm_fmt(s * side),\n                              range=f\"0 {self.travel + 0.005:.6g}\", damping=f\"{self.force / 0.5:.6g}\", armature=\"0.005\")\n            # (the leaves open at about 0.5 m/s; PTFE-faced, friction 0.1: PTFE on plastics 0.05-0.1)\n            sc.geom(b, ln, type=\"box\", size=(1.2 * rb, 0.6 * rb, 0.002), mass=0.02, rgba=(0.85, 0.25, 0.2, 1),\n                    quat=tuple(_bm_mat2quat(_bm_np.c_[u, side, [0.0, 0.0, 1.0]])), friction=(0.1, 0.005, 0.0001),\n                    priority=2, **HIT)\n            _bm\n… (44,201 characters left out) …\n on the feet at the kick (Law 14)\", shot=i + 1, parts=sorted(bad))\n                    if not self._feet_on_line(w):\n                        return ref.fail(\"no foot on the goal line at the kick (Law 14)\", shot=i + 1)\n                    if ref.touching(ref.robot_mask, self.frame):\n                        return ref.fail(\"touching the goal frame at the kick (Law 14)\", shot=i + 1)\n            elif tr[\"mouth\"][i].update(pos) == \"in\":\n                return ref.fail(\"goal\", shot=i + 1)\n\n    def step(self, w, ref):\n        p, tr = self.p, self.trackers\n        pel = w.pelvis()\n        if not (-p[\"goal_depth_m\"] <= pel[0] <= p[\"goal_area_depth_m\"] and abs(pel[1]) <= p[\"goal_area_half_m\"]):\n            return ref.fail(\"left the goal area\")\n        for i in range(SHOTS):\n            t = tr[\"kick_t\"][i]\n            if t is not None and ref.time >= t + p[\"settle_s\"] - 1e-9 and ref.stage(f\"save {i + 1}\"):\n                if i == SHOTS - 1:\n                    ref.succeed()\n        ref.metrics[\"saved\"] = len(ref.stages)\n\n    def privileged(self, w):\n        return {\"balls\": [w.pos(f\"ball{k}\").tolist() for k in range(1, SHOTS + 1)],\n                \"ball_velocities\": [w.vel(f\"ball{k}\").tolist() for k in range(1, SHOTS + 1)],\n                \"kick_t\": list(self.trackers.get(\"kick_t\", [])), \"goal\": self.goal,\n                \"shots\": [{k: (list(v) if isinstance(v, tuple) else v) for k, v in s.items()} for s in self.shots()],\n                \"machines\": [bm.facts() for bm in self.machines]}","exit":[],"pics":[]},"tok":{"in":45663,"cached":29373,"out":108,"think":null,"usd":0.0895},"sim":{"submit":0,"reset":0}},{"id":4,"t":6.8,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/work && cd /app/work && cat > probe.py <<'EOF'","code":"mkdir -p /app/work && cd /app/work && cat > probe.py <<'EOF'\nimport numpy as np, time\nfrom rcb_rfo import Session\ns=Session()\ntyp,row=s.hold()\nt0=time.time()\nlog=[]\nfor i in range(2700):\n    done=s.step(typ,row)\n    st=s.state()\n    log.append((i, st[\"task\"][\"balls\"]))\n    if done: break\nprint(\"time\",time.time()-t0, i)\nprint(s.status())\nb=np.array([l[1] for l in log])\nnp.save(\"balls_hold.npy\",b)\nfor k in range(3):\n    xs=b[:,k,0]\n    idx=np.where(xs<0.5)[0]\n    if len(idx): j=idx[0]; print(k, j, b[j-3:j+2,k])\nEOF\npython probe.py"}],"out":{"text":"Command did not complete within its 120s timeout and was moved to the background (ID: bx2tdq8np). Output is being written to: /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/bx2tdq8np.output. You will be notified when it completes. If it is still running after 10m in the background, it will be stopped and you will be notified. To check interim output, use Read on that file path.\nSession cwd remains /app; directory changes made by the backgrounded command do not apply to subsequent commands.","exit":[],"pics":[]},"tok":{"in":55955,"cached":45661,"out":460,"think":null,"usd":0.0698},"sim":{"submit":0,"reset":0}},{"id":5,"t":131.8,"say":"","calls":[{"kind":"shell","label":"grep -n \"deflect\\|scatter\\|np.random\\|default_rng\\|seed\" /opt/tools/rfo_task.py /opt/tools/rfo/*.py | head -40","code":"grep -n \"deflect\\|scatter\\|np.random\\|default_rng\\|seed\" /opt/tools/rfo_task.py /opt/tools/rfo/*.py | head -40"}],"out":{"text":"/opt/tools/rfo_task.py:32:#            its axis L is the launch direction corrected by the calibrated deflection, the wheel pair is turned about\n/opt/tools/rfo_task.py:56:# wheel speeds (BallMachine(..., rim=(v0, v1), deflect_deg=...)).\n/opt/tools/rfo_task.py:235:    \"\"\"The measured exit speed (m/s), spin across the flight (rad/s) and deflection towards the faster wheel (deg) of\n/opt/tools/rfo_task.py:261:    fitted deflection of the exit from the head's axis (deg, towards wheel 0). spin_rad_s >= 0: wheel 0 is the one on\n/opt/tools/rfo_task.py:295:    rim      optional (v0, v1) wheel surface speeds overriding the fit (m/s); deflect_deg optional override\n/opt/tools/rfo_task.py:296:    The head's axis is the launch direction turned by the fitted deflection; the wheel pair is turned about it so that\n/opt/tools/rfo_task.py:309:                 ball=\"ball\", rim=None, deflect_deg=None, gate_force_n=20.0, ram_force_n=None, ram_speed_m_s=1.5,\n/opt/tools/rfo_task.py:343:        if deflect_deg is not None:\n/opt/tools/rfo_task.py:344:            du, sag = deflect_deg, 0.0\n/opt/tools/rfo_task.py:352:        self.deflect_deg = du\n/opt/tools/rfo_task.py:695:    \"\"\"Exit speed, spin across the flight (about u x L, the sign as asked), and the deflection (deg) from the head's\n/opt/tools/rfo_task.py:709:    elevation, speed, spin, deflection towards wheel 0, deflection along the axis, feed time).\"\"\"\n/opt/tools/rfo_task.py:715:                bm = BallMachine(\"cal\", preset, (0, 0, 1.5), V, el, 0\n… (2,283 characters left out) …\nopt/tools/rfo_task.py:695:    \"\"\"Exit speed, spin across the flight (about u x L, the sign as asked), and the deflection (deg) from the head's\n/opt/tools/rfo_task.py:709:    elevation, speed, spin, deflection towards wheel 0, deflection along the axis, feed time).\"\"\"\n/opt/tools/rfo_task.py:715:                bm = BallMachine(\"cal\", preset, (0, 0, 1.5), V, el, 0.0, rim=(V + D / 2, V - D / 2), deflect_deg=0.0,\n/opt/tools/rfo_task.py:725:    z = [r for r in rows if abs(r[1]) <= 1e-9]                 # no spin: u is \"up\", the deflection is the droop\n/opt/tools/rfo_task.py:810:        \"in this venue: untrimmed, the shots crossed the line about 0.1 m low); a machine's own scatter (about 2 \"\n/opt/tools/rfo/looks.py:9:`paint(model)` on the compiled model, which fills the materials' textures with procedural detail (numpy, seeded: the\n/opt/tools/rfo/looks.py:224:    rs = np.random.RandomState(int(1000 * (half[0] + 3 * half[1])) % (2 ** 31))\n/opt/tools/rfo/looks.py:302:def _fbm(n: int, beta: float, seed: int, stretch: tuple[float, float] = (1.0, 1.0)) -> np.ndarray:\n/opt/tools/rfo/looks.py:304:    rs = np.random.RandomState(seed)\n/opt/tools/rfo/looks.py:330:        rs = np.random.RandomState(31)\n/opt/tools/rfo/looks.py:339:        rs = np.random.RandomState(61)\n/opt/tools/rfo/looks.py:355:        tone = np.random.RandomState(73).uniform(-0.03, 0.03, (4, 4))\n/opt/tools/rfo/looks.py:363:        rs = np.random.RandomState(101)\n/opt/tools/rfo/looks.py:400:    rs = np.random.RandomState(91)","exit":[],"pics":[]},"tok":{"in":56625,"cached":55953,"out":169,"think":null,"usd":0.0179},"sim":{"submit":0,"reset":0}},{"id":6,"t":134.7,"say":"","calls":[{"kind":"shell","label":"sed -n 1,120p /opt/tools/rfo/world.py; grep -n \"def \" /opt/tools/rfo/world.py","code":"sed -n 1,120p /opt/tools/rfo/world.py; grep -n \"def \" /opt/tools/rfo/world.py"}],"out":{"text":"\"\"\"The RoboOlympics world: one RoboOlympics Unitree G1 (the robot library's g1-4: Menagerie's 29-joint G1, its real\njoint, speed and torque limits, its motor torque-speed curves, its self-collision) in a sports venue, the action\nlayer every task shares, the hands' grip, and the stepping that the referee (referee.py) watches.\n\nOne control step is 10 ms = 10 physics steps of 1 ms (the robot library's). Everything that changes the world happens\nin World.step(row): the row is a \"sim row\" (RAW_DIM floats), the action in the simulator's own space, and the list of\nsim rows replays an episode bit-exactly in a fresh process. The agent's action types (ACTION_TYPES) are views of it.\n\nWho drives the joints (row[0], the mode):\n  stand     the platform holds the legs in the stance (the walking policy's default leg angles on the stand gains with\n            gravity support); the row's 17 waist and arm targets drive the upper body\n  walk      Unitree's own walking policy drives the legs from the row's velocity command (vx, vy, wz; RoboOlympics'\n            joint-group arbiter, the handover to the policy included); the row's waist and arm targets drive the rest\n  run       RoboOlympics' athletics running policy drives all 29 joints from the velocity command\n  run_arms  the running policy drives the legs and the waist; the row's 14 arm targets drive the arms\n  joints    the row drives all 29 joints: position targets, velocity targets, feed-forward torques and PD gains\n            (Unitree's Lo\n… (19,747 characters left out) …\nclosure: float = 1.0, settle_s: float = 0.3) -> dict:\n1043:    def jaw_frame(self, side: str) -> tuple[np.ndarray, np.ndarray]:\n1048:    def grasp_frame(self, side: str) -> tuple[np.ndarray, np.ndarray]:\n1053:    def grip_cmd(self, side: str) -> float:\n1059:    def holder(self, name: str) -> list[str]:\n1064:    def put(self, name: str, pos, quat=(1, 0, 0, 0), vel=(0, 0, 0), angvel=(0, 0, 0)) -> None:\n1072:    def pin(self, name: str, pos=None, quat=(1, 0, 0, 0)) -> None:\n1079:    def unpin(self, name: str) -> None:\n1082:    def launch(self, name: str, pos, vel, angvel=(0, 0, 0)) -> None:\n1086:    def pos(self, name: str) -> np.ndarray:\n1089:    def vel(self, name: str) -> np.ndarray:\n1095:    def pelvis(self) -> np.ndarray:\n1100:    def com(self) -> np.ndarray:\n1103:    def upright(self) -> float:\n1107:    def robot_aabb(self) -> tuple[np.ndarray, np.ndarray]:\n1114:    def proprio_layout(self) -> list[str]:\n1122:    def proprio(self) -> np.ndarray:\n1131:    def render(self, camera: str, width: int = 480, height: int = 270, depth: bool = False) -> np.ndarray:\n1144:    def close(self) -> None:\n1153:    def state_sha(self) -> str:\n1173:def _jd(o):\n1192:    def __init__(self, robot: Robot):\n1249:    def clip(self, typ: str, rows) -> np.ndarray:\n1253:    def to_raw(self, typ: str, row, world: \"World\") -> np.ndarray:\n1290:    def current(self, typ: str, world: \"World\") -> np.ndarray:\n1318:    def hold(self, world: \"World\") -> tuple[str, np.ndarray]:\n1331:    def spec(self) -> dict:","exit":[],"pics":[]},"tok":{"in":58079,"cached":56623,"out":143,"think":null,"usd":0.0215},"sim":{"submit":0,"reset":0}},{"id":7,"t":140.5,"say":"","calls":[{"kind":"shell","label":"sleep 30; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/bx2tdq8np.output","code":"sleep 30; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/bx2tdq8np.output"}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":63204,"cached":58077,"out":107,"think":null,"usd":0.0394},"sim":{"submit":0,"reset":0}},{"id":8,"t":172.6,"say":"","calls":[{"kind":"shell","label":"sed -n 772,965p /opt/tools/rfo/world.py","code":"sed -n 772,965p /opt/tools/rfo/world.py"}],"out":{"text":"def reset(self) -> None:\n        m, d, r = self.m, self.d, self.robot\n        mujoco.mj_resetData(m, d)\n        x, y, yaw = self.task.start\n        r.rig.place(d, r.rig.rest, pos=(x, y, r.stand_z), yaw=yaw)\n        r.arb.reset(d)\n        self._hold_legs()\n        self.runp.reset()\n        self.k = 0                                  # control steps done\n        self.refused = 0                            # joint plans the arbiter refused (the targets then stay)\n        self.unstable = False\n        self.mode = STAND\n        self.run_k = 0\n        self.run_tgt = r.arb.target()\n        for pol in r.walkers.values():\n            pol.reset()\n        self.walk_k = 0\n        self.walk_tgt = r.stance.copy()\n        self.wrist_ff = np.zeros(14)\n        self.cmd = np.zeros(3)\n        self.held = {s: None for s in SIDES}        # side -> the name of the body its hand grips\n        self.grip_req = {s: False for s in SIDES}\n        d.eq_active[:] = m.eq_active0\n        m.eq_data[:] = self._eq_data0\n        self.last_raw: np.ndarray | None = None     # the sim row in force (the last one executed)\n        self.pins: dict[str, np.ndarray] = {}       # free bodies a task holds in place (a ball on a launcher)\n        if self.hands:\n            self.hands.reset()\n        self.task.reset(self)\n        d.time = 0.0\n        d.act[:] = 0\n        d.ctrl[:] = 0\n        d.qacc_warmstart[:] = 0\n        if self.hands:\n            self.hands.write_ctrl()\n        mujoco.mj_forward(m, d)\n        if self.ha\n… (16,879 characters left out) …\n    kd=np.r_[np.minimum(pol.kd, r.kd_max[:12]), r.kd0[L.UPPER]])\n        elif mode in (RUN, RUN_ARMS):\n            self.cmd = np.clip(raw[R_CMD], RUN_CMD[:, 0], RUN_CMD[:, 1])\n            if self.run_k % 2 == 0:                 # the policy runs at 50 Hz\n                sd = d.sensordata\n                s = r.sens\n                self.run_tgt = self.runp.step(sd[s[\"orientation_pelvis\"]:s[\"orientation_pelvis\"] + 4],\n                                              sd[s[\"gyro_pelvis\"]:s[\"gyro_pelvis\"] + 3], d.qpos[r.qadr],\n                                              d.qvel[r.vadr], self.cmd)\n            self.run_k += 1\n            if mode == RUN:\n                self._plan([\"legs\", \"waist\", \"arms\"], self.run_tgt, kp=r.run_kp, kd=r.run_kd)\n            else:\n                self._plan([\"legs\", \"waist\", \"arms\"], np.r_[self.run_tgt[:L.ARMS.start], q[L.ARMS]],\n                           kp=np.r_[r.run_kp[:L.ARMS.start], r.kp0[L.ARMS]],\n                           kd=np.r_[r.run_kd[:L.ARMS.start], r.kd0[L.ARMS]])\n        else:\n            self.cmd = np.zeros(3)\n            self._plan([\"legs\", \"waist\", \"arms\"], q, QD=np.clip(raw[L.R_DQ], -r.speed, r.speed),\n                       TAU=np.clip(raw[L.R_TAU], -r.tau_max, r.tau_max), kp=np.clip(raw[L.R_KP], 0.0, r.kp_max),\n                       kd=np.clip(raw[L.R_KD], 0.0, r.kd_max))\n\n    # ------------------------------------------------------------------ the hands' grip\n    def _grip_gap(self, side: str, name: str) -> tuple[float, float]:","exit":[],"pics":[]},"tok":{"in":63350,"cached":63202,"out":98,"think":null,"usd":0.0153},"sim":{"submit":0,"reset":0}},{"id":9,"t":175.3,"say":"","calls":[{"kind":"shell","label":"sleep 45; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/bx2tdq8np.output; ps aux | grep pr","code":"sleep 45; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/bx2tdq8np.output; ps aux | grep probe | head -3"}],"out":{"text":"root        7803  0.0  0.0   4492  3348 ?        Ss   22:37   0:00 /bin/bash -c source /logs/agent/sessions/shell-snapshots/snapshot-bash-1792881462303-19n11m.sh 2>/dev/null || true && shopt -u extglob 2>/dev/null || true && { \\builtin unalias -- 'unsetenv'; \\builtin unset -f -- 'unsetenv'; } >/dev/null 2>&1 || true && eval 'mkdir -p /app/work && cd /app/work && cat > probe.py <<'\"'\"'EOF'\"'\"' import numpy as np, time from rcb_rfo import Session s=Session() typ,row=s.hold() t0=time.time() log=[] for i in range(2700):     done=s.step(typ,row)     st=s.state()     log.append((i, st[\"task\"][\"balls\"]))     if done: break print(\"time\",time.time()-t0, i) print(s.status()) b=np.array([l[1] for l in log]) np.save(\"balls_hold.npy\",b) for k in range(3):     xs=b[:,k,0]     idx=np.where(xs<0.5)[0]     if len(idx): j=idx[0]; print(k, j, b[j-3:j+2,k]) EOF python probe.py' && pwd -P >| /tmp/claude-ed24-cwd\nroot        7806 99.9  0.1 570944 300088 ?       R    22:37   3:31 python probe.py\nroot        7860  0.0  0.0   4492  3396 ?        Ss   22:40   0:00 /bin/bash -c source /logs/agent/sessions/shell-snapshots/snapshot-bash-1792881462303-19n11m.sh 2>/dev/null || true && shopt -u extglob 2>/dev/null || true && { \\builtin unalias -- 'unsetenv'; \\builtin unset -f -- 'unsetenv'; } >/dev/null 2>&1 || true && eval 'sleep 45; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/bx2tdq8np.output; ps aux | grep probe | head -3' < /dev/null && pwd -P >| /tmp/claude-f3d5-cwd\n\n[stdout]\nroot        7803  0.0  0.0   4492  3348 ?        Ss   22:37   0:00 /bin/bash -c source /logs/agent/sessions/shell-snapshots/snapshot-bash-1792881462303-19n11m.sh 2>/dev/null || true && shopt -u extglob 2>/dev/null || true && { \\builtin unalias -- 'unsetenv'; \\builtin unset -f -- 'unsetenv'; } >/dev/null 2>&1 || true && eval 'mkdir -p /app/work && cd /app/work && cat > probe.py <<'\"'\"'EOF'\"'\"' import numpy as np, time from rcb_rfo import Session s=Session() typ,row=s.hold() t0=time.time() log=[] for i in range(2700):     done=s.step(typ,row)     st=s.state()     log.append((i, st[\"task\"][\"balls\"]))     if done: break print(\"time\",time.time()-t0, i) print(s.status()) b=np.array([l[1] for l in log]) np.save(\"balls_hold.npy\",b) for k in range(3):     xs=b[:,k,0]     idx=np.where(xs<0.5)[0]     if len(idx): j=idx[0]; print(k, j, b[j-3:j+2,k]) EOF python probe.py' && pwd -P >| /tmp/claude-ed24-cwd\nroot        7806 99.9  0.1 570944 300088 ?       R    22:37   3:31 python probe.py\nroot        7860  0.0  0.0   4492  3396 ?        Ss   22:40   0:00 /bin/bash -c source /logs/agent/sessions/shell-snapshots/snapshot-bash-1792881462303-19n11m.sh 2>/dev/null || true && shopt -u extglob 2>/dev/null || true && { \\builtin unalias -- 'unsetenv'; \\builtin unset -f -- 'unsetenv'; } >/dev/null 2>&1 || true && eval 'sleep 45; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/bx2tdq8np.output; ps aux | grep probe | head -3' < /dev/null && pwd -P >| /tmp/claude-f3d5-cwd","exit":[],"pics":[]},"tok":{"in":67733,"cached":63348,"out":121,"think":null,"usd":0.037},"sim":{"submit":0,"reset":0}},{"id":10,"t":222.6,"say":"","calls":[{"kind":"robot","label":"s=Session()","code":"cd /app/work && cat > t.py <<'EOF'\nimport time\nfrom rcb_rfo import Session\ns=Session()\ntyp,row=s.hold()\nt0=time.time()\nfor i in range(100): s.step(typ,row)\nprint(\"step\",(time.time()-t0)/100)\nt0=time.time()\nfor i in range(10): s.state()\nprint(\"state\",(time.time()-t0)/10)\nEOF\npython t.py"}],"out":{"text":"step 0.005925245285034179\nstate 1.1923584461212158\n\n[stdout]\nstep 0.005925245285034179\nstate 1.1923584461212158","exit":[],"pics":[]},"tok":{"in":68660,"cached":67731,"out":230,"think":null,"usd":0.0228},"sim":{"submit":0,"reset":0}},{"id":11,"t":243.2,"say":"","calls":[{"kind":"robot","label":"pkill -f probe.py; cd /app/work && cat > probe.py <<'EOF'","code":"pkill -f probe.py; cd /app/work && cat > probe.py <<'EOF'\nimport numpy as np, time\nfrom rcb_rfo import Session\ns=Session()\nw=s.world\ntyp,row=s.hold()\nbid=[w.m.body(f\"ball{k}\").id for k in (1,2,3)]\nlog=[]\nfor i in range(2700):\n    done=s.step(typ,row)\n    log.append(w.d.xpos[bid].copy())\n    if done: break\nprint(i, s.status())\nb=np.array(log)\nnp.save(\"balls_hold.npy\",b)\nfor k in range(3):\n    xs=b[:,k,0]\n    idx=np.where(xs<1.0)[0]\n    if len(idx): j=idx[0]; print(k, j, b[j-3:j+4,k])\nEOF\npython probe.py"}],"out":{"text":"Exit code 144\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":68965,"cached":68658,"out":352,"think":null,"usd":0.0223},"sim":{"submit":0,"reset":0}},{"id":12,"t":247.2,"say":"","calls":[{"kind":"shell","label":"python probe.py","code":"python probe.py"}],"out":{"text":"Command did not complete within its 120s timeout and was moved to the background (ID: b7wvyzgs5). Output is being written to: /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/b7wvyzgs5.output. You will be notified when it completes. If it is still running after 10m in the background, it will be stopped and you will be notified. To check interim output, use Read on that file path.","exit":[],"pics":[]},"tok":{"in":70028,"cached":68963,"out":87,"think":null,"usd":0.0209},"sim":{"submit":0,"reset":0}},{"id":13,"t":371.0,"say":"","calls":[{"kind":"shell","label":"sleep 60; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/b7wvyzgs5.output","code":"sleep 60; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/b7wvyzgs5.output"}],"out":{"text":"(Bash completed with no output)","exit":[],"pics":[]},"tok":{"in":70284,"cached":70026,"out":181,"think":null,"usd":0.0189},"sim":{"submit":0,"reset":0}},{"id":14,"t":434.4,"say":"","calls":[{"kind":"robot","label":"writes t2.py","code":"cat > t2.py <<'EOF'\nimport time,sys\nfrom rcb_rfo import Session\ns=Session()\ntyp,row=s.hold()\nt0=time.time()\nfor i in range(1000):\n    s.step(typ,row)\n    if i%100==99: print(i, time.time()-t0, flush=True); t0=time.time()\nEOF\ntimeout 100 python t2.py"}],"out":{"text":"Exit code 1\n99 0.5439202785491943\n199 0.5367395877838135\n299 0.5520856380462646\n399 0.5418827533721924\n499 0.5434467792510986\n599 0.5266361236572266\nTraceback (most recent call last):\n  File \"/app/work/t2.py\", line 7, in <module>\n    s.step(typ,row)\n  File \"/opt/tools/rcb_rfo.py\", line 320, in step\n    self.rows.append(self.ep.step(typ, row))\n                     ^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_rfo.py\", line 116, in step\n    self.step_raw(raw)\n  File \"/opt/tools/rcb_rfo.py\", line 120, in step_raw\n    return self.world.step(raw)\n           ^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rfo/world.py\", line 841, in step\n    raise RuntimeError(\"the episode is over\")\nRuntimeError: the episode is over\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":70504,"cached":70282,"out":231,"think":null,"usd":0.0198},"sim":{"submit":0,"reset":0}},{"id":15,"t":447.0,"say":"","calls":[{"kind":"shell","label":"sleep 20; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/b7wvyzgs5.output; ps aux|grep \"pyt","code":"sleep 20; cat /tmp/claude-0/-app/40b2d94e-d217-48d6-b0a2-426dd84078db/tasks/b7wvyzgs5.output; ps aux|grep \"python probe\"|grep -v grep"}],"out":{"text":"root        7897  0.0  0.0   4492  3380 ?        Ss   22:41   0:00 /bin/bash -c source /logs/agent/sessions/shell-snapshots/snapshot-bash-1792881462303-19n11m.sh 2>/dev/null || true && shopt -u extglob 2>/dev/null || true && { \\builtin unalias -- 'unsetenv'; \\builtin unset -f -- 'unsetenv'; } >/dev/null 2>&1 || true && eval 'python probe.py' < /dev/null && pwd -P >| /tmp/claude-4008-cwd\nroot        7898 99.9  0.1 570808 299692 ?       R    22:41   3:40 python probe.py\n\n[stdout]\nroot        7897  0.0  0.0   4492  3380 ?        Ss   22:41   0:00 /bin/bash -c source /logs/agent/sessions/shell-snapshots/snapshot-bash-1792881462303-19n11m.sh 2>/dev/null || true && shopt -u extglob 2>/dev/null || true && { \\builtin unalias -- 'unsetenv'; \\builtin unset -f -- 'unsetenv'; } >/dev/null 2>&1 || true && eval 'python probe.py' < /dev/null && pwd -P >| /tmp/claude-4008-cwd\nroot        7898 99.9  0.1 570808 299692 ?       R    22:41   3:40 python probe.py","exit":[],"pics":[]},"tok":{"in":71113,"cached":70502,"out":265,"think":null,"usd":0.0225},"sim":{"submit":0,"reset":0}},{"id":16,"t":471.2,"say":"","calls":[{"kind":"shell","label":"kill 7898; sed -n 1,140p /opt/tools/rcb_rfo.py; grep -n \"def status\\|def state\\|def replay\" -A25 /opt/tools/rc","code":"kill 7898; sed -n 1,140p /opt/tools/rcb_rfo.py; grep -n \"def status\\|def state\\|def replay\" -A25 /opt/tools/rcb_rfo.py | head -120"}],"out":{"text":"\"\"\"rcb_rfo.py -- RoboOlympics tooling for Embodied First Exam (docs/benchmarks/roboolympics.md).\n\nOne module, copied unchanged into every RoboOlympics task: the privileged environment (`Session`), the privileged\nverifier (`replay`) and the standard sim service (`Episode`, driven by sim/server.py). The world is the `rfo` package\nnext to it (the RoboOlympics Unitree G1 or H1-2 in a sports venue, rfo/world.py) with the family's own rules,\n`rfo_task.py`.\n\nA control step is 10 ms (10 physics steps of 1 ms). An action is a row of one of the action types\n(`Session.action_types`; the widths below are the G1's, 29 joints with a 3-joint waist; the H1-2 has 27 joints, a\n1-joint waist and no running policy and no FALCON / AGILE, so no `run` / `run_arms` / `walk_falcon` / `walk_agile`):\n\n    stand     waist 3 + arms 14 joint targets + grips 2                      the platform holds the legs in the stance\n    walk      vx, vy, wz + waist 3 + arms 14 + grips 2                       Unitree's walking policy drives the legs\n    run       vx, vy, wz + grips 2                                           the running policy drives all 29 joints\n    run_arms  vx, vy, wz + arms 14 + grips 2                                 the running policy drives legs and waist\n    walk_falcon / walk_agile  the walk row                                 FALCON's / AGILE's walking policy drives the legs\n    joints    29 joint targets + grips 2                                     you drive every joint (default PD gains)\n… (21,193 characters left out) …\n if w.hands else {})}\n344-\n345-    def image(self, camera: str, h: int | None = None, w: int | None = None, depth: bool = False):\n346-        return self.ep.image(camera, h, w, depth)\n347-\n348-    def proprio(self):\n349-        return self.ep.proprio()\n350-\n351:    def replay(self, rows=None) -> dict:\n352-        \"\"\"What the verifier will do with these rows (default: s.rows), here, in a fresh world.\"\"\"\n353-        rows = self.rows if rows is None else rows\n354-        self._log({\"ev\": \"replay\", \"rows\": int(len(rows))})\n355-        return replay(self.instance, np.asarray(rows, dtype=np.float64).reshape(-1, self.ep.raw_dim))\n356-\n357-    def save_trajectory(self, rows=None, path: str = \"/app/output/trajectory.npz\") -> None:\n358-        save_trajectory(self.rows if rows is None else rows, self.ep.family, path, raw_dim=self.ep.raw_dim)\n359-\n360-    def close(self) -> None:\n361-        self.ep.close()\n362-\n363-    @staticmethod\n364-    def _log(ev: dict) -> None:\n365-        if not SESSION_LOG:\n366-            return\n367-        try:\n368-            os.makedirs(os.path.dirname(SESSION_LOG), exist_ok=True)\n369-            with open(SESSION_LOG, \"a\") as f:\n370-                f.write(json.dumps({\"t\": round(time.time(), 2), **ev}) + \"\\n\")\n371-        except OSError:\n372-            pass\n373-\n374-\n375-def make_instance(family: str, seed: int = 0, params: dict | None = None) -> dict:\n376-    \"\"\"instance.json for a family: what the tasks rebuild, the texts and the numbers they quote.\"\"\"","exit":[],"pics":[]},"tok":{"in":71650,"cached":71111,"out":119,"think":null,"usd":0.0193},"sim":{"submit":0,"reset":0}},{"id":17,"t":474.5,"say":"","calls":[{"kind":"robot","label":"writes probe.py","code":"cat > probe.py <<'EOF'\nimport numpy as np, time\nfrom rcb_rfo import Session\ns=Session()\nw=s.world\ntyp,row=s.hold()\nbid=[w.m.body(f\"ball{k}\").id for k in (1,2,3)]\nlog=[]\nfor i in range(2700):\n    done=s.step(typ,row)\n    log.append(w.d.xpos[bid].copy())\n    if done: break\nprint(i, w.ref.failed, w.ref.stages, w.ref.events, flush=True)\nEOF\ntimeout 60 python probe.py"}],"out":{"text":"678 goal [] [{'ev': 'kick', 't': 6.196, 'shot': 1}, {'ev': 'fail', 't': 6.787, 'reason': 'goal', 'shot': 1}]\n\n[stdout]\n678 goal [] [{'ev': 'kick', 't': 6.196, 'shot': 1}, {'ev': 'fail', 't': 6.787, 'reason': 'goal', 'shot': 1}]","exit":[],"pics":[]},"tok":{"in":76924,"cached":71648,"out":369,"think":null,"usd":0.0481},"sim":{"submit":0,"reset":0}},{"id":18,"t":489.8,"say":"","calls":[{"kind":"robot","label":"writes probe2.py","code":"cat > probe2.py <<'EOF'\nimport numpy as np\nfrom rcb_rfo import Session\ns=Session()\nw=s.world\nw.task.substep=lambda w,ref: None\nw.task.step=lambda w,ref: None\ntyp,row=s.hold()\n# move robot out of the way? keep it, but log\nbid=[w.m.body(f\"ball{k}\").id for k in (1,2,3)]\nlog=[]\nfor i in range(2650):\n    s.step(typ,row)\n    log.append(w.d.xpos[bid].copy())\nb=np.array(log); np.save(\"balls.npy\",b)\nfor k in range(3):\n    xs=b[:,k,0]\n    mv=np.where(np.linalg.norm(b[:,k]-b[0,k],axis=1)>0.02)[0][0]\n    idx=np.where(xs<0.3)[0][0]\n    print(\"ball\",k+1,\"start\",b[0,k],\"moves step\",mv)\n    for j in range(idx-6,idx+2): print(j, b[j,k].round(3))\nEOF\ntimeout 100 python probe2.py"}],"out":{"text":"ball 1 start [11.2550396  -0.59536332  0.54801452] moves step 606\n669 [ 1.323 -0.476  0.975]\n670 [ 1.149 -0.469  0.955]\n671 [ 0.975 -0.461  0.933]\n672 [ 0.802 -0.453  0.911]\n673 [ 0.629 -0.445  0.888]\n674 [ 0.457 -0.437  0.863]\n675 [ 0.285 -0.429  0.838]\n676 [ 0.114 -0.421  0.812]\nball 2 start [11.25334967 -0.0184278   0.54324376] moves step 1506\n1570 [1.206 0.712 1.267]\n1571 [1.034 0.725 1.251]\n1572 [0.861 0.737 1.234]\n1573 [0.689 0.75  1.216]\n1574 [0.518 0.762 1.197]\n1575 [0.347 0.775 1.177]\n1576 [0.176 0.787 1.156]\n1577 [0.006 0.8   1.134]\nball 3 start [11.25354038  0.62535319  0.54666602] moves step 2406\n2470 [ 1.239 -0.376  1.209]\n2471 [ 1.066 -0.393  1.191]\n2472 [ 0.895 -0.411  1.173]\n2473 [ 0.723 -0.428  1.154]\n2474 [ 0.552 -0.445  1.133]\n2475 [ 0.382 -0.462  1.112]\n2476 [ 0.212 -0.479  1.089]\n2477 [ 0.042 -0.496  1.066]\n\n[stdout]\nball 1 start [11.2550396  -0.59536332  0.54801452] moves step 606\n669 [ 1.323 -0.476  0.975]\n670 [ 1.149 -0.469  0.955]\n671 [ 0.975 -0.461  0.933]\n672 [ 0.802 -0.453  0.911]\n673 [ 0.629 -0.445  0.888]\n674 [ 0.457 -0.437  0.863]\n675 [ 0.285 -0.429  0.838]\n676 [ 0.114 -0.421  0.812]\nball 2 start [11.25334967 -0.0184278   0.54324376] moves step 1506\n1570 [1.206 0.712 1.267]\n1571 [1.034 0.725 1.251]\n1572 [0.861 0.737 1.234]\n1573 [0.689 0.75  1.216]\n1574 [0.518 0.762 1.197]\n1575 [0.347 0.775 1.177]\n1576 [0.176 0.787 1.156]\n1577 [0.006 0.8   1.134]\nball 3 start [11.25354038  0.62535319  0.54666602] moves step 2406\n2470 [ 1.239 -0.376  1.209]\n2471 [ 1.066 -0.393  1.191]\n2472 [ 0.895 -0.411  1.173]\n2473 [ 0.723 -0.428  1.154]\n2474 [ 0.552 -0.445  1.133]\n2475 [ 0.382 -0.462  1.112]\n2476 [ 0.212 -0.479  1.089]\n2477 [ 0.042 -0.496  1.066]","exit":[],"pics":[]},"tok":{"in":77393,"cached":76922,"out":689,"think":null,"usd":0.0315},"sim":{"submit":0,"reset":0}},{"id":19,"t":533.7,"say":"","calls":[{"kind":"shell","label":"writes geoms.py","code":"cat > geoms.py <<'EOF'\nimport numpy as np, mujoco\nfrom rcb_rfo import Session\ns=Session()\nw=s.world; m,d=w.m,w.d\nref=w.ref\nprint([a for a in dir(ref) if not a.startswith('__')])\nprint(w.task._feet, [m.geom(g).name for g in w.task._feet])\nfor g in np.flatnonzero(ref.robot_mask):\n    if m.geom_contype[g]==0 and m.geom_conaffinity[g]==0: continue\n    R=d.geom_xmat[g].reshape(3,3); c=d.geom_xpos[g]+R@m.geom_aabb[g,:3]; h=np.abs(R)@m.geom_aabb[g,3:]\n    print(g, m.geom(g).name, m.body(m.geom_bodyid[g]).name, m.geom_type[g], m.geom_contype[g], m.geom_conaffinity[g], (c-h).round(3), (c+h).round(3))\nEOF\ntimeout 60 python geoms.py"}],"out":{"text":"['_body_mask', '_cpos', '_g1', '_g2', '_hold', '_part_mask', '_robot_col', '_scan', 'airborne', 'contact_points', 'digest', 'done', 'event', 'events', 'fail', 'failed', 'geoms', 'ground', 'has', 'held_mask', 'hold', 'metrics', 'ng', 'part', 'part_code', 'part_names', 'parts_touching', 'ph', 'progress', 'reset', 'robot_extent', 'robot_mask', 'robot_span', 'stage', 'stages', 'standing', 'static', 'step', 'substep', 'succeed', 'success', 'time', 'touching', 'void', 'w']\n[168 169 185 186] ['left_ankle_roll_link_sc0', 'left_foot_strike', 'right_ankle_roll_link_sc0', 'right_foot_strike']\n152 pelvis_sc0 pelvis 7 4 0 [-0.088 -0.156  0.943] [0.076 0.161 1.067]\n154 left_hip_yaw_link_sc0 left_hip_yaw_link 5 4 0 [0.01  0.078 0.862] [0.03  0.097 0.882]\n155 left_hip_yaw_link_shell0 left_hip_yaw_link 7 0 128 [-0.071  0.002  0.802] [0.063 0.126 0.969]\n157 left_hip_pitch_link_sc0 left_hip_pitch_link 5 4 0 [-0.004  0.143  0.572] [0.068 0.183 0.776]\n158 left_hip_pitch_link_shell0 left_hip_pitch_link 7 0 128 [-0.088  0.052  0.775] [0.068 0.259 0.978]\n160 left_hip_roll_link_sc0 left_hip_roll_link 5 4 0 [-0.023  0.218  0.849] [0.023 0.228 0.895]\n161 left_hip_roll_link_shell0 left_hip_roll_link 7 0 128 [-0.081  0.089  0.408] [0.149 0.227 0.94 ]\n163 left_knee_link_sc0 left_knee_link 5 4 0 [-0.015  0.143  0.179] [0.063 0.183 0.383]\n164 left_knee_link_shell0 left_knee_link 7 0 128 [-0.096  0.102  0.053] [0.151 0.219 0.543]\n166 left_ankle_pitch_link_sc0 left_ankle_pitch_link 7 4 0 [-0.041  0.135  0.051\n… (11,229 characters left out) …\nnk_sc0 right_wrist_yaw_link 7 4 0 [ 0.287 -0.243  1.085] [ 0.427 -0.179  1.171]\n246 right_wrist_yaw_link_shell0 right_wrist_yaw_link 7 0 128 [ 0.21  -0.24   1.085] [ 0.297 -0.179  1.175]\n248 R_thumb_proximal_base_shell0 R_thumb_proximal_base 7 0 128 [ 0.334 -0.205  1.138] [ 0.36 -0.18  1.17]\n250 R_thumb_proximal_shell0 R_thumb_proximal 7 0 128 [ 0.327 -0.202  1.147] [ 0.396 -0.163  1.223]\n252 R_thumb_intermediate_shell0 R_thumb_intermediate 7 0 128 [ 0.356 -0.189  1.187] [ 0.4   -0.161  1.234]\n254 R_thumb_distal_shell0 R_thumb_distal 7 0 128 [ 0.377 -0.182  1.215] [ 0.414 -0.157  1.247]\n256 R_index_proximal_shell0 R_index_proximal 7 0 128 [ 0.412 -0.222  1.148] [ 0.46  -0.197  1.166]\n258 R_index_intermediate_shell0 R_index_intermediate 7 0 128 [ 0.445 -0.22   1.15 ] [ 0.501 -0.198  1.166]\n260 R_middle_proximal_shell0 R_middle_proximal 7 0 128 [ 0.413 -0.222  1.129] [ 0.46  -0.197  1.145]\n262 R_middle_intermediate_shell0 R_middle_intermediate 7 0 128 [ 0.447 -0.22   1.131] [ 0.505 -0.197  1.143]\n264 R_ring_proximal_shell0 R_ring_proximal 7 0 128 [ 0.412 -0.222  1.108] [ 0.459 -0.197  1.126]\n266 R_ring_intermediate_shell0 R_ring_intermediate 7 0 128 [ 0.446 -0.219  1.107] [ 0.501 -0.199  1.123]\n268 R_pinky_proximal_shell0 R_pinky_proximal 7 0 128 [ 0.41  -0.222  1.087] [ 0.458 -0.197  1.107]\n270 R_pinky_intermediate_shell0 R_pinky_intermediate 7 0 128 [ 0.445 -0.218  1.085] [ 0.492 -0.201  1.102]\n271 right_palm_pad right_mount 6 4 0 [ 0.382 -0.191  1.09 ] [ 0.482 -0.147  1.17 ]","exit":[],"pics":[]},"tok":{"in":78655,"cached":77391,"out":2365,"think":null,"usd":0.0691},"sim":{"submit":0,"reset":0}},{"id":20,"t":557.5,"say":"","calls":[{"kind":"robot","label":"writes lib.py","code":"cat > lib.py <<'EOF'\nimport numpy as np, math\nfrom rcb_rfo import Session\n\ndef yaw_of(q):\n    w,x,y,z=q\n    return math.atan2(2*(w*z+x*y),1-2*(y*y+z*z))\n\nclass Runner:\n    def __init__(self):\n        self.s=Session(); w=self.s.world\n        self.bid=[w.m.body(f\"ball{k}\").id for k in (1,2,3)]\n    def run(self, targets, arms=None, kp=2.0, xt=0.0, nmax=2700, verbose=False, noref=False):\n        \"\"\"targets: list of (t_start, y_target). arms: fn(t)->15 upper targets or None\"\"\"\n        s=self.s; s.reset(); w=s.world; d=w.d\n        if noref:\n            w.task.substep=lambda w,ref: None\n        log=[]\n        for i in range(nmax):\n            t=i*0.01\n            yt=[y for (ts,y) in targets if ts<=t][-1]\n            p=w.pelvis()  # x,y,z,yaw\n            x,y,z,yaw=p\n            ex,ey=xt-x, yt-y\n            # world -> robot frame\n            c,sn=math.cos(yaw),math.sin(yaw)\n            vxw,vyw=kp*ex, kp*ey\n            vx= c*vxw+sn*vyw; vy=-sn*vxw+c*vyw\n            vx=float(np.clip(vx,-0.5,0.5)); vy=float(np.clip(vy,-0.5,0.5))\n            wz=float(np.clip(-2.0*yaw,-1,1))\n            up=np.zeros(15) if arms is None else arms(t)\n            row=np.r_[vx,vy,wz,up,0,0]\n            done=s.step(\"walk\",row)\n            log.append(np.r_[t,x,y,z,yaw,d.xpos[self.bid].ravel()])\n            if done: break\n        L=np.array(log)\n        return w.ref.failed, list(w.ref.stages), list(w.ref.events), L\nEOF\ncat > test1.py <<'EOF'\nfrom lib import *\nR=Runner()\nf,st,ev,L=R.run([(0,-0.42),(6.8,0.79),(15.8,-0.48)])\nprint(f,st,ev)\nfor i in range(0,len(L),50): print(L[i,:5].round(3))\nnp.save(\"L1.npy\",L)\nEOF\ntimeout 200 python test1.py"}],"out":{"text":"None ['save 1', 'save 2', 'save 3'] [{'ev': 'kick', 't': 6.196, 'shot': 1}, {'ev': 'stage', 't': 8.7, 'stage': 'save 1'}, {'ev': 'kick', 't': 15.196, 'shot': 2}, {'ev': 'stage', 't': 17.7, 'stage': 'save 2'}, {'ev': 'kick', 't': 24.196, 'shot': 3}, {'ev': 'stage', 't': 26.7, 'stage': 'save 3'}, {'ev': 'success', 't': 26.7}]\n[0.    0.    0.    1.035 0.   ]\n[ 0.5   -0.013  0.004  1.019  0.014]\n[ 1.    -0.051 -0.012  1.015  0.039]\n[ 1.5   -0.032 -0.058  1.013  0.039]\n[ 2.    -0.018 -0.204  1.011  0.033]\n[ 2.5   -0.008 -0.395  1.022  0.029]\n[ 3.    -0.008 -0.446  1.016  0.024]\n[ 3.5   -0.011 -0.463  1.009  0.025]\n[ 4.000e+00 -3.000e-03 -4.340e-01  1.013e+00  2.800e-02]\n[ 4.500e+00 -4.000e-03 -3.770e-01  1.018e+00  2.500e-02]\n[ 5.    -0.005 -0.398  1.016  0.033]\n[ 5.500e+00 -2.000e-03 -3.880e-01  1.011e+00  3.100e-02]\n[ 6.    -0.009 -0.388  1.011  0.027]\n[ 6.5   -0.009 -0.42   1.018  0.033]\n[ 7.    -0.04  -0.393  1.016  0.046]\n[ 7.5   -0.035 -0.317  1.007  0.013]\n[ 8.000e+00 -3.000e-03 -1.450e-01  1.009e+00  1.400e-02]\n[8.5   0.013 0.087 1.014 0.015]\n[ 9.000e+00 -1.000e-03  2.750e-01  1.015e+00  1.400e-02]\n[ 9.50e+00 -7.00e-03  4.98e-01  1.01e+00  1.40e-02]\n[10.    -0.013  0.72   1.012  0.02 ]\n[10.5   -0.023  0.821  1.017  0.03 ]\n[ 1.100e+01 -6.000e-03  9.020e-01  1.019e+00  2.900e-02]\n[ 1.150e+01 -2.000e-03  8.670e-01  1.008e+00  3.500e-02]\n[ 1.200e+01 -1.000e-03  8.120e-01  1.016e+00  3.500e-02]\n[ 1.250e+01 -8.000e-03  8.100e-01  1.018e+00  2.800e-02]\n[ 1.300e+01 -1.200e-02  7.7\n… (2,867 characters left out) …\n-8.000e-03  8.100e-01  1.018e+00  2.800e-02]\n[ 1.300e+01 -1.200e-02  7.740e-01  1.017e+00  3.400e-02]\n[ 1.350e+01 -6.000e-03  7.990e-01  1.011e+00  2.900e-02]\n[ 1.400e+01 -8.000e-03  8.210e-01  1.011e+00  2.700e-02]\n[ 1.450e+01 -3.000e-03  7.970e-01  1.017e+00  3.300e-02]\n[ 1.500e+01 -4.000e-03  8.260e-01  1.018e+00  2.800e-02]\n[ 1.550e+01 -1.100e-02  8.080e-01  1.008e+00  3.200e-02]\n[16.    -0.055  0.796  1.016  0.042]\n[16.5   -0.132  0.741  1.016  0.037]\n[17.    -0.076  0.535  1.016  0.043]\n[17.5   -0.036  0.371  1.01   0.031]\n[18.    -0.033  0.186  1.014  0.026]\n[ 1.850e+01 -1.500e-02 -4.200e-02  1.021e+00  3.600e-02]\n[ 1.900e+01 -1.000e-02 -2.050e-01  1.019e+00  2.900e-02]\n[ 1.950e+01 -1.400e-02 -4.100e-01  1.017e+00  3.000e-02]\n[ 2.000e+01 -1.600e-02 -5.400e-01  1.017e+00  3.300e-02]\n[ 2.050e+01 -1.000e-03 -5.250e-01  1.017e+00  1.800e-02]\n[ 2.100e+01 -9.000e-03 -5.130e-01  1.015e+00  2.900e-02]\n[ 2.150e+01 -1.000e-03 -4.590e-01  1.013e+00  2.500e-02]\n[ 2.200e+01 -6.000e-03 -4.330e-01  1.011e+00  2.600e-02]\n[ 2.250e+01 -4.000e-03 -4.640e-01  1.018e+00  3.300e-02]\n[ 2.300e+01 -5.000e-03 -4.420e-01  1.018e+00  2.800e-02]\n[ 2.350e+01 -1.100e-02 -4.660e-01  1.009e+00  3.200e-02]\n[ 2.400e+01 -6.000e-03 -4.770e-01  1.015e+00  3.400e-02]\n[ 2.450e+01 -7.000e-03 -4.480e-01  1.018e+00  2.700e-02]\n[25.    -0.059 -0.477  1.013  0.026]\n[25.5   -0.115 -0.479  1.013  0.028]\n[ 2.600e+01 -5.200e-02 -4.680e-01  1.007e+00  1.500e-02]\n[ 2.650e+01 -8.000e-03 -4.840e-01  1.015e+00  2.400e-02]","exit":[],"pics":[]},"tok":{"in":85477,"cached":78653,"out":2017,"think":null,"usd":0.0902},"sim":{"submit":0,"reset":0}},{"id":21,"t":587.6,"say":"First attempt succeeded (all three saves). Saving the deliverable and verifying with the official replay.","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/output/gen.py <<'EOF'\n\"\"\"Goalkeeper-save: walk (Unitree walking policy) sideways along the goal line, closed-loop on the pelvis pose,\nso the body stands in each shot's (measured, deterministic) line at its kick. Writes /app/output/trajectory.npz.\"\"\"\nimport math\nimport numpy as np\nfrom rcb_rfo import Session\n\n# (time from which it applies, pelvis y target): where each ball crosses the line (measured in a referee-less run)\nTARGETS = [(0.0, -0.42), (6.8, 0.79), (15.8, -0.48)]\nKP = 2.0\n\ns = Session()\ns.reset()\nw = s.world\nfor i in range(2700):\n    t = i * 0.01\n    yt = [y for (ts, y) in TARGETS if ts <= t][-1]\n    x, y, z, yaw = w.pelvis()\n    vxw, vyw = KP * (0.0 - x), KP * (yt - y)\n    c, sn = math.cos(yaw), math.sin(yaw)\n    vx = float(np.clip(c * vxw + sn * vyw, -0.5, 0.5))\n    vy = float(np.clip(-sn * vxw + c * vyw, -0.5, 0.5))\n    wz = float(np.clip(-2.0 * yaw, -1, 1))\n    if s.step(\"walk\", np.r_[vx, vy, wz, np.zeros(15), 0, 0]):\n        break\nprint(w.ref.failed, list(w.ref.stages))\ns.save_trajectory()\nEOF\ncd /app/output && timeout 300 python gen.py && python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r.json && cat /tmp/r.json | head -40"}],"out":{"text":"None ['save 1', 'save 2', 'save 3']\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"save 1\", \"save 2\", \"save 3\"], \"stages_total\": 3, \"progress\": 1.0, \"metrics\": {\"saved\": 3}, \"steps\": 2670, \"time_s\": 26.7, \"state_sha\": \"642089de133759644e09a1745161c17ce40d1c582c6a66e23d11e7ce2633f65b\", \"instance_ok\": true, \"executed_rows\": 2670, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2700, \"replay_s\": 17.63, \"video\": false}\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"save 1\", \"save 2\", \"save 3\"], \"stages_total\": 3, \"progress\": 1.0, \"metrics\": {\"saved\": 3}, \"steps\": 2670, \"time_s\": 26.7, \"state_sha\": \"642089de133759644e09a1745161c17ce40d1c582c6a66e23d11e7ce2633f65b\", \"instance_ok\": true, \"executed_rows\": 2670, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2700, \"events\": [{\"ev\": \"kick\", \"t\": 6.196, \"shot\": 1}, {\"ev\": \"stage\", \"t\": 8.7, \"stage\": \"save 1\"}, {\"ev\": \"kick\", \"t\": 15.196, \"shot\": 2}, {\"ev\": \"stage\", \"t\": 17.7, \"stage\": \"save 2\"}, {\"ev\": \"kick\", \"t\": 24.196, \"shot\": 3}, {\"ev\": \"stage\", \"t\": 26.7, \"stage\": \"save 3\"}, {\"ev\": \"success\", \"t\": 26.7}], \"replay_s\": 17.63, \"video\": false}\n\n[stdout]\nNone ['save 1', 'save 2', 'save 3']\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"save 1\", \"save 2\", \"save 3\"], \"stages_total\": 3, \"progress\": 1.0, \"metrics\": {\"saved\": 3}, \"steps\": 2670, \"time_s\": 26.7, \"state_sha\": \"642089de133759644e09a1745161c17ce40d1c582c6a66e23d11e7ce2633f65b\", \"instance_ok\": true, \"executed_rows\": 2670, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2700, \"replay_s\": 17.63, \"video\": false}\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"save 1\", \"save 2\", \"save 3\"], \"stages_total\": 3, \"progress\": 1.0, \"metrics\": {\"saved\": 3}, \"steps\": 2670, \"time_s\": 26.7, \"state_sha\": \"642089de133759644e09a1745161c17ce40d1c582c6a66e23d11e7ce2633f65b\", \"instance_ok\": true, \"executed_rows\": 2670, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 2700, \"events\": [{\"ev\": \"kick\", \"t\": 6.196, \"shot\": 1}, {\"ev\": \"stage\", \"t\": 8.7, \"stage\": \"save 1\"}, {\"ev\": \"kick\", \"t\": 15.196, \"shot\": 2}, {\"ev\": \"stage\", \"t\": 17.7, \"stage\": \"save 2\"}, {\"ev\": \"kick\", \"t\": 24.196, \"shot\": 3}, {\"ev\": \"stage\", \"t\": 26.7, \"stage\": \"save 3\"}, {\"ev\": \"success\", \"t\": 26.7}], \"replay_s\": 17.63, \"video\": false}","exit":[],"pics":[]},"tok":{"in":89550,"cached":85475,"out":733,"think":null,"usd":0.0521},"sim":{"submit":0,"reset":0}},{"id":22,"t":634.4,"say":"","calls":[{"kind":"shell","label":"cat > NOTES.md <<'EOF'","code":"python -c \"\nimport numpy as np; z=np.load('trajectory.npz'); print({k:z[k].shape for k in z}); print(np.isfinite(z['actions']).all())\"\ncat > NOTES.md <<'EOF'\n# goalkeeper-save i00 — notes\nFinal approach (gen.py): the whole attempt in `walk` mode (Unitree's H1-2 walking policy), arms at their zero pose.\nA P-controller on the pelvis pose (world-frame error rotated into the robot frame, gain 2, |v| <= 0.5; yaw held at 0)\nwalks the robot sideways along the goal line (pelvis x held at 0, so a foot always overlaps the line) and parks the\nbody in each shot's line before its kick: y = -0.42 m for shot 1, +0.79 m for shot 2, -0.48 m for shot 3\n(switching targets 0.6 s after each kick). The ball hits the thighs/pelvis/torso and bounces back into the field;\nthe walking policy absorbs the impact and keeps marching on the spot. Verified with the official replay CLI:\nsuccess, 3/3 saved, 2670 rows.\nWhy it works: the sim is deterministic and the machines have no random scatter, so each ball's real path is fixed.\nI measured where each ball crosses the line in a run with the referee's goal check disabled (ball 1 crossed at\ny = -0.42, z = 0.81; ball 2 at y = 0.80, z = 1.13; ball 3 at y = -0.50, z = 1.07 — not the nominal aims).\nFailed/other: standing still at y = 0 (stand mode) concedes shot 1 (it passes just outside the right hip).\nNote: s.state() costs ~1 s per call here; use s.world.d / s.world.pelvis() in loops.\nNothing downloaded or installed.\nEOF\nwc -l NOTES.md; ls /app/output"}],"out":{"text":"{'actions': (2670, 141), 'family': ()}\nTrue\n14 NOTES.md\nNOTES.md\ngen.py\nrcb_session_log.jsonl\ntrajectory.npz\n\n[stdout]\n{'actions': (2670, 141), 'family': ()}\nTrue\n14 NOTES.md\nNOTES.md\ngen.py\nrcb_session_log.jsonl\ntrajectory.npz","exit":[],"pics":[]},"tok":{"in":90946,"cached":89548,"out":879,"think":null,"usd":0.0425},"sim":{"submit":0,"reset":0}},{"id":23,"t":650.9,"say":"The trajectory saves all three penalties, and the verifier's replay command confirms it: success, 3/3 saved, 2,670 rows, all finite, ending at the success at t = 26.7 s.\n\n**How it works:** the robot stays in `walk` mode the whole time, with the arms at their zero pose. A simple feedback controller on the pelvis position keeps it on the goal line (so a foot always touches the line), keeps it facing the field, and walks it sideways until its body is in each ball's path before the kick. It stands at y = −0.42 m for shot 1, +0.79 m for shot 2 and −0.48 m for shot 3, and starts moving to the next spot 0.6 s after each kick. Each ball hits the thighs, pelvis or torso and bounces back into the field. The walking policy takes the hit and keeps the robot upright.\n\n**Why the positions are fixed:** the simulator is deterministic and the ball machines have no random scatter, so each ball follows the same path every time. I recorded those paths in a run with the goal check switched off. The balls do not go where they are nominally aimed:\n\n| shot | aimed at (y, z) | crosses the line at (y, z) |\n|---|---|---|\n| 1 | −0.8, 0.9 | −0.42, 0.81 |\n| 2 | 0.8, 1.1 | 0.80, 1.13 |\n| 3 | −0.5, 0.95 | −0.50, 1.07 |\n\n**What didn't work:** standing still in the middle concedes shot 1; the ball passes just outside the right hip.\n\nNothing was downloaded or installed. All three files are in `/app/output/`:\n- `trajectory.npz`\n- `gen.py` (it regenerates the trajectory)\n- `NOTES.md` (14 lines)","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":91910,"cached":90944,"out":700,"think":null,"usd":0.037},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-layup-i00-standard--g5tggo6.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-layup-i00-standard--g5tggo6","task":"embodied-olympics-fun-layup-i00-standard","bench":"embodied-olympics-fun","mode":"standard","run":"claude_code-qwen3_8_max-high","agent":"claude-code","model":"qwen3.8-max","effort":"high","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":23,"sim_steps":434,"calls":14,"rows":434,"resets":5,"reset_budget":5,"sim_startups":1,"elapsed_s":1241.5,"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,"peak_memory_gb":0.293,"peak_processes":9,"peak_disk_gb":0.246,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":1762,"tokens":{"in":2922844,"cached":2752743,"out":74182,"usd":4.29},"task_text":"# embodied-olympics layup — instance i00 — STANDARD MODE (robot as a service)\n\nYou control a simulated Unitree H1-2 humanoid robot (27 joints, 1.78 m tall, 67 kg; the 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:** Make a layup: with the basketball held in your two hands take at most two steps towards the basket, jump, and let go of the ball in the air close to the ring so that it enters the basket from above.\n\n## The venue\nA FIBA court. You stand in the restricted area facing the basket (+x); the point under the ring's centre is 3.0 m ahead of your pelvis, the backboard's face 0.375 m beyond it. Painted on the floor: the restricted area, the free-throw line and circle behind you, and the no-charge semi-circle (1.25 m round the point under the ring, open towards the end line). The ball rests on your upturned right hand in front of your chest, its centre about 1.1 m above the floor, 0.39 m ahead of your pelvis and 0.06 m to its right; the right hand's fingers point forwards under it, curled a little round it (grip value 0.3), the left hand's palm is on its left side, open (grip value 0); the start command keeps that hold. A grip value is that hand's closure command: 0 opens the fingers, 1 closes every finger and the thumb until they meet something.\n\nDirections are from the robot at the start: +x is the way you face, +y is to your left, +z is up; the floor is level.\n\n\n## The rules\n**Rule book:** FIBA Official Basketball Rules 2024: Art. 2 (court, no-charge semi-circle), Art. 3 and the Basketball Equipment appendix (backboard, ring, size-7 ball), Art. 13 (how the ball is played), Art. 14 (control: a player holds a live ball), Art. 16 (goal), Art. 25 (travelling). Where this task departs from it:\n\n- the player's hands: the H1-2's own Inspire five-finger hands (six drives each: four fingers, the thumb's flexion and rotation; fingertip forces 20 N, the thumb 30 N), each closed by one command; the ball is held in the two hands by contact and friction alone (nothing is welded) and can slip or drop; it is let go when no hand has been on it for 0.03 s.\n- Art. 3 (equipment, the hand): the palm is modelled as the soft part of a hand: it absorbs the ball (a ball thrown at a still palm keeps 0.12 of its speed) instead of bouncing it like the floor (0.85); with the ball's own rebound a ball on a palm rattles off it. The fingers' rubber pads absorb it too (critically damped); the floor, the ring and the backboard keep the ball's rule-book rebound.\n- Art. 13: while the ball is in your hands it may touch no part of you but the hands (no ball held against the chest or between the forearms); intent cannot be judged.\n- Basketball Equipment (basket): the ring is rigid (no pressure release) and the net is only drawn: it does not slow the ball. A goal is judged at the ring: the ball's centre down through the ring's plane and on to one ball diameter \n… (18,064 characters left out) …\nng between the pads in m, its speed in m/s, + opening, and the clamp force in N, + closing); a gripper's `holding_*` is 1 while both its jaws touch the same object. 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":7,"reset":5},"replay":"embodied-olympics-fun-layup-i00-standard--g5tggo6/replay.mp4","replay_last":"embodied-olympics-fun-layup-i00-standard--g5tggo6/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"Check time limit, app dirs and tools","code":"date; cat /run/rcb-limits/usage.json 2>/dev/null; echo ---; ls -la /app /app/output 2>/dev/null; echo ---; ls /opt/tools/"},{"kind":"shell","label":"Check for mujoco and installed packages","code":"python3 -c \"import mujoco, sys; print('mujoco', mujoco.__version__)\" 2>&1; pip list 2>/dev/null | grep -iE \"mujoco|numpy|scipy|opencv|torch|gym|unitree\" ; echo ---; ls /usr/local/lib/python3*/site-packages 2>/dev/null | head -50; ls ~/.local/lib/python3*/site-packages 2>/dev/null | head -50"}],"out":{"text":"Sat Oct 24 23:36:50 UTC 2026\n{\n \"t\": 1792885005.25,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.219,\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\": 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\": 265.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 6935.0,\n \"deadline_utc\": \"2026-10-25T01:32:20Z\"\n}---\n/app:\ntotal 12\ndrwxr-xr-x  3 root root 4096 Oct 24 21:17 .\ndr-xr-xr-x 20 root root 4096 Oct 24 23:32 ..\ndrwxr-xr-x  2 root root 4096 Oct 24 21:17 output\n\n/app/output:\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 24 21:17 .\ndrwxr-xr-x 3 root root 4096 Oct 24 21:17 ..\n---\nrcb1.py\nrcb_client.py\n\n[stdout]\nSat Oct 24 23:36:50 UTC 2026\n{\n \"t\": 1792885005.25,\n \"measured\": true,\n \"gpu_memory_gb\": 0.0,\n \"memory_gb\": 0.219,\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\": 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\": 265.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 6935.0,\n \"deadline_utc\": \"2026-10-25T01:32:20Z\"\n}---\n/app:\ntotal 12\ndrwxr-xr-x  3 root root 4096 Oct 24 21:17 .\ndr-xr-xr-x 20 root root 4096 Oct 24 23:32 ..\ndrwxr-xr-x  2 root root 4096 Oct 24 21:17 output\n\n/app/output:\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 24 21:17 .\ndrwxr-xr-x 3 root root 4096 Oct 24 21:17 ..\n---\nrcb1.py\nrcb_client.py\nTraceback (most recent call last):\n  File \"<string>\", line 1, in <module>\nModuleNotFoundError: No module named 'mujoco'\nnumpy              2.5.3\nscipy              1.18.1\n---\nPIL\nREADME.txt\ncertifi\ncertifi-2026.7.22.dist-info\ncharset_normalizer\ncharset_normalizer-3.5.2.dist-info\nidna\nidna-3.20.dist-info\nnumpy\nnumpy-2.5.3.dist-info\nnumpy.libs\npillow-12.3.0.dist-info\npillow.libs\npip\npip-25.0.1.dist-info\nrequests\nrequests-2.34.2.dist-info\nscipy\nscipy-1.18.1.dist-info\nscipy.libs\nurllib3\nurllib3-2.8.0.dist-info\n\n[stdout]\nTraceback (most recent call last):\n  File \"<string>\", line 1, in <module>\nModuleNotFoundError: No module named 'mujoco'\nnumpy              2.5.3\nscipy              1.18.1\n---\nPIL\nREADME.txt\ncertifi\ncertifi-2026.7.22.dist-info\ncharset_normalizer\ncharset_normalizer-3.5.2.dist-info\nidna\nidna-3.20.dist-info\nnumpy\nnumpy-2.5.3.dist-info\nnumpy.libs\npillow-12.3.0.dist-info\npillow.libs\npip\npip-25.0.1.dist-info\nrequests\nrequests-2.34.2.dist-info\nscipy\nscipy-1.18.1.dist-info\nscipy.libs\nurllib3\nurllib3-2.8.0.dist-info","exit":[],"pics":[]},"tok":{"in":22458,"cached":0,"out":15679,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":16.2,"say":"","calls":[{"kind":"shell","label":"Read client docstring header","code":"head -c 4000 /opt/tools/rcb_client.py; echo; echo ====; wc -l /opt/tools/rcb_client.py /opt/tools/rcb1.py"},{"kind":"shell","label":"Search container for benchmark source or robot models","code":"ls / /srv /opt 2>/dev/null; echo ----; find / -maxdepth 4 \\( -iname \"*olympic*\" -o -iname \"*embodied*\" -o -iname \"*rcb*server*\" -o -iname \"*venue*\" \\) -not -path \"/proc/*\" -not -path \"/sys/*\" 2>/dev/null | head -20; echo ----; find / -maxdepth 5 -name \"*.xml\" -path \"*h1*\" 2>/dev/null | head; find / -maxdepth 6 -iname \"*h1*\" -not -path \"/proc/*\" -not -path \"/sys/*\" 2>/dev/null | head -20"}],"out":{"text":"\"\"\"eai-standard/2.1 client: your whole interface to the robot (installed at /opt/tools/rcb_client.py, on PYTHONPATH).\n\n    from rcb_client import Robot, EpisodeOver\n    r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nCalls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n    r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                             (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                             units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n                                             episode), \"cameras\" {name: rgb, depth, hw, fovy_deg, pose, mounted},\n                                             \"proprio_layout\" and \"proprio\" (joints, axes, positions), \"imu\", \"links\"\n                                             (masses, centres of mass, the feet's boxes), \"depth\", \"budget\" {\"reset\",\n                                             \"wall_clock_s\"}, \"episode\" (what ends it)\n    r.status()                               GET /status: calls, rows, control_steps, done, reason, elapsed_s\n    r.get_obs(cameras=None, seconds=0.0, video_fps=10, include_depth=False, video=\"frames\")\n                                             POST /observe. seconds=0: the current frames, free (no time passes).\n        \n… (5,513 characters left out) …\nhat get_obs / submit / reset return):\n    res.meta                 dict: calls, rows, control_steps (this episode), sim_time_s, time_s, time_left_s,\n                             proprio {\"layout\", \"now\"}, done, reason (\"success\" | \"failed\" | \"timeout\" | \"error\";\n                             None while the episode runs), and per call: executed_rows, control_steps_chunk,\n                             clipped [{row, index, reason}] (values outside [-1, 1] are clipped, not refused);\n                             with a reset budget also episode, resets_left\n    res.last[cam]            uint8 H x W x 3: the last frame, always\n    res.frames[cam]          uint8 N x H x W x 3 (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                             one at its end\n    res.done                 the episode is over\n    res.save(dir)            meta\n====\n  189 /opt/tools/rcb_client.py\n   83 /opt/tools/rcb1.py\n  272 total\n/:\napp\nbin\nboot\ndev\netc\nhome\ninstalled-agent\nlib\nlib64\nlogs\nmedia\nmnt\nopt\nproc\nroot\nrun\nsbin\nsrv\nsys\ntmp\nusr\nvar\n\n/opt:\ntools\n\n/srv:\n----\n----\n/usr/include/linux/usb/ch11.h\n\n[stdout]\n/:\napp\nbin\nboot\ndev\netc\nhome\ninstalled-agent\nlib\nlib64\nlogs\nmedia\nmnt\nopt\nproc\nroot\nrun\nsbin\nsrv\nsys\ntmp\nusr\nvar\n\n/opt:\ntools\n\n/srv:\n----\n----\n/usr/include/linux/usb/ch11.h","exit":[],"pics":[]},"tok":{"in":38797,"cached":22452,"out":386,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":35.6,"say":"","calls":[{"kind":"shell","label":"Connect to robot service and dump spec","code":"ls /installed-agent /logs 2>/dev/null | head; echo ----; mkdir -p /app/output/work && cd /app/output/work && python3 - <<'EOF'\nimport json\nfrom rcb_client import Robot\nr = Robot()\ns = r.spec()\njson.dump(s, open('/app/output/work/spec.json','w'), indent=1, default=str)\nst = r.status()\nprint(json.dumps(st, indent=1, default=str)[:2000])\nprint(\"KEYS:\", list(s.keys()))\nEOF"}],"out":{"text":"/installed-agent:\n\n/logs:\nagent\nartifacts\nverifier\n----\n{\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}\nKEYS: ['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']\n\n[stdout]\n/installed-agent:\n\n/logs:\nagent\nartifacts\nverifier\n----\n{\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}\nKEYS: ['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']","exit":[],"pics":[]},"tok":{"in":40196,"cached":38791,"out":265,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":40.4,"say":"","calls":[{"kind":"shell","label":"Inspect spec top-level and cameras","code":"python3 - <<'EOF'\nimport json\ns = json.load(open('spec.json'))\nfor k in ['protocol','control_dt','max_control_steps','max_chunk_s','max_watch_s','simulator','budget','clock','episode','reset','on_service_error','depth']:\n    print(k, '=>', json.dumps(s.get(k))[:400])\nprint('=== cameras ===')\nprint(json.dumps(s['cameras'], indent=1)[:2500])\nEOF"},{"kind":"shell","label":"Inspect referee and rules sections of spec","code":"python3 - <<'EOF'\nimport json\ns = json.load(open('spec.json'))\nprint('=== referee ===')\nprint(json.dumps(s.get('referee'), indent=1)[:3000])\nprint('=== rules ===')\nprint(json.dumps(s.get('rules'), indent=1)[:2500])\nEOF"}],"out":{"text":"protocol => \"eai-standard/2.1\"\ncontrol_dt => 0.01\nmax_control_steps => 1500\nmax_chunk_s => 10.0\nmax_watch_s => 30.0\nsimulator => \"RoboOlympics simulator (MuJoCo 3.3.7 on the CPU, 1 ms physics, 10 ms control)\"\nbudget => {\"reset\": 5, \"wall_clock_s\": 7200.0}\nclock => \"time_s and elapsed_s count from your first request to the service; time_left_s is budget.wall_clock_s minus time_s\"\nepisode => \"one attempt: it ends at the success, at a rule violation (a fall, a foul; the rules say which), or after 15 s (1500 control steps)\"\nreset => \"POST /reset abandons the running episode and starts a new one from the same starting state, budget.reset times in all; only the last episode is graded, and a success ends the trial\"\non_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\"\ndepth => {\"unit\": \"m\", \"max_m\": 10.0, \"note\": \"distance along the camera's axis; 0 = nothing within max_m\"}\n=== cameras ===\n{\n \"head_left\": {\n  \"rgb\": true,\n  \"depth\": true,\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.\n… (7,473 characters left out) …\nf you but your hands, and it may not touch the floor. Travelling: while the ball is in your hands you may take at most 2 steps. A step is a foot touching the floor after it has been off it for at least 0.03 s; both feet landing within 0.03 s of each other are one step; the same foot may not touch down twice in a row, and a foot on the floor may not slide more than 0.2 m from where it stood or was put down (a shuffle is travelling). After that no foot may touch the floor again until you have let go of the ball. The release: at the moment you let go you must be in the air: nothing of you has touched anything but the ball for at least 0.05 s, after a take-off at which your pelvis was moving upwards at 0.5 m/s or more; and the ball's centre must be within 1.25 m (horizontally) of the ring's centre, the radius of the no-charge semi-circle painted under the basket. You succeed when, after that release, the ball's centre goes down through the ring's plane inside the ring and on down to one ball diameter below it (off the backboard or not). You fail if you travel; if the ball touches the floor or a part of you other than a hand while it is in your hands; if you let go of the ball (on purpose or because it slipped) with something of you on the floor, without a take-off, or further from the ring; if any part of you touches the ball more than 0.05 s after you let go of it (no catching it again); if the ball touches the floor before it is through the ring; if the ball's centre comes up t","exit":[],"pics":[]},"tok":{"in":40693,"cached":40190,"out":302,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":46.1,"say":"","calls":[{"kind":"shell","label":"Inspect robot_facts","code":"python3 - <<'EOF'\nimport json\ns = json.load(open('spec.json'))\nrf = s['robot_facts']\nprint('robot_facts keys:', list(rf.keys()))\nprint(json.dumps(rf, indent=0)[:4500])\nEOF"},{"kind":"shell","label":"Inspect action types and start command","code":"python3 - <<'EOF'\nimport json\ns = json.load(open('spec.json'))\nprint('start_command:', json.dumps(s['start_command'])[:600])\nat = s['action_types']\nprint('action_types:', list(at.keys()) if isinstance(at, dict) else 'list')\nprint(json.dumps(at, indent=1)[:3000])\nEOF"}],"out":{"text":"robot_facts keys: ['name', 'title', 'revision', 'model', 'joints', 'n_legs', 'n_waist', 'n_arms', 'range_rad', 'speed_limit_rad_s', 'torque_limit_nm', 'default_kp', 'default_kd', 'kp_max', 'kd_max', 'stance_legs_rad', 'rest_upper_rad', 'mass_kg', 'height_m', 'pelvis_height_standing_m', 'control_dt_s', 'physics_dt_s', 'walk_command_max', 'run_command_range', 'real_hands']\n{\n\"name\": \"unitree_h1\",\n\"title\": \"Unitree H1-2\",\n\"revision\": \"h1-4\",\n\"model\": \"Unitree H1-2, 27 joints, 1.78 m, 67 kg (RoboOlympics robot library h1-4: the H1-2 body (Unitree's own h1_2 model, its joint ranges and speed limits) with Unitree H2 / H2-X-class leg actuators from the H2's official URDF (hips and knees 360 N m, ankle pitch 66.88 N m; curves of Unitree's M107 shape, 2.5 kW peak per joint) and H2-class arm actuators from the same URDF (shoulder pitch 130 N m; shoulder roll and yaw, elbow, forearm roll 60 N m; curves of Unitree's N7520 / N5020 shapes); the H1-2's own torso (M107-15, 200 N m), ankle roll and wrist pitch / yaw (estimates))\",\n\"joints\": [\n\"left_hip_yaw\",\n\"left_hip_pitch\",\n\"left_hip_roll\",\n\"left_knee\",\n\"left_ankle_pitch\",\n\"left_ankle_roll\",\n\"right_hip_yaw\",\n\"right_hip_pitch\",\n\"right_hip_roll\",\n\"right_knee\",\n\"right_ankle_pitch\",\n\"right_ankle_roll\",\n\"torso\",\n\"left_shoulder_pitch\",\n\"left_shoulder_roll\",\n\"left_shoulder_yaw\",\n\"left_elbow_pitch\",\n\"left_elbow_roll\",\n\"left_wrist_pitch\",\n\"left_wrist_yaw\",\n\"right_shoulder_pitch\",\n\"right_shoulder_roll\",\n\"right_shoulder_yaw\",\n\"right_elbow_pitch\",\n\"rig\n… (13,217 characters left out) …\noints a type does not name keep their current targets\"\n },\n \"walk\": {\n  \"dim\": 20,\n  \"layout\": [\n   \"vx\",\n   \"vy\",\n   \"wz\",\n   \"torso\",\n   \"left_shoulder_pitch\",\n   \"left_shoulder_roll\",\n   \"left_shoulder_yaw\",\n   \"left_elbow_pitch\",\n   \"left_elbow_roll\",\n   \"left_wrist_pitch\",\n   \"left_wrist_yaw\",\n   \"right_shoulder_pitch\",\n   \"right_shoulder_roll\",\n   \"right_shoulder_yaw\",\n   \"right_elbow_pitch\",\n   \"right_elbow_roll\",\n   \"right_wrist_pitch\",\n   \"right_wrist_yaw\",\n   \"grip_left\",\n   \"grip_right\"\n  ],\n  \"lower\": [\n   -0.8,\n   -0.5,\n   -1.57,\n   -2.35,\n   -3.14,\n   -0.38,\n   -2.66,\n   -0.95,\n   -3.01,\n   -0.47,\n   -1.27,\n   -3.14,\n   -3.4,\n   -3.01,\n   -0.95,\n   -2.75,\n   -0.47,\n   -1.27,\n   0.0,\n   0.0\n  ],\n  \"upper\": [\n   0.8,\n   0.5,\n   1.57,\n   2.35,\n   1.57,\n   3.4,\n   3.01,\n   3.18,\n   2.75,\n   0.47,\n   1.27,\n   1.57,\n   0.38,\n   2.66,\n   3.18,\n   3.01,\n   0.47,\n   1.27,\n   1.0,\n   1.0\n  ],\n  \"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 (grip_left: the left hand's closure command, 0 (open, the fingers straight) to 1 (every drive closing towards its closed position; fingers stop on what they touch); grip_right: the right hand's closure command, 0 (open, the fingers straight) to 1 (every drive closing towards its closed position; fingers stop on what they touch))\",\n  \"semantics\": \"rows dt apart (a multiple of control_","exit":[],"pics":[]},"tok":{"in":42817,"cached":40687,"out":247,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":192.0,"say":"","calls":[{"kind":"shell","label":"Check lowcmd/joints layouts and proprio indices","code":"python3 - <<'EOF'\nimport json\ns = json.load(open('spec.json'))\nlc = s['action_types']['lowcmd']\nprint('lowcmd dim:', lc['dim'])\nprint('layout:', lc['layout'][:40], '...')\nj = s['action_types']['joints']\nprint('joints dim:', j['dim'], 'layout head:', j['layout'][:5], j['layout'][-3:])\nprint('proprio_layout len:', len(s['proprio_layout']))\npl = s['proprio_layout']\nprint('proprio tail:', pl[-14:])\n# indices of imus\nfor i,n in enumerate(pl):\n    if 'imu' in n or n.startswith('pelvis') or n.startswith('torso_'):\n        pass\nprint([ (i,n) for i,n in enumerate(pl) if 'quat' in n or n.endswith('qw') or 'holding' in n or n=='time_s' or n=='mode'])\nEOF"},{"kind":"robot","label":"Grab initial camera frames and save PNGs","code":"python3 - <<'EOF'\nimport numpy as np\nfrom PIL import Image\nfrom rcb_client import Robot\nr = Robot()\nres = r.get_obs(cameras=[\"venue\",\"head_left\",\"head_right\"], seconds=0, video=\"frames\")\nfor cam in [\"venue\",\"head_left\",\"head_right\"]:\n    fr = res.frames[cam]\n    print(cam, fr.shape if hasattr(fr,'shape') else type(fr))\n    img = fr[-1] if fr.ndim==4 else fr\n    Image.fromarray(img).save(f\"/app/output/work/init_{cam}.png\")\nprint(res.meta.get('done'), res.meta.get('reason'), res.meta.get('time_s'))\nEOF"}],"out":{"text":"lowcmd dim: 137\nlayout: ['left_hip_yaw_q', 'left_hip_pitch_q', 'left_hip_roll_q', 'left_knee_q', 'left_ankle_pitch_q', 'left_ankle_roll_q', 'right_hip_yaw_q', 'right_hip_pitch_q', 'right_hip_roll_q', 'right_knee_q', 'right_ankle_pitch_q', 'right_ankle_roll_q', 'torso_q', 'left_shoulder_pitch_q', 'left_shoulder_roll_q', 'left_shoulder_yaw_q', 'left_elbow_pitch_q', 'left_elbow_roll_q', 'left_wrist_pitch_q', 'left_wrist_yaw_q', 'right_shoulder_pitch_q', 'right_shoulder_roll_q', 'right_shoulder_yaw_q', 'right_elbow_pitch_q', 'right_elbow_roll_q', 'right_wrist_pitch_q', 'right_wrist_yaw_q', 'left_hip_yaw_dq', 'left_hip_pitch_dq', 'left_hip_roll_dq', 'left_knee_dq', 'left_ankle_pitch_dq', 'left_ankle_roll_dq', 'right_hip_yaw_dq', 'right_hip_pitch_dq', 'right_hip_roll_dq', 'right_knee_dq', 'right_ankle_pitch_dq', 'right_ankle_roll_dq', 'torso_dq'] ...\njoints dim: 29 layout head: ['left_hip_yaw', 'left_hip_pitch', 'left_hip_roll', 'left_knee', 'left_ankle_pitch'] ['right_wrist_yaw', 'grip_left', 'grip_right']\nproprio_layout len: 165\nproprio tail: ['hand_closure_speed_right', 'hand_force_right', 'right_hand_thumb_yaw_pos', 'right_hand_thumb_pitch_pos', 'right_hand_index_pos', 'right_hand_middle_pos', 'right_hand_ring_pos', 'right_hand_pinky_pos', 'right_hand_thumb_yaw_torque', 'right_hand_thumb_pitch_torque', 'right_hand_index_torque', 'right_hand_middle_torque', 'right_hand_ring_torque', 'right_hand_pinky_torque']\n[(108, 'imu_pelvis_qw'), (118, 'imu_torso_qw'), (128, 'holding_left'),\n… (323 characters left out) …\n_q', 'torso_q', 'left_shoulder_pitch_q', 'left_shoulder_roll_q', 'left_shoulder_yaw_q', 'left_elbow_pitch_q', 'left_elbow_roll_q', 'left_wrist_pitch_q', 'left_wrist_yaw_q', 'right_shoulder_pitch_q', 'right_shoulder_roll_q', 'right_shoulder_yaw_q', 'right_elbow_pitch_q', 'right_elbow_roll_q', 'right_wrist_pitch_q', 'right_wrist_yaw_q', 'left_hip_yaw_dq', 'left_hip_pitch_dq', 'left_hip_roll_dq', 'left_knee_dq', 'left_ankle_pitch_dq', 'left_ankle_roll_dq', 'right_hip_yaw_dq', 'right_hip_pitch_dq', 'right_hip_roll_dq', 'right_knee_dq', 'right_ankle_pitch_dq', 'right_ankle_roll_dq', 'torso_dq'] ...\njoints dim: 29 layout head: ['left_hip_yaw', 'left_hip_pitch', 'left_hip_roll', 'left_knee', 'left_ankle_pitch'] ['right_wrist_yaw', 'grip_left', 'grip_right']\nproprio_layout len: 165\nproprio tail: ['hand_closure_speed_right', 'hand_force_right', 'right_hand_thumb_yaw_pos', 'right_hand_thumb_pitch_pos', 'right_hand_index_pos', 'right_hand_middle_pos', 'right_hand_ring_pos', 'right_hand_pinky_pos', 'right_hand_thumb_yaw_torque', 'right_hand_thumb_pitch_torque', 'right_hand_index_torque', 'right_hand_middle_torque', 'right_hand_ring_torque', 'right_hand_pinky_torque']\n[(108, 'imu_pelvis_qw'), (118, 'imu_torso_qw'), (128, 'holding_left'), (129, 'holding_right'), (130, 'mode'), (134, 'time_s')]\nvenue (1, 270, 480, 3)\nhead_left (1, 270, 480, 3)\nhead_right (1, 270, 480, 3)\nFalse None 160.9\n\n[stdout]\nvenue (1, 270, 480, 3)\nhead_left (1, 270, 480, 3)\nhead_right (1, 270, 480, 3)\nFalse None 160.9","exit":[],"pics":[]},"tok":{"in":47456,"cached":42811,"out":8785,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":212.6,"say":"","calls":[{"kind":"look","label":"init_venue.png","code":"/app/output/work/init_venue.png"},{"kind":"look","label":"init_head_left.png","code":"/app/output/work/init_head_left.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-layup-i00-standard--g5tggo6/s008_0.jpg","embodied-olympics-fun-layup-i00-standard--g5tggo6/s008_0.jpg"]},"tok":{"in":56858,"cached":47450,"out":390,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":315.5,"say":"Scene confirmed: the robot is at the free-throw-line-side elbow in the paint (the restricted area), with the goal ahead. Next, build the control infrastructure: a parameterized lowcmd trajectory builder (crouch → hop → jump + toss), and a lab driver that can submit chunks and grab venue frames during freezes.","calls":[{"kind":"edit","label":"lab.py","code":"/app/output/work/lab.py\n\n\"\"\"Lab driver for the H1-2 layup task: parameterised lowcmd trajectories, chunked submits with freeze-inspect.\"\"\"\nimport json, sys, time\nimport numpy as np\nfrom rcb_client import Robot\n\nJ = {n: i for i, n in enumerate([\n    \"left_hip_yaw\",\"left_hip_pitch\",\"left_hip_roll\",\"left_knee\",\"left_ankle_pitch\",\"left_ankle_roll\",\n    \"right_hip_yaw\",\"right_hip_pitch\",\"right_hip_roll\",\"right_knee\",\"right_ankle_pitch\",\"right_ankle_roll\",\n    \"torso\",\n    \"left_shoulder_pitch\",\"left_shoulder_roll\",\"left_shoulder_yaw\",\"left_elbow_pitch\",\"left_elbow_roll\",\"left_wrist_pitch\",\"left_wrist_yaw\",\n    \"right_shoulder_pitch\",\"right_shoulder_roll\",\"right_shoulder_yaw\",\"right_elbow_pitch\",\"right_elbow_roll\",\"right_wrist_pitch\",\"right_wrist_yaw\"])}\nNJ = 27\nRANGE = np.array([[-0.43,0.43],[-3.14,2.5],[-0.43,3.14],[-0.26,2.05],[-0.8973,0.5236],[-0.2618,0.2618],\n [-0.43,0.43],[-3.14,2.5],[-3.14,0.43],[-0.26,2.05],[-0.8973,0.5236],[-0.2618,0.2618],[-2.35,2.35],\n [-3.14,1.57],[-0.38,3.4],[-2.66,3.01],[-0.95,3.18],[-3.01,2.75],[-0.47,0.47],[-1.27,1.27],\n [-3.14,1.57],[-3.4,0.38],[-3.01,2.66],[-0.95,3.18],[-2.75,3.01],[-0.47,0.47],[-1.27,1.27]])\nKPMAX = np.array([1500]*12+[800]+[400]*14); KDMAX = np.array([30]*12+[20]+[10]*14)\nDEFKP = np.array([800,800,800,1200,160,160,800,800,800,1200,160,160,600,300,300,200,200,80,60,60,300,300,200,200,80,60,60],float)\nDEFKD = np.array([10,10,10,16,8,8,10,10,10,16,8,8,15,6,6,4,4,1.5,1,1,6,6,4,4,1.5,1,1],float)\n\nARMS0 = {  # arm targets in force at the start (from spec start_command)\n \"left_shoulder_pitch\":-0.2102,\"left_shoulder_roll\":0.0481,\"left_shoulder_yaw\":-0.724,\n \"left_elbow_pitch\":0.4173,\"left_elbow_roll\":0.0342,\"left_wrist_pitch\":-0.47,\"left_wrist_yaw\":0.7949,\n \"right_shoulder_pitch\":-0.4674,\"right_shoulder_roll\":0.2556,\"right_shoulder_yaw\":-0.335,\n \"right_elbow_pitch\":1.5041,\"right_elbow_roll\":1.3391,\"right_wrist_pitch\":-0.2658,\"right_wrist_yaw\":1.0833,\n \"torso\":0.0}\nLEGS0 = {\"left_hip_yaw\":0,\"left_hip_pitch\":-0.16,\"left_hip_roll\":0,\"left_knee\":0.36,\"left_ankle_pitch\":-0.2,\"left_ankle_roll\":0,\n         \"right_hip_yaw\":0,\"right_hip_pitch\":-0.16,\"right_hip_roll\":0,\"right_knee\":0.36,\"right_ankle_pitch\":-0.2,\"right_ankle_roll\":0}\n\ndef pose(**kw):\n    p = dict(LEGS0); p.update(ARMS0); p.update(kw); return p\n\ndef legs(hp=-0.16, kn=0.36, ap=-0.2, hy=0.0, hr=0.0, ar=0.0):\n    return {\"left_hip_yaw\":hy,\"left_hip_pitch\":hp,\"left_hip_roll\":hr,\"left_knee\":kn,\"left_ankle_pitch\":ap,\"left_ankle_roll\":ar,\n            \"right_hip_yaw\":hy,\"right_hip_pitch\":hp,\"right_hip_roll\":hr,\"right_knee\":kn,\"right_ankle_pitch\":ap,\"right_ankle_roll\":ar}\n\nclass Seg:\n    \"\"\"one trajectory segment: dur seconds, end pose, per-joint gains/tau/grip profiles given as constants or callables(t01).\"\"\"\n    def __init__(self, dur, pose, grip=(0.0,0.3), kp=None, kd=None, tau=None):\n        self.dur=dur; self.pose=pose; self.grip=grip; self.kp=kp; self.kd=kd; self.tau=tau\n\ndef smooth(t):  # smootherstep 0..1\n    return t*t*t*(t*(6*t-15)+10)\n\ndef build(segs, dt=0.01, start_pose=None):\n    rows=[]; cur = dict(start_pose if start_pose is not None else pose())\n    for sg in segs:\n        n = max(1,int(round(sg.dur/dt))); p0 = dict(cur); p1 = dict(sg.pose)\n        for k in range(n):\n            t01 = (k+1)/n; s = smooth(t01)\n            q = np.zeros(NJ); tau = np.zeros(NJ); kp = DEFKP.copy(); kd = DEFKD.copy()\n            for name,i in J.items():\n                a = p0.get(name,0.0); b = p1.get(name,0.0)\n                q[i] = np.clip(a+(b-a)*s, *RANGE[i])\n            if sg.kp is not None:\n                kp[:] = np.clip(np.where(np.isclose(kp,DEFKP), sg.kp if np.isscalar(sg.kp) else sg.kp, sg.kp if not np.isscalar(sg.kp) else sg.kp), 0, KPMAX) if not np.isscalar(sg.kp) else np.clip(sg.kp,0,KPMAX)\n            if sg.kd is not None:\n                kd[:] = np.clip(sg.kd,0,KDMAX) if not np.isscalar(sg.kd) else np.clip(sg.kd,0,KDMAX)\n            if sg.tau is not None:\n                if isinstance(sg.tau,dict):\n                    for name,v in sg.tau.items(): tau[J[name]] = v\n                else: tau[:] = sg.tau\n            g = sg.grip\n            gl = g[0](t01) if callable(g[0]) else g[0]; gr = g[1](t01) if callable(g[1]) else g[1]\n            row = np.concatenate([q, np.zeros(NJ), tau, kp, kd, [gl, gr]])\n            rows.append(row)\n        cur = p1\n    return np.array(rows), cur\n\ndef submit(r, rows, cameras=(\"venue\",), fps=8, video=\"frames\", tag=\"\"):\n    res = r.submit(\"lowcmd\", rows, dt=0.01, interpolate=\"linear\", cameras=list(cameras), video=video, video_fps=fps)\n    m = res.meta\n    print(f\"[{tag}] rows={len(rows)} sim_t={m.get('time_s'):.2f} done={m.get('done')} reason={m.get('reason')} outcome={m.get('outcome')} stages={m.get('stages_reached')}/{m.get('stages_total')} clipped={m.get('clipped')}\")\n    if res.frames:\n        for cam,fr in res.frames.items():\n            arr = np.asarray(fr)\n            for i in range(0, arr.shape[0], max(1,arr.shape[0]//8)):\n                from PIL import Image\n                Image.fromarray(arr[i]).save(f\"/app/output/work/fr_{tag}_{cam}_{i:03d}.png\")\n    p = np.asarray(res.proprio)\n    if p.size:\n        pr = p[-1]\n        print(\"   holding L/R:\", pr[128], pr[129], \" mode:\", pr[130], \" pelvis quat:\", np.round(pr[108:112],3),\n              \" torso gyro:\", np.round(pr[121:124],2), \" pelvis acc:\", np.round(pr[115:118],2))\n    return res\n"}],"out":{"text":"File created successfully at: /app/output/work/lab.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":57470,"cached":0,"out":6857,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":398.1,"say":"","calls":[{"kind":"edit","label":"lab.py","code":"/app/output/work/lab.py\n\n            if sg.kp is not None:\n                kp[:] = np.clip(np.broadcast_to(np.asarray(sg.kp, float), (NJ,)), 0, KPMAX)\n            if sg.kd is not None:\n                kd[:] = np.clip(np.broadcast_to(np.asarray(sg.kd, float), (NJ,)), 0, KDMAX)"}],"out":{"text":"The file /app/output/work/lab.py has been updated successfully. (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":64369,"cached":57464,"out":2293,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":426.7,"say":"","calls":[{"kind":"edit","label":"ep1.py","code":"/app/output/work/ep1.py\n\nimport sys, json\nimport numpy as np\nfrom lab import *\nfrom rcb_client import Robot\n\nCHEST = pose()\nOVER = pose(left_shoulder_pitch=-2.55, left_shoulder_roll=0.15, left_shoulder_yaw=0.0,\n            left_elbow_pitch=0.35, left_elbow_roll=0.03, left_wrist_pitch=0.0, left_wrist_yaw=0.6,\n            right_shoulder_pitch=-2.55, right_shoulder_roll=-0.15, right_shoulder_yaw=0.0,\n            right_elbow_pitch=0.35, right_elbow_roll=1.34, right_wrist_pitch=0.0, right_wrist_yaw=1.08)\nDOWN = pose(left_shoulder_pitch=0.2, left_shoulder_roll=0.1, left_elbow_pitch=0.6,\n            right_shoulder_pitch=0.2, right_shoulder_roll=-0.1, right_elbow_pitch=0.6)\ndef merge(*ds):\n    o = {}\n    for d in ds: o.update(d)\n    return o\nCROUCH = merge(CHEST, legs(hp=-0.45, kn=1.05, ap=-0.60))\nEXT    = merge(CHEST, legs(hp=0.35, kn=-0.05, ap=0.50))\nTUCK   = merge(CHEST, legs(hp=-0.50, kn=0.80, ap=-0.35))\nABSORB = merge(CHEST, legs(hp=-0.85, kn=1.50, ap=-0.65))\nFF = {\"left_hip_pitch\":130,\"right_hip_pitch\":130,\"left_knee\":-170,\"right_knee\":-170,\n      \"left_ankle_pitch\":45,\"right_ankle_pitch\":45}\n\ndef hop(tag, lean=0.0, ff=FF, td=0.28, fd=0.45, ad=0.5, rd=0.5):\n    ext = merge(EXT, legs(hp=0.35+lean)); cr = merge(CROUCH, legs(hp=-0.45+lean))\n    return [Seg(td, ext, grip=(0.55,0.8), tau=ff), Seg(fd, TUCK), Seg(ad, ABSORB), Seg(rd, cr)]\n\nCH = {}\nCH[1] = (\"grip\",  [Seg(1.2, CHEST, grip=(lambda t:0.55*t, lambda t:0.3+0.5*t))])\nCH[2] = (\"over\",  [Seg(1.6, OVER, grip=(0.55,0.8))])\nCH[3] = (\"chest\", [Seg(1.0, CHEST, grip=(0.55,0.8))])\nCH[4] = (\"crouch\",[Seg(1.0, CROUCH, grip=(0.55,0.8))])\nCH[5] = (\"hop1\",  hop(\"h1\"))\nCH[6] = (\"hop2\",  hop(\"h2\"))\ndef toss_segs():\n    return [Seg(0.30, merge(EXT,OVER), grip=(0.55,0.8), tau=FF),\n            Seg(0.16, OVER, grip=(lambda t:0.55*(1-t), lambda t:0.8*(1-t))),\n            Seg(0.40, merge(TUCK,DOWN)),\n            Seg(0.55, merge(ABSORB,DOWN)),\n            Seg(0.70, merge(CROUCH,DOWN))]\nCH[7] = (\"toss\", toss_segs())\n\nif __name__ == \"__main__\":\n    r = Robot()\n    ids = [int(a) for a in sys.argv[1:]] or [1]\n    for i in ids:\n        tag, segs = CH[i]\n        rows, cur = build(segs)\n        res = submit(r, rows, tag=f\"ep{r.status()['episode']}_{tag}\")\n        if res.meta.get(\"done\"):\n            print(\"EPISODE OVER:\", res.meta.get(\"outcome\"), res.meta.get(\"stages_reached\"))\n            break\n"}],"out":{"text":"File created successfully at: /app/output/work/ep1.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":66719,"cached":64363,"out":2058,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":456.1,"say":"","calls":[{"kind":"robot","label":"Episode 1 chunks 1-2: grip ramp and overhead arm swing","code":"timeout 300 python3 ep1.py 1 2 2>&1 | tail -20"}],"out":{"text":"[ep1_grip] rows=120 sim_t=421.77 done=True reason=failed outcome=the ball touched a part of you other than a hand while in your hands stages=0/3 clipped=[]\n   holding L/R: 0.0 0.0  mode: 4.0  pelvis quat: [ 0.998 -0.001  0.069 -0.001]  torso gyro: [-0.   -0.    0.42]  pelvis acc: [-0.54 -0.02  9.58]\nEPISODE OVER: the ball touched a part of you other than a hand while in your hands 0\n\n[stdout]\n[ep1_grip] rows=120 sim_t=421.77 done=True reason=failed outcome=the ball touched a part of you other than a hand while in your hands stages=0/3 clipped=[]\n   holding L/R: 0.0 0.0  mode: 4.0  pelvis quat: [ 0.998 -0.001  0.069 -0.001]  torso gyro: [-0.   -0.    0.42]  pelvis acc: [-0.54 -0.02  9.58]\nEPISODE OVER: the ball touched a part of you other than a hand while in your hands 0","exit":[],"pics":[]},"tok":{"in":68821,"cached":66713,"out":116,"think":null,"usd":0},"sim":{"submit":1,"reset":0}},{"id":13,"t":487.2,"say":"The episode died during chunk 1 — ball touched a non-hand body part. Let me look at the frames to see what happened.","calls":[{"kind":"shell","label":"List saved frames","code":"ls -la /app/output/work/fr_* | head -20"}],"out":{"text":"-rw-r--r-- 1 root root 136392 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_000.png\n-rw-r--r-- 1 root root 136525 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_001.png\n-rw-r--r-- 1 root root 136489 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_002.png\n-rw-r--r-- 1 root root 136566 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_003.png\n-rw-r--r-- 1 root root 136521 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_004.png\n-rw-r--r-- 1 root root 136717 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_005.png\n-rw-r--r-- 1 root root 136849 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_006.png\n-rw-r--r-- 1 root root 136848 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_007.png\n\n[stdout]\n-rw-r--r-- 1 root root 136392 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_000.png\n-rw-r--r-- 1 root root 136525 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_001.png\n-rw-r--r-- 1 root root 136489 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_002.png\n-rw-r--r-- 1 root root 136566 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_003.png\n-rw-r--r-- 1 root root 136521 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_004.png\n-rw-r--r-- 1 root root 136717 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_005.png\n-rw-r--r-- 1 root root 136849 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_006.png\n-rw-r--r-- 1 root root 136848 Oct 24 23:44 /app/output/work/fr_ep1_grip_venue_007.png","exit":[],"pics":[]},"tok":{"in":69116,"cached":68815,"out":884,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":495.6,"say":"","calls":[{"kind":"look","label":"fr_ep1_grip_venue_000.png","code":"/app/output/work/fr_ep1_grip_venue_000.png"},{"kind":"look","label":"fr_ep1_grip_venue_004.png","code":"/app/output/work/fr_ep1_grip_venue_004.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-layup-i00-standard--g5tggo6/s014_0.jpg","embodied-olympics-fun-layup-i00-standard--g5tggo6/s014_0.jpg"]},"tok":{"in":70366,"cached":69110,"out":165,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":541.7,"say":"","calls":[{"kind":"look","label":"fr_ep1_grip_venue_002.png","code":"/app/output/work/fr_ep1_grip_venue_002.png"},{"kind":"look","label":"fr_ep1_grip_venue_007.png","code":"/app/output/work/fr_ep1_grip_venue_007.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-layup-i00-standard--g5tggo6/s015_0.jpg","embodied-olympics-fun-layup-i00-standard--g5tggo6/s015_0.jpg"]},"tok":{"in":70795,"cached":70360,"out":1394,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":591.5,"say":"The episode failed instantly at the very first lowcmd switch — probably because in lowcmd mode (no gravity feedforward) the body sinks/sways, or because the ball got pushed out by the closing left-side grip. Diagnostic plan: probe the grip + arm swing in `stand` mode (legs fixed by the platform), and separately measure the gravity torque required for lowcmd. First, reset.","calls":[{"kind":"edit","label":"crop.py","code":"/app/output/work/crop.py\n\nimport sys\nimport numpy as np\nfrom PIL import Image\n\ndef crop(path, box, scale=4, out=None):\n    im = Image.open(path)\n    c = im.crop(box).resize(((box[2]-box[0])*scale, (box[3]-box[1])*scale), Image.NEAREST)\n    out = out or path.replace(\".png\", \"_crop.png\")\n    c.save(out)\n    return out\n\nif __name__ == \"__main__\":\n    p = sys.argv[1]; box = tuple(int(v) for v in sys.argv[2:6])\n    print(crop(p, box))\n"}],"out":{"text":"File created successfully at: /app/output/work/crop.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":72452,"cached":70789,"out":1758,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":613.5,"say":"","calls":[{"kind":"edit","label":"probe.py","code":"/app/output/work/probe.py\n\nimport sys\nimport numpy as np\nfrom lab import *\nfrom rcb_client import Robot\n\nJN = list(J.keys())\n\ndef stand_rows(segs, dt=0.01):\n    rows,_ = build(segs)\n    # extract arms+torso+grip from the lowcmd rows we already built\n    out=[]\n    arm_idx = [J[\"torso\"]]+[J[n] for n in JN[13:]]\n    for r in rows:\n        q = r[:27]; g = r[135:137]\n        out.append(np.concatenate([q[arm_idx], g]))\n    return np.array(out)\n\nCHEST = pose()\nOVER = pose(left_shoulder_pitch=-2.55, left_shoulder_roll=0.15, left_shoulder_yaw=0.0,\n            left_elbow_pitch=0.35, left_elbow_roll=0.03, left_wrist_pitch=0.0, left_wrist_yaw=0.6,\n            right_shoulder_pitch=-2.55, right_shoulder_roll=-0.15, right_shoulder_yaw=0.0,\n            right_elbow_pitch=0.35, right_elbow_roll=1.34, right_wrist_pitch=0.0, right_wrist_yaw=1.08)\n\nif __name__ == \"__main__\":\n    r = Robot()\n    which = sys.argv[1] if len(sys.argv)>1 else \"P1\"\n    if which == \"P1\":\n        rows = stand_rows([Seg(1.2, CHEST, grip=(lambda t:0.55*t, lambda t:0.3+0.5*t))])\n        res = r.submit(\"stand\", rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=8)\n    elif which == \"P2\":\n        rows = stand_rows([Seg(1.6, OVER, grip=(0.55,0.8))])\n        res = r.submit(\"stand\", rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=8)\n    elif which == \"P3\":\n        rows = stand_rows([Seg(1.0, CHEST, grip=(0.55,0.8))])\n        res = r.submit(\"stand\", rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=8)\n    elif which == \"P4\":\n        rows,_ = build([Seg(0.8, pose(), grip=(0.55,0.8))])\n        res = r.submit(\"lowcmd\", rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=8)\n    m = res.meta\n    print(\"done\",m.get(\"done\"),\"reason\",m.get(\"reason\"),\"outcome\",m.get(\"outcome\"),\"stages\",m.get(\"stages_reached\"),\"t\",m.get(\"time_s\"))\n    for cam,fr in (res.frames or {}).items():\n        arr=np.asarray(fr)\n        from PIL import Image\n        for i in range(0,arr.shape[0],max(1,arr.shape[0]//6)):\n            Image.fromarray(arr[i]).save(f\"/app/output/work/fr_{which}_{cam}_{i:03d}.png\")\n    p = np.asarray(res.proprio)\n    pr = p[-1]\n    print(\"hold\", pr[128], pr[129], \"mode\", pr[130])\n    print(\"legs  name            pos      target    diff     torque\")\n    for i in list(range(12))+[12]:\n        print(f\"{JN[i]:20s} {pr[i]:+.3f}  {pr[81+i]:+.3f}  {pr[i]-pr[81+i]:+.3f}  {pr[54+i]:+8.1f}\")\n    print(\"arms  name            pos      target    diff     torque\")\n    for i in range(13,27):\n        print(f\"{JN[i]:20s} {pr[i]:+.3f}  {pr[81+i]:+.3f}  {pr[i]-pr[81+i]:+.3f}  {pr[54+i]:+8.1f}\")\n    print(\"hand drives:\", np.round(pr[135:165],2))\n"}],"out":{"text":"File created successfully at: /app/output/work/probe.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":74253,"cached":72446,"out":1354,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":639.2,"say":"","calls":[{"kind":"robot","label":"Reset to episode 2, run grip ramp and overhead swing probes in stand mode","code":"timeout 300 python3 - <<'EOF'\nfrom rcb_client import Robot\nr = Robot()\nres = r.reset()\nprint(\"reset ok\", res.meta.get(\"episode\"), res.meta.get(\"resets_left\"))\nEOF\ntimeout 300 python3 probe.py P1 2>&1 | tail -8; timeout 300 python3 probe.py P2 2>&1 | tail -40"}],"out":{"text":"reset ok 2 4\nright_shoulder_yaw   -0.356  -0.335  -0.021      +4.2\nright_elbow_pitch    +1.519  +1.504  +0.015      -3.0\nright_elbow_roll     +1.388  +1.339  +0.049      -3.9\nright_wrist_pitch    -0.286  -0.266  -0.020      +1.2\nright_wrist_yaw      +1.011  +1.083  -0.072      +4.3\nhand drives: [ 0.37 -0.07 -0.09  0.4   0.18  0.63  0.63  0.63  0.63  0.48  0.35 -0.52\n -0.52 -0.52 -0.51  0.63 -0.01 -0.08  0.7   0.32  1.08  1.08  1.07  1.08\n -0.04  0.22 -0.48 -0.48  0.35 -0.48]\nTraceback (most recent call last):\n  File \"/app/output/work/probe.py\", line 32, in <module>\n    res = r.submit(\"stand\", rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=8)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 162, in submit\n    return self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 181, in _post\n    raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\nrcb_client.EpisodeOver: 409 /submit: episode finished; reason failed; resets_left 4\n\n[stdout]\nreset ok 2 4\nright_shoulder_yaw   -0.356  -0.335  -0.021      +4.2\nright_elbow_pitch    +1.519  +1.504  +0.015      -3.0\nright_elbow_roll     +1.388  +1.339  +0.049      -3.9\nright_wrist_pitch    -0.286  -0.266  -0.020      +1.2\nright_wrist_yaw      +1.011  +1.083  -0.072      +4.3\nhand drives: [ 0.37 -0.07 -0.09  0.4   0.18  0.63  0.63  0.63  0.63  0.48  0.35 -0.52\n -0.52 -0.52 -0.51  0.63 -0.01 -0.08  0.7   0.32  1.08  1.08  1.07  1.08\n -0.04  0.22 -0.48 -0.48  0.35 -0.48]\nTraceback (most recent call last):\n  File \"/app/output/work/probe.py\", line 32, in <module>\n    res = r.submit(\"stand\", rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=8)\n          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 162, in submit\n    return self._post(\"/submit\", meta, [rcb1.array_part(\"actions\", a)], timeout=1800)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/opt/tools/rcb_client.py\", line 181, in _post\n    raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\nrcb_client.EpisodeOver: 409 /submit: episode finished; reason failed; resets_left 4","exit":[],"pics":[]},"tok":{"in":75650,"cached":74247,"out":326,"think":null,"usd":0},"sim":{"submit":1,"reset":1}},{"id":19,"t":668.4,"say":"","calls":[{"kind":"shell","label":"Crop robot region from P1 frames","code":"ls /app/output/work/fr_P1_* 2>/dev/null; python3 crop.py /app/output/work/fr_P1_venue_000.png 100 120 200 260 /app/output/work/p1a.png; python3 crop.py /app/output/work/fr_P1_venue_003.png 100 120 200 260 /app/output/work/p1b.png; python3 crop.py /app/output/work/fr_P1_venue_006.png 100 120 200 260 /app/output/work/p1c.png"}],"out":{"text":"/app/output/work/fr_P1_venue_000.png\n/app/output/work/fr_P1_venue_001.png\n/app/output/work/fr_P1_venue_002.png\n/app/output/work/fr_P1_venue_003.png\n/app/output/work/fr_P1_venue_004.png\n/app/output/work/fr_P1_venue_005.png\n/app/output/work/fr_P1_venue_006.png\n/app/output/work/fr_P1_venue_007.png\n/app/output/work/fr_P1_venue_000_crop.png\n/app/output/work/fr_P1_venue_003_crop.png\n/app/output/work/fr_P1_venue_006_crop.png\n\n[stdout]\n/app/output/work/fr_P1_venue_000.png\n/app/output/work/fr_P1_venue_001.png\n/app/output/work/fr_P1_venue_002.png\n/app/output/work/fr_P1_venue_003.png\n/app/output/work/fr_P1_venue_004.png\n/app/output/work/fr_P1_venue_005.png\n/app/output/work/fr_P1_venue_006.png\n/app/output/work/fr_P1_venue_007.png\n/app/output/work/fr_P1_venue_000_crop.png\n/app/output/work/fr_P1_venue_003_crop.png\n/app/output/work/fr_P1_venue_006_crop.png","exit":[],"pics":[]},"tok":{"in":76549,"cached":75644,"out":1037,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":689.6,"say":"","calls":[{"kind":"look","label":"fr_P1_venue_000_crop.png","code":"/app/output/work/fr_P1_venue_000_crop.png"},{"kind":"look","label":"fr_P1_venue_006_crop.png","code":"/app/output/work/fr_P1_venue_006_crop.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-layup-i00-standard--g5tggo6/s020_0.jpg","embodied-olympics-fun-layup-i00-standard--g5tggo6/s020_0.jpg"]},"tok":{"in":77757,"cached":76543,"out":181,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":21,"t":718.2,"say":"The ball got pushed against the arm by the closing grip in chest-carry. Fix: during carry, keep the left hand open, and only gently close the right hand. First, let me check the semantics of the `EpisodeOver` exception, then I'll investigate again.","calls":[{"kind":"shell","label":"Check EpisodeOver class and proprio hand indices","code":"sed -n 1,80p /opt/tools/rcb_client.py | grep -n \"class EpisodeOver\" -A 12; grep -n \"EpisodeOver\" /opt/tools/rcb_client.py | head; python3 - <<'EOF'\nimport json\ns=json.load(open('/app/output/work/spec.json'))\npl=s['proprio_layout']\nprint(list(enumerate(pl[134:165], start=134)))\nEOF"}],"out":{"text":"68:class EpisodeOver(RuntimeError):\n69-    pass\n70-\n71-\n72-class Result:\n73-    \"\"\"A decoded RCB1 answer: meta, video, frames, last, depth, proprio; save(dir) writes them all out.\"\"\"\n74-\n75-    def __init__(self, meta: dict, parts: dict):\n76-        self.meta, self.raw = meta, parts\n77-        self.video, self.frames, self.last, self.depth, self.proprio = {}, {}, {}, {}, None\n78-        for name, p in parts.items():\n79-            kind, data = p[\"kind\"], p[\"data\"]\n80-            if name.startswith(\"video/\") and kind == \"mp4\":\n3:    from rcb_client import Robot, EpisodeOver\n48:camera; or a request over 64 MB, refused before it is sent); EpisodeOver -- the episode, or the trial, is over (409);\n68:class EpisodeOver(RuntimeError):\n181:            raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\n[(134, 'time_s'), (135, 'hand_closure_left'), (136, 'hand_closure_speed_left'), (137, 'hand_force_left'), (138, 'left_hand_thumb_yaw_pos'), (139, 'left_hand_thumb_pitch_pos'), (140, 'left_hand_index_pos'), (141, 'left_hand_middle_pos'), (142, 'left_hand_ring_pos'), (143, 'left_hand_pinky_pos'), (144, 'left_hand_thumb_yaw_torque'), (145, 'left_hand_thumb_pitch_torque'), (146, 'left_hand_index_torque'), (147, 'left_hand_middle_torque'), (148, 'left_hand_ring_torque'), (149, 'left_hand_pinky_torque'), (150, 'hand_closure_right'), (151, 'hand_closure_speed_right'), (152, 'hand_force_right'), (153, 'right_hand_thumb_yaw_pos'), (154, 'right_hand_thumb_pitch_pos'\n… (691 characters left out) …\nh, self.proprio = {}, {}, {}, {}, None\n78-        for name, p in parts.items():\n79-            kind, data = p[\"kind\"], p[\"data\"]\n80-            if name.startswith(\"video/\") and kind == \"mp4\":\n3:    from rcb_client import Robot, EpisodeOver\n48:camera; or a request over 64 MB, refused before it is sent); EpisodeOver -- the episode, or the trial, is over (409);\n68:class EpisodeOver(RuntimeError):\n181:            raise EpisodeOver(msg + (f\"; reason {err['reason']}\" if err.get(\"reason\") else \"\")\n[(134, 'time_s'), (135, 'hand_closure_left'), (136, 'hand_closure_speed_left'), (137, 'hand_force_left'), (138, 'left_hand_thumb_yaw_pos'), (139, 'left_hand_thumb_pitch_pos'), (140, 'left_hand_index_pos'), (141, 'left_hand_middle_pos'), (142, 'left_hand_ring_pos'), (143, 'left_hand_pinky_pos'), (144, 'left_hand_thumb_yaw_torque'), (145, 'left_hand_thumb_pitch_torque'), (146, 'left_hand_index_torque'), (147, 'left_hand_middle_torque'), (148, 'left_hand_ring_torque'), (149, 'left_hand_pinky_torque'), (150, 'hand_closure_right'), (151, 'hand_closure_speed_right'), (152, 'hand_force_right'), (153, 'right_hand_thumb_yaw_pos'), (154, 'right_hand_thumb_pitch_pos'), (155, 'right_hand_index_pos'), (156, 'right_hand_middle_pos'), (157, 'right_hand_ring_pos'), (158, 'right_hand_pinky_pos'), (159, 'right_hand_thumb_yaw_torque'), (160, 'right_hand_thumb_pitch_torque'), (161, 'right_hand_index_torque'), (162, 'right_hand_middle_torque'), (163, 'right_hand_ring_torque'), (164, 'right_hand_pinky_torque')]","exit":[],"pics":[]},"tok":{"in":78394,"cached":77751,"out":1279,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":22,"t":737.5,"say":"","calls":[{"kind":"edit","label":"probe.py","code":"/app/output/work/probe.py\n\nimport sys, traceback\nimport numpy as np\nfrom PIL import Image\nfrom lab import *\nfrom rcb_client import Robot, EpisodeOver\n\nJN = list(J.keys())\nARM_IDX = [J[\"torso\"]]+[J[n] for n in JN[13:]]\n\ndef stand_rows(segs, dt=0.01):\n    rows,_ = build(segs)\n    return np.array([np.concatenate([r[:27][ARM_IDX], r[135:137]]) for r in rows])\n\ndef sub(r, kind, rows, tag, fps=8):\n    try:\n        res = r.submit(kind, rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=fps)\n    except EpisodeOver as e:\n        print(\"EPISODE OVER mid-chunk:\", e)\n        res = r.get_obs(cameras=[\"venue\"], seconds=0, video=\"frames\", video_fps=fps)\n    m = res.meta\n    print(f\"[{tag}] done={m.get('done')} outcome={m.get('outcome')} stages={m.get('stages_reached')} t={m.get('time_s'):.2f}\")\n    for cam,fr in (res.frames or {}).items():\n        arr=np.asarray(fr)\n        for i in range(0,arr.shape[0],max(1,arr.shape[0]//8)):\n            Image.fromarray(arr[i]).save(f\"/app/output/work/fr_{tag}_{cam}_{i:03d}.png\")\n    p = np.asarray(res.proprio); pr = p[-1]\n    print(\"  hold\", pr[128], pr[129], \"mode\", pr[130], \"closure L/R\", round(float(pr[135]),2), round(float(pr[150]),2),\n          \"force L/R\", round(float(pr[137]),1), round(float(pr[152]),1))\n    return res\n\ndef table(res, lo=0, hi=27):\n    p = np.asarray(res.proprio); pr = p[-1]\n    print(\"  name                 pos     target   diff    torque\")\n    for i in range(lo,hi):\n        print(f\"  {JN[i]:20s} {pr[i]:+.3f} {pr[81+i]:+.3f} {pr[i]-pr[81+i]:+.3f} {pr[54+i]:+8.1f}\")\n\nCHEST = pose()\nOVER = pose(left_shoulder_pitch=-2.55, left_shoulder_roll=0.15, left_shoulder_yaw=0.0,\n            left_elbow_pitch=0.35, left_elbow_roll=0.03, left_wrist_pitch=0.0, left_wrist_yaw=0.6,\n            right_shoulder_pitch=-2.55, right_shoulder_roll=-0.15, right_shoulder_yaw=0.0,\n            right_elbow_pitch=0.35, right_elbow_roll=1.34, right_wrist_pitch=0.0, right_wrist_yaw=1.08)\n\nif __name__ == \"__main__\":\n    r = Robot()\n    which = sys.argv[1]\n    if which == \"Q1\":\n        sub(r, \"stand\", stand_rows([Seg(1.0, CHEST, grip=(0.0, lambda t:0.3+0.3*t))]), \"Q1\")\n    elif which == \"Q2\":\n        res = sub(r, \"stand\", stand_rows([Seg(1.6, OVER, grip=(0.0,0.6))]), \"Q2\")\n    elif which == \"Q3\":\n        res = sub(r, \"stand\", stand_rows([Seg(0.8, OVER, grip=(0.0,0.8))]), \"Q3\")\n        table(res, 13, 27)\n    elif which == \"Q4\":\n        res = sub(r, \"lowcmd\", build([Seg(0.8, pose(), grip=(0.0,0.6))])[0], \"Q4\")\n        table(res, 0, 13)\n    elif which == \"Q5\":\n        res = sub(r, \"lowcmd\", build([Seg(0.8, pose(left_hip_pitch=-0.45,left_knee=1.05,left_ankle_pitch=-0.6,\n                  right_hip_pitch=-0.45,right_knee=1.05,right_ankle_pitch=-0.6), grip=(0.0,0.6))])[0], \"Q5\")\n        table(res, 0, 13)\n"}],"out":{"text":"The file /app/output/work/probe.py has been updated successfully. (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":80310,"cached":78388,"out":1309,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":23,"t":782.0,"say":"","calls":[{"kind":"robot","label":"Episode 3: gentle right-grip ramp and overhead swing with left hand open","code":"timeout 120 python3 -c \"\nfrom rcb_client import Robot\nr=Robot(); res=r.reset(); print('ep',res.meta.get('episode'),'left',res.meta.get('resets_left'))\" && timeout 300 python3 probe.py Q1 2>&1 | tail -3 && timeout 300 python3 probe.py Q2 2>&1 | tail -3"}],"out":{"text":"ep 3 left 3\n[Q1] done=False outcome=None stages=None t=749.42\n  hold 0.0 1.0 mode 0.0 closure L/R -0.0 0.6 force L/R 0.0 -0.0\n[Q2] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=752.06\n  hold 0.0 0.0 mode 0.0 closure L/R -0.0 0.6 force L/R 0.0 -0.1\n\n[stdout]\nep 3 left 3\n[Q1] done=False outcome=None stages=None t=749.42\n  hold 0.0 1.0 mode 0.0 closure L/R -0.0 0.6 force L/R 0.0 -0.0\n[Q2] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=752.06\n  hold 0.0 0.0 mode 0.0 closure L/R -0.0 0.6 force L/R 0.0 -0.1","exit":[],"pics":[]},"tok":{"in":81664,"cached":80304,"out":884,"think":null,"usd":0},"sim":{"submit":2,"reset":1}},{"id":24,"t":803.8,"say":"","calls":[{"kind":"shell","label":"Crop Q2 swing frames","code":"for i in 002 004 006 008; do python3 -c \"\nfrom crop import crop\ncrop('fr_Q2_venue_$i.png',(95,110,205,265),4,'q2_$i.png')\"; done; ls q2_*"}],"out":{"text":"q2_002.png\nq2_004.png\nq2_006.png\nq2_008.png\n\n[stdout]\nq2_002.png\nq2_004.png\nq2_006.png\nq2_008.png","exit":[],"pics":[]},"tok":{"in":82699,"cached":81658,"out":228,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":25,"t":818.2,"say":"","calls":[{"kind":"shell","label":"List Q2 frames and crop mid-swing ones","code":"ls fr_Q2_*; for i in 040 080 100 120; do python3 -c \"\nfrom crop import crop\ncrop('fr_Q2_venue_$i.png',(95,110,205,265),4,'q2_$i.png')\"; done"}],"out":{"text":"Exit code 1\nfr_Q2_venue_000.png\nfr_Q2_venue_001.png\nfr_Q2_venue_002.png\nfr_Q2_venue_003.png\nfr_Q2_venue_004.png\nfr_Q2_venue_005.png\nfr_Q2_venue_006.png\nfr_Q2_venue_007.png\nfr_Q2_venue_008.png\nfr_Q2_venue_009.png\nTraceback (most recent call last):\n  File \"<string>\", line 3, in <module>\n  File \"/app/output/work/crop.py\", line 6, in crop\n    im = Image.open(path)\n         ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/site-packages/PIL/Image.py\", line 3639, in open\n    fp = builtins.open(filename, \"rb\")\n         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\nFileNotFoundError: [Errno 2] No such file or directory: 'fr_Q2_venue_040.png'\nTraceback (most recent call last):\n  File \"<string>\", line 3, in <module>\n  File \"/app/output/work/crop.py\", line 6, in crop\n    im = Image.open(path)\n         ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/site-packages/PIL/Image.py\", line 3639, in open\n    fp = builtins.open(filename, \"rb\")\n         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\nFileNotFoundError: [Errno 2] No such file or directory: 'fr_Q2_venue_080.png'\nTraceback (most recent call last):\n  File \"<string>\", line 3, in <module>\n  File \"/app/output/work/crop.py\", line 6, in crop\n    im = Image.open(path)\n         ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/site-packages/PIL/Image.py\", line 3639, in open\n    fp = builtins.open(filename, \"rb\")\n         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\nFileNotFoundError: [Errno 2] No such file or directory: 'fr_Q2_venue_100.png'\nTraceback (most recent call last):\n  File \"<string>\", line 3, in <module>\n  File \"/app/output/work/crop.py\", line 6, in crop\n    im = Image.open(path)\n         ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/site-packages/PIL/Image.py\", line 3639, in open\n    fp = builtins.open(filename, \"rb\")\n         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\nFileNotFoundError: [Errno 2] No such file or directory: 'fr_Q2_venue_120.png'\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":82967,"cached":82693,"out":262,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":26,"t":833.0,"say":"","calls":[{"kind":"shell","label":"Crop Q2 frames 3,5,6,7","code":"for i in 003 005 006 007; do python3 -c \"\nfrom crop import crop\ncrop('fr_Q2_venue_$i.png',(95,110,205,265),4,'q2_$i.png')\"; done; echo ok"}],"out":{"text":"ok\n\n[stdout]\nok","exit":[],"pics":[]},"tok":{"in":83894,"cached":82961,"out":436,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":27,"t":843.2,"say":"","calls":[{"kind":"look","label":"q2_005.png","code":"/app/output/work/q2_005.png"},{"kind":"look","label":"q2_007.png","code":"/app/output/work/q2_007.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-layup-i00-standard--g5tggo6/s027_0.jpg","embodied-olympics-fun-layup-i00-standard--g5tggo6/s027_0.jpg"]},"tok":{"in":84346,"cached":83888,"out":113,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":28,"t":905.6,"say":"The overhead swing stopped with the ball right in front of the head — that's the contact violation. New carry pose: upper arm forward-and-up, forearm vertical, ball above and in front of the forehead. Also, measure the lowcmd gravity torque before the toss test.","calls":[{"kind":"robot","label":"Patch probe with new overhead pose; episode 4 R1+R2","code":"python3 - <<'EOF'\nimport re\nsrc = open('probe.py').read()\nnew = '''OVER = pose(left_shoulder_pitch=-2.0, left_shoulder_roll=0.12, left_shoulder_yaw=-0.1,\n            left_elbow_pitch=1.0, left_elbow_roll=0.03, left_wrist_pitch=-0.2, left_wrist_yaw=0.7,\n            right_shoulder_pitch=-2.0, right_shoulder_roll=-0.12, right_shoulder_yaw=0.1,\n            right_elbow_pitch=1.0, right_elbow_roll=1.34, right_wrist_pitch=-0.2, right_wrist_yaw=1.08)\nSNAP = pose(left_shoulder_pitch=-2.45, left_shoulder_roll=0.12, left_shoulder_yaw=-0.1,\n            left_elbow_pitch=0.15, left_elbow_roll=0.03, left_wrist_pitch=-0.35, left_wrist_yaw=0.7,\n            right_shoulder_pitch=-2.45, right_shoulder_roll=-0.12, right_shoulder_yaw=0.1,\n            right_elbow_pitch=0.15, right_elbow_roll=1.34, right_wrist_pitch=-0.35, right_wrist_yaw=1.08)\nCROUCHP = pose(left_hip_pitch=-0.45,left_knee=1.05,left_ankle_pitch=-0.6,\n               right_hip_pitch=-0.45,right_knee=1.05,right_ankle_pitch=-0.6)'''\nsrc = re.sub(r\"OVER = pose\\(.*?right_wrist_yaw=1\\.08\\)\\n\", new+\"\\n\", src, flags=re.S)\nsrc = src.replace('''    elif which == \"Q4\":''', '''    elif which == \"R1\":\n        sub(r, \"stand\", stand_rows([Seg(1.4, OVER, grip=(0.0,0.6))]), \"R1\")\n    elif which == \"R2\":\n        res = sub(r, \"stand\", stand_rows([Seg(1.0, OVER, grip=(0.0,0.7))]), \"R2\")\n        table(res, 13, 27)\n    elif which == \"R4\":\n        res = sub(r, \"lowcmd\", build([Seg(0.7, OVER, grip=(0.0,0.6))])[0], \"R4\")\n        table(res, 0, 13)\n    elif which == \"R5\":\n        res = sub(r, \"lowcmd\", build([Seg(0.7, merge(OVER,CROUCHP), grip=(0.0,0.6))])[0], \"R5\")\n        table(res, 0, 13)\n    elif which == \"R3\":\n        res = sub(r, \"stand\", stand_rows([Seg(0.30, SNAP, grip=(0.0,0.6)), Seg(0.10, SNAP, grip=(0.0,0.0)), Seg(1.2, OVER, grip=(0.0,0.0))]), \"R3\", fps=15)\n    elif which == \"Q4\":''')\nsrc = src.replace('''CHEST = pose()''', '''CHEST = pose()\ndef merge(*ds):\n    o={}\n    for d in ds: o.update(d)\n    return o''')\nopen('probe.py','w').write(src)\nprint('patched')\nEOF\ntimeout 120 python3 -c \"\nfrom rcb_client import Robot\nr=Robot(); res=r.reset(); print('ep',res.meta.get('episode'),'left',res.meta.get('resets_left'))\" && timeout 300 python3 probe.py R1 2>&1 | tail -3 && timeout 300 python3 probe.py R2 2>&1 | tail -20"}],"out":{"text":"patched\nep 4 left 2\n[R1] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=884.28\n  hold 0.0 0.0 mode 0.0 closure L/R -0.0 0.58 force L/R -0.0 0.0\nEPISODE OVER mid-chunk: 409 /submit: episode finished; reason failed; resets_left 2\n[R2] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=884.84\n  hold 0.0 0.0 mode 0.0 closure L/R -0.0 0.58 force L/R -0.0 0.0\n  name                 pos     target   diff    torque\n  left_shoulder_pitch  -0.292 -0.335 +0.043     -7.6\n  left_shoulder_roll   +0.072 +0.053 +0.019     -5.6\n  left_shoulder_yaw    -0.677 -0.681 +0.004     -1.8\n  left_elbow_pitch     +0.464 +0.458 +0.006     -2.8\n  left_elbow_roll      +0.028 +0.034 -0.006     +0.5\n  left_wrist_pitch     -0.462 -0.451 -0.011     +0.2\n  left_wrist_yaw       +0.808 +0.788 +0.020     -0.8\n  right_shoulder_pitch -0.510 -0.574 +0.064    -14.5\n  right_shoulder_roll  +0.196 +0.230 -0.034    +11.2\n  right_shoulder_yaw   -0.324 -0.305 -0.019     +2.1\n  right_elbow_pitch    +1.494 +1.469 +0.025     -4.3\n  right_elbow_roll     +1.374 +1.339 +0.035     -1.9\n  right_wrist_pitch    -0.279 -0.261 -0.018     +1.1\n  right_wrist_yaw      +1.032 +1.083 -0.051     +3.1\n\n[stdout]\npatched\nep 4 left 2\n[R1] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=884.28\n  hold 0.0 0.0 mode 0.0 closure L/R -0.0 0.58 force L/R -0.0 0.0\nEPISODE OVER mid-chunk: 409 /submit: episode finished; reason failed; resets_left 2\n[R2] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=884.84\n  hold 0.0 0.0 mode 0.0 closure L/R -0.0 0.58 force L/R -0.0 0.0\n  name                 pos     target   diff    torque\n  left_shoulder_pitch  -0.292 -0.335 +0.043     -7.6\n  left_shoulder_roll   +0.072 +0.053 +0.019     -5.6\n  left_shoulder_yaw    -0.677 -0.681 +0.004     -1.8\n  left_elbow_pitch     +0.464 +0.458 +0.006     -2.8\n  left_elbow_roll      +0.028 +0.034 -0.006     +0.5\n  left_wrist_pitch     -0.462 -0.451 -0.011     +0.2\n  left_wrist_yaw       +0.808 +0.788 +0.020     -0.8\n  right_shoulder_pitch -0.510 -0.574 +0.064    -14.5\n  right_shoulder_roll  +0.196 +0.230 -0.034    +11.2\n  right_shoulder_yaw   -0.324 -0.305 -0.019     +2.1\n  right_elbow_pitch    +1.494 +1.469 +0.025     -4.3\n  right_elbow_roll     +1.374 +1.339 +0.035     -1.9\n  right_wrist_pitch    -0.279 -0.261 -0.018     +1.1\n  right_wrist_yaw      +1.032 +1.083 -0.051     +3.1","exit":[],"pics":[]},"tok":{"in":85015,"cached":84340,"out":2869,"think":null,"usd":0},"sim":{"submit":1,"reset":1}},{"id":29,"t":960.1,"say":"","calls":[{"kind":"shell","label":"Crop R1 early-swing frames","code":"ls fr_R1_* | head; for i in 001 002 003; do python3 -c \"\nfrom crop import crop\ncrop('fr_R1_venue_$i.png',(95,100,205,265),4,'r1_$i.png')\"; done"}],"out":{"text":"fr_R1_venue_000.png\nfr_R1_venue_001.png\nfr_R1_venue_002.png\nfr_R1_venue_003.png\n\n[stdout]\nfr_R1_venue_000.png\nfr_R1_venue_001.png\nfr_R1_venue_002.png\nfr_R1_venue_003.png","exit":[],"pics":[]},"tok":{"in":89863,"cached":85009,"out":1267,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":30,"t":974.4,"say":"","calls":[{"kind":"look","label":"r1_002.png","code":"/app/output/work/r1_002.png"},{"kind":"look","label":"r1_003.png","code":"/app/output/work/r1_003.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-layup-i00-standard--g5tggo6/s030_0.jpg","embodied-olympics-fun-layup-i00-standard--g5tggo6/s030_0.jpg"]},"tok":{"in":91188,"cached":89857,"out":121,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":31,"t":1062.0,"say":"The left arm wrapping around is the contact risk. New approach: **one-handed carry** (swing the left arm away to the side — legal, since having the ball in the hand only requires contact with one or more hands). Combine the carry + sag + hop labs all into episode 5, and devote episode 6 to the graded attempt.","calls":[{"kind":"edit","label":"attempt.py","code":"/app/output/work/attempt.py\n\n\"\"\"Chunked layup attempt driver. Chunks run in separate invocations; episode state persists between them.\"\"\"\nimport sys, json\nimport numpy as np\nfrom PIL import Image\nfrom lab import *\nfrom rcb_client import Robot, EpisodeOver\n\nJN = list(J.keys())\nARM_IDX = [J[\"torso\"]]+[J[n] for n in JN[13:]]\nP = json.load(open(\"/app/output/work/params.json\"))\n\ndef merge(*ds):\n    o = {}\n    for d in ds: o.update(d)\n    return o\n\nCHEST = pose()\nAWAY = merge(CHEST, {\"left_shoulder_pitch\":-0.35,\"left_shoulder_roll\":1.0,\"left_shoulder_yaw\":0.0,\n                     \"left_elbow_pitch\":0.7,\"left_elbow_roll\":0.0,\"left_wrist_pitch\":0.0,\"left_wrist_yaw\":0.0})\nOVER = merge(AWAY, {\"right_shoulder_pitch\":P[\"over_sp\"],\"right_shoulder_roll\":-0.12,\"right_shoulder_yaw\":0.1,\n                    \"right_elbow_pitch\":P[\"over_ep\"],\"right_elbow_roll\":1.34,\"right_wrist_pitch\":-0.2,\"right_wrist_yaw\":1.08})\nSNAP = merge(OVER, {\"right_shoulder_pitch\":P[\"snap_sp\"],\"right_elbow_pitch\":P[\"snap_ep\"],\"right_wrist_pitch\":-0.35})\nDOWN = merge(AWAY, {\"right_shoulder_pitch\":0.2,\"right_shoulder_roll\":-0.1,\"right_elbow_pitch\":0.6})\n\ndef legsf(lean, hp=-0.45, kn=1.05, ap=-0.60):\n    return legs(hp=hp+lean, kn=kn, ap=ap)\nCROUCH = lambda lean: merge(OVER, legsf(lean))\nEXT    = lambda lean: merge(OVER, legs(hp=0.35+lean, kn=-0.05, ap=0.50))\nTUCK   = merge(OVER, legs(hp=-0.50, kn=0.80, ap=-0.35))\nABSORB = merge(OVER, legs(hp=-0.85, kn=1.50, ap=-0.65))\nFF = {\"left_hip_pitch\":P[\"ff_hip\"],\"right_hip_pitch\":P[\"ff_hip\"],\n      \"left_knee\":P[\"ff_knee\"],\"right_knee\":P[\"ff_knee\"],\n      \"left_ankle_pitch\":P[\"ff_ank\"],\"right_ankle_pitch\":P[\"ff_ank\"]}\nGRAV = {n: P[\"grav\"].get(n, 0.0) for n in JN[:13]}          # static gravity feed-forward, stance\nGRAV_C = {n: P[\"grav_c\"].get(n, 0.0) for n in JN[:13]}      # ... crouch\nKP, KD = P.get(\"kp\", 1500), P.get(\"kd\", 20)\n\ndef gff(t01):  # interpolate gravity ff stance->crouch by segment progress? caller passes explicit dict\n    return GRAV\n\ndef stand_rows(segs):\n    rows,_ = build(segs)\n    return np.array([np.concatenate([r[:27][ARM_IDX], r[135:137]]) for r in rows])\n\ndef sub(r, kind, rows, tag, fps=10):\n    try:\n        res = r.submit(kind, rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=fps)\n    except EpisodeOver as e:\n        print(\"EPISODE OVER before chunk:\", e); return None\n    m = res.meta\n    print(f\"[{tag}] done={m.get('done')} outcome={m.get('outcome')} stages={m.get('stages_reached')} t={m.get('time_s'):.2f}\")\n    for cam,fr in (res.frames or {}).items():\n        arr = np.asarray(fr)\n        for i in range(arr.shape[0]):\n            Image.fromarray(arr[i]).save(f\"/app/output/work/fr_{tag}_{cam}_{i:03d}.png\")\n    p = np.asarray(res.proprio)\n    if p.ndim == 2 and len(p) > 1:\n        vz = None\n        for row in p:\n            pass\n    pr = p[-1]\n    print(\"  hold\", pr[128], pr[129], \"mode\", pr[130], \"closureR\", round(float(pr[150]),2))\n    # pelvis vertical velocity proxy: integrate? print pelvis accel + torso gyro ove\n… (233 characters left out) …\ns.proprio)[-1]\n    out = {}\n    print(\"  name                 pos     target   diff    torque\")\n    for i in range(lo,hi):\n        print(f\"  {JN[i]:20s} {pr[i]:+.3f} {pr[81+i]:+.3f} {pr[i]-pr[81+i]:+.3f} {pr[54+i]:+8.1f}\")\n        out[JN[i]] = round(float(pr[54+i]),1)\n    return out\n\ndef hop(lean, tag, ff=FF):\n    return [Seg(P[\"t_crouch\"], CROUCH(lean), grip=(0,P[\"grip\"]), kp=KP, kd=KD, tau=GRAV_C),\n            Seg(P[\"t_ext\"], EXT(lean), grip=(0,P[\"grip\"]), kp=KP, kd=KD, tau=ff),\n            Seg(P[\"t_fly\"], TUCK, grip=(0,P[\"grip\"]), kp=KP, kd=KD),\n            Seg(P[\"t_abs\"], ABSORB, grip=(0,P[\"grip\"]), kp=KP, kd=KD),\n            Seg(0.4, CROUCH(lean), grip=(0,P[\"grip\"]), kp=KP, kd=KD, tau=GRAV_C)]\n\nCH = {}\nCH[\"S1\"] = lambda: (\"stand\", stand_rows([Seg(0.5, AWAY, grip=(0,0.5))]), \"S1\")\nCH[\"S2\"] = lambda: (\"stand\", stand_rows([Seg(P[\"t_swing\"], OVER, grip=(0,P[\"grip\"]))]), \"S2\")\nCH[\"S3\"] = lambda: (\"stand\", stand_rows([Seg(0.5, OVER, grip=(0,P[\"grip\"]))]), \"S3\")\nCH[\"S4\"] = lambda: (\"lowcmd\", build([Seg(0.7, OVER, grip=(0,P[\"grip\"]))])[0], \"S4\")\nCH[\"S5\"] = lambda: (\"lowcmd\", build([Seg(0.7, CROUCH(0.0), grip=(0,P[\"grip\"]), kp=KP, kd=KD)])[0], \"S5\")\nCH[\"S6\"] = lambda: (\"lowcmd\", build(hop(0.0,\"h1\"))[0], \"S6\")\nCH[\"S7\"] = lambda: (\"lowcmd\", build(hop(0.0,\"h2\"))[0], \"S7\")\ndef _s8():\n    segs = [Seg(P[\"t_j1\"], EXT(P[\"lean3\"]), grip=(0,P[\"grip\"]), kp=KP, kd=KD, tau=FF),\n            Seg(P[\"t_j1b\"], merge(EXT(P[\"lean3\"]), OVER), grip=(0,P[\"grip\"]), kp=KP, kd=KD, tau=FF),\n            Seg(P[\"t_snap\"], SNAP, grip=(lambda t: 0, lambda t: P[\"grip\"]*(1-t)), kp=KP, kd=KD),\n            Seg(0.45, merge(TUCK, DOWN), grip=(0,0), kp=KP, kd=KD),\n            Seg(0.5, merge(ABSORB, DOWN), grip=(0,0), kp=KP, kd=KD),\n            Seg(0.6, merge(CROUCH(0.0), DOWN), grip=(0,0), kp=KP, kd=KD, tau=GRAV_C)]\n    return (\"lowcmd\", build(segs)[0], \"S8\")\nCH[\"S8\"] = _s8\ndef _full():\n    l1, l2, l3 = P[\"lean1\"], P[\"lean2\"], P[\"lean3\"]\n    segs = hop(l1,\"h1\") + hop(l2,\"h2\") + [\n            Seg(P[\"t_j1\"], EXT(l3), grip=(0,P[\"grip\"]), kp=KP, kd=KD, tau=FF),\n            Seg(P[\"t_j1b\"], merge(EXT(l3), OVER), grip=(0,P[\"grip\"]), kp=KP, kd=KD, tau=FF),\n            Seg(P[\"t_snap\"], SNAP, grip=(lambda t: 0, lambda t: P[\"grip\"]*(1-t)), kp=KP, kd=KD),\n            Seg(0.45, merge(TUCK, DOWN), grip=(0,0), kp=KP, kd=KD),\n            Seg(0.5, merge(ABSORB, DOWN), grip=(0,0), kp=KP, kd=KD),\n            Seg(0.7, merge(CROUCH(0.0), DOWN), grip=(0,0), kp=KP, kd=KD, tau=GRAV_C)]\n    return (\"lowcmd\", build(segs)[0], \"FULL\")\nCH[\"FULL\"] = _full\n\nif __name__ == \"__main__\":\n    r = Robot()\n    for which in sys.argv[1:]:\n        kind, rows, tag = CH[which]()\n        res = sub(r, kind, rows, tag)\n        if res is None: break\n        if which in (\"S4\",\"S5\"):\n            t = table(res)\n            json.dump(t, open(f\"/app/output/work/torques_{which}.json\",\"w\"), indent=1)\n        if res.meta.get(\"done\"):\n            print(\"EPISODE OVER:\", res.meta.get(\"outcome\"), res.meta.get(\"stages_reached\"))\n            break\n"}],"out":{"text":"File created successfully at: /app/output/work/attempt.py (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":91921,"cached":91182,"out":5844,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":32,"t":1143.3,"say":"","calls":[{"kind":"robot","label":"Episode 5: left arm away, one-hand overhead swing, hold","code":"cat > /app/output/work/params.json <<'EOF'\n{\n \"over_sp\": -2.0, \"over_ep\": 1.0, \"snap_sp\": -2.45, \"snap_ep\": 0.15,\n \"grip\": 0.6, \"t_swing\": 1.4,\n \"t_crouch\": 0.35, \"t_ext\": 0.25, \"t_fly\": 0.5, \"t_abs\": 0.45,\n \"t_j1\": 0.22, \"t_j1b\": 0.10, \"t_snap\": 0.16,\n \"lean1\": 0.0, \"lean2\": 0.0, \"lean3\": 0.0,\n \"ff_hip\": 130, \"ff_knee\": -170, \"ff_ank\": 45,\n \"grav\": {}, \"grav_c\": {},\n \"kp\": 1500, \"kd\": 20\n}\nEOF\ntimeout 120 python3 -c \"\nfrom rcb_client import Robot\nr=Robot(); res=r.reset(); print('ep',res.meta.get('episode'),'left',res.meta.get('resets_left'))\" && timeout 400 python3 attempt.py S1 S2 S3 2>&1 | tail -8"}],"out":{"text":"ep 5 left 1\n[S1] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=1113.67\n  hold 0.0 0.0 mode 0.0 closureR 0.48\n  pelvis acc first/mid/last: [-0. -0. -0.] [ 0.4 -0.2  9.6] [ 0.4 -0.   9.9]\nEPISODE OVER: the ball touched a part of you other than a hand while in your hands 0\n\n[stdout]\nep 5 left 1\n[S1] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=1113.67\n  hold 0.0 0.0 mode 0.0 closureR 0.48\n  pelvis acc first/mid/last: [-0. -0. -0.] [ 0.4 -0.2  9.6] [ 0.4 -0.   9.9]\nEPISODE OVER: the ball touched a part of you other than a hand while in your hands 0","exit":[],"pics":[]},"tok":{"in":97808,"cached":91915,"out":1540,"think":null,"usd":0},"sim":{"submit":1,"reset":1}},{"id":33,"t":1266.3,"say":"Only **one attempt** left (episode 6, final score target). All remaining verification needs to be done within the attempt via freeze & inspect between chunks. Reconstructing with minimum-risk design: peel the left hand via pure abduction, overhead carry with one hand, hop in lowcmd with high gain, toss = vertical snap + horizontal velocity of the body.","calls":[{"kind":"robot","label":"Episode 6 (graded): chunk A left-hand peel by abduction","code":"python3 - <<'EOF'\nsrc = open('attempt.py').read()\nadd = '''\nAWAY = merge(CHEST, {\"left_shoulder_roll\":0.9})\ndef chunkA():\n    return (\"stand\", stand_rows([Seg(0.4, AWAY, grip=(0,lambda t:0.3+0.35*t))]), \"A\")\ndef chunkB():\n    return (\"stand\", stand_rows([Seg(P[\"t_swing\"], OVER, grip=(0,P[\"grip\"]))]), \"B\")\ndef chunkC():\n    return (\"stand\", stand_rows([Seg(0.4, OVER, grip=(0,P[\"grip\"]))]), \"C\")\ndef chunkD():\n    return (\"lowcmd\", build([Seg(0.5, OVER, grip=(0,P[\"grip\"]), kp=KP, kd=KD)])[0], \"D\")\ndef chunkE():\n    return (\"lowcmd\", build(hop(P[\"lean1\"],\"h1\"))[0], \"E\")\ndef chunkF():\n    return (\"lowcmd\", build(hop(P[\"lean2\"],\"h2\"))[0], \"F\")\nCH[\"A\"]=chunkA; CH[\"B\"]=chunkB; CH[\"C\"]=chunkC; CH[\"D\"]=chunkD; CH[\"E\"]=chunkE; CH[\"F\"]=chunkF\n'''\nsrc = src.replace('if __name__ == \"__main__\":', add + '\\nif __name__ == \"__main__\":')\nopen('attempt.py','w').write(src)\nprint(\"ok\")\nEOF\ncat > /app/output/work/params.json <<'EOF'\n{\n \"over_sp\": -2.0, \"over_ep\": 1.0, \"snap_sp\": -2.35, \"snap_ep\": 0.15,\n \"grip\": 0.65, \"t_swing\": 1.6,\n \"t_crouch\": 0.35, \"t_ext\": 0.26, \"t_fly\": 0.5, \"t_abs\": 0.45,\n \"t_j1\": 0.24, \"t_j1b\": 0.10, \"t_snap\": 0.16,\n \"lean1\": 0.0, \"lean2\": 0.0, \"lean3\": 0.0,\n \"ff_hip\": 140, \"ff_knee\": -180, \"ff_ank\": 50,\n \"grav\": {}, \"grav_c\": {},\n \"kp\": 1500, \"kd\": 25\n}\nEOF\ntimeout 120 python3 -c \"\nfrom rcb_client import Robot\nr=Robot(); res=r.reset(); print('ep',res.meta.get('episode'),'left',res.meta.get('resets_left'))\" && timeout 300 python3 attempt.py A 2>&1 | tail -4"}],"out":{"text":"ok\nep 6 left 0\n[A] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=1241.62\n  hold 0.0 0.0 mode 0.0 closureR 0.48\n  pelvis acc first/mid/last: [-0. -0. -0.] [0.4 0.2 9.7] [-0.5  0.8  9.7]\nEPISODE OVER: the ball touched a part of you other than a hand while in your hands 0\n\n[stdout]\nok\nep 6 left 0\n[A] done=True outcome=the ball touched a part of you other than a hand while in your hands stages=0 t=1241.62\n  hold 0.0 0.0 mode 0.0 closureR 0.48\n  pelvis acc first/mid/last: [-0. -0. -0.] [0.4 0.2 9.7] [-0.5  0.8  9.7]\nEPISODE OVER: the ball touched a part of you other than a hand while in your hands 0","exit":[],"pics":[]},"tok":{"in":99498,"cached":97802,"out":5059,"think":null,"usd":0},"sim":{"submit":1,"reset":1}},{"id":34,"t":1314.0,"say":"","calls":[{"kind":"shell","label":"Confirm attempt budget exhausted","code":"timeout 60 python3 -c \"\nfrom rcb_client import Robot\nimport json\nr=Robot(); st=r.status(); print(json.dumps(st))\""}],"out":{"text":"{\"calls\": 14, \"rows\": 434, \"control_steps\": 23, \"done\": true, \"reason\": \"failed\", \"episode\": 6, \"control_steps_total\": 434, \"resets_left\": 0, \"elapsed_s\": 1277.9}\n\n[stdout]\n{\"calls\": 14, \"rows\": 434, \"control_steps\": 23, \"done\": true, \"reason\": \"failed\", \"episode\": 6, \"control_steps_total\": 434, \"resets_left\": 0, \"elapsed_s\": 1277.9}","exit":[],"pics":[]},"tok":{"in":104787,"cached":99492,"out":1411,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":35,"t":1356.5,"say":"The budget has been exhausted: Episode 6 (the episode subject to final evaluation) ended at the 0.23-second mark due to a ball-contact violation, and no resets remain. Since the trial results have been finalized, I'll wrap things up by creating the deliverables (`gen.py`, `NOTES.md`) that accurately record the controller and the investigation results.","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\n\"\"\"Layup controller for the Embodied-Olympics H1-2 task (eai-standard/2.1).\n\nDesign (chunked open-loop lowcmd/stand trajectory, freeze-inspect between chunks):\n  A  stand : peel left hand off the ball (shoulder-roll only), ramp right grip 0.3->0.65\n  B  stand : swing right arm (ball on upturned palm) to an overhead carry above/forward of the head\n  C  stand : hold carry\n  D  lowcmd: take over legs at stiff gains (kp 1500 / kd 25), no gravity ff (sag ~tau/kp)\n  E  lowcmd: hop 1 (crouch -> explosive extend w/ feed-forward -> tuck -> absorb)  = step 1\n  F  lowcmd: hop 2, same, with forward lean                                    = step 2\n  G  lowcmd: jump 3: extend + vertical arm SNAP; grip opens mid-snap so the ball\n             leaves at hand speed (vertical) plus body vx (horizontal); land, absorb.\nRelease legality: airborne >=0.05 s after a take-off with pelvis vz>=0.5, ball within\n1.25 m horizontally of the ring; success = ball centre down through the ring plane.\n\nWhat actually happened on the robot (see NOTES.md): every attempt ended in the\n\"ball touched a part of you other than a hand\" violation.  The start hold wedges the\nball between the right palm and the left palm; peeling the left hand off (any left-arm\nmotion) lets the ball settle onto the left wrist/forearm, and swinging the right arm\nup slides the ball along the stationary left hand until it tips onto that forearm.\nOnly the fully static start hold with a gentle right-grip ramp survived (1.0 s probe).\n\"\"\"\nimport json\nimport numpy as np\nfrom rcb_client import Robot\n\nJ = {n: i for i, n in enumerate([\n    \"left_hip_yaw\", \"left_hip_pitch\", \"left_hip_roll\", \"left_knee\", \"left_ankle_pitch\", \"left_ankle_roll\",\n    \"right_hip_yaw\", \"right_hip_pitch\", \"right_hip_roll\", \"right_knee\", \"right_ankle_pitch\", \"right_ankle_roll\",\n    \"torso\",\n    \"left_shoulder_pitch\", \"left_shoulder_roll\", \"left_shoulder_yaw\", \"left_elbow_pitch\", \"left_elbow_roll\",\n    \"left_wrist_pitch\", \"left_wrist_yaw\",\n    \"right_shoulder_pitch\", \"right_shoulder_roll\", \"right_shoulder_yaw\", \"right_elbow_pitch\", \"right_elbow_roll\",\n    \"right_wrist_pitch\", \"right_wrist_yaw\"])}\nNJ = 27\nRANGE = np.array([[-0.43, 0.43], [-3.14, 2.5], [-0.43, 3.14], [-0.26, 2.05], [-0.8973, 0.5236], [-0.2618, 0.2618],\n                  [-0.43, 0.43], [-3.14, 2.5], [-3.14, 0.43], [-0.26, 2.05], [-0.8973, 0.5236], [-0.2618, 0.2618],\n                  [-2.35, 2.35],\n                  [-3.14, 1.57], [-0.38, 3.4], [-2.66, 3.01], [-0.95, 3.18], [-3.01, 2.75], [-0.47, 0.47], [-1.27, 1.27],\n                  [-3.14, 1.57], [-3.4, 0.38], [-3.01, 2.66], [-0.95, 3.18], [-2.75, 3.01], [-0.47, 0.47], [-1.27, 1.27]])\nKPMAX = np.array([1500] * 12 + [800] + [400] * 14, float)\nKDMAX = np.array([30] * 12 + [20] + [10] * 14, float)\nDEFKP = np.array([800, 800, 800, 1200, 160, 160, 800, 800, 800, 1200, 160, 160, 600,\n                  300, 300, 200, 200, 80, 60, 60, 300, 300, 200, 200, 80, 60, 60], float)\nDEFKD = np.array([10, 10, 10, 16, 8, 8, 10, 10,\n… (3,269 characters left out) …\nist(J)[13:]]\n\n\ndef stand_rows(segs):\n    return np.array([np.concatenate([r[:NJ][ARM_IDX], r[135:137]]) for r in build(segs)])\n\n\ndef trajectory(p=PARAMS):\n    \"\"\"(kind, rows) per chunk, in order; submit one chunk per call and inspect between.\"\"\"\n    CHEST = pose()\n    AWAY = merge(CHEST, {\"left_shoulder_roll\": 0.9})\n    OVER = merge(CHEST, {\"right_shoulder_pitch\": p[\"over_sp\"], \"right_shoulder_roll\": -0.12,\n                         \"right_shoulder_yaw\": 0.1, \"right_elbow_pitch\": p[\"over_ep\"],\n                         \"right_elbow_roll\": 1.34, \"right_wrist_pitch\": -0.2, \"right_wrist_yaw\": 1.08,\n                         \"left_shoulder_roll\": 0.9})\n    SNAP = merge(OVER, {\"right_shoulder_pitch\": p[\"snap_sp\"], \"right_elbow_pitch\": p[\"snap_ep\"],\n                        \"right_wrist_pitch\": -0.35})\n    DOWN = merge(OVER, {\"right_shoulder_pitch\": 0.2, \"right_shoulder_roll\": -0.1, \"right_elbow_pitch\": 0.6})\n    C = lambda ln: merge(OVER, legs(hp=-0.45 + ln, kn=1.05, ap=-0.60))\n    E = lambda ln: merge(OVER, legs(hp=0.35 + ln, kn=-0.05, ap=0.50))\n    TUCK = merge(OVER, legs(hp=-0.50, kn=0.80, ap=-0.35))\n    ABSORB = merge(OVER, legs(hp=-0.85, kn=1.50, ap=-0.65))\n    FF = {\"left_hip_pitch\": p[\"ff_hip\"], \"right_hip_pitch\": p[\"ff_hip\"],\n          \"left_knee\": p[\"ff_knee\"], \"right_knee\": p[\"ff_knee\"],\n          \"left_ankle_pitch\": p[\"ff_ank\"], \"right_ankle_pitch\": p[\"ff_ank\"]}\n    K, KD = p[\"kp\"], p[\"kd\"]\n\n    def hop(ln):\n        return [Seg(p[\"t_crouch\"], C(ln), grip=(0, p[\"grip\"]), kp=K, kd=KD),\n                Seg(p[\"t_ext\"], E(ln), grip=(0, p[\"grip\"]), kp=K, kd=KD, tau=FF),\n                Seg(p[\"t_fly\"], TUCK, grip=(0, p[\"grip\"]), kp=K, kd=KD),\n                Seg(p[\"t_abs\"], ABSORB, grip=(0, p[\"grip\"]), kp=K, kd=KD),\n                Seg(0.4, C(ln), grip=(0, p[\"grip\"]), kp=K, kd=KD)]\n\n    jump = [Seg(p[\"t_j1\"], E(p[\"lean3\"]), grip=(0, p[\"grip\"]), kp=K, kd=KD, tau=FF),\n            Seg(p[\"t_snap\"], SNAP, grip=(0, lambda t: p[\"grip\"] * (1 - t)), kp=K, kd=KD),\n            Seg(0.45, merge(TUCK, DOWN), grip=(0, 0), kp=K, kd=KD),\n            Seg(0.50, merge(ABSORB, DOWN), grip=(0, 0), kp=K, kd=KD),\n            Seg(0.70, merge(C(0.0), DOWN), grip=(0, 0), kp=K, kd=KD)]\n    return [(\"stand\", stand_rows([Seg(0.4, AWAY, grip=(0, lambda t: 0.3 + 0.35 * t))])),\n            (\"stand\", stand_rows([Seg(p[\"t_swing\"], OVER, grip=(0, p[\"grip\"]))])),\n            (\"stand\", stand_rows([Seg(0.4, OVER, grip=(0, p[\"grip\"]))])),\n            (\"lowcmd\", build([Seg(0.5, OVER, grip=(0, p[\"grip\"]), kp=K, kd=KD)])),\n            (\"lowcmd\", build(hop(p[\"lean1\"]))),\n            (\"lowcmd\", build(hop(p[\"lean2\"]))),\n            (\"lowcmd\", build(jump))]\n\n\nif __name__ == \"__main__\":\n    r = Robot()\n    for kind, rows in trajectory():\n        res = r.submit(kind, rows, dt=0.01, cameras=[\"venue\"], video=\"frames\", video_fps=10)\n        m = res.meta\n        print(kind, \"done\", m.get(\"done\"), \"outcome\", m.get(\"outcome\"), \"stages\", m.get(\"stages_reached\"))\n        if m.get(\"done\"):\n            break\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":106283,"cached":104781,"out":4956,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":36,"t":1423.9,"say":"","calls":[{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\n# Layup task notes (H1-2, eai-standard/2.1) — trial ended FAILED, budget exhausted\n\nApproach: chunked open-loop control; time freezes between calls, so each phase was a separate\n`submit` with venue-frame inspection in between. `stand` for arm/ball work, `lowcmd` (kp 1500/kd 25,\nfeed-forward hip +140 / knee -180 / ankle +50 N m for extension) for hops: hop=step1, hop=step2,\njump3 = take-off + vertical arm SNAP whose hand speed + body vx launch the ball; grip opens mid-snap.\nPlan: 2 leans + jump cover the 1.36 m needed to get the ball inside 1.25 m of the ring at release.\n\nWhat failed (all 6 attempts, stages 0/3): referee \"ball touched a part of you other than a hand\".\nThe start hold wedges the ball between right palm and left palm. Any left-arm motion (even pure\nshoulder-roll peel) drops the ball onto the left wrist/forearm; swinging the right arm up slides the\nball along the stationary left hand until it tips onto that forearm; an overhead swing v1 parked the\nball against the head. Only a fully static left arm + slow right-grip ramp (0.3->0.6, 1 s) survived.\nAlso learned: `lowcmd`/`joints` have no gravity compensation (body sags/sways vs `stand`); walking\npolicy is unusable (marking time counts as steps -> travelling).\n\nWould try next with a fresh budget: move the left hand as a parallel offset tracker (same path as the\nball, 8-10 cm to its left, never touching), or cup the ball deeper (grip 0.8) and swing slower; measure\ngravity torques per pose from proprio `*_torque` at sag equilibrium and feed them forward.\n\nNothing downloaded or installed (numpy/PIL only, already present). Deliverable: /app/output/gen.py.\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":111323,"cached":106277,"out":520,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":37,"t":1460.6,"say":"","calls":[{"kind":"shell","label":"Syntax-check gen.py and build trajectory offline","code":"cd /app/output && python3 -I -c \"\nimport ast,sys\nsrc=open('gen.py').read(); ast.parse(src)\nimport numpy as np\nns={}\nexec(compile(src.replace('if __name__ == \\\"__main__\\\":','if False:'),'gen.py','exec'), ns)\ntr = ns['trajectory']()\nfor k,rows in tr: print(k, rows.shape)\nprint('gen.py OK')\"; wc -l /app/output/NOTES.md"}],"out":{"text":"Traceback (most recent call last):\n  File \"<string>\", line 6, in <module>\n  File \"gen.py\", line 24, in <module>\n    from rcb_client import Robot\nModuleNotFoundError: No module named 'rcb_client'\n21 /app/output/NOTES.md\n\n[stdout]\nTraceback (most recent call last):\n  File \"<string>\", line 6, in <module>\n  File \"gen.py\", line 24, in <module>\n    from rcb_client import Robot\nModuleNotFoundError: No module named 'rcb_client'\n21 /app/output/NOTES.md","exit":[],"pics":[]},"tok":{"in":111886,"cached":111317,"out":386,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":38,"t":1482.0,"say":"","calls":[{"kind":"shell","label":"Compile and offline-build the gen.py trajectory","code":"python3 -c \"\nimport ast\nsrc=open('gen.py').read(); ast.parse(src)\nimport sys; sys.path.insert(0,'/opt/tools')\nimport types; sys.modules['rcb_client']=types.ModuleType('rcb_client'); sys.modules['rcb_client'].Robot=object\nns={}; exec(compile(src.replace('if __name__ == \\\"__main__\\\":','if False:'),'gen.py','exec'), ns)\nfor k,rows in ns['trajectory'](): print(k, rows.shape)\nprint('gen.py OK')\""},{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\nWould try next with a fresh budget: move the left hand as a parallel offset tracker (same path as the\nball, 8-10 cm to its left, never touching), or cup deeper (grip 0.8) and swing slower; feed gravity\ntorques (read from proprio `*_torque` at sag equilibrium per pose) forward in lowcmd.\nNothing downloaded or installed (numpy/PIL only, already present). Deliverable: /app/output/gen.py."}],"out":{"text":"stand (40, 17)\nstand (160, 17)\nstand (40, 17)\nlowcmd (50, 137)\nlowcmd (196, 137)\nlowcmd (196, 137)\nlowcmd (205, 137)\ngen.py OK\n\n[stdout]\nstand (40, 17)\nstand (160, 17)\nstand (40, 17)\nlowcmd (50, 137)\nlowcmd (196, 137)\nlowcmd (196, 137)\nlowcmd (205, 137)\ngen.py OK\nThe file /app/output/NOTES.md has been updated successfully. (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":112379,"cached":111880,"out":518,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":39,"t":1498.9,"say":"Done — deliverables are in place and verified. Final report:\n\n## Outcome: trial failed (graded attempt ended at 0.23 s)\n\nThe attempt budget (1 start + 5 resets = 6 episodes) was exhausted, and every episode — including the last, graded one — ended at stages 0/3 with the same referee call: **\"the ball touched a part of you other than a hand while in your hands.\"** No resets remain, so the result is fixed.\n\n## What the robot actually taught me\n\n- **The start hold is a wedge, not a carry.** The ball sits pinched between the upturned right palm and the left palm. Probes showed:\n  - fully static left arm + slow right-grip ramp (0.3→0.6 over 1 s): **clean**;\n  - any left-arm motion (even a pure shoulder-roll \"peel\"): the ball settles onto the left wrist/forearm → instant violation (this killed the graded attempt at step 23);\n  - right-arm overhead swing with the left arm frozen: the rising ball slides along the stationary left hand and tips onto that forearm; an earlier swing variant parked the ball against the head.\n- **`lowcmd`/`joints` have no gravity compensation** — the body sags and sways versus `stand`, so leg feed-forward torques measured at sag equilibrium are mandatory for hops.\n- **The walking policy is unusable here**: marking time lifts feet, and every touchdown counts as a step → travelling while holding the ball.\n\n## The controller I built (and would run with a fresh budget)\n\nChunked open-loop trajectory exploiting the freeze-between-calls property: `stand` for the ball work (left-hand peel → one-hand overhead carry), then `lowcmd` (kp 1500/kd 25 + extension feed-forward) for hop = step 1, hop = step 2, and jump 3 where a vertical arm SNAP gives the ball its upward speed while the body's forward velocity supplies the horizontal component; grip opens mid-snap so release happens airborne inside the 1.25 m no-charge radius. Geometry worked out: release ≈ (1.8 m, 2.25 m) with launch ≈ (2.0, 4.0) m/s drops the ball through the ring centre.\n\n## Deliverables\n\n- `/app/output/gen.py` — the full parametric controller (compiles; trajectory builds offline: 7 chunks, stand/lowcmd rows verified).\n- `/app/output/NOTES.md` — 20-line record: approach, the contact-geometry failure modes, and the next-step design (left hand as a parallel offset tracker that never touches the ball; deeper cup + slower swing; measured gravity feed-forward).\n- Nothing was downloaded or installed; only the preinstalled numpy/PIL were used.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":113027,"cached":112373,"out":703,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}