Publish five matched episodes and native policy switching evidence

.gitattributes

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experiments/robotwin-native/kinex-2/effective-model.json

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experiments/robotwin-native/kinex-2/episode.json

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+  "valid": true
+}

experiments/robotwin-native/kinex-2/evidence.tar.gz

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+oid sha256:d3b03d2f1aa3b6282dfaf35097503948c5943ddcf5ed58450795bb5f870dc7ca
+size 5165037

experiments/robotwin-native/kinex-2/instruction.json

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+{
+  "binding_paths": {},
+  "bindings": {},
+  "context": {},
+  "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
+  "native_instruction": "",
+  "policy": "modified",
+  "prompt": "# Task: robotwin/place-dual-shoes-aloha-agilex\n\nuse both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open\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 600 native action frames. 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 `tools/`, skills in `skills/`, and concise working notes\nin `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.\n\n",
+  "prompt_template": "<!-- rlebench:resolved-episode-instruction -->\n# Task: robotwin/place-dual-shoes-aloha-agilex\n\nuse both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open\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 600 native action frames. 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 `tools/`, skills in `skills/`, and concise working notes\nin `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.\n\n",
+  "schema": "rlebench/episode-instruction/3",
+  "source": "catalog",
+  "task_id": "robotwin/place-dual-shoes-aloha-agilex",
+  "template": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open"
+}

experiments/robotwin-native/kinex-2/media.json

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+  "terminal_frame_retained": true,
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+  "fps": "10/1",
+  "native_recording": {
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+    "run_id": "456c61025989",
+    "task": "robotwin/place-dual-shoes-aloha-agilex",
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experiments/robotwin-native/kinex-2/policy-calls.json

@@ -0,0 +1 @@
+[]

experiments/robotwin-native/kinex-2/session.json

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+[
+  {
+    "role": "system",
+    "name": null,
+    "text": "",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:27.076Z"
+  },
+  {
+    "role": "user",
+    "name": null,
+    "text": "# Task: robotwin/place-dual-shoes-aloha-agilex\n\nuse both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open\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 600 native action frames. 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.",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:27.076Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: read\n{\"path\": \"harness.md\", \"offset\": null, \"limit\": null}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:29.943Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "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",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:29.951Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: ls\n{\"path\": \".kinex\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:32.445Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "ls",
+    "text": "devices/\nkinex.json\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:32.449Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: bash\n{\"command\": \"find .kinex/devices .kinex/tools .kinex/skills .kinex/memos -maxdepth 3 -type f\", \"timeout\": null}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:35.253Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "bash",
+    "text": ".kinex/devices/left_arm/links.py\n.kinex/devices/left_arm/arm.urdf\n.kinex/devices/left_arm/profile.yaml\n.kinex/devices/right_camera/profile.yaml\n.kinex/devices/left_gripper/links.py\n.kinex/devices/left_gripper/profile.yaml\n.kinex/devices/left_gripper/gripper.urdf\n.kinex/devices/right_arm/links.py\n.kinex/devices/right_arm/arm.urdf\n.kinex/devices/right_arm/profile.yaml\n.kinex/devices/left_camera/profile.yaml\n.kinex/devices/head_camera/profile.yaml\n.kinex/devices/right_gripper/links.py\n.kinex/devices/right_gripper/profile.yaml\n.kinex/devices/right_gripper/gripper.urdf\n.kinex/devices/world/profile.yaml\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:35.269Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: read\n{\"path\": \".kinex/devices/world/profile.yaml\", \"offset\": null, \"limit\": null}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:37.160Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "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: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: world\ndescription: Scene reference and authoritative world clock of the RoboTwin 2.0 table.\n  Kinex supplies frame transforms independently. This device exposes no task instructions\n  or evaluator results.\nsource: default\ncalibrated_at: null\nmethod: unknown\nbounds: null\nsurfaces: []\nframes:\n  base:\n    parent: null\n    translation_m: null\n    rotation_xyzw: null\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:37.164Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: read\n{\"path\": \".kinex/devices/left_arm/profile.yaml\", \"offset\": null, \"limit\": null}\nTool call: read\n{\"path\": \".kinex/devices/right_arm/profile.yaml\", \"offset\": null, \"limit\": null}\nTool call: read\n{\"path\": \".kinex/devices/left_gripper/profile.yaml\", \"offset\": null, \"limit\": null}\nTool call: read\n{\"path\": \".kinex/devices/right_gripper/profile.yaml\", \"offset\": null, \"limit\": null}\nTool call: read\n{\"path\": \".kinex/devices/head_camera/profile.yaml\", \"offset\": null, \"limit\": null}\nTool call: read\n{\"path\": \".kinex/workspace.yaml\", \"offset\": null, \"limit\": null}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:41.459Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "name: left_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 positions of fl_joint1, fl_joint2, fl_joint3, fl_joint4,\n      fl_joint5, fl_joint6 in radians with velocities and the world-clock acquisition\n      stamp; do not infer motion completion from a sent command.\n    transport: topic\n    direction: output\n    endpoint: /left_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 6 arm joints in radians, timed from receipt\n      by strictly increasing time_from_start and finishing within 120 seconds; velocities,\n      accelerations and effort must be empty. A zero header stamp selects now; a nonzero\n      stamp must not start in the past. Points are absolute native joint positions,\n      linearly interpolated at the native control period. Replacement clears pending\n      references; invalid trajectories are ignored, so verify measured joint_state.\n    transport: topic\n    direction: input\n    endpoint: /left_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: /left_arm/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: joint\ndescription: ARX5 six-joint left arm of the RoboTwin ALOHA AgileX. Geometry is the\n  sibling arm.urdf with flange (fl_link6) as the tip link; measured links are on TF\n  as left_arm/<link>, and helpers.joint_model('left_arm') computes FK/IK from it.\n  Commands are upstream's absolute joint positions (the arm part of its 14-D qpos\n  action), applied as native drive targets once per 0.04 s frame. The native URDF\n  limits are +/-10 rad placeholders.\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  fl_joint1: 0.0\n  fl_joint2: 0.0\n  fl_joint3: 0.0\n  fl_joint4: 0.0\n  fl_joint5: 0.0\n  fl_joint6: 0.0\nstop:\n  behavior: hold\n  affected_devices:\n  - left_arm\nframes:\n  base:\n    translation_m:\n    - -0.296999871731\n    - -0.419500023127\n    - 0.782000243664\n    rotation_xyzw:\n    - 0.0\n    - 2.9802e-08\n    - 0.714142563298\n    - 0.700000389985\n    parent: world:base\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:41.465Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "name: right_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 positions of fr_joint1, fr_joint2, fr_joint3, fr_joint4,\n      fr_joint5, fr_joint6 in radians with velocities and the world-clock acquisition\n      stamp; do not infer motion completion from a sent command.\n    transport: topic\n    direction: output\n    endpoint: /right_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 6 arm joints in radians, timed from receipt\n      by strictly increasing time_from_start and finishing within 120 seconds; velocities,\n      accelerations and effort must be empty. A zero header stamp selects now; a nonzero\n      stamp must not start in the past. Points are absolute native joint positions,\n      linearly interpolated at the native control period. Replacement clears pending\n      references; invalid trajectories are ignored, so verify measured joint_state.\n    transport: topic\n    direction: input\n    endpoint: /right_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: /right_arm/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: joint\ndescription: ARX5 six-joint right arm of the RoboTwin ALOHA AgileX. Geometry is the\n  sibling arm.urdf with flange (fr_link6) as the tip link; measured links are on TF\n  as right_arm/<link>, and helpers.joint_model('right_arm') computes FK/IK from it.\n  Commands are upstream's absolute joint positions (the arm part of its 14-D qpos\n  action), applied as native drive targets once per 0.04 s frame. The native URDF\n  limits are +/-10 rad placeholders.\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  fr_joint1: 0.0\n  fr_joint2: 0.0\n  fr_joint3: 0.0\n  fr_joint4: 0.0\n  fr_joint5: 0.0\n  fr_joint6: 0.0\nstop:\n  behavior: hold\n  affected_devices:\n  - right_arm\nframes:\n  base:\n    translation_m:\n    - 0.306300014257\n    - -0.418499916792\n    - 0.78100001812\n    rotation_xyzw:\n    - -2.9802e-08\n    - 5.9605e-08\n    - 0.71063355368\n    - 0.703562409721\n    parent: world:base\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:41.465Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "name: left_gripper\nruntime:\n  domain_id: 83\n  observation: joint_state\n  nodes:\n  - entry: links.py\n    factory: create\n  ready_timeout_s: 30\noperations:\n  joint_state:\n    description: Measured left_gripper, the native normalized gripper opening (0 closed,\n      1 open), stamped at acquisition; Kinex publishes the URDF finger links from\n      it.\n    transport: topic\n    direction: output\n    endpoint: /left_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: Native normalized opening (data) from 0 (closed) to 1 (open), the\n      gripper entry of upstream's 14-D qpos action. The native setter runs on every\n      250 Hz substep and moves the drive target at most 0.1 per call toward it. A\n      target persists until replaced or stopped; out-of-range targets are ignored,\n      so verify joint_state.\n    transport: topic\n    direction: input\n    endpoint: /left_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 opening; fingers may settle briefly after the stop.\n    transport: service\n    direction: input\n    endpoint: /left_gripper/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: gripper\ndescription: 'ALOHA AgileX left parallel two-finger gripper on the left_arm flange.\n  The grip joint left_gripper is upstream''s normalized gripper value (0 closed, 1\n  open): finger targets are -0.01 + 0.055 m per unit, so a closed command squeezes\n  past the finger stop. The TCP is upstream''s tcp pose, gripper_bias ahead of the\n  wrist joint with +x approaching. A closed or stalled grip alone does not prove a\n  successful grasp.'\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nstop:\n  behavior: hold\n  affected_devices:\n  - left_gripper\nframes:\n  base:\n    translation_m:\n    - 0.0\n    - 0.0\n    - 0.0\n    rotation_xyzw:\n    - 0.0\n    - 0.0\n    - 0.0\n    - 1.0\n    parent: left_arm:flange\n  tcp:\n    translation_m:\n    - 0.1199999989\n    - 7.305e-09\n    - -7.152e-09\n    rotation_xyzw:\n    - 0.0\n    - 2.9802e-08\n    - 3.2247e-08\n    - 0.999999998609\n    parent: left_gripper:base\nmodel:\n  format: urdf\n  path: gripper.urdf\n  base_link: base_link\ngrip:\n  joint: left_gripper\n  open: 1.0\n  closed: 0.0\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:41.465Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "name: right_gripper\nruntime:\n  domain_id: 83\n  observation: joint_state\n  nodes:\n  - entry: links.py\n    factory: create\n  ready_timeout_s: 30\noperations:\n  joint_state:\n    description: Measured right_gripper, the native normalized gripper opening (0\n      closed, 1 open), stamped at acquisition; Kinex publishes the URDF finger links\n      from it.\n    transport: topic\n    direction: output\n    endpoint: /right_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: Native normalized opening (data) from 0 (closed) to 1 (open), the\n      gripper entry of upstream's 14-D qpos action. The native setter runs on every\n      250 Hz substep and moves the drive target at most 0.1 per call toward it. A\n      target persists until replaced or stopped; out-of-range targets are ignored,\n      so verify joint_state.\n    transport: topic\n    direction: input\n    endpoint: /right_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 opening; fingers may settle briefly after the stop.\n    transport: service\n    direction: input\n    endpoint: /right_gripper/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: gripper\ndescription: 'ALOHA AgileX right parallel two-finger gripper on the right_arm flange.\n  The grip joint right_gripper is upstream''s normalized gripper value (0 closed,\n  1 open): finger targets are -0.01 + 0.055 m per unit, so a closed command squeezes\n  past the finger stop. The TCP is upstream''s tcp pose, gripper_bias ahead of the\n  wrist joint with +x approaching. A closed or stalled grip alone does not prove a\n  successful grasp.'\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nstop:\n  behavior: hold\n  affected_devices:\n  - right_gripper\nframes:\n  base:\n    translation_m:\n    - 0.0\n    - 0.0\n    - 0.0\n    rotation_xyzw:\n    - 0.0\n    - 0.0\n    - 0.0\n    - 1.0\n    parent: right_arm:flange\n  tcp:\n    translation_m:\n    - 0.119999992883\n    - -9.757e-09\n    - -7.153e-09\n    rotation_xyzw:\n    - 1.0e-12\n    - 2.9802e-08\n    - -6.4393e-08\n    - 0.999999973161\n    parent: right_gripper:base\nmodel:\n  format: urdf\n  path: gripper.urdf\n  base_link: base_link\ngrip:\n  joint: right_gripper\n  open: 1.0\n  closed: 0.0\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:41.466Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "name: head_camera\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: /head_camera/image\n    type: sensor_msgs/msg/Image\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\n  depth:\n    description: '16UC1 depth registered to image in millimetres along the optical\n      axis; 0 marks missing or out-of-range samples. Rendered with its image: same\n      stamp and frame_id, so pair the two by stamp.'\n    transport: topic\n    direction: output\n    endpoint: /head_camera/depth\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: /head_camera/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: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: rgbd\ndescription: Fixed RGB-D head camera (D435 model) above the table. Native ray-traced\n  RGB with pixel-center depth from a raster twin; calibration and the optical-frame\n  mount are in the profile.\nsource: introspected\ncalibrated_at: null\nmethod: introspection\ncolor:\n  width: 320\n  height: 240\n  fps: null\n  projection:\n    model: pinhole\n    fx: 358.642181396484\n    fy: 358.642181396484\n    cx: 159.5\n    cy: 119.5\n    skew: 0\n  distortion:\n    model: none\n  fov:\n    horizontal_deg: 48.085891406656\n    vertical_deg: 37.000001358777\ndepth:\n  width: 320\n  height: 240\n  fps: null\n  quantity: z\n  scale_m_per_unit: 0.001\n  invalid_value: 0\n  valid_range_m:\n    min: 0.1\n    max: 65.535\n  reliable_range_m:\n    min: 0.1\n    max: 65.535\n  registration: color\nframes:\n  base:\n    translation_m:\n    - -0.03200000152\n    - -0.449999988079\n    - 1.350000023842\n    rotation_xyzw:\n    - -0.948683301192\n    - 0.0\n    - 0.0\n    - 0.316227769682\n    parent: world:base\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:41.466Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "identity:\n  id: robotwin-aloha-agilex\n  name: RoboTwin ALOHA AgileX\n  kind: arm\n  model: ALOHA AgileX (dual ARX5)\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: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:41.466Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"python\": \"from kinex import runtime,finish\\nfinish({d:runtime.operations(d) for d in ['world','left_arm','left_gripper','head_camera']})\", \"description\": \"inspect operation contracts\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:45.671Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"\",\n  \"result\": {\n    \"world\": {\"time\":{\"description\":\"Authoritative world clock\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/clock\",\"type\":\"rosgraph_msgs/msg/Clock\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10},\"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},\"stop\":{\"description\":\"Cancel the pending wait.\",\"transport\":\"service\",\"direction\":\"input\",\"endpoint\":\"/world/stop\",\"type\":\"std_srvs/srv/Trigger\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10}},\n    \"left_arm\": {\"joint_state\":{\"description\":\"Measured positions of fl_joint1, fl_joint2, fl_joint3, fl_joint4, fl_joint5, fl_joint6 in radians with velocities and the world-clock acquisition stamp; do not infer motion completion from a sent command.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/left_arm/joint_state\",\"type\":\"sensor_msgs/msg/JointState\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10},\"joint_target\":{\"description\":\"Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_arm/joint_target\",\"type\":\"trajectory_msgs/msg/JointTrajectory\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"stop\":{\"description\":\"Stop arm motion and hold the measured posture.\",\"transport\":\"service\",\"direction\":\"input\",\"endpoint\":\"/left_arm/stop\",\"type\":\"std_srvs/srv/Trigger\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10}},\n    \"left_gripper\": {\"joint_state\":{\"description\":\"Measured left_gripper, the native normalized gripper opening (0 closed, 1 open), stamped at acquisition; Kinex publishes the URDF finger links from it.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/left_gripper/joint_state\",\"type\":\"sensor_msgs/msg/JointState\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10},\"target\":{\"description\":\"Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_gripper/target\",\"type\":\"std_msgs/msg/Float64\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"stop\":{\"description\":\"Hold the measured opening; fingers may settle briefly after the stop.\",\"transport\":\"service\",\"direction\":\"input\",\"endpoint\":\"/left_gripper/stop\",\"type\":\"std_srvs/srv/Trigger\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10}},\n    \"head_camera\": {\"image\":{\"description\":\"RGB image measurements with encoding, dimensions, row stride and acquisition timestamp in the Image header. The frame_id identifies the calibrated optical frame; use its stamp for tf2 lookup. A new subscriber receives the current frame at once, also while the world is paused, then one per camera sample; reading never advances world time.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/head_camera/image\",\"type\":\"sensor_msgs/msg/Image\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"depth\":{\"description\":\"16UC1 depth registered to image in millimetres along the optical axis; 0 marks missing or out-of-range samples. Rendered with its image: same stamp and frame_id, so pair the two by stamp.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/head_camera/depth\",\"type\":\"sensor_msgs/msg/Image\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"camera_info\":{\"description\":\"Projection and distortion calibration for the image stream, including K, D, image size and optical frame. Use the declared distortion model and raw/rectified image space when projecting pixels; intrinsics are not TF transforms.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/head_camera/camera_info\",\"type\":\"sensor_msgs/msg/CameraInfo\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10}}\n  }\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:46.600Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: devices\n{\"calls\": [{\"deviceID\": \"world\", \"action\": \"load\"}, {\"deviceID\": \"left_arm\", \"action\": \"load\"}, {\"deviceID\": \"right_arm\", \"action\": \"load\"}, {\"deviceID\": \"left_gripper\", \"action\": \"load\"}, {\"deviceID\": \"right_gripper\", \"action\": \"load\"}, {\"deviceID\": \"head_camera\", \"action\": \"load\"}]}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:51.042Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "devices",
+    "text": "{\n  \"results\": [\n    {\"deviceID\":\"world\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"left_arm\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"right_arm\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"left_gripper\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"right_gripper\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"head_camera\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}}\n  ]\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:38:56.432Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: device\n{\"deviceID\": \"head_camera\", \"action\": \"image\"}\nTool call: read\n{\"path\": \"/opt/kinex/packages/core/assets/python/kinex/helpers/helpers.txt\", \"offset\": null, \"limit\": null}\nTool call: read\n{\"path\": \".kinex/devices/left_gripper/gripper.urdf\", \"offset\": null, \"limit\": null}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:00.667Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "device",
+    "text": "{\n  \"deviceID\": \"head_camera\",\n  \"timestamp\": 0,\n  \"frame_id\": \"head_camera/base\",\n  \"width\": 320,\n  \"height\": 240,\n  \"file\": \"/tmp/kinex-observation-s12ft6c7.png\"\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/07deeeee-1.png"
+    ],
+    "timestamp": "2026-10-28T21:39:00.867Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "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",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:00.872Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "<?xml version=\"1.0\"?>\n<!-- RoboTwin ALOHA AgileX left parallel gripper on the fl_link6 flange. left_gripper is a geometry-less virtual drive joint carrying the native normalized opening (0 closed, 1 open); both fingers mimic it as -0.01 + 0.055 m per unit, upstream's gripper_scale. Closed targets lie below the finger stop to squeeze an object. -->\n<robot name=\"aloha_left_gripper\">\n  <link name=\"base_link\"/>\n  <link name=\"drive\"/>\n  <link name=\"finger_a\"/>\n  <link name=\"finger_b\"/>\n  <joint name=\"left_gripper\" type=\"revolute\">\n    <parent link=\"base_link\"/>\n    <child link=\"drive\"/>\n    <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>\n    <axis xyz=\"0 0 1\"/>\n    <limit lower=\"0\" upper=\"1\" effort=\"100\" velocity=\"10\"/>\n  </joint>\n  <joint name=\"fl_joint7\" type=\"prismatic\">\n    <parent link=\"base_link\"/>\n    <child link=\"finger_a\"/>\n    <origin xyz=\"0.08457 0.024493 -0.00010349\" rpy=\"0 0 0\"/>\n    <axis xyz=\"0 1 0\"/>\n    <limit lower=\"0\" upper=\"0.04765\" effort=\"100\" velocity=\"10\"/>\n    <mimic joint=\"left_gripper\" multiplier=\"0.055\" offset=\"-0.01\"/>\n  </joint>\n  <joint name=\"fl_joint8\" type=\"prismatic\">\n    <parent link=\"base_link\"/>\n    <child link=\"finger_b\"/>\n    <origin xyz=\"0.08457 -0.024496 -0.00010354\" rpy=\"0 0 0\"/>\n    <axis xyz=\"0 -1 0\"/>\n    <limit lower=\"0\" upper=\"0.04765\" effort=\"100\" velocity=\"10\"/>\n    <mimic joint=\"left_gripper\" multiplier=\"0.055\" offset=\"-0.01\"/>\n  </joint>\n</robot>\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:00.874Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Inspecting shoe-box kinematics**\nTool call: read\n{\"path\": \"/opt/kinex/packages/core/assets/python/kinex/helpers/kinematics.py\", \"offset\": 1, \"limit\": 300}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:06.893Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "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 <device>/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 <device>/<link>.\n\n    Example: arm = helpers.joint_model(\"arm\"); q = arm.ik(arm.fk(seed), seed)\n    \"\"\"\n    return JointModel(profile(device))\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:06.897Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"python\": \"import asyncio\\nfrom kinex import runtime, helpers, communication,finish\\nasync def main():\\n async with communication() as io:\\n  data={}\\n  for d in ['left_arm','right_arm']:\\n   async with io.subscribe(d+'.joint_state') as s: m=await s.next(timeout_s=10)\\n   data[d]={'q':m.position,'fk':helpers.joint_model(d).fk(m.position),'tcp':await helpers.relative_pose(io,{'frame':d.replace('arm','gripper')+':tcp'},{'frame':'world:base'})}\\n  f=await helpers.camera_frame(io,'head_camera')\\n  import numpy as np\\n  np.savez('/tmp/head.npz',rgb=helpers.image_array(f['image']),depth=helpers.image_array(f['depth']))\\n  data['schemas']={op:runtime.describe(op) for op in ['left_arm.joint_target','right_arm.joint_target','left_gripper.target','right_gripper.target','world.wait']}\\n  finish(data)\\nasyncio.run(main())\", \"description\": \"inspect measured state and schemas\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:19.714Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223561.071991926] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"error\": \"Traceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 51, in <module>\\n    script()\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 44, in script\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 14, in <module>\\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 \\\"<kinex-exec>\\\", line 8, in main\\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 6 numbers\"\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:21.475Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"python\": \"import asyncio\\nfrom kinex import runtime,helpers,communication,finish\\nasync def main():\\n async with communication() as io:\\n  data={}\\n  for d in ['left_arm','right_arm']:\\n   async with io.subscribe(d+'.joint_state') as s: m=await s.next(timeout_s=10)\\n   q=list(m.position)\\n   data[d]={'state':m,'fk':helpers.joint_model(d).fk(q),'tcp':await helpers.relative_pose(io,{'frame':d.replace('arm','gripper')+':tcp'},{'frame':'world:base'})}\\n  f=await helpers.camera_frame(io,'head_camera')\\n  import numpy as np\\n  np.savez('/tmp/head.npz',rgb=helpers.image_array(f['image']),depth=helpers.image_array(f['depth']))\\n  data['schemas']={op:runtime.describe(op) for op in ['left_arm.joint_target','right_arm.joint_target','left_gripper.target','right_gripper.target','world.wait']}\\n  finish(data)\\nasyncio.run(main())\", \"description\": \"measure initial scene\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:26.606Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223568.172439105] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"error\": \"Traceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 51, in <module>\\n    script()\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 44, in script\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 15, in <module>\\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 \\\"<kinex-exec>\\\", line 12, in main\\nTypeError: tuple indices must be integers or slices, not str\"\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:29.070Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: read\n{\"path\": \"/opt/kinex/packages/core/assets/python/kinex/helpers/images.py\", \"offset\": 1, \"limit\": 220}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:31.726Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "\"\"\"Camera images: current frames, pixel arrays for computation and files for finish().\"\"\"\n\nfrom kinex.lib.camera import array, frame, save\n\n\nasync def camera_frame(io, camera, timeout_s=None):\n    \"\"\"The camera's current image and, for an rgbd camera, its depth (else None).\n\n    Both come from one acquisition (equal stamps); reading never advances world time.\n\n    Example: image, depth = await helpers.camera_frame(io, \"camera\")\n    \"\"\"\n    return await frame(io, camera, timeout_s=timeout_s)\n\n\ndef image_array(image):\n    \"\"\"Native-order pixels of a sensor_msgs/Image as numpy: HxWx3 RGB or HxW mono8/16UC1.\n\n    Example: pixels = helpers.image_array((await helpers.camera_frame(io, \"camera\"))[0])\n    \"\"\"\n    return array(image)\n\n\ndef save_image(image):\n    \"\"\"Write a sensor_msgs/Image as a PNG, keeping 16-bit depth, and return its path.\n\n    Example: finish({\"stamp\": stamp}, file=helpers.save_image(image))\n    \"\"\"\n    return save(image)\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:31.730Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"python\": \"import asyncio\\nfrom kinex import runtime,helpers,communication,finish\\nasync def main():\\n async with communication() as io:\\n  data={}\\n  for d in ['left_arm','right_arm']:\\n   async with io.subscribe(d+'.joint_state') as s: m=await s.next(timeout_s=10)\\n   data[d]={'state':m,'fk':helpers.joint_model(d).fk(list(m.position)),'tcp':await helpers.relative_pose(io,{'frame':d.replace('arm','gripper')+':tcp'},{'frame':'world:base'})}\\n  im,dep=await helpers.camera_frame(io,'head_camera')\\n  import numpy as np\\n  np.savez('/tmp/head.npz',rgb=helpers.image_array(im),depth=helpers.image_array(dep))\\n  data['schemas']={op:runtime.describe(op) for op in ['left_arm.joint_target','right_arm.joint_target','left_gripper.target','right_gripper.target','world.wait']}\\n  finish(data)\\nasyncio.run(main())\", \"description\": \"measure initial scene\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:37.269Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223578.614148509] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left_arm\": {\"state\":{\"header\":{\"stamp\":{\"sec\":0,\"nanosec\":0},\"frame_id\":\"\"},\"name\":[\"fl_joint1\",\"fl_joint2\",\"fl_joint3\",\"fl_joint4\",\"fl_joint5\",\"fl_joint6\"],\"position\":[-3.016615224282759e-8,-5.666987590302597e-7,-0.000004835828804061748,7.701128623693876e-8,4.63164752773082e-7,-8.158995683515968e-7],\"velocity\":[0.00000265039443547721,-0.000010050378477899358,0.000024748725991230458,-0.000004255349267623387,-0.00001595680987520609,0.00007239235128508881],\"effort\":[]},\"fk\":[0.1056935554023861,-0.0011901315627094447,0.15999839199046592,-0.000007715996484952103,0.0000021542621098628648,-2.4666643061721644e-7,0.9999999999678809],\"tcp\":{\"pose\":[-0.30032357671522697,-0.193827798419468,0.9419981020126762,-0.000006960933310190554,-0.00000395167326060435,0.7141423608015681,0.7000004917460364],\"timestamp\":0}},\n    \"right_arm\": {\"state\":{\"header\":{\"stamp\":{\"sec\":0,\"nanosec\":0},\"frame_id\":\"\"},\"name\":[\"fr_joint1\",\"fr_joint2\",\"fr_joint3\",\"fr_joint4\",\"fr_joint5\",\"fr_joint6\"],\"position\":[-3.258066882949606e-8,-5.65274206110189e-7,-0.000004838918357563671,7.693390813301448e-8,4.6469963876916154e-7,-8.163781899384048e-7],\"velocity\":[0.0000026605034690874163,-0.00001006854472507257,0.000024771599782980047,-0.000004258563421899453,-0.00001595234061824158,0.00007239227852551267],\"effort\":[]},\"fk\":[0.10569355567032844,-0.0011901318683733137,0.15999839080293787,-0.000007716210574917094,0.0000021565576609891396,-2.4864112524367e-7,0.9999999999678738],\"tcp\":{\"pose\":[0.30523323124039986,-0.1928057309036048,0.9409978556569187,-0.000007012336903923293,-0.000003885552193758481,0.710633293626997,0.7035625927553112],\"timestamp\":0}},\n    \"schemas\": {\"left_arm.joint_target\":{\"description\":\"Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_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<string>\",\"points\":\"sequence<trajectory_msgs/JointTrajectoryPoint>\"},\"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<double>\",\"velocities\":\"sequence<double>\",\"accelerations\":\"sequence<double>\",\"effort\":\"sequence<double>\",\"time_from_start\":\"builtin_interfaces/Duration\"},\"builtin_interfaces/msg/Duration\":{\"sec\":\"int32\",\"nanosec\":\"uint32\"}}},\"right_arm.joint_target\":{\"description\":\"Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/right_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<string>\",\"points\":\"sequence<trajectory_msgs/JointTrajectoryPoint>\"},\"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<double>\",\"velocities\":\"sequence<double>\",\"accelerations\":\"sequence<double>\",\"effort\":\"sequence<double>\",\"time_from_start\":\"builtin_interfaces/Duration\"},\"builtin_interfaces/msg/Duration\":{\"sec\":\"int32\",\"nanosec\":\"uint32\"}}},\"left_gripper.target\":{\"description\":\"Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_gripper/target\",\"type\":\"std_msgs/msg/Float64\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10,\"message\":{\"data\":\"double\"},\"definitions\":{}},\"right_gripper.target\":{\"description\":\"Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/right_gripper/target\",\"type\":\"std_msgs/msg/Float64\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10,\"message\":{\"data\":\"double\"},\"definitions\":{}},\"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}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:39.212Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Estimating shoe 3D points**\nTool call: exec\n{\"python\": \"import numpy as np\\nfrom scipy.spatial.transform import Rotation as R\\nfrom kinex import finish\\nf=np.load('/tmp/head.npz');d=f['depth']*.001\\nrot=R.from_quat([-.948683301192,0,0,.316227769682]).as_matrix();t=np.array([-.032,-.45,1.35])\\nv,u=np.indices(d.shape);p=np.stack([(u-159.5)*d/358.64218,(v-119.5)*d/358.64218,d],axis=-1)@rot.T+t\\nnp.save('/tmp/points.npy',p)\\nfinish({str((u,v)):p[v,u].tolist() for u,v in [(65,124),(70,137),(78,156),(83,176),(258,109),(260,127),(264,149),(261,166),(120,145),(235,145),(111,214),(241,214),(175,195),(175,170),(45,198)]})\", \"description\": \"project shoe and box points\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:51.107Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"\",\n  \"result\": {\n    \"(65, 124)\": [-0.24701096162197103,0.03140910949709719,0.6910568320592497],\n    \"(70, 137)\": [-0.21991292201045629,-0.027594196989208564,0.7255543520299529],\n    \"(78, 156)\": [-0.20947912417886824,-0.044987609248771654,0.6775092925698912],\n    \"(83, 176)\": [-0.183232908521803,-0.11395591142723871,0.7157830657360426],\n    \"(258, 109)\": [0.19705560076620107,0.06993367883975005,0.6974502592814215],\n    \"(260, 127)\": [0.1815303772690653,-0.005548079149456486,0.7308389405389644],\n    \"(264, 149)\": [0.20284967663312783,-0.01943781830802399,0.6654216358573333],\n    \"(261, 166)\": [0.18054192688656984,-0.07729713643164932,0.6907771470716708],\n    \"(120, 145)\": [-0.11416267255569326,-0.0448333771340384,0.721374966820128],\n    \"(235, 145)\": [0.12504510830265422,-0.0448333771340384,0.721374966820128],\n    \"(111, 214)\": [-0.1258512028897438,-0.1798917686242506,0.6850811723963807],\n    \"(241, 214)\": [0.1259359683794026,-0.17950256367990514,0.6841230761030037],\n    \"(175, 195)\": [0.001018982875912705,-0.12026751685270726,0.6422993613618274],\n    \"(175, 170)\": [0.002574851178966185,-0.060117673106498126,0.6424117444706855],\n    \"(45, 198)\": [-0.2752759024607758,-0.12622992376337028,0.6403275561418671]\n  }\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:39:53.041Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Planning shoe grasp**\n\n**Aligning gripper for shoe**\nTool call: exec\n{\"python\": \"import numpy as np\\nfrom kinex import finish\\np=np.load('/tmp/points.npy');v,u=np.indices(p.shape[:2]);out={}\\nfor name,mask in [('left',(u>45)&(u<106)&(v>105)&(v<194)),('right',(u>239)&(u<287)&(v>90)&(v<180))]:\\n sel=p[mask&(p[:,:,2]>.653)&(p[:,:,2]<.78)]\\n xy=sel[:,:2];cov=np.cov(xy.T);w,V=np.linalg.eigh(cov);axis=V[:,-1];axis*=np.sign(axis[1]);proj=xy@axis;perp=np.array([axis[1],-axis[0]])\\n out[name]={'bounds':np.percentile(sel,[0,5,50,95,100],axis=0),'axis':axis,'along':np.percentile(proj,[0,50,100]),'across':np.percentile(xy@perp,[0,50,100])}\\nfinish(out)\", \"description\": \"estimate shoe geometry\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:13.207Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"\",\n  \"result\": {\n    \"left\": {\"bounds\":[[-0.27703949870034816,-0.11849672931365157,0.6530756384513174],[-0.26232817835314304,-0.11589681011362746,0.6648956826818977],[-0.2084795206185731,-0.048453607301866264,0.6989171661594558],[-0.16517033707524315,0.04587652017197147,0.7280738549115844],[-0.15957980670316027,0.0673668820840671,0.7397426331669105]],\"axis\":[-0.4348054796080431,0.9005243999486185],\"along\":[-0.02822664134255312,0.04733788568632173,0.17347461851403906],\"across\":[-0.2438903331252665,-0.20888409446241507,-0.17148698275945262]},\n    \"right\": {\"bounds\":[[0.12579376536245684,-0.12617690826397737,0.6530134103302274],[0.16420628560756578,-0.07877877371633266,0.6623519701729963],[0.19117578484493938,-0.005752951117641736,0.69816639561117],[0.22156610312819316,0.09690986291317003,0.7299211106280531],[0.23969001705265122,0.12021601950746491,0.7417706810964337]],\"axis\":[0.16462025977367772,0.9863570195786345],\"along\":[-0.10348059217440107,0.02641075351907217,0.15416704938916012],\"across\":[0.13832065240589805,0.18958687182277106,0.2274015727704394]}\n  }\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:14.556Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Refining the box mask**\nI’ll grasp each shoe from above, rotate the tips left, and place the initially left shoe in the nearer row of the box.\nTool call: read\n{\"path\": \"/opt/kinex/packages/core/assets/python/kinex/lib/joints.py\", \"offset\": 1, \"limit\": 240}",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:24.192Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "read",
+    "text": "\"\"\"Joint devices: URDF command vector, limit policy and link kinematics in the device base.\"\"\"\n\nimport math\nfrom pathlib import Path\n\nfrom kinex.lib import urdf\nfrom kinex.lib.geometry import flat, pose, vector\nfrom kinex.lib.kinematics import DEFAULTS, Chain\nfrom kinex.lib.urdf import joint_target\n\nHOME_RECOVERY_TOLERANCE = math.radians(1)\n\n\nclass JointModel:\n    \"\"\"A joint device's commanded joints, in URDF document order, and its link FK/IK.\n\n    Poses are [x, y, z, qx, qy, qz, qw] of a URDF link in <device>/base; link\n    defaults to the model's tip_link.\n    \"\"\"\n\n    def __init__(self, profile, directory=None):\n        if profile.get(\"type\") != \"joint\":\n            raise ValueError(\"expected a joint device profile\")\n        model, self.tree = profile[\"model\"], profile.get(\"resolved_model\")\n        if self.tree is None:\n            if directory is None or not isinstance(model, dict) or \"???\" in model.values():\n                raise ValueError(f\"{profile.get('name', 'joint device')} has no resolved URDF model\")\n            self.tree = urdf.read_tree(Path(directory) / model[\"path\"], model[\"base_link\"])\n        self.joints = urdf.commanded(self.tree)\n        self.names = [joint[\"name\"] for joint in self.joints]\n        self.tip = model[\"tip_link\"]\n\n    def chain(self, link):\n        link = link or self.tip\n        if not link:\n            raise ValueError(\"name a link; the model declares no tip_link\")\n        return Chain(self.tree, link)\n\n    def fk(self, positions, link=None):\n        \"\"\"Link pose at commanded joint positions; mimic joints follow their sources.\"\"\"\n        q = joint_target(positions, self.joints, check_limits=False)\n        return flat(self.chain(link).forward(urdf.positions(self.tree, dict(zip(self.names, q))))[0])\n\n    def ik(self, target, seed, link=None, **options):\n        \"\"\"Commanded positions placing link at target, nearest the seed projected into limits.\n\n        Joints off the link's path keep their seed values. options override the\n        solver tolerances, damping, max_iterations and search budget.\n        \"\"\"\n        unknown = options.keys() - {*DEFAULTS, \"budget\"}\n        if unknown:\n            raise ValueError(f\"unknown IK options: {', '.join(sorted(unknown))}\")\n        values = dict(zip(self.names, project_seed(seed, self.joints)))\n        values.update(self.chain(link).ik(pose(target), values, {**DEFAULTS, **options}))\n        return [values[name] for name in self.names]\n\n\ndef home_start_tolerance(profile, joints, target):\n    \"\"\"Strict devices may recover toward declared home within an angular margin.\"\"\"\n    home = profile.get(\"home\")\n    if not isinstance(home, dict) or any(j[\"name\"] not in home or abs(q - home[j[\"name\"]]) > 1e-9 for j, q in zip(joints, target)):\n        return 0.0\n    return HOME_RECOVERY_TOLERANCE\n\n\ndef recovery_targets(actions, joints, tolerance):\n    \"\"\"Allow a bounded, inward-only prefix; the final target remains in limits.\"\"\"\n    joint_target(actions[-1], joints)\n    previous = None\n    for target in actions:\n        joint_target(target, joints, check_limits=False)\n        for i, (q, joint) in enumerate(zip(target, joints)):\n            limits = joint[\"limits\"]\n            if limits is None:\n                continue\n            margin = tolerance if joint[\"type\"] == \"revolute\" else 0\n            low, high = limits[\"min\"], limits[\"max\"]\n            if not low - margin <= q <= high + margin:\n                raise ValueError(\"target outside joint limits recovery tolerance\")\n            if previous is not None and ((q < low and not previous[i] <= q) or (q > high and not previous[i] >= q)):\n                raise ValueError(\"joint limits recovery must move inward\")\n        previous = target\n\n\ndef command(profile, actions, joints):\n    \"\"\"Validate a sequence of joint targets; strict limits reject targets outside the URDF limits.\"\"\"\n    if not isinstance(actions, list) or not actions:\n        raise ValueError(\"actions must be a nonempty sequence\")\n    for target in actions:\n        joint_target(target, joints, check_limits=False)\n    if profile[\"limits\"] == \"strict\":\n        recovery_targets(actions, joints, home_start_tolerance(profile, joints, actions[-1]))\n    return actions\n\n\ndef project_seed(value, joints):\n    \"\"\"Bound a solver seed without changing the measured configuration used for FK.\"\"\"\n    values = vector(value, len(joints), \"IK seed\")\n    return [max(j[\"limits\"][\"min\"], min(j[\"limits\"][\"max\"], v)) if j[\"limits\"] else v\n            for j, v in zip(joints, values)]\n\n\ndef measured_positions(message, joints):\n    \"\"\"Order a JointState without clamping or silently accepting duplicate names.\"\"\"\n    if len(message.name) != len(message.position) or len(set(message.name)) != len(message.name):\n        raise ValueError(\"joint state requires unique names and matching positions\")\n    positions = dict(zip(message.name, message.position))\n    names = [joint[\"name\"] for joint in joints]\n    if any(name not in positions for name in names):\n        raise ValueError(\"joint state is missing modeled joints\")\n    return joint_target([positions[name] for name in names], joints, check_limits=False)\n",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:24.196Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Creating staged motion script**\nTool call: write\n{\"path\": \".kinex/tools/dual_shoes.py\", \"content\": \"\\\"\\\"\\\"Measured Cartesian dual-arm moves through public Kinex ROS operations.\\nInvoke with exec file and args: targets {left/right: [x,y,z,qx,qy,qz,qw]},\\nduration, settle; optional grips {left/right: opening}. World coordinates.\\nA dry_run solves without publishing; each path uses measured start FK.\\n\\\"\\\"\\\"\\nimport asyncio\\nimport numpy as np\\nfrom scipy.spatial.transform import Rotation, Slerp\\nfrom kinex import communication, helpers, finish, args\\n\\nasync def state(io, device):\\n    async with io.subscribe(device+'.joint_state') as stream:\\n        return await stream.next(timeout_s=10)\\n\\ndef matrix(p):\\n    t=np.eye(4);t[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();t[:3,3]=p[:3];return t\\n\\ndef pose(t):\\n    return [*t[:3,3],*Rotation.from_matrix(t[:3,:3]).as_quat()]\\n\\nasync def main():\\n    a=args(); duration=a.get('duration',1.2); plans={}; report={}\\n    async with communication() as io:\\n        for side,target in a.get('targets',{}).items():\\n            dev=side+'_arm'; model=helpers.joint_model(dev)\\n            measured=await state(io,dev); q=list(measured.position)\\n            base=matrix((await helpers.relative_pose(io,{'frame':dev+':base'},{'frame':'world:base'}))['pose'])\\n            tcp=np.eye(4);tcp[0,3]=.12\\n            start=base@matrix(model.fk(q))@tcp; end=matrix(target)\\n            interp=Slerp([0,1],Rotation.from_matrix(np.stack([start[:3,:3],end[:3,:3]])))\\n            points=[]; max_jump=0\\n            for i in range(1,a.get('segments',20)+1):\\n                f=i/a.get('segments',20);t=np.eye(4);t[:3,3]=start[:3,3]*(1-f)+end[:3,3]*f;t[:3,:3]=interp(f).as_matrix()\\n                goal=pose(np.linalg.inv(base)@t@np.linalg.inv(tcp))\\n                qnew=model.ik(goal,q);max_jump=max(max_jump,float(np.max(np.abs(np.array(qnew)-q))));q=qnew\\n                ns=round(duration*f*1e9)\\n                points.append({'positions':q,'time_from_start':{'sec':ns//10**9,'nanosec':ns%10**9}})\\n            if max_jump>1.0: raise ValueError(f'{side}: IK discontinuity {max_jump}')\\n            plans[dev]={'joint_names':model.names,'points':points}\\n            report[side]={'target_q':q,'max_segment_joint_change':max_jump}\\n        if not a.get('dry_run',False):\\n            for dev,payload in plans.items(): await io.publish(dev+'.joint_target',payload)\\n            for side,opening in a.get('grips',{}).items(): await io.publish(side+'_gripper.target',{'data':opening})\\n            report['wait']=await io.request('world.wait',duration_s=duration+a.get('settle',.2))\\n            for side in ['left','right']:\\n                m=await state(io,side+'_arm');g=await state(io,side+'_gripper')\\n                report[side]={**report.get(side,{}),'measured_q':list(m.position),'grip':list(g.position),'tcp':await helpers.relative_pose(io,{'frame':side+'_gripper:tcp'},{'frame':'world:base'})}\\n            im,dep=await helpers.camera_frame(io,'head_camera')\\n            np.savez('/tmp/head.npz',rgb=helpers.image_array(im),depth=helpers.image_array(dep))\\n            image=helpers.save_image(im)\\n        else: image=None\\n    finish(report,file=image)\\n\\nif __name__=='__main__': asyncio.run(main())\\n\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:49.414Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "write",
+    "text": "Successfully wrote to .kinex/tools/dual_shoes.py",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:49.418Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"python\": \"import numpy as np\\nfrom scipy.spatial.transform import Rotation as R\\nfrom kinex import finish\\nout={}\\nfor s,axis in [('left',[-.435,.9005,0]),('right',[.10,.995,0]),('placed',[-1,0,0])]:\\n x=np.array([0,0,-1]);z=-np.array(axis);z=z/np.linalg.norm(z);y=np.cross(z,x)\\n out[s]=R.from_matrix(np.column_stack([x,y,z])).as_quat()\\nfinish(out)\", \"description\": \"construct grasp orientations\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:54.106Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"\",\n  \"result\": {\n    \"left\": [0.3758414690119471,0.5989517427731067,-0.3758414690119471,0.5989517427731066],\n    \"right\": [0.5244041261335186,0.47434197842288933,-0.5244041261335186,0.47434197842288933],\n    \"placed\": [0,0.7071067811865475,0,0.7071067811865475]\n  }\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:40:55.933Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"targets\": {\"left\": [-0.218, -0.025, 0.84, 0.37584147, 0.59895174, -0.37584147, 0.59895174], \"right\": [0.195, 0.016, 0.84, 0.52440413, 0.47434198, -0.52440413, 0.47434198]}, \"grips\": {\"left\": 1, \"right\": 1}, \"duration\": 2, \"settle\": 0.2}, \"description\": \"approach both shoes\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:41:00.359Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223662.312752592] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.22774460233231092,2.0844783296165446,1.6334247882592328,-1.119696352368475,0.002011036180461048,2.49168103259622],\"max_segment_joint_change\":0.22250770540570428,\"measured_q\":[-0.19359128177165985,2.0299289226531982,1.565936803817749,-1.0698388814926147,0.0637018159031868,2.444208860397339],\"grip\":[0.9992598511955955],\"tcp\":{\"pose\":[-0.22299369029360194,-0.02944199607878123,0.8439472305082514,0.3711196237801609,0.5970864937471737,-0.3314537937041148,0.6292029294823159],\"timestamp\":2.2}},\n    \"right\": {\"target_q\":[0.22891849509608184,2.2770167296021664,1.946258985399993,-1.2399737668878201,0.0038143270660531453,-2.7921574517349774],\"max_segment_joint_change\":0.2557527373667139,\"measured_q\":[0.19502022862434387,2.2170157432556152,1.8614673614501953,-1.1837477684020996,-0.06620503216981888,-2.7387287616729736],\"grip\":[1.0035958859053524],\"tcp\":{\"pose\":[0.20106956124805897,0.01130916671671306,0.8441301058365255,-0.5273385980969397,-0.4719980791625396,0.5607531031936284,-0.4297531541277429],\"timestamp\":2.2}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":2.2,\"waited_s\":2.2},\n    \"file\": \"/tmp/kinex-observation-vuwcfag0.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/8d9f2c0d-1.png"
+    ],
+    "timestamp": "2026-10-28T21:41:15.320Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Preparing descent parameters**\nTool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"targets\": {\"left\": [-0.218, -0.025, 0.695, 0.37584147, 0.59895174, -0.37584147, 0.59895174], \"right\": [0.195, 0.016, 0.695, 0.52440413, 0.47434198, -0.52440413, 0.47434198]}, \"duration\": 1.3, \"settle\": 0.4}, \"description\": \"lower to shoe grasp height\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:41:20.723Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223682.804429596] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.22587400015586576,2.3274100314457447,1.4029364137932692,-0.6462568482762985,0.004351146139304931,2.4966583272771543],\"max_segment_joint_change\":0.023721534514010267,\"measured_q\":[-0.2192988246679306,2.315551280975342,1.404956340789795,-0.6554389595985413,0.006320989690721035,2.4952962398529053],\"grip\":[1.000401415608146],\"tcp\":{\"pose\":[-0.22011327724616148,-0.023654303271224808,0.6998869872945025,0.3753037660380011,0.6003254223692802,-0.37166967146596513,0.6005148838848378],\"timestamp\":3.92}},\n    \"right\": {\"target_q\":[0.23063784230102252,2.4714411321064156,1.6872846072585452,-0.7865804977321514,0.006038718669629817,-2.7882938737519463],\"max_segment_joint_change\":0.023468032426248397,\"measured_q\":[0.22381655871868134,2.4601662158966064,1.689003586769104,-0.7951595187187195,0.0037091674748808146,-2.786982297897339],\"grip\":[1.000115448778326],\"tcp\":{\"pose\":[0.19746808623661757,0.017369893443527185,0.7001516902630236,0.526383385692651,0.47392899178612075,-0.526300156869011,0.470446582399094],\"timestamp\":3.92}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":3.92,\"waited_s\":1.7199999999999998},\n    \"file\": \"/tmp/kinex-observation-49lcysgb.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/3c8e0d38-1.png"
+    ],
+    "timestamp": "2026-10-28T21:41:34.431Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"grips\": {\"left\": 0, \"right\": 0}, \"duration\": 0.6, \"settle\": 0}, \"description\": \"grasp both shoes\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:41:37.263Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223699.319257784] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":4.5200000000000005,\"waited_s\":0.6000000000000005},\n    \"left\": {\"measured_q\":[-0.2207689732313156,2.3197131156921387,1.4022727012634277,-0.646481454372406,0.004202340263873339,2.4976632595062256],\"grip\":[0.8248065384951505],\"tcp\":{\"pose\":[-0.21981260859167018,-0.023525114497031374,0.6977895497680353,0.3768516763506197,0.600604329088065,-0.37237554199764294,0.5988269446462514],\"timestamp\":4.52}},\n    \"right\": {\"measured_q\":[0.2260061502456665,2.4656732082366943,1.6879534721374512,-0.7873106598854065,0.006010189186781645,-2.786764621734619],\"grip\":[0.8215297054160725],\"tcp\":{\"pose\":[0.19675509976374933,0.01755103700765198,0.6975930297370944,0.5268113232251944,0.4745009262840679,-0.5249098951839438,0.47094405465539396],\"timestamp\":4.52}},\n    \"file\": \"/tmp/kinex-observation-eib75mac.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/551566c6-1.png"
+    ],
+    "timestamp": "2026-10-28T21:41:44.844Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Preparing to lift shoe**\nTool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"targets\": {\"left\": [-0.218, -0.025, 0.865, 0.37584147, 0.59895174, -0.37584147, 0.59895174], \"right\": [0.195, 0.016, 0.865, 0.52440413, 0.47434198, -0.52440413, 0.47434198]}, \"duration\": 1.4, \"settle\": 0.3}, \"description\": \"lift and verify both grasps\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:41:51.410Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223713.308781947] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.22844013591941273,2.0678736313216377,1.7085401660146515,-1.2114074372635,0.0019312142797508374,2.4907547833771906],\"max_segment_joint_change\":0.031346100891458395,\"measured_q\":[-0.2239367812871933,2.0769543647766113,1.692858338356018,-1.19147789478302,0.0024510447401553392,2.492839813232422],\"grip\":[0.8405653969808059],\"tcp\":{\"pose\":[-0.2196101692368914,-0.02448676045971626,0.8576266700337278,0.3735575027731245,0.598660183425509,-0.3766380207818991,0.6001704576237794],\"timestamp\":6.24}},\n    \"right\": {\"target_q\":[0.22832395150517062,2.271398028168711,2.0359137374683787,-1.334673049706994,0.003974610351548502,-2.7930490273624735],\"max_segment_joint_change\":0.03253001686157586,\"measured_q\":[0.22686776518821716,2.278221845626831,2.0181984901428223,-1.3149802684783936,0.004381020087748766,-2.79101824760437],\"grip\":[0.8270359554074027],\"tcp\":{\"pose\":[0.19568852418996996,0.016476706520842377,0.857661751844948,-0.5246346404832504,-0.4720684139275534,0.5257000886763412,-0.474920333679894],\"timestamp\":6.24}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":6.24,\"waited_s\":1.7199999999999998},\n    \"file\": \"/tmp/kinex-observation-chiiyo5r.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/c734630c-1.png"
+    ],
+    "timestamp": "2026-10-28T21:42:07.067Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Rotating left shoe**\n\n**Measuring box interior**\nTool call: exec\n{\"python\": \"import numpy as np\\nfrom kinex import finish\\np=np.load('/tmp/points.npy');finish({str((u,v)):p[v,u].tolist() for u,v in [(175,140),(175,145),(175,155),(175,163),(175,210),(175,218),(175,221),(175,225),(108,200),(245,200)]})\", \"description\": \"measure box rim and interior\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:42:28.145Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"\",\n  \"result\": {\n    \"(175, 140)\": [-0.00040722973521965106,-0.044827186153967746,0.7401296101250818],\n    \"(175, 145)\": [0.00024104872438596853,-0.0448333771340384,0.721374966820128],\n    \"(175, 155)\": [0.001624042771544619,-0.04480792020862767,0.6813940593653645],\n    \"(175, 163)\": [0.0027909439988347273,-0.04511127723001751,0.6474165414712326],\n    \"(175, 210)\": [0.00015461159643855027,-0.1537931500053472,0.6421551363302781],\n    \"(175, 218)\": [-0.00027757404329852714,-0.17087271682999766,0.6418454611257971],\n    \"(175, 221)\": [-0.004858741824511546,-0.21538516883598618,0.7409611222694521],\n    \"(175, 225)\": [-0.004426556184774468,-0.2173418458088874,0.7269936144780211],\n    \"(108, 200)\": [-0.12591254536764196,-0.17503626728740773,0.7387227986229724],\n    \"(245, 200)\": [0.12582025415973105,-0.17167279655086232,0.731245401664232]\n  }\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:42:29.520Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Positioning shoes in box**\n\n**Moving left shoe**\nTool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"targets\": {\"left\": [0.003, -0.173, 0.83, 0, 0.70710678, 0, 0.70710678], \"right\": [0.2, 0.016, 0.94, 0, 0.70710678, 0, 0.70710678]}, \"duration\": 2, \"settle\": 0.4}, \"description\": \"rotate tips left and position near shoe\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:42:54.336Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223776.430757245] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.9123295133525193,2.040620894932573,1.526702598322709,-1.0568256105508256,0.0017302909673467626,0.6856940754923477],\"max_segment_joint_change\":0.09190104728563075,\"measured_q\":[-0.8980924487113953,2.0321245193481445,1.51948082447052,-1.0570282936096191,0.0017319483449682593,0.7115294933319092],\"grip\":[0.8391735607927496],\"tcp\":{\"pose\":[-0.0018207208108431128,-0.16987044001734503,0.8313141069326292,0.004367543172538346,0.7067911316088494,-0.003909370937005834,0.7073980051319024],\"timestamp\":8.64}},\n    \"right\": {\"target_q\":[0.2149396947228276,2.3495298995565355,2.472670536500331,-1.6938670996952807,0.004595068148560996,-4.476247787375465],\"max_segment_joint_change\":0.0844328656620017,\"measured_q\":[0.22082558274269104,2.3440868854522705,2.461483955383301,-1.6856166124343872,0.004535673651844263,-4.451779842376709],\"grip\":[0.8248719681393016],\"tcp\":{\"pose\":[0.197473170754076,0.015326894137119296,0.9395929366625656,0.007442272502197977,0.7072963359824993,-0.005721082827813494,0.7068548471199813],\"timestamp\":8.64}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":8.64,\"waited_s\":2.4000000000000004},\n    \"file\": \"/tmp/kinex-observation-h5dm5cs9.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/95050dd7-1.png"
+    ],
+    "timestamp": "2026-10-28T21:43:08.598Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Lowering left shoe tip**\nTool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"targets\": {\"left\": [0.003, -0.171, 0.795, 0, 0.70710678, 0, 0.70710678]}, \"duration\": 0.6, \"settle\": 0.24}, \"description\": \"lower near shoe above box rim\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:43:14.865Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223796.860208708] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.9076583925397403,2.089445255422863,1.4546758564746218,-0.9359729029341021,0.0020983747438904758,0.6910483067882552],\"max_segment_joint_change\":0.006180449019134837,\"measured_q\":[-0.901189923286438,2.0784759521484375,1.4630359411239624,-0.9493597149848938,0.0016712871147319674,0.6950069069862366],\"grip\":[0.8396634703332728],\"tcp\":{\"pose\":[0.0018037855152258642,-0.1686042508031495,0.8009633382598002,0.0005767295511718286,0.7055685951862317,0.002302956350375791,0.7086376515977687],\"timestamp\":9.48}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":9.48,\"waited_s\":0.8399999999999999},\n    \"right\": {\"measured_q\":[0.21868762373924255,2.349149227142334,2.472313165664673,-1.6932917833328247,0.004566576331853867,-4.473906993865967],\"grip\":[0.8240381804379551],\"tcp\":{\"pose\":[0.19837489371624997,0.015575779624339592,0.9400232677332943,-0.0002924959106377356,0.7071658500472698,0.0007037309396101165,0.7070472966752855],\"timestamp\":9.48}},\n    \"file\": \"/tmp/kinex-observation-w3fhvu6z.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/dd8205a3-1.png"
+    ],
+    "timestamp": "2026-10-28T21:43:21.456Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Opening shoe sole**\nTool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"grips\": {\"left\": 1}, \"duration\": 0.52, \"settle\": 0}, \"description\": \"release near shoe into box\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:43:28.127Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223810.138928558] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":10,\"waited_s\":0.5199999999999996},\n    \"left\": {\"measured_q\":[-0.9030988812446594,2.0846312046051025,1.4563316106796265,-0.9375838041305542,0.002041139407083392,0.6914576292037964],\"grip\":[0.9781321043317969],\"tcp\":{\"pose\":[0.0023022107816283444,-0.16925432379288402,0.7971472161026872,-0.00036430205739246274,0.7057867511512136,0.0025707515284416164,0.7084195934755086],\"timestamp\":10}},\n    \"right\": {\"measured_q\":[0.21778197586536407,2.349522113800049,2.472609519958496,-1.6934796571731567,0.004572504665702581,-4.474327564239502],\"grip\":[0.8236210156570781],\"tcp\":{\"pose\":[0.19876386776936317,0.015692001397513644,0.9399359967789964,-0.00021207173898674109,0.7071431483194491,0.0004420190870238846,0.7070702422175338],\"timestamp\":10}},\n    \"file\": \"/tmp/kinex-observation-mqaw_xsm.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/015664b9-1.png"
+    ],
+    "timestamp": "2026-10-28T21:43:33.861Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Repositioning both wrists**\nTool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"targets\": {\"left\": [-0.23, -0.18, 0.94, 0, 0.70710678, 0, 0.70710678], \"right\": [0.003, -0.087, 0.88, 0, 0.70710678, 0, 0.70710678]}, \"duration\": 1.6, \"settle\": 0.3}, \"description\": \"clear near row and position far shoe\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:43:43.208Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223825.237700211] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.3029406615483511,1.4601317643672989,1.2774506423510985,-1.38814618012482,0.00008826971323923154,1.2861114749667022],\"max_segment_joint_change\":0.04320701833293622,\"measured_q\":[-0.3268199861049652,1.473667860031128,1.268896222114563,-1.3711458444595337,0.00013764412142336369,1.2655565738677979],\"grip\":[0.9954985949126157],\"tcp\":{\"pose\":[-0.2234420230825827,-0.1791360265468177,0.9347732029075545,-0.000600390655715932,0.70762774173887,-0.002856605292725736,0.7065794070441124],\"timestamp\":11.92}},\n    \"right\": {\"target_q\":[0.7180670816966506,2.2785383810171047,2.1069806150836756,-1.3991631957307018,0.0038320742290281293,-3.973956566069662],\"max_segment_joint_change\":0.06328158398588979,\"measured_q\":[0.7010597586631775,2.268319606781006,2.102823495864868,-1.402452826499939,0.004190298728644848,-3.985568046569824],\"grip\":[0.822635371576656],\"tcp\":{\"pose\":[0.00977399022646136,-0.08302936425841839,0.8832660165004471,0.0027850239077577012,0.7076324371141649,-0.0010922535121931497,0.7065744012968245],\"timestamp\":11.92}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":11.92,\"waited_s\":1.92},\n    \"file\": \"/tmp/kinex-observation-5145i7tt.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/95a00c6e-1.png"
+    ],
+    "timestamp": "2026-10-28T21:43:54.730Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Lowering over the shoe**\nTool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"targets\": {\"right\": [0.003, -0.087, 0.795, 0, 0.70710678, 0, 0.70710678]}, \"duration\": 0.9, \"settle\": 0.32}, \"description\": \"lower far shoe above box rim\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:44:00.730Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223842.720896783] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"right\": {\"target_q\":[0.7200100387934371,2.314264594631272,1.8292255773152175,-1.0856937116394345,0.004208342230618559,-3.971584752701272],\"max_segment_joint_change\":0.019064546089732737,\"measured_q\":[0.712832510471344,2.305619955062866,1.8402382135391235,-1.099536657333374,0.004314719699323177,-3.9705166816711426],\"grip\":[0.8249491155147552],\"tcp\":{\"pose\":[0.004880994000601269,-0.08428218124142661,0.8013795046666288,0.004495685880999968,0.7084282284060708,-0.001358558475059154,0.7057672338135041],\"timestamp\":13.16}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":13.16,\"waited_s\":1.2400000000000002},\n    \"left\": {\"measured_q\":[-0.3054666519165039,1.4618515968322754,1.2769138813018799,-1.3879971504211426,0.00009789218893274665,1.2860099077224731],\"grip\":[0.9978405155918815],\"tcp\":{\"pose\":[-0.22938359630191002,-0.1801734683142392,0.9394668852690865,0.00013833433721333058,0.7073163702745995,-0.0015805167780718991,0.7068953495192136],\"timestamp\":13.16}},\n    \"file\": \"/tmp/kinex-observation-qgiw6y15.png\"\n  }\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/8698e793-1.png"
+    ],
+    "timestamp": "2026-10-28T21:44:08.851Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: exec\n{\"file\": \".kinex/tools/dual_shoes.py\", \"args\": {\"grips\": {\"right\": 1, \"left\": 1}, \"duration\": 0.56, \"settle\": 0}, \"description\": \"release far shoe\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:44:11.910Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "exec",
+    "text": "{\n  \"output\": \"[INFO] [1793223853.744106609] [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\":13.48,\"waited_s\":0.3200000000000003}\n  }\n}",
+    "images": [],
+    "timestamp": "2026-10-28T21:44:15.622Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Stopping the device**\nTool call: device_stop\n{\"reason\": \"World reported episode ended during release wait; hold and inspect final measurements.\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:44:21.811Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "device_stop",
+    "text": "left_arm: stopped (hold; affects left_arm)\nleft_gripper: stopped (hold; affects left_gripper)\nright_arm: stopped (hold; affects right_arm)\nright_gripper: stopped (hold; affects right_gripper)\nworld: stopped",
+    "images": [],
+    "timestamp": "2026-10-28T21:44:21.914Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Tool call: devices\n{\"calls\": [{\"deviceID\": \"head_camera\", \"action\": \"image\"}, {\"deviceID\": \"left_gripper\", \"action\": \"joint_state\"}, {\"deviceID\": \"right_gripper\", \"action\": \"joint_state\"}, {\"deviceID\": \"world\", \"action\": \"time\"}]}",
+    "images": [],
+    "timestamp": "2026-10-28T21:44:25.100Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "devices",
+    "text": "{\n  \"results\": [\n    {\"deviceID\":\"head_camera\",\"action\":\"image\",\"ok\":true,\"data\":{\"timestamp\":13.48,\"frame_id\":\"head_camera/base\",\"width\":320,\"height\":240},\"file\":\"/tmp/kinex-observation-hilw3rij.png\"},\n    {\"deviceID\":\"left_gripper\",\"action\":\"joint_state\",\"ok\":true,\"data\":{\"positions\":[0.9982522617686879],\"velocities\":[0.00007679601284590635],\"joint_names\":[\"left_gripper\"],\"timestamp\":13.48}},\n    {\"deviceID\":\"right_gripper\",\"action\":\"joint_state\",\"ok\":true,\"data\":{\"positions\":[0.9529129727320238],\"velocities\":[0.17699392681772058],\"joint_names\":[\"right_gripper\"],\"timestamp\":13.48}},\n    {\"deviceID\":\"world\",\"action\":\"time\",\"ok\":true,\"data\":{\"clock\":{\"sec\":13,\"nanosec\":480000000}}}\n  ]\n}",
+    "images": [
+      "experiments/robotwin-native/kinex-2/observations/20d111e0-1.png"
+    ],
+    "timestamp": "2026-10-28T21:44:25.261Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "**Refining resource memo estimates**\n\n**Recording gripper state**\nTool call: write\n{\"path\": \".kinex/memos/dual_shoes.md\", \"content\": \"# RoboTwin dual shoes / ALOHA AgileX\\n\\nPublic interface: read harness.md and refreshed profiles each episode; load world, both arms/grippers, head_camera. Native period 0.04 s, stepped world.wait only. Use typed kinex.communication operations. Do not reset or inspect private simulator state.\\n\\nReusable tool: `.kinex/tools/dual_shoes.py` accepts world-frame TCP targets, duration/settle, normalized grip targets, and dry_run. Uses measured joint state, calibrated base transforms, 0.12 m flange-to-TCP translation, Cartesian interpolation/Slerp and continuous seeded IK. Publishes both trajectories before one sequential wait. Returns measured TCP/grips and camera. Read schemas before using. JointModel.fk/ik require list, not ROS array; camera_frame returns (image,depth).\\n\\nPerception: paired head depth mm -> optical coordinates using profile intrinsics -> world via camera mount. In observed scene table z=.640, box bottom .642, rim .740, inner x about [-.125,.130], y[-.215,-.045]. Shoes length ~.22 m, width .07 m. Re-measure positions each scene. Initial left shoe pointed roughly [-.435,.9005,0], right [.10,.995,0]. Grasp across width at center: downward TCP x axis; local z opposite shoe toe direction; local y=cross(z,x). Grasp TCP z=.695 worked, lift to .865. Both measured grips stalled ~.82-.84 and visual lift confirmed shoes attached (stall alone is not evidence).\\n\\nPlace tips world -X using quaternion xyzw [0,.70710678,0,.70710678]. Near row for initially left shoe: observed target TCP [.003,-.171,.795]. Far row: [.003,-.087,.795]. Grasp offsets kept soles roughly .055 below TCP. Release just above rim: gripper fingers cannot descend to floor in narrow box without contacting walls. Shoe falls flat into box. Place sequentially; keep other held shoe high/outside, then withdraw released arm up/outward while bringing other shoe above far row. Example left clearance [-.23,-.18,.94]. Waits .3-.4 s after trajectories reduce tracking error; verify actual state. Near shoe was visibly flat, toe left, before placing far shoe.\\n\\nWorld can terminate during a release wait before requested duration. A rejected/interrupted wait is NOT proof of success. Stop and inspect final images/state; do not keep advancing terminal world. Observed terminal at t=13.48 during second release (337 frames): image showed both shoes flat inside box with tips left and initially left shoe nearer robot. Open commands had been sent to both; final openings left .9983 and right .9529. Native verdict is owner-only; do not claim it. Tool currently surfaces rejected wait as error, so final observation requires separate device reads.\\n\"}",
+    "images": [],
+    "timestamp": "2026-10-28T21:45:05.154Z"
+  },
+  {
+    "role": "toolResult",
+    "name": "write",
+    "text": "Successfully wrote to .kinex/memos/dual_shoes.md",
+    "images": [],
+    "timestamp": "2026-10-28T21:45:05.157Z"
+  },
+  {
+    "role": "assistant",
+    "name": null,
+    "text": "Both shoes appear flat in the box, tips pointing left, with the initially left shoe nearer the robot. Both grippers were commanded open. The episode ended during final release; the native verdict remains unconfirmed.",
+    "images": [],
+    "timestamp": "2026-10-28T21:45:09.896Z"
+  }
+]

experiments/robotwin-native/kinex-2/tool-calls.json

@@ -0,0 +1,620 @@
+[
+  {
+    "name": "read",
+    "input": {
+      "path": "harness.md",
+      "offset": null,
+      "limit": null
+    },
+    "output": "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",
+    "call_id": "call_367e99d2533843ab8b2927f77681118b|fc_0e05b35c94578fcb016ae26b55808c819199906d0ce7db8551",
+    "is_error": false
+  },
+  {
+    "name": "ls",
+    "input": {
+      "path": ".kinex"
+    },
+    "output": "devices/\nkinex.json\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml",
+    "call_id": "call_7ce3085100fd420dbb7436140ec43e28|fc_0e05b35c94578fcb016ae26b57d6788191b2062cc3c6a54dd6",
+    "is_error": false
+  },
+  {
+    "name": "bash",
+    "input": {
+      "command": "find .kinex/devices .kinex/tools .kinex/skills .kinex/memos -maxdepth 3 -type f",
+      "timeout": null
+    },
+    "output": ".kinex/devices/left_arm/links.py\n.kinex/devices/left_arm/arm.urdf\n.kinex/devices/left_arm/profile.yaml\n.kinex/devices/right_camera/profile.yaml\n.kinex/devices/left_gripper/links.py\n.kinex/devices/left_gripper/profile.yaml\n.kinex/devices/left_gripper/gripper.urdf\n.kinex/devices/right_arm/links.py\n.kinex/devices/right_arm/arm.urdf\n.kinex/devices/right_arm/profile.yaml\n.kinex/devices/left_camera/profile.yaml\n.kinex/devices/head_camera/profile.yaml\n.kinex/devices/right_gripper/links.py\n.kinex/devices/right_gripper/profile.yaml\n.kinex/devices/right_gripper/gripper.urdf\n.kinex/devices/world/profile.yaml\n",
+    "call_id": "call_267b6ee82c144a20a1f2c3245704c3a6|fc_0e05b35c94578fcb016ae26b5a73808191abbc02c144259293",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/devices/world/profile.yaml",
+      "offset": null,
+      "limit": null
+    },
+    "output": "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: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: world\ndescription: Scene reference and authoritative world clock of the RoboTwin 2.0 table.\n  Kinex supplies frame transforms independently. This device exposes no task instructions\n  or evaluator results.\nsource: default\ncalibrated_at: null\nmethod: unknown\nbounds: null\nsurfaces: []\nframes:\n  base:\n    parent: null\n    translation_m: null\n    rotation_xyzw: null\n",
+    "call_id": "call_a523247bf39b433e98fc113a09b276d5|fc_0e05b35c94578fcb016ae26b5cb7f881919f83c987b965d722",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/devices/left_arm/profile.yaml",
+      "offset": null,
+      "limit": null
+    },
+    "output": "name: left_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 positions of fl_joint1, fl_joint2, fl_joint3, fl_joint4,\n      fl_joint5, fl_joint6 in radians with velocities and the world-clock acquisition\n      stamp; do not infer motion completion from a sent command.\n    transport: topic\n    direction: output\n    endpoint: /left_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 6 arm joints in radians, timed from receipt\n      by strictly increasing time_from_start and finishing within 120 seconds; velocities,\n      accelerations and effort must be empty. A zero header stamp selects now; a nonzero\n      stamp must not start in the past. Points are absolute native joint positions,\n      linearly interpolated at the native control period. Replacement clears pending\n      references; invalid trajectories are ignored, so verify measured joint_state.\n    transport: topic\n    direction: input\n    endpoint: /left_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: /left_arm/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: joint\ndescription: ARX5 six-joint left arm of the RoboTwin ALOHA AgileX. Geometry is the\n  sibling arm.urdf with flange (fl_link6) as the tip link; measured links are on TF\n  as left_arm/<link>, and helpers.joint_model('left_arm') computes FK/IK from it.\n  Commands are upstream's absolute joint positions (the arm part of its 14-D qpos\n  action), applied as native drive targets once per 0.04 s frame. The native URDF\n  limits are +/-10 rad placeholders.\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  fl_joint1: 0.0\n  fl_joint2: 0.0\n  fl_joint3: 0.0\n  fl_joint4: 0.0\n  fl_joint5: 0.0\n  fl_joint6: 0.0\nstop:\n  behavior: hold\n  affected_devices:\n  - left_arm\nframes:\n  base:\n    translation_m:\n    - -0.296999871731\n    - -0.419500023127\n    - 0.782000243664\n    rotation_xyzw:\n    - 0.0\n    - 2.9802e-08\n    - 0.714142563298\n    - 0.700000389985\n    parent: world:base\n",
+    "call_id": "call_4cceb880d6784989bd7c305d425d4dfa|fc_0e05b35c94578fcb016ae26b5f6d248191a72c4e3a2ad19716",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/devices/right_arm/profile.yaml",
+      "offset": null,
+      "limit": null
+    },
+    "output": "name: right_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 positions of fr_joint1, fr_joint2, fr_joint3, fr_joint4,\n      fr_joint5, fr_joint6 in radians with velocities and the world-clock acquisition\n      stamp; do not infer motion completion from a sent command.\n    transport: topic\n    direction: output\n    endpoint: /right_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 6 arm joints in radians, timed from receipt\n      by strictly increasing time_from_start and finishing within 120 seconds; velocities,\n      accelerations and effort must be empty. A zero header stamp selects now; a nonzero\n      stamp must not start in the past. Points are absolute native joint positions,\n      linearly interpolated at the native control period. Replacement clears pending\n      references; invalid trajectories are ignored, so verify measured joint_state.\n    transport: topic\n    direction: input\n    endpoint: /right_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: /right_arm/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: joint\ndescription: ARX5 six-joint right arm of the RoboTwin ALOHA AgileX. Geometry is the\n  sibling arm.urdf with flange (fr_link6) as the tip link; measured links are on TF\n  as right_arm/<link>, and helpers.joint_model('right_arm') computes FK/IK from it.\n  Commands are upstream's absolute joint positions (the arm part of its 14-D qpos\n  action), applied as native drive targets once per 0.04 s frame. The native URDF\n  limits are +/-10 rad placeholders.\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  fr_joint1: 0.0\n  fr_joint2: 0.0\n  fr_joint3: 0.0\n  fr_joint4: 0.0\n  fr_joint5: 0.0\n  fr_joint6: 0.0\nstop:\n  behavior: hold\n  affected_devices:\n  - right_arm\nframes:\n  base:\n    translation_m:\n    - 0.306300014257\n    - -0.418499916792\n    - 0.78100001812\n    rotation_xyzw:\n    - -2.9802e-08\n    - 5.9605e-08\n    - 0.71063355368\n    - 0.703562409721\n    parent: world:base\n",
+    "call_id": "call_0ac1df91f68e4f75a427082873c0a21e|fc_0e05b35c94578fcb016ae26b615f4c8191b9d12716aaffa541",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/devices/left_gripper/profile.yaml",
+      "offset": null,
+      "limit": null
+    },
+    "output": "name: left_gripper\nruntime:\n  domain_id: 83\n  observation: joint_state\n  nodes:\n  - entry: links.py\n    factory: create\n  ready_timeout_s: 30\noperations:\n  joint_state:\n    description: Measured left_gripper, the native normalized gripper opening (0 closed,\n      1 open), stamped at acquisition; Kinex publishes the URDF finger links from\n      it.\n    transport: topic\n    direction: output\n    endpoint: /left_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: Native normalized opening (data) from 0 (closed) to 1 (open), the\n      gripper entry of upstream's 14-D qpos action. The native setter runs on every\n      250 Hz substep and moves the drive target at most 0.1 per call toward it. A\n      target persists until replaced or stopped; out-of-range targets are ignored,\n      so verify joint_state.\n    transport: topic\n    direction: input\n    endpoint: /left_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 opening; fingers may settle briefly after the stop.\n    transport: service\n    direction: input\n    endpoint: /left_gripper/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: gripper\ndescription: 'ALOHA AgileX left parallel two-finger gripper on the left_arm flange.\n  The grip joint left_gripper is upstream''s normalized gripper value (0 closed, 1\n  open): finger targets are -0.01 + 0.055 m per unit, so a closed command squeezes\n  past the finger stop. The TCP is upstream''s tcp pose, gripper_bias ahead of the\n  wrist joint with +x approaching. A closed or stalled grip alone does not prove a\n  successful grasp.'\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nstop:\n  behavior: hold\n  affected_devices:\n  - left_gripper\nframes:\n  base:\n    translation_m:\n    - 0.0\n    - 0.0\n    - 0.0\n    rotation_xyzw:\n    - 0.0\n    - 0.0\n    - 0.0\n    - 1.0\n    parent: left_arm:flange\n  tcp:\n    translation_m:\n    - 0.1199999989\n    - 7.305e-09\n    - -7.152e-09\n    rotation_xyzw:\n    - 0.0\n    - 2.9802e-08\n    - 3.2247e-08\n    - 0.999999998609\n    parent: left_gripper:base\nmodel:\n  format: urdf\n  path: gripper.urdf\n  base_link: base_link\ngrip:\n  joint: left_gripper\n  open: 1.0\n  closed: 0.0\n",
+    "call_id": "call_e23d1a1ce4e3491598e87028dbbe8b60|fc_0e05b35c94578fcb016ae26b615f4c8191b6a76c2b250df9eb",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/devices/right_gripper/profile.yaml",
+      "offset": null,
+      "limit": null
+    },
+    "output": "name: right_gripper\nruntime:\n  domain_id: 83\n  observation: joint_state\n  nodes:\n  - entry: links.py\n    factory: create\n  ready_timeout_s: 30\noperations:\n  joint_state:\n    description: Measured right_gripper, the native normalized gripper opening (0\n      closed, 1 open), stamped at acquisition; Kinex publishes the URDF finger links\n      from it.\n    transport: topic\n    direction: output\n    endpoint: /right_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: Native normalized opening (data) from 0 (closed) to 1 (open), the\n      gripper entry of upstream's 14-D qpos action. The native setter runs on every\n      250 Hz substep and moves the drive target at most 0.1 per call toward it. A\n      target persists until replaced or stopped; out-of-range targets are ignored,\n      so verify joint_state.\n    transport: topic\n    direction: input\n    endpoint: /right_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 opening; fingers may settle briefly after the stop.\n    transport: service\n    direction: input\n    endpoint: /right_gripper/stop\n    type: std_srvs/srv/Trigger\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\nloaded: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: gripper\ndescription: 'ALOHA AgileX right parallel two-finger gripper on the right_arm flange.\n  The grip joint right_gripper is upstream''s normalized gripper value (0 closed,\n  1 open): finger targets are -0.01 + 0.055 m per unit, so a closed command squeezes\n  past the finger stop. The TCP is upstream''s tcp pose, gripper_bias ahead of the\n  wrist joint with +x approaching. A closed or stalled grip alone does not prove a\n  successful grasp.'\nsource: introspected\ncalibrated_at: null\nmethod: introspection\nstop:\n  behavior: hold\n  affected_devices:\n  - right_gripper\nframes:\n  base:\n    translation_m:\n    - 0.0\n    - 0.0\n    - 0.0\n    rotation_xyzw:\n    - 0.0\n    - 0.0\n    - 0.0\n    - 1.0\n    parent: right_arm:flange\n  tcp:\n    translation_m:\n    - 0.119999992883\n    - -9.757e-09\n    - -7.153e-09\n    rotation_xyzw:\n    - 1.0e-12\n    - 2.9802e-08\n    - -6.4393e-08\n    - 0.999999973161\n    parent: right_gripper:base\nmodel:\n  format: urdf\n  path: gripper.urdf\n  base_link: base_link\ngrip:\n  joint: right_gripper\n  open: 1.0\n  closed: 0.0\n",
+    "call_id": "call_57217fff6fb842a2ba2ebf0be8d60587|fc_0e05b35c94578fcb016ae26b615f4c81918138bbfb49b2064e",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/devices/head_camera/profile.yaml",
+      "offset": null,
+      "limit": null
+    },
+    "output": "name: head_camera\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: /head_camera/image\n    type: sensor_msgs/msg/Image\n    qos:\n      depth: 1\n      reliability: reliable\n      durability: volatile\n    timeout_s: 10\n  depth:\n    description: '16UC1 depth registered to image in millimetres along the optical\n      axis; 0 marks missing or out-of-range samples. Rendered with its image: same\n      stamp and frame_id, so pair the two by stamp.'\n    transport: topic\n    direction: output\n    endpoint: /head_camera/depth\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: /head_camera/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: false\nmeta:\n  created_at: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\ntype: rgbd\ndescription: Fixed RGB-D head camera (D435 model) above the table. Native ray-traced\n  RGB with pixel-center depth from a raster twin; calibration and the optical-frame\n  mount are in the profile.\nsource: introspected\ncalibrated_at: null\nmethod: introspection\ncolor:\n  width: 320\n  height: 240\n  fps: null\n  projection:\n    model: pinhole\n    fx: 358.642181396484\n    fy: 358.642181396484\n    cx: 159.5\n    cy: 119.5\n    skew: 0\n  distortion:\n    model: none\n  fov:\n    horizontal_deg: 48.085891406656\n    vertical_deg: 37.000001358777\ndepth:\n  width: 320\n  height: 240\n  fps: null\n  quantity: z\n  scale_m_per_unit: 0.001\n  invalid_value: 0\n  valid_range_m:\n    min: 0.1\n    max: 65.535\n  reliable_range_m:\n    min: 0.1\n    max: 65.535\n  registration: color\nframes:\n  base:\n    translation_m:\n    - -0.03200000152\n    - -0.449999988079\n    - 1.350000023842\n    rotation_xyzw:\n    - -0.948683301192\n    - 0.0\n    - 0.0\n    - 0.316227769682\n    parent: world:base\n",
+    "call_id": "call_cea94425e2fa4e5f85a2ed68057a9bdd|fc_0e05b35c94578fcb016ae26b615f4c8191a3b10ce3816ee991",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/workspace.yaml",
+      "offset": null,
+      "limit": null
+    },
+    "output": "identity:\n  id: robotwin-aloha-agilex\n  name: RoboTwin ALOHA AgileX\n  kind: arm\n  model: ALOHA AgileX (dual ARX5)\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: '2026-10-24T00:00:00Z'\n  updated_at: '2026-10-24T00:00:00Z'\n",
+    "call_id": "call_e6b73f775a6747bd9a935378ace8ee6f|fc_0e05b35c94578fcb016ae26b615f4c8191b0a29903d0af9be0",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "from kinex import runtime,finish\nfinish({d:runtime.operations(d) for d in ['world','left_arm','left_gripper','head_camera']})",
+      "description": "inspect operation contracts"
+    },
+    "output": "{\n  \"output\": \"\",\n  \"result\": {\n    \"world\": {\"time\":{\"description\":\"Authoritative world clock\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/clock\",\"type\":\"rosgraph_msgs/msg/Clock\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10},\"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},\"stop\":{\"description\":\"Cancel the pending wait.\",\"transport\":\"service\",\"direction\":\"input\",\"endpoint\":\"/world/stop\",\"type\":\"std_srvs/srv/Trigger\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10}},\n    \"left_arm\": {\"joint_state\":{\"description\":\"Measured positions of fl_joint1, fl_joint2, fl_joint3, fl_joint4, fl_joint5, fl_joint6 in radians with velocities and the world-clock acquisition stamp; do not infer motion completion from a sent command.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/left_arm/joint_state\",\"type\":\"sensor_msgs/msg/JointState\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10},\"joint_target\":{\"description\":\"Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_arm/joint_target\",\"type\":\"trajectory_msgs/msg/JointTrajectory\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"stop\":{\"description\":\"Stop arm motion and hold the measured posture.\",\"transport\":\"service\",\"direction\":\"input\",\"endpoint\":\"/left_arm/stop\",\"type\":\"std_srvs/srv/Trigger\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10}},\n    \"left_gripper\": {\"joint_state\":{\"description\":\"Measured left_gripper, the native normalized gripper opening (0 closed, 1 open), stamped at acquisition; Kinex publishes the URDF finger links from it.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/left_gripper/joint_state\",\"type\":\"sensor_msgs/msg/JointState\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10},\"target\":{\"description\":\"Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_gripper/target\",\"type\":\"std_msgs/msg/Float64\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"stop\":{\"description\":\"Hold the measured opening; fingers may settle briefly after the stop.\",\"transport\":\"service\",\"direction\":\"input\",\"endpoint\":\"/left_gripper/stop\",\"type\":\"std_srvs/srv/Trigger\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10}},\n    \"head_camera\": {\"image\":{\"description\":\"RGB image measurements with encoding, dimensions, row stride and acquisition timestamp in the Image header. The frame_id identifies the calibrated optical frame; use its stamp for tf2 lookup. A new subscriber receives the current frame at once, also while the world is paused, then one per camera sample; reading never advances world time.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/head_camera/image\",\"type\":\"sensor_msgs/msg/Image\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"depth\":{\"description\":\"16UC1 depth registered to image in millimetres along the optical axis; 0 marks missing or out-of-range samples. Rendered with its image: same stamp and frame_id, so pair the two by stamp.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/head_camera/depth\",\"type\":\"sensor_msgs/msg/Image\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10},\"camera_info\":{\"description\":\"Projection and distortion calibration for the image stream, including K, D, image size and optical frame. Use the declared distortion model and raw/rectified image space when projecting pixels; intrinsics are not TF transforms.\",\"transport\":\"topic\",\"direction\":\"output\",\"endpoint\":\"/head_camera/camera_info\",\"type\":\"sensor_msgs/msg/CameraInfo\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"transient_local\"},\"timeout_s\":10}}\n  }\n}",
+    "call_id": "call_400056f3564b4e9c9ea3a21b816e7625|fc_0e05b35c94578fcb016ae26b63222481918bcd825a71e9a64e",
+    "is_error": false
+  },
+  {
+    "name": "devices",
+    "input": {
+      "calls": [
+        {
+          "deviceID": "world",
+          "action": "load"
+        },
+        {
+          "deviceID": "left_arm",
+          "action": "load"
+        },
+        {
+          "deviceID": "right_arm",
+          "action": "load"
+        },
+        {
+          "deviceID": "left_gripper",
+          "action": "load"
+        },
+        {
+          "deviceID": "right_gripper",
+          "action": "load"
+        },
+        {
+          "deviceID": "head_camera",
+          "action": "load"
+        }
+      ]
+    },
+    "output": "{\n  \"results\": [\n    {\"deviceID\":\"world\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"left_arm\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"right_arm\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"left_gripper\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"right_gripper\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}},\n    {\"deviceID\":\"head_camera\",\"action\":\"load\",\"ok\":true,\"data\":{\"ready\":true}}\n  ]\n}",
+    "call_id": "call_62f70586a5e84cba9a1d9fbb8a895ecf|fc_0e05b35c94578fcb016ae26b68fbec8191ba256eb599d22906",
+    "is_error": false
+  },
+  {
+    "name": "device",
+    "input": {
+      "deviceID": "head_camera",
+      "action": "image"
+    },
+    "output": "{\n  \"deviceID\": \"head_camera\",\n  \"timestamp\": 0,\n  \"frame_id\": \"head_camera/base\",\n  \"width\": 320,\n  \"height\": 240,\n  \"file\": \"/tmp/kinex-observation-s12ft6c7.png\"\n}",
+    "call_id": "call_f7e1095205114cd39ccc99aad24386ff|fc_0e05b35c94578fcb016ae26b7351348191b04857fa875c4726",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": "/opt/kinex/packages/core/assets/python/kinex/helpers/helpers.txt",
+      "offset": null,
+      "limit": null
+    },
+    "output": "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",
+    "call_id": "call_4f112267e1f54522ac8278187813134c|fc_0e05b35c94578fcb016ae26b748d7481918c67e322c71a25f4",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": ".kinex/devices/left_gripper/gripper.urdf",
+      "offset": null,
+      "limit": null
+    },
+    "output": "<?xml version=\"1.0\"?>\n<!-- RoboTwin ALOHA AgileX left parallel gripper on the fl_link6 flange. left_gripper is a geometry-less virtual drive joint carrying the native normalized opening (0 closed, 1 open); both fingers mimic it as -0.01 + 0.055 m per unit, upstream's gripper_scale. Closed targets lie below the finger stop to squeeze an object. -->\n<robot name=\"aloha_left_gripper\">\n  <link name=\"base_link\"/>\n  <link name=\"drive\"/>\n  <link name=\"finger_a\"/>\n  <link name=\"finger_b\"/>\n  <joint name=\"left_gripper\" type=\"revolute\">\n    <parent link=\"base_link\"/>\n    <child link=\"drive\"/>\n    <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>\n    <axis xyz=\"0 0 1\"/>\n    <limit lower=\"0\" upper=\"1\" effort=\"100\" velocity=\"10\"/>\n  </joint>\n  <joint name=\"fl_joint7\" type=\"prismatic\">\n    <parent link=\"base_link\"/>\n    <child link=\"finger_a\"/>\n    <origin xyz=\"0.08457 0.024493 -0.00010349\" rpy=\"0 0 0\"/>\n    <axis xyz=\"0 1 0\"/>\n    <limit lower=\"0\" upper=\"0.04765\" effort=\"100\" velocity=\"10\"/>\n    <mimic joint=\"left_gripper\" multiplier=\"0.055\" offset=\"-0.01\"/>\n  </joint>\n  <joint name=\"fl_joint8\" type=\"prismatic\">\n    <parent link=\"base_link\"/>\n    <child link=\"finger_b\"/>\n    <origin xyz=\"0.08457 -0.024496 -0.00010354\" rpy=\"0 0 0\"/>\n    <axis xyz=\"0 -1 0\"/>\n    <limit lower=\"0\" upper=\"0.04765\" effort=\"100\" velocity=\"10\"/>\n    <mimic joint=\"left_gripper\" multiplier=\"0.055\" offset=\"-0.01\"/>\n  </joint>\n</robot>\n",
+    "call_id": "call_eadc0a081774488eb0bb83932c05dca2|fc_0e05b35c94578fcb016ae26b748d748191a4cfaf6b3fee5d5f",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": "/opt/kinex/packages/core/assets/python/kinex/helpers/kinematics.py",
+      "offset": 1,
+      "limit": 300
+    },
+    "output": "\"\"\"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 <device>/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 <device>/<link>.\n\n    Example: arm = helpers.joint_model(\"arm\"); q = arm.ik(arm.fk(seed), seed)\n    \"\"\"\n    return JointModel(profile(device))\n",
+    "call_id": "call_33489e3730f749d496ec9b7b34d2fca5|fc_0e05b35c94578fcb016ae26b7ac83481919db7af8831435ab4",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "import asyncio\nfrom kinex import runtime, helpers, communication,finish\nasync def main():\n async with communication() as io:\n  data={}\n  for d in ['left_arm','right_arm']:\n   async with io.subscribe(d+'.joint_state') as s: m=await s.next(timeout_s=10)\n   data[d]={'q':m.position,'fk':helpers.joint_model(d).fk(m.position),'tcp':await helpers.relative_pose(io,{'frame':d.replace('arm','gripper')+':tcp'},{'frame':'world:base'})}\n  f=await helpers.camera_frame(io,'head_camera')\n  import numpy as np\n  np.savez('/tmp/head.npz',rgb=helpers.image_array(f['image']),depth=helpers.image_array(f['depth']))\n  data['schemas']={op:runtime.describe(op) for op in ['left_arm.joint_target','right_arm.joint_target','left_gripper.target','right_gripper.target','world.wait']}\n  finish(data)\nasyncio.run(main())",
+      "description": "inspect measured state and schemas"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223561.071991926] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"error\": \"Traceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 51, in <module>\\n    script()\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 44, in script\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 14, in <module>\\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 \\\"<kinex-exec>\\\", line 8, in main\\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 6 numbers\"\n}",
+    "call_id": "call_dd0ab53fe66841fd9221dc3616c18876|fc_0e05b35c94578fcb016ae26b82fea881919b755b5ff018d7d5",
+    "is_error": true
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "import asyncio\nfrom kinex import runtime,helpers,communication,finish\nasync def main():\n async with communication() as io:\n  data={}\n  for d in ['left_arm','right_arm']:\n   async with io.subscribe(d+'.joint_state') as s: m=await s.next(timeout_s=10)\n   q=list(m.position)\n   data[d]={'state':m,'fk':helpers.joint_model(d).fk(q),'tcp':await helpers.relative_pose(io,{'frame':d.replace('arm','gripper')+':tcp'},{'frame':'world:base'})}\n  f=await helpers.camera_frame(io,'head_camera')\n  import numpy as np\n  np.savez('/tmp/head.npz',rgb=helpers.image_array(f['image']),depth=helpers.image_array(f['depth']))\n  data['schemas']={op:runtime.describe(op) for op in ['left_arm.joint_target','right_arm.joint_target','left_gripper.target','right_gripper.target','world.wait']}\n  finish(data)\nasyncio.run(main())",
+      "description": "measure initial scene"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223568.172439105] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"error\": \"Traceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 51, in <module>\\n    script()\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/host/run.py\\\", line 44, in script\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 15, in <module>\\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 \\\"<kinex-exec>\\\", line 12, in main\\nTypeError: tuple indices must be integers or slices, not str\"\n}",
+    "call_id": "call_ebc53b54c9144398add4c4510616f6fe|fc_0e05b35c94578fcb016ae26b8ba19881918312f9fe01c977d2",
+    "is_error": true
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": "/opt/kinex/packages/core/assets/python/kinex/helpers/images.py",
+      "offset": 1,
+      "limit": 220
+    },
+    "output": "\"\"\"Camera images: current frames, pixel arrays for computation and files for finish().\"\"\"\n\nfrom kinex.lib.camera import array, frame, save\n\n\nasync def camera_frame(io, camera, timeout_s=None):\n    \"\"\"The camera's current image and, for an rgbd camera, its depth (else None).\n\n    Both come from one acquisition (equal stamps); reading never advances world time.\n\n    Example: image, depth = await helpers.camera_frame(io, \"camera\")\n    \"\"\"\n    return await frame(io, camera, timeout_s=timeout_s)\n\n\ndef image_array(image):\n    \"\"\"Native-order pixels of a sensor_msgs/Image as numpy: HxWx3 RGB or HxW mono8/16UC1.\n\n    Example: pixels = helpers.image_array((await helpers.camera_frame(io, \"camera\"))[0])\n    \"\"\"\n    return array(image)\n\n\ndef save_image(image):\n    \"\"\"Write a sensor_msgs/Image as a PNG, keeping 16-bit depth, and return its path.\n\n    Example: finish({\"stamp\": stamp}, file=helpers.save_image(image))\n    \"\"\"\n    return save(image)\n",
+    "call_id": "call_c2b8d5d34932451c817efe51bdba851d|fc_0e05b35c94578fcb016ae26b9318f08191b9765db7a8ffc3d7",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "import asyncio\nfrom kinex import runtime,helpers,communication,finish\nasync def main():\n async with communication() as io:\n  data={}\n  for d in ['left_arm','right_arm']:\n   async with io.subscribe(d+'.joint_state') as s: m=await s.next(timeout_s=10)\n   data[d]={'state':m,'fk':helpers.joint_model(d).fk(list(m.position)),'tcp':await helpers.relative_pose(io,{'frame':d.replace('arm','gripper')+':tcp'},{'frame':'world:base'})}\n  im,dep=await helpers.camera_frame(io,'head_camera')\n  import numpy as np\n  np.savez('/tmp/head.npz',rgb=helpers.image_array(im),depth=helpers.image_array(dep))\n  data['schemas']={op:runtime.describe(op) for op in ['left_arm.joint_target','right_arm.joint_target','left_gripper.target','right_gripper.target','world.wait']}\n  finish(data)\nasyncio.run(main())",
+      "description": "measure initial scene"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223578.614148509] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left_arm\": {\"state\":{\"header\":{\"stamp\":{\"sec\":0,\"nanosec\":0},\"frame_id\":\"\"},\"name\":[\"fl_joint1\",\"fl_joint2\",\"fl_joint3\",\"fl_joint4\",\"fl_joint5\",\"fl_joint6\"],\"position\":[-3.016615224282759e-8,-5.666987590302597e-7,-0.000004835828804061748,7.701128623693876e-8,4.63164752773082e-7,-8.158995683515968e-7],\"velocity\":[0.00000265039443547721,-0.000010050378477899358,0.000024748725991230458,-0.000004255349267623387,-0.00001595680987520609,0.00007239235128508881],\"effort\":[]},\"fk\":[0.1056935554023861,-0.0011901315627094447,0.15999839199046592,-0.000007715996484952103,0.0000021542621098628648,-2.4666643061721644e-7,0.9999999999678809],\"tcp\":{\"pose\":[-0.30032357671522697,-0.193827798419468,0.9419981020126762,-0.000006960933310190554,-0.00000395167326060435,0.7141423608015681,0.7000004917460364],\"timestamp\":0}},\n    \"right_arm\": {\"state\":{\"header\":{\"stamp\":{\"sec\":0,\"nanosec\":0},\"frame_id\":\"\"},\"name\":[\"fr_joint1\",\"fr_joint2\",\"fr_joint3\",\"fr_joint4\",\"fr_joint5\",\"fr_joint6\"],\"position\":[-3.258066882949606e-8,-5.65274206110189e-7,-0.000004838918357563671,7.693390813301448e-8,4.6469963876916154e-7,-8.163781899384048e-7],\"velocity\":[0.0000026605034690874163,-0.00001006854472507257,0.000024771599782980047,-0.000004258563421899453,-0.00001595234061824158,0.00007239227852551267],\"effort\":[]},\"fk\":[0.10569355567032844,-0.0011901318683733137,0.15999839080293787,-0.000007716210574917094,0.0000021565576609891396,-2.4864112524367e-7,0.9999999999678738],\"tcp\":{\"pose\":[0.30523323124039986,-0.1928057309036048,0.9409978556569187,-0.000007012336903923293,-0.000003885552193758481,0.710633293626997,0.7035625927553112],\"timestamp\":0}},\n    \"schemas\": {\"left_arm.joint_target\":{\"description\":\"Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_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<string>\",\"points\":\"sequence<trajectory_msgs/JointTrajectoryPoint>\"},\"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<double>\",\"velocities\":\"sequence<double>\",\"accelerations\":\"sequence<double>\",\"effort\":\"sequence<double>\",\"time_from_start\":\"builtin_interfaces/Duration\"},\"builtin_interfaces/msg/Duration\":{\"sec\":\"int32\",\"nanosec\":\"uint32\"}}},\"right_arm.joint_target\":{\"description\":\"Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/right_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<string>\",\"points\":\"sequence<trajectory_msgs/JointTrajectoryPoint>\"},\"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<double>\",\"velocities\":\"sequence<double>\",\"accelerations\":\"sequence<double>\",\"effort\":\"sequence<double>\",\"time_from_start\":\"builtin_interfaces/Duration\"},\"builtin_interfaces/msg/Duration\":{\"sec\":\"int32\",\"nanosec\":\"uint32\"}}},\"left_gripper.target\":{\"description\":\"Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/left_gripper/target\",\"type\":\"std_msgs/msg/Float64\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10,\"message\":{\"data\":\"double\"},\"definitions\":{}},\"right_gripper.target\":{\"description\":\"Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state.\",\"transport\":\"topic\",\"direction\":\"input\",\"endpoint\":\"/right_gripper/target\",\"type\":\"std_msgs/msg/Float64\",\"qos\":{\"depth\":1,\"reliability\":\"reliable\",\"durability\":\"volatile\"},\"timeout_s\":10,\"message\":{\"data\":\"double\"},\"definitions\":{}},\"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}",
+    "call_id": "call_90dc0d2cd0e74d118298a624ddad2d76|fc_0e05b35c94578fcb016ae26b967e8c81919e4629fbd557a833",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom kinex import finish\nf=np.load('/tmp/head.npz');d=f['depth']*.001\nrot=R.from_quat([-.948683301192,0,0,.316227769682]).as_matrix();t=np.array([-.032,-.45,1.35])\nv,u=np.indices(d.shape);p=np.stack([(u-159.5)*d/358.64218,(v-119.5)*d/358.64218,d],axis=-1)@rot.T+t\nnp.save('/tmp/points.npy',p)\nfinish({str((u,v)):p[v,u].tolist() for u,v in [(65,124),(70,137),(78,156),(83,176),(258,109),(260,127),(264,149),(261,166),(120,145),(235,145),(111,214),(241,214),(175,195),(175,170),(45,198)]})",
+      "description": "project shoe and box points"
+    },
+    "output": "{\n  \"output\": \"\",\n  \"result\": {\n    \"(65, 124)\": [-0.24701096162197103,0.03140910949709719,0.6910568320592497],\n    \"(70, 137)\": [-0.21991292201045629,-0.027594196989208564,0.7255543520299529],\n    \"(78, 156)\": [-0.20947912417886824,-0.044987609248771654,0.6775092925698912],\n    \"(83, 176)\": [-0.183232908521803,-0.11395591142723871,0.7157830657360426],\n    \"(258, 109)\": [0.19705560076620107,0.06993367883975005,0.6974502592814215],\n    \"(260, 127)\": [0.1815303772690653,-0.005548079149456486,0.7308389405389644],\n    \"(264, 149)\": [0.20284967663312783,-0.01943781830802399,0.6654216358573333],\n    \"(261, 166)\": [0.18054192688656984,-0.07729713643164932,0.6907771470716708],\n    \"(120, 145)\": [-0.11416267255569326,-0.0448333771340384,0.721374966820128],\n    \"(235, 145)\": [0.12504510830265422,-0.0448333771340384,0.721374966820128],\n    \"(111, 214)\": [-0.1258512028897438,-0.1798917686242506,0.6850811723963807],\n    \"(241, 214)\": [0.1259359683794026,-0.17950256367990514,0.6841230761030037],\n    \"(175, 195)\": [0.001018982875912705,-0.12026751685270726,0.6422993613618274],\n    \"(175, 170)\": [0.002574851178966185,-0.060117673106498126,0.6424117444706855],\n    \"(45, 198)\": [-0.2752759024607758,-0.12622992376337028,0.6403275561418671]\n  }\n}",
+    "call_id": "call_d3bf3218a40449379a6d81f7d8ad6ce3|fc_0e05b35c94578fcb016ae26ba2b72081919637c5b5562ccdd2",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "import numpy as np\nfrom kinex import finish\np=np.load('/tmp/points.npy');v,u=np.indices(p.shape[:2]);out={}\nfor name,mask in [('left',(u>45)&(u<106)&(v>105)&(v<194)),('right',(u>239)&(u<287)&(v>90)&(v<180))]:\n sel=p[mask&(p[:,:,2]>.653)&(p[:,:,2]<.78)]\n xy=sel[:,:2];cov=np.cov(xy.T);w,V=np.linalg.eigh(cov);axis=V[:,-1];axis*=np.sign(axis[1]);proj=xy@axis;perp=np.array([axis[1],-axis[0]])\n out[name]={'bounds':np.percentile(sel,[0,5,50,95,100],axis=0),'axis':axis,'along':np.percentile(proj,[0,50,100]),'across':np.percentile(xy@perp,[0,50,100])}\nfinish(out)",
+      "description": "estimate shoe geometry"
+    },
+    "output": "{\n  \"output\": \"\",\n  \"result\": {\n    \"left\": {\"bounds\":[[-0.27703949870034816,-0.11849672931365157,0.6530756384513174],[-0.26232817835314304,-0.11589681011362746,0.6648956826818977],[-0.2084795206185731,-0.048453607301866264,0.6989171661594558],[-0.16517033707524315,0.04587652017197147,0.7280738549115844],[-0.15957980670316027,0.0673668820840671,0.7397426331669105]],\"axis\":[-0.4348054796080431,0.9005243999486185],\"along\":[-0.02822664134255312,0.04733788568632173,0.17347461851403906],\"across\":[-0.2438903331252665,-0.20888409446241507,-0.17148698275945262]},\n    \"right\": {\"bounds\":[[0.12579376536245684,-0.12617690826397737,0.6530134103302274],[0.16420628560756578,-0.07877877371633266,0.6623519701729963],[0.19117578484493938,-0.005752951117641736,0.69816639561117],[0.22156610312819316,0.09690986291317003,0.7299211106280531],[0.23969001705265122,0.12021601950746491,0.7417706810964337]],\"axis\":[0.16462025977367772,0.9863570195786345],\"along\":[-0.10348059217440107,0.02641075351907217,0.15416704938916012],\"across\":[0.13832065240589805,0.18958687182277106,0.2274015727704394]}\n  }\n}",
+    "call_id": "call_359440a490204ab5b768a4249857ef22|fc_0e05b35c94578fcb016ae26bb92b4c8191aff65d64307ea8e1",
+    "is_error": false
+  },
+  {
+    "name": "read",
+    "input": {
+      "path": "/opt/kinex/packages/core/assets/python/kinex/lib/joints.py",
+      "offset": 1,
+      "limit": 240
+    },
+    "output": "\"\"\"Joint devices: URDF command vector, limit policy and link kinematics in the device base.\"\"\"\n\nimport math\nfrom pathlib import Path\n\nfrom kinex.lib import urdf\nfrom kinex.lib.geometry import flat, pose, vector\nfrom kinex.lib.kinematics import DEFAULTS, Chain\nfrom kinex.lib.urdf import joint_target\n\nHOME_RECOVERY_TOLERANCE = math.radians(1)\n\n\nclass JointModel:\n    \"\"\"A joint device's commanded joints, in URDF document order, and its link FK/IK.\n\n    Poses are [x, y, z, qx, qy, qz, qw] of a URDF link in <device>/base; link\n    defaults to the model's tip_link.\n    \"\"\"\n\n    def __init__(self, profile, directory=None):\n        if profile.get(\"type\") != \"joint\":\n            raise ValueError(\"expected a joint device profile\")\n        model, self.tree = profile[\"model\"], profile.get(\"resolved_model\")\n        if self.tree is None:\n            if directory is None or not isinstance(model, dict) or \"???\" in model.values():\n                raise ValueError(f\"{profile.get('name', 'joint device')} has no resolved URDF model\")\n            self.tree = urdf.read_tree(Path(directory) / model[\"path\"], model[\"base_link\"])\n        self.joints = urdf.commanded(self.tree)\n        self.names = [joint[\"name\"] for joint in self.joints]\n        self.tip = model[\"tip_link\"]\n\n    def chain(self, link):\n        link = link or self.tip\n        if not link:\n            raise ValueError(\"name a link; the model declares no tip_link\")\n        return Chain(self.tree, link)\n\n    def fk(self, positions, link=None):\n        \"\"\"Link pose at commanded joint positions; mimic joints follow their sources.\"\"\"\n        q = joint_target(positions, self.joints, check_limits=False)\n        return flat(self.chain(link).forward(urdf.positions(self.tree, dict(zip(self.names, q))))[0])\n\n    def ik(self, target, seed, link=None, **options):\n        \"\"\"Commanded positions placing link at target, nearest the seed projected into limits.\n\n        Joints off the link's path keep their seed values. options override the\n        solver tolerances, damping, max_iterations and search budget.\n        \"\"\"\n        unknown = options.keys() - {*DEFAULTS, \"budget\"}\n        if unknown:\n            raise ValueError(f\"unknown IK options: {', '.join(sorted(unknown))}\")\n        values = dict(zip(self.names, project_seed(seed, self.joints)))\n        values.update(self.chain(link).ik(pose(target), values, {**DEFAULTS, **options}))\n        return [values[name] for name in self.names]\n\n\ndef home_start_tolerance(profile, joints, target):\n    \"\"\"Strict devices may recover toward declared home within an angular margin.\"\"\"\n    home = profile.get(\"home\")\n    if not isinstance(home, dict) or any(j[\"name\"] not in home or abs(q - home[j[\"name\"]]) > 1e-9 for j, q in zip(joints, target)):\n        return 0.0\n    return HOME_RECOVERY_TOLERANCE\n\n\ndef recovery_targets(actions, joints, tolerance):\n    \"\"\"Allow a bounded, inward-only prefix; the final target remains in limits.\"\"\"\n    joint_target(actions[-1], joints)\n    previous = None\n    for target in actions:\n        joint_target(target, joints, check_limits=False)\n        for i, (q, joint) in enumerate(zip(target, joints)):\n            limits = joint[\"limits\"]\n            if limits is None:\n                continue\n            margin = tolerance if joint[\"type\"] == \"revolute\" else 0\n            low, high = limits[\"min\"], limits[\"max\"]\n            if not low - margin <= q <= high + margin:\n                raise ValueError(\"target outside joint limits recovery tolerance\")\n            if previous is not None and ((q < low and not previous[i] <= q) or (q > high and not previous[i] >= q)):\n                raise ValueError(\"joint limits recovery must move inward\")\n        previous = target\n\n\ndef command(profile, actions, joints):\n    \"\"\"Validate a sequence of joint targets; strict limits reject targets outside the URDF limits.\"\"\"\n    if not isinstance(actions, list) or not actions:\n        raise ValueError(\"actions must be a nonempty sequence\")\n    for target in actions:\n        joint_target(target, joints, check_limits=False)\n    if profile[\"limits\"] == \"strict\":\n        recovery_targets(actions, joints, home_start_tolerance(profile, joints, actions[-1]))\n    return actions\n\n\ndef project_seed(value, joints):\n    \"\"\"Bound a solver seed without changing the measured configuration used for FK.\"\"\"\n    values = vector(value, len(joints), \"IK seed\")\n    return [max(j[\"limits\"][\"min\"], min(j[\"limits\"][\"max\"], v)) if j[\"limits\"] else v\n            for j, v in zip(joints, values)]\n\n\ndef measured_positions(message, joints):\n    \"\"\"Order a JointState without clamping or silently accepting duplicate names.\"\"\"\n    if len(message.name) != len(message.position) or len(set(message.name)) != len(message.name):\n        raise ValueError(\"joint state requires unique names and matching positions\")\n    positions = dict(zip(message.name, message.position))\n    names = [joint[\"name\"] for joint in joints]\n    if any(name not in positions for name in names):\n        raise ValueError(\"joint state is missing modeled joints\")\n    return joint_target([positions[name] for name in names], joints, check_limits=False)\n",
+    "call_id": "call_74b06e15e6d5437b8dbf59b863ebf7bc|fc_0e05b35c94578fcb016ae26bc810f88191bbc88266170ed223",
+    "is_error": false
+  },
+  {
+    "name": "write",
+    "input": {
+      "path": ".kinex/tools/dual_shoes.py",
+      "content": "\"\"\"Measured Cartesian dual-arm moves through public Kinex ROS operations.\nInvoke with exec file and args: targets {left/right: [x,y,z,qx,qy,qz,qw]},\nduration, settle; optional grips {left/right: opening}. World coordinates.\nA dry_run solves without publishing; each path uses measured start FK.\n\"\"\"\nimport asyncio\nimport numpy as np\nfrom scipy.spatial.transform import Rotation, Slerp\nfrom kinex import communication, helpers, finish, args\n\nasync def state(io, device):\n    async with io.subscribe(device+'.joint_state') as stream:\n        return await stream.next(timeout_s=10)\n\ndef matrix(p):\n    t=np.eye(4);t[:3,:3]=Rotation.from_quat(p[3:]).as_matrix();t[:3,3]=p[:3];return t\n\ndef pose(t):\n    return [*t[:3,3],*Rotation.from_matrix(t[:3,:3]).as_quat()]\n\nasync def main():\n    a=args(); duration=a.get('duration',1.2); plans={}; report={}\n    async with communication() as io:\n        for side,target in a.get('targets',{}).items():\n            dev=side+'_arm'; model=helpers.joint_model(dev)\n            measured=await state(io,dev); q=list(measured.position)\n            base=matrix((await helpers.relative_pose(io,{'frame':dev+':base'},{'frame':'world:base'}))['pose'])\n            tcp=np.eye(4);tcp[0,3]=.12\n            start=base@matrix(model.fk(q))@tcp; end=matrix(target)\n            interp=Slerp([0,1],Rotation.from_matrix(np.stack([start[:3,:3],end[:3,:3]])))\n            points=[]; max_jump=0\n            for i in range(1,a.get('segments',20)+1):\n                f=i/a.get('segments',20);t=np.eye(4);t[:3,3]=start[:3,3]*(1-f)+end[:3,3]*f;t[:3,:3]=interp(f).as_matrix()\n                goal=pose(np.linalg.inv(base)@t@np.linalg.inv(tcp))\n                qnew=model.ik(goal,q);max_jump=max(max_jump,float(np.max(np.abs(np.array(qnew)-q))));q=qnew\n                ns=round(duration*f*1e9)\n                points.append({'positions':q,'time_from_start':{'sec':ns//10**9,'nanosec':ns%10**9}})\n            if max_jump>1.0: raise ValueError(f'{side}: IK discontinuity {max_jump}')\n            plans[dev]={'joint_names':model.names,'points':points}\n            report[side]={'target_q':q,'max_segment_joint_change':max_jump}\n        if not a.get('dry_run',False):\n            for dev,payload in plans.items(): await io.publish(dev+'.joint_target',payload)\n            for side,opening in a.get('grips',{}).items(): await io.publish(side+'_gripper.target',{'data':opening})\n            report['wait']=await io.request('world.wait',duration_s=duration+a.get('settle',.2))\n            for side in ['left','right']:\n                m=await state(io,side+'_arm');g=await state(io,side+'_gripper')\n                report[side]={**report.get(side,{}),'measured_q':list(m.position),'grip':list(g.position),'tcp':await helpers.relative_pose(io,{'frame':side+'_gripper:tcp'},{'frame':'world:base'})}\n            im,dep=await helpers.camera_frame(io,'head_camera')\n            np.savez('/tmp/head.npz',rgb=helpers.image_array(im),depth=helpers.image_array(dep))\n            image=helpers.save_image(im)\n        else: image=None\n    finish(report,file=image)\n\nif __name__=='__main__': asyncio.run(main())\n"
+    },
+    "output": "Successfully wrote to .kinex/tools/dual_shoes.py",
+    "call_id": "call_0868a220b62b474994731df198d503cc|fc_0e05b35c94578fcb016ae26bd23c40819191af04b6129b3ae0",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "import numpy as np\nfrom scipy.spatial.transform import Rotation as R\nfrom kinex import finish\nout={}\nfor s,axis in [('left',[-.435,.9005,0]),('right',[.10,.995,0]),('placed',[-1,0,0])]:\n x=np.array([0,0,-1]);z=-np.array(axis);z=z/np.linalg.norm(z);y=np.cross(z,x)\n out[s]=R.from_matrix(np.column_stack([x,y,z])).as_quat()\nfinish(out)",
+      "description": "construct grasp orientations"
+    },
+    "output": "{\n  \"output\": \"\",\n  \"result\": {\n    \"left\": [0.3758414690119471,0.5989517427731067,-0.3758414690119471,0.5989517427731066],\n    \"right\": [0.5244041261335186,0.47434197842288933,-0.5244041261335186,0.47434197842288933],\n    \"placed\": [0,0.7071067811865475,0,0.7071067811865475]\n  }\n}",
+    "call_id": "call_ae9204374e2d4a3cbfbeb1673bf19662|fc_0e05b35c94578fcb016ae26be3d0a88191ad5024466f984815",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "targets": {
+          "left": [
+            -0.218,
+            -0.025,
+            0.84,
+            0.37584147,
+            0.59895174,
+            -0.37584147,
+            0.59895174
+          ],
+          "right": [
+            0.195,
+            0.016,
+            0.84,
+            0.52440413,
+            0.47434198,
+            -0.52440413,
+            0.47434198
+          ]
+        },
+        "grips": {
+          "left": 1,
+          "right": 1
+        },
+        "duration": 2,
+        "settle": 0.2
+      },
+      "description": "approach both shoes"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223662.312752592] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.22774460233231092,2.0844783296165446,1.6334247882592328,-1.119696352368475,0.002011036180461048,2.49168103259622],\"max_segment_joint_change\":0.22250770540570428,\"measured_q\":[-0.19359128177165985,2.0299289226531982,1.565936803817749,-1.0698388814926147,0.0637018159031868,2.444208860397339],\"grip\":[0.9992598511955955],\"tcp\":{\"pose\":[-0.22299369029360194,-0.02944199607878123,0.8439472305082514,0.3711196237801609,0.5970864937471737,-0.3314537937041148,0.6292029294823159],\"timestamp\":2.2}},\n    \"right\": {\"target_q\":[0.22891849509608184,2.2770167296021664,1.946258985399993,-1.2399737668878201,0.0038143270660531453,-2.7921574517349774],\"max_segment_joint_change\":0.2557527373667139,\"measured_q\":[0.19502022862434387,2.2170157432556152,1.8614673614501953,-1.1837477684020996,-0.06620503216981888,-2.7387287616729736],\"grip\":[1.0035958859053524],\"tcp\":{\"pose\":[0.20106956124805897,0.01130916671671306,0.8441301058365255,-0.5273385980969397,-0.4719980791625396,0.5607531031936284,-0.4297531541277429],\"timestamp\":2.2}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":2.2,\"waited_s\":2.2},\n    \"file\": \"/tmp/kinex-observation-vuwcfag0.png\"\n  }\n}",
+    "call_id": "call_2b7ac2f9914d4c2da36300af3a602d5e|fc_0e05b35c94578fcb016ae26be9d248819188a0d3ee362a810a",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "targets": {
+          "left": [
+            -0.218,
+            -0.025,
+            0.695,
+            0.37584147,
+            0.59895174,
+            -0.37584147,
+            0.59895174
+          ],
+          "right": [
+            0.195,
+            0.016,
+            0.695,
+            0.52440413,
+            0.47434198,
+            -0.52440413,
+            0.47434198
+          ]
+        },
+        "duration": 1.3,
+        "settle": 0.4
+      },
+      "description": "lower to shoe grasp height"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223682.804429596] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.22587400015586576,2.3274100314457447,1.4029364137932692,-0.6462568482762985,0.004351146139304931,2.4966583272771543],\"max_segment_joint_change\":0.023721534514010267,\"measured_q\":[-0.2192988246679306,2.315551280975342,1.404956340789795,-0.6554389595985413,0.006320989690721035,2.4952962398529053],\"grip\":[1.000401415608146],\"tcp\":{\"pose\":[-0.22011327724616148,-0.023654303271224808,0.6998869872945025,0.3753037660380011,0.6003254223692802,-0.37166967146596513,0.6005148838848378],\"timestamp\":3.92}},\n    \"right\": {\"target_q\":[0.23063784230102252,2.4714411321064156,1.6872846072585452,-0.7865804977321514,0.006038718669629817,-2.7882938737519463],\"max_segment_joint_change\":0.023468032426248397,\"measured_q\":[0.22381655871868134,2.4601662158966064,1.689003586769104,-0.7951595187187195,0.0037091674748808146,-2.786982297897339],\"grip\":[1.000115448778326],\"tcp\":{\"pose\":[0.19746808623661757,0.017369893443527185,0.7001516902630236,0.526383385692651,0.47392899178612075,-0.526300156869011,0.470446582399094],\"timestamp\":3.92}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":3.92,\"waited_s\":1.7199999999999998},\n    \"file\": \"/tmp/kinex-observation-49lcysgb.png\"\n  }\n}",
+    "call_id": "call_0511f7ad7f06497797e36e204cd4d242|fc_0e05b35c94578fcb016ae26c0083dc8191ac840fb8534c16d8",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "grips": {
+          "left": 0,
+          "right": 0
+        },
+        "duration": 0.6,
+        "settle": 0
+      },
+      "description": "grasp both shoes"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223699.319257784] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":4.5200000000000005,\"waited_s\":0.6000000000000005},\n    \"left\": {\"measured_q\":[-0.2207689732313156,2.3197131156921387,1.4022727012634277,-0.646481454372406,0.004202340263873339,2.4976632595062256],\"grip\":[0.8248065384951505],\"tcp\":{\"pose\":[-0.21981260859167018,-0.023525114497031374,0.6977895497680353,0.3768516763506197,0.600604329088065,-0.37237554199764294,0.5988269446462514],\"timestamp\":4.52}},\n    \"right\": {\"measured_q\":[0.2260061502456665,2.4656732082366943,1.6879534721374512,-0.7873106598854065,0.006010189186781645,-2.786764621734619],\"grip\":[0.8215297054160725],\"tcp\":{\"pose\":[0.19675509976374933,0.01755103700765198,0.6975930297370944,0.5268113232251944,0.4745009262840679,-0.5249098951839438,0.47094405465539396],\"timestamp\":4.52}},\n    \"file\": \"/tmp/kinex-observation-eib75mac.png\"\n  }\n}",
+    "call_id": "call_449e5a31bc6546f5ae60a615b4bf5beb|fc_0e05b35c94578fcb016ae26c104f948191ba0d2851f900e1bb",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "targets": {
+          "left": [
+            -0.218,
+            -0.025,
+            0.865,
+            0.37584147,
+            0.59895174,
+            -0.37584147,
+            0.59895174
+          ],
+          "right": [
+            0.195,
+            0.016,
+            0.865,
+            0.52440413,
+            0.47434198,
+            -0.52440413,
+            0.47434198
+          ]
+        },
+        "duration": 1.4,
+        "settle": 0.3
+      },
+      "description": "lift and verify both grasps"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223713.308781947] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.22844013591941273,2.0678736313216377,1.7085401660146515,-1.2114074372635,0.0019312142797508374,2.4907547833771906],\"max_segment_joint_change\":0.031346100891458395,\"measured_q\":[-0.2239367812871933,2.0769543647766113,1.692858338356018,-1.19147789478302,0.0024510447401553392,2.492839813232422],\"grip\":[0.8405653969808059],\"tcp\":{\"pose\":[-0.2196101692368914,-0.02448676045971626,0.8576266700337278,0.3735575027731245,0.598660183425509,-0.3766380207818991,0.6001704576237794],\"timestamp\":6.24}},\n    \"right\": {\"target_q\":[0.22832395150517062,2.271398028168711,2.0359137374683787,-1.334673049706994,0.003974610351548502,-2.7930490273624735],\"max_segment_joint_change\":0.03253001686157586,\"measured_q\":[0.22686776518821716,2.278221845626831,2.0181984901428223,-1.3149802684783936,0.004381020087748766,-2.79101824760437],\"grip\":[0.8270359554074027],\"tcp\":{\"pose\":[0.19568852418996996,0.016476706520842377,0.857661751844948,-0.5246346404832504,-0.4720684139275534,0.5257000886763412,-0.474920333679894],\"timestamp\":6.24}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":6.24,\"waited_s\":1.7199999999999998},\n    \"file\": \"/tmp/kinex-observation-chiiyo5r.png\"\n  }\n}",
+    "call_id": "call_2bc836be3239418799c46678e90f3a39|fc_0e05b35c94578fcb016ae26c1f024081919edebb58865181ee",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "python": "import numpy as np\nfrom kinex import finish\np=np.load('/tmp/points.npy');finish({str((u,v)):p[v,u].tolist() for u,v in [(175,140),(175,145),(175,155),(175,163),(175,210),(175,218),(175,221),(175,225),(108,200),(245,200)]})",
+      "description": "measure box rim and interior"
+    },
+    "output": "{\n  \"output\": \"\",\n  \"result\": {\n    \"(175, 140)\": [-0.00040722973521965106,-0.044827186153967746,0.7401296101250818],\n    \"(175, 145)\": [0.00024104872438596853,-0.0448333771340384,0.721374966820128],\n    \"(175, 155)\": [0.001624042771544619,-0.04480792020862767,0.6813940593653645],\n    \"(175, 163)\": [0.0027909439988347273,-0.04511127723001751,0.6474165414712326],\n    \"(175, 210)\": [0.00015461159643855027,-0.1537931500053472,0.6421551363302781],\n    \"(175, 218)\": [-0.00027757404329852714,-0.17087271682999766,0.6418454611257971],\n    \"(175, 221)\": [-0.004858741824511546,-0.21538516883598618,0.7409611222694521],\n    \"(175, 225)\": [-0.004426556184774468,-0.2173418458088874,0.7269936144780211],\n    \"(108, 200)\": [-0.12591254536764196,-0.17503626728740773,0.7387227986229724],\n    \"(245, 200)\": [0.12582025415973105,-0.17167279655086232,0.731245401664232]\n  }\n}",
+    "call_id": "call_0b538cf057c14c61bac97c1cfb0cd058|fc_0e05b35c94578fcb016ae26c428a3c8191b797015760f0ed6f",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "targets": {
+          "left": [
+            0.003,
+            -0.173,
+            0.83,
+            0,
+            0.70710678,
+            0,
+            0.70710678
+          ],
+          "right": [
+            0.2,
+            0.016,
+            0.94,
+            0,
+            0.70710678,
+            0,
+            0.70710678
+          ]
+        },
+        "duration": 2,
+        "settle": 0.4
+      },
+      "description": "rotate tips left and position near shoe"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223776.430757245] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.9123295133525193,2.040620894932573,1.526702598322709,-1.0568256105508256,0.0017302909673467626,0.6856940754923477],\"max_segment_joint_change\":0.09190104728563075,\"measured_q\":[-0.8980924487113953,2.0321245193481445,1.51948082447052,-1.0570282936096191,0.0017319483449682593,0.7115294933319092],\"grip\":[0.8391735607927496],\"tcp\":{\"pose\":[-0.0018207208108431128,-0.16987044001734503,0.8313141069326292,0.004367543172538346,0.7067911316088494,-0.003909370937005834,0.7073980051319024],\"timestamp\":8.64}},\n    \"right\": {\"target_q\":[0.2149396947228276,2.3495298995565355,2.472670536500331,-1.6938670996952807,0.004595068148560996,-4.476247787375465],\"max_segment_joint_change\":0.0844328656620017,\"measured_q\":[0.22082558274269104,2.3440868854522705,2.461483955383301,-1.6856166124343872,0.004535673651844263,-4.451779842376709],\"grip\":[0.8248719681393016],\"tcp\":{\"pose\":[0.197473170754076,0.015326894137119296,0.9395929366625656,0.007442272502197977,0.7072963359824993,-0.005721082827813494,0.7068548471199813],\"timestamp\":8.64}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":8.64,\"waited_s\":2.4000000000000004},\n    \"file\": \"/tmp/kinex-observation-h5dm5cs9.png\"\n  }\n}",
+    "call_id": "call_3d16781764cf4a0c98cccccacb12ec20|fc_0e05b35c94578fcb016ae26c5c99308191bc0740dfc2a6ca3e",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "targets": {
+          "left": [
+            0.003,
+            -0.171,
+            0.795,
+            0,
+            0.70710678,
+            0,
+            0.70710678
+          ]
+        },
+        "duration": 0.6,
+        "settle": 0.24
+      },
+      "description": "lower near shoe above box rim"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223796.860208708] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.9076583925397403,2.089445255422863,1.4546758564746218,-0.9359729029341021,0.0020983747438904758,0.6910483067882552],\"max_segment_joint_change\":0.006180449019134837,\"measured_q\":[-0.901189923286438,2.0784759521484375,1.4630359411239624,-0.9493597149848938,0.0016712871147319674,0.6950069069862366],\"grip\":[0.8396634703332728],\"tcp\":{\"pose\":[0.0018037855152258642,-0.1686042508031495,0.8009633382598002,0.0005767295511718286,0.7055685951862317,0.002302956350375791,0.7086376515977687],\"timestamp\":9.48}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":9.48,\"waited_s\":0.8399999999999999},\n    \"right\": {\"measured_q\":[0.21868762373924255,2.349149227142334,2.472313165664673,-1.6932917833328247,0.004566576331853867,-4.473906993865967],\"grip\":[0.8240381804379551],\"tcp\":{\"pose\":[0.19837489371624997,0.015575779624339592,0.9400232677332943,-0.0002924959106377356,0.7071658500472698,0.0007037309396101165,0.7070472966752855],\"timestamp\":9.48}},\n    \"file\": \"/tmp/kinex-observation-w3fhvu6z.png\"\n  }\n}",
+    "call_id": "call_3410e13568674dba9c78cb58786142e1|fc_0e05b35c94578fcb016ae26c7127d881918d1c9f0399970eff",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "grips": {
+          "left": 1
+        },
+        "duration": 0.52,
+        "settle": 0
+      },
+      "description": "release near shoe into box"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223810.138928558] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":10,\"waited_s\":0.5199999999999996},\n    \"left\": {\"measured_q\":[-0.9030988812446594,2.0846312046051025,1.4563316106796265,-0.9375838041305542,0.002041139407083392,0.6914576292037964],\"grip\":[0.9781321043317969],\"tcp\":{\"pose\":[0.0023022107816283444,-0.16925432379288402,0.7971472161026872,-0.00036430205739246274,0.7057867511512136,0.0025707515284416164,0.7084195934755086],\"timestamp\":10}},\n    \"right\": {\"measured_q\":[0.21778197586536407,2.349522113800049,2.472609519958496,-1.6934796571731567,0.004572504665702581,-4.474327564239502],\"grip\":[0.8236210156570781],\"tcp\":{\"pose\":[0.19876386776936317,0.015692001397513644,0.9399359967789964,-0.00021207173898674109,0.7071431483194491,0.0004420190870238846,0.7070702422175338],\"timestamp\":10}},\n    \"file\": \"/tmp/kinex-observation-mqaw_xsm.png\"\n  }\n}",
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+    "is_error": false
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+      "args": {
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+        "settle": 0.3
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+      "description": "clear near row and position far shoe"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223825.237700211] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"left\": {\"target_q\":[-0.3029406615483511,1.4601317643672989,1.2774506423510985,-1.38814618012482,0.00008826971323923154,1.2861114749667022],\"max_segment_joint_change\":0.04320701833293622,\"measured_q\":[-0.3268199861049652,1.473667860031128,1.268896222114563,-1.3711458444595337,0.00013764412142336369,1.2655565738677979],\"grip\":[0.9954985949126157],\"tcp\":{\"pose\":[-0.2234420230825827,-0.1791360265468177,0.9347732029075545,-0.000600390655715932,0.70762774173887,-0.002856605292725736,0.7065794070441124],\"timestamp\":11.92}},\n    \"right\": {\"target_q\":[0.7180670816966506,2.2785383810171047,2.1069806150836756,-1.3991631957307018,0.0038320742290281293,-3.973956566069662],\"max_segment_joint_change\":0.06328158398588979,\"measured_q\":[0.7010597586631775,2.268319606781006,2.102823495864868,-1.402452826499939,0.004190298728644848,-3.985568046569824],\"grip\":[0.822635371576656],\"tcp\":{\"pose\":[0.00977399022646136,-0.08302936425841839,0.8832660165004471,0.0027850239077577012,0.7076324371141649,-0.0010922535121931497,0.7065744012968245],\"timestamp\":11.92}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":11.92,\"waited_s\":1.92},\n    \"file\": \"/tmp/kinex-observation-5145i7tt.png\"\n  }\n}",
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+    "is_error": false
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+      "description": "lower far shoe above box rim"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223842.720896783] [rcl]: Found security directory: /run/rlebench/public/security/enclaves/agent\\n\",\n  \"result\": {\n    \"right\": {\"target_q\":[0.7200100387934371,2.314264594631272,1.8292255773152175,-1.0856937116394345,0.004208342230618559,-3.971584752701272],\"max_segment_joint_change\":0.019064546089732737,\"measured_q\":[0.712832510471344,2.305619955062866,1.8402382135391235,-1.099536657333374,0.004314719699323177,-3.9705166816711426],\"grip\":[0.8249491155147552],\"tcp\":{\"pose\":[0.004880994000601269,-0.08428218124142661,0.8013795046666288,0.004495685880999968,0.7084282284060708,-0.001358558475059154,0.7057672338135041],\"timestamp\":13.16}},\n    \"wait\": {\"success\":true,\"message\":\"ok\",\"time_s\":13.16,\"waited_s\":1.2400000000000002},\n    \"left\": {\"measured_q\":[-0.3054666519165039,1.4618515968322754,1.2769138813018799,-1.3879971504211426,0.00009789218893274665,1.2860099077224731],\"grip\":[0.9978405155918815],\"tcp\":{\"pose\":[-0.22938359630191002,-0.1801734683142392,0.9394668852690865,0.00013833433721333058,0.7073163702745995,-0.0015805167780718991,0.7068953495192136],\"timestamp\":13.16}},\n    \"file\": \"/tmp/kinex-observation-qgiw6y15.png\"\n  }\n}",
+    "call_id": "call_317c811a2b8d45a8add0019d9ecae1d3|fc_0e05b35c94578fcb016ae26ca08f3481919e08747def8fee92",
+    "is_error": false
+  },
+  {
+    "name": "exec",
+    "input": {
+      "file": ".kinex/tools/dual_shoes.py",
+      "args": {
+        "grips": {
+          "right": 1,
+          "left": 1
+        },
+        "duration": 0.56,
+        "settle": 0
+      },
+      "description": "release far shoe"
+    },
+    "output": "{\n  \"output\": \"[INFO] [1793223853.744106609] [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\":13.48,\"waited_s\":0.3200000000000003}\n  }\n}",
+    "call_id": "call_855bae41d79b4122a218708c9f2a6f1d|fc_0e05b35c94578fcb016ae26cab1c3c81918c8ad84d143a629f",
+    "is_error": true
+  },
+  {
+    "name": "device_stop",
+    "input": {
+      "reason": "World reported episode ended during release wait; hold and inspect final measurements."
+    },
+    "output": "left_arm: stopped (hold; affects left_arm)\nleft_gripper: stopped (hold; affects left_gripper)\nright_arm: stopped (hold; affects right_arm)\nright_gripper: stopped (hold; affects right_gripper)\nworld: stopped",
+    "call_id": "call_5daa5ef62b724ef2867e3c346d1a3544|fc_0e05b35c94578fcb016ae26cb37ab4819183bfd8faad8f7b3c",
+    "is_error": false
+  },
+  {
+    "name": "devices",
+    "input": {
+      "calls": [
+        {
+          "deviceID": "head_camera",
+          "action": "image"
+        },
+        {
+          "deviceID": "left_gripper",
+          "action": "joint_state"
+        },
+        {
+          "deviceID": "right_gripper",
+          "action": "joint_state"
+        },
+        {
+          "deviceID": "world",
+          "action": "time"
+        }
+      ]
+    },
+    "output": "{\n  \"results\": [\n    {\"deviceID\":\"head_camera\",\"action\":\"image\",\"ok\":true,\"data\":{\"timestamp\":13.48,\"frame_id\":\"head_camera/base\",\"width\":320,\"height\":240},\"file\":\"/tmp/kinex-observation-hilw3rij.png\"},\n    {\"deviceID\":\"left_gripper\",\"action\":\"joint_state\",\"ok\":true,\"data\":{\"positions\":[0.9982522617686879],\"velocities\":[0.00007679601284590635],\"joint_names\":[\"left_gripper\"],\"timestamp\":13.48}},\n    {\"deviceID\":\"right_gripper\",\"action\":\"joint_state\",\"ok\":true,\"data\":{\"positions\":[0.9529129727320238],\"velocities\":[0.17699392681772058],\"joint_names\":[\"right_gripper\"],\"timestamp\":13.48}},\n    {\"deviceID\":\"world\",\"action\":\"time\",\"ok\":true,\"data\":{\"clock\":{\"sec\":13,\"nanosec\":480000000}}}\n  ]\n}",
+    "call_id": "call_5a7dcfb565f84f16b427e00d4290db11|fc_0e05b35c94578fcb016ae26cb87d088191850ccbe07a34f9ff",
+    "is_error": false
+  },
+  {
+    "name": "write",
+    "input": {
+      "path": ".kinex/memos/dual_shoes.md",
+      "content": "# RoboTwin dual shoes / ALOHA AgileX\n\nPublic interface: read harness.md and refreshed profiles each episode; load world, both arms/grippers, head_camera. Native period 0.04 s, stepped world.wait only. Use typed kinex.communication operations. Do not reset or inspect private simulator state.\n\nReusable tool: `.kinex/tools/dual_shoes.py` accepts world-frame TCP targets, duration/settle, normalized grip targets, and dry_run. Uses measured joint state, calibrated base transforms, 0.12 m flange-to-TCP translation, Cartesian interpolation/Slerp and continuous seeded IK. Publishes both trajectories before one sequential wait. Returns measured TCP/grips and camera. Read schemas before using. JointModel.fk/ik require list, not ROS array; camera_frame returns (image,depth).\n\nPerception: paired head depth mm -> optical coordinates using profile intrinsics -> world via camera mount. In observed scene table z=.640, box bottom .642, rim .740, inner x about [-.125,.130], y[-.215,-.045]. Shoes length ~.22 m, width .07 m. Re-measure positions each scene. Initial left shoe pointed roughly [-.435,.9005,0], right [.10,.995,0]. Grasp across width at center: downward TCP x axis; local z opposite shoe toe direction; local y=cross(z,x). Grasp TCP z=.695 worked, lift to .865. Both measured grips stalled ~.82-.84 and visual lift confirmed shoes attached (stall alone is not evidence).\n\nPlace tips world -X using quaternion xyzw [0,.70710678,0,.70710678]. Near row for initially left shoe: observed target TCP [.003,-.171,.795]. Far row: [.003,-.087,.795]. Grasp offsets kept soles roughly .055 below TCP. Release just above rim: gripper fingers cannot descend to floor in narrow box without contacting walls. Shoe falls flat into box. Place sequentially; keep other held shoe high/outside, then withdraw released arm up/outward while bringing other shoe above far row. Example left clearance [-.23,-.18,.94]. Waits .3-.4 s after trajectories reduce tracking error; verify actual state. Near shoe was visibly flat, toe left, before placing far shoe.\n\nWorld can terminate during a release wait before requested duration. A rejected/interrupted wait is NOT proof of success. Stop and inspect final images/state; do not keep advancing terminal world. Observed terminal at t=13.48 during second release (337 frames): image showed both shoes flat inside box with tips left and initially left shoe nearer robot. Open commands had been sent to both; final openings left .9983 and right .9529. Native verdict is owner-only; do not claim it. Tool currently surfaces rejected wait as error, so final observation requires separate device reads.\n"
+    },
+    "output": "Successfully wrote to .kinex/memos/dual_shoes.md",
+    "call_id": "call_ce2bbe8cfcac48fa9a6cbaea14bb18f6|fc_0e05b35c94578fcb016ae26cc583608191b8162570ad00b3ce",
+    "is_error": false
+  }
+]

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experiments/robotwin-native/kinex-2/workspace.json

@@ -0,0 +1,133 @@
+{
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+    ".kinex/devices/head_camera/profile.yaml",
+    ".kinex/devices/left_arm/arm.urdf",
+    ".kinex/devices/left_arm/links.py",
+    ".kinex/devices/left_arm/profile.yaml",
+    ".kinex/devices/left_camera/profile.yaml",
+    ".kinex/devices/left_gripper/gripper.urdf",
+    ".kinex/devices/left_gripper/links.py",
+    ".kinex/devices/left_gripper/profile.yaml",
+    ".kinex/devices/right_arm/arm.urdf",
+    ".kinex/devices/right_arm/links.py",
+    ".kinex/devices/right_arm/profile.yaml",
+    ".kinex/devices/right_camera/profile.yaml",
+    ".kinex/devices/right_gripper/gripper.urdf",
+    ".kinex/devices/right_gripper/links.py",
+    ".kinex/devices/right_gripper/profile.yaml",
+    ".kinex/devices/world/profile.yaml",
+    ".kinex/kinex.json",
+    ".kinex/memos/dual_shoes.md",
+    ".kinex/tools/dual_shoes.py",
+    ".kinex/workspace.yaml",
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+  "scope": [
+    "instruction.md",
+    "harness.md",
+    ".kinex/workspace.yaml",
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+    ".kinex/kinex.json",
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+}

experiments/robotwin-native/kinex-2/workspace.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71314c04c838ff7fa9b7717be16d80887bfd5c3c35d259c94c6c7a2f70450a81
+size 9516

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/head_camera/profile.yaml

@@ -0,0 +1,92 @@
+name: head_camera
+description: "Fixed RGB-D head camera (D435 model) above the table. Native ray-traced RGB with pixel-center depth from a raster twin; calibration and the optical-frame mount are in the profile."
+source: introspected
+calibrated_at: null
+method: introspection
+runtime:
+  overlays: []
+  domain_id: 83
+  namespace: ''
+  nodes: []
+  ready_timeout_s: 30
+operations:
+  image:
+    description: "RGB image measurements with encoding, dimensions, row stride and acquisition timestamp in the Image header. The frame_id identifies the calibrated optical frame; use its stamp for tf2 lookup. A new subscriber receives the current frame at once, also while the world is paused, then one per camera sample; reading never advances world time."
+    transport: topic
+    direction: output
+    endpoint: "/head_camera/image"
+    type: sensor_msgs/msg/Image
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  depth:
+    description: "16UC1 depth registered to image in millimetres along the optical axis; 0 marks missing or out-of-range samples. Rendered with its image: same stamp and frame_id, so pair the two by stamp."
+    transport: topic
+    direction: output
+    endpoint: "/head_camera/depth"
+    type: sensor_msgs/msg/Image
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  camera_info:
+    description: "Projection and distortion calibration for the image stream, including K, D, image size and optical frame. Use the declared distortion model and raw/rectified image space when projecting pixels; intrinsics are not TF transforms."
+    transport: topic
+    direction: output
+    endpoint: "/head_camera/camera_info"
+    type: sensor_msgs/msg/CameraInfo
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+loaded: true
+meta:
+  created_at: "2026-10-24T00:00:00Z"
+  updated_at: "2026-10-28T21:38:51.097Z"
+frames:
+  base:
+    parent: "world:base"
+    translation_m:
+      - -0.03200000152
+      - -0.449999988079
+      - 1.350000023842
+    rotation_xyzw:
+      - -0.948683301192
+      - 0
+      - 0
+      - 0.316227769682
+color:
+  width: 320
+  height: 240
+  fps: null
+  projection:
+    model: pinhole
+    fx: 358.642181396484
+    fy: 358.642181396484
+    cx: 159.5
+    cy: 119.5
+    skew: 0
+  distortion:
+    model: none
+  fov:
+    horizontal_deg: 48.085891406655776
+    vertical_deg: 37.000001358777325
+type: rgbd
+depth:
+  width: 320
+  height: 240
+  fps: null
+  quantity: z
+  scale_m_per_unit: 0.001
+  invalid_value: 0
+  valid_range_m:
+    min: 0.1
+    max: 65.535
+  reliable_range_m:
+    min: 0.1
+    max: 65.535
+  registration: color

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/left_arm/arm.urdf

@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<!-- RoboTwin ALOHA AgileX left ARX5 arm from arx5_description_isaac.urdf: fl_base_link..fl_link6; flange is the fl_link6 frame. -->
+<robot name="aloha_left_arm">
+  <link name="base_link"/>
+  <link name="link1"/>
+  <link name="link2"/>
+  <link name="link3"/>
+  <link name="link4"/>
+  <link name="link5"/>
+  <link name="flange"/>
+  <joint name="fl_joint1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <origin xyz="0 0 0.058" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fl_joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fl_joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin xyz="-0.26396 0.0044548 0" rpy="3.14158530718 0 -0.015928"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fl_joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fl_joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fl_joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="flange"/>
+    <origin xyz="0.03095 0 0.0855" rpy="3.14158530718 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+</robot>

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/left_arm/links.py

@@ -0,0 +1,8 @@
+"""Publish the device's URDF links on TF from measured joint states."""
+from pathlib import Path
+
+from kinex.node import LinkPublisher
+
+
+def create(profile, context):
+    return LinkPublisher(profile, context, Path(__file__).parent)

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/left_arm/profile.yaml

@@ -0,0 +1,81 @@
+name: left_arm
+description: "ARX5 six-joint left arm of the RoboTwin ALOHA AgileX. Geometry is the sibling arm.urdf with flange (fl_link6) as the tip link; measured links are on TF as left_arm/<link>, and helpers.joint_model('left_arm') computes FK/IK from it. Commands are upstream's absolute joint positions (the arm part of its 14-D qpos action), applied as native drive targets once per 0.04 s frame. The native URDF limits are +/-10 rad placeholders."
+source: introspected
+calibrated_at: null
+method: introspection
+runtime:
+  overlays: []
+  domain_id: 83
+  namespace: ''
+  nodes:
+    - entry: links.py
+      factory: create
+  ready_timeout_s: 30
+operations:
+  joint_state:
+    description: "Measured positions of fl_joint1, fl_joint2, fl_joint3, fl_joint4, fl_joint5, fl_joint6 in radians with velocities and the world-clock acquisition stamp; do not infer motion completion from a sent command."
+    transport: topic
+    direction: output
+    endpoint: "/left_arm/joint_state"
+    type: sensor_msgs/msg/JointState
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+  joint_target:
+    description: "Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state."
+    transport: topic
+    direction: input
+    endpoint: "/left_arm/joint_target"
+    type: trajectory_msgs/msg/JointTrajectory
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  stop:
+    description: Stop arm motion and hold the measured posture.
+    transport: service
+    direction: input
+    endpoint: "/left_arm/stop"
+    type: std_srvs/srv/Trigger
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+loaded: true
+meta:
+  created_at: "2026-10-24T00:00:00Z"
+  updated_at: "2026-10-28T21:38:51.102Z"
+frames:
+  base:
+    parent: "world:base"
+    translation_m:
+      - -0.296999871731
+      - -0.419500023127
+      - 0.782000243664
+    rotation_xyzw:
+      - 0
+      - 2.9802e-8
+      - 0.714142563298
+      - 0.700000389985
+model:
+  format: urdf
+  path: arm.urdf
+  base_link: base_link
+  tip_link: flange
+home:
+  fl_joint1: 0
+  fl_joint2: 0
+  fl_joint3: 0
+  fl_joint4: 0
+  fl_joint5: 0
+  fl_joint6: 0
+limits: native
+stop:
+  behavior: hold
+  affected_devices:
+    - left_arm
+type: joint

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/left_camera/profile.yaml

@@ -0,0 +1,100 @@
+name: left_camera
+runtime:
+  domain_id: 83
+  nodes: []
+  ready_timeout_s: 30
+operations:
+  image:
+    description: RGB image measurements with encoding, dimensions, row stride and
+      acquisition timestamp in the Image header. The frame_id identifies the calibrated
+      optical frame; use its stamp for tf2 lookup. A new subscriber receives the current
+      frame at once, also while the world is paused, then one per camera sample; reading
+      never advances world time.
+    transport: topic
+    direction: output
+    endpoint: /left_camera/image
+    type: sensor_msgs/msg/Image
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  depth:
+    description: '16UC1 depth registered to image in millimetres along the optical
+      axis; 0 marks missing or out-of-range samples. Rendered with its image: same
+      stamp and frame_id, so pair the two by stamp.'
+    transport: topic
+    direction: output
+    endpoint: /left_camera/depth
+    type: sensor_msgs/msg/Image
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  camera_info:
+    description: Projection and distortion calibration for the image stream, including
+      K, D, image size and optical frame. Use the declared distortion model and raw/rectified
+      image space when projecting pixels; intrinsics are not TF transforms.
+    transport: topic
+    direction: output
+    endpoint: /left_camera/camera_info
+    type: sensor_msgs/msg/CameraInfo
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+loaded: false
+meta:
+  created_at: '2026-10-24T00:00:00Z'
+  updated_at: '2026-10-24T00:00:00Z'
+type: rgbd
+description: RGB-D camera (D435 model) on the left wrist. Native ray-traced RGB with
+  pixel-center depth from a raster twin; calibration and the optical-frame mount on
+  the left_arm flange are in the profile.
+source: introspected
+calibrated_at: null
+method: introspection
+color:
+  width: 320
+  height: 240
+  fps: null
+  projection:
+    model: pinhole
+    fx: 358.642181396484
+    fy: 358.642181396484
+    cx: 159.5
+    cy: 119.5
+    skew: 0
+  distortion:
+    model: none
+  fov:
+    horizontal_deg: 48.085891406656
+    vertical_deg: 37.000001358777
+depth:
+  width: 320
+  height: 240
+  fps: null
+  quantity: z
+  scale_m_per_unit: 0.001
+  invalid_value: 0
+  valid_range_m:
+    min: 0.1
+    max: 65.535
+  reliable_range_m:
+    min: 0.1
+    max: 65.535
+  registration: color
+frames:
+  base:
+    translation_m:
+    - 0.07000001149
+    - 0.031999994336
+    - 0.065000047158
+    rotation_xyzw:
+    - -0.589367966393
+    - 0.589367919412
+    - -0.390698641271
+    - 0.39069867358
+    parent: left_arm:flange

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/left_gripper/gripper.urdf

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<!-- RoboTwin ALOHA AgileX left parallel gripper on the fl_link6 flange. left_gripper is a geometry-less virtual drive joint carrying the native normalized opening (0 closed, 1 open); both fingers mimic it as -0.01 + 0.055 m per unit, upstream's gripper_scale. Closed targets lie below the finger stop to squeeze an object. -->
+<robot name="aloha_left_gripper">
+  <link name="base_link"/>
+  <link name="drive"/>
+  <link name="finger_a"/>
+  <link name="finger_b"/>
+  <joint name="left_gripper" type="revolute">
+    <parent link="base_link"/>
+    <child link="drive"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fl_joint7" type="prismatic">
+    <parent link="base_link"/>
+    <child link="finger_a"/>
+    <origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="0" upper="0.04765" effort="100" velocity="10"/>
+    <mimic joint="left_gripper" multiplier="0.055" offset="-0.01"/>
+  </joint>
+  <joint name="fl_joint8" type="prismatic">
+    <parent link="base_link"/>
+    <child link="finger_b"/>
+    <origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="0" upper="0.04765" effort="100" velocity="10"/>
+    <mimic joint="left_gripper" multiplier="0.055" offset="-0.01"/>
+  </joint>
+</robot>

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/left_gripper/links.py

@@ -0,0 +1,8 @@
+"""Publish the device's URDF links on TF from measured joint states."""
+from pathlib import Path
+
+from kinex.node import LinkPublisher
+
+
+def create(profile, context):
+    return LinkPublisher(profile, context, Path(__file__).parent)

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/left_gripper/profile.yaml

@@ -0,0 +1,88 @@
+name: left_gripper
+description: "ALOHA AgileX left parallel two-finger gripper on the left_arm flange. The grip joint left_gripper is upstream's normalized gripper value (0 closed, 1 open): finger targets are -0.01 + 0.055 m per unit, so a closed command squeezes past the finger stop. The TCP is upstream's tcp pose, gripper_bias ahead of the wrist joint with +x approaching. A closed or stalled grip alone does not prove a successful grasp."
+source: introspected
+calibrated_at: null
+method: introspection
+runtime:
+  overlays: []
+  domain_id: 83
+  namespace: ''
+  observation: joint_state
+  nodes:
+    - entry: links.py
+      factory: create
+  ready_timeout_s: 30
+operations:
+  joint_state:
+    description: "Measured left_gripper, the native normalized gripper opening (0 closed, 1 open), stamped at acquisition; Kinex publishes the URDF finger links from it."
+    transport: topic
+    direction: output
+    endpoint: "/left_gripper/joint_state"
+    type: sensor_msgs/msg/JointState
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+  target:
+    description: "Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state."
+    transport: topic
+    direction: input
+    endpoint: "/left_gripper/target"
+    type: std_msgs/msg/Float64
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  stop:
+    description: "Hold the measured opening; fingers may settle briefly after the stop."
+    transport: service
+    direction: input
+    endpoint: "/left_gripper/stop"
+    type: std_srvs/srv/Trigger
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+loaded: true
+meta:
+  created_at: "2026-10-24T00:00:00Z"
+  updated_at: "2026-10-28T21:38:51.101Z"
+frames:
+  base:
+    parent: "left_arm:flange"
+    translation_m:
+      - 0
+      - 0
+      - 0
+    rotation_xyzw:
+      - 0
+      - 0
+      - 0
+      - 1
+  tcp:
+    parent: "left_gripper:base"
+    translation_m:
+      - 0.1199999989
+      - 7.305e-9
+      - -7.152e-9
+    rotation_xyzw:
+      - 0
+      - 2.9802e-8
+      - 3.2247e-8
+      - 0.999999998609
+model:
+  format: urdf
+  path: gripper.urdf
+  base_link: base_link
+grip:
+  joint: left_gripper
+  open: 1
+  closed: 0
+stop:
+  behavior: hold
+  affected_devices:
+    - left_gripper
+type: gripper

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/right_arm/arm.urdf

@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<!-- RoboTwin ALOHA AgileX right ARX5 arm from arx5_description_isaac.urdf: fr_base_link..fr_link6; flange is the fr_link6 frame. -->
+<robot name="aloha_right_arm">
+  <link name="base_link"/>
+  <link name="link1"/>
+  <link name="link2"/>
+  <link name="link3"/>
+  <link name="link4"/>
+  <link name="link5"/>
+  <link name="flange"/>
+  <joint name="fr_joint1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <origin xyz="0 0 0.058" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fr_joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fr_joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin xyz="-0.26396 0.0044548 0" rpy="3.14158530718 0 -0.015928"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fr_joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fr_joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fr_joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="flange"/>
+    <origin xyz="0.03095 0 0.0855" rpy="3.14158530718 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-10" upper="10" effort="100" velocity="10"/>
+  </joint>
+</robot>

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/right_arm/links.py

@@ -0,0 +1,8 @@
+"""Publish the device's URDF links on TF from measured joint states."""
+from pathlib import Path
+
+from kinex.node import LinkPublisher
+
+
+def create(profile, context):
+    return LinkPublisher(profile, context, Path(__file__).parent)

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/right_arm/profile.yaml

@@ -0,0 +1,81 @@
+name: right_arm
+description: "ARX5 six-joint right arm of the RoboTwin ALOHA AgileX. Geometry is the sibling arm.urdf with flange (fr_link6) as the tip link; measured links are on TF as right_arm/<link>, and helpers.joint_model('right_arm') computes FK/IK from it. Commands are upstream's absolute joint positions (the arm part of its 14-D qpos action), applied as native drive targets once per 0.04 s frame. The native URDF limits are +/-10 rad placeholders."
+source: introspected
+calibrated_at: null
+method: introspection
+runtime:
+  overlays: []
+  domain_id: 83
+  namespace: ''
+  nodes:
+    - entry: links.py
+      factory: create
+  ready_timeout_s: 30
+operations:
+  joint_state:
+    description: "Measured positions of fr_joint1, fr_joint2, fr_joint3, fr_joint4, fr_joint5, fr_joint6 in radians with velocities and the world-clock acquisition stamp; do not infer motion completion from a sent command."
+    transport: topic
+    direction: output
+    endpoint: "/right_arm/joint_state"
+    type: sensor_msgs/msg/JointState
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+  joint_target:
+    description: "Joint trajectory over all 6 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. Points are absolute native joint positions, linearly interpolated at the native control period. Replacement clears pending references; invalid trajectories are ignored, so verify measured joint_state."
+    transport: topic
+    direction: input
+    endpoint: "/right_arm/joint_target"
+    type: trajectory_msgs/msg/JointTrajectory
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  stop:
+    description: Stop arm motion and hold the measured posture.
+    transport: service
+    direction: input
+    endpoint: "/right_arm/stop"
+    type: std_srvs/srv/Trigger
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+loaded: true
+meta:
+  created_at: "2026-10-24T00:00:00Z"
+  updated_at: "2026-10-28T21:38:51.100Z"
+frames:
+  base:
+    parent: "world:base"
+    translation_m:
+      - 0.306300014257
+      - -0.418499916792
+      - 0.78100001812
+    rotation_xyzw:
+      - -2.9802e-8
+      - 5.9605e-8
+      - 0.71063355368
+      - 0.703562409721
+model:
+  format: urdf
+  path: arm.urdf
+  base_link: base_link
+  tip_link: flange
+home:
+  fr_joint1: 0
+  fr_joint2: 0
+  fr_joint3: 0
+  fr_joint4: 0
+  fr_joint5: 0
+  fr_joint6: 0
+limits: native
+stop:
+  behavior: hold
+  affected_devices:
+    - right_arm
+type: joint

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/right_camera/profile.yaml

@@ -0,0 +1,100 @@
+name: right_camera
+runtime:
+  domain_id: 83
+  nodes: []
+  ready_timeout_s: 30
+operations:
+  image:
+    description: RGB image measurements with encoding, dimensions, row stride and
+      acquisition timestamp in the Image header. The frame_id identifies the calibrated
+      optical frame; use its stamp for tf2 lookup. A new subscriber receives the current
+      frame at once, also while the world is paused, then one per camera sample; reading
+      never advances world time.
+    transport: topic
+    direction: output
+    endpoint: /right_camera/image
+    type: sensor_msgs/msg/Image
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  depth:
+    description: '16UC1 depth registered to image in millimetres along the optical
+      axis; 0 marks missing or out-of-range samples. Rendered with its image: same
+      stamp and frame_id, so pair the two by stamp.'
+    transport: topic
+    direction: output
+    endpoint: /right_camera/depth
+    type: sensor_msgs/msg/Image
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  camera_info:
+    description: Projection and distortion calibration for the image stream, including
+      K, D, image size and optical frame. Use the declared distortion model and raw/rectified
+      image space when projecting pixels; intrinsics are not TF transforms.
+    transport: topic
+    direction: output
+    endpoint: /right_camera/camera_info
+    type: sensor_msgs/msg/CameraInfo
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+loaded: false
+meta:
+  created_at: '2026-10-24T00:00:00Z'
+  updated_at: '2026-10-24T00:00:00Z'
+type: rgbd
+description: RGB-D camera (D435 model) on the right wrist. Native ray-traced RGB with
+  pixel-center depth from a raster twin; calibration and the optical-frame mount on
+  the right_arm flange are in the profile.
+source: introspected
+calibrated_at: null
+method: introspection
+color:
+  width: 320
+  height: 240
+  fps: null
+  projection:
+    model: pinhole
+    fx: 358.642181396484
+    fy: 358.642181396484
+    cx: 159.5
+    cy: 119.5
+    skew: 0
+  distortion:
+    model: none
+  fov:
+    horizontal_deg: 48.085891406656
+    vertical_deg: 37.000001358777
+depth:
+  width: 320
+  height: 240
+  fps: null
+  quantity: z
+  scale_m_per_unit: 0.001
+  invalid_value: 0
+  valid_range_m:
+    min: 0.1
+    max: 65.535
+  reliable_range_m:
+    min: 0.1
+    max: 65.535
+  registration: color
+frames:
+  base:
+    translation_m:
+    - 0.069999999887
+    - 0.031999976227
+    - 0.064999980711
+    rotation_xyzw:
+    - -0.58936798274
+    - 0.589367967612
+    - -0.390698619841
+    - 0.390698640561
+    parent: right_arm:flange

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/right_gripper/gripper.urdf

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<!-- RoboTwin ALOHA AgileX right parallel gripper on the fr_link6 flange. right_gripper is a geometry-less virtual drive joint carrying the native normalized opening (0 closed, 1 open); both fingers mimic it as -0.01 + 0.055 m per unit, upstream's gripper_scale. Closed targets lie below the finger stop to squeeze an object. -->
+<robot name="aloha_right_gripper">
+  <link name="base_link"/>
+  <link name="drive"/>
+  <link name="finger_a"/>
+  <link name="finger_b"/>
+  <joint name="right_gripper" type="revolute">
+    <parent link="base_link"/>
+    <child link="drive"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1" effort="100" velocity="10"/>
+  </joint>
+  <joint name="fr_joint7" type="prismatic">
+    <parent link="base_link"/>
+    <child link="finger_a"/>
+    <origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="0" upper="0.04765" effort="100" velocity="10"/>
+    <mimic joint="right_gripper" multiplier="0.055" offset="-0.01"/>
+  </joint>
+  <joint name="fr_joint8" type="prismatic">
+    <parent link="base_link"/>
+    <child link="finger_b"/>
+    <origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="0" upper="0.04765" effort="100" velocity="10"/>
+    <mimic joint="right_gripper" multiplier="0.055" offset="-0.01"/>
+  </joint>
+</robot>

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/right_gripper/links.py

@@ -0,0 +1,8 @@
+"""Publish the device's URDF links on TF from measured joint states."""
+from pathlib import Path
+
+from kinex.node import LinkPublisher
+
+
+def create(profile, context):
+    return LinkPublisher(profile, context, Path(__file__).parent)

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/right_gripper/profile.yaml

@@ -0,0 +1,88 @@
+name: right_gripper
+description: "ALOHA AgileX right parallel two-finger gripper on the right_arm flange. The grip joint right_gripper is upstream's normalized gripper value (0 closed, 1 open): finger targets are -0.01 + 0.055 m per unit, so a closed command squeezes past the finger stop. The TCP is upstream's tcp pose, gripper_bias ahead of the wrist joint with +x approaching. A closed or stalled grip alone does not prove a successful grasp."
+source: introspected
+calibrated_at: null
+method: introspection
+runtime:
+  overlays: []
+  domain_id: 83
+  namespace: ''
+  observation: joint_state
+  nodes:
+    - entry: links.py
+      factory: create
+  ready_timeout_s: 30
+operations:
+  joint_state:
+    description: "Measured right_gripper, the native normalized gripper opening (0 closed, 1 open), stamped at acquisition; Kinex publishes the URDF finger links from it."
+    transport: topic
+    direction: output
+    endpoint: "/right_gripper/joint_state"
+    type: sensor_msgs/msg/JointState
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+  target:
+    description: "Native normalized opening (data) from 0 (closed) to 1 (open), the gripper entry of upstream's 14-D qpos action. The native setter runs on every 250 Hz substep and moves the drive target at most 0.1 per call toward it. A target persists until replaced or stopped; out-of-range targets are ignored, so verify joint_state."
+    transport: topic
+    direction: input
+    endpoint: "/right_gripper/target"
+    type: std_msgs/msg/Float64
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+  stop:
+    description: "Hold the measured opening; fingers may settle briefly after the stop."
+    transport: service
+    direction: input
+    endpoint: "/right_gripper/stop"
+    type: std_srvs/srv/Trigger
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+loaded: true
+meta:
+  created_at: "2026-10-24T00:00:00Z"
+  updated_at: "2026-10-28T21:38:51.103Z"
+frames:
+  base:
+    parent: "right_arm:flange"
+    translation_m:
+      - 0
+      - 0
+      - 0
+    rotation_xyzw:
+      - 0
+      - 0
+      - 0
+      - 1
+  tcp:
+    parent: "right_gripper:base"
+    translation_m:
+      - 0.119999992883
+      - -9.757e-9
+      - -7.153e-9
+    rotation_xyzw:
+      - 1e-12
+      - 2.9802e-8
+      - -6.4393e-8
+      - 0.999999973161
+model:
+  format: urdf
+  path: gripper.urdf
+  base_link: base_link
+grip:
+  joint: right_gripper
+  open: 1
+  closed: 0
+stop:
+  behavior: hold
+  affected_devices:
+    - right_gripper
+type: gripper

experiments/robotwin-native/kinex-2/workspace/.kinex/devices/world/profile.yaml

@@ -0,0 +1,58 @@
+name: world
+description: Scene reference and authoritative world clock of the RoboTwin 2.0 table. Kinex supplies frame transforms independently. This device exposes no task instructions or evaluator results.
+source: default
+calibrated_at: null
+method: unknown
+runtime:
+  overlays: []
+  domain_id: 83
+  namespace: ''
+  observation: time
+  nodes: []
+  ready_timeout_s: 30
+operations:
+  time:
+    description: Authoritative world clock
+    transport: topic
+    direction: output
+    endpoint: "/clock"
+    type: rosgraph_msgs/msg/Clock
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: transient_local
+    timeout_s: 10
+  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
+  stop:
+    description: Cancel the pending wait.
+    transport: service
+    direction: input
+    endpoint: "/world/stop"
+    type: std_srvs/srv/Trigger
+    qos:
+      depth: 1
+      reliability: reliable
+      durability: volatile
+    timeout_s: 10
+loaded: true
+meta:
+  created_at: "2026-10-24T00:00:00Z"
+  updated_at: "2026-10-28T21:38:51.095Z"
+frames:
+  base:
+    parent: null
+    translation_m: null
+    rotation_xyzw: null
+bounds: null
+surfaces: []
+type: world