diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..08318b627c8ae6613b4d1070ede76998bfbcf3ac 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,12 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +data/b0/third_person.mp4 filter=lfs diff=lfs merge=lfs -text +data/b0/wrist.mp4 filter=lfs diff=lfs merge=lfs -text +data/b1/session-images/093-01.png filter=lfs diff=lfs merge=lfs -text +data/b1/session-images/126-01.png filter=lfs diff=lfs merge=lfs -text +data/b1/session-images/127-01.png filter=lfs diff=lfs merge=lfs -text +data/b1/third_person.mp4 filter=lfs diff=lfs merge=lfs -text +data/b1/wrist.mp4 filter=lfs diff=lfs merge=lfs -text +data/b2/third_person.mp4 filter=lfs diff=lfs merge=lfs -text +data/b2/wrist.mp4 filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md index 31c0b0264fbe65631e5d6b2cacfc4b9972c70891..291b5e53c3d435d6ef09f331401b3977b55c2f6f 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,52 @@ --- -title: Programmable Vla -emoji: 🐠 -colorFrom: green -colorTo: yellow +title: Programmable VLA +emoji: 🦾 +colorFrom: yellow +colorTo: green sdk: static +app_file: index.html pinned: false +short_description: Agent and VLA behavior, videos and execution traces --- -Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference +# Programmable VLA · experiment results + +Native robotics experiments with RLE-Bench, Kinex, rosbridge and StarVLA. + +The initial release contains **three valid LIBERO integration episodes** on +`libero/libero-spatial-01`, seed 0, initial-state index 0: + +| Method | Native outcome | Control steps | +| --- | --- | --- | +| B0 · standalone frozen VLA | Success | 77 / 600 | +| B1 · pure Kinex agent | Step limit | 600 / 600 | +| B2 · Kinex + frozen VLA | Success | 79 / 600 | + +The native total-step limit is 605, including five initialization frames. +There is no planner-decision cap. B1/B2 use GPT-6 sol with high reasoning effort. +The policy is the original frozen StarVLA Qwen3-VL-4B OFT checkpoint at step 50000. +No encoder, scientific training or progress monitor is involved. + +One task and one initial state per method support integration and behavior +inspection, not a benchmark-level comparison. B2 delegates the full task in one +accepted VLA call; this episode does not establish a planning benefit. Three +engineering failures before task actions are excluded and recorded in the report. +Earlier pilot experiments used a different protocol and are not pooled here. + +## Evidence + +The page provides both camera videos, observable agent sessions, VLA invocation +arguments and returns, policy input images, predicted action chunks, and executed +action CSVs. B1's joint commands are in its session; it has no OSC action rows. +Video time follows simulation time at 20 Hz and excludes planner/inference pauses. +Native success is a separate evaluator result; the VLA does not report semantic +completion. Internal reasoning blocks, credentials, host-local paths and private +simulator state are excluded. Session tool IDs are remapped to local identifiers. + +`data/report.json` is the machine-readable index. `data/manifest.json` records +SHA-256 checksums of all other exported files. Each episode includes the hash of +its retained native evidence archive. + +Future training runs are assigned to the W&B team `programmable_vla`, project +`program_VLA`: https://forge.coreweave.com/wandb/programmable_vla +This release contains evaluation evidence only. diff --git a/app.js b/app.js new file mode 100644 index 0000000000000000000000000000000000000000..c70c021c9e7a2fd6e540ec76760c814b4dba9f49 --- /dev/null +++ b/app.js @@ -0,0 +1,150 @@ +"use strict"; + +function element(tag, className, text) { + const node = document.createElement(tag); + if (className) node.className = className; + if (text !== undefined) node.textContent = text; + return node; +} +function pre(value) { return element("pre", "", JSON.stringify(value, null, 2)); } +function link(label, href) { + const node = element("a", "", label); node.href = href; return node; +} +function section(title, open = false) { + const node = element("details"); node.open = open; + node.append(element("summary", "", title)); return node; +} +async function json(path) { + const response = await fetch(path); + if (!response.ok) throw new Error(`Cannot load ${path} (${response.status})`); + return response.json(); +} +function downloads(path, files) { + const box = element("div", "download-links"); + files.forEach(([label, file]) => box.append(link(label, `${path}/${file}`))); + return box; +} +let selection = 0; +async function inspect(episode, button) { + const request = ++selection; + const panel = document.querySelector("#inspection"); + panel.hidden = false; + document.querySelectorAll(".inspect").forEach(b => b.setAttribute("aria-expanded", String(b === button))); + document.querySelector("#inspection-title").textContent = `${episode.method} · ${episode.label}`; + document.querySelector("#inspection-note").textContent = episode.observation; + const body = document.querySelector("#inspection-content"); + body.replaceChildren(element("p", "", "Loading evidence…")); + panel.scrollIntoView({behavior: "auto", block: "start"}); + try { + const detail = await json(`${episode.path}/detail.json`); + if (request !== selection) return; + body.replaceChildren(); + const calls = section(`VLA calls · ${episode.vla_calls} accepted`, true); + if (!detail.calls.length) calls.append(element("p", "", "This agent uses native arm and gripper commands. Its commands are in the observable session below.")); + for (const call of detail.calls) { + const grid = element("div", "io-grid"); + for (const [name, value] of [["Invocation input", call.input], ["Executor return", call.output]]) { + const column = element("div"); column.append(element("h3", "", name), pre(value)); grid.append(column); + } + calls.append(grid); + } + if (detail.calls.length) calls.append(element("p", "caption", "Native success is judged separately by the evaluator. The executor does not provide a semantic completion signal.")); + calls.append(downloads(episode.path, [["Invocation JSON", "vla-calls.json"]])); body.append(calls); + if (detail.policy_inputs.length) { + const policy = section("Policy observations & action chunks"); + policy.append(element("p", "", "Two RGB views and language enter the frozen policy. It predicts an 8 × 7 action chunk; the executor may use only a prefix. The first six columns are OSC controller inputs, not meter displacements. The seventh is mapped to native gripper ±1.")); + const view = element("div", "policy-view"); + const label = element("label", "", "Policy step"); + const select = element("select"); select.setAttribute("aria-label", `${episode.method} policy step`); + detail.policy_inputs.forEach((input, index) => { + const option = element("option", "", `${index + 1} / ${detail.policy_inputs.length} · control step ${input.control_step}`); + option.value = index; select.append(option); + }); + const content = element("div"); + function showInput() { + const index = Number(select.value), input = detail.policy_inputs[index]; + const images = element("div", "image-pair"); + input.images.forEach((src, number) => { + const img = element("img"); img.src = src; + img.alt = `${number === 0 ? "Agent view" : "Wrist view"}, control step ${input.control_step}`; + img.loading = "lazy"; images.append(img); + }); + content.replaceChildren(element("p", "", input.instruction), images, + element("p", "caption", "Policy views after orientation transform, before resize to 224 × 224."), + pre(detail.policy_chunks[index])); + } + select.addEventListener("change", showInput); label.append(select); view.append(label, content); showInput(); + policy.append(view, downloads(episode.path, [["Policy inputs", "policy-inputs.json"], ["Predicted chunks", "policy-chunks.json"], ["Executed actions · CSV", "executed-actions.csv"]])); + body.append(policy); + } + const session = section(`Observable agent session · ${episode.session_messages} messages · ${episode.tool_calls} tool calls`); + session.append(element("p", "caption", "Public text, tool arguments, returns and camera images. Internal reasoning blocks are omitted. Tool IDs are local aliases. Container paths in tool code describe the recorded execution environment.")); + session.append(downloads(episode.path, [["Session JSON", "session.json"]])); + let loaded = false; + session.addEventListener("toggle", async () => { + if (!session.open || loaded) return; + loaded = true; + try { + const messages = await json(`${episode.path}/session.json`); + if (!messages.length) session.append(element("p", "", "B0 has no planner session. Its operator-supplied VLA invocation is shown above.")); + messages.forEach((message, index) => { + const tools = message.content.filter(b => b.type === "toolCall").map(b => b.name); + const heading = `${String(index + 1).padStart(3, "0")} · ${message.role}${tools.length ? ` · ${tools.join(", ")}` : ""}${message.toolCallId ? ` · ${message.toolCallId}` : ""}`; + const entry = section(heading); entry.className = "session-message"; + message.content.forEach(block => { + if (block.type === "image") { + const img = element("img"); img.src = block.src; img.alt = `Agent observation in message ${index + 1}`; img.loading = "lazy"; entry.append(img); + } else entry.append(block.type === "text" ? element("pre", "", block.text) : pre(block)); + }); + session.append(entry); + }); + } catch (error) { loaded = false; session.append(element("p", "error", error.message)); } + }); body.append(session); + const provenance = section("Episode usage & evidence identity"); + provenance.append(pre({usage: detail.usage, note: detail.usage_note, policy: detail.policy, evidence_archive_sha256: detail.evidence_archive_sha256}), downloads(episode.path, [["Episode metadata", "detail.json"], ["Third-person video", "third_person.mp4"], ["Wrist video", "wrist.mp4"]])); + body.append(provenance); + } catch (error) { if (request === selection) body.replaceChildren(element("p", "error", error.message)); } +} +function card(episode) { + const node = element("article", "episode"); node.dataset.method = episode.method; + const top = element("div", "card-top"), name = element("div"); + name.append(element("span", "method", episode.method), element("h3", "", episode.label)); + top.append(name, element("span", `badge${episode.success ? "" : " fail"}`, episode.success ? "Success" : "Step limit")); + const video = element("video"); video.controls = true; video.preload = "none"; video.playsInline = true; + video.poster = `${episode.path}/initial.png`; video.src = `${episode.path}/third_person.mp4`; + video.setAttribute("aria-label", `${episode.method} robot recording`); + const cameras = element("div", "camera-bar"), camera = element("select"); + camera.setAttribute("aria-label", `${episode.method} camera`); + for (const [label, value] of [["Third-person camera", "third_person"], ["Wrist camera", "wrist"]]) { + const option = element("option", "", label); option.value = value; camera.append(option); + } + camera.addEventListener("change", () => { video.src = `${episode.path}/${camera.value}.mp4`; video.removeAttribute("poster"); video.load(); }); + cameras.append(element("span", "", "RECORDED AT 20 Hz"), camera); + const metrics = element("dl", "metrics"); + for (const [label, value, suffix] of [["Control steps", episode.control_steps, "/ 600"], ["Episode wall", episode.wall_time_sec.toFixed(1), "s"], ["LLM responses", episode.model_responses, ""], ["VLA calls", episode.vla_calls, "accepted"]]) { + const item = element("div"), dd = element("dd", "", `${value} `); + if (suffix) dd.append(element("small", "", suffix)); item.append(element("dt", "", label), dd); metrics.append(item); + } + const button = element("button", "inspect"); button.type = "button"; + button.setAttribute("aria-expanded", "false"); button.setAttribute("aria-controls", "inspection"); + button.append(element("span", "", "Inspect calls & behavior"), element("span", "", "↗")); + button.addEventListener("click", () => inspect(episode, button)); + node.append(top, video, cameras, metrics, button); return node; +} +document.querySelector("#close-inspection").addEventListener("click", () => { + selection++; + document.querySelector("#inspection").hidden = true; + const current = document.querySelector('.inspect[aria-expanded="true"]'); + if (current) { current.setAttribute("aria-expanded", "false"); current.focus(); } +}); +async function main() { + const report = await json("data/report.json"); + document.querySelector("#instruction").textContent = report.instruction; + document.querySelector("#scope").textContent = report.scope; + report.episodes.forEach(episode => document.querySelector("#episodes").append(card(episode))); + const protocol = document.querySelector("#protocol-content"); + protocol.append(element("p", "", "RLE-Bench owns job execution and native judgment; Kinex owns the agent; rosbridge owns simulator access; StarVLA supplies the pretrained policy. The three episodes have equal initial camera images and joint states. B0 and B2 also have equal first policy observations."), pre(report.protocol), element("p", "", `${report.excluded_engineering_attempts.count} excluded engineering attempts. ${report.excluded_engineering_attempts.reason}`)); + report.export_notes.forEach(note => protocol.append(element("p", "", note))); + protocol.append(downloads("data", [["Full result JSON", "report.json"], ["SHA-256 file manifest", "manifest.json"]])); +} +main().catch(error => { document.querySelector("#episodes").append(element("p", "error", error.message)); }); diff --git a/data/b0/detail.json b/data/b0/detail.json new file mode 100644 index 0000000000000000000000000000000000000000..3c78a6cd9650e7d3c958761e8dd14a01cd399e44 --- /dev/null +++ b/data/b0/detail.json @@ -0,0 +1,1016 @@ +{ + "calls": [ + { + "input": { + "wall_time_ns": 1793160089865480594, + "control_step": 0, + "sim_time_s": 0.0, + "event": "invocation_started", + "invocation_id": "canonical_000", + "instruction": "Pick the akita black bowl between 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b/data/b1/session.json @@ -0,0 +1,2392 @@ +[ + { + "role": "user", + "timestamp": 1793160406318, + "toolCallId": null, + "content": [ + { + "type": "text", + "text": "# Task: libero/libero-spatial-01\n\nPick the akita black bowl between the plate and the ramekin and place it in the center of the plate\n\n## Work to do\n\nSolve the task efficiently using the running rosbridge environment. Follow the\ntask instruction above, including its completion requirements. Read `harness.md`\nand the device profiles for public interfaces, units and calibrated frames.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have 605 native control steps. The execution mode is `stepped`: physics is\nfrozen while idle. Use `world.wait` with `duration_s` to advance the native clock.\nJoint targets are ROS JointTrajectory messages; gripper targets use the units\ndeclared in their profiles. Reads and command publication do not advance physics.\nWaits are sequential; concurrent waits are rejected. A command or elapsed time\ndoes not prove arrival; inspect measured feedback. Device stop holds the device\nwithout ending the episode. The safety timeout is 28800 seconds.\nDo not launch or reset a simulation.\n\n## Completion\n\nReturn when finished. The owner finalizes the episode and reads its native\nverdict. An interrupted or rejected wait does not establish task success. The\nnative step limit stops physics even if your requested wait is longer.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nUse Kinex's ROS device profiles in `.kinex/devices/` and the robot\nspecification in `.kinex/workspace.yaml`. The adapter refreshes them each episode.\nUse `kinex.communication` for typed topic publication, subscriptions and service\nrequests. Inspect operation schemas before acting. Load the provided devices;\nthey borrow the running simulator. Stop holds motion; it does not reset the world.\nImprove existing tools, skills, and memos in place." + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160406354, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-001", + "name": "read", + "arguments": { + "path": "harness.md", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-002", + "name": "bash", + "arguments": { + "command": "ls -R .kinex/devices .kinex/tools .kinex/skills .kinex/memos 2>/dev/null", + "timeout": 10 + } + }, + { + "type": "toolCall", + "id": "tool-003", + "name": "read", + "arguments": { + "path": ".kinex/workspace.yaml", + "offset": null, + "limit": null + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160408724, + "toolCallId": "tool-001", + "content": [ + { + "type": "text", + "text": "Use Kinex's ROS device profiles in `.kinex/devices/` and the robot\nspecification in `.kinex/workspace.yaml`. The adapter refreshes them each episode.\nUse `kinex.communication` for typed topic publication, subscriptions and service\nrequests. Inspect operation schemas before acting. Load the provided devices;\nthey borrow the running simulator. Stop holds motion; it does not reset the world.\nImprove existing tools, skills, and memos in place.\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160408724, + "toolCallId": "tool-002", + "content": [ + { + "type": "text", + "text": ".kinex/devices:\narm\ncamera_agentview\ncamera_wrist\ngripper\nworld\n\n.kinex/devices/arm:\narm.urdf\nlinks.py\nprofile.yaml\n\n.kinex/devices/camera_agentview:\nprofile.yaml\n\n.kinex/devices/camera_wrist:\nprofile.yaml\n\n.kinex/devices/gripper:\ngripper.urdf\nlinks.py\nprofile.yaml\n\n.kinex/devices/world:\nprofile.yaml\n\n.kinex/memos:\n\n.kinex/skills:\n\n.kinex/tools:\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160408724, + "toolCallId": "tool-003", + "content": [ + { + "type": "text", + "text": "identity:\n id: libero-panda-tabletop\n name: LIBERO Panda tabletop\n kind: arm\n model: Panda\n source: user\ndevices:\n source: user\nsafety:\n source: user\n max_joint_velocity: null\n max_cartesian_velocity: null\n keep_out_zones: []\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-19T00:00:00Z'\n" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160408775, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-004", + "name": "read", + "arguments": { + "path": ".kinex/devices/arm/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-005", + "name": "read", + "arguments": { + "path": ".kinex/devices/gripper/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-006", + "name": "read", + "arguments": { + "path": ".kinex/devices/world/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-007", + "name": "read", + "arguments": { + "path": ".kinex/devices/camera_agentview/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-008", + "name": "read", + "arguments": { + "path": ".kinex/devices/camera_wrist/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-009", + "name": "setup_plan", + "arguments": { + "action": "read", + "full": false + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160411409, + "toolCallId": "tool-004", + "content": [ + { + "type": "text", + "text": "name: arm\nruntime:\n domain_id: 83\n nodes:\n - entry: links.py\n factory: create\n ready_timeout_s: 30\noperations:\n joint_state:\n description: Measured joint positions with joint names and world-clock acquisition\n stamp. Positions are radians for the arm and metres for finger joints; do not\n infer motion completion from a sent command.\n transport: topic\n direction: output\n endpoint: /arm/joint_state\n type: sensor_msgs/msg/JointState\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\n joint_target:\n description: Joint trajectory over all seven arm joints in radians, timed from\n receipt by strictly increasing time_from_start and finishing within 120 seconds;\n velocities, accelerations and effort must be empty. A zero header stamp selects\n now; a nonzero stamp must not start in the past. Replacement clears pending\n references; invalid trajectories are ignored, so verify measured joint_state.\n transport: topic\n direction: input\n endpoint: /arm/joint_target\n type: trajectory_msgs/msg/JointTrajectory\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\n stop:\n description: Stop arm motion and hold the measured posture.\n transport: service\n direction: input\n endpoint: /arm/stop\n type: std_srvs/srv/Trigger\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.462Z'\ntype: joint\ndescription: Panda seven-joint manipulator mounted in the tabletop workspace. Geometry\n is the sibling arm.urdf with flange as the tip link; measured links are on TF as\n arm/, and helpers.joint_model('arm') computes FK/IK from it. rosbridge rejects\n targets outside the URDF joint limits.\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nmodel:\n format: urdf\n path: arm.urdf\n base_link: base_link\n tip_link: flange\nlimits: native\nhome:\n robot0_joint1: 0\n robot0_joint2: -0.161037389\n robot0_joint3: 0\n robot0_joint4: -2.44459747\n robot0_joint5: 0\n robot0_joint6: 2.2267522\n robot0_joint7: 0.785398163397\nstop:\n behavior: hold\n affected_devices:\n - arm\nframes:\n base:\n translation_m:\n - -0.66\n - 0.0\n - 0.912\n rotation_xyzw:\n - 0.0\n - 0.0\n - 0.0\n - 1.0\n parent: world:base\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160411422, + "toolCallId": "tool-005", + "content": [ + { + "type": "text", + "text": "name: gripper\nruntime:\n domain_id: 83\n nodes:\n - entry: links.py\n factory: create\n ready_timeout_s: 30\n observation: joint_state\noperations:\n joint_state:\n description: Measured finger_joint1 in metres, half the summed finger travel,\n stamped at acquisition; Kinex publishes the URDF finger and pad links from it.\n transport: topic\n direction: output\n endpoint: /gripper/joint_state\n type: sensor_msgs/msg/JointState\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\n target:\n description: finger_joint1 position (data) from 0 (closed) to 0.04 m (open). rosbridge\n steers LIBERO's integrated direction command toward it every control step with\n 1 mm tolerance, so open and closed are reached reliably while intermediate targets\n oscillate by a few millimetres. A target persists until replaced or stopped;\n out-of-range targets are ignored, so verify joint_state.\n transport: topic\n direction: input\n endpoint: /gripper/target\n type: std_msgs/msg/Float64\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\n stop:\n description: Hold the measured finger position; the fingers may settle briefly\n after the stop.\n transport: service\n direction: input\n endpoint: /gripper/stop\n type: std_srvs/srv/Trigger\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.455Z'\ntype: gripper\ndescription: Panda parallel two-finger gripper on the arm flange. Fingers close along\n the gripper base x axis; the URDF pad links mark the 16 by 16 mm inner pad faces,\n 3.6 mm below the TCP. finger_joint1 is half of LIBERO's summed finger travel, so\n the inner pad gap is 2 * finger_joint1 - 1 mm. A closed or stalled grip alone does\n not prove a successful grasp.\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nstop:\n behavior: hold\n affected_devices:\n - gripper\nframes:\n base:\n translation_m:\n - 0\n - 0\n - 0\n rotation_xyzw:\n - 0\n - 0\n - -0.707106781187\n - 0.707106781187\n parent: arm:flange\n tcp:\n translation_m:\n - 0\n - 0\n - 0.097\n rotation_xyzw:\n - 0\n - 0\n - 0\n - 1\n parent: gripper:base\nmodel:\n format: urdf\n path: gripper.urdf\n base_link: base_link\ngrip:\n joint: finger_joint1\n open: 0.04\n closed: 0.0\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160411427, + "toolCallId": "tool-006", + "content": [ + { + "type": "text", + "text": "name: world\nruntime:\n domain_id: 83\n observation: time\n nodes: []\n ready_timeout_s: 30\noperations:\n time:\n description: Authoritative world clock\n transport: topic\n direction: output\n endpoint: /clock\n type: rosgraph_msgs/msg/Clock\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\n wait:\n description: Advance or await duration_s of world time (finite and nonnegative).\n Zero is an observation barrier. Waits are sequential; one requested while another\n is pending is rejected. A terminal episode rejects further progression without\n exposing benchmark results.\n transport: service\n direction: input\n endpoint: /world/wait\n type: kinex_interfaces/srv/Wait\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 120\n stop:\n description: Cancel the pending wait.\n transport: service\n direction: input\n endpoint: /world/stop\n type: std_srvs/srv/Trigger\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.458Z'\ntype: world\ndescription: Scene reference and authoritative world clock. Bounds and surfaces describe\n known scene geometry. Kinex supplies frame transforms independently. This device\n exposes no task instructions or evaluator results.\nsource: default\nmethod: unknown\ncalibrated_at: null\nbounds: null\nsurfaces: []\nframes:\n base:\n parent: null\n translation_m: null\n rotation_xyzw: null\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160411431, + "toolCallId": "tool-007", + "content": [ + { + "type": "text", + "text": "name: camera_agentview\nruntime:\n domain_id: 83\n nodes: []\n ready_timeout_s: 30\noperations:\n image:\n description: RGB image measurements with encoding, dimensions, row stride and\n acquisition timestamp in the Image header. The frame_id identifies the calibrated\n optical frame; use its stamp for tf2 lookup. A new subscriber receives the current\n frame at once, also while the world is paused, then one per camera sample; reading\n never advances world time.\n transport: topic\n direction: output\n endpoint: /camera_agentview/image\n type: sensor_msgs/msg/Image\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\n camera_info:\n description: Projection and distortion calibration for the image stream, including\n K, D, image size and optical frame. Use the declared distortion model and raw/rectified\n image space when projecting pixels; intrinsics are not TF transforms.\n transport: topic\n direction: output\n endpoint: /camera_agentview/camera_info\n type: sensor_msgs/msg/CameraInfo\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.453Z'\ntype: rgb\ndescription: Fixed RGB camera observing the tabletop scene. Image calibration and\n the optical-frame mount are in the profile. Images are measurements at world-clock\n acquisition timestamps.\nsource: introspected\nmethod: introspection\ncalibrated_at: null\ncolor:\n width: 256\n height: 256\n fps: null\n projection:\n model: pinhole\n fx: 309.01933598375615\n fy: 309.01933598375615\n cx: 127.5\n cy: 127.5\n skew: 0\n distortion:\n model: none\n fov:\n horizontal_deg: 45.00000000000001\n vertical_deg: 45.00000000000001\nframes:\n base:\n translation_m:\n - 0.658613174683\n - 0.0\n - 1.610350024037\n rotation_xyzw:\n - 0.638017721229\n - 0.638017721229\n - -0.304849838016\n - -0.304849718806\n parent: world:base\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160411436, + "toolCallId": "tool-008", + "content": [ + { + "type": "text", + "text": "name: camera_wrist\nruntime:\n domain_id: 83\n nodes: []\n ready_timeout_s: 30\noperations:\n image:\n description: RGB image measurements with encoding, dimensions, row stride and\n acquisition timestamp in the Image header. The frame_id identifies the calibrated\n optical frame; use its stamp for tf2 lookup. A new subscriber receives the current\n frame at once, also while the world is paused, then one per camera sample; reading\n never advances world time.\n transport: topic\n direction: output\n endpoint: /camera_wrist/image\n type: sensor_msgs/msg/Image\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\n camera_info:\n description: Projection and distortion calibration for the image stream, including\n K, D, image size and optical frame. Use the declared distortion model and raw/rectified\n image space when projecting pixels; intrinsics are not TF transforms.\n transport: topic\n direction: output\n endpoint: /camera_wrist/camera_info\n type: sensor_msgs/msg/CameraInfo\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.464Z'\ntype: rgb\ndescription: Wrist-mounted RGB camera moving with the arm. Use the image acquisition\n timestamp when looking up its optical-frame transform; calibration and mounting\n facts are in the profile.\nsource: introspected\nmethod: introspection\ncalibrated_at: '2026-10-20T17:21:08.827172Z'\ncolor:\n width: 256\n height: 256\n fps: null\n projection:\n model: pinhole\n fx: 166.81284772367434\n fy: 166.81284772367434\n cx: 127.5\n cy: 127.5\n skew: 0\n distortion:\n model: none\n fov:\n horizontal_deg: 75.00000000000001\n vertical_deg: 75.00000000000001\nframes:\n base:\n translation_m:\n - 0.04999999999999985\n - -3.469446951953614e-18\n - -2.220446049250313e-16\n rotation_xyzw:\n - 1.7326215608522153e-17\n - 4.52321557921596e-18\n - 0.7071067811865476\n - 0.7071067811865475\n parent: arm:flange\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160411484, + "toolCallId": "tool-009", + "content": [ + { + "type": "text", + "text": "{\n \"revision\": 0,\n \"task\": null,\n \"taskSatisfied\": null,\n \"message\": \"No setup plan. Existing operations remain available; use /onboarding to prepare only what the task needs.\",\n \"next\": [],\n \"missing\": [],\n \"nodes\": [],\n \"deferred\": 0\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160411528, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-010", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-011", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-012", + "name": "device", + "arguments": { + "deviceID": "arm", + "action": "joint_state" + } + }, + { + "type": "toolCall", + "id": "tool-013", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + }, + { + "type": "toolCall", + "id": "tool-014", + "name": "exec", + "arguments": { + "python": "from kinex import runtime, finish\nfinish({n:{k:runtime.describe(runtime.operations(n)[k]) for k in runtime.operations(n) if k in ('joint_target','target','wait')} for n in ('arm','gripper','world')})", + "description": "inspect command schemas" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160415060, + "toolCallId": "tool-010", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 0,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-alcjnix9.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/013-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160415281, + "toolCallId": "tool-011", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 0,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-wgx581gd.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/014-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160415366, + "toolCallId": "tool-012", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n -0.00013845392507808466,\n -0.17673447527028746,\n -0.0365575974870041,\n -2.457112976205083,\n 0.005935026546017218,\n 2.235219967026241,\n 0.7993834381074322\n ],\n \"velocities\": [\n -1.494574939173468e-11,\n 2.526816253127224e-13,\n 1.764907642469367e-11,\n -7.765710720776031e-13,\n 1.664076504653035e-10,\n -3.305743598539451e-13,\n 5.4990451506816066e-11\n ],\n \"joint_names\": [\n \"robot0_joint1\",\n \"robot0_joint2\",\n \"robot0_joint3\",\n \"robot0_joint4\",\n \"robot0_joint5\",\n \"robot0_joint6\",\n \"robot0_joint7\"\n ],\n \"timestamp\": 0\n}" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160415465, + "toolCallId": "tool-013", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.020833\n ],\n \"velocities\": [\n 1.179069862577986e-18\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 0\n}" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160416485, + "toolCallId": "tool-014", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"\",\n \"error\": \"Traceback (most recent call last):\\n File \\\"\\\", line 198, in _run_module_as_main\\n File \\\"\\\", line 88, in _run_code\\n File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 51, in \\n script()\\n File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 44, in script\\n exec(compile(_request[\\\"source\\\"], \\\"\\\", \\\"exec\\\"), module.__dict__)\\n File \\\"\\\", line 2, in \\n File \\\"/opt/kinex/packages/core/assets/python/kinex/runtime.py\\\", line 26, in describe\\n device, separator, name = operation.partition(\\\".\\\")\\n ^^^^^^^^^^^^^^^^^^^\\nAttributeError: 'dict' object has no attribute 'partition'\"\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160416521, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-015", + "name": "exec", + "arguments": { + "python": "from kinex import runtime,finish\nfinish({n:{k:runtime.describe(n+'.'+k) for k in ('joint_target','target','wait') if k in runtime.operations(n)} for n in ('arm','gripper','world')})", + "description": "inspect ROS command payloads" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160424402, + "toolCallId": "tool-015", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"\",\n \"result\": {\n \"arm\": {\"joint_target\":{\"description\":\"Joint trajectory over all seven arm joints in radians, timed from receipt by strictly increasing time_from_start and finishing within 120 seconds; velocities, accelerations and effort must be empty. A zero header stamp selects now; a nonzero stamp must not start in the past. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/arm/joint_target\",\"type\":\"trajectory_msgs/msg/JointTrajectory\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10,\"message\":{\"header\":\"std_msgs/Header\",\"joint_names\":\"sequence\",\"points\":\"sequence\"},\"definitions\":{\"std_msgs/msg/Header\":{\"stamp\":\"builtin_interfaces/Time\",\"frame_id\":\"string\"},\"builtin_interfaces/msg/Time\":{\"sec\":\"int32\",\"nanosec\":\"uint32\"},\"trajectory_msgs/msg/JointTrajectoryPoint\":{\"positions\":\"sequence\",\"velocities\":\"sequence\",\"accelerations\":\"sequence\",\"effort\":\"sequence\",\"time_from_start\":\"builtin_interfaces/Duration\"},\"builtin_interfaces/msg/Duration\":{\"sec\":\"int32\",\"nanosec\":\"uint32\"}}}},\n \"gripper\": {\"target\":{\"description\":\"finger_joint1 position (data) from 0 (closed) to 0.04 m (open). rosbridge steers LIBERO's integrated direction command toward it every control step with 1 mm tolerance, so open and closed are reached reliably while intermediate targets oscillate by a few millimetres. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/gripper/target\",\"type\":\"std_msgs/msg/Float64\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10,\"message\":{\"data\":\"double\"},\"definitions\":{}}},\n \"world\": {\"wait\":{\"description\":\"Advance or await duration_s of world time (finite and nonnegative). Zero is an observation barrier. Waits are sequential; one requested while another is pending is rejected. A terminal episode rejects further progression without exposing benchmark results.\",\"transport\":\"service\",\"direction\":\"input\",\"endpoint\":\"/world/wait\",\"type\":\"kinex_interfaces/srv/Wait\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":120,\"request\":{\"duration_s\":\"double\"},\"response\":{\"success\":\"boolean\",\"message\":\"string\",\"time_s\":\"double\",\"waited_s\":\"double\"},\"definitions\":{}}}\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160424437, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-016", + "name": "bash", + "arguments": { + "command": "rg -n 'joint_model|inverse|forward|kinematics' /opt/kinex/packages/core/assets/python/kinex/helpers/helpers.txt", + "timeout": 10 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160428119, + "toolCallId": "tool-016", + "content": [ + { + "type": "text", + "text": "19: helpers.joint_model(device)\n21: Implementation: kinematics.py\n" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160428152, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-017", + "name": "read", + "arguments": { + "path": "/opt/kinex/packages/core/assets/python/kinex/helpers/helpers.txt", + "offset": 1, + "limit": 160 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160434165, + "toolCallId": "tool-017", + "content": [ + { + "type": "text", + "text": "Kinex Python helpers\n\nImport with: from kinex import helpers\nImplementation paths below are relative to this index; see their docstrings for\ndetails. The builtin Python tools are interfaces to these same functions; call the\nhelpers directly inside exec to share its communication and cleanup.\nWorkspace-specific helpers belong in .kinex/lib, which exec and tools can import.\n\nFrames\n await helpers.lookup_transform(io, target, source, stamp=None, timeout_s=5)\n Return a stamped source-to-target transform using Kinex frame history.\n await helpers.transform_pose(io, pose, source, target, stamp=None)\n Express a pose given in one frame in another.\n await helpers.relative_pose(io, child, parent, timestamp=None)\n Express a frame-attached child pose relative to a frame-attached parent pose.\n Implementation: frames.py\n\nKinematics\n helpers.joint_model(device)\n Load a joint device's commanded joints, link FK and IK from its URDF.\n Implementation: kinematics.py\n\nMotion\n helpers.trajectory(joints, start, target, period_s, fraction=1.0, max_velocity=None, max_acceleration=None, *, check_limits=True, start_tolerance=0)\n Plan joint references and duration without device I/O.\n Implementation: motion.py\n\nPolicy\n await helpers.run_policy(io, model, observation, command, task=None, world=\"world\", action_hz=10, max_actions=None, inference_args=None)\n Infer once and submit the valid action prefix to the commanded devices.\n Implementation: policy.py\n\nImages\n await helpers.camera_frame(io, camera, timeout_s=None)\n The current image and, for an rgbd camera, its depth from the same acquisition.\n helpers.image_array(image)\n Native-order pixels of a sensor_msgs/Image as numpy for computation.\n helpers.save_image(image)\n Write a sensor_msgs/Image as a PNG and return its path for finish(file=...).\n Implementation: images.py\n\nPerception\n await helpers.locate_object_3d(io, camera, model, prompt, depth=None, min_score=0.25, instance=0)\n Locate a detected object in a stamped camera optical frame.\n Implementation: perception.py\n" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160434207, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-018", + "name": "read", + "arguments": { + "path": "/opt/kinex/packages/core/assets/python/kinex/helpers/kinematics.py", + "offset": 1, + "limit": 240 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160435980, + "toolCallId": "tool-018", + "content": [ + { + "type": "text", + "text": "\"\"\"Joint device kinematics from the device's resolved URDF.\"\"\"\n\nfrom kinex import profile\nfrom kinex.lib.joints import JointModel\n\n\ndef joint_model(device):\n \"\"\"Load a joint device's model without device I/O.\n\n joints lists the commanded joints in URDF document order with limits and\n rate limits; names holds their names. fk(positions, link=None) returns the\n link pose [x, y, z, qx, qy, qz, qw] in /base. ik(pose, seed,\n link=None, **options) returns commanded positions nearest the seed, or\n raises ValueError when no verified solution is found. link defaults to the\n model's tip_link. Measured links are also on TF as /.\n\n Example: arm = helpers.joint_model(\"arm\"); q = arm.ik(arm.fk(seed), seed)\n \"\"\"\n return JointModel(profile(device))\n" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160436014, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-019", + "name": "exec", + "arguments": { + "python": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom kinex import helpers,finish\np=np.array([.658613174683,0,1.610350024037]); rot=R.from_quat([.638017721229,.638017721229,-.304849838016,-.304849718806]);\nfor uv in [(191,149),(198,184),(181,125),(220,125)]:\n d=rot.apply([(uv[0]-127.5)/309.0193,(uv[1]-127.5)/309.0193,1]); print(uv,{z:np.round(p+(z-p[2])/d[2]*d,4).tolist() for z in [.8,.85,.9,.92]})\nm=helpers.joint_model('arm'); q=[-0.00013845,-.1767345,-.0365576,-2.457113,.005935,2.23522,.799383];print('flange base',m.fk(q));finish({'names':m.names})", + "description": "estimate tabletop object positions and tool pose" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160448734, + "toolCallId": "tool-019", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"(191, 149) {0.8: [-0.2134, 0.244, 0.8], 0.85: [-0.1596, 0.229, 0.85], 0.9: [-0.1058, 0.2139, 0.9], 0.92: [-0.0842, 0.2079, 0.92]}\\n(198, 184) {0.8: [-0.0388, 0.2399, 0.8], 0.85: [0.0042, 0.2251, 0.85], 0.9: [0.0473, 0.2103, 0.9], 0.92: [0.0645, 0.2044, 0.92]}\\n(181, 125) {0.8: [-0.3616, 0.2256, 0.8], 0.85: [-0.2987, 0.2116, 0.85], 0.9: [-0.2357, 0.1977, 0.9], 0.92: [-0.2106, 0.1922, 0.92]}\\n(220, 125) {0.8: [-0.3616, 0.39, 0.8], 0.85: [-0.2987, 0.3659, 0.85], 0.9: [-0.2357, 0.3419, 0.9], 0.92: [-0.2106, 0.3322, 0.92]}\\nflange base [0.4535326278348672, -0.01639354758125637, 0.36057179539125095, 0.9993743120738147, -0.026609223451674994, -0.02257720344538244, -0.005762245992182521]\\n\",\n \"result\": {\n \"names\": [\"robot0_joint1\",\"robot0_joint2\",\"robot0_joint3\",\"robot0_joint4\",\"robot0_joint5\",\"robot0_joint6\",\"robot0_joint7\"]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160448764, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-020", + "name": "exec", + "arguments": { + "python": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom kinex import helpers,finish\nq=[-.00013845,-.1767345,-.0365576,-2.457113,.005935,2.23522,.799383]; f=helpers.joint_model('arm').fk(q)\npa=np.array([.658613174683,0,1.610350024037]); ra=R.from_quat([.638017721229,.638017721229,-.304849838016,-.304849718806]); pf=np.array([-.66,0,.912])+f[:3];rf=R.from_quat(f[3:]); pw=pf+rf.apply([.05,0,0]);rw=rf*R.from_quat([0,0,.7071067811865476,.7071067811865475]);print('wrist',pw,rw.as_quat())\nfor label,ua,uw in [('bowl',(191,149),(20,78)),('plate',(198,184),(16,14)),('ramekin',(181,125),(31,144)),('other',(220,125),(-12,72))]:\n da=ra.apply([(ua[0]-127.5)/309.0193,(ua[1]-127.5)/309.0193,1]); dw=rw.apply([(uw[0]-127.5)/166.81285,(uw[1]-127.5)/166.81285,1]); t=np.linalg.lstsq(np.stack([da,-dw],axis=1),pw-pa,rcond=None)[0];a=pa+t[0]*da;b=pw+t[1]*dw;print(label,'point',np.round((a+b)/2,4),'error',np.linalg.norm(a-b), 'params',t)\nfinish({'camera':pw.tolist()})", + "description": "triangulate bowl and plate using two calibrated cameras" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160461460, + "toolCallId": "tool-020", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"wrist [-0.15658915 -0.0190398 1.27030015] [ 0.68784879 -0.72547992 -0.02003902 0.01188997]\\nbowl point [-0.0623 0.1982 0.9373] error 0.008963677982934716 params [0.98312863 0.33323846]\\nplate point [0.0698 0.2009 0.9248] error 0.004131237976270251 params [0.88858607 0.33862219]\\nramekin point [-0.1958 0.1876 0.9305] error 0.0033773262193366573 params [1.0915624 0.34461158]\\nother point [-0.068 0.2497 1.0049] error 0.07772653057938098 params [0.93638303 0.28691951]\\n\",\n \"result\": {\n \"camera\": [-0.15658915025394438,-0.0190397954794332,1.270300154785954]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160461492, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-021", + "name": "read", + "arguments": { + "path": ".kinex/devices/gripper/gripper.urdf", + "offset": 1, + "limit": 200 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160481688, + "toolCallId": "tool-021", + "content": [ + { + "type": "text", + "text": "\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160481749, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-022", + "name": "read", + "arguments": { + "path": "/opt/kinex/packages/core/assets/python/kinex/helpers/motion.py", + "offset": 1, + "limit": 190 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160489076, + "toolCallId": "tool-022", + "content": [ + { + "type": "text", + "text": "\"\"\"Harness-owned, synchronized rest-to-rest joint trajectory generation.\"\"\"\n\nimport math\nfrom dataclasses import dataclass\n\nfrom kinex.lib.geometry import number, vector\nfrom kinex.lib.joints import recovery_targets\nfrom kinex.lib.urdf import joint_target\n\n\n@dataclass(frozen=True)\nclass Trajectory:\n \"\"\"A complete reference buffer and its planned execution duration.\"\"\"\n\n actions: list[list[float]]\n duration_s: float\n\n\ndef planning_limits(joints, max_velocity=None, max_acceleration=None):\n \"\"\"Resolve requested rates against known limits; defaults are planning policy.\"\"\"\n result = []\n for key, requested, rotary, linear in (\n (\"max_velocity\", max_velocity, 1.0, 0.1),\n (\"max_acceleration\", max_acceleration, 3.0, 0.3),\n ):\n values = [None] * len(joints) if requested is None else vector(\n requested if isinstance(requested, list) else [requested] * len(joints), len(joints), key)\n rates = []\n for joint, value in zip(joints, values):\n limit = joint.get(key)\n if limit is not None and number(limit, key) <= 0:\n raise ValueError(f\"{key} must be positive\")\n if value is None:\n value = linear if joint[\"type\"] == \"prismatic\" else rotary\n if number(value, key) <= 0:\n raise ValueError(f\"{key} must be positive\")\n rates.append(min(value, limit) if limit is not None else value)\n result.append(rates)\n return result\n\n\ndef trajectory(joints, start, target, period_s, fraction=1.0, max_velocity=None, max_acceleration=None, *, check_limits=True, start_tolerance=0):\n \"\"\"Plan synchronized rest-to-rest quintic joint references without device I/O.\n\n joints contains model-ordered joint definitions; start and target use that\n order. Returns Trajectory(actions, duration_s), excluding the start sample\n and including the target. Continuous joints take the shortest angular path.\n period_s bounds sample spacing: sample i (starting at 1) occurs at\n i * duration_s / len(actions). fraction (0..1] scales velocity/acceleration\n limits. Overrides may be scalars or per-joint lists, capped by known limits.\n Defaults are 1 rad/s and 3 rad/s², or 0.1 m/s and 0.3 m/s² for prismatic\n joints. With check_limits, start_tolerance permits bounded recovery from\n an out-of-limit start; the target must satisfy limits.\n\n Example: helpers.trajectory(joints, start, target, period_s=0.01)\n \"\"\"\n start = joint_target(start, joints, check_limits=False)\n target = joint_target(target, joints, check_limits=check_limits)\n if check_limits:\n recovery_targets([start, target], joints, start_tolerance)\n if not math.isfinite(period_s) or period_s <= 0 or not 0 < fraction <= 1:\n raise ValueError(\"invalid trajectory period or speed fraction\")\n delta, duration = [], period_s\n velocities, accelerations = planning_limits(joints, max_velocity, max_acceleration)\n for joint, a, b, velocity, acceleration in zip(joints, start, target, velocities, accelerations):\n distance = b - a\n if joint[\"type\"] == \"continuous\":\n distance = math.atan2(math.sin(distance), math.cos(distance))\n delta.append(distance)\n # Exact extrema of 10s^3 - 15s^4 + 6s^5 and its derivatives.\n duration = max(duration, 1.875 * abs(distance) / (velocity * fraction),\n math.sqrt(10 / math.sqrt(3) * abs(distance) / (acceleration * fraction)))\n count = math.ceil(duration / period_s)\n if count > 1_000_000:\n raise ValueError(\"trajectory exceeds one million references\")\n result = []\n for tick in range(1, count + 1):\n t = tick / count\n scale = t ** 3 * (10 + t * (-15 + 6 * t))\n result.append([a + d * scale for a, d in zip(start, delta)])\n result[-1] = [q if j[\"type\"] == \"continuous\" else goal\n for q, goal, j in zip(result[-1], target, joints)]\n if check_limits:\n recovery_targets(result, joints, start_tolerance)\n return Trajectory(actions=result, duration_s=duration)\n" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160489126, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-023", + "name": "exec", + "arguments": { + "python": "from kinex import helpers,finish\nm=helpers.joint_model('arm'); q=[-.00013845,-.1767345,-.0365576,-2.457113,.005935,2.23522,.799383]; ori=m.fk(q)[3:]; out={}\nfor name,x,y,z in [('above',-.065,.15,1.13),('near',-.065,.15,1.04),('grasp',-.065,.15,1.028),('plate',.07,.20,1.10)]:\n pose=[x+.66,y,z-.912,*ori]\n try:\n sol=m.ik(pose,q);out[name]={'q':[round(v,3) for v in sol],'fk':m.fk(sol)[:3]}\n except Exception as e:out[name]=str(e)\nfinish(out)", + "description": "check safe arm IK targets" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160495719, + "toolCallId": "tool-023", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"\",\n \"result\": {\n \"above\": {\"q\":[0.17,0.495,0.08,-1.96,-0.022,2.413,1.097],\"fk\":[0.5949722825137563,0.1499891475677133,0.21800620595498604]},\n \"near\": {\"q\":[0.192,0.683,0.055,-1.925,-0.022,2.566,1.093],\"fk\":[0.5949496689686569,0.1499875983542056,0.1280059580012934]},\n \"grasp\": {\"q\":[0.208,0.71,0.039,-1.915,-0.005,2.584,1.082],\"fk\":[0.594963999951744,0.1499892079412551,0.11600683131106018]},\n \"plate\": {\"q\":[0.226,0.976,0.06,-1.183,-0.03,2.118,1.116],\"fk\":[0.7299795967734796,0.1999939125576791,0.18800085873093114]}\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160495753, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-024", + "name": "exec", + "arguments": { + "python": "from scipy.spatial.transform import Rotation as R\nfrom kinex import helpers,finish\nq=[-.00013845,-.1767345,-.0365576,-2.457113,.005935,2.23522,.799383];r=R.from_quat(helpers.joint_model('arm').fk(q)[3:])*R.from_quat([0,0,-.707106781187,.707106781187]);finish({'gripper_axes_world':r.as_matrix().tolist()})", + "description": "check gripping jaw direction" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160501765, + "toolCallId": "tool-024", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"\",\n \"result\": {\n \"gripper_axes_world\": [[0.05344533956380805,0.9975644382237695,-0.04481949654118027],[0.998517491496849,-0.052924957963536676,0.012718804951659227],[0.010315757546090792,-0.04543281210593829,-0.998914132811423]]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160501794, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-025", + "name": "exec", + "arguments": { + "python": "import asyncio\nfrom kinex import communication,finish\nasync def main():\n async with communication() as io:\n async with io.subscribe('arm.joint_state',depth=1) as s:\n m=await s.next(timeout_s=5)\n finish({'names':m.name,'positions':m.position})\nasyncio.run(main())", + "description": "check arm measured ROS subscription" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160511340, + "toolCallId": "tool-025", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160510.796514082] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"names\": [\"robot0_joint1\",\"robot0_joint2\",\"robot0_joint3\",\"robot0_joint4\",\"robot0_joint5\",\"robot0_joint6\",\"robot0_joint7\"],\n \"positions\": [-0.00013845392507808466,-0.17673447527028746,-0.0365575974870041,-2.457112976205083,0.005935026546017218,2.235219967026241,0.7993834381074322]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160511371, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-026", + "name": "write", + "arguments": { + "path": ".kinex/tools/tabletop_motion.py", + "content": "\"\"\"LIBERO Panda measured Cartesian waypoints; call via kinex.exec with args.\n\nargs: {\"poses\": [[world_x,world_y,world_tcp_z],...], \"seconds\": [duration,...],\n \"grip\": optional finger_joint1 target (m), \"settle\": optional seconds}\nFlange orientation is held at the episode's downward start orientation (model FK of\nhome measured initial posture). Returns final measured positions and TCP world pose.\n\"\"\"\nimport asyncio\nimport numpy as np\nfrom kinex import args, communication, finish, helpers\n\nSTART = [-0.000138453925, -0.17673447527, -0.03655759749,\n -2.4571129762, 0.00593502655, 2.235219967, 0.799383438]\n\nasync def run():\n a = args()\n model = helpers.joint_model('arm')\n orientation = model.fk(START)[3:]\n async with communication() as io:\n async with io.subscribe('arm.joint_state', depth=1) as states:\n current = await states.next(timeout_s=8)\n q = list(current.position[:7])\n if 'grip' in a:\n await io.publish('gripper.target', {'data': float(a['grip'])})\n poses = a.get('poses', [])\n durations = a.get('seconds', [1.7]*len(poses))\n if len(poses) != len(durations):\n raise ValueError('poses/seconds mismatch')\n waypoints = []\n elapsed = 0.0\n for (x,y,tcpz), duration in zip(poses,durations):\n # arm/base origin is world [-.66,0,.912]; tcp is 97 mm below flange.\n target = [float(x)+.66,float(y),float(tcpz)+.097-.912,*orientation]\n q = model.ik(target,q)\n elapsed += float(duration)\n sec = int(elapsed)\n waypoints.append({'positions':list(q), 'velocities':[],\n 'accelerations':[], 'effort':[],\n 'time_from_start':{'sec':sec,'nanosec':round((elapsed-sec)*1e9)}})\n if waypoints:\n await io.publish('arm.joint_target', {\n 'header': {'stamp':{'sec':0,'nanosec':0},'frame_id':''},\n 'joint_names':model.names,'points':waypoints})\n wait_s = elapsed + float(a.get('settle',.25))\n if wait_s:\n result = await io.request('world.wait',duration_s=wait_s)\n if not result.success:\n raise RuntimeError(f'world wait failed: {result.message}')\n measured = await states.next(timeout_s=8)\n actual = model.fk(measured.position[:7])\n tcp = [actual[0]-.66,actual[1],actual[2]+.912-.097]\n finish({'target':poses[-1] if poses else None, 'tcp_world':tcp,\n 'joints':list(measured.position[:7]), 'max_velocity':max(abs(v) for v in measured.velocity[:7]),\n 'time':result.time_s if wait_s else None})\n\nasyncio.run(run())\n" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160525572, + "toolCallId": "tool-026", + "content": [ + { + "type": "text", + "text": "Successfully wrote to .kinex/tools/tabletop_motion.py" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160525613, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-027", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.066, + 0.15, + 1.09 + ] + ], + "seconds": [ + 2.7 + ], + "grip": 0.04 + }, + "description": "open gripper and approach safely above black bowl", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160540110, + "toolCallId": "tool-027", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160534.095409088] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"error\": \"Traceback (most recent call last):\\n File \\\"\\\", line 198, in _run_module_as_main\\n File \\\"\\\", line 88, in _run_code\\n File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 51, in \\n script()\\n File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 40, in script\\n runpy.run_path(file, run_name=\\\"__main__\\\")\\n File \\\"\\\", line 287, in run_path\\n File \\\"\\\", line 98, in _run_module_code\\n File \\\"\\\", line 88, in _run_code\\n File \\\"/workspace/.kinex/tools/tabletop_motion.py\\\", line 56, in \\n asyncio.run(run())\\n File \\\"/workspace/.kinex/python/.pixi/envs/default/lib/python3.12/asyncio/runners.py\\\", line 195, in run\\n return runner.run(main)\\n ^^^^^^^^^^^^^^^^\\n File \\\"/workspace/.kinex/python/.pixi/envs/default/lib/python3.12/asyncio/runners.py\\\", line 118, in run\\n return self._loop.run_until_complete(task)\\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\\n File \\\"/workspace/.kinex/python/.pixi/envs/default/lib/python3.12/asyncio/base_events.py\\\", line 691, in run_until_complete\\n return future.result()\\n ^^^^^^^^^^^^^^^\\n File \\\"/workspace/.kinex/tools/tabletop_motion.py\\\", line 50, in run\\n actual = model.fk(measured.position[:7])\\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\\n File \\\"/opt/kinex/packages/core/assets/python/kinex/lib/joints.py\\\", line 41, in fk\\n q = joint_target(positions, self.joints, check_limits=False)\\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\\n File \\\"/opt/kinex/packages/core/assets/python/kinex/lib/urdf.py\\\", line 114, in joint_target\\n vector(value, len(joints), \\\"joint target\\\")\\n File \\\"/opt/kinex/packages/core/assets/python/kinex/lib/geometry.py\\\", line 19, in vector\\n raise ValueError(f\\\"{name} needs {size} numbers\\\")\\nValueError: joint target needs 7 numbers\"\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160540153, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-028", + "name": "device", + "arguments": { + "deviceID": "arm", + "action": "joint_state" + } + }, + { + "type": "toolCall", + "id": "tool-029", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + }, + { + "type": "toolCall", + "id": "tool-030", + "name": "device", + "arguments": { + "deviceID": "world", + "action": "time" + } + }, + { + "type": "toolCall", + "id": "tool-031", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160544281, + "toolCallId": "tool-028", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.2009659710958959,\n 0.3727141053824204,\n 0.0383000364842774,\n -1.9692603179841035,\n 0.008664048061008647,\n 2.299332297714499,\n 1.0676314523226615\n ],\n \"velocities\": [\n 0.03230016435253175,\n 0.0882936145866055,\n 0.012396458347120146,\n 0.07852460706384758,\n 0.0008678974269145455,\n 0.010606336598511084,\n 0.04335899058136133\n ],\n \"joint_names\": [\n \"robot0_joint1\",\n \"robot0_joint2\",\n \"robot0_joint3\",\n \"robot0_joint4\",\n \"robot0_joint5\",\n \"robot0_joint6\",\n \"robot0_joint7\"\n ],\n \"timestamp\": 2.95\n}" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160544355, + "toolCallId": "tool-029", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.039862647405173375\n ],\n \"velocities\": [\n 0.00012050192867098374\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 2.95\n}" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160544448, + "toolCallId": "tool-030", + "content": [ + { + "type": "text", + "text": "{\n \"clock\": {\n \"sec\": 2,\n \"nanosec\": 950000000\n }\n}" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160544620, + "toolCallId": "tool-031", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 2.95,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-yl1e3es4.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/048-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160544661, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-032", + "name": "exec", + "arguments": { + "python": "import asyncio\nfrom kinex import communication,finish\nasync def run():\n async with communication() as io:\n async with io.subscribe('arm.joint_state',depth=1) as s:\n x=await s.next(timeout_s=8); finish({'name':x.name,'position':x.position,'velocity':x.velocity})\nasyncio.run(run())", + "description": "diagnose measured joint message" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160554492, + "toolCallId": "tool-032", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160554.049128257] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"name\": [\"robot0_joint1\",\"robot0_joint2\",\"robot0_joint3\",\"robot0_joint4\",\"robot0_joint5\",\"robot0_joint6\",\"robot0_joint7\"],\n \"position\": [0.2009659710958959,0.3727141053824204,0.0383000364842774,-1.9692603179841035,0.008664048061008647,2.299332297714499,1.0676314523226615],\n \"velocity\": [0.03230016435253175,0.0882936145866055,0.012396458347120146,0.07852460706384758,0.0008678974269145455,0.010606336598511084,0.04335899058136133]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160554523, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-033", + "name": "edit", + "arguments": { + "path": ".kinex/tools/tabletop_motion.py", + "edits": [ + { + "oldText": "actual = model.fk(measured.position[:7])", + "newText": "actual = model.fk(list(measured.position[:7]))" + } + ] + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160557916, + "toolCallId": "tool-033", + "content": [ + { + "type": "text", + "text": "Successfully replaced 1 block(s) in .kinex/tools/tabletop_motion.py." + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160557948, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-034", + "name": "exec", + "arguments": { + "python": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom kinex import helpers,finish\nq=[.200965971,.372714105,.038300036,-1.969260318,.008664048,2.299332298,1.067631452]; f=helpers.joint_model('arm').fk(q)\npa=np.array([.658613174683,0,1.610350024037]);ra=R.from_quat([.638017721229,.638017721229,-.304849838016,-.304849718806]);pf=np.array([-.66,0,.912])+f[:3];rf=R.from_quat(f[3:]);pw=pf+rf.apply([.05,0,0]);rw=rf*R.from_quat([0,0,.7071067811865476,.7071067811865475]);print('tcp',pf+rf.apply([0,0,.097]),'camera',pw)\nfor name,ua,uw in [('bowl',(191,149),(89,152)),('plate',(198,184),(88,78)),('rimtop',(191,136),(90,130)),('rimbottom',(191,162),(91,175))]:\n da=ra.apply([(ua[0]-127.5)/309.0193,(ua[1]-127.5)/309.0193,1]);dw=rw.apply([(uw[0]-127.5)/166.81285,(uw[1]-127.5)/166.81285,1]);t=np.linalg.lstsq(np.stack([da,-dw],axis=1),pw-pa,rcond=None)[0];a=pa+t[0]*da;b=pw+t[1]*dw;print(name,np.round((a+b)/2,4),'error',round(np.linalg.norm(a-b),4))\nfinish({'tcp':pf.tolist()})", + "description": "refine object location from new wrist view" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160567174, + "toolCallId": "tool-034", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"tcp [-0.0734636 0.14444611 1.09389403] camera [-0.01912293 0.14096326 1.18846655]\\nbowl [-0.0648 0.203 0.9381] error 0.0011\\nplate [0.0539 0.2067 0.9075] error 0.0027\\nrimtop [-0.0271 0.1825 1.0243] error 0.0055\\nrimbottom [-0.1456 0.2353 0.7982] error 0.0038\\n\",\n \"result\": {\n \"tcp\": [-0.0690053009629179,0.14348627716109608,1.1907867679248911]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160567216, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-035", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.065, + 0.15, + 0.968 + ] + ], + "seconds": [ + 2 + ], + "grip": 0.04, + "settle": 0.3 + }, + "description": "lower open fingers toward near bowl rim", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160585829, + "toolCallId": "tool-035", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160580.844415589] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.065,0.15,0.968],\n \"tcp_world\": [-0.06507610506230255,0.14997560982009955,0.9719440152593686],\n \"joints\": [0.21058723356341272,0.6184490779518904,0.03712686261208041,-1.9424367526234858,0.004755616690608187,2.5183911815510047,1.0750906916919276],\n \"max_velocity\": 0.042142240850543335,\n \"time\": 5.249999999999616\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160585860, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-036", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-037", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-038", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160588017, + "toolCallId": "tool-036", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 5.25,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-nkoszzfy.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/058-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160588177, + "toolCallId": "tool-037", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 5.25,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-0lgu1093.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/059-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160588235, + "toolCallId": "tool-038", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.03998171548190475\n ],\n \"velocities\": [\n 0.00001604505222686177\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 5.25\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160588275, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-039", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.065, + 0.15, + 0.947 + ] + ], + "seconds": [ + 1.25 + ], + "settle": 0.3 + }, + "description": "insert one finger inside bowl rim and one outside", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160602539, + "toolCallId": "tool-039", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160599.329079224] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.065,0.15,0.947],\n \"tcp_world\": [-0.06543949108550162,0.15006297245415198,0.9480795523054795],\n \"joints\": [0.21634874744083596,0.6702143445065488,0.03144279488773566,-1.929223028954786,0.005508084080391773,2.5569745489888014,1.0752368200460498],\n \"max_velocity\": 0.012214143665390713,\n \"time\": 6.799999999999446\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160602572, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-040", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-041", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160604720, + "toolCallId": "tool-040", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 6.8,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-tahgvtp5.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/064-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160604878, + "toolCallId": "tool-041", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 6.8,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-v7ci70d4.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/065-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160604925, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-042", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [], + "grip": 0, + "settle": 1.2 + }, + "description": "close fingers onto bowl wall", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160613829, + "toolCallId": "tool-042", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160611.228828044] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": null,\n \"tcp_world\": [-0.06525071419389838,0.1501609140414943,0.9472588633463734],\n \"joints\": [0.2167404584730557,0.6724547746819498,0.031138054426063547,-1.9280885179778855,0.00581970186856135,2.5588553875373377,1.075203401628102],\n \"max_velocity\": 0.00028015071762820134,\n \"time\": 7.9999999999994245\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160613865, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-043", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + }, + { + "type": "toolCall", + "id": "tool-044", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160615916, + "toolCallId": "tool-043", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.00260687655307424\n ],\n \"velocities\": [\n -0.00006671995031638759\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 8\n}" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160616094, + "toolCallId": "tool-044", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 8,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-qwtd0tne.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/070-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160616147, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-045", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.065, + 0.15, + 1.07 + ] + ], + "seconds": [ + 1.8 + ], + "settle": 0.3 + }, + "description": "lift bowl vertically and check grasp", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160626403, + "toolCallId": "tool-045", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160622.025522098] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.065,0.15,1.07],\n \"tcp_world\": [-0.06415459210505248,0.14990424056296264,1.065724481206759],\n \"joints\": [0.21226953580809443,0.43572926693737285,0.03527312935962132,-1.9542425648246309,0.0099802822752535,2.350671532745538,1.07524197554221],\n \"max_velocity\": 0.045454864050648504,\n \"time\": 10.100000000000126\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160626440, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-046", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-047", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-048", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160629398, + "toolCallId": "tool-046", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 10.1,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-szxuoa0k.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/074-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160629553, + "toolCallId": "tool-047", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 10.1,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-af41e5x2.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/075-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160629620, + "toolCallId": "tool-048", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.0024902996389407133\n ],\n \"velocities\": [\n -0.00005107521726434425\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 10.1\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160629654, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-049", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.065, + 0.14, + 0.97 + ], + [ + -0.065, + 0.14, + 0.927 + ] + ], + "seconds": [ + 1.6, + 1 + ], + "grip": 0.04, + "settle": 0.25 + }, + "description": "reposition jaws at outer bowl wall and insert deeper", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160664568, + "toolCallId": "tool-049", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160658.629724393] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.065,0.14,0.927],\n \"tcp_world\": [-0.06528787963485683,0.14023533847136463,0.9305176573503926],\n \"joints\": [0.20326243089687823,0.7056659465387953,0.028822180846579122,-1.9245712487618651,0.009226133412744282,2.5874951096877066,1.0594480749695268],\n \"max_velocity\": 0.04070098643607075,\n \"time\": 12.950000000001078\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160664609, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-050", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-051", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160667557, + "toolCallId": "tool-050", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 12.95,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-wvarozqj.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/080-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160667718, + "toolCallId": "tool-051", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 12.95,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-490h52dd.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/081-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160667764, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-052", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "grip": 0, + "settle": 1 + }, + "description": "pinch bowl lower at its near rim", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160675481, + "toolCallId": "tool-052", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160672.826748363] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": null,\n \"tcp_world\": [-0.06520059877377415,0.14047836689613946,0.9274392742216031],\n \"joints\": [0.20355103542856265,0.713054275148156,0.02888273764061047,-1.9217132722169707,0.009086972884071693,2.5929480531643083,1.0593183245954352],\n \"max_velocity\": 0.0004186793895414026,\n \"time\": 13.950000000001411\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160675526, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-053", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160676884, + "toolCallId": "tool-053", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.0038722993133267804\n ],\n \"velocities\": [\n -0.00021362488001271714\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 13.95\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160676925, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-054", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.065, + 0.14, + 1.045 + ] + ], + "seconds": [ + 1.65 + ], + "settle": 0.3 + }, + "description": "lift and inspect whether bowl follows grasp", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160687407, + "toolCallId": "tool-054", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160682.930332261] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.065,0.14,1.045],\n \"tcp_world\": [-0.06416192436761481,0.13992110062242955,1.040542569224081],\n \"joints\": [0.19985177588998115,0.47567225459002815,0.03165717187781703,-1.9668205282459534,0.010117305581018723,2.4028556756780914,1.0592420864175462],\n \"max_velocity\": 0.04996326952448967,\n \"time\": 15.900000000001928\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160687456, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-055", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160688923, + "toolCallId": "tool-055", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 15.9,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-unf1hcd1.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/089-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160688972, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-056", + "name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom PIL import Image\nim=Image.open('/tmp/kinex-observation-wvarozqj.png')\nim.crop((165,108,228,169)).resize((756,732)).save('/tmp/bowlzoom.png')\nPY", + "timeout": 10 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160697017, + "toolCallId": "tool-056", + "content": [ + { + "type": "text", + "text": "(no output)" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160697065, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-057", + "name": "read", + "arguments": { + "path": "/tmp/bowlzoom.png", + "offset": null, + "limit": null + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160698800, + "toolCallId": "tool-057", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "src": "data/b1/session-images/093-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160698844, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-058", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160709313, + "toolCallId": "tool-058", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.003700399617413923\n ],\n \"velocities\": [\n -0.000113946302347188\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 15.9\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160709373, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-059", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.065, + 0.165, + 0.96 + ], + [ + -0.065, + 0.165, + 0.924 + ] + ], + "seconds": [ + 1.35, + 0.85 + ], + "grip": 0.04, + "settle": 0.25 + }, + "description": "place jaw center inward to contact bowl wall below rim", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160730582, + "toolCallId": "tool-059", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160725.952929723] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.065,0.165,0.924],\n \"tcp_world\": [-0.06527890056549734,0.16506333839398366,0.9274713184089283],\n \"joints\": [0.2396488031257716,0.7254079355166553,0.031772910551978645,-1.8965395021477252,0.00780843814258162,2.580048425043998,1.095114615735081],\n \"max_velocity\": 0.04032875825113654,\n \"time\": 18.35000000000057\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160730627, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-060", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160737920, + "toolCallId": "tool-060", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 18.35,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-s0bkojm8.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/099-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160737971, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-061", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "grip": 0, + "settle": 1.2 + }, + "description": "grasp black bowl wall at inner offset", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160743940, + "toolCallId": "tool-061", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160741.362864519] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": null,\n \"tcp_world\": [-0.06504939987270697,0.16499216039726045,0.9244885729692776],\n \"joints\": [0.239852565630546,0.7326626372523988,0.0313453116727595,-1.8934521990831243,0.0075382868027790055,2.5852336640458904,1.0952448470765244],\n \"max_velocity\": 0.00069239835045677,\n \"time\": 19.549999999999905\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160743981, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-062", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + }, + { + "type": "toolCall", + "id": "tool-063", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160747557, + "toolCallId": "tool-062", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.0041325631407900815\n ],\n \"velocities\": [\n -0.00031418192403061967\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 19.55\n}" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160747750, + "toolCallId": "tool-063", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 19.55,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-h4qbchhz.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/104-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160747794, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-064", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.065, + 0.165, + 1.035 + ] + ], + "seconds": [ + 1.6 + ], + "settle": 0.3 + }, + "description": "verify third bowl pinch by lifting", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160757133, + "toolCallId": "tool-064", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160753.144493954] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.065,0.165,1.035],\n \"tcp_world\": [-0.06419832060877861,0.1649449780647281,1.030672598957793],\n \"joints\": [0.232619744864378,0.50931101617392,0.038723571676454197,-1.941425381259083,0.007497088134651046,2.411921010360549,1.0984540530034448],\n \"max_velocity\": 0.048570502350424566,\n \"time\": 21.44999999999885\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160757167, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-065", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160759535, + "toolCallId": "tool-065", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 21.45,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-c9h18muc.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/108-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160759574, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-066", + "name": "exec", + "arguments": { + "python": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom kinex import helpers,finish\nq=[.21058723356,.61844907795,.0371268626,-1.9424367526,.0047556167,2.51839118,1.07509069];f=helpers.joint_model('arm').fk(q);pa=np.array([.658613174683,0,1.610350024037]);ra=R.from_quat([.638017721229,.638017721229,-.304849838016,-.304849718806]);rf=R.from_quat(f[3:]);pw=np.array([-.66,0,.912])+f[:3]+rf.apply([.05,0,0]);rw=rf*R.from_quat([0,0,.7071067811865476,.7071067811865475]);\nfor ua in [(174,148),(176,146),(190,149),(206,150)]:\n for uw in [(135,175),(132,165),(120,170),(60,175)]:\n da=ra.apply([(ua[0]-127.5)/309.0193,(ua[1]-127.5)/309.0193,1]); dw=rw.apply([(uw[0]-127.5)/166.81285,(uw[1]-127.5)/166.81285,1]);t=np.linalg.lstsq(np.stack([da,-dw],axis=1),pw-pa,rcond=None)[0];v=(pa+t[0]*da+pw+t[1]*dw)/2;err=np.linalg.norm(pa+t[0]*da-pw-t[1]*dw)\n if err<.005:print(ua,uw,np.round(v,4),round(err,4))\nfinish({'camera':pw.tolist()})", + "description": "estimate bowl near lip 3D location from matched silhouette" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160782527, + "toolCallId": "tool-066", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"(174, 148) (135, 175) [-0.0537 0.1455 0.9527] 0.0001\\n(174, 148) (132, 165) [-0.045 0.1455 0.9601] 0.0034\\n(176, 146) (135, 175) [-0.0481 0.1477 0.967 ] 0.0042\\n(176, 146) (132, 165) [-0.0408 0.1477 0.973 ] 0.0011\\n(190, 149) (60, 175) [-0.0511 0.1966 0.9516] 0.0027\\n\",\n \"result\": {\n \"camera\": [-0.015198591497510933,0.14740158043290155,1.0665758939348013]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160782564, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-067", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.055, + 0.145, + 1 + ], + [ + -0.055, + 0.145, + 0.95 + ] + ], + "seconds": [ + 1.2, + 1 + ], + "grip": 0.04, + "settle": 0.25 + }, + "description": "align jaws to triangulated rim at 0.953 m elevation", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160802074, + "toolCallId": "tool-067", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160797.134011798] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.055,0.145,0.95],\n \"tcp_world\": [-0.05525526896455557,0.14522203918792037,0.9540619489418729],\n \"joints\": [0.20694027473327622,0.6756185457256266,0.029599819539212438,-1.8965720767673973,0.007890086468979114,2.529553973813061,1.0648718480814288],\n \"max_velocity\": 0.04447010114454261,\n \"time\": 23.899999999997494\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160802106, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-068", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "grip": 0, + "settle": 1.4 + }, + "description": "close around triangulated bowl lip", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160808971, + "toolCallId": "tool-068", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160805.456365475] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": null,\n \"tcp_world\": [-0.055409937433791745,0.14531414459029926,0.9502148507897983],\n \"joints\": [0.2072653840017457,0.6838094239505388,0.029460908205961086,-1.8945518819179692,0.007879046606041273,2.535799621052039,1.0645735567770487],\n \"max_velocity\": 0.000496050062535405,\n \"time\": 25.299999999996718\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160809004, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-069", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160810515, + "toolCallId": "tool-069", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.002834472180768575\n ],\n \"velocities\": [\n -0.00030774450299379634\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 25.3\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160810552, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-070", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.055, + 0.145, + 1.035 + ] + ], + "seconds": [ + 1.4 + ], + "settle": 0.3 + }, + "description": "test rim grip under short vertical lift", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160818475, + "toolCallId": "tool-070", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160814.865927710] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [-0.055,0.145,1.035],\n \"tcp_world\": [-0.05434475955081153,0.14489841690198482,1.031181639030266],\n \"joints\": [0.20445726888978175,0.5193204732167088,0.031495774501353234,-1.921999315410278,0.008585434481248294,2.401800763325162,1.0644908443278474],\n \"max_velocity\": 0.04118860826470653,\n \"time\": 26.999999999995776\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160818519, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-071", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160820129, + "toolCallId": "tool-071", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 27,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-hf1oi18k.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/120-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160820166, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-072", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160824386, + "toolCallId": "tool-072", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 27,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-oesztpvm.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/122-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160824423, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-073", + "name": "bash", + "arguments": { + "command": "python - <<'PY'\nfrom PIL import Image\nfor name in ['hf1oi18k','c9h18muc']:\n im=Image.open('/tmp/kinex-observation-'+name+'.png'); im.crop((165,108,236,170)).resize((710,620)).save('/tmp/'+name+'-crop.png')\nPY", + "timeout": 10 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160828865, + "toolCallId": "tool-073", + "content": [ + { + "type": "text", + "text": "(no output)" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160828902, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-074", + "name": "read", + "arguments": { + "path": "/tmp/hf1oi18k-crop.png", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-075", + "name": "read", + "arguments": { + "path": "/tmp/c9h18muc-crop.png", + "offset": null, + "limit": null + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160831311, + "toolCallId": "tool-074", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "src": "data/b1/session-images/126-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160831314, + "toolCallId": "tool-075", + "content": [ + { + "type": "text", + "text": "Read image file [image/png]" + }, + { + "type": "image", + "src": "data/b1/session-images/127-01.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160831351, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-076", + "name": "exec", + "arguments": { + "python": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom kinex import helpers,finish\nq=[.20445726889,.5193204732,.0314957745,-1.9219993154,.008585434,2.401800763,1.064490844];f=helpers.joint_model('arm').fk(q);pa=np.array([.658613174683,0,1.610350024037]);ra=R.from_quat([.638017721229,.638017721229,-.304849838016,-.304849718806]);rf=R.from_quat(f[3:]);pw=np.array([-.66,0,.912])+f[:3]+rf.apply([.05,0,0]);rw=rf*R.from_quat([0,0,.7071067811865476,.7071067811865475]);\nfor name,ua,uw in [('heldbowl',(192,135),(65,171)),('plate',(198,184),(78,75)),('other',(220,125),(180,160))]:\n da=ra.apply([(ua[0]-127.5)/309.0193,(ua[1]-127.5)/309.0193,1]); dw=rw.apply([(uw[0]-127.5)/166.81285,(uw[1]-127.5)/166.81285,1]); t=np.linalg.lstsq(np.stack([da,-dw],axis=1),pw-pa,rcond=None)[0];a=pa+t[0]*da;b=pw+t[1]*dw;print(name,np.round((a+b)/2,4),round(np.linalg.norm(a-b),4),t)\nfinish({'tcp':(np.array([-.66,0,.912])+f[:3]+rf.apply([0,0,.097])).tolist()})", + "description": "triangulate whether bowl is held above the plate" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160844349, + "toolCallId": "tool-076", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"heldbowl [-0.0353 0.1877 1.0204] 0.0048 [0.91008825 0.1082543 ]\\nplate [0.0568 0.2058 0.9107] 0.0026 [0.90758951 0.21356894]\\nother [0.0352 0.1918 1.1549] 0.0973 [ 0.76071598 -0.04681665]\\n\",\n \"result\": {\n \"tcp\": [-0.0585296013745853,0.1460437571070927,1.0312787221627562]\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160844391, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-077", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + 0.035, + 0.163, + 1.065 + ] + ], + "seconds": [ + 1.75 + ], + "settle": 0.35 + }, + "description": "carry grasped bowl above center of plate", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160858150, + "toolCallId": "tool-077", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160853.916409925] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"result\": {\n \"target\": [0.035,0.163,1.065],\n \"tcp_world\": [0.03276882854217289,0.16280309374400104,1.064105621131978],\n \"joints\": [0.2060694357450056,0.7123162097810749,0.02927153590514025,-1.487948624416567,0.005991780842772691,2.1603029039178945,1.0644928062782655],\n \"max_velocity\": 0.06644217749343302,\n \"time\": 29.099999999994612\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160858198, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-078", + "name": "device", + "arguments": { + "deviceID": "camera_agentview", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-079", + "name": "device", + "arguments": { + "deviceID": "camera_wrist", + "action": "image" + } + }, + { + "type": "toolCall", + "id": "tool-080", + "name": "device", + "arguments": { + "deviceID": "gripper", + "action": "joint_state" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160861114, + "toolCallId": "tool-078", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_agentview\",\n \"timestamp\": 29.1,\n \"frame_id\": \"camera_agentview/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-rqcuvl5r.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/133-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160861271, + "toolCallId": "tool-079", + "content": [ + { + "type": "text", + "text": "{\n \"deviceID\": \"camera_wrist\",\n \"timestamp\": 29.1,\n \"frame_id\": \"camera_wrist/base\",\n \"width\": 256,\n \"height\": 256,\n \"file\": \"/tmp/kinex-observation-cli4qogr.png\"\n}" + }, + { + "type": "image", + "src": "data/b1/session-images/134-01.png" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160861364, + "toolCallId": "tool-080", + "content": [ + { + "type": "text", + "text": "{\n \"positions\": [\n 0.0004998167883087032\n ],\n \"velocities\": [\n -0.000002603186583499088\n ],\n \"joint_names\": [\n \"finger_joint1\"\n ],\n \"timestamp\": 29.1\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160861408, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-081", + "name": "exec", + "arguments": { + "file": ".kinex/tools/tabletop_motion.py", + "args": { + "poses": [ + [ + -0.06, + 0.26, + 1.07 + ], + [ + -0.06, + 0.26, + 0.948 + ] + ], + "seconds": [ + 1.7, + 1.6 + ], + "grip": 0.04, + "settle": 0.3 + }, + "description": "approach opposite rim for more robust bowl-wall grip", + "timeout_s": 60 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160894754, + "toolCallId": "tool-081", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"[INFO] [1793160892.455945128] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n \"error\": \"episode ended during wait\",\n \"code\": \"operation_rejected\",\n \"details\": {\n \"operation\": \"world.wait\",\n \"type\": \"kinex_interfaces/srv/Wait\",\n \"response\": {\"success\":false,\"message\":\"episode ended during wait\",\"time_s\":29.999999999994113,\"waited_s\":0.8999999999995012}\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160894805, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-082", + "name": "write", + "arguments": { + "path": ".kinex/memos/libero_spatial.md", + "content": "# LIBERO spatial tabletop bowl placement\n\nThe running episode has ~30 s of native world time (605 x 0.05 s), even though wall safety timeout is much larger. `world.wait` rejects progression at terminal; do not interpret the rejected wait as success. All borrowed devices start loaded. Camera reads do not advance time.\n\nInterfaces: `harness.md` and `.kinex/devices/*/profile.yaml`. Arm is a seven-joint trajectory; gripper `target.data` is finger_joint1 in metres, 0 closed / 0.04 open. World `wait(duration_s)` is the ONLY way to step. `.kinex/tools/tabletop_motion.py` accepts world TCP waypoints and seconds, publishes timed trajectory, waits, returns measured pose. It assumes the initial downward flange orientation and arm base at world (-.66,0,.912), gripper TCP 0.097 m below flange. Tool has been exercised; `model.fk` requires a **list**, not ROS array slices.\n\nCamera_agentview pinhole fx=fy=309.019, cx=cy=127.5, camera world (.658613,0,1.61035), quaternion (.638018,.638018,-.304850,-.304850). Wrist camera fx=fy=166.813, camera position from flange FK + 0.05 m along flange x, quaternion flange * (0,0,.707107,.707107). Triangulation of images at t=2.95 gave target textured dark bowl between plate and silver ramekin at world approx (-.065,.203,.938) (visible inner surface), plate center (.055,.206,.910), near bowl rim at (-.054,.1455,.953). Do not mistake bowls under gripper for a successful pickup; at t=29.1 bowl was visibly still on table (agentview (190,150), wrist (100,~205)) and gripper fully shut (finger_joint1=.0005). Need verify successful grasp by observing bowl displacement in agentview with gripper moved to a clear position and/or stereo triangulation with matching bowl pixels, not by finger stall alone.\n\nAttempted near-rim pinch with gripper x axis along world +y, TCP x~-.065,y=.15,z=.947; then x~-.065,y=.14,z=.927; then x~-.065,y=.165,z=.924; then x~-.055,y=.145,z=.950. Each closed finger_joint1 to ~.002-.004 initially but target bowl remained after lift. Too low (~.924) likely misses rim at z~.953. At t=29, an attempted reposition to far-side rim (-.06,.26,.948) was interrupted at terminal t=30; no success. Future strategy: try opposite rim at y~.26, z~.95 with open fingers, then close, confirm lifted bowl before translating. Use fewer slow moves and a shorter total wait budget. Plate center x~.055 y~.206, placing bowl likely requires TCP x~.035 y~.16, z~.95 if near-side wall grasp succeeds.\n" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160909672, + "toolCallId": "tool-082", + "content": [ + { + "type": "text", + "text": "Successfully wrote to .kinex/memos/libero_spatial.md" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160909709, + "toolCallId": null, + "content": [ + { + "type": "text", + "text": "I couldn’t complete the placement. The bowl remained on the table, and the episode ended at its native step limit during a repositioning wait. I saved the measured coordinates and grasp findings in `.kinex/memos/libero_spatial.md` and the reusable motion tool in `.kinex/tools/tabletop_motion.py`." + } + ] + } +] diff --git a/data/b1/third_person.mp4 b/data/b1/third_person.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de1115ed2e88916c95b19c0993bdea60d9c994aa --- /dev/null +++ b/data/b1/third_person.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea52c7739a7f0ca6d043b45154aac48fe14e0d37d49ef20b5bf5b1ebd26205fe +size 1879100 diff --git a/data/b1/vla-calls.json b/data/b1/vla-calls.json new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/data/b1/vla-calls.json @@ -0,0 +1 @@ +[] diff --git a/data/b1/wrist.mp4 b/data/b1/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6fbac270e7a804c8788a3a5c25c286bcdce3972f --- /dev/null +++ b/data/b1/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:598f56dae47f56701179ea8cc7e6423ce9242109aaa0aadb13f7accbbf2ae22f +size 3591913 diff --git a/data/b2/detail.json b/data/b2/detail.json new file mode 100644 index 0000000000000000000000000000000000000000..c60b2219fdc417f8f5a0aa1b341da09dacbd9ebd --- /dev/null +++ b/data/b2/detail.json @@ -0,0 +1,1016 @@ +{ + "calls": [ + { + "input": { + "wall_time_ns": 1793161002537536500, + "control_step": 0, + "sim_time_s": 0.0, + "event": "invocation_started", + "invocation_id": "spatial01_bowl_plate_01", + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + "max_control_steps": 180, + "timeout_wall_s": 150, + "target": null, + "schema_version": "programvla.invocation.v1" + }, + "output": { + "wall_time_ns": 1793161018811250857, + "control_step": 79, + "sim_time_s": 3.9499999999997595, + "event": "invocation_finished", + "invocation_id": "spatial01_bowl_plate_01", + "reason": "episode_ended", + "control_steps": 79, + "policy_chunks": 10, + "wall_s": 16.2738747112453, + "semantic_completion": "unavailable" + } + } + ], + "policy_inputs": [ + { + "wall_time_ns": 1793161004132537320, + "control_step": 0, + "sim_time_s": 0.0, + "event": "policy_input", + "invocation_id": "spatial01_bowl_plate_01", + "images": [ + "data/b2/observations/call_spatial01_bowl_plate_01_step_00000_view0.png", + "data/b2/observations/call_spatial01_bowl_plate_01_step_00000_view1.png" + ], + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + "target": null + }, + { + "wall_time_ns": 1793161010703324585, + "control_step": 8, + "sim_time_s": 0.4000000000000003, + "event": "policy_input", + "invocation_id": "spatial01_bowl_plate_01", + "images": [ + "data/b2/observations/call_spatial01_bowl_plate_01_step_00008_view0.png", + "data/b2/observations/call_spatial01_bowl_plate_01_step_00008_view1.png" + ], + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + "target": null + }, + { + "wall_time_ns": 1793161011672274975, + "control_step": 16, + "sim_time_s": 0.8000000000000005, + "event": "policy_input", + "invocation_id": "spatial01_bowl_plate_01", + "images": [ + "data/b2/observations/call_spatial01_bowl_plate_01_step_00016_view0.png", + "data/b2/observations/call_spatial01_bowl_plate_01_step_00016_view1.png" + ], + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + "target": null + }, + { + "wall_time_ns": 1793161012545483912, + "control_step": 24, + "sim_time_s": 1.2000000000000008, + "event": "policy_input", + "invocation_id": "spatial01_bowl_plate_01", + "images": [ + "data/b2/observations/call_spatial01_bowl_plate_01_step_00024_view0.png", + "data/b2/observations/call_spatial01_bowl_plate_01_step_00024_view1.png" + ], + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + "target": null + }, + { + "wall_time_ns": 1793161013246195310, + "control_step": 32, + "sim_time_s": 1.6000000000000012, + "event": "policy_input", + "invocation_id": "spatial01_bowl_plate_01", + "images": [ + "data/b2/observations/call_spatial01_bowl_plate_01_step_00032_view0.png", + "data/b2/observations/call_spatial01_bowl_plate_01_step_00032_view1.png" + ], + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + "target": null + }, + { + "wall_time_ns": 1793161014025940624, + "control_step": 40, + "sim_time_s": 1.9999999999999736, + "event": "policy_input", + "invocation_id": "spatial01_bowl_plate_01", + "images": [ + "data/b2/observations/call_spatial01_bowl_plate_01_step_00040_view0.png", + "data/b2/observations/call_spatial01_bowl_plate_01_step_00040_view1.png" + ], + "instruction": "Pick the akita black bowl between the plate and the 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null + } +] diff --git a/data/b2/session-images/018-01.png b/data/b2/session-images/018-01.png new file mode 100644 index 0000000000000000000000000000000000000000..ed2e5d2cb668860ce32f55ef9605d3ba89b91ccd Binary files /dev/null and b/data/b2/session-images/018-01.png differ diff --git a/data/b2/session-images/018-02.png b/data/b2/session-images/018-02.png new file mode 100644 index 0000000000000000000000000000000000000000..8a256e084584197ea98c4caf00521aadb35ea19e Binary files /dev/null and b/data/b2/session-images/018-02.png differ diff --git a/data/b2/session-images/026-01.png b/data/b2/session-images/026-01.png new file mode 100644 index 0000000000000000000000000000000000000000..787247e2849dd4667a7b7f13cf487f5ab968dfe9 Binary files /dev/null and b/data/b2/session-images/026-01.png differ diff --git a/data/b2/session-images/026-02.png b/data/b2/session-images/026-02.png new file mode 100644 index 0000000000000000000000000000000000000000..6ae8a01c15a46cdc1d956d7bc086ea385fc7df95 Binary files /dev/null and b/data/b2/session-images/026-02.png differ diff --git a/data/b2/session.json b/data/b2/session.json new file mode 100644 index 0000000000000000000000000000000000000000..3220110af2a791a8f57763fa5e4fca90368e015f --- /dev/null +++ b/data/b2/session.json @@ -0,0 +1,527 @@ +[ + { + "role": "user", + "timestamp": 1793160977784, + "toolCallId": null, + "content": [ + { + "type": "text", + "text": "# Task: libero/libero-spatial-01\n\nPick the akita black bowl between the plate and the ramekin and place it in the center of the plate\n\n## Work to do\n\nSolve the task efficiently using the running rosbridge environment. Follow the\ntask instruction above, including its completion requirements. Read `harness.md`\nand the device profiles for public interfaces, units and calibrated frames.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nThe episode has 605 native steps including five initialization frames; 600 control steps remain. Use the frozen VLA device's `execute` operation for physical manipulation. Give a nonempty instruction, a unique invocation_id, max_control_steps and timeout_wall_s. The executor consumes the same shared native budget at 20 Hz. It does not reset or grant a new episode. Inspect allowed observations and choose whether to delegate the whole task or a subtask. Plan and revise when useful; neither decomposition nor full-task delegation is required. A call-budget return is not semantic completion. There is no progress monitor. Inspect new camera images before deciding what to do next. No model-decision cap is imposed. Do not launch or reset a simulation.\n\n## Completion\n\nReturn when finished. The owner finalizes the episode and reads its native\nverdict. An interrupted or rejected wait does not establish task success. The\nnative step limit stops physics even if your requested wait is longer.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nUse Kinex's ROS device profiles in `.kinex/devices/` and the robot\nspecification in `.kinex/workspace.yaml`. The adapter refreshes them each episode.\nUse `kinex.communication` for typed topic publication, subscriptions and service\nrequests. Inspect operation schemas before acting. Load the provided devices;\nthey borrow the running simulator. Stop holds motion; it does not reset the world.\nImprove existing tools, skills, and memos in place." + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160977807, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-001", + "name": "read", + "arguments": { + "path": "harness.md", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-002", + "name": "ls", + "arguments": { + "path": ".kinex", + "limit": 500 + } + }, + { + "type": "toolCall", + "id": "tool-003", + "name": "find", + "arguments": { + "pattern": ".kinex/devices/**/profile.yaml" + } + }, + { + "type": "toolCall", + "id": "tool-004", + "name": "find", + "arguments": { + "pattern": ".kinex/{tools,skills,memos}/**/*" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160980366, + "toolCallId": "tool-001", + "content": [ + { + "type": "text", + "text": "Kinex's public ROS profiles are in `.kinex/devices/`. The frozen VLA is a borrowed model device. It takes language, consumes native control steps, and returns execution status. Use cameras and public calibration for observation. No numeric target or learned semantic-completion signal is supported. The arm and gripper write operations are owned by the VLA executor.\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160980366, + "toolCallId": "tool-002", + "content": [ + { + "type": "text", + "text": "devices/\nkinex.json\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160980366, + "toolCallId": "tool-003", + "content": [ + { + "type": "text", + "text": ".kinex/devices/arm/profile.yaml\n.kinex/devices/camera_agentview/profile.yaml\n.kinex/devices/camera_wrist/profile.yaml\n.kinex/devices/gripper/profile.yaml\n.kinex/devices/vla/profile.yaml\n.kinex/devices/world/profile.yaml" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160980367, + "toolCallId": "tool-004", + "content": [ + { + "type": "text", + "text": "No files found matching pattern" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160980431, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-005", + "name": "read", + "arguments": { + "path": ".kinex/devices/vla/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-006", + "name": "read", + "arguments": { + "path": ".kinex/devices/camera_agentview/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-007", + "name": "read", + "arguments": { + "path": ".kinex/devices/camera_wrist/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-008", + "name": "read", + "arguments": { + "path": ".kinex/devices/world/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-009", + "name": "read", + "arguments": { + "path": ".kinex/devices/arm/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-010", + "name": "read", + "arguments": { + "path": ".kinex/devices/gripper/profile.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-011", + "name": "read", + "arguments": { + "path": ".kinex/workspace.yaml", + "offset": null, + "limit": null + } + }, + { + "type": "toolCall", + "id": "tool-012", + "name": "ls", + "arguments": { + "path": ".kinex/memos", + "limit": 500 + } + }, + { + "type": "toolCall", + "id": "tool-013", + "name": "ls", + "arguments": { + "path": ".kinex/tools", + "limit": 500 + } + }, + { + "type": "toolCall", + "id": "tool-014", + "name": "ls", + "arguments": { + "path": ".kinex/skills", + "limit": 500 + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984206, + "toolCallId": "tool-005", + "content": [ + { + "type": "text", + "text": "name: vla\ntype: model\ndescription: Frozen LIBERO manipulation policy. Executes a local language instruction\n for a bounded number of control steps. Returns execution status; semantic completion\n is unavailable. Inspect fresh camera measurements after a call. Numeric goal conditioning\n is not trained.\nruntime:\n domain_id: 83\n nodes: []\n ready_timeout_s: 30\nloaded: true\nsource: default\nmethod: unknown\ncalibrated_at: null\nmeta:\n created_at: '2026-10-27T00:00:00Z'\n updated_at: '2026-10-27T00:00:00Z'\nfamily: starvla_oft\ncompute:\n kind: remote\nartifacts: []\noperations:\n execute:\n description: Execute instruction, a nonempty local manipulation instruction. Required\n invocation_id must be unique in this episode. Optional max_control_steps (default\n 40) and timeout_wall_s (default 120) bound execution; they do not change policy\n speed. Schema is programvla.invocation.v1. No completion monitor.\n transport: service\n direction: input\n endpoint: /vla/execute\n type: kinex_interfaces/srv/Json\n timeout_s: 180\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n stop:\n description: Cancel the active invocation and discard pending actions.\n transport: service\n direction: input\n endpoint: /vla/stop\n type: std_srvs/srv/Trigger\n timeout_s: 10\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984206, + "toolCallId": "tool-006", + "content": [ + { + "type": "text", + "text": "name: camera_agentview\nruntime:\n domain_id: 83\n nodes: []\n ready_timeout_s: 30\noperations:\n image:\n description: RGB image measurements with encoding, dimensions, row stride and\n acquisition timestamp in the Image header. The frame_id identifies the calibrated\n optical frame; use its stamp for tf2 lookup. A new subscriber receives the current\n frame at once, also while the world is paused, then one per camera sample; reading\n never advances world time.\n transport: topic\n direction: output\n endpoint: /camera_agentview/image\n type: sensor_msgs/msg/Image\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\n camera_info:\n description: Projection and distortion calibration for the image stream, including\n K, D, image size and optical frame. Use the declared distortion model and raw/rectified\n image space when projecting pixels; intrinsics are not TF transforms.\n transport: topic\n direction: output\n endpoint: /camera_agentview/camera_info\n type: sensor_msgs/msg/CameraInfo\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.453Z'\ntype: rgb\ndescription: Fixed RGB camera observing the tabletop scene. Image calibration and\n the optical-frame mount are in the profile. Images are measurements at world-clock\n acquisition timestamps.\nsource: introspected\nmethod: introspection\ncalibrated_at: null\ncolor:\n width: 256\n height: 256\n fps: null\n projection:\n model: pinhole\n fx: 309.01933598375615\n fy: 309.01933598375615\n cx: 127.5\n cy: 127.5\n skew: 0\n distortion:\n model: none\n fov:\n horizontal_deg: 45.00000000000001\n vertical_deg: 45.00000000000001\nframes:\n base:\n translation_m:\n - 0.658613174683\n - 0.0\n - 1.610350024037\n rotation_xyzw:\n - 0.638017721229\n - 0.638017721229\n - -0.304849838016\n - -0.304849718806\n parent: world:base\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984206, + "toolCallId": "tool-007", + "content": [ + { + "type": "text", + "text": "name: camera_wrist\nruntime:\n domain_id: 83\n nodes: []\n ready_timeout_s: 30\noperations:\n image:\n description: RGB image measurements with encoding, dimensions, row stride and\n acquisition timestamp in the Image header. The frame_id identifies the calibrated\n optical frame; use its stamp for tf2 lookup. A new subscriber receives the current\n frame at once, also while the world is paused, then one per camera sample; reading\n never advances world time.\n transport: topic\n direction: output\n endpoint: /camera_wrist/image\n type: sensor_msgs/msg/Image\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\n camera_info:\n description: Projection and distortion calibration for the image stream, including\n K, D, image size and optical frame. Use the declared distortion model and raw/rectified\n image space when projecting pixels; intrinsics are not TF transforms.\n transport: topic\n direction: output\n endpoint: /camera_wrist/camera_info\n type: sensor_msgs/msg/CameraInfo\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.464Z'\ntype: rgb\ndescription: Wrist-mounted RGB camera moving with the arm. Use the image acquisition\n timestamp when looking up its optical-frame transform; calibration and mounting\n facts are in the profile.\nsource: introspected\nmethod: introspection\ncalibrated_at: '2026-10-20T17:21:08.827172Z'\ncolor:\n width: 256\n height: 256\n fps: null\n projection:\n model: pinhole\n fx: 166.81284772367434\n fy: 166.81284772367434\n cx: 127.5\n cy: 127.5\n skew: 0\n distortion:\n model: none\n fov:\n horizontal_deg: 75.00000000000001\n vertical_deg: 75.00000000000001\nframes:\n base:\n translation_m:\n - 0.04999999999999985\n - -3.469446951953614e-18\n - -2.220446049250313e-16\n rotation_xyzw:\n - 1.7326215608522153e-17\n - 4.52321557921596e-18\n - 0.7071067811865476\n - 0.7071067811865475\n parent: arm:flange\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984206, + "toolCallId": "tool-008", + "content": [ + { + "type": "text", + "text": "name: world\nruntime:\n domain_id: 83\n observation: time\n nodes: []\n ready_timeout_s: 30\noperations:\n time:\n description: Authoritative world clock\n transport: topic\n direction: output\n endpoint: /clock\n type: rosgraph_msgs/msg/Clock\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\n wait:\n description: Advance or await duration_s of world time (finite and nonnegative).\n Zero is an observation barrier. Waits are sequential; one requested while another\n is pending is rejected. A terminal episode rejects further progression without\n exposing benchmark results.\n transport: service\n direction: input\n endpoint: /world/wait\n type: kinex_interfaces/srv/Wait\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 120\n stop:\n description: Cancel the pending wait.\n transport: service\n direction: input\n endpoint: /world/stop\n type: std_srvs/srv/Trigger\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.458Z'\ntype: world\ndescription: Scene reference and authoritative world clock. Bounds and surfaces describe\n known scene geometry. Kinex supplies frame transforms independently. This device\n exposes no task instructions or evaluator results.\nsource: default\nmethod: unknown\ncalibrated_at: null\nbounds: null\nsurfaces: []\nframes:\n base:\n parent: null\n translation_m: null\n rotation_xyzw: null\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984207, + "toolCallId": "tool-009", + "content": [ + { + "type": "text", + "text": "name: arm\nruntime:\n domain_id: 83\n nodes:\n - entry: links.py\n factory: create\n ready_timeout_s: 30\noperations:\n joint_state:\n description: Measured joint positions with joint names and world-clock acquisition\n stamp. Positions are radians for the arm and metres for finger joints; do not\n infer motion completion from a sent command.\n transport: topic\n direction: output\n endpoint: /arm/joint_state\n type: sensor_msgs/msg/JointState\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\n stop:\n description: Stop arm motion and hold the measured posture.\n transport: service\n direction: input\n endpoint: /arm/stop\n type: std_srvs/srv/Trigger\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.462Z'\ntype: joint\ndescription: Panda seven-joint manipulator mounted in the tabletop workspace. Geometry\n is the sibling arm.urdf with flange as the tip link; measured links are on TF as\n arm/, and helpers.joint_model('arm') computes FK/IK from it. rosbridge rejects\n targets outside the URDF joint limits.\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nmodel:\n format: urdf\n path: arm.urdf\n base_link: base_link\n tip_link: flange\nlimits: native\nhome:\n robot0_joint1: 0\n robot0_joint2: -0.161037389\n robot0_joint3: 0\n robot0_joint4: -2.44459747\n robot0_joint5: 0\n robot0_joint6: 2.2267522\n robot0_joint7: 0.785398163397\nstop:\n behavior: hold\n affected_devices:\n - arm\nframes:\n base:\n translation_m:\n - -0.66\n - 0.0\n - 0.912\n rotation_xyzw:\n - 0.0\n - 0.0\n - 0.0\n - 1.0\n parent: world:base\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984207, + "toolCallId": "tool-010", + "content": [ + { + "type": "text", + "text": "name: gripper\nruntime:\n domain_id: 83\n nodes:\n - entry: links.py\n factory: create\n ready_timeout_s: 30\n observation: joint_state\noperations:\n joint_state:\n description: Measured finger_joint1 in metres, half the summed finger travel,\n stamped at acquisition; Kinex publishes the URDF finger and pad links from it.\n transport: topic\n direction: output\n endpoint: /gripper/joint_state\n type: sensor_msgs/msg/JointState\n qos:\n depth: 1\n reliability: reliable\n durability: transient_local\n timeout_s: 10\n stop:\n description: Hold the measured finger position; the fingers may settle briefly\n after the stop.\n transport: service\n direction: input\n endpoint: /gripper/stop\n type: std_srvs/srv/Trigger\n qos:\n depth: 1\n reliability: reliable\n durability: volatile\n timeout_s: 10\nloaded: true\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-20T17:24:01.455Z'\ntype: gripper\ndescription: Panda parallel two-finger gripper on the arm flange. Fingers close along\n the gripper base x axis; the URDF pad links mark the 16 by 16 mm inner pad faces,\n 3.6 mm below the TCP. finger_joint1 is half of LIBERO's summed finger travel, so\n the inner pad gap is 2 * finger_joint1 - 1 mm. A closed or stalled grip alone does\n not prove a successful grasp.\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nstop:\n behavior: hold\n affected_devices:\n - gripper\nframes:\n base:\n translation_m:\n - 0\n - 0\n - 0\n rotation_xyzw:\n - 0\n - 0\n - -0.707106781187\n - 0.707106781187\n parent: arm:flange\n tcp:\n translation_m:\n - 0\n - 0\n - 0.097\n rotation_xyzw:\n - 0\n - 0\n - 0\n - 1\n parent: gripper:base\nmodel:\n format: urdf\n path: gripper.urdf\n base_link: base_link\ngrip:\n joint: finger_joint1\n open: 0.04\n closed: 0.0\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984207, + "toolCallId": "tool-011", + "content": [ + { + "type": "text", + "text": "identity:\n id: libero-panda-tabletop\n name: LIBERO Panda tabletop\n kind: arm\n model: Panda\n source: user\ndevices:\n source: user\nsafety:\n source: user\n max_joint_velocity: null\n max_cartesian_velocity: null\n keep_out_zones: []\nmeta:\n created_at: '2026-10-19T00:00:00Z'\n updated_at: '2026-10-19T00:00:00Z'\n" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984207, + "toolCallId": "tool-012", + "content": [ + { + "type": "text", + "text": "(empty directory)" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984207, + "toolCallId": "tool-013", + "content": [ + { + "type": "text", + "text": "(empty directory)" + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160984207, + "toolCallId": "tool-014", + "content": [ + { + "type": "text", + "text": "(empty directory)" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160984239, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-015", + "name": "devices", + "arguments": { + "calls": [ + { + "deviceID": "camera_agentview", + "action": "image" + }, + { + "deviceID": "camera_wrist", + "action": "image" + } + ] + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160987081, + "toolCallId": "tool-015", + "content": [ + { + "type": "text", + "text": "{\n \"results\": [\n {\"deviceID\":\"camera_agentview\",\"action\":\"image\",\"ok\":true,\"data\":{\"timestamp\":0,\"frame_id\":\"camera_agentview/base\",\"width\":256,\"height\":256},\"file\":\"/tmp/kinex-observation-ge13xvv3.png\"},\n {\"deviceID\":\"camera_wrist\",\"action\":\"image\",\"ok\":true,\"data\":{\"timestamp\":0,\"frame_id\":\"camera_wrist/base\",\"width\":256,\"height\":256},\"file\":\"/tmp/kinex-observation-fb47ry1z.png\"}\n ]\n}" + }, + { + "type": "image", + "src": "data/b2/session-images/018-01.png" + }, + { + "type": "image", + "src": "data/b2/session-images/018-02.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160987124, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-016", + "name": "exec", + "arguments": { + "python": "from kinex import runtime, finish\nfinish(runtime.describe('vla.execute'))", + "description": "inspect vla execute schema" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160992700, + "toolCallId": "tool-016", + "content": [ + { + "type": "text", + "text": "{\n \"output\": \"\",\n \"result\": {\n \"description\": \"Execute instruction, a nonempty local manipulation instruction. Required invocation_id must be unique in this episode. Optional max_control_steps (default 40) and timeout_wall_s (default 120) bound execution; they do not change policy speed. Schema is programvla.invocation.v1. No completion monitor.\",\n \"transport\": \"service\",\n \"direction\": \"input\",\n \"endpoint\": \"/vla/execute\",\n \"type\": \"kinex_interfaces/srv/Json\",\n \"qos\": {\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\n \"timeout_s\": 180,\n \"request\": {\"request\":\"string\"},\n \"response\": {\"success\":\"boolean\",\"message\":\"string\",\"response\":\"string\"},\n \"definitions\": {}\n }\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160992735, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-017", + "name": "device", + "arguments": { + "deviceID": "vla", + "action": "execute", + "args": { + "request": "{\"instruction\":\"Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.\",\"invocation_id\":\"spatial01_bowl_plate_01\",\"max_control_steps\":180,\"timeout_wall_s\":150}" + } + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793160998972, + "toolCallId": "tool-017", + "content": [ + { + "type": "text", + "text": "TypeError: Invocation.__init__() got an unexpected keyword argument 'request'" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793160999008, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-018", + "name": "device", + "arguments": { + "deviceID": "vla", + "action": "execute", + "args": { + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + "invocation_id": "spatial01_bowl_plate_01", + "max_control_steps": 180, + "timeout_wall_s": 150 + } + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793161018818, + "toolCallId": "tool-018", + "content": [ + { + "type": "text", + "text": "{\n \"invocation_id\": \"spatial01_bowl_plate_01\",\n \"reason\": \"episode_ended\",\n \"control_steps\": 79,\n \"policy_chunks\": 10,\n \"wall_s\": 16.2738747112453,\n \"semantic_completion\": \"unavailable\"\n}" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793161018876, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-019", + "name": "devices", + "arguments": { + "calls": [ + { + "deviceID": "camera_agentview", + "action": "image" + }, + { + "deviceID": "camera_wrist", + "action": "image" + } + ] + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793161022189, + "toolCallId": "tool-019", + "content": [ + { + "type": "text", + "text": "{\n \"results\": [\n {\"deviceID\":\"camera_agentview\",\"action\":\"image\",\"ok\":true,\"data\":{\"timestamp\":3.95,\"frame_id\":\"camera_agentview/base\",\"width\":256,\"height\":256},\"file\":\"/tmp/kinex-observation-6qmt_lct.png\"},\n {\"deviceID\":\"camera_wrist\",\"action\":\"image\",\"ok\":true,\"data\":{\"timestamp\":3.95,\"frame_id\":\"camera_wrist/base\",\"width\":256,\"height\":256},\"file\":\"/tmp/kinex-observation-vz04ya3w.png\"}\n ]\n}" + }, + { + "type": "image", + "src": "data/b2/session-images/026-01.png" + }, + { + "type": "image", + "src": "data/b2/session-images/026-02.png" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793161022227, + "toolCallId": null, + "content": [ + { + "type": "toolCall", + "id": "tool-020", + "name": "write", + "arguments": { + "path": ".kinex/memos/libero-spatial-bowl.md", + "content": "# LIBERO spatial bowl-to-plate\n\nFor `libero/libero-spatial-01`, the initial agentview image showed the target akita black patterned bowl between the small metal ramekin and striped plate (near pixel 190,149 in 256x256); a second bowl sat farther right (near 220,125). The frozen `vla.execute` accepts direct device args `instruction`, unique `invocation_id`, `max_control_steps`, `timeout_wall_s` (not a nested `request`). Use the user's natural-language instruction and inspect fresh agentview/wrist images after execution. In this episode the full instruction caused `episode_ended` after 79 control steps at world time 3.95s, with wrist view showing the bowl overlapping the plate. The native verdict is only available to the owner; do not infer semantic completion from the service response. Do not attempt further movement after terminal status.\n" + } + } + ] + }, + { + "role": "toolResult", + "timestamp": 1793161028007, + "toolCallId": "tool-020", + "content": [ + { + "type": "text", + "text": "Successfully wrote to .kinex/memos/libero-spatial-bowl.md" + } + ] + }, + { + "role": "assistant", + "timestamp": 1793161028058, + "toolCallId": null, + "content": [ + { + "type": "text", + "text": "The VLA placed the target bowl over the plate, and the episode ended after 79 control steps. I stopped there; the owner’s native verdict will determine success. I saved the observation in `.kinex/memos/libero-spatial-bowl.md`." + } + ] + } +] diff --git a/data/b2/third_person.mp4 b/data/b2/third_person.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cd3e58ff9d7fd34a3f2860e7d81acd1a39db587d --- /dev/null +++ b/data/b2/third_person.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29b64adef464a7acd86250806a9a1c1dd463798e038b5c6444daf2aede547a0d +size 325868 diff --git a/data/b2/vla-calls.json b/data/b2/vla-calls.json new file mode 100644 index 0000000000000000000000000000000000000000..a58c7f35e08a3690ee67d677b8fa09c1f252c4b6 --- /dev/null +++ b/data/b2/vla-calls.json @@ -0,0 +1,28 @@ +[ + { + "input": { + "wall_time_ns": 1793161002537536500, + "control_step": 0, + "sim_time_s": 0.0, + "event": "invocation_started", + "invocation_id": "spatial01_bowl_plate_01", + "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate.", + 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"Single-task integration validation: one episode per method. These observations do not establish benchmark performance or planning benefit.", + "protocol": { + "native_step_limit": 605, + "initialization_frames": 5, + "control_step_limit": 600, + "control_hz": 20, + "planner_decision_cap": null, + "planner": "openai/gpt-6-sol", + "reasoning_effort": "high", + "policy": "Frozen StarVLA Qwen3-VL-4B OFT, step 50000", + "training": false, + "encoder": false, + "progress_monitor": false + }, + "pairing": { + "initial_rgb_equal": true, + "initial_joints_equal": true, + "initial_policy_images_equal": true + }, + "excluded_engineering_attempts": { + "count": 3, + "reason": "Two B0 lifecycle failures and one B1 authentication-validation failure occurred before task actions. They are retained locally and excluded from native outcome comparison. Earlier pilot runs are a separate protocol." + }, + "export_notes": [ + "Observable sessions contain public text, tool I/O and images. Internal reasoning blocks are omitted; tool IDs are remapped locally.", + "Policy image paths refer to exported assets. Owner-private simulator state, credentials and host-local paths are excluded.", + "Native outcomes are evaluator judgments, not VLA return values. The policy reports semantic_completion as unavailable." + ], + "source_report_sha256": "678a272a4714dce81a52917b27877f208b7a00e77b5606edbe2c46e6ae03a2b0", + "episodes": [ + { + "method": "B0", + "success": true, + "total_steps": 82, + "control_steps": 77, + "model_responses": 0, + "vla_calls": 1, + "native_reason": "success", + "wall_time_sec": 19.060797, + "label": "Standalone VLA", + "observation": "The frozen policy receives the full task and completes the manipulation.", + "path": "data/b0", + "session_messages": 0, + "tool_calls": 0 + }, + { + "method": "B1", + "success": false, + "total_steps": 605, + "control_steps": 600, + "model_responses": 58, + "vla_calls": 0, + "native_reason": "step_limit", + "wall_time_sec": 513.473686, + "label": "Pure Kinex agent", + "observation": "The agent uses native arm and gripper commands. The episode reaches the 600-control-step limit without native success.", + "path": "data/b1", + "session_messages": 141, + "tool_calls": 82 + }, + { + "method": "B2", + "success": true, + "total_steps": 84, + "control_steps": 79, + "model_responses": 9, + "vla_calls": 1, + "native_reason": "success", + "wall_time_sec": 58.419348, + "label": "Kinex + VLA", + "observation": "After inspecting the scene and interfaces, the agent delegates the full task in one accepted VLA call. No task decomposition is evident in this episode.", + "path": "data/b2", + "session_messages": 30, + "tool_calls": 20 + } + ] +} diff --git a/index.html b/index.html index b0c4b3666032a737f3903db53e6a8a9272483e28..7edde0862852c90c37d5d48af2ed92b4413999fb 100644 --- a/index.html +++ b/index.html @@ -1,19 +1,44 @@ - - - - - My static Space - - - -
-

Welcome to your static Space!

-

You can modify this app directly by editing index.html in the Files and versions tab.

-

- Also don't forget to check the - Spaces documentation. -

-
- + + + + + + Programmable VLA · Results + + + + +
P PROGRAMMABLE VLARLE-Bench ↗
+
+
+

EXPERIMENT NOTEBOOK 01 / LIBERO

+

From instruction
to robot behavior.

+

Observe what changes when an agent can call a vision-language-action policy.

+
Original frozen VLANative RLE-Bench jobs3 valid episodes
+
+
+

CURRENT EXPERIMENT

Bowl → plate

+
LIBERO · spatial-01Seed 0 · initial state 0600 control steps · 20 HzNo planner-decision cap
+
+

Three ways to act

Native simulator outcomes
+

Loading validated results…

+
+

Videos show simulation time. Planning and inference pauses are omitted; wall time is reported separately.

+ +
+

WHAT THIS RUN SHOWS

+

Delegation worked.
Planning benefit remains an open question.

+

B2 inspected the scene and interfaces, then passed the whole task to the VLA in one accepted call. There is no evident task decomposition in this episode. B0 also succeeded. These observations motivate controlled behavior comparisons; they do not establish a general advantage for agent + VLA.

+

B1 reached the native control-step limit. Its failure is retained alongside the successful episodes, with the full observable tool trace.

+
+
Protocol, provenance & downloads
+
+ + + diff --git a/style.css b/style.css index 114adf441e9032febb46bc056b2a8bb651075f0d..9a54e1ec6f7eae5e891f0b9bc7e4a4ae09966d5f 100644 --- a/style.css +++ b/style.css @@ -1,28 +1,4 @@ -body { - padding: 2rem; - font-family: -apple-system, BlinkMacSystemFont, "Arial", sans-serif; -} - -h1 { - font-size: 16px; - margin-top: 0; -} - -p { - color: rgb(107, 114, 128); - font-size: 15px; - margin-bottom: 10px; - margin-top: 5px; -} - -.card { - max-width: 620px; - margin: 0 auto; - padding: 16px; - border: 1px solid lightgray; - border-radius: 16px; -} - -.card p:last-child { - margin-bottom: 0; -} +:root{color-scheme:light;--ink:#24342e;--muted:#61716a;--line:#d9dfd6;--paper:#f7f8f3;--green:#1b614b;--amber:#f1cb77} +*{box-sizing:border-box}body{margin:0;background:var(--paper);color:var(--ink);font:15px/1.6 system-ui,-apple-system,BlinkMacSystemFont,"Segoe UI",sans-serif}a{color:inherit;text-underline-offset:4px}a:hover{color:var(--green)}button,select{font:inherit}button,a,summary,select{touch-action:manipulation}button,summary,select{cursor:pointer}:focus-visible{outline:3px solid #b78220;outline-offset:4px}header,main,footer{max-width:1240px;margin:auto;padding:0 40px}header{height:94px;display:flex;justify-content:space-between;align-items:center;border-bottom:1px solid var(--line);font-size:12px}header a{text-decoration:none}.brand{display:flex;align-items:center;gap:12px;font-weight:750;letter-spacing:1.6px}.brand-icon{display:grid;place-items:center;width:32px;height:32px;background:var(--green);color:white;border-radius:9px;font-size:20px;font-family:Georgia,serif}.intro{padding:66px 0 52px}.eyebrow{font-size:11px;letter-spacing:1.8px;font-weight:750;margin:0 0 18px}.eyebrow span{color:var(--muted);margin-left:18px;font-weight:500}h1{font-size:clamp(42px,5.5vw,72px);font-weight:500;line-height:1.06;letter-spacing:-3px;margin:0 0 24px}h2{font-weight:600;letter-spacing:-.5px;line-height:1.25;margin:0}h3{margin:0;font-size:18px}.lead{font-size:18px;color:var(--muted);max-width:590px}.tags{display:flex;gap:8px;flex-wrap:wrap;margin-top:27px}.tags span{font-size:11px;border:1px solid var(--line);padding:5px 10px;border-radius:4px}.tags span:first-child{background:#e4ece3;border-color:#e4ece3}.task-panel{display:grid;grid-template-columns:1fr 240px;background:#edf0e6;border:1px solid var(--line);padding:26px 30px;border-radius:10px;gap:40px;margin-bottom:40px}.task-panel .eyebrow{margin-bottom:8px}.task-panel h2{font-size:24px}.task-panel p:last-child{max-width:650px;margin:10px 0 0}.task-meta{display:flex;flex-direction:column;justify-content:center;padding-left:25px;border-left:1px solid #cbd4c6;font-size:12px;color:var(--muted);gap:3px}.task-meta strong{color:var(--ink);margin-bottom:4px}.section-line{display:flex;align-items:center;justify-content:space-between;gap:12px}.section-line h2{font-size:23px}.section-line>span{font-size:12px;color:var(--muted)}.scope{color:var(--muted);font-size:13px;max-width:850px;margin:12px 0 24px}.episode-grid{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:18px}.episode{background:#fff;border:1px solid var(--line);border-radius:10px;overflow:hidden}.card-top{padding:18px 18px 15px;display:flex;justify-content:space-between;align-items:center}.method{display:inline-block;font-size:11px;letter-spacing:1px;color:var(--muted);margin-bottom:5px}.badge{border-radius:20px;padding:4px 9px;font-size:11px;white-space:nowrap;background:#e5efe6;color:#236040}.badge.fail{background:#fbefd8;color:#875c17}.episode video{display:block;width:100%;aspect-ratio:1;object-fit:contain;background:#e8e7e0}.camera-bar{padding:9px 18px;background:#f7f8f4;display:flex;align-items:center;justify-content:space-between;font-size:11px;color:var(--muted)}select{background:transparent;color:var(--ink);font-size:11px;border:1px solid var(--line);padding:4px 6px;border-radius:4px;max-width:150px}.metrics{display:grid;grid-template-columns:1fr 1fr;gap:17px 12px;padding:18px;margin:0}.metrics dt{font-size:11px;color:var(--muted)}.metrics dd{font-size:20px;line-height:1.4;font-variant-numeric:tabular-nums;margin:2px 0 0}.metrics small{font-size:11px;color:var(--muted)}.inspect{margin:0 18px 18px;width:calc(100% - 36px);padding:10px 12px;background:#f3f5ee;border:1px solid var(--line);border-radius:5px;text-align:left;color:var(--ink);display:flex;justify-content:space-between;font-size:12px}.inspect:hover{background:#e6eddf}.caption{font-size:11px;color:var(--muted);margin:16px 0 0}.inspection{margin-top:32px;border:1px solid #bbccbd;background:white;border-radius:10px;padding:26px}.quiet{border:0;background:transparent;color:var(--muted);font-size:12px}.inspection>p{font-size:14px;max-width:800px;color:var(--muted)}details{border-top:1px solid var(--line);padding:16px 0}summary{font-size:14px;font-weight:600}details[open]>summary{margin-bottom:16px}pre{font:12px/1.65 ui-monospace,SFMono-Regular,Consolas,monospace;white-space:pre-wrap;overflow-wrap:anywhere;background:#f2f4ee;border-radius:6px;padding:16px;max-height:460px;overflow:auto}p,code{overflow-wrap:anywhere}.download-links{display:flex;flex-wrap:wrap;gap:8px 18px;font-size:12px;margin:16px 0}.io-grid,.image-pair{display:grid;grid-template-columns:1fr 1fr;gap:16px}.io-grid h3{font-size:13px}.image-pair img{width:100%;max-width:340px;border-radius:5px}.policy-view{margin:18px 0}.policy-view label{font-size:12px;display:block;margin-bottom:15px}.policy-view select{margin-left:10px}.session-message{padding:12px 0}.session-message summary{font-size:12px;font-weight:500}.session-message img{max-width:100%;max-height:400px;object-fit:contain}.reading{margin:62px 0 42px;display:grid;grid-template-columns:1fr 1fr;gap:10px 45px}.reading .eyebrow{grid-column:1/-1;margin-bottom:7px;color:var(--green)}.reading h2{font-size:29px;line-height:1.28;grid-row:2/4;max-width:450px}.reading>p:not(.eyebrow){margin:0;font-size:14px;color:var(--muted)}.protocol{padding:20px 0 26px}.protocol p{font-size:13px;max-width:900px}footer{padding-top:24px;padding-bottom:36px;border-top:1px solid var(--line);display:flex;justify-content:space-between;gap:20px;font-size:11px;color:var(--muted)}footer nav{display:flex;gap:20px;flex-wrap:wrap}.error{color:#a14026;background:#ffede3;padding:16px;border-radius:6px}body:has(.inspection:not([hidden])) .inspect[aria-expanded="true"]{background:var(--green);color:white} +@media(max-width:850px){header,main,footer{padding-left:24px;padding-right:24px}.episode-grid{gap:12px}.card-top{display:block}.badge{display:inline-block;margin-top:8px}.card-top,.metrics{padding:14px}.episode h3{font-size:16px}.inspect{margin-left:14px;width:calc(100% - 28px)}.camera-bar{padding:8px 14px}.camera-bar>span{display:none}.reading{gap:15px 25px}.reading h2{font-size:25px}footer{flex-direction:column}} +@media(max-width:600px){header,main,footer{padding-left:20px;padding-right:20px}header{height:75px;font-size:11px}.brand{font-size:10px;letter-spacing:1px;gap:8px}.brand-icon{width:28px;height:28px}.intro{padding:42px 0 34px}h1{letter-spacing:-2px}.lead{font-size:16px}.task-panel{grid-template-columns:1fr;gap:20px;padding:20px;margin-bottom:28px}.task-meta{border-left:0;border-top:1px solid #cbd4c6;padding:14px 0 0}.section-line>span{display:none}.episode-grid{grid-template-columns:1fr;gap:22px}.card-top{display:flex;padding:18px}.badge{margin-top:0}.episode h3{font-size:19px}.metrics{grid-template-columns:repeat(4,1fr);padding:16px;gap:8px}.metrics dd{font-size:18px}.metrics dt{font-size:10px}.metrics small{display:block}.camera-bar>span{display:block}.inspection{padding:18px}.io-grid{grid-template-columns:1fr}.reading{display:block;margin:42px 0 30px}.reading h2{margin:15px 0}.reading>p:not(.eyebrow){margin-top:14px}.image-pair{gap:8px}footer nav{gap:14px}}