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runs/embodied-olympics-fun-sumo-i00-privileged--ofz88dn.json

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+{"slug":"embodied-olympics-fun-sumo-i00-privileged--ofz88dn","task":"embodied-olympics-fun-sumo-i00-privileged","bench":"embodied-olympics-fun","mode":"privileged","run":"antigravity_cli-gemini_3_8_flash-high","agent":"antigravity_sub:AntigravitySubscription","model":"gemini-3.8-flash","effort":"high","state":"success","success":1,"reward":{"success":1,"replay_success":1,"deterministic":1,"n_actions":427,"sim_steps":427,"horizon":3000,"episode_over":1,"progress":1.0,"stages_reached":1,"stages_total":1,"fell":0,"replay_s":7.47,"bad_trajectory":0,"metric_win_t":4.263,"grader_error":0,"video_rendered":1,"agent_sessions":71,"agent_resets":0,"agent_replays":6,"agent_cost_self_reported":1,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":2.936,"peak_processes":9,"peak_disk_gb":0.248,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0,"session_log_tampered":0,"session_log_from_monitor":0},"wall_s":623,"tokens":{"in":3432642,"cached":3141896,"out":22277,"usd":0.59},"task_text":"","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"embodied-olympics-fun-sumo-i00-privileged--ofz88dn/replay.mp4","replay_last":"embodied-olympics-fun-sumo-i00-privileged--ofz88dn/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"Listing directory contents","code":"ls -la /app /app/output /run/rcb-limits"}],"out":{"text":"The command exited with code 0.\nOutput:\n/app:\r\ntotal 44\r\ndrwxr-xr-x  3 root root  4096 Oct 23 06:30 .\r\ndr-xr-xr-x 20 root root  4096 Oct 23 06:30 ..\r\n-rw-rw-r--  1 root root 32020 Oct 23 06:27 instance.json\r\ndrwxr-xr-x  2 root root  4096 Oct 23 06:30 output\r\n\r\n/app/output:\r\ntotal 8\r\ndrwxr-xr-x 2 root root 4096 Oct 23 06:30 .\r\ndrwxr-xr-x 3 root root 4096 Oct 23 06:30 ..\r\n\r\n/run/rcb-limits:\r\ntotal 12\r\ndrwxr-xr-x 2 root root 4096 Oct 23 06:30 .\r\ndrwxr-xr-x 4 root root 4096 Oct 23 06:30 ..\r\n-rw-r--r-- 1 root root  478 Oct 23 06:30 usage.json","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":2.0,"say":"","calls":[{"kind":"shell","label":"Checking usage and listing opt tools","code":"cat /run/rcb-limits/usage.json; ls -la /opt/tools"}],"out":{"text":"The command exited with code 0.\nOutput:\n{\r\n \"t\": 1792737062.16,\r\n \"measured\": true,\r\n \"gpu_memory_gb\": 0.0,\r\n \"memory_gb\": 0.239,\r\n \"processes\": 5,\r\n \"disk_gb\": 0.0,\r\n \"enforced\": 0,\r\n \"limits\": {\r\n  \"max_gpu_memory_gb\": 0.0,\r\n  \"max_memory_gb\": 13.0,\r\n  \"max_processes\": 512,\r\n  \"max_disk_gb\": 20.0,\r\n  \"sustain_sec\": 60.0,\r\n  \"window_sec\": 120.0\r\n },\r\n \"violations\": [],\r\n \"emergency_kills\": 0,\r\n \"last_emergency_kill\": null,\r\n \"elapsed_s\": 15.0,\r\n \"time_limit_s\": 7200,\r\n \"time_left_s\": 7185.0,\r\n \"deadline_utc\": \"2026-10-23T08:30:47Z\"\r\n}total 60\r\ndrwxr-xr-x 3 root root  4096 Oct 23 06:30 .\r\ndrwxr-xr-x 5 root root  4096 Oct 23 06:30 ..\r\n-rw-r--r-- 1 root root 21497 Sep  9  2010 rcb_rfo.py\r\ndrwxr-xr-x 2 root root  4096 Oct 23 06:30 rfo\r\n-rw-rw-r-- 1 root root 20748 Oct 23 06:27 rfo_task.py","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":5.0,"say":"","calls":[{"kind":"shell","label":"reads rfo_task.py","code":"/opt/tools/rfo_task.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo_task.py`\nTotal Lines: 341\nTotal Bytes: 20748\nShowing lines 1 to 200\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"Sumo: one bout on a dohyo against a second, physical robot. Win by forcing the opponent out of the ring or\n2: making any part of it other than the soles of its feet touch the ground, before you do.\n3: \n4: The opponent is a second Unitree G1 from the same robot library (its own free base, its own motors with their\n5: torque-speed curves, Unitree's walking policy on its legs, the library's joint arbiter on its arms), mounted into\n6: the venue by this module. Its policy is scripted: from the tachiai it walks at the walking policy's largest forward\n7: command straight at the robot, turning to keep facing it, both arms stretched forward at chest height (oshi-zumo,\n8: the pushing style). It acts only through its motors: nothing writes its pose or velocity after t = 0.\"\"\"\n9: import importlib\n10: import math\n11: \n12: import numpy as np\n13: \n14: from rfo.task import TaskBase\n15: from rfo.referee import PART_OF_BODY, CENTRAL\n16: \n17: OPP = \"opp_\"                     # the opponent's name prefix in the model\n18: SIDES = (\"left\", \"right\")\n19: LOSS, ON_CLAY, TOUCH, KICK = 1, 2, 4, 8          # what a contact means (Task.table)\n20: # the opponent\n… (12,243 characters left out) …\n 0.0, H + 0.5), fovy=55)\n177: \n178:     def _ensure(self, w):\n179:         \"\"\"The opponent's rig and arbiter (the robot library's), once per model.\"\"\"\n180:         if getattr(self, \"_m\", None) is not w.m:\n181:             from bodies import load_body\n182:             from bodies.control.arbiter import Arbiter\n183:             self._m = w.m\n184:             self.rig = load_body(\"unitree_g1\").rig(w.m, OPP, hand=None)\n185:             self.arb = Arbiter(self.rig)\n186: \n187:     def reset(self, w):\n188:         d, r, p = w.d, w.robot, self.p\n189:         d.qpos[r.fq + 2] += p[\"mound_height_m\"]            # the robot stands on the clay\n190:         self._ensure(w)\n191:         rig, a = self.rig, self.arb\n192:         stand_z = importlib.import_module(\"bodies.unitree_g1.body\").STAND_Z\n193:         rig.place(d, rig.rest, pos=(self.d0, 0.0, p[\"mound_height_m\"] + stand_z), yaw=math.pi)\n194:         a.reset(d)                                         # its legs on the walking policy (zero command), arms held\n195: \n196:     # ------------------------------------------------------------------ the opponent's policy\n197:     def _opp_pose(self, w):\n198:         d, rig = w.d, self.rig\n199:         x, y = d.qpos[rig.fqadr], d.qpos[rig.fqadr + 1]\n200:         qw, qx, qy, qz = d.qpos[rig.fqadr + 3:rig.fqadr + 7]\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":8.0,"say":"","calls":[{"kind":"shell","label":"reads rfo_task.py","code":"/opt/tools/rfo_task.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo_task.py`\nTotal Lines: 341\nTotal Bytes: 20748\nShowing lines 201 to 341\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n201:         return float(x), float(y), math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy * qy + qz * qz))\n202: \n203:     def before_step(self, w):\n204:         p, a, d = self.p, self.arb, w.d\n205:         t = w.t\n206:         if t >= p[\"opp_start_s\"] - 1e-9:\n207:             ox, oy, oyaw = self._opp_pose(w)\n208:             rx, ry = w.d.qpos[w.robot.fq], w.d.qpos[w.robot.fq + 1]\n209:             err = (math.atan2(ry - oy, rx - ox) - oyaw + math.pi) % (2 * math.pi) - math.pi\n210:             wz = float(np.clip(p[\"opp_turn_gain\"] * err, -p[\"opp_wz_max\"], p[\"opp_wz_max\"]))\n211:             a.walk(d, (p[\"opp_vx\"], 0.0, wz))\n212:             self.stage[0] = 1\n213:             # the arms to the push pose, at the joints' speed limits (the arbiter's plan: rows within the limits)\n214:             G = a.GROUPS[\"arms\"]\n215:             goal = np.r_[PUSH_ARM[\"left\"], PUSH_ARM[\"right\"]]\n216:             cur = a.target()[G]\n217:             step = a.speed[G] * a.dt * 0.999\n218:             a.last_plan_step = -10 ** 9\n219:             a.plan(d, [\"arms\"], (cur + np.clip(goal - cur, -step, step))[None, :])\n220:         a.begin_step(d)\n221:         a.appl\n… (5,163 characters left out) …\n       return ref.fail(\"kicked the opponent's trunk (kinjite)\")\n321:         if 1 in lost and 2 in lost:\n322:             return ref.fail(\"both touched down together (no decision)\", robot=list(lost[1]), opponent=list(lost[2]))\n323:         if 1 in lost:\n324:             return ref.fail(f\"you lost: {lost[1][0]}\", part=lost[1][1])\n325:         if 2 in lost and not ref.success:\n326:             ref.metrics[\"win_t\"] = round(ref.time, 4)\n327:             ref.event(\"opponent lost\", how=lost[2][0], part=lost[2][1])\n328:             if ref.stage(\"win\", how=lost[2][0]):\n329:                 ref.succeed()\n330:         j = ref.ph % w.SUB                                # the opponent's motors for the next physics step\n331:         if j:\n332:             self.arb.apply(w.d, j + 1)\n333: \n334:     def privileged(self, w):\n335:         ox, oy, oyaw = self._opp_pose(w)\n336:         rig = self.rig\n337:         return {\"pelvis\": w.pelvis().tolist(), \"opponent_pelvis_xyz_yaw\": [ox, oy, float(w.d.qpos[rig.fqadr + 2]), oyaw],\n338:                 \"opponent_vel\": w.d.qvel[rig.fvadr:rig.fvadr + 6].tolist(), \"ring_centre\": [0.0, 0.0],\n339:                 \"ring_radius_m\": self.R_in, \"ring_out_radius_m\": self.R_out, \"clay_z\": self.p[\"mound_height_m\"],\n340:                 \"opponent_charging\": bool(self.stage[0])}\n341: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":10.0,"say":"","calls":[{"kind":"shell","label":"Testing session import","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nprint('Action types:', list(s.action_types.keys()))\nprint('Initial state pelvis:', s.state()['pelvis'])\nprint('Task state:', s.state()['task'])\n\""}],"out":{"text":"The command exited with code 1.\nOutput:\nAction types: ['stand', 'walk', 'run', 'run_arms', 'joints', 'lowcmd', 'walk_falcon', 'walk_agile']\r\nTraceback (most recent call last):\r\n  File \"<string>\", line 5, in <module>\r\nKeyError: 'pelvis'","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":20.0,"say":"","calls":[{"kind":"shell","label":"Inspecting state keys","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nprint('State keys:', list(s.state().keys()))\nprint('State:', s.state())\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nState keys: ['time_s', 'pelvis_xyz_yaw', 'com', 'q', 'dq', 'q_target', 'held', 'left_palm', 'right_palm', 'task']\r\nState: {'time_s': 0.0, 'pelvis_xyz_yaw': [-0.71, 0.0, 1.343, 0.0], 'com': [-0.7023515316529407, 8.226090168117387e-05, 1.246319920070513], 'q': [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, -0.1, 0.0, 0.0, 0.3, -0.2, 0.0, 0.0, 0.0, 0.0, 0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0, 0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0], 'dq': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'q_target': [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, -0.1, 0.0, 0.0, 0.3, -0.2, 0.0, 0.0, 0.0, 0.0, 0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0, 0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0], 'held': {'left': None, 'right': None}, 'left_palm': [-0.7155989278144463, 0.24984289299627108, 1.1525832835057432], 'right_palm': [-0.7155989278144463, -0.24983289299627107, 1.1525832835057432], 'task': {'pelvis': [-0.71, 0.0, 1.343, 0.0], 'opponent_pelvis_xyz_yaw': [0.71, 0.0, 1.343, 3.141592653589793], 'opponent_vel': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'ring_centre': [0.0, 0.0], 'ring_radius_m': 2.275, 'ring_out_radius_m': 2.395, 'clay_z': 0.55, 'opponent_charging': False}}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":25.0,"say":"","calls":[{"kind":"robot","label":"Testing hold action","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\ntyp, row = s.hold()\nprint('Hold type:', typ, 'row len:', len(row))\nfor i in range(100):\n    done = s.step(typ, row)\n    if done:\n        break\nprint('Done at step', i, 'status:', s.status())\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nHold type: stand row len: 19\r\nDone at step 99 status: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 100, 'time_s': 1.0, 'events': [], 'state_sha': '3f623d675ecb50ebe31ac3ad67b9019835d822ec80bc722ebd1c9c6b120dc6c0'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":32.0,"say":"","calls":[{"kind":"robot","label":"Testing hold until contact","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\ntyp, row = s.hold()\nfor i in range(300):\n    done = s.step(typ, row)\n    if done:\n        print('Finished at step', i, 'time:', s.status()['time_s'])\n        print('Status:', s.status())\n        break\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-16\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\ntyp, row = s.hold()\nfor i in range(300):\n    done = s.step(typ, row)\n    if done:\n        print('Finished at step', i, 'time:', s.status()['time_s'])\n        print('Status:', s.status())\n        break\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-16.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":39.0,"say":"I have launched the simulation script to observe what happens when standing still as the opponent charges, and I am waiting for it to complete.","calls":[{"kind":"shell","label":"Checking simulation status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-16\",\n \"toolAction\": \"Checking simulation status\",\n \"toolSummary\": \"Check simulation status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-16\nStatus: DONE\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-16.log\nLast progress: never","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":41.0,"say":"","calls":[{"kind":"robot","label":"Running hold test for 400 steps","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\ntyp, row = s.hold()\nfor i in range(400):\n    done = s.step(typ, row)\n    if done:\n        print('Finished at step', i, 'time:', s.status()['time_s'])\n        print('Status:', s.status())\n        break\nelse:\n    print('Not done after 400 steps, time:', s.status()['time_s'])\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nFinished at step 330 time: 3.31\r\nStatus: {'success': False, 'done': True, 'failed': 'you lost: down', 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 331, 'time_s': 3.31, 'events': [{'ev': 'contact', 't': 2.24}, {'ev': 'fail', 't': 3.302, 'reason': 'you lost: down', 'part': 'pelvis low'}], 'state_sha': '73090398bf7342eaf5e6391b035fbd08732123bb2767d2c4d534cfaeeb0857a9'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":50.0,"say":"","calls":[{"kind":"shell","label":"Printing action types","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nimport pprint\nfor k, v in s.action_types.items():\n    print(k, 'dim:', v.dim, 'layout:', v.layout)\n\""}],"out":{"text":"The command exited with code 1.\nOutput:\nTraceback (most recent call last):\r\n  File \"<string>\", line 6, in <module>\r\nAttributeError: 'dict' object has no attribute 'dim'","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":55.0,"say":"","calls":[{"kind":"shell","label":"Pretty printing action types","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nimport pprint\npprint.pprint(s.action_types)\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\n<truncated 1 lines>\n                     'left_shoulder_yaw',\r\n                     'left_elbow',\r\n                     'left_wrist_roll',\r\n                     'left_wrist_pitch',\r\n                     'left_wrist_yaw',\r\n                     'right_shoulder_pitch',\r\n                     'right_shoulder_roll',\r\n                     'right_shoulder_yaw',\r\n                     'right_elbow',\r\n                     'right_wrist_roll',\r\n                     'right_wrist_pitch',\r\n                     'right_wrist_yaw',\r\n                     'grip_left',\r\n                     'grip_right'],\r\n          'lower': [-0.8,\r\n                    -0.5,\r\n                    -1.57,\r\n                    -2.618,\r\n                    -0.52,\r\n                    -0.52,\r\n                    -3.0892,\r\n                    -1.5882,\r\n                    -2.618,\r\n                    -1.0472,\r\n                    -1.9722,\r\n                    -1.6144,\r\n                    -1.6144,\r\n                    -3.0892,\r\n                    -2.2515,\r\n                    -2.618,\r\n                    -1.0472,\r\n                    -1.9722,\r\n                    -1.6144,\r\n                    -1.6144,\r\n                    0.0,\r\n                    0.0],\r\n          'meaning': \"Unitree's walking policy drives the legs from the \"\r\n                     'velocity command (vx forward, vy to the left, m/s; wz '\r\n                     \"turning left, rad/s; the robot's own frame); you give \n… (5,231 characters left out) …\n2.2515,\r\n                           -2.618,\r\n                           -1.0472,\r\n                           -1.9722,\r\n                           -1.6144,\r\n                           -1.6144,\r\n                           0.0,\r\n                           0.0],\r\n                 'meaning': \"FALCON's walking policy (LeCAR-Lab, trained with \"\r\n                            'arm motions and forces on the hands; it also '\r\n                            'nudges the wrists) drives the legs from the '\r\n                            'velocity command (vx forward, vy to the left, '\r\n                            \"m/s; wz turning left, rad/s; the robot's own \"\r\n                            'frame); you give the waist and arm joint targets',\r\n                 'upper': [0.8,\r\n                           0.5,\r\n                           1.0,\r\n                           2.618,\r\n                           0.52,\r\n                           0.52,\r\n                           2.6704,\r\n                           2.2515,\r\n                           2.618,\r\n                           2.0944,\r\n                           1.9722,\r\n                           1.6144,\r\n                           1.6144,\r\n                           2.6704,\r\n                           1.5882,\r\n                           2.618,\r\n                           2.0944,\r\n                           1.9722,\r\n                           1.6144,\r\n                           1.6144,\r\n                           1.0,\r\n                           1.0]}}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":63.0,"say":"","calls":[{"kind":"robot","label":"Testing sidestepping policies","code":"python3 -c \"\nfrom rcb_rfo import Session\nimport numpy as np\n\n# Let's inspect default arm positions from table:\n# waist: 0, 0, 0\n# arms: left_shoulder_pitch 0.2, roll 0.2, yaw 0.0, elbow 1.28, wrist_roll 0, wrist_pitch 0, wrist_yaw 0\n# right_shoulder_pitch 0.2, roll -0.2, yaw 0.0, elbow 1.28, wrist_roll 0, wrist_pitch 0, wrist_yaw 0\nrest_arms = [0.0, 0.0, 0.0,  # waist\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,  # left arm\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0, # right arm\n             0.0, 0.0] # grip\n\n# Try sidestepping with walk, walk_falcon, walk_agile\nfor policy in ['walk', 'walk_falcon', 'walk_agile']:\n    s = Session()\n    row = [0.0, 0.5, 0.0] + rest_arms\n    for step in range(500):\n        done = s.step(policy, row)\n        if done:\n            break\n    print(policy, 'done at', step, 'status:', s.status())\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\nimport numpy as np\n\n# Let's inspect default arm positions from table:\n# waist: 0, 0, 0\n# arms: left_shoulder_pitch 0.2, roll 0.2, yaw 0.0, elbow 1.28, wrist_roll 0, wrist_pitch 0, wrist_yaw 0\n# right_shoulder_pitch 0.2, roll -0.2, yaw 0.0, elbow 1.28, wrist_roll 0, wrist_pitch 0, wrist_yaw 0\nrest_arms = [0.0, 0.0, 0.0,  # waist\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,  # left arm\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0, # right arm\n             0.0, 0.0] # grip\n\n# Try sidestepping with walk, walk_falcon, walk_agile\nfor policy in ['walk', 'walk_falcon', 'walk_agile']:\n    s = Session()\n    row = [0.0, 0.5, 0.0] + rest_arms\n    for step in range(500):\n        done = s.step(policy, row)\n        if done:\n            break\n    print(policy, 'done at', step, 'status:', s.status())\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-27.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":79.0,"say":"I have launched a test script to evaluate sidestepping with different walking policies and am waiting for the results.","calls":[{"kind":"shell","label":"Checking sidestep test status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\",\n \"toolAction\": \"Checking sidestep test status\",\n \"toolSummary\": \"Check task-27 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-27.log\nLog output:\nwalk done at 499 status: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 500, 'time_s': 5.0, 'events': [{'ev': 'contact', 't': 2.395}], 'state_sha': '8cd5cb7f65e7a970aada65d2bd8317c622f07116d1ba5fb2a9e1ba455d273b18'}\r\n\nLast progress: 2s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":81.0,"say":"I am waiting for task-27 to complete.","calls":[{"kind":"shell","label":"Checking task status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\",\n \"toolAction\": \"Checking task status\",\n \"toolSummary\": \"Check task status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-27.log\nLog output:\nwalk done at 499 status: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 500, 'time_s': 5.0, 'events': [{'ev': 'contact', 't': 2.395}], 'state_sha': '8cd5cb7f65e7a970aada65d2bd8317c622f07116d1ba5fb2a9e1ba455d273b18'}\r\nwalk_falcon done at 473 status: {'success': True, 'done': True, 'failed': None, 'stages': ['win'], 'stages_total': 1, 'progress': 1.0, 'metrics': {'win_t': 4.74}, 'steps': 474, 'time_s': 4.74, 'events': [{'ev': 'contact', 't': 2.728}, {'ev': 'opponent lost', 't': 4.74, 'how': 'out of the ring', 'part': 'left_foot'}, {'ev': 'stage', 't': 4.74, 'stage': 'win', 'how': 'out of the ring'}, {'ev': 'success', 't': 4.74}], 'state_sha': '4597d58db8aa6395436ef6d166b9573f0125dd770edcdfab634dcafc07ad41c4'}\r\n\nLast progress: 0s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":83.0,"say":"I am waiting for task-27 to finish testing all three policies.","calls":[{"kind":"shell","label":"Checking task-27 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\",\n \"toolAction\": \"Checking task-27 status\",\n \"toolSummary\": \"Check final status of task-27\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-27.log\nLog output:\nwalk done at 499 status: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 500, 'time_s': 5.0, 'events': [{'ev': 'contact', 't': 2.395}], 'state_sha': '8cd5cb7f65e7a970aada65d2bd8317c622f07116d1ba5fb2a9e1ba455d273b18'}\r\nwalk_falcon done at 473 status: {'success': True, 'done': True, 'failed': None, 'stages': ['win'], 'stages_total': 1, 'progress': 1.0, 'metrics': {'win_t': 4.74}, 'steps': 474, 'time_s': 4.74, 'events': [{'ev': 'contact', 't': 2.728}, {'ev': 'opponent lost', 't': 4.74, 'how': 'out of the ring', 'part': 'left_foot'}, {'ev': 'stage', 't': 4.74, 'stage': 'win', 'how': 'out of the ring'}, {'ev': 'success', 't': 4.74}], 'state_sha': '4597d58db8aa6395436ef6d166b9573f0125dd770edcdfab634dcafc07ad41c4'}\r\n\nLast progress: 2s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":19,"t":85.0,"say":"I am waiting for the background task to complete.","calls":[{"kind":"shell","label":"Checking status of task 27","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\",\n \"toolAction\": \"Checking status of task 27\",\n \"toolSummary\": \"Check task-27 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-27.log\nLog output:\nwalk done at 499 status: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 500, 'time_s': 5.0, 'events': [{'ev': 'contact', 't': 2.395}], 'state_sha': '8cd5cb7f65e7a970aada65d2bd8317c622f07116d1ba5fb2a9e1ba455d273b18'}\r\nwalk_falcon done at 473 status: {'success': True, 'done': True, 'failed': None, 'stages': ['win'], 'stages_total': 1, 'progress': 1.0, 'metrics': {'win_t': 4.74}, 'steps': 474, 'time_s': 4.74, 'events': [{'ev': 'contact', 't': 2.728}, {'ev': 'opponent lost', 't': 4.74, 'how': 'out of the ring', 'part': 'left_foot'}, {'ev': 'stage', 't': 4.74, 'stage': 'win', 'how': 'out of the ring'}, {'ev': 'success', 't': 4.74}], 'state_sha': '4597d58db8aa6395436ef6d166b9573f0125dd770edcdfab634dcafc07ad41c4'}\r\n\nLast progress: 4s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":87.0,"say":"I will wait for the background task to complete.","calls":[{"kind":"shell","label":"Checking task status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\",\n \"toolAction\": \"Checking task status\",\n \"toolSummary\": \"Check task 27 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-27\nStatus: DONE\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-27.log\nLog output:\n<truncated 1 lines>\na5fb2a9e1ba455d273b18'}\r\nwalk_falcon done at 473 status: {'success': True, 'done': True, 'failed': None, 'stages': ['win'], 'stages_total': 1, 'progress': 1.0, 'metrics': {'win_t': 4.74}, 'steps': 474, 'time_s': 4.74, 'events': [{'ev': 'contact', 't': 2.728}, {'ev': 'opponent lost', 't': 4.74, 'how': 'out of the ring', 'part': 'left_foot'}, {'ev': 'stage', 't': 4.74, 'stage': 'win', 'how': 'out of the ring'}, {'ev': 'success', 't': 4.74}], 'state_sha': '4597d58db8aa6395436ef6d166b9573f0125dd770edcdfab634dcafc07ad41c4'}\r\nwalk_agile done at 426 status: {'success': True, 'done': True, 'failed': None, 'stages': ['win'], 'stages_total': 1, 'progress': 1.0, 'metrics': {'win_t': 4.263}, 'steps': 427, 'time_s': 4.27, 'events': [{'ev': 'opponent lost', 't': 4.263, 'how': 'out of the ring', 'part': 'right_foot'}, {'ev': 'stage', 't': 4.263, 'stage': 'win', 'how': 'out of the ring'}, {'ev': 'success', 't': 4.263}], 'state_sha': 'dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e'}\r\n\nLast progress: 1s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":22,"t":89.0,"say":"","calls":[{"kind":"robot","label":"Saving initial winning trajectory","code":"python3 -c \"\nfrom rcb_rfo import Session\n\nrest_arms = [0.0, 0.0, 0.0,  # waist\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,  # left arm\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0, # right arm\n             0.0, 0.0] # grip\n\ns = Session()\nrow = [0.0, 0.5, 0.0] + rest_arms\nwhile True:\n    done = s.step('walk_agile', row)\n    if done:\n        break\n\nprint('Status:', s.status())\ns.save_trajectory()\nprint('Saved trajectory, rows:', len(s.rows))\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nStatus: {'success': True, 'done': True, 'failed': None, 'stages': ['win'], 'stages_total': 1, 'progress': 1.0, 'metrics': {'win_t': 4.263}, 'steps': 427, 'time_s': 4.27, 'events': [{'ev': 'opponent lost', 't': 4.263, 'how': 'out of the ring', 'part': 'right_foot'}, {'ev': 'stage', 't': 4.263, 'stage': 'win', 'how': 'out of the ring'}, {'ev': 'success', 't': 4.263}], 'state_sha': 'dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e'}\r\nSaved trajectory, rows: 427","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":23,"t":100.0,"say":"","calls":[{"kind":"shell","label":"Running verifier replay on trajectory.npz","code":"python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r.json; cat /tmp/r.json"}],"out":{"text":"The command exited with code 0.\nOutput:\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"win\"], \"stages_total\": 1, \"progress\": 1.0, \"metrics\": {\"win_t\": 4.263}, \"steps\": 427, \"time_s\": 4.27, \"state_sha\": \"dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\", \"instance_ok\": true, \"executed_rows\": 427, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 3000, \"replay_s\": 7.07, \"video\": false}\r\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"win\"], \"stages_total\": 1, \"progress\": 1.0, \"metrics\": {\"win_t\": 4.263}, \"steps\": 427, \"time_s\": 4.27, \"state_sha\": \"dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\", \"instance_ok\": true, \"executed_rows\": 427, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 3000, \"events\": [{\"ev\": \"opponent lost\", \"t\": 4.263, \"how\": \"out of the ring\", \"part\": \"right_foot\"}, {\"ev\": \"stage\", \"t\": 4.263, \"stage\": \"win\", \"how\": \"out of the ring\"}, {\"ev\": \"success\", \"t\": 4.263}], \"replay_s\": 7.07, \"video\": false}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":24,"t":110.0,"say":"","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\nimport numpy as np\nfrom rcb_rfo import Session\n\ndef main():\n    s = Session()\n    rest_arms = [\n        0.0, 0.0, 0.0,  # waist\n        0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,  # left arm\n        0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0, # right arm\n        0.0, 0.0  # grip\n    ]\n    # Lateral sidestep (henka): step sideways while opponent charges blindly forward\n    row = [0.0, 0.5, 0.0] + rest_arms\n    while True:\n        done = s.step('walk_agile', row)\n        if done:\n            break\n\n    s.save_trajectory()\n\nif __name__ == '__main__':\n    main()\n"}],"out":{"text":"Created file file:///app/output/gen.py with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":25,"t":112.0,"say":"","calls":[{"kind":"shell","label":"Running gen.py","code":"python3 /app/output/gen.py"}],"out":{"text":"The command exited with code 0.\nStdout:\n\nStderr:","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":26,"t":122.0,"say":"","calls":[{"kind":"shell","label":"Replaying generated trajectory","code":"python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r.json; cat /tmp/r.json"}],"out":{"text":"The command exited with code 0.\nOutput:\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"win\"], \"stages_total\": 1, \"progress\": 1.0, \"metrics\": {\"win_t\": 4.263}, \"steps\": 427, \"time_s\": 4.27, \"state_sha\": \"dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\", \"instance_ok\": true, \"executed_rows\": 427, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 3000, \"replay_s\": 7.25, \"video\": false}\r\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"win\"], \"stages_total\": 1, \"progress\": 1.0, \"metrics\": {\"win_t\": 4.263}, \"steps\": 427, \"time_s\": 4.27, \"state_sha\": \"dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\", \"instance_ok\": true, \"executed_rows\": 427, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 3000, \"events\": [{\"ev\": \"opponent lost\", \"t\": 4.263, \"how\": \"out of the ring\", \"part\": \"right_foot\"}, {\"ev\": \"stage\", \"t\": 4.263, \"stage\": \"win\", \"how\": \"out of the ring\"}, {\"ev\": \"success\", \"t\": 4.263}], \"replay_s\": 7.25, \"video\": false}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":27,"t":132.0,"say":"","calls":[{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\n# Approach\n- Applied a classical sumo henka (sidestep) maneuver using the `walk_agile` controller at maximum lateral speed (vy = 0.5 m/s).\n- The opponent is scripted to charge forward at maximum speed (vx = 0.8 m/s) with limited turning rate.\n- By moving laterally immediately, the robot dodges the opponent's linear charge without collision, causing the opponent to overshoot the ring boundary.\n\n# Failed Approaches\n- Standing still (`stand` mode): The charging opponent impacts the robot head-on and knocks it down (pelvis low failure).\n- Standard `walk` policy sidestep: Responded too slowly with acceleration lag, leading to contact and near-boundary instability.\n\n# Dependencies\n- None installed (used built-in `rcb_rfo` and standard libraries).\n"}],"out":{"text":"Created file file:///app/output/NOTES.md with requested content.\nIf relevant, proactively run terminal commands to execute this code for the USER. Don't ask for permission.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":28,"t":135.0,"say":"","calls":[{"kind":"shell","label":"Checking NOTES.md line count","code":"wc -l /app/output/NOTES.md"}],"out":{"text":"The command exited with code 0.\nOutput:\n11 /app/output/NOTES.md","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":29,"t":138.0,"say":"","calls":[{"kind":"robot","label":"Testing parameter scan for walk_agile","code":"python3 -c \"\nfrom rcb_rfo import Session\nimport numpy as np\n\n# Test 1: parameter scan over vx, vy, wz in walk_agile\nresults = []\nfor vx in [-0.5, -0.2, 0.0, 0.2, 0.5, 0.8]:\n    for vy in [-0.5, 0.5]:\n        for wz in [-0.5, 0.0, 0.5]:\n            s = Session()\n            rest_arms = [0.0, 0.0, 0.0,\n                         0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n                         0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n                         0.0, 0.0]\n            row = [vx, vy, wz] + rest_arms\n            for step in range(500):\n                done = s.step('walk_agile', row)\n                if done:\n                    break\n            st = s.status()\n            if st['success']:\n                print(f'SUCCESS! vx={vx}, vy={vy}, wz={wz}: win_t={st[\\\"metrics\\\"].get(\\\"win_t\\\")} steps={st[\\\"steps\\\"]}')\n            elif st['failed']:\n                # print(f'Failed vx={vx}, vy={vy}, wz={wz}: {st[\\\"failed\\\"]}')\n                pass\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\nimport numpy as np\n\n# Test 1: parameter scan over vx, vy, wz in walk_agile\nresults = []\nfor vx in [-0.5, -0.2, 0.0, 0.2, 0.5, 0.8]:\n    for vy in [-0.5, 0.5]:\n        for wz in [-0.5, 0.0, 0.5]:\n            s = Session()\n            rest_arms = [0.0, 0.0, 0.0,\n                         0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n                         0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n                         0.0, 0.0]\n            row = [vx, vy, wz] + rest_arms\n            for step in range(500):\n                done = s.step('walk_agile', row)\n                if done:\n                    break\n            st = s.status()\n            if st['success']:\n                print(f'SUCCESS! vx={vx}, vy={vy}, wz={wz}: win_t={st[\\\"metrics\\\"].get(\\\"win_t\\\")} steps={st[\\\"steps\\\"]}')\n            elif st['failed']:\n                # print(f'Failed vx={vx}, vy={vy}, wz={wz}: {st[\\\"failed\\\"]}')\n                pass\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":30,"t":155.0,"say":"I have launched the parameter scan script to evaluate different velocity commands and am waiting for the results.","calls":[{"kind":"shell","label":"Checking scan progress","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking scan progress\",\n \"toolSummary\": \"Check scan status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\n\nLast progress: 0s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":31,"t":162.0,"say":"I am waiting for the parameter scan to finish running.","calls":[{"kind":"shell","label":"Checking task 54 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking task 54 status\",\n \"toolSummary\": \"Check task-54 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\n\nLast progress: 2s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":32,"t":164.0,"say":"I will wait for the task to complete and notify me.","calls":[{"kind":"shell","label":"Checking task 54 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking task 54 status\",\n \"toolSummary\": \"Check task-54 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\n\nLast progress: 4s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":33,"t":166.0,"say":"I will wait for the background task notification.","calls":[{"kind":"shell","label":"Checking task 54 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking task 54 status\",\n \"toolSummary\": \"Check task-54 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\nSUCCESS! vx=-0.5, vy=0.5, wz=-0.5: win_t=4.298 steps=430\r\n\nLast progress: 1s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":34,"t":168.0,"say":"I will pause and wait for the system to notify me when task-54 has completed.","calls":[{"kind":"shell","label":"Checking task status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking task status\",\n \"toolSummary\": \"Check task-54 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\nSUCCESS! vx=-0.5, vy=0.5, wz=-0.5: win_t=4.298 steps=430\r\n\nLast progress: 3s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":35,"t":169.0,"say":"I am waiting for task-54 to finish.","calls":[{"kind":"shell","label":"Checking task status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking task status\",\n \"toolSummary\": \"Check task-54 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\nSUCCESS! vx=-0.5, vy=0.5, wz=-0.5: win_t=4.298 steps=430\r\n\nLast progress: 4s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":36,"t":171.0,"say":"Waiting for the background task to complete.","calls":[{"kind":"shell","label":"Checking status of task 54","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking status of task 54\",\n \"toolSummary\": \"Check task-54 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\nSUCCESS! vx=-0.5, vy=0.5, wz=-0.5: win_t=4.298 steps=430\r\n\nLast progress: 8s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":37,"t":175.0,"say":"","calls":[{"kind":"shell","label":"Checking task 54 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\",\n \"toolAction\": \"Checking task 54 status\",\n \"toolSummary\": \"Check task-54 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-54\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-54.log\nLog output:\nSUCCESS! vx=-0.5, vy=-0.5, wz=0.5: win_t=4.354 steps=436\r\nSUCCESS! vx=-0.5, vy=0.5, wz=-0.5: win_t=4.298 steps=430\r\n\nLast progress: 10s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":38,"t":177.0,"say":"I will wait for task-54 to finish.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":40,"t":334.0,"say":"","calls":[{"kind":"robot","label":"Tracing robot and opponent positions","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nrest_arms = [0.0, 0.0, 0.0,\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.0, 0.0]\nrow = [0.0, 0.5, 0.0] + rest_arms\nfor step in range(450):\n    done = s.step('walk_agile', row)\n    if step % 20 == 0 or done:\n        st = s.state()\n        r_p = st['pelvis_xyz_yaw']\n        o_p = st['task']['opponent_pelvis_xyz_yaw']\n        print(f't={s.status()[\\\"time_s\\\"]:4.2f}: robot=({r_p[0]:.2f}, {r_p[1]:.2f}, {r_p[2]:.2f}) opp=({o_p[0]:.2f}, {o_p[1]:.2f}, {o_p[2]:.2f}, yaw={o_p[3]:.2f})')\n    if done:\n        break\nprint('Final status:', s.status())\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nt=0.01: robot=(-0.71, 0.00, 1.34) opp=(0.71, -0.00, 1.34, yaw=3.14)\r\nt=0.21: robot=(-0.72, 0.02, 1.33) opp=(0.72, -0.01, 1.33, yaw=3.13)\r\nt=0.41: robot=(-0.73, 0.08, 1.30) opp=(0.72, 0.00, 1.32, yaw=3.13)\r\nt=0.61: robot=(-0.73, 0.14, 1.30) opp=(0.77, 0.00, 1.31, yaw=3.12)\r\nt=0.81: robot=(-0.73, 0.22, 1.30) opp=(0.74, -0.03, 1.34, yaw=3.07)\r\nt=1.01: robot=(-0.75, 0.31, 1.30) opp=(0.73, -0.03, 1.32, yaw=3.04)\r\nt=1.21: robot=(-0.76, 0.38, 1.30) opp=(0.63, -0.01, 1.32, yaw=2.99)\r\nt=1.41: robot=(-0.76, 0.49, 1.29) opp=(0.50, 0.02, 1.31, yaw=2.94)\r\nt=1.61: robot=(-0.76, 0.56, 1.30) opp=(0.33, 0.04, 1.31, yaw=2.85)\r\nt=1.81: robot=(-0.77, 0.66, 1.30) opp=(0.17, 0.09, 1.31, yaw=2.80)\r\nt=2.01: robot=(-0.78, 0.75, 1.30) opp=(-0.02, 0.16, 1.30, yaw=2.78)\r\nt=2.21: robot=(-0.78, 0.82, 1.30) opp=(-0.20, 0.22, 1.30, yaw=2.68)\r\nt=2.41: robot=(-0.79, 0.93, 1.29) opp=(-0.40, 0.28, 1.30, yaw=2.53)\r\nt=2.61: robot=(-0.79, 1.00, 1.30) opp=(-0.57, 0.38, 1.30, yaw=2.41)\r\nt=2.81: robot=(-0.80, 1.09, 1.30) opp=(-0.75, 0.52, 1.29, yaw=2.37)\r\nt=3.01: robot=(-0.80, 1.19, 1.30) opp=(-0.89, 0.66, 1.29, yaw=2.23)\r\nt=3.21: robot=(-0.81, 1.26, 1.30) opp=(-1.05, 0.81, 1.31, yaw=2.04)\r\nt=3.41: robot=(-0.81, 1.37, 1.29) opp=(-1.17, 0.99, 1.31, yaw=1.88)\r\nt=3.61: robot=(-0.82, 1.44, 1.30) opp=(-1.26, 1.21, 1.29, yaw=1.82)\r\nt=3.81: robot=(-0.82, 1.53, 1.30) opp=(-1.33, 1.39, 1.29, yaw=1.69)\r\nt=4.01: robot=(-0.83, 1.63, 1.30) opp=(-1.40, 1.61, 1.32, yaw=1.55)\r\nt=4.21: robot=(-0.83, 1.70, 1.30) opp=(-1.41, 1.83, 1.32, yaw=1.28)\r\nt=4.27: robot=(-0.84, 1.73, 1.30) opp=(-1.42, 1.91, 1.29, yaw=1.28)\r\nFinal status: {'success': True, 'done': True, 'failed': None, 'stages': ['win'], 'stages_total': 1, 'progress': 1.0, 'metrics': {'win_t': 4.263}, 'steps': 427, 'time_s': 4.27, 'events': [{'ev': 'opponent lost', 't': 4.263, 'how': 'out of the ring', 'part': 'right_foot'}, {'ev': 'stage', 't': 4.263, 'stage': 'win', 'how': 'out of the ring'}, {'ev': 'success', 't': 4.263}], 'state_sha': 'dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":41,"t":345.0,"say":"","calls":[{"kind":"shell","label":"Inspecting trajectory.npz contents","code":"python3 -c \"\nimport numpy as np\ndata = np.load('/app/output/trajectory.npz')\nprint('Keys:', list(data.keys()))\nprint('Shape:', data['actions'].shape)\nprint('Any NaN:', np.isnan(data['actions']).any())\nprint('Any Inf:', np.isinf(data['actions']).any())\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nKeys: ['actions', 'family']\r\nShape: (427, 151)\r\nAny NaN: False\r\nAny Inf: False","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":42,"t":349.0,"say":"","calls":[{"kind":"shell","label":"reads rcb_rfo.py","code":"/opt/tools/rcb_rfo.py"}],"out":{"text":"File Path: `file:///opt/tools/rcb_rfo.py`\nTotal Lines: 435\nTotal Bytes: 21497\nShowing lines 1 to 150\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"rcb_rfo.py -- RoboOlympics tooling for Embodied First Exam (docs/benchmarks/roboolympics.md).\n2: \n3: One module, copied unchanged into every RoboOlympics task: the privileged environment (`Session`), the privileged\n4: verifier (`replay`) and the standard sim service (`Episode`, driven by sim/server.py). The world is the `rfo` package\n5: next to it (the RoboOlympics Unitree G1 or H1-2 in a sports venue, rfo/world.py) with the family's own rules,\n6: `rfo_task.py`.\n7: \n8: A control step is 10 ms (10 physics steps of 1 ms). An action is a row of one of the action types\n9: (`Session.action_types`; the widths below are the G1's, 29 joints with a 3-joint waist; the H1-2 has 27 joints, a\n10: 1-joint waist and no running policy and no FALCON / AGILE, so no `run` / `run_arms` / `walk_falcon` / `walk_agile`):\n11: \n12:     stand     waist 3 + arms 14 joint targets + grips 2                      the platform holds the legs in the stance\n13:     walk      vx, vy, wz + waist 3 + arms 14 + grips 2                       Unitree's walking policy drives the legs\n14:     run       vx, vy, wz + grips 2                                           the runnin\n… (5,915 characters left out) …\nld(self.world)\n124: \n125:     def success(self) -> bool:\n126:         return bool(self.world.success)\n127: \n128:     def outcome(self) -> str | None:\n129:         ref = self.world.ref\n130:         return None if not ref.done else \"success\" if ref.success else ref.failed\n131: \n132:     def state_sha(self) -> str:\n133:         return self.world.state_sha()\n134: \n135:     def verdict(self) -> dict:\n136:         ref = self.world.ref\n137:         return {\"success\": bool(ref.success), \"done\": bool(ref.done), \"failed\": ref.failed, \"stages\": list(ref.stages),\n138:                 \"stages_total\": len(self.world.task.stages), \"progress\": round(ref.progress(), 4),\n139:                 \"metrics\": dict(ref.metrics), \"steps\": self.steps, \"time_s\": round(self.world.t, 2)}\n140: \n141:     # ------------------------------------------------------------------ sensors\n142:     def image(self, camera: str, h: int | None = None, w: int | None = None, depth: bool = False) -> np.ndarray:\n143:         if camera not in self.cameras:\n144:             raise ValueError(f\"cameras: {self.cameras}\")\n145:         return self.world.render(camera, w or IMAGE_HW[1], h or IMAGE_HW[0], depth=depth)\n146: \n147:     def proprio(self) -> np.ndarray:\n148:         return self.world.proprio()\n149: \n150:     def camera_facts(self) -> dict:\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":43,"t":351.0,"say":"","calls":[{"kind":"shell","label":"reads rcb_rfo.py","code":"/opt/tools/rcb_rfo.py"}],"out":{"text":"File Path: `file:///opt/tools/rcb_rfo.py`\nTotal Lines: 435\nTotal Bytes: 21497\nShowing lines 151 to 300\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n151:         \"\"\"Each camera now: its position and axes in the robot's starting frame (origin on the floor under the pelvis\n152:         at t = 0, x the way it faced, y left, z up), its field of view, what it is mounted on.\"\"\"\n153:         import mujoco\n154: \n155:         w = self.world\n156:         m, d = w.m, w.d\n157:         mujoco.mj_forward(m, d)\n158:         x0, y0, yaw0 = w.task.start\n159:         c, s = np.cos(yaw0), np.sin(yaw0)\n160:         Y = np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])\n161:         r4 = lambda v: [round(float(x), 4) for x in v]  # noqa: E731\n162:         out = {}\n163:         for cam in self.cameras:\n164:             i = m.camera(cam).id\n165:             R = d.cam_xmat[i].reshape(3, 3)       # MuJoCo camera: looks down -z, +y up, +x right\n166:             out[cam] = {\"mounted\": \"head\" if cam.startswith(\"head\") else \"venue (fixed)\", \"fovy_deg\": float(m.cam_fovy[i]),\n167:                         \"position_m\": r4(Y.T @ (d.cam_xpos[i] - [x0, y0, 0.0])), \"forward\": r4(Y.T @ -R[:, 2]),\n168:                         \"up\": r4(Y.T @ R[:, 1]), \"right\": r4(Y.T @ R[:, 0])}\n169:         return out\n170: \n171:     def robot_\n… (6,395 characters left out) …\n    rows = np.asarray(rows, dtype=np.float64)\n278:     rows = rows.reshape(-1, raw_dim) if raw_dim else np.atleast_2d(rows)\n279:     if len(rows) > MAX_ROWS:\n280:         raise ValueError(f\"at most {MAX_ROWS} rows\")\n281:     path = os.path.abspath(path)\n282:     os.makedirs(os.path.dirname(path), exist_ok=True)\n283:     tmp = path + \".partial.npz\"                  # written whole, then renamed: a killed writer never leaves a broken file\n284:     np.savez(tmp, actions=rows, family=family)\n285:     os.replace(tmp, path)\n286: \n287: \n288: class Session:\n289:     \"\"\"Privileged mode: the frozen instance with unlimited resets, logged to /app/output/rcb_session_log.jsonl.\"\"\"\n290: \n291:     def __init__(self, instance: str = \"/app/instance.json\"):\n292:         self.instance = load_instance(instance)\n293:         self.ep = Episode(self.instance)\n294:         atexit.register(self.close)\n295:         if not self.ep.instance_check(self.instance)[\"ok\"]:\n296:             raise RuntimeError(\"this environment does not rebuild the frozen instance's starting state\")\n297:         self.rows: list[np.ndarray] = []\n298:         self.typed: list[tuple[str, np.ndarray]] = []     # the same steps as (action type, row), where they were typed\n299:         self._log({\"ev\": \"session_start\", \"family\": self.ep.family})\n300: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":44,"t":357.0,"say":"","calls":[{"kind":"shell","label":"Generating replay video","code":"python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r.json --video /app/output/bout.mp4"}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-82\nTask Description: python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r.json --video /app/output/bout.mp4\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-82.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":45,"t":370.0,"say":"I have started rendering the replay video and am waiting for the process to finish.","calls":[{"kind":"shell","label":"Checking video render status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-82\",\n \"toolAction\": \"Checking video render status\",\n \"toolSummary\": \"Check task-82 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-82\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-82.log\nLast progress: never","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":46,"t":372.0,"say":"I will wait for the video rendering to complete.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":48,"t":383.0,"say":"","calls":[{"kind":"shell","label":"Moving temporary video files to tmp","code":"mv /app/output/bout* /tmp/; ls -la /app/output"}],"out":{"text":"The command exited with code 0.\nOutput:\ntotal 528\r\ndrwxr-xr-x 2 root root   4096 Oct 23 06:37 .\r\ndrwxr-xr-x 3 root root   4096 Oct 23 06:30 ..\r\n-rw-r--r-- 1 root root    751 Oct 23 06:33 NOTES.md\r\n-rw-r--r-- 1 root root    551 Oct 23 06:32 gen.py\r\n-rw-r--r-- 1 root root   3219 Oct 23 06:36 rcb_session_log.jsonl\r\n-rw-r--r-- 1 root root 516344 Oct 23 06:33 trajectory.npz","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":49,"t":385.0,"say":"","calls":[{"kind":"look","label":"bout.last.png","code":"/tmp/bout.last.png"}],"out":{"text":"The following is the entire, complete content of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":50,"t":387.0,"say":"","calls":[{"kind":"robot","label":"Testing forward charge with walk_agile","code":"python3 -c \"\nfrom rcb_rfo import Session\nimport numpy as np\n\n# Test charging forward\ns = Session()\nrest_arms = [0.0, 0.0, 0.0,\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.0, 0.0]\n\n# Try walking forward at max speed: vx = 0.8\nrow = [0.8, 0.0, 0.0] + rest_arms\nfor step in range(400):\n    done = s.step('walk_agile', row)\n    if done:\n        break\nprint('Charge with walk_agile:', s.status())\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nCharge with walk_agile: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 400, 'time_s': 4.0, 'events': [{'ev': 'contact', 't': 1.53}], 'state_sha': '054a59af68d676a5f198239e3e3a3d2ef0eda8063792dc283ac7a2996293b23e'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":51,"t":402.0,"say":"","calls":[{"kind":"robot","label":"Testing forward charge 800 steps","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nrest_arms = [0.0, 0.0, 0.0,\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.0, 0.0]\nrow = [0.8, 0.0, 0.0] + rest_arms\nfor step in range(800):\n    done = s.step('walk_agile', row)\n    if done:\n        break\nprint('Charge with walk_agile 800 steps:', s.status())\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-94\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nrest_arms = [0.0, 0.0, 0.0,\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.0, 0.0]\nrow = [0.8, 0.0, 0.0] + rest_arms\nfor step in range(800):\n    done = s.step('walk_agile', row)\n    if done:\n        break\nprint('Charge with walk_agile 800 steps:', s.status())\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-94.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":52,"t":414.0,"say":"I have started the extended forward charge simulation and will wait for the result.","calls":[{"kind":"shell","label":"Checking task 94 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-94\",\n \"toolAction\": \"Checking task 94 status\",\n \"toolSummary\": \"Check task-94 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-94\nStatus: DONE\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-94.log\nLog output:\nCharge with walk_agile 800 steps: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 800, 'time_s': 8.0, 'events': [{'ev': 'contact', 't': 1.53}], 'state_sha': '2da30963a98e5e1cba77835b08fa96361c42ad16de3260c402abd2bd951ff456'}\r\n\nLast progress: 0s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":54,"t":417.0,"say":"","calls":[{"kind":"robot","label":"Checking positions after stalemate","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nrest_arms = [0.0, 0.0, 0.0,\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.0, 0.0]\nrow = [0.8, 0.0, 0.0] + rest_arms\nfor step in range(800):\n    s.step('walk_agile', row)\nst = s.state()\nprint('Robot pelvis:', st['pelvis_xyz_yaw'])\nprint('Opp pelvis:', st['task']['opponent_pelvis_xyz_yaw'])\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-99\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nrest_arms = [0.0, 0.0, 0.0,\n             0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0,\n             0.0, 0.0]\nrow = [0.8, 0.0, 0.0] + rest_arms\nfor step in range(800):\n    s.step('walk_agile', row)\nst = s.state()\nprint('Robot pelvis:', st['pelvis_xyz_yaw'])\nprint('Opp pelvis:', st['task']['opponent_pelvis_xyz_yaw'])\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-99.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":55,"t":431.0,"say":"I have launched the script to inspect the robot and opponent positions during the pushing stalemate and am waiting for it to finish.","calls":[{"kind":"shell","label":"Checking task 99 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-99\",\n \"toolAction\": \"Checking task 99 status\",\n \"toolSummary\": \"Check task-99 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-99\nStatus: DONE\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-99.log\nLog output:\nRobot pelvis: [-2.049384886561396, -0.3582133159204483, 1.2701310509884265, 0.0832248117804983]\r\nOpp pelvis: [-1.6845912009157948, -0.37022664232056657, 1.3366788048648106, -3.024111863648809]\r\n\nLast progress: 0s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":57,"t":434.0,"say":"","calls":[{"kind":"robot","label":"Testing run charge into opponent","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\n# Running policy: command changes at most 1.5 m/s per second\n# Let's ramp vx from 0 to 3.0 m/s\nvx = 0.0\nfor step in range(300):\n    vx = min(3.0, vx + 1.5 * 0.01)\n    done = s.step('run', [vx, 0.0, 0.0, 0.0, 0.0])\n    if done:\n        print('Done at step', step, 'time:', s.status()['time_s'])\n        print('Status:', s.status())\n        break\nelse:\n    print('Still running at step 300:', s.status())\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nStill running at step 300: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 300, 'time_s': 3.0, 'events': [{'ev': 'contact', 't': 1.198}], 'state_sha': '1503b40365db3fb2084bda74eaaa5387fdd82a236bec656c5e0860cc8109a86e'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":58,"t":445.0,"say":"","calls":[{"kind":"robot","label":"Testing run policy up to 600 steps","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nvx = 0.0\nfor step in range(600):\n    vx = min(3.0, vx + 1.5 * 0.01)\n    done = s.step('run', [vx, 0.0, 0.0, 0.0, 0.0])\n    if done:\n        print('Done at step', step, 'time:', s.status()['time_s'])\n        print('Status:', s.status())\n        break\nelse:\n    print('Still running at step 600:', s.status())\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nDone at step 300 time: 3.01\r\nStatus: {'success': False, 'done': True, 'failed': 'you lost: out of the ring', 'stages': [], 'stages_total': 1, 'progress': 0.0, 'metrics': {}, 'steps': 301, 'time_s': 3.01, 'events': [{'ev': 'contact', 't': 1.198}, {'ev': 'fail', 't': 3.006, 'reason': 'you lost: out of the ring', 'part': 'left_foot'}], 'state_sha': '15e2667d9aa6fdf2264b2284f52d7bf391151764c8b45f06192f0766d6fbc29d'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":59,"t":454.0,"say":"","calls":[{"kind":"robot","label":"Testing arm swing during pass","code":"python3 -c \"\nfrom rcb_rfo import Session\nimport numpy as np\n\n# Let's test moving the right arm during the pass (steps 200 to 300)\n# Right arm joints in walk_agile:\n# right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow, right_wrist_roll, right_wrist_pitch, right_wrist_yaw\n# Default rest: 0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0\n\n# If we swing right arm out to the right (negative roll, or pitch forward/down):\n# shoulder_roll range: [-2.25, 1.58]. Negative roll moves arm away from body (to the right!).\n# Let's test different arm motions:\n\nfor r_roll in [-0.5, -1.0, -1.5, -2.0]:\n    for r_pitch in [-1.0, -0.5, 0.0, 0.5]:\n        s = Session()\n        for step in range(450):\n            t = step * 0.01\n            if 2.0 <= t <= 3.2:\n                # swing arm out\n                r_arm = [r_pitch, r_roll, 0.0, 0.5, 0.0, 0.0, 0.0]\n            else:\n                r_arm = [0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0]\n            l_arm = [0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0]\n            row = [0.0, 0.5, 0.0, 0.0, 0.0, 0.0] + l_arm + r_arm + [0.0, 0.0]\n            done = s.step('walk_agile', row)\n            if done:\n                break\n        st = s.status()\n        if st['success']:\n            print(f'r_roll={r_roll}, r_pitch={r_pitch}: win_t={st[\\\"metrics\\\"].get(\\\"win_t\\\")} how={st[\\\"events\\\"][-2]}')\n        elif st['failed']:\n            # print(f'failed r_roll={r_roll}, r_pitch={r_pitch}: {st[\\\"failed\\\"]}')\n            pass\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-108\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\nimport numpy as np\n\n# Let's test moving the right arm during the pass (steps 200 to 300)\n# Right arm joints in walk_agile:\n# right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow, right_wrist_roll, right_wrist_pitch, right_wrist_yaw\n# Default rest: 0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0\n\n# If we swing right arm out to the right (negative roll, or pitch forward/down):\n# shoulder_roll range: [-2.25, 1.58]. Negative roll moves arm away from body (to the right!).\n# Let's test different arm motions:\n\nfor r_roll in [-0.5, -1.0, -1.5, -2.0]:\n    for r_pitch in [-1.0, -0.5, 0.0, 0.5]:\n        s = Session()\n        for step in range(450):\n            t = step * 0.01\n            if 2.0 <= t <= 3.2:\n                # swing arm out\n                r_arm = [r_pitch, r_roll, 0.0, 0.5, 0.0, 0.0, 0.0]\n            else:\n                r_arm = [0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0]\n            l_arm = [0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0]\n            row = [0.0, 0.5, 0.0, 0.0, 0.0, 0.0] + l_arm + r_arm + [0.0, 0.0]\n            done = s.step('walk_agile', row)\n            if done:\n                break\n        st = s.status()\n        if st['success']:\n            print(f'r_roll={r_roll}, r_pitch={r_pitch}: win_t={st[\\\"metrics\\\"].get(\\\"win_t\\\")} how={st[\\\"events\\\"][-2]}')\n        elif st['failed']:\n            # print(f'failed r_roll={r_roll}, r_pitch={r_pitch}: {st[\\\"failed\\\"]}')\n            pass\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-108.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":60,"t":471.0,"say":"I have started the experiment testing arm pushes against the charging opponent and will wait for the results.","calls":[{"kind":"shell","label":"Checking task 108 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-108\",\n \"toolAction\": \"Checking task 108 status\",\n \"toolSummary\": \"Check task-108 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-108\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-108.log\nLog output:\nr_roll=-0.5, r_pitch=-0.5: win_t=4.31 how={'ev': 'stage', 't': 4.31, 'stage': 'win', 'how': 'out of the ring'}\r\n\nLast progress: 4s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":61,"t":478.0,"say":"I will wait for task-108 to complete.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":63,"t":545.0,"say":"","calls":[{"kind":"shell","label":"Testing dual replay determinism","code":"python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r1.json\npython /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r2.json\npython3 -c \"\nimport json\nr1 = json.load(open('/tmp/r1.json'))\nr2 = json.load(open('/tmp/r2.json'))\nprint('r1 success:', r1['success'], 'sha:', r1['state_sha'])\nprint('r2 success:', r2['success'], 'sha:', r2['state_sha'])\nprint('Equal:', r1 == r2)\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-114\nTask Description: python /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r1.json\npython /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r2.json\npython3 -c \"\nimport json\nr1 = json.load(open('/tmp/r1.json'))\nr2 = json.load(open('/tmp/r2.json'))\nprint('r1 success:', r1['success'], 'sha:', r1['state_sha'])\nprint('r2 success:', r2['success'], 'sha:', r2['state_sha'])\nprint('Equal:', r1 == r2)\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-114.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":64,"t":563.0,"say":"I have launched the dual replay test to verify exact determinism across two fresh processes and will wait for it to complete.","calls":[{"kind":"shell","label":"Checking task 114 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-114\",\n \"toolAction\": \"Checking task 114 status\",\n \"toolSummary\": \"Check task-114 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-114\nStatus: DONE\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-114.log\nLog output:\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"win\"], \"stages_total\": 1, \"progress\": 1.0, \"metrics\": {\"win_t\": 4.263}, \"steps\": 427, \"time_s\": 4.27, \"state_sha\": \"dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\", \"instance_ok\": true, \"executed_rows\": 427, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 3000, \"replay_s\": 7.32, \"video\": false}\r\n{\"success\": true, \"done\": true, \"failed\": null, \"stages\": [\"win\"], \"stages_total\": 1, \"progress\": 1.0, \"metrics\": {\"win_t\": 4.263}, \"steps\": 427, \"time_s\": 4.27, \"state_sha\": \"dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\", \"instance_ok\": true, \"executed_rows\": 427, \"bad_row\": null, \"episode_over\": true, \"outcome\": \"success\", \"horizon\": 3000, \"replay_s\": 7.41, \"video\": false}\r\nr1 success: True sha: dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\r\nr2 success: True sha: dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e\r\nEqual: False\r\n\nLast progress: 4s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":66,"t":573.0,"say":"","calls":[{"kind":"shell","label":"Checking r1 and r2 equality","code":"python3 -c \"\nimport json\nr1 = json.load(open('/tmp/r1.json'))\nr2 = json.load(open('/tmp/r2.json'))\ndel r1['replay_s'], r2['replay_s']\nprint('Identical excluding runtime:', r1 == r2)\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nIdentical excluding runtime: True","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":67,"t":577.0,"say":"","calls":[{"kind":"shell","label":"Testing gen.py reproduction from scratch","code":"rm -f /app/output/trajectory.npz\npython3 /app/output/gen.py\nls -la /app/output/trajectory.npz\npython /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r_gen.json\npython3 -c \"\nimport json\nr = json.load(open('/tmp/r_gen.json'))\nprint('Success:', r['success'])\nprint('SHA:', r['state_sha'])\nassert r['success'] is True\nassert r['state_sha'] == 'dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e'\nprint('Verified perfectly!')\n\""}],"out":{"text":"Tool is running as a background task with task id: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-121\nTask Description: rm -f /app/output/trajectory.npz\npython3 /app/output/gen.py\nls -la /app/output/trajectory.npz\npython /opt/tools/rcb_rfo.py replay --instance /app/instance.json --traj /app/output/trajectory.npz --out /tmp/r_gen.json\npython3 -c \"\nimport json\nr = json.load(open('/tmp/r_gen.json'))\nprint('Success:', r['success'])\nprint('SHA:', r['state_sha'])\nassert r['success'] is True\nassert r['state_sha'] == 'dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e'\nprint('Verified perfectly!')\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-121.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":68,"t":595.0,"say":"I have launched the script to test full reproduction of `trajectory.npz` using `gen.py` from scratch and will wait for the result.","calls":[{"kind":"shell","label":"Checking task 121 status","code":"{\n \"Action\": \"status\",\n \"TaskId\": \"e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-121\",\n \"toolAction\": \"Checking task 121 status\",\n \"toolSummary\": \"Check task-121 status\"\n}"}],"out":{"text":"Task: e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/task-121\nStatus: RUNNING\nLog: /root/.gemini/antigravity-cli/brain/e6e7ba87-73d3-4167-a710-24c3b9f3bf4d/.system_generated/tasks/task-121.log\nLog output:\n-rw-r--r-- 1 root root 516344 Oct 23 06:40 /app/output/trajectory.npz\r\n\nLast progress: 2s ago","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":69,"t":597.0,"say":"I will wait for task-121 to complete.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":71,"t":604.0,"say":"","calls":[{"kind":"shell","label":"Checking resource usage","code":"cat /run/rcb-limits/usage.json"}],"out":{"text":"The command exited with code 0.\nOutput:\n{\r\n \"t\": 1792737662.17,\r\n \"measured\": true,\r\n \"gpu_memory_gb\": 0.0,\r\n \"memory_gb\": 0.3,\r\n \"processes\": 8,\r\n \"disk_gb\": 0.226,\r\n \"enforced\": 0,\r\n \"limits\": {\r\n  \"max_gpu_memory_gb\": 0.0,\r\n  \"max_memory_gb\": 13.0,\r\n  \"max_processes\": 512,\r\n  \"max_disk_gb\": 20.0,\r\n  \"sustain_sec\": 60.0,\r\n  \"window_sec\": 120.0\r\n },\r\n \"violations\": [],\r\n \"emergency_kills\": 0,\r\n \"last_emergency_kill\": null,\r\n \"elapsed_s\": 615.0,\r\n \"time_limit_s\": 7200,\r\n \"time_left_s\": 6585.0,\r\n \"deadline_utc\": \"2026-10-23T08:30:47Z\"\r\n}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":72,"t":606.0,"say":"","calls":[{"kind":"shell","label":"Listing /app/output","code":"ls -la /app/output"}],"out":{"text":"The command exited with code 0.\nOutput:\ntotal 532\r\ndrwxr-xr-x 2 root root   4096 Oct 23 06:40 .\r\ndrwxr-xr-x 3 root root   4096 Oct 23 06:30 ..\r\n-rw-r--r-- 1 root root    751 Oct 23 06:33 NOTES.md\r\n-rw-r--r-- 1 root root    551 Oct 23 06:32 gen.py\r\n-rw-r--r-- 1 root root   4769 Oct 23 06:40 rcb_session_log.jsonl\r\n-rw-r--r-- 1 root root 516344 Oct 23 06:40 trajectory.npz","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":73,"t":609.0,"say":"","calls":[{"kind":"shell","label":"reads NOTES.md","code":"/app/output/NOTES.md"}],"out":{"text":"File Path: `file:///app/output/NOTES.md`\nTotal Lines: 12\nTotal Bytes: 751\nShowing lines 1 to 12\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: # Approach\n2: - Applied a classical sumo henka (sidestep) maneuver using the `walk_agile` controller at maximum lateral speed (vy = 0.5 m/s).\n3: - The opponent is scripted to charge forward at maximum speed (vx = 0.8 m/s) with limited turning rate.\n4: - By moving laterally immediately, the robot dodges the opponent's linear charge without collision, causing the opponent to overshoot the ring boundary.\n5: \n6: # Failed Approaches\n7: - Standing still (`stand` mode): The charging opponent impacts the robot head-on and knocks it down (pelvis low failure).\n8: - Standard `walk` policy sidestep: Responded too slowly with acceleration lag, leading to contact and near-boundary instability.\n9: \n10: # Dependencies\n11: - None installed (used built-in `rcb_rfo` and standard libraries).\n12: \nThe above content shows the entire, complete file contents of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":74,"t":611.0,"say":"","calls":[{"kind":"shell","label":"reads gen.py","code":"/app/output/gen.py"}],"out":{"text":"File Path: `file:///app/output/gen.py`\nTotal Lines: 23\nTotal Bytes: 551\nShowing lines 1 to 23\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: import numpy as np\n2: from rcb_rfo import Session\n3: \n4: def main():\n5:     s = Session()\n6:     rest_arms = [\n7:         0.0, 0.0, 0.0,  # waist\n8:         0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0,  # left arm\n9:         0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0, # right arm\n10:         0.0, 0.0  # grip\n11:     ]\n12:     # Lateral sidestep (henka): step sideways while opponent charges blindly forward\n13:     row = [0.0, 0.5, 0.0] + rest_arms\n14:     while True:\n15:         done = s.step('walk_agile', row)\n16:         if done:\n17:             break\n18: \n19:     s.save_trajectory()\n20: \n21: if __name__ == '__main__':\n22:     main()\n23: \nThe above content shows the entire, complete file contents of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":75,"t":613.0,"say":"The task has been completed and verified.\n\n### Deliverables Summary\nThe three required files have been created in `/app/output/`:\n1. [`trajectory.npz`](file:///app/output/trajectory.npz): The 427-step winning trajectory (`outcome: success`, `win_t: 4.263` s), validated via replay in fresh processes with deterministic matching state hash (`state_sha: dc74ecfc4d2529dd256bc95dbeb8db08f6c9f0adffe6cad7d3112cb964858c7e`).\n2. [`gen.py`](file:///app/output/gen.py): Self-contained generator script that executes cleanly and reproduces [`trajectory.npz`](file:///app/output/trajectory.npz).\n3. [`NOTES.md`](file:///app/output/NOTES.md): Summary (11 lines) describing the *henka* (lateral evasion) strategy, failed alternatives (`stand` head-on impact, standard `walk` policy lag), and environment details.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-sumo-i00-standard--edaw8zm.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-sumo-i00-standard--edaw8zm","task":"embodied-olympics-fun-sumo-i00-standard","bench":"embodied-olympics-fun","mode":"standard","run":"claude_code-opus_5_5-high","agent":"claude-code","model":"claude-opus-5-5","effort":"high","state":"success","success":1,"reward":{"success":1,"live_success":1,"graded_by_live":1,"replays":0,"live_rule":1,"live_verdict_error":0,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"instance_mismatch":0,"n_actions":299,"sim_steps":1298,"calls":64,"rows":1298,"resets":2,"reset_budget":5,"sim_startups":1,"elapsed_s":589.8,"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":624,"tokens":{"in":4137829,"cached":4047142,"out":32002,"usd":2.17},"task_text":"# embodied-olympics sumo — instance i00 — STANDARD MODE (robot as a service)\n\nYou control a simulated Unitree G1 humanoid robot (29 joints, 1.32 m tall, 33 kg; the Embodied Olympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, and you reach it only through a\nclient. **Task:** Win a sumo bout: force the opponent robot out of the ring, or make any part of it other than its feet touch the ground, before the same happens to you.\n\n## The venue\nYou stand on the dohyo's clay, 0.55 m above the arena floor, facing +x, at the middle of the ring sideways; the ring's centre is ahead of you, 0.71 m in front of your pelvis. The two starting lines cross the ring's middle 0.7 m apart; the opponent stands the same distance beyond the centre, facing you. The ring of bales is 4.55 m across inside; the clay goes on beyond the bales to the mound's square edge, 3.35 m from the centre.\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:** Japan Sumo Association, the rules of professional sumo (honzumo): the dohyo (the ring of 4.55 m inside the shobu-dawara bales on a raised clay mound, the two shikiri-sen starting lines 0.9 m long, 0.06 m wide and 0.7 m apart); the decision (kimarite / shobu-dawara rules): a wrestler loses when any part of his body touches the ground outside the ring, or any part other than the soles of his feet touches the ground inside it, first; forbidden techniques (kinjite) lose the bout (among them striking with a closed fist and kicking the chest or stomach); there are no weight classes. Where this task departs from it:\n\n- the opponent: a second Unitree G1 with a scripted policy, not a wrestler: from t = 0.5 s it walks at the walking policy's largest forward command (0.8 m/s commanded) straight at you, turning (at most 1.0 rad/s) to face your pelvis, both arms stretched forward at chest height; it never grips, never changes its plan and never gives up; it acts only through its own motors (Unitree's walking policy on the legs, the robot library's joint servo on the arms)\n- the tachiai: no shikiri ritual, no fists on the clay and no matta (false start): both stand behind their starting lines at t = 0, and the bout is on from then; the opponent charges at t = 0.5 s\n- the bodies: neither robot wears a mawashi (there is no belt to grip; the G1's hands are fists, pushing with them counts as an open-hand thrust, not a punch); 'the soles of the feet' are each foot's sole and foot shell (the G1's ankle-roll link)\n- the dohyo: a rigid mound 0.55 m high and 6.7 m square, its clay a firm surface with friction 0.6 (packed clay, 0.5 to 0.7 for clay courts after Nigg 2003; no sand layer, no give); the ring's bales are a row of 20 rigid half-buried capsules standing 0.05 m proud, their inside edge on the 4.55 m circle; the four tokudawara (the bales set outwards at the four sides) are not modelled\n- the decisio\n… (16,188 characters left out) …\n run_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal G1 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":54,"reset":2},"replay":"embodied-olympics-fun-sumo-i00-standard--edaw8zm/replay.mp4","replay_last":"embodied-olympics-fun-sumo-i00-standard--edaw8zm/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"cat /run/rcb-limits/usage.json; ls /app /app/output /opt/tools; cd /tmp && timeout 60 python -c \"","code":"cat /run/rcb-limits/usage.json; ls /app /app/output /opt/tools; cd /tmp && timeout 60 python -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); import json; s=r.spec(); print(json.dumps({k:v for k,v in s.items() if k not in ('robot_facts','proprio_layout')},indent=1)[:6000]); print(r.status())\""}],"out":{"text":"{\n \"t\": 1792999732.09,\n \"measured\": false,\n \"why\": \"this runner cannot run the resource monitor (its container runtime refuses `pid: host`): usage is not measured and the limits are not enforced; the clock is kept\",\n \"enforced\": 0,\n \"limits\": {\n  \"max_gpu_memory_gb\": 0.0,\n  \"max_memory_gb\": 8.0,\n  \"max_processes\": 512,\n  \"max_disk_gb\": 20.0,\n  \"sustain_sec\": 60.0,\n  \"window_sec\": 120.0\n },\n \"elapsed_s\": 25.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7175.0,\n \"deadline_utc\": \"2026-10-26T09:28:27Z\"\n}/app:\noutput\n\n/app/output:\n\n/opt/tools:\nrcb1.py\nrcb_client.py\n{\n \"protocol\": \"eai-standard/2.1\",\n \"control_dt\": 0.01,\n \"max_control_steps\": 3000,\n \"max_chunk_s\": 10.0,\n \"max_watch_s\": 30.0,\n \"max_video_fps\": 30,\n \"max_frames_per_call\": 3000,\n \"budget\": {\n  \"reset\": 5,\n  \"wall_clock_s\": 7200.0\n },\n \"clock\": \"time_s and elapsed_s count from your first request to the service; time_left_s is budget.wall_clock_s minus time_s\",\n \"on_service_error\": \"if a call fails with a connection error or a 5xx, the service may have crashed and resumed the same episode (never a reset): the state is the one after the last call that completed on the service, which you may not have received; check GET /status before continuing\",\n \"simulator\": \"Embodied Olympics - Fun simulator (MuJoCo 3.3.7 on the CPU, 1 ms physics, 10 ms control)\",\n \"robot\": \"Unitree G1, 29 joints, 1.32 m, 33 kg (RoboOlympics robot library g1-4: MuJoCo Menagerie's unitree_g1 with Unitree's joint, speed and torque limits and motor torque-sp\n… (10,505 characters left out) …\n,\n    0.5,\n    1.57,\n    2.618,\n    0.52,\n    0.52,\n    2.6704,\n    2.2515,\n    2.618,\n    2.0944,\n    1.9722,\n    1.6144,\n    1.6144,\n    2.6704,\n    1.5882,\n    2.618,\n    2.0944,\n    1.9722,\n    1.6144,\n    1.6144,\n    1.0,\n    1.0\n   ],\n   \"meaning\": \"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\",\n   \"semantics\": \"rows dt apart (a multiple of control_dt); each control step's command is the row (hold) or a straight line from the command in force (linear); values outside lower/upper are clipped and reported; a joint target moves at most the joint's speed limit per step; joints a type does not name keep their current targets\"\n  },\n  \"run\": {\n   \"dim\": 5,\n   \"layout\": [\n    \"vx\",\n    \"vy\",\n    \"wz\",\n    \"grip_left\",\n    \"grip_right\"\n   ],\n   \"lower\": [\n    0.0,\n    -0.12,\n    -0.5,\n    0.0,\n    0.0\n   ],\n   \"upper\": [\n    5.0,\n    0.12,\n    0.5,\n    1.0,\n    1.0\n   ],\n   \"meaning\": \"the running policy drives all 29 joints from the velocity command (it swings the arms)\",\n   \"semantics\": \"rows dt apart (a multiple of control_dt); each control step's command is the row (hold) or a straight line from the command in force (linear); values outside lower/\n{'calls': 0, 'rows': 0, 'control_steps': 0, 'done': False, 'reason': None, 'episode': 1, 'control_steps_total': 0, 'resets_left': 5, 'elapsed_s': 0.0}\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":31112,"cached":0,"out":240,"think":null,"usd":0.1604},"sim":{"submit":0,"reset":0}},{"id":3,"t":5.0,"say":"","calls":[{"kind":"shell","label":"pip list 2>/dev/null | grep -i -E \"mujoco|numpy|torch|onnx|opencv\"; find / -iname \"*g1*\" -not -path \"/proc/*\" ","code":"pip list 2>/dev/null | grep -i -E \"mujoco|numpy|torch|onnx|opencv\"; find / -iname \"*g1*\" -not -path \"/proc/*\" 2>/dev/null | head; find / -iname \"*sumo*\" -not -path \"/proc/*\" 2>/dev/null | head; nproc"}],"out":{"text":"numpy              2.5.3\n/sys/class/scsi_generic/sg1\n/etc/ssl/certs/HiPKI_Root_CA_-_G1.pem\n/etc/ssl/certs/emSign_Root_CA_-_G1.pem\n/usr/lib/x86_64-linux-gnu/libpng16.so.16\n/usr/lib/x86_64-linux-gnu/libpng16.so.16.48.0\n/usr/share/doc/libfontconfig1\n/usr/share/doc/libpng16-16t64\n/usr/share/doc-base/libpng16-16t64.libpng16\n/usr/share/ca-certificates/mozilla/HiPKI_Root_CA_-_G1.crt\n/usr/share/ca-certificates/mozilla/emSign_Root_CA_-_G1.crt\n32\n\n[stdout]\nnumpy              2.5.3\n/sys/class/scsi_generic/sg1\n/etc/ssl/certs/HiPKI_Root_CA_-_G1.pem\n/etc/ssl/certs/emSign_Root_CA_-_G1.pem\n/usr/lib/x86_64-linux-gnu/libpng16.so.16\n/usr/lib/x86_64-linux-gnu/libpng16.so.16.48.0\n/usr/share/doc/libfontconfig1\n/usr/share/doc/libpng16-16t64\n/usr/share/doc-base/libpng16-16t64.libpng16\n/usr/share/ca-certificates/mozilla/HiPKI_Root_CA_-_G1.crt\n/usr/share/ca-certificates/mozilla/emSign_Root_CA_-_G1.crt\n32","exit":[],"pics":[]},"tok":{"in":34419,"cached":31110,"out":231,"think":null,"usd":0.0274},"sim":{"submit":0,"reset":0}},{"id":4,"t":59.1,"say":"","calls":[{"kind":"shell","label":"cd /tmp && python -c \"","code":"cd /tmp && python -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nimport rcb_client; help(rcb_client)\" | head -150; timeout 60 python -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); import json; s=r.spec(); print(json.dumps(s['cameras'],indent=0)); print(s['proprio_layout'][116:]); print(json.dumps(s['robot_facts'])[:3000])\""}],"out":{"text":"Help on module rcb_client:\n\nNAME\n    rcb_client - eai-standard/2.1 client: your whole interface to the robot (installed at /opt/tools/rcb_client.py, on PYTHONPATH).\n\nDESCRIPTION\n        from rcb_client import Robot, EpisodeOver\n        r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\n    Calls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n        r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                                                 (\"joint_position\": dim, layout (actuator order), lower/upper, range_rad,\n                                                 units, semantics), \"control_dt\" (0.02 s), \"max_control_steps\" (the\n                                                 episode), \"cameras\" {name: rgb, depth, hw, fovy_deg, pose, mounted},\n                                                 \"proprio_layout\" and \"proprio\" (joints, axes, positions), \"imu\", \"links\"\n                                                 (masses, centres of mass, the feet's boxes), \"depth\", \"budget\" {\"reset\",\n                                                 \"wall_clock_s\"}, \"episode\" (what ends it)\n        r.status()                               GET /status: calls, rows, control_steps, done, reason, elapsed_s\n        r.get_obs(cameras=None, seconds=0.0, video_fps=10, include_depth=False, video=\"frames\")\n               \n… (21,801 characters left out) …\n 22.0, 22.0, 37.0, 37.0, 37.0, 37.0, 37.0, 22.0, 22.0], \"torque_limit_nm\": [88.0, 139.0, 88.0, 139.0, 50.0, 50.0, 88.0, 139.0, 88.0, 139.0, 50.0, 50.0, 88.0, 50.0, 50.0, 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0], \"default_kp\": [700.0, 700.0, 500.0, 900.0, 300.0, 300.0, 700.0, 700.0, 500.0, 900.0, 300.0, 300.0, 400.0, 400.0, 400.0, 300.0, 300.0, 300.0, 300.0, 100.0, 60.0, 60.0, 300.0, 300.0, 300.0, 300.0, 100.0, 60.0, 60.0], \"default_kd\": [12.0, 12.0, 8.0, 15.0, 6.0, 6.0, 12.0, 12.0, 8.0, 15.0, 6.0, 6.0, 10.0, 10.0, 10.0, 6.0, 6.0, 6.0, 6.0, 2.0, 1.0, 1.0, 6.0, 6.0, 6.0, 6.0, 2.0, 1.0, 1.0], \"kp_max\": [1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 500.0, 500.0, 500.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0, 400.0], \"kd_max\": [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 15.0, 15.0, 15.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0], \"stance_legs_rad\": [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, -0.1, 0.0, 0.0, 0.3, -0.2, 0.0], \"rest_upper_rad\": [0.0, 0.0, 0.0, 0.2, 0.2, 0.0, 1.28, 0.0, 0.0, 0.0, 0.2, -0.2, 0.0, 1.28, 0.0, 0.0, 0.0], \"mass_kg\": 33.34, \"height_m\": 1.32, \"pelvis_height_standing_m\": 0.793, \"control_dt_s\": 0.01, \"physics_dt_s\": 0.001, \"walk_command_max\": [0.8, 0.5, 1.57], \"run_command_range\": [[0.0, 5.0], [-0.12, 0.12], [-0.5, 0.5]], \"gr\n[stderr]\n\nShell cwd was reset to /app","exit":[],"pics":[]},"tok":{"in":34961,"cached":34417,"out":4459,"think":null,"usd":0.0988},"sim":{"submit":0,"reset":0}},{"id":5,"t":65.1,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/work && cd /app/work && timeout 60 python -c \"","code":"mkdir -p /app/work && cd /app/work && timeout 60 python -c \"\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr=Robot(); res=r.get_obs(); res.save('t0'); print(res.meta['time_left_s'])\n\"; ls /app/work/t0/last"},{"kind":"look","label":"venue.jpg","code":"/app/work/t0/last/venue.jpg"},{"kind":"look","label":"head_left.jpg","code":"/app/work/t0/last/head_left.jpg"}],"out":{"text":"7133.5\nend_on.jpg\nhead_left.jpg\nhead_right.jpg\nvenue.jpg\n\n[stdout]\n7133.5\nend_on.jpg\nhead_left.jpg\nhead_right.jpg\nvenue.jpg\n[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s005_0.jpg","embodied-olympics-fun-sumo-i00-standard--edaw8zm/s005_0.jpg"]},"tok":{"in":45209,"cached":34959,"out":304,"think":null,"usd":0.0643},"sim":{"submit":0,"reset":0}},{"id":6,"t":90.3,"say":"","calls":[{"kind":"robot","label":"mkdir -p /app/output && cat > /app/work/lib.py <<'EOF'","code":"mkdir -p /app/output && cat > /app/work/lib.py <<'EOF'\nimport sys, json, numpy as np\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr = Robot()\nLAY = r.spec()['proprio_layout']\nIDX = {k:i for i,k in enumerate(LAY)}\nREST_ARMS = [0.2,0.2,0,1.28,0,0,0, 0.2,-0.2,0,1.28,0,0,0]\ndef arms(sp=-1.2, sr=0.1, sy=0.0, el=0.2):\n    return [sp, sr, sy, el, 0,0,0, sp, -sr, -sy, el, 0,0,0]\ndef row(vx=0,vy=0,wz=0, waist=(0,0,0), a=None):\n    a = REST_ARMS if a is None else a\n    return [vx,vy,wz,*waist,*a,0,0]\ndef pv(p, *names):\n    return {n: round(float(p[IDX[n]]),3) for n in names}\ndef summary(res):\n    m = res.meta; p = np.array(m['proprio']['now'])\n    q = p[IDX['imu_pelvis_qw']:IDX['imu_pelvis_qw']+4]\n    w,x,y,z = q\n    yaw = np.arctan2(2*(w*z+x*y), 1-2*(y*y+z*z)); pitch=np.arcsin(2*(w*y-z*x)); roll=np.arctan2(2*(w*x+y*z),1-2*(x*x+y*y))\n    return dict(t=round(float(p[IDX['time_s']]),2), done=m['done'], reason=m['reason'], rpy=[round(float(v),3) for v in (roll,pitch,yaw)], mode=float(p[IDX['mode']]), left=m.get('time_left_s'), outcome=m.get('outcome'))\nEOF\ncd /app/work && timeout 120 python -c \"\nfrom lib import *\nimport numpy as np\nA=[row(a=arms(-1.2,0.15,0,0.2))]*1\nres=r.submit('walk_falcon', np.array([row(a=REST_ARMS)]+[row(a=arms(-1.2,0.15,0,0.2))]*15+[row(a=arms(-1.2,0.15,0,0.2))]*10, dtype=float), dt=0.01, cameras=['head_left','venue','end_on'], video='frames')\nres.save('a1_p1'); print(summary(res))\n\""}],"out":{"text":"{'t': 0.26, 'done': False, 'reason': None, 'rpy': [-0.032, 0.143, 0.069], 'mode': 5.0, 'left': 7102.6, 'outcome': None}\n\n[stdout]\n{'t': 0.26, 'done': False, 'reason': None, 'rpy': [-0.032, 0.143, 0.069], 'mode': 5.0, 'left': 7102.6, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":46048,"cached":45207,"out":2630,"think":null,"usd":0.0658},"sim":{"submit":1,"reset":0}},{"id":7,"t":102.5,"say":"","calls":[{"kind":"look","label":"end_on.jpg","code":"/app/work/a1_p1/last/end_on.jpg"},{"kind":"look","label":"venue.jpg","code":"/app/work/a1_p1/last/venue.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s007_0.jpg","embodied-olympics-fun-sumo-i00-standard--edaw8zm/s007_0.jpg"]},"tok":{"in":48822,"cached":46046,"out":130,"think":null,"usd":0.0257},"sim":{"submit":0,"reset":0}},{"id":8,"t":107.1,"say":"","calls":[{"kind":"shell","label":"python -c \"","code":"python -c \"\nfrom PIL import Image; im=Image.open('a1_p1/last/venue.jpg'); im.crop((170,80,300,170)).resize((520,360)).save('crop.png')\" 2>&1 | tail -1 || pip install pillow"},{"kind":"look","label":"crop.png","code":"/app/work/crop.png"}],"out":{"text":"(Bash completed with no output)\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s008_0.jpg"]},"tok":{"in":49402,"cached":48820,"out":340,"think":null,"usd":0.0195},"sim":{"submit":0,"reset":0}},{"id":9,"t":114.1,"say":"","calls":[{"kind":"robot","label":"writes step.py","code":"cat > /app/work/step.py <<'EOF'\nimport sys\nfrom lib import *\nfrom PIL import Image\n# usage: step.py name mode vx vy wz dur sp sr el wpitch\nname, mode = sys.argv[1], sys.argv[2]\nvx,vy,wz,dur,sp,sr,el,wp = map(float, sys.argv[3:11])\nn = int(round(dur/0.01))\nA = np.array([row(vx,vy,wz,(0,0,wp),arms(sp,sr,0,el))]*n, dtype=float)\nres = r.submit(mode, A, dt=0.01, cameras=['venue','head_left'], video='frames', video_fps=10)\nres.save(name); print(summary(res))\nfr = res.frames['venue']; k=[fr[i][60:200,100:400] for i in range(0,len(fr),max(1,len(fr)//4))][:5]\nImage.fromarray(np.concatenate(k,axis=1)).save(name+'_strip.png')\nEOF\ncd /app/work && timeout 120 python step.py a1_p2 walk_falcon 0.8 0 0 0.6 -1.0 0.15 0.2 0.15"}],"out":{"text":"{'t': 0.86, 'done': False, 'reason': None, 'rpy': [0.023, 0.049, 0.122], 'mode': 5.0, 'left': 7081.8, 'outcome': None}\n\n[stdout]\n{'t': 0.86, 'done': False, 'reason': None, 'rpy': [0.023, 0.049, 0.122], 'mode': 5.0, 'left': 7081.8, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":50077,"cached":49400,"out":646,"think":null,"usd":0.0262},"sim":{"submit":1,"reset":0}},{"id":10,"t":123.4,"say":"","calls":[{"kind":"look","label":"a1_p2_strip.png","code":"/app/work/a1_p2_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s010_0.jpg"]},"tok":{"in":50823,"cached":50075,"out":62,"think":null,"usd":0.015},"sim":{"submit":0,"reset":0}},{"id":11,"t":126.9,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p3 walk_falcon 0.8 0 0 0.4 -1.0 0.15 0.2 0.15","code":"timeout 120 python step.py a1_p3 walk_falcon 0.8 0 0 0.4 -1.0 0.15 0.2 0.15"}],"out":{"text":"{'t': 1.26, 'done': False, 'reason': None, 'rpy': [0.029, 0.052, 0.108], 'mode': 5.0, 'left': 7072.5, 'outcome': None}\n\n[stdout]\n{'t': 1.26, 'done': False, 'reason': None, 'rpy': [0.029, 0.052, 0.108], 'mode': 5.0, 'left': 7072.5, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":51198,"cached":50821,"out":178,"think":null,"usd":0.0156},"sim":{"submit":1,"reset":0}},{"id":12,"t":132.7,"say":"","calls":[{"kind":"look","label":"a1_p3_strip.png","code":"/app/work/a1_p3_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s012_0.jpg"]},"tok":{"in":51512,"cached":51196,"out":62,"think":null,"usd":0.0131},"sim":{"submit":0,"reset":0}},{"id":13,"t":136.0,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p4 walk_falcon 0.8 0 0 0.3 -1.0 0.15 0.2 0.15","code":"timeout 120 python step.py a1_p4 walk_falcon 0.8 0 0 0.3 -1.0 0.15 0.2 0.15"}],"out":{"text":"{'t': 1.56, 'done': False, 'reason': None, 'rpy': [-0.01, 0.016, 0.149], 'mode': 5.0, 'left': 7063.7, 'outcome': None}\n\n[stdout]\n{'t': 1.56, 'done': False, 'reason': None, 'rpy': [-0.01, 0.016, 0.149], 'mode': 5.0, 'left': 7063.7, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":51887,"cached":51510,"out":140,"think":null,"usd":0.015},"sim":{"submit":1,"reset":0}},{"id":14,"t":141.6,"say":"","calls":[{"kind":"look","label":"a1_p4_strip.png","code":"/app/work/a1_p4_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s014_0.jpg"]},"tok":{"in":52128,"cached":51885,"out":62,"think":null,"usd":0.0128},"sim":{"submit":0,"reset":0}},{"id":15,"t":144.6,"say":"","calls":[{"kind":"look","label":"head_left.jpg","code":"/app/work/a1_p4/last/head_left.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s015_0.jpg"]},"tok":{"in":52448,"cached":52126,"out":93,"think":null,"usd":0.0139},"sim":{"submit":0,"reset":0}},{"id":16,"t":148.6,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p5 walk_falcon 0.8 0 0 0.4 -1.0 0.15 0.2 0.15","code":"timeout 120 python step.py a1_p5 walk_falcon 0.8 0 0 0.4 -1.0 0.15 0.2 0.15"}],"out":{"text":"{'t': 1.96, 'done': False, 'reason': None, 'rpy': [0.025, 0.028, 0.275], 'mode': 5.0, 'left': 7050.8, 'outcome': None}\n\n[stdout]\n{'t': 1.96, 'done': False, 'reason': None, 'rpy': [0.025, 0.028, 0.275], 'mode': 5.0, 'left': 7050.8, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":52764,"cached":52446,"out":155,"think":null,"usd":0.0152},"sim":{"submit":1,"reset":0}},{"id":17,"t":154.4,"say":"","calls":[{"kind":"look","label":"a1_p5_strip.png","code":"/app/work/a1_p5_strip.png"},{"kind":"look","label":"head_left.jpg","code":"/app/work/a1_p5/last/head_left.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s017_0.jpg","embodied-olympics-fun-sumo-i00-standard--edaw8zm/s017_0.jpg"]},"tok":{"in":53062,"cached":52762,"out":126,"think":null,"usd":0.0146},"sim":{"submit":0,"reset":0}},{"id":18,"t":159.3,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p6 walk_falcon 0.8 0 0 0.5 -1.5 0.15 0.0 0.3","code":"timeout 120 python step.py a1_p6 walk_falcon 0.8 0 0 0.5 -1.5 0.15 0.0 0.3"}],"out":{"text":"{'t': 2.46, 'done': False, 'reason': None, 'rpy': [0.026, 0.111, 0.425], 'mode': 5.0, 'left': 7039.7, 'outcome': None}\n\n[stdout]\n{'t': 2.46, 'done': False, 'reason': None, 'rpy': [0.026, 0.111, 0.425], 'mode': 5.0, 'left': 7039.7, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":53728,"cached":53060,"out":236,"think":null,"usd":0.0187},"sim":{"submit":1,"reset":0}},{"id":19,"t":165.5,"say":"","calls":[{"kind":"look","label":"a1_p6_strip.png","code":"/app/work/a1_p6_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s019_0.jpg"]},"tok":{"in":54064,"cached":53726,"out":62,"think":null,"usd":0.0137},"sim":{"submit":0,"reset":0}},{"id":20,"t":171.7,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p7 walk_falcon 0.4 0.5 -1.0 0.5 -1.2 0.15 0.1 0.2","code":"timeout 120 python step.py a1_p7 walk_falcon 0.4 0.5 -1.0 0.5 -1.2 0.15 0.1 0.2"}],"out":{"text":"{'t': 2.96, 'done': False, 'reason': None, 'rpy': [-0.021, 0.062, 0.1], 'mode': 5.0, 'left': 7027.3, 'outcome': None}\n\n[stdout]\n{'t': 2.96, 'done': False, 'reason': None, 'rpy': [-0.021, 0.062, 0.1], 'mode': 5.0, 'left': 7027.3, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":54439,"cached":54062,"out":365,"think":null,"usd":0.02},"sim":{"submit":1,"reset":0}},{"id":21,"t":180.1,"say":"","calls":[{"kind":"look","label":"a1_p7_strip.png","code":"/app/work/a1_p7_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s021_0.jpg"]},"tok":{"in":54905,"cached":54437,"out":62,"think":null,"usd":0.0145},"sim":{"submit":0,"reset":0}},{"id":22,"t":189.5,"say":"","calls":[{"kind":"robot","label":"sed -i 's/vx,vy,wz,dur,sp,sr,el,wp = map(float, sys.argv\\[3:11\\])/vx,vy,wz,dur,sp,sr,el,wp = map(float, sys.ar","code":"sed -i 's/vx,vy,wz,dur,sp,sr,el,wp = map(float, sys.argv\\[3:11\\])/vx,vy,wz,dur,sp,sr,el,wp = map(float, sys.argv[3:11]); wy = float(sys.argv[11]) if len(sys.argv)>11 else 0.0/; s/(0,0,wp)/(wy,0,wp)/' step.py && timeout 120 python step.py a1_p8 walk_falcon 0.8 0 0 0.5 -1.2 0.15 0.1 0.2 1.0"}],"out":{"text":"{'t': 3.46, 'done': False, 'reason': None, 'rpy': [-0.027, 0.08, -0.367], 'mode': 5.0, 'left': 7008.5, 'outcome': None}\n\n[stdout]\n{'t': 3.46, 'done': False, 'reason': None, 'rpy': [-0.027, 0.08, -0.367], 'mode': 5.0, 'left': 7008.5, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":55280,"cached":54903,"out":844,"think":null,"usd":0.0297},"sim":{"submit":1,"reset":0}},{"id":23,"t":196.7,"say":"","calls":[{"kind":"look","label":"a1_p8_strip.png","code":"/app/work/a1_p8_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s023_0.jpg"]},"tok":{"in":56218,"cached":55278,"out":62,"think":null,"usd":0.017},"sim":{"submit":0,"reset":0}},{"id":24,"t":201.6,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p9 walk_falcon 0.8 0 0 0.4 -1.2 0.15 0.1 0.2 -1.0","code":"timeout 120 python step.py a1_p9 walk_falcon 0.8 0 0 0.4 -1.2 0.15 0.1 0.2 -1.0"}],"out":{"text":"{'t': 3.86, 'done': False, 'reason': None, 'rpy': [0.05, 0.168, 1.622], 'mode': 5.0, 'left': 6997.8, 'outcome': None}\n\n[stdout]\n{'t': 3.86, 'done': False, 'reason': None, 'rpy': [0.05, 0.168, 1.622], 'mode': 5.0, 'left': 6997.8, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":56593,"cached":56216,"out":166,"think":null,"usd":0.0164},"sim":{"submit":1,"reset":0}},{"id":25,"t":207.4,"say":"","calls":[{"kind":"look","label":"a1_p9_strip.png","code":"/app/work/a1_p9_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s025_0.jpg"]},"tok":{"in":56859,"cached":56591,"out":62,"think":null,"usd":0.0139},"sim":{"submit":0,"reset":0}},{"id":26,"t":212.6,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p10 walk_falcon 0.5 0 -1.0 0.5 -1.2 0.15 0.1 0.2 0","code":"timeout 120 python step.py a1_p10 walk_falcon 0.5 0 -1.0 0.5 -1.2 0.15 0.1 0.2 0"}],"out":{"text":"{'t': 4.36, 'done': False, 'reason': None, 'rpy': [-0.005, 0.044, 0.928], 'mode': 5.0, 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0.019, 0.87], 'mode': 5.0, 'left': 6954.4, 'outcome': None}\n\n[stdout]\n{'t': 4.86, 'done': False, 'reason': None, 'rpy': [0.051, 0.019, 0.87], 'mode': 5.0, 'left': 6954.4, 'outcome': None}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s031_0.jpg"]},"tok":{"in":59610,"cached":58881,"out":596,"think":null,"usd":0.0273},"sim":{"submit":1,"reset":0}},{"id":32,"t":253.9,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p12 walk_falcon -0.5 -0.3 -1.0 0.5 -1.2 0.15 0.1 0.2 0; python -c \"","code":"timeout 120 python step.py a1_p12 walk_falcon -0.5 -0.3 -1.0 0.5 -1.2 0.15 0.1 0.2 0; python -c \"\nfrom PIL import Image; import numpy as np\na=Image.open('a1_p12/last/head_left.jpg'); b=Image.open('a1_p12/last/venue.jpg'); Image.fromarray(np.concatenate([np.array(a),np.array(b)],1)).save('pair.png')\""},{"kind":"look","label":"pair.png","code":"/app/work/pair.png"}],"out":{"text":"{'t': 5.36, 'done': False, 'reason': None, 'rpy': [-0.06, 0.063, 1.11], 'mode': 5.0, 'left': 6944.4, 'outcome': None}\n\n[stdout]\n{'t': 5.36, 'done': False, 'reason': None, 'rpy': [-0.06, 0.063, 1.11], 'mode': 5.0, 'left': 6944.4, 'outcome': None}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s032_0.jpg"]},"tok":{"in":60712,"cached":59608,"out":471,"think":null,"usd":0.0269},"sim":{"submit":1,"reset":0}},{"id":33,"t":266.3,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p13 walk_falcon 0 -0.5 -1.0 0.5 0.2 0.2 1.28 0.0 0; python -c \"","code":"timeout 120 python step.py a1_p13 walk_falcon 0 -0.5 -1.0 0.5 0.2 0.2 1.28 0.0 0; python -c \"\nfrom PIL import Image; import numpy as np\na=Image.open('a1_p13/last/head_left.jpg'); b=Image.open('a1_p13/last/venue.jpg'); Image.fromarray(np.concatenate([np.array(a),np.array(b)],1)).save('pair.png')\""},{"kind":"look","label":"pair.png","code":"/app/work/pair.png"}],"out":{"text":"{'t': 5.86, 'done': False, 'reason': None, 'rpy': [-0.071, -0.076, 1.376], 'mode': 5.0, 'left': 6931.9, 'outcome': None}\n\n[stdout]\n{'t': 5.86, 'done': False, 'reason': None, 'rpy': [-0.071, -0.076, 1.376], 'mode': 5.0, 'left': 6931.9, 'outcome': None}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s033_0.jpg"]},"tok":{"in":61690,"cached":60710,"out":660,"think":null,"usd":0.0302},"sim":{"submit":1,"reset":0}},{"id":34,"t":279.8,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p14 walk_falcon -0.8 0.5 0 0.6 0.2 0.2 1.28 0.0 0; python -c \"","code":"timeout 120 python step.py a1_p14 walk_falcon -0.8 0.5 0 0.6 0.2 0.2 1.28 0.0 0; python -c \"\nfrom PIL import Image; import numpy as np\na=Image.open('a1_p14/last/head_left.jpg'); b=Image.open('a1_p14/last/venue.jpg'); Image.fromarray(np.concatenate([np.array(a),np.array(b)],1)).save('pair.png')\""},{"kind":"look","label":"pair.png","code":"/app/work/pair.png"}],"out":{"text":"{'t': 6.46, 'done': False, 'reason': None, 'rpy': [-0.033, 0.011, 1.28], 'mode': 5.0, 'left': 6918.0, 'outcome': None}\n\n[stdout]\n{'t': 6.46, 'done': False, 'reason': None, 'rpy': [-0.033, 0.011, 1.28], 'mode': 5.0, 'left': 6918.0, 'outcome': None}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s034_0.jpg"]},"tok":{"in":62857,"cached":61688,"out":719,"think":null,"usd":0.0326},"sim":{"submit":1,"reset":0}},{"id":35,"t":289.4,"say":"","calls":[{"kind":"robot","label":"timeout 120 python step.py a1_p15 walk_falcon -0.5 0.3 -1.0 0.6 0.2 0.2 1.28 0.0 0; python -c \"","code":"timeout 120 python step.py a1_p15 walk_falcon -0.5 0.3 -1.0 0.6 0.2 0.2 1.28 0.0 0; python -c \"\nfrom PIL import Image; import numpy as np\na=Image.open('a1_p15/last/head_left.jpg'); b=Image.open('a1_p15/last/venue.jpg'); Image.fromarray(np.concatenate([np.array(a),np.array(b)],1)).save('pair.png')\""},{"kind":"look","label":"pair.png","code":"/app/work/pair.png"}],"out":{"text":"{'t': 7.06, 'done': False, 'reason': None, 'rpy': [-0.072, 0.009, 1.157], 'mode': 5.0, 'left': 6908.3, 'outcome': None}\n\n[stdout]\n{'t': 7.06, 'done': False, 'reason': None, 'rpy': [-0.072, 0.009, 1.157], 'mode': 5.0, 'left': 6908.3, 'outcome': None}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s035_0.jpg"]},"tok":{"in":64083,"cached":62855,"out":354,"think":null,"usd":0.0258},"sim":{"submit":1,"reset":0}},{"id":36,"t":333.7,"say":"","calls":[{"kind":"robot","label":"timeout 60 python -c \"","code":"timeout 60 python -c \"\nfrom lib import *\nfrom PIL import Image\nres=r.get_obs(cameras=['end_on','venue','head_left']); 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k=[fr[i][60:200,100:400] for i in range(0,len(fr),max(1,len(fr)//4))][:5]\nImage.fromarray(np.concatenate(k,axis=1)).save(name+'_strip.png')\nEOF\ncd /app/work && timeout 60 python -c \"\nfrom lib import *\nres=r.reset(cameras=['venue']); print(res.meta['episode'], res.meta['resets_left'])\" && timeout 60 python rstep.py a2_p1 3.0 0.6"}],"out":{"text":"2 4\n{'t': 0.6, 'done': False, 'reason': None, 'rpy': [0.103, -0.019, -0.04], 'mode': 2.0, 'left': 6822.2, 'outcome': None}\n\n[stdout]\n2 4\n{'t': 0.6, 'done': False, 'reason': None, 'rpy': [0.103, -0.019, -0.04], 'mode': 2.0, 'left': 6822.2, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":68739,"cached":64942,"out":3228,"think":null,"usd":0.0965},"sim":{"submit":1,"reset":1}},{"id":38,"t":384.2,"say":"","calls":[{"kind":"look","label":"a2_p1_strip.png","code":"/app/work/a2_p1_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s038_0.jpg"]},"tok":{"in":72071,"cached":68737,"out":62,"think":null,"usd":0.0317},"sim":{"submit":0,"reset":0}},{"id":39,"t":388.1,"say":"","calls":[{"kind":"robot","label":"timeout 60 python rstep.py a2_p2 3.0 0.3","code":"timeout 60 python rstep.py a2_p2 3.0 0.3"}],"out":{"text":"{'t': 0.9, 'done': False, 'reason': None, 'rpy': [0.062, 0.022, -0.131], 'mode': 2.0, 'left': 6810.9, 'outcome': None}\n\n[stdout]\n{'t': 0.9, 'done': False, 'reason': None, 'rpy': [0.062, 0.022, -0.131], 'mode': 2.0, 'left': 6810.9, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":72446,"cached":72069,"out":100,"think":null,"usd":0.0183},"sim":{"submit":1,"reset":0}},{"id":40,"t":395.3,"say":"","calls":[{"kind":"look","label":"a2_p2_strip.png","code":"/app/work/a2_p2_strip.png"}],"out":{"text":"[picture]\n\n[metadata] 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[picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s048_0.jpg"]},"tok":{"in":75073,"cached":74864,"out":62,"think":null,"usd":0.0173},"sim":{"submit":0,"reset":0}},{"id":49,"t":448.6,"say":"","calls":[{"kind":"robot","label":"timeout 60 python rstep.py a2_p7 3.0 0.3","code":"timeout 60 python rstep.py a2_p7 3.0 0.3"}],"out":{"text":"{'t': 2.4, 'done': False, 'reason': None, 'rpy': [0.125, 0.098, 0.234], 'mode': 2.0, 'left': 6750.5, 'outcome': None}\n\n[stdout]\n{'t': 2.4, 'done': False, 'reason': None, 'rpy': [0.125, 0.098, 0.234], 'mode': 2.0, 'left': 6750.5, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":75448,"cached":75071,"out":218,"think":null,"usd":0.0213},"sim":{"submit":1,"reset":0}},{"id":50,"t":455.6,"say":"","calls":[{"kind":"look","label":"a2_p7_strip.png","code":"/app/work/a2_p7_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s050_0.jpg"]},"tok":{"in":75766,"cached":75446,"out":62,"think":null,"usd":0.0179},"sim":{"submit":0,"reset":0}},{"id":51,"t":462.3,"say":"","calls":[{"kind":"robot","label":"timeout 60 python -c \"","code":"timeout 60 python -c \"\nfrom lib import *\np=np.array(r.get_obs(cameras=['venue']).meta['proprio']['now']); print(pv(p,'cmd_vx','cmd_wz','time_s'))\"; timeout 60 python rstep.py a2_p8 0.5 0.3 0.5"}],"out":{"text":"{'cmd_vx': 3.0, 'cmd_wz': 0.0, 'time_s': 2.4}\n{'t': 2.7, 'done': False, 'reason': None, 'rpy': [0.017, 0.227, -0.021], 'mode': 2.0, 'left': 6736.0, 'outcome': None}\n\n[stdout]\n{'cmd_vx': 3.0, 'cmd_wz': 0.0, 'time_s': 2.4}\n{'t': 2.7, 'done': False, 'reason': None, 'rpy': [0.017, 0.227, -0.021], 'mode': 2.0, 'left': 6736.0, 'outcome': None}","exit":[],"pics":[]},"tok":{"in":76141,"cached":75764,"out":396,"think":null,"usd":0.025},"sim":{"submit":1,"reset":0}},{"id":52,"t":470.9,"say":"","calls":[{"kind":"look","label":"a2_p8_strip.png","code":"/app/work/a2_p8_strip.png"}],"out":{"text":"[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s052_0.jpg"]},"tok":{"in":76677,"cached":76139,"out":131,"think":null,"usd":0.0205},"sim":{"submit":0,"reset":0}},{"id":53,"t":476.0,"say":"","calls":[{"kind":"robot","label":"timeout 60 python rstep.py a2_p9 0.0 0.4 0.5","code":"timeout 60 python rstep.py a2_p9 0.0 0.4 0.5"}],"out":{"text":"{'t': 2.93, 'done': True, 'reason': 'failed', 'rpy': [-0.176, 0.127, -0.109], 'mode': 2.0, 'left': 6723.7, 'outcome': 'you lost: out of the ring'}\n\n[stdout]\n{'t': 2.93, 'done': True, 'reason': 'failed', 'rpy': [-0.176, 0.127, -0.109], 'mode': 2.0, 'left': 6723.7, 'outcome': 'you lost: out of the ring'}","exit":[],"pics":[]},"tok":{"in":77121,"cached":76675,"out":147,"think":null,"usd":0.0205},"sim":{"submit":1,"reset":0}},{"id":54,"t":483.7,"say":"","calls":[{"kind":"shell","label":"writes NOTES.md","code":"cat > /app/output/NOTES.md <<'EOF'\n# Sumo i00 notes\n- Interface: rcb_client only; helper scripts in /app/work (lib.py, step.py walk-type chunks, rstep.py run chunks); gen.py = current driver.\n- Opponent (red) raises arms high/near vertical when charging; its chest is open.\n- A1: walk_falcon vx=0.8 arms forward (sp -1.0, el 0.2): met at t~1.4 s near centre, stalemate (inside position, our hands on its chest).\n  Waist-yaw twisting spun us around; it ended at our side pushing us; abandoned (reset).\n- A2: `run` vx=3 from t=0: hit it at t~1.4 at ~1 m/s, pushed it ~0.5 m, then slid past it and ran out of the ring (lost, t=2.9).\n- Nothing downloaded/installed.\nEOF\ncp /app/work/lib.py /app/work/step.py /app/work/rstep.py /app/output/ 2>/dev/null; ls /app/work/a2_p5"}],"out":{"text":"frames\nlast\nmeta.json\nproprio.npy\n\n[stdout]\nframes\nlast\nmeta.json\nproprio.npy","exit":[],"pics":[]},"tok":{"in":77383,"cached":77119,"out":517,"think":null,"usd":0.0271},"sim":{"submit":0,"reset":0}},{"id":55,"t":507.0,"say":"","calls":[{"kind":"shell","label":"ls a2_p6/frames/head_left | head -3; python -c \"","code":"ls a2_p6/frames/head_left | head -3; python -c \"\nfrom PIL import Image; import numpy as np, glob\nfs=sorted(glob.glob('a2_p*/frames/head_left/*.jpg'))\nprint(len(fs))\nsel=fs[::max(1,len(fs)//12)][:12]\nims=[np.array(Image.open(f).resize((240,135))) for f in sel]\nrows=[np.concatenate(ims[i:i+4],1) for i in range(0,12,4)]\nImage.fromarray(np.concatenate(rows,0)).save('grid.png')\nfor f in sel: print(f)\n\""},{"kind":"look","label":"grid.png","code":"/app/work/grid.png"}],"out":{"text":"000.jpg\n001.jpg\n002.jpg\n68\na2_p1/frames/head_left/000.jpg\na2_p1/frames/head_left/005.jpg\na2_p1/frames/head_left/010.jpg\na2_p2/frames/head_left/002.jpg\na2_p3/frames/head_left/000.jpg\na2_p3/frames/head_left/005.jpg\na2_p4/frames/head_left/003.jpg\na2_p5/frames/head_left/001.jpg\na2_p5/frames/head_left/006.jpg\na2_p6/frames/head_left/004.jpg\na2_p7/frames/head_left/002.jpg\na2_p8/frames/head_left/000.jpg\n\n[stdout]\n000.jpg\n001.jpg\n002.jpg\n68\na2_p1/frames/head_left/000.jpg\na2_p1/frames/head_left/005.jpg\na2_p1/frames/head_left/010.jpg\na2_p2/frames/head_left/002.jpg\na2_p3/frames/head_left/000.jpg\na2_p3/frames/head_left/005.jpg\na2_p4/frames/head_left/003.jpg\na2_p5/frames/head_left/001.jpg\na2_p5/frames/head_left/006.jpg\na2_p6/frames/head_left/004.jpg\na2_p7/frames/head_left/002.jpg\na2_p8/frames/head_left/000.jpg\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s055_0.jpg"]},"tok":{"in":77945,"cached":77381,"out":1729,"think":null,"usd":0.0529},"sim":{"submit":0,"reset":0}},{"id":56,"t":516.1,"say":"","calls":[{"kind":"shell","label":"writes vis.py","code":"cat > /app/work/vis.py <<'EOF'\nimport numpy as np\ndef red(img):\n    im = img.astype(int); R,G,B = im[...,0],im[...,1],im[...,2]\n    m = (R>120)&(G<70)&(B<70)&(R>2*G)\n    n = m.sum()\n    if n < 30: return None, 0, None\n    ys,xs = np.nonzero(m)\n    cx = xs.mean(); W = img.shape[1]\n    # horizontal fov: vertical 58 deg, 480x270\n    f = (img.shape[0]/2)/np.tan(np.radians(29))\n    bearing = np.arctan2(W/2 - cx, f)   # + = left\n    return bearing, n, ys.mean()\nEOF\npython -c \"\nfrom vis import red; from PIL import Image; import numpy as np, glob\nfor f in sorted(glob.glob('a2_p*/frames/head_left/*.jpg'))[::4]: print(f, red(np.array(Image.open(f))))\n\""}],"out":{"text":"a2_p1/frames/head_left/000.jpg (np.float64(-0.03670542688396255), np.int64(584), np.float64(75.60787671232876))\na2_p1/frames/head_left/004.jpg (np.float64(-0.00122149551011952), np.int64(558), np.float64(76.96594982078852))\na2_p1/frames/head_left/008.jpg (np.float64(0.11259248271109812), np.int64(619), np.float64(82.09693053311793))\na2_p1/frames/head_left/012.jpg (np.float64(0.10095210323593395), np.int64(716), np.float64(91.78212290502793))\na2_p2/frames/head_left/003.jpg (np.float64(0.18146186000727538), np.int64(1694), np.float64(54.78040141676505))\na2_p3/frames/head_left/000.jpg (np.float64(0.2817279655077662), np.int64(2345), np.float64(62.40724946695096))\na2_p3/frames/head_left/004.jpg (np.float64(0.3903555819760776), np.int64(2997), np.float64(150.46413079746412))\na2_p4/frames/head_left/001.jpg (np.float64(0.5621473589661377), np.int64(6653), np.float64(235.21990079663308))\na2_p4/frames/head_left/005.jpg (None, 0, None)\na2_p5/frames/head_left/002.jpg (None, 0, None)\na2_p5/frames/head_left/006.jpg (None, 0, None)\na2_p6/frames/head_left/003.jpg (None, 0, None)\na2_p7/frames/head_left/000.jpg (None, 0, None)\na2_p7/frames/head_left/004.jpg (None, 0, None)\na2_p8/frames/head_left/001.jpg (None, 0, None)\na2_p8/frames/head_left/005.jpg (None, 0, None)\na2_p9/frames/head_left/002.jpg (None, 0, None)\n\n[stdout]\na2_p1/frames/head_left/000.jpg (np.float64(-0.03670542688396255), np.int64(584), np.float64(75.60787671232876))\na2_p1/frames/head_left/004.jpg (np.float64(-0.00122149551011952), np.int64(558), np.float64(76.96594982078852))\na2_p1/frames/head_left/008.jpg (np.float64(0.11259248271109812), np.int64(619), np.float64(82.09693053311793))\na2_p1/frames/head_left/012.jpg (np.float64(0.10095210323593395), np.int64(716), np.float64(91.78212290502793))\na2_p2/frames/head_left/003.jpg (np.float64(0.18146186000727538), np.int64(1694), np.float64(54.78040141676505))\na2_p3/frames/head_left/000.jpg (np.float64(0.2817279655077662), np.int64(2345), np.float64(62.40724946695096))\na2_p3/frames/head_left/004.jpg (np.float64(0.3903555819760776), np.int64(2997), np.float64(150.46413079746412))\na2_p4/frames/head_left/001.jpg (np.float64(0.5621473589661377), np.int64(6653), np.float64(235.21990079663308))\na2_p4/frames/head_left/005.jpg (None, 0, None)\na2_p5/frames/head_left/002.jpg (None, 0, None)\na2_p5/frames/head_left/006.jpg (None, 0, None)\na2_p6/frames/head_left/003.jpg (None, 0, None)\na2_p7/frames/head_left/000.jpg (None, 0, None)\na2_p7/frames/head_left/004.jpg (None, 0, None)\na2_p8/frames/head_left/001.jpg (None, 0, None)\na2_p8/frames/head_left/005.jpg (None, 0, None)\na2_p9/frames/head_left/002.jpg (None, 0, None)","exit":[],"pics":[]},"tok":{"in":80524,"cached":77943,"out":613,"think":null,"usd":0.0408},"sim":{"submit":0,"reset":0}},{"id":57,"t":525.7,"say":"","calls":[{"kind":"shell","label":"for f in ['a2_p3/frames/head_left/000.jpg','a2_p4/frames/head_left/005.jpg']:","code":"python -c \"\nfrom PIL import Image; import numpy as np\nfor f in ['a2_p3/frames/head_left/000.jpg','a2_p4/frames/head_left/005.jpg']:\n  im=np.array(Image.open(f)).astype(int); R,G,B=im[...,0],im[...,1],im[...,2]\n  m=(R>120)&(G<70)&(B<70)&(R>2*G)\n  ys,xs=np.nonzero(m); print(f, xs.min() if len(xs) else None, xs.max() if len(xs) else None, np.percentile(xs,[10,50,90]) if len(xs) else None)\n  # print colors of the torso area\n  print(im[130,240], im[100,240], im[200,100])\n\""}],"out":{"text":"a2_p3/frames/head_left/000.jpg 131 419 [141. 169. 196.]\n[245 224 167] [207 200 194] [204 157 105]\na2_p4/frames/head_left/005.jpg 461 465 [463.4 465.  465. ]\n[201 197 186] [196 192 181] [125 127 126]\n\n[stdout]\na2_p3/frames/head_left/000.jpg 131 419 [141. 169. 196.]\n[245 224 167] [207 200 194] [204 157 105]\na2_p4/frames/head_left/005.jpg 461 465 [463.4 465.  465. ]\n[201 197 186] [196 192 181] [125 127 126]","exit":[],"pics":[]},"tok":{"in":81846,"cached":80522,"out":501,"think":null,"usd":0.0327},"sim":{"submit":0,"reset":0}},{"id":58,"t":544.5,"say":"","calls":[{"kind":"robot","label":"writes gen.py","code":"cat > /app/work/gen.py <<'EOF'\n# Attempt driver: `run` policy charge with visual steering on the opponent's red torso (head_left camera).\nimport sys, json, time, os\nsys.path.insert(0, '/app/work')\nfrom lib import *\nfrom vis import red\nfrom PIL import Image\nout = sys.argv[1] if len(sys.argv) > 1 else 'gen_run'\nos.makedirs(out, exist_ok=True)\nK = float(os.environ.get('K', 2.0)); VX = float(os.environ.get('VX', 3.0)); TMAX = float(os.environ.get('TMAX', 30))\nlast_b = 0.0; lost = 0; log = []\nres = r.get_obs(cameras=['head_left'])\nimg = res.last['head_left']; i = 0\nwhile True:\n    b, n, cy = red(img)\n    if b is not None:\n        last_b = b; lost = 0\n        wz = float(np.clip(K * b, -0.5, 0.5))\n        vx = VX\n    else:\n        lost += 1\n        wz = 0.5 * np.sign(last_b) if last_b != 0 else 0.5\n        vx = VX if lost < 5 else 0.6\n    A = np.array([[vx, 0, wz, 0, 0]] * 10, dtype=float)\n    res = r.submit('run', A, dt=0.01, interpolate='hold', cameras=['head_left', 'venue'], video='none')\n    img = res.last['head_left']\n    s = summary(res); s.update(b=None if b is None else round(float(b), 3), n=int(n), vx=vx, wz=round(wz, 3))\n    log.append(s); print(s, flush=True)\n    if i % 3 == 0:\n        Image.fromarray(np.concatenate([res.last['head_left'], res.last['venue']], 1)).save(f'{out}/{i:04d}.jpg')\n    i += 1\n    if res.done or s['t'] >= TMAX: break\njson.dump(log, open(f'{out}/log.json', 'w'))\nEOF\ncp /app/work/gen.py /app/work/vis.py /app/output/; echo ok"}],"out":{"text":"ok\n\n[stdout]\nok","exit":[],"pics":[]},"tok":{"in":82489,"cached":81844,"out":1765,"think":null,"usd":0.0549},"sim":{"submit":0,"reset":0}},{"id":59,"t":557.9,"say":"","calls":[{"kind":"robot","label":"timeout 60 python -c \"","code":"timeout 60 python -c \"\nfrom lib import *\nres=r.reset(cameras=['venue']); print(res.meta['episode'], res.meta['resets_left'])\" && VX=2.0 TMAX=1.3 timeout 300 python gen.py a3a 2>&1 | cut -c1-200"}],"out":{"text":"3 3\n{'t': 0.1, 'done': False, 'reason': None, 'rpy': [0.012, -0.027, -0.009], 'mode': 2.0, 'left': 6641.7, 'outcome': None, 'b': -0.022, 'n': 592, 'vx': 2.0, 'wz': -0.044}\n{'t': 0.2, 'done': False, 'reason': None, 'rpy': [0.042, -0.072, -0.038], 'mode': 2.0, 'left': 6641.4, 'outcome': None, 'b': -0.004, 'n': 587, 'vx': 2.0, 'wz': -0.007}\n{'t': 0.3, 'done': False, 'reason': None, 'rpy': [0.068, -0.095, -0.057], 'mode': 2.0, 'left': 6641.0, 'outcome': None, 'b': 0.014, 'n': 590, 'vx': 2.0, 'wz': 0.028}\n{'t': 0.4, 'done': False, 'reason': None, 'rpy': [0.078, -0.101, -0.089], 'mode': 2.0, 'left': 6640.7, 'outcome': None, 'b': 0.043, 'n': 592, 'vx': 2.0, 'wz': 0.086}\n{'t': 0.5, 'done': False, 'reason': None, 'rpy': [0.089, -0.077, -0.089], 'mode': 2.0, 'left': 6640.3, 'outcome': None, 'b': 0.12, 'n': 637, 'vx': 2.0, 'wz': 0.239}\n{'t': 0.6, 'done': False, 'reason': None, 'rpy': [0.101, -0.017, -0.02], 'mode': 2.0, 'left': 6640.0, 'outcome': None, 'b': 0.143, 'n': 663, 'vx': 2.0, 'wz': 0.285}\n{'t': 0.7, 'done': False, 'reason': None, 'rpy': [0.063, 0.029, -0.038], 'mode': 2.0, 'left': 6639.7, 'outcome': None, 'b': 0.081, 'n': 746, 'vx': 2.0, 'wz': 0.162}\n{'t': 0.8, 'done': False, 'reason': None, 'rpy': [0.059, 0.047, -0.07], 'mode': 2.0, 'left': 6639.3, 'outcome': None, 'b': 0.117, 'n': 1072, 'vx': 2.0, 'wz': 0.233}\n{'t': 0.9, 'done': False, 'reason': None, 'rpy': [0.057, 0.021, -0.065], 'mode': 2.0, 'left': 6639.0, 'outcome': None, 'b': 0.148, 'n': 2428, 'vx': 2.0, 'wz': 0.295}\n{'\n… (1,333 characters left out) …\nz': 0.086}\n{'t': 0.5, 'done': False, 'reason': None, 'rpy': [0.089, -0.077, -0.089], 'mode': 2.0, 'left': 6640.3, 'outcome': None, 'b': 0.12, 'n': 637, 'vx': 2.0, 'wz': 0.239}\n{'t': 0.6, 'done': False, 'reason': None, 'rpy': [0.101, -0.017, -0.02], 'mode': 2.0, 'left': 6640.0, 'outcome': None, 'b': 0.143, 'n': 663, 'vx': 2.0, 'wz': 0.285}\n{'t': 0.7, 'done': False, 'reason': None, 'rpy': [0.063, 0.029, -0.038], 'mode': 2.0, 'left': 6639.7, 'outcome': None, 'b': 0.081, 'n': 746, 'vx': 2.0, 'wz': 0.162}\n{'t': 0.8, 'done': False, 'reason': None, 'rpy': [0.059, 0.047, -0.07], 'mode': 2.0, 'left': 6639.3, 'outcome': None, 'b': 0.117, 'n': 1072, 'vx': 2.0, 'wz': 0.233}\n{'t': 0.9, 'done': False, 'reason': None, 'rpy': [0.057, 0.021, -0.065], 'mode': 2.0, 'left': 6639.0, 'outcome': None, 'b': 0.148, 'n': 2428, 'vx': 2.0, 'wz': 0.295}\n{'t': 1.0, 'done': False, 'reason': None, 'rpy': [0.031, -0.047, -0.028], 'mode': 2.0, 'left': 6638.6, 'outcome': None, 'b': 0.166, 'n': 2226, 'vx': 2.0, 'wz': 0.333}\n{'t': 1.1, 'done': False, 'reason': None, 'rpy': [0.029, -0.083, 0.001], 'mode': 2.0, 'left': 6638.3, 'outcome': None, 'b': 0.112, 'n': 2213, 'vx': 2.0, 'wz': 0.224}\n{'t': 1.2, 'done': False, 'reason': None, 'rpy': [0.037, -0.028, -0.006], 'mode': 2.0, 'left': 6637.9, 'outcome': None, 'b': 0.12, 'n': 3058, 'vx': 2.0, 'wz': 0.241}\n{'t': 1.3, 'done': False, 'reason': None, 'rpy': [0.055, 0.007, 0.039], 'mode': 2.0, 'left': 6637.6, 'outcome': None, 'b': 0.244, 'n': 9240, 'vx': 2.0, 'wz': 0.489}","exit":[],"pics":[]},"tok":{"in":84285,"cached":82487,"out":453,"think":null,"usd":0.0345},"sim":{"submit":13,"reset":1}},{"id":60,"t":569.5,"say":"","calls":[{"kind":"robot","label":"VX=2.0 TMAX=2.3 timeout 300 python gen.py a3b 2>&1 | cut -c1-60,100-200","code":"VX=2.0 TMAX=2.3 timeout 300 python gen.py a3b 2>&1 | cut -c1-60,100-200"}],"out":{"text":"{'t': 1.4, 'done': False, 'reason': None, 'rpy': [0.035, -0.1, 'outcome': None, 'b': 0.205, 'n': 8858, 'vx': 2.0, 'wz': 0.41}\n{'t': 1.5, 'done': False, 'reason': None, 'rpy': [0.005, -0.7, 'outcome': None, 'b': 0.157, 'n': 10144, 'vx': 2.0, 'wz': 0.314}\n{'t': 1.6, 'done': False, 'reason': None, 'rpy': [-0.031, 0.3, 'outcome': None, 'b': 0.061, 'n': 12326, 'vx': 2.0, 'wz': 0.121}\n{'t': 1.7, 'done': False, 'reason': None, 'rpy': [-0.016, 0.0, 'outcome': None, 'b': -0.138, 'n': 18348, 'vx': 2.0, 'wz': -0.275}\n{'t': 1.8, 'done': False, 'reason': None, 'rpy': [0.002, 0.0, 'outcome': None, 'b': -0.318, 'n': 23508, 'vx': 2.0, 'wz': -0.5}\n{'t': 1.9, 'done': False, 'reason': None, 'rpy': [-0.033, 0.2, 'outcome': None, 'b': -0.344, 'n': 35657, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.0, 'done': False, 'reason': None, 'rpy': [-0.008, 0.8, 'outcome': None, 'b': -0.129, 'n': 50868, 'vx': 2.0, 'wz': -0.257}\n{'t': 2.1, 'done': False, 'reason': None, 'rpy': [-0.018, 0.5, 'outcome': None, 'b': -0.227, 'n': 61255, 'vx': 2.0, 'wz': -0.455}\n{'t': 2.2, 'done': False, 'reason': None, 'rpy': [-0.01, 0.0, 'outcome': None, 'b': -0.335, 'n': 49812, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.3, 'done': False, 'reason': None, 'rpy': [0.007, 0.0, 'outcome': None, 'b': -0.174, 'n': 43961, 'vx': 2.0, 'wz': -0.348}\n\n[stdout]\n{'t': 1.4, 'done': False, 'reason': None, 'rpy': [0.035, -0.1, 'outcome': None, 'b': 0.205, 'n': 8858, 'vx': 2.0, 'wz': 0.41}\n{'t': 1.5, 'done': False, 'reason': None, 'rpy': [0.005, -0.7, 'outcome': None, 'b': 0.157, 'n': 10144, 'vx': 2.0, 'wz': 0.314}\n{'t': 1.6, 'done': False, 'reason': None, 'rpy': [-0.031, 0.3, 'outcome': None, 'b': 0.061, 'n': 12326, 'vx': 2.0, 'wz': 0.121}\n{'t': 1.7, 'done': False, 'reason': None, 'rpy': [-0.016, 0.0, 'outcome': None, 'b': -0.138, 'n': 18348, 'vx': 2.0, 'wz': -0.275}\n{'t': 1.8, 'done': False, 'reason': None, 'rpy': [0.002, 0.0, 'outcome': None, 'b': -0.318, 'n': 23508, 'vx': 2.0, 'wz': -0.5}\n{'t': 1.9, 'done': False, 'reason': None, 'rpy': [-0.033, 0.2, 'outcome': None, 'b': -0.344, 'n': 35657, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.0, 'done': False, 'reason': None, 'rpy': [-0.008, 0.8, 'outcome': None, 'b': -0.129, 'n': 50868, 'vx': 2.0, 'wz': -0.257}\n{'t': 2.1, 'done': False, 'reason': None, 'rpy': [-0.018, 0.5, 'outcome': None, 'b': -0.227, 'n': 61255, 'vx': 2.0, 'wz': -0.455}\n{'t': 2.2, 'done': False, 'reason': None, 'rpy': [-0.01, 0.0, 'outcome': None, 'b': -0.335, 'n': 49812, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.3, 'done': False, 'reason': None, 'rpy': [0.007, 0.0, 'outcome': None, 'b': -0.174, 'n': 43961, 'vx': 2.0, 'wz': -0.348}","exit":[],"pics":[]},"tok":{"in":86173,"cached":84283,"out":174,"think":null,"usd":0.0298},"sim":{"submit":10,"reset":0}},{"id":61,"t":579.4,"say":"","calls":[{"kind":"shell","label":"ls a3b; python -c \"","code":"ls a3b; python -c \"\nfrom PIL import Image; import numpy as np, glob\nfs=sorted(glob.glob('a3b/0*.jpg'))\nImage.fromarray(np.concatenate([np.array(Image.open(f)) for f in fs[-3:]],0)).save('g.png')\""},{"kind":"look","label":"g.png","code":"/app/work/g.png"}],"out":{"text":"0000.jpg\n0003.jpg\n0006.jpg\n0009.jpg\nlog.json\n\n[stdout]\n0000.jpg\n0003.jpg\n0006.jpg\n0009.jpg\nlog.json\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard--edaw8zm/s061_0.jpg"]},"tok":{"in":87221,"cached":86171,"out":201,"think":null,"usd":0.0265},"sim":{"submit":0,"reset":0}},{"id":62,"t":588.3,"say":"","calls":[{"kind":"robot","label":"VX=2.0 TMAX=6 timeout 600 python gen.py a3c 2>&1 | cut -c1-60,100-220","code":"VX=2.0 TMAX=6 timeout 600 python gen.py a3c 2>&1 | cut -c1-60,100-220"}],"out":{"text":"{'t': 2.4, 'done': False, 'reason': None, 'rpy': [-0.008, 0.2, 'outcome': None, 'b': 0.058, 'n': 44509, 'vx': 2.0, 'wz': 0.116}\n{'t': 2.5, 'done': False, 'reason': None, 'rpy': [0.031, 0.0, 'outcome': None, 'b': -0.149, 'n': 32387, 'vx': 2.0, 'wz': -0.299}\n{'t': 2.6, 'done': False, 'reason': None, 'rpy': [0.057, 0.0, 'outcome': None, 'b': -0.288, 'n': 41621, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.7, 'done': False, 'reason': None, 'rpy': [-0.005, 0., 'outcome': None, 'b': -0.274, 'n': 38300, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.8, 'done': False, 'reason': None, 'rpy': [-0.103, 0. 'outcome': None, 'b': 0.319, 'n': 46232, 'vx': 2.0, 'wz': 0.5}\n{'t': 2.9, 'done': False, 'reason': None, 'rpy': [-0.203, 0..3, 'outcome': None, 'b': None, 'n': 0, 'vx': 2.0, 'wz': np.float64(0.5)}\n{'t': 2.99, 'done': True, 'reason': 'success', 'rpy': [-0.27 6610.0, 'outcome': 'success', 'b': None, 'n': 0, 'vx': 2.0, 'wz': np.float64(0.5)}\n\n[stdout]\n{'t': 2.4, 'done': False, 'reason': None, 'rpy': [-0.008, 0.2, 'outcome': None, 'b': 0.058, 'n': 44509, 'vx': 2.0, 'wz': 0.116}\n{'t': 2.5, 'done': False, 'reason': None, 'rpy': [0.031, 0.0, 'outcome': None, 'b': -0.149, 'n': 32387, 'vx': 2.0, 'wz': -0.299}\n{'t': 2.6, 'done': False, 'reason': None, 'rpy': [0.057, 0.0, 'outcome': None, 'b': -0.288, 'n': 41621, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.7, 'done': False, 'reason': None, 'rpy': [-0.005, 0., 'outcome': None, 'b': -0.274, 'n': 38300, 'vx': 2.0, 'wz': -0.5}\n{'t': 2.8, 'done': False, 'reason': None, 'rpy': [-0.103, 0. 'outcome': None, 'b': 0.319, 'n': 46232, 'vx': 2.0, 'wz': 0.5}\n{'t': 2.9, 'done': False, 'reason': None, 'rpy': [-0.203, 0..3, 'outcome': None, 'b': None, 'n': 0, 'vx': 2.0, 'wz': np.float64(0.5)}\n{'t': 2.99, 'done': True, 'reason': 'success', 'rpy': [-0.27 6610.0, 'outcome': 'success', 'b': None, 'n': 0, 'vx': 2.0, 'wz': np.float64(0.5)}","exit":[],"pics":[]},"tok":{"in":88553,"cached":87219,"out":348,"think":null,"usd":0.0311},"sim":{"submit":7,"reset":0}},{"id":63,"t":596.4,"say":"","calls":[{"kind":"robot","label":"timeout 60 python -c \"","code":"timeout 60 python -c \"\nfrom lib import *\nprint(r.status())\ntry:\n  res=r.get_obs(cameras=['venue']); print(res.meta.get('outcome'), res.meta.get('stages_reached'), res.meta.get('stages_total')); res.save('final')\nexcept Exception as e: print('err',e)\n\""}],"out":{"text":"{'calls': 63, 'rows': 1298, 'control_steps': 299, 'done': True, 'reason': 'success', 'episode': 3, 'control_steps_total': 1298, 'resets_left': 0, 'elapsed_s': 595.8}\nsuccess 1 1\n\n[stdout]\n{'calls': 63, 'rows': 1298, 'control_steps': 299, 'done': True, 'reason': 'success', 'episode': 3, 'control_steps_total': 1298, 'resets_left': 0, 'elapsed_s': 595.8}\nsuccess 1 1","exit":[],"pics":[]},"tok":{"in":89524,"cached":88551,"out":174,"think":null,"usd":0.0261},"sim":{"submit":0,"reset":0}},{"id":64,"t":602.2,"say":"Success confirmed. I'll update the record files.","calls":[{"kind":"shell","label":"cp /app/work/gen.py /app/work/vis.py /app/work/lib.py /app/output/ && sed -i \"s#sys.path.insert(0, '/app/work'","code":"cp /app/work/gen.py /app/work/vis.py /app/work/lib.py /app/output/ && sed -i \"s#sys.path.insert(0, '/app/work')#sys.path.insert(0, '/app/output')#\" /app/output/gen.py && cat > /app/output/NOTES.md <<'EOF'\n# Sumo i00 notes — RESULT: success on attempt 3 (t = 2.99 s, outcome \"success\", stages 1/1)\n- Interface: rcb_client only. Files: gen.py (the driver of the winning attempt), lib.py (helpers), vis.py (red-torso detector),\n  step.py / rstep.py (manual chunk scripts used for exploring).\n- Winning approach (gen.py, VX=2.0): Embodied Olympics `run` policy charging from t=0, with closed-loop steering in 0.1 s chunks:\n  find the opponent's red torso in head_left (R>120, G,B<70), work out its bearing, wz = clip(2*bearing, ±0.5).\n  The charge hits it at ~1.3 s, turns it and drives it backwards across the bales (pushed out at t≈3 s).\n  It ran in pieces (TMAX 1.3 / 2.3 / 6, one after another, all in the same episode); the loop is the same throughout.\n- A1 (failed, reset): walk_falcon vx 0.8 with arms forward. Stalemate at the centre; waist-yaw twisting made us spin and it\n  ended up at our side pushing us.\n- A2 (lost, out of ring): `run` vx 3 with no steering. It pushed the opponent ~0.5 m, then slid past it and ran out of the ring.\n  Steering on vision fixed this.\n- Opponent: lifts its arms high when it charges, so its chest is open. Nothing downloaded or installed.\nEOF\nwc -l /app/output/NOTES.md"}],"out":{"text":"12 /app/output/NOTES.md\n\n[stdout]\n12 /app/output/NOTES.md","exit":[],"pics":[]},"tok":{"in":89820,"cached":89522,"out":699,"think":null,"usd":0.0334},"sim":{"submit":0,"reset":0}},{"id":65,"t":619.1,"say":"I won the bout on the third attempt: the referee called it `success` (1 of 1 stages) at 2.99 s of robot time, by forcing the opponent out of the ring. A success ends the trial, so attempt 3 is the graded one.\n\n**What won:** the `run` policy charging at the opponent from t = 0 (speed command 2.0 m/s), steered by the head camera. Every 0.1 s the script finds the opponent's red torso in the `head_left` image, works out which way it lies, and turns towards it (turn rate = 2 × that angle, capped at 0.5 rad/s). We hit it at about 1.3 s. By around 2 s the camera showed what looked like the back of its torso, so it seems to have been turned partly away from us. We then pushed it over the bales and it touched outside at about 3 s.\n\n**What failed before that:**\n- **Attempt 1:** walking at it with the FALCON policy, arms forward. This gave a stalemate in the middle of the ring. Twisting the waist to throw it off balance just spun us round until it was at our side pushing us. I reset.\n- **Attempt 2:** the same `run` charge without steering. It pushed the opponent back about 0.5 m, then slid past it and ran out of the ring, so we lost. Steering by camera fixed this.\n\nThe opponent lifts its arms almost straight up as it charges, which leaves its chest open to a charge.\n\nThe winning attempt was run as three back-to-back runs of the same script with different stop times, all in one episode, so I could check the images between them. `gen.py` is that script; run once without the stop times, it should behave the same. Nothing was downloaded or installed.\n\nFiles are in `/app/output`:\n- `gen.py`: the script that drove the winning attempt\n- `lib.py`: helper functions\n- `vis.py`: the red-torso detector\n- `step.py`, `rstep.py`: the scripts I used to explore by hand\n- `NOTES.md`: 12 lines","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":90561,"cached":89818,"out":646,"think":null,"usd":0.0346},"sim":{"submit":0,"reset":0}}]}

runs/embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd.json

@@ -0,0 +1 @@
+{"slug":"embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd","task":"embodied-olympics-fun-sumo-i00-standard-realtime","bench":"embodied-olympics-fun","mode":"standard-realtime","run":"claude_code-qwen3_8_max-high","agent":"claude-code","model":"qwen3.8-max","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":307,"sim_steps":307,"calls":4,"rows":1000,"resets":0,"reset_budget":5,"sim_startups":1,"elapsed_s":482.5,"video_rendered":1,"first_success":1,"first_reason_code":1,"realtime":1,"slowdown":1.0,"clock_s":3.07,"max_lag_s":0.2769,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":0,"late_steps":0,"requests_refused":0,"request_busy_s":0.273,"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":907,"tokens":{"in":571086,"cached":470229,"out":22937,"usd":1.44},"task_text":"# embodied-olympics sumo — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree G1 humanoid robot (29 joints, 1.32 m tall, 33 kg; the Embodied Olympics simulator on MuJoCo)\n**as if it were real hardware**: the simulator runs in a service you cannot open, you reach it only through a\nclient, and like a real venue it does not wait for you: once an attempt is running, the robot, the ball and the venue\nmove while you think. **Task:** Win a sumo bout: force the opponent robot out of the ring, or make any part of it other than its feet touch the ground, before the same happens to you.\n\n**Slowdown: S = 1.** The world runs at 1/S of real speed: one control step (10 ms of robot time) every\nS x 10 ms of wall-clock time (real time). `spec()[\"timing\"][\"slowdown\"]` states it.\n\n## The venue\nYou stand on the dohyo's clay, 0.55 m above the arena floor, facing +x, at the middle of the ring sideways; the ring's centre is ahead of you, 0.71 m in front of your pelvis. The two starting lines cross the ring's middle 0.7 m apart; the opponent stands the same distance beyond the centre, facing you. The ring of bales is 4.55 m across inside; the clay goes on beyond the bales to the mound's square edge, 3.35 m from the centre.\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:** Japan Sumo Association, the rules of professional sumo (honzumo): the dohyo (the ring of 4.55 m inside the shobu-dawara bales on a raised clay mound, the two shikiri-sen starting lines 0.9 m long, 0.06 m wide and 0.7 m apart); the decision (kimarite / shobu-dawara rules): a wrestler loses when any part of his body touches the ground outside the ring, or any part other than the soles of his feet touches the ground inside it, first; forbidden techniques (kinjite) lose the bout (among them striking with a closed fist and kicking the chest or stomach); there are no weight classes. Where this task departs from it:\n\n- the opponent: a second Unitree G1 with a scripted policy, not a wrestler: from t = 0.5 s it walks at the walking policy's largest forward command (0.8 m/s commanded) straight at you, turning (at most 1.0 rad/s) to face your pelvis, both arms stretched forward at chest height; it never grips, never changes its plan and never gives up; it acts only through its own motors (Unitree's walking policy on the legs, the robot library's joint servo on the arms)\n- the tachiai: no shikiri ritual, no fists on the clay and no matta (false start): both stand behind their starting lines at t = 0, and the bout is on from then; the opponent charges at t = 0.5 s\n- the bodies: neither robot wears a mawashi (there is no belt to grip; the G1's hands are fists, pushing with them counts as an open-hand thrust, not a punch); 'the soles of the feet' are each foot's sole and foot shell (the G1's ankle-roll link)\n- the dohyo: a rigid mound 0.55 m high and 6.7 m squa\n… (19,495 characters left out) …\n run_arms,\n4 joints / lowcmd; the G1 also 5 walk_falcon, 6 walk_agile), the velocity command in force (`cmd_vx`, `cmd_vy`, `cmd_wz`) and `time_s`, the attempt's time. A\nreal G1 has no sensor for its position in the venue, and neither do you: that is what the cameras are for.\n\n## External material\nThe network is open. You may install packages (pip, apt), and you may search for, download and use public tools, robot models and pretrained controllers (for example a published Unitree G1 walking, jumping or whole-body policy): finding existing work and adapting it to this robot is encouraged. Say in your notes what you used. You may read anything installed in your container, this benchmark's own source code included. The one thing not to look up is a ready-made solution to this exact task, such as this benchmark's reference solutions. This is an honour rule; trials are reviewed.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 7200 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task. `/run/rcb-limits/usage.json`, rewritten every few seconds, gives the time left on this limit (`time_left_s`) and its end (`deadline_utc`), counted from a little before your session started, so it never gives you more time than you have: read it (or run `date`) before you decide that time is short, never guess. Waiting counts too: a tool call that sends input to a process that keeps running (an interactive interpreter, a simulator loop, a server) can wait for the whole wait or yield time you give it (for example Codex's `yield_time_ms`) even when the answer is printed at once, so give such calls a short wait and poll again if the output is not complete, or run one-shot scripts that exit when they are done. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd/replay.mp4","replay_last":"embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd/replay_last.jpg","steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"Check time, resource limits, and directory contents","code":"date; cat /run/rcb-limits/usage.json 2>/dev/null; ls /app /opt/tools 2>/dev/null"},{"kind":"shell","label":"Read client docstring","code":"python -c \"import sys; sys.path.insert(0,'/opt/tools'); import rcb_client; print(rcb_client.__doc__[:6000])\""}],"out":{"text":"Mon Oct 26 07:17:11 UTC 2026\n{\n \"t\": 1792999027.27,\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\": 180.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7020.0,\n \"deadline_utc\": \"2026-10-26T09:14:07Z\"\n}/app:\noutput\n\n/opt/tools:\nrcb1.py\nrcb_client.py\n\n[stdout]\nMon Oct 26 07:17:11 UTC 2026\n{\n \"t\": 1792999027.27,\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\": 180.0,\n \"time_limit_s\": 7200,\n \"time_left_s\": 7020.0,\n \"deadline_utc\": \"2026-10-26T09:14:07Z\"\n}/app:\noutput\n\n/opt/tools:\nrcb1.py\nrcb_client.py\neai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\nPYTHONPATH).\n\n    from rcb_client import Robot, EpisodeOver\n    r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\nTIME DOES NOT STOP (sp\n… (10,179 characters left out) …\nboth\" or \"none\" (only the last frame); a submit returns no video (no time passes inside it). include_depth adds depth\nfor the cameras that have it.\n\nResult (what get_obs / submit / reset return):\n    res.meta                 dict: calls, rows, control_steps (steps run in this episode: the next one is this number),\n                             sim_time_s, time_s, time_left_s, proprio {\"layout\", \"now\"}, done, reason (\"success\" |\n                             \"failed\" | \"timeout\" | \"error\"; None while the episode runs), running, planned_steps,\n                             lag_s; per submit: start_step, late_steps, plan_end_step, clipped [{row, index, reason}]\n                             (values outside [-1, 1] are clipped, not refused); with a reset budget also episode,\n                             resets_left\n    res.last[cam]            uint8 H x W x 3: the last frame (unless cameras=[])\n    res.frames[cam]          uint8 N x H x W x 3 (get_obs, video=\"frames\"/\"both\")     res.video[cam]   mp4 bytes\n    res.depth[cam]           float16 N x H x W, metres, 0 = nothing in range (include_depth)\n    res.proprio              float32 rows of spec()[\"proprio_layout\"]: one at the call's start, one every 1/video_fps s\n                             of a watch, one at its end\n    res.done                 the episode is over\n    res.save(dir)            meta.json, <cam>.mp4, last/<cam>.jpg, frames/<cam>/NNN.jpg, depth_<cam>.npy, proprio.npy\n\nErrors: ValueError -- refused, nothing changed (40","exit":[],"pics":[]},"tok":{"in":23005,"cached":0,"out":8875,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":130.8,"say":"","calls":[{"kind":"shell","label":"Fetch spec from robot service","code":"python - <<'EOF'\nimport sys, json\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr = Robot()\ns = r.spec()\nprint(json.dumps({k:v for k,v in s.items() if k not in ('robot_facts','proprio_layout','action_types')}, indent=1)[:3000])\nprint(\"ACTION TYPES:\")\nfor k,v in s['action_types'].items():\n    print(k, v.get('dim'), v.get('layout') if isinstance(v.get('layout'),str) else '')\nprint(\"TIMING:\", s.get('timing'))\nprint(\"BUDGET:\", s.get('budget'))\nprint(\"CAMERAS:\", json.dumps(s.get('cameras'), indent=1)[:1500])\nprint(\"RULES:\", json.dumps(s.get('rules'), indent=1)[:2000])\nEOF"},{"kind":"shell","label":"Look for benchmark source code in container","code":"ls -la /app/output; find / -xdev -iname '*sumo*' -not -path '*/proc/*' 2>/dev/null | head -20; find / -xdev -iname '*olympic*' -not -path '*/proc/*' 2>/dev/null | head; ls /opt 2>/dev/null"}],"out":{"text":"{\n \"protocol\": \"eai-standard/2.3\",\n \"control_dt\": 0.01,\n \"max_control_steps\": 3000,\n \"max_chunk_s\": 10.0,\n \"max_watch_s\": 30.0,\n \"max_video_fps\": 30,\n \"max_frames_per_call\": 3000,\n \"budget\": {\n  \"reset\": 5,\n  \"wall_clock_s\": 7200.0\n },\n \"clock\": \"time_s and elapsed_s count from your first request to the service; time_left_s is budget.wall_clock_s minus time_s\",\n \"on_service_error\": \"if a call fails with a connection error or a 5xx, the service may have crashed and resumed the same episode (never a reset): the state is the one after the last call that completed on the service, which you may not have received; check GET /status before continuing\",\n \"simulator\": \"Embodied Olympics - Fun simulator (MuJoCo 3.3.7 on the CPU, 1 ms physics, 10 ms control)\",\n \"robot\": \"Unitree G1, 29 joints, 1.32 m, 33 kg (RoboOlympics robot library g1-4: MuJoCo Menagerie's unitree_g1 with Unitree's joint, speed and torque limits and motor torque-speed curves)\",\n \"task_text\": \"Win a sumo bout: force the opponent robot out of the ring, or make any part of it other than its feet touch the ground, before the same happens to you.\",\n \"rules\": \"The bout is on a dohyo: a clay mound 0.55 m high, 6.7 m square, with a ring of straw bales whose inside edge is a circle 4.55 m across (the bales stand 0.05 m proud of the clay). You stand facing the opponent behind your starting line (the white lines are 0.7 m apart, across the middle of the ring); the opponent, another Unitree G1, stands behind its line facing you.\n… (10,653 characters left out) …\n: true,\n  \"depth\": false,\n  \"hw\": [\n   270,\n   480\n  ],\n  \"fovy_deg\": 55.0,\n  \"mounted\": \"venue (fixed)\",\n  \nRULES: \"The bout is on a dohyo: a clay mound 0.55 m high, 6.7 m square, with a ring of straw bales whose inside edge is a circle 4.55 m across (the bales stand 0.05 m proud of the clay). You stand facing the opponent behind your starting line (the white lines are 0.7 m apart, across the middle of the ring); the opponent, another Unitree G1, stands behind its line facing you. The bout starts at t = 0; the opponent charges at t = 0.5 s and keeps walking into you, arms forward, turning to face you. You win at the first moment the opponent touches the ground outside the ring (the mound beyond the bales, or the floor below the mound) with any part of its body, or touches the clay or the bales inside with any part other than its feet, provided you have not done the same before. You lose (the attempt fails) if that happens to you first: any part of you on the ground outside the ring, any part other than your feet on the clay or the bales, or your pelvis lower than 0.35 m above the clay. Both in the same instant is no decision and fails. Kicking the opponent's trunk (its pelvis or torso) with a foot is forbidden and fails. If there is no decision after 30 s, you fail.\"\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 24 21:13 .\ndrwxr-xr-x 3 root root 4096 Oct 24 21:13 ..\ntools\n\n[stdout]\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct 24 21:13 .\ndrwxr-xr-x 3 root root 4096 Oct 24 21:13 ..\ntools","exit":[],"pics":[]},"tok":{"in":33446,"cached":22999,"out":390,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":210.7,"say":"","calls":[{"kind":"shell","label":"Check installed packages for simulator source","code":"pip list 2>/dev/null | grep -iE 'olymp|mujoco|unitree|robo|g1|torch|numpy' ; python -c \"import numpy; print(numpy.__version__)\"; find /usr/lib/python3* /usr/local/lib/python3* -maxdepth 2 -iname '*olymp*' 2>/dev/null | head"},{"kind":"shell","label":"Check current episode status","code":"python - <<'EOF'\nimport sys, json\nsys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr = Robot()\nst = r.status()\nprint(json.dumps(st, indent=1))\nEOF"}],"out":{"text":"numpy              2.5.3\n2.5.3\n\n[stdout]\nnumpy              2.5.3\n2.5.3\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\": 79.5,\n \"running\": false,\n \"planned_steps\": 0,\n \"lag_s\": 0.0\n}\n\n[stdout]\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\": 79.5,\n \"running\": false,\n \"planned_steps\": 0,\n \"lag_s\": 0.0\n}","exit":[],"pics":[]},"tok":{"in":36341,"cached":33440,"out":342,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":481.4,"say":"","calls":[{"kind":"edit","label":"gen.py","code":"/app/output/gen.py\n\n#!/usr/bin/env python3\n\"\"\"Sumo controller v1: RUN CHARGE.\n\nPlan: from the frozen start, switch straight to `run` and charge at the\nopponent (which walks at us from t=0.5 s). Command vx ramps 0 -> VX at\n1.5 m/s^2 (the run policy's own slew limit), holds through the expected\nimpact (~1.3-2 s), then brakes and hands over to walk_agile pushing\nforward gently, so we neither overshoot into the far bales nor stand\nstuck. Everything is open-loop (two chunks submitted at t=0), then we\nwatch the venue cameras and log the outcome.\n\nEnv knobs: VX (peak run cmd), THEAD (hold peak until), TBRAKE (braked to\n0.4 by), VW (walk push speed), ARMS=1 to use run_arms with arms forward\n(needs calibration; off in v1).\n\"\"\"\nimport sys, os, json, time\nsys.path.insert(0, '/opt/tools')\nimport numpy as np\nfrom rcb_client import Robot\n\nOUT = \"/app/output\"\nVX     = float(os.environ.get(\"VX\", \"3.0\"))\nRAMP   = float(os.environ.get(\"RAMP\", \"1.5\"))\nTHEAD  = float(os.environ.get(\"THEAD\", \"2.6\"))\nTBRAKE = float(os.environ.get(\"TBRAKE\", \"3.8\"))\nVW     = float(os.environ.get(\"VW\", \"0.3\"))\n\nrest19 = np.array([0,0,0,  0.2,0.2,0,1.28,0,0,0,  0.2,-0.2,0,1.28,0,0,0,  0.0,0.0],\n                  dtype=np.float32)   # waist3 arms14 grips2 (stand row)\n\ndef log(*a):\n    print(*a); sys.stdout.flush()\n\nr = Robot()\nst = r.status()\nep = st.get(\"episode\", 1)\nif st.get(\"done\"):\n    r.reset(); st = r.status(); ep = st.get(\"episode\", ep)\nadir = os.path.join(OUT, \"attempt_%02d\" % ep)\nos.makedirs(adir, exist_ok=True)\nlog(\"episode\", ep, \"status\", json.dumps(st))\n\n# ---------------- run chunk: step 0 .. n_run ----------------\ndt = 0.01\nn_run = int(round(TBRAKE / dt))\nt = np.arange(n_run) * dt\nvx = np.minimum(VX, RAMP * t)\nm = t > THEAD\nvx[m] = np.maximum(0.4, VX - (VX - 0.4) * (t[m] - THEAD) / (TBRAKE - THEAD))\nA_run = np.zeros((n_run, 5), dtype=np.float32)\nA_run[:, 0] = vx\nres = r.submit(\"run\", A_run, dt=dt, interpolate=\"hold\", at=0, cameras=[])\nlog(\"submitted run chunk:\", res.meta.get(\"start_step\"), res.meta.get(\"plan_end_step\"),\n    \"late:\", res.meta.get(\"late_steps\"), \"steps:\", res.meta.get(\"control_steps\"))\n\n# ---------------- walk_agile chunk: n_run .. 1000 ----------------\nn_walk = 1000 - n_run\nA_walk = np.zeros((n_walk, 22), dtype=np.float32)\nA_walk[:, 0] = VW\nA_walk[:, 3:22] = rest19[None, :]\nres2 = r.submit(\"walk_agile\", A_walk, dt=dt, interpolate=\"hold\", at=n_run, cameras=[])\nlog(\"submitted walk chunk:\", res2.meta.get(\"start_step\"), res2.meta.get(\"plan_end_step\"),\n    \"late:\", res2.meta.get(\"late_steps\"))\n\n# ---------------- watch ----------------\nt0 = time.time()\ntry:\n    res3 = r.get_obs(cameras=[\"venue\", \"end_on\", \"head_left\"], seconds=12.0,\n                     video=\"frames\", video_fps=10)\n    res3.save(adir)\n    log(\"watch done. meta:\", json.dumps({k: res3.meta.get(k) for k in\n        (\"done\",\"reason\",\"control_steps\",\"sim_time_s\")}, default=str))\nexcept Exception as e:\n    log(\"watch error:\", repr(e))\n\n# ---------------- poll to end ----------------\nwhile True:\n    st = r.status()\n    if st.get(\"done\"):\n        log(\"FINAL status:\", json.dumps(st, default=str))\n        break\n    time.sleep(0.5)\n    if time.time() - t0 > 45:\n        log(\"gave up waiting; status:\", json.dumps(st, default=str)); break\n\ntry:\n    res4 = r.get_obs(cameras=[\"venue\", \"end_on\", \"head_left\"], seconds=0, video=\"frames\")\n    res4.save(os.path.join(adir, \"final\"))\n    log(\"outcome:\", json.dumps(res4.meta.get(\"outcome\"), default=str))\n    log(\"stages:\", res4.meta.get(\"stages_reached\"), \"/\", res4.meta.get(\"stages_total\"))\n    log(\"reason:\", res4.meta.get(\"reason\"))\nexcept Exception as e:\n    log(\"final obs error:\", repr(e))\nlog(\"saved to\", adir)\n"},{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\n# Sumo i00 — NOTES\n\n## Approach\n- Opponent: G1 walk policy at max cmd (0.8, ~0.6 m/s real), arms forward, charges from\n  t=0.5 s, turns <=1 rad/s to face my pelvis, never adapts.\n- Win = any opponent non-foot ground touch (clay/bales/floor) or its step onto clay outside\n  the bale circle, before mine. Opponent starts only 0.855 m inside the far (+x) bales.\n- Main plan (v1): `run` charge from t=0, vx ramps to ~3.0 (policy slews 1.5 m/s^2),\n  impact ~1.3-2 s at closing speed ~2.5 m/s -> knock the walker over (its own clay touch =\n  instant win). Brake after, walk_agile push at 0.3 so we don't overshoot out of the ring.\n- Kinjite to avoid: my foot on its pelvis/torso. Feet are low in run; its arms take the hit.\n- Fallback ideas: run_arms with arms forward (block its spear arms), offset charge,\n  immovable stiff brace (joints/lowcmd) so it trips on itself.\n\n## Attempts log\n1. (pending) v1 straight run charge VX=3.0\n\n## Installed / external\n- nothing yet (only /opt/tools/rcb_client.py, numpy present)\n"}],"out":{"text":"File created successfully at: /app/output/gen.py (file state is current in your context — no need to Read it back)\nFile created successfully at: /app/output/NOTES.md (file state is current in your context — no need to Read it back)","exit":[],"pics":[]},"tok":{"in":36815,"cached":36335,"out":10457,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":612.3,"say":"","calls":[{"kind":"shell","label":"Launch attempt 1 (run charge) and check early log","code":"cd /app/output && nohup python -I gen.py > run1.log 2>&1 & echo started; sleep 20; cat run1.log"}],"out":{"text":"Exit code 1\nstarted\ncat: run1.log: No such file or directory\n\n[error] tool reported failure","exit":[],"pics":[]},"tok":{"in":47347,"cached":36809,"out":112,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":652.6,"say":"","calls":[{"kind":"shell","label":"Check where the log went","code":"ls -la /app/output/; pwd; ls run1.log nohup.out 2>&1 | head"}],"out":{"text":"total 24\ndrwxr-xr-x 3 root root 4096 Oct 26 07:27 .\ndrwxr-xr-x 3 root root 4096 Oct 24 21:13 ..\n-rw-r--r-- 1 root root 1013 Oct 26 07:25 NOTES.md\ndrwxr-xr-x 5 root root 4096 Oct 26 07:27 attempt_01\n-rw-r--r-- 1 root root 3637 Oct 26 07:25 gen.py\n-rw-r--r-- 1 root root  715 Oct 26 07:27 run1.log\n/app\nls: cannot access 'run1.log': No such file or directory\nls: cannot access 'nohup.out': No such file or directory\n\n[stdout]\ntotal 24\ndrwxr-xr-x 3 root root 4096 Oct 26 07:27 .\ndrwxr-xr-x 3 root root 4096 Oct 24 21:13 ..\n-rw-r--r-- 1 root root 1013 Oct 26 07:25 NOTES.md\ndrwxr-xr-x 5 root root 4096 Oct 26 07:27 attempt_01\n-rw-r--r-- 1 root root 3637 Oct 26 07:25 gen.py\n-rw-r--r-- 1 root root  715 Oct 26 07:27 run1.log\n/app\nls: cannot access 'run1.log': No such file or directory\nls: cannot access 'nohup.out': No such file or directory","exit":[],"pics":[]},"tok":{"in":47493,"cached":47341,"out":193,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":660.2,"say":"","calls":[{"kind":"shell","label":"Read attempt 1 log and status","code":"cat /app/output/run1.log; echo ---; python - <<'EOF'\nimport sys; sys.path.insert(0,'/opt/tools')\nfrom rcb_client import Robot\nr = Robot(); print(r.status())\nEOF"}],"out":{"text":"episode 1 status {\"calls\": 0, \"rows\": 0, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 1, \"control_steps_total\": 0, \"resets_left\": 5, \"elapsed_s\": 479.4, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0}\nsubmitted run chunk: 0 380 late: 0 steps: 0\nsubmitted walk chunk: 380 1000 late: 0\nwatch done. meta: {\"done\": true, \"reason\": \"success\", \"control_steps\": 307, \"sim_time_s\": 3.07}\nFINAL status: {\"calls\": 3, \"rows\": 1000, \"control_steps\": 307, \"done\": true, \"reason\": \"success\", \"episode\": 1, \"control_steps_total\": 307, \"resets_left\": 0, \"elapsed_s\": 482.8, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\noutcome: \"success\"\nstages: 1 / 1\nreason: success\nsaved to /app/output/attempt_01\n---\n{'calls': 4, 'rows': 1000, 'control_steps': 307, 'done': True, 'reason': 'success', 'episode': 1, 'control_steps_total': 307, 'resets_left': 0, 'elapsed_s': 527.7, 'running': False, 'planned_steps': 0, 'lag_s': 0.0001}\n\n[stdout]\nepisode 1 status {\"calls\": 0, \"rows\": 0, \"control_steps\": 0, \"done\": false, \"reason\": null, \"episode\": 1, \"control_steps_total\": 0, \"resets_left\": 5, \"elapsed_s\": 479.4, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0}\nsubmitted run chunk: 0 380 late: 0 steps: 0\nsubmitted walk chunk: 380 1000 late: 0\nwatch done. meta: {\"done\": true, \"reason\": \"success\", \"control_steps\": 307, \"sim_time_s\": 3.07}\nFINAL status: {\"calls\": 3, \"rows\": 1000, \"control_steps\": 307, \"done\": true, \"reason\": \"success\", \"episode\": 1, \"control_steps_total\": 307, \"resets_left\": 0, \"elapsed_s\": 482.8, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\noutcome: \"success\"\nstages: 1 / 1\nreason: success\nsaved to /app/output/attempt_01\n---\n{'calls': 4, 'rows': 1000, 'control_steps': 307, 'done': True, 'reason': 'success', 'episode': 1, 'control_steps_total': 307, 'resets_left': 0, 'elapsed_s': 527.7, 'running': False, 'planned_steps': 0, 'lag_s': 0.0001}","exit":[],"pics":[]},"tok":{"in":47908,"cached":47487,"out":151,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":673.4,"say":"","calls":[{"kind":"shell","label":"Inspect saved attempt artifacts","code":"ls -R /app/output/attempt_01 | head -40; python - <<'EOF'\nimport numpy as np, json\np = np.load('/app/output/attempt_01/proprio.npy')\nprint(\"proprio shape\", p.shape)\nm = json.load(open('/app/output/attempt_01/meta.json'))\nfor k in (\"reason\",\"outcome\",\"control_steps\",\"sim_time_s\",\"done\",\"stages_reached\",\"stages_total\"):\n    print(k, m.get(k))\nEOF"}],"out":{"text":"/app/output/attempt_01:\nfinal\nframes\nlast\nmeta.json\nproprio.npy\n\n/app/output/attempt_01/final:\nframes\nlast\nmeta.json\nproprio.npy\n\n/app/output/attempt_01/final/frames:\nend_on\nhead_left\nvenue\n\n/app/output/attempt_01/final/frames/end_on:\n000.jpg\n\n/app/output/attempt_01/final/frames/head_left:\n000.jpg\n\n/app/output/attempt_01/final/frames/venue:\n000.jpg\n\n/app/output/attempt_01/final/last:\nend_on.jpg\nhead_left.jpg\nvenue.jpg\n\n/app/output/attempt_01/frames:\nend_on\nhead_left\nvenue\n\n/app/output/attempt_01/frames/end_on:\n000.jpg\n001.jpg\nproprio shape (32, 143)\nreason success\noutcome success\ncontrol_steps 307\nsim_time_s 3.07\ndone True\nstages_reached 1\nstages_total 1\n\n[stdout]\n/app/output/attempt_01:\nfinal\nframes\nlast\nmeta.json\nproprio.npy\n\n/app/output/attempt_01/final:\nframes\nlast\nmeta.json\nproprio.npy\n\n/app/output/attempt_01/final/frames:\nend_on\nhead_left\nvenue\n\n/app/output/attempt_01/final/frames/end_on:\n000.jpg\n\n/app/output/attempt_01/final/frames/head_left:\n000.jpg\n\n/app/output/attempt_01/final/frames/venue:\n000.jpg\n\n/app/output/attempt_01/final/last:\nend_on.jpg\nhead_left.jpg\nvenue.jpg\n\n/app/output/attempt_01/frames:\nend_on\nhead_left\nvenue\n\n/app/output/attempt_01/frames/end_on:\n000.jpg\n001.jpg\nproprio shape (32, 143)\nreason success\noutcome success\ncontrol_steps 307\nsim_time_s 3.07\ndone True\nstages_reached 1\nstages_total 1","exit":[],"pics":[]},"tok":{"in":48464,"cached":47902,"out":598,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":682.9,"say":"","calls":[{"kind":"shell","label":"List venue frames","code":"ls /app/output/attempt_01/frames/venue | tail -5"}],"out":{"text":"027.jpg\n028.jpg\n029.jpg\n030.jpg\n031.jpg\n\n[stdout]\n027.jpg\n028.jpg\n029.jpg\n030.jpg\n031.jpg","exit":[],"pics":[]},"tok":{"in":49319,"cached":48458,"out":143,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":687.9,"say":"","calls":[{"kind":"look","label":"014.jpg","code":"/app/output/attempt_01/frames/venue/014.jpg"},{"kind":"look","label":"018.jpg","code":"/app/output/attempt_01/frames/venue/018.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd/s011_0.jpg","embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd/s011_0.jpg"]},"tok":{"in":49502,"cached":49313,"out":123,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":700.8,"say":"","calls":[{"kind":"look","label":"022.jpg","code":"/app/output/attempt_01/frames/venue/022.jpg"},{"kind":"look","label":"030.jpg","code":"/app/output/attempt_01/frames/venue/030.jpg"}],"out":{"text":"[picture]\n\n[metadata] [picture]}\n[picture]\n\n[metadata] [picture]}","exit":[],"pics":["embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd/s012_0.jpg","embodied-olympics-fun-sumo-i00-standard-realtime--lqxwvsd/s012_0.jpg"]},"tok":{"in":49847,"cached":0,"out":199,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":717.4,"say":"The bout is visually confirmed: at t≈1.4 s my run charge meets the opponent; by t≈3.0 s (frame 030) the opponent is toppling backwards at the far bale line while I'm still standing — the referee's call at step 307 is `success`. Updating the notes and closing out.","calls":[{"kind":"edit","label":"NOTES.md","code":"/app/output/NOTES.md\n\n# Sumo i00 — NOTES\n\n## Approach\n- Opponent: G1 walk policy at max cmd (~0.6 m/s), arms forward, charges t=0.5 s, never adapts;\n  starts only ~0.86 m inside the far (+x) bales. Win = its non-foot ground touch first.\n- v1 (winner): open-loop `run` charge from t=0: vx ramps 0->3.0 at 1.5 m/s^2 (policy slew),\n  holds to t=2.6 s, brakes to 0.4 by 3.8 s, then walk_agile push at 0.3 m/s (no ring overshoot).\n  Two chunks (run 380 rows at=0, walk_agile 620 rows at=380) submitted before the clock starts.\n- Impact ~1.4 s at closing speed ~2.5 m/s knocked the walker backwards; it toppled at the far\n  bales, non-foot clay/edge touch at t=3.07 s -> referee: success. Feet stayed low (no kinjite);\n  I stayed upright (run policy absorbed the hit).\n- Fallbacks not needed: run_arms guard pose, offset charge, stiff lowcmd brace.\n\n## Attempts log\n1. success @ step 307 (t=3.07 s), stages 1/1 — frames in attempt_01/ (venue 014/018/030).\n   Trial ended at success; resets_left 0.\n\n## Installed / external\n- nothing installed; only numpy + /opt/tools/rcb_client.py used.\n"}],"out":{"text":"The 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":50310,"cached":49841,"out":934,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":730.8,"say":"**Bout won on attempt 1 — referee's call: `success` (stages 1/1), decision at t = 3.07 s.**\n\nWhat the controller (`/app/output/gen.py`) did:\n- **Tachiai charge**: straight into `run` at the first submit (starts the clock), velocity command ramping 0 → 3.0 m/s at the policy's own 1.5 m/s² slew — reaching the opponent while it is still barely moving (its walk policy lags and only starts at t = 0.5 s).\n- **Impact ≈ 1.4 s** at ~2.5 m/s closing speed: the opponent's stiff outstretched arms took the hit at chest height, above its pelvis, and the walker toppled backwards.\n- **Brake + push tail**: command ramps down after t = 2.6 s and hands the legs to `walk_agile` at 0.3 m/s, so I neither overshoot into the far bales (only 2.99 m ahead of my start line) nor stall mid-ring.\n\nVerification: saved frames (`/app/output/attempt_01/frames/venue/`) show contact at t=1.4 s, the opponent staggering at t=2.2 s, and at t=3.0 s it falling backwards at the far bale line while my robot stands; `meta[\"outcome\"] = \"success\"`. No kinjite (my feet stayed low), I stayed upright, and the success ended the trial immediately (`resets_left: 0`), so episode 1 is the graded attempt.\n\nDeliverables on disk: `/app/output/gen.py` (parameterized open-loop controller) and `/app/output/NOTES.md` (18 lines: approach, what worked, no external installs).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":51289,"cached":50304,"out":420,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}