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runs/a4/bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct/run.json

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+{"format":3,"slug":"bigym2-saucepan-to-hob-i00-standard-realtime--zh2gbct","task":"bigym2-saucepan-to-hob-i00-standard-realtime","bench":"bigym2","mode":"standard-realtime","run":"codex-gpt6_luna-xhigh","agent":"codex","model":"gpt-6-luna","effort":"xhigh","state":"failed","success":0,"reward":{"success":0,"live_success":0,"replay_success":0,"deterministic":1,"finalized":1,"missing_log":0,"infra_error":0,"grader_error":0,"sim_error":0,"sim_crashed_on_call":0,"n_actions":4650,"sim_steps":4650,"calls":961,"rows":4483,"resets":0,"reset_budget":0,"sim_startups":1,"elapsed_s":174.2,"video_rendered":1,"realtime":1,"slowdown":1.0,"clock_s":92.993,"max_lag_s":0.0085,"stalls":0,"stalled_s":0.0,"stalled_share":0.0,"held_steps":1416,"late_steps":0,"requests_refused":0,"request_busy_s":1.082,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0,"peak_memory_gb":0.146,"peak_processes":10,"peak_disk_gb":0.827,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0},"wall_s":214,"tokens":{"in":655278,"cached":571392,"out":16065,"usd":0.02},"task_text":"# bigym2 saucepan-to-hob — instance i00 — STANDARD-REALTIME MODE (robot as a service; time does not stop)\n\nYou control a simulated Unitree G1 humanoid robot with two-finger grippers (BiGym 2.0, MuJoCo) **as if it were real\nhardware**: the simulator runs in a service you cannot open, and you reach it only through a client. Like real hardware,\nit does not wait for you: once the episode is running, the robot moves in real time while you think. NVIDIA's GR00T\nwhole-body controller, a learned policy that runs inside every control step, drives the legs and waist and keeps the\nrobot balanced: you command where it walks, how high its pelvis is, how far its torso leans forward, its arm joints and its grippers.\n**Task:** Take the saucepan out of the cabinet and gently set it on the hob.\n\nAt the start the saucepan is inside the closed cabinet under the counter, about 0.6 m away, 12° to your left, 0.48 m above the floor; the cabinet door's handle is about 0.5 m away, 30° to your left, 0.67 m above the floor; the hob is on the counter top, about 0.7 m away, straight ahead, 0.85 m above the floor. (Distances are from your pelvis along the floor, directions from the way you face,\nheights above the floor; measured on this scene.)\n\n## Rules (real-robot rules)\n- **Time does not stop.** The episode starts paused, on a fixed starting state, the robot standing still. Its clock starts at your first `submit` (or `get_obs(seconds=s)`) and from then on the robot runs at 50 Hz in real time, one control step every 0.02 s of wall-clock time, whether or not you send anything, until the episode ends. Between your commands it executes what you planned, then holds your last command with zero walking and turning velocity (it stands still where it is); nothing pauses for you, not your thinking, not your tool calls.\n- **You are far too slow to steer it turn by turn.** One turn of yours takes seconds. Drive it with a program: a controller of your own (Python in your container, with numpy and the client) that runs a loop, reads the robot and sends commands, started in the background (`setsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null &`: `setsid` matters, a plain `nohup ... &` is killed when your shell command returns) so that your session is free while it runs.\n- **One episode, no reset.** `spec()[\"budget\"][\"reset\"]` is authoritative: it is 0 here, so the one episode is the run.\n- **No privileged state, no score.** You see what the robot's three cameras see (RGB, 84×84: `head`, `left_wrist`, `right_wrist`) and its own proprioception (below). Not where any object is now (only the start sentence above), not the success check: the service judges the episode and only tells you that it ended and why (`meta[\"done\"]`, `meta[\"reason\"]`). `spec()` gives the robot's facts: the action slots and their bounds, each camera's field of view and its pose at the start.\n- There is nothing to hand in: the service records every control step it ran, replays the episode in \n… (7,940 characters left out) …\nother benchmark's examples (`joint_position`, bounds [-1, 1], `imu`,\n`links`, `depth`): for this task `spec()` is authoritative.\n\n## Proprioception\nEach row (`meta[\"proprio\"][\"now\"]`, `res.proprio`) has, in `spec()[\"proprio_layout\"]` order: the positions (`*_pos`) of the 3 waist joints (they show the lean you command), each arm's 7 joints (rad) and its gripper's 2 finger joints (slides, m), and the pelvis (`pelvis_x_pos`, `pelvis_y_pos`, `pelvis_z_pos` in m and `pelvis_rz_pos`, its heading, in rad: the room's frame, z up, heading 0 along the room's +x axis and counter-clockwise positive): 25 values; then their velocities (`*_vel`, per second) in the same order; then `left_gripper_state` and `right_gripper_state` (0 open .. 1 closed); then the pelvis pose again as the base controller tracks it (`pelvis_x`, `pelvis_y`, `pelvis_z`, `pelvis_yaw`). This is BiGym's own low-dimensional observation, the one its learned policies receive.\n\n## External material\nYou may install packages you need (pip, apt), and you may read anything installed in your container, the simulator's and this benchmark's own source code included. Please solve the task yourself: do not search the web for, or download, a ready-made solution to it, such as published or reference solutions, recorded demonstrations, or policies trained for it. This is an honour rule; trials are reviewed. The network reaches your model's API and the package registries (PyPI, Debian / Ubuntu archives) only.\n\n## Resource limits\nLimits for your agent environment, your own container only (the simulator in the `sim` service is the benchmark's and does not count): at most **8 GiB of memory**, **512 processes** and **20 GiB** of new files under `/app`, `/tmp` and `/root`; your container has no GPU. These limits may be enforced (from protocol v1.2 on): when enforcement is on, exceeding one for 60 s within any 2 minutes, or a process killed for lack of memory, ends the trial as a failure (reward 0), whatever the deliverable. A monitor outside your container measures every few seconds; the current values are in `/run/rcb-limits/usage.json`. CPU is capped at 4 cores for your container; the cap only slows you down.\n\n## Time limit\nYou have 3600 seconds to complete this task. Do not cheat by using online solutions or hints specific to this task.\n\nThis is wall-clock time from the start of your session; the time you wait for the simulator service counts. When it is up you are stopped without warning and the episode is graded as it stands at that moment. The service's `time_left_s` counts the same limit from your first request to the service, so it never runs out before your time does: your real time left is `time_left_s` minus the time you spent before that request. Plan by it. Your session started when you received this task: run `date` now, and again before you decide that time is short; work out the time left from those readings, never from a guess. Installing packages is not cheating (`## External material` above).\n","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":"replay.mp4","poster":"poster.jpg","steps_bin":{"file":"steps.bin","size":196353,"mime":"image/jpeg"},"trajectory":{"file":"trajectory.jsonl.gz","size":116286,"bytes":251538,"lines":26,"source":"agent/trajectory.json","capped":null},"steps":[{"id":6,"t":0.0,"say":"I’ll inspect the client and scene specification first, then build and launch a background controller that uses the camera views and proprioception for the cabinet and hob approach. I’ll keep the controller saved at `/app/output/gen.py` and monitor the live run.","calls":[{"kind":"shell","label":"date -u","code":"date -u"},{"kind":"shell","label":"ls -la /app && ls -la /app/output 2>/dev/null || true","code":"ls -la /app && ls -la /app/output 2>/dev/null || true"},{"kind":"shell","label":"python -c 'import rcb_client; help(rcb_client)'","code":"python -c 'import rcb_client; help(rcb_client)'"},{"kind":"shell","label":"find /app -maxdepth 3 -type f | head -80","code":"find /app -maxdepth 3 -type f | head -80"}],"out":{"text":"Thu Oct 15 02:32:19 UTC 2026\n\ntotal 12\ndrwxr-xr-x 3 root root 4096 Oct  9 03:07 .\ndrwxr-xr-x 1 root root 4096 Oct 15 02:32 ..\ndrwxr-xr-x 2 root root 4096 Oct  9 03:07 output\ntotal 8\ndrwxr-xr-x 2 root root 4096 Oct  9 03:07 .\ndrwxr-xr-x 3 root root 4096 Oct  9 03:07 ..\n\nHelp on module rcb_client:\n\nNAME\n    rcb_client\n\nDESCRIPTION\n    eai-standard/2.3 client (standard-realtime mode): your whole interface to the robot (installed at /opt/tools/rcb_client.py, on\n    PYTHONPATH).\n\n        from rcb_client import Robot, EpisodeOver\n        r = Robot()            # finds the service (SIM_URL, http://sim:8000, http://localhost:8000), waits until it is ready\n\n    TIME DOES NOT STOP (spec()[\"timing\"]). An episode starts paused; its clock starts at its first submit() or\n    get_obs(seconds > 0) (again after every reset()) and from then on runs one control step every spec()[\"control_dt\"] x\n    spec()[\"timing\"][\"slowdown\"] seconds of wall time, whether or not you call, until the episode ends. The service keeps a\n    plan, one servo-target row per coming control step: submit() writes into it and answers at once; when the plan runs out\n    the last target is held. Whatever you do in between -- think, print, run a model -- the robot keeps executing.\n\n    Calls (each is one HTTP request; every answer that carries data is an RCB1 frame, decoded into a Result):\n        r.spec()                                 GET /spec, fetched when connecting: the robot's facts. \"action_types\"\n                  \n… (8,108 characters left out) …\n-----------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\n    class Robot(builtins.object)\n     |  Robot(base: 'str | None' = None, timeout: 'float' = 600.0)\n     |\n     |  Methods defined here:\n     |\n     |  __init__(self, base: 'str | None' = None, timeout: 'float' = 600.0)\n     |      Initialize self.  See help(type(self)) for accurate signature.\n     |\n     |  get_obs(self, cameras=None, seconds: 'float' = 0.0, video_fps: 'int' = 10, include_depth: 'bool' = False, video: 'str' = 'frames') -> 'Result'\n     |\n     |  reset(self, cameras=None, include_depth: 'bool' = False) -> 'Result'\n     |\n     |  spec(self) -> 'dict'\n     |\n     |  status(self) -> 'dict'\n     |\n     |  submit(self, action_type: 'str', actions, dt: 'float | None' = None, interpolate: 'str' = 'linear', at: 'int | None' = None, cameras=None, video_fps: 'int' = 10, video: 'str' = 'none', include_depth: 'bool' = False, note: 'str' = '') -> 'Result'\n     |\n     |  ----------------------------------------------------------------------\n     |  Data descriptors defined here:\n     |\n     |  __dict__\n     |      dictionary for instance variables\n     |\n     |  __weakref__\n     |      list of weak references to the object\n\nDATA\n    MAX_BODY = 67108864\n    PROTOCOLS = ('eai-standard/2.', 'rcb-limited/2.')\n\nFILE\n    /opt/tools/rcb_client.py\n\n\n","exit":[],"pics":[]},"tok":{"in":13020,"cached":8960,"out":312,"think":50,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":7,"t":5.7,"say":"","calls":[{"kind":"robot","label":"s=r.spec()","code":"python - <<'PY'\nimport sys, json, numpy as np\nfrom rcb_client import Robot\nr=Robot()\ns=r.spec()\nprint('SPEC',json.dumps(s,indent=2)[:25000])\no=r.get_obs(video='frames')\nprint('META',json.dumps(o.meta,indent=2))\nprint('PROPRIO',o.proprio)\nfor k,v in o.last.items():\n from PIL import Image\n Image.fromarray(v).save('/app/output/start_'+k+'.png')\n print(k,v.shape)\nPY"}],"out":{"text":"SPEC {\n  \"protocol\": \"eai-standard/2.3\",\n  \"control_dt\": 0.02,\n  \"max_control_steps\": 4650,\n  \"max_chunk_s\": 10.0,\n  \"max_watch_s\": 30.0,\n  \"max_video_fps\": 30,\n  \"max_frames_per_call\": 3000,\n  \"proprio_layout\": [\n    \"waist_yaw_joint_pos\",\n    \"waist_roll_joint_pos\",\n    \"waist_pitch_joint_pos\",\n    \"left_shoulder_pitch_joint_pos\",\n    \"left_shoulder_roll_joint_pos\",\n    \"left_shoulder_yaw_joint_pos\",\n    \"left_elbow_joint_pos\",\n    \"left_wrist_roll_joint_pos\",\n    \"left_wrist_pitch_joint_pos\",\n    \"left_wrist_yaw_joint_pos\",\n    \"left_dex1_finger_joint_1_pos\",\n    \"left_dex1_finger_joint_2_pos\",\n    \"right_shoulder_pitch_joint_pos\",\n    \"right_shoulder_roll_joint_pos\",\n    \"right_shoulder_yaw_joint_pos\",\n    \"right_elbow_joint_pos\",\n    \"right_wrist_roll_joint_pos\",\n    \"right_wrist_pitch_joint_pos\",\n    \"right_wrist_yaw_joint_pos\",\n    \"right_dex1_finger_joint_1_pos\",\n    \"right_dex1_finger_joint_2_pos\",\n    \"pelvis_x_pos\",\n    \"pelvis_y_pos\",\n    \"pelvis_z_pos\",\n    \"pelvis_rz_pos\",\n    \"waist_yaw_joint_vel\",\n    \"waist_roll_joint_vel\",\n    \"waist_pitch_joint_vel\",\n    \"left_shoulder_pitch_joint_vel\",\n    \"left_shoulder_roll_joint_vel\",\n    \"left_shoulder_yaw_joint_vel\",\n    \"left_elbow_joint_vel\",\n    \"left_wrist_roll_joint_vel\",\n    \"left_wrist_pitch_joint_vel\",\n    \"left_wrist_yaw_joint_vel\",\n    \"left_dex1_finger_joint_1_vel\",\n    \"left_dex1_finger_joint_2_vel\",\n    \"right_shoulder_pitch_joint_vel\",\n    \"right_shoulder_roll_joint_vel\",\n    \"right_shoulder_yaw_joint_ve\n… (18,822 characters left out) …\n053154458292e-05,\n      5.4091483434604015e-06,\n      -4.944605279888492e-06,\n      0.007406769320368767,\n      0.000491553742904216,\n      0.0007636592490598559,\n      -0.0005869435262866318,\n      0.6000000238418579,\n      0.6000000238418579,\n      0.16808150708675385,\n      -0.0027043025474995375,\n      0.7465458512306213,\n      0.00036821793764829636\n    ]\n  },\n  \"running\": false,\n  \"planned_steps\": 0,\n  \"lag_s\": 0.0,\n  \"obs_id\": 1,\n  \"seconds\": 0.0,\n  \"control_steps_watch\": 0,\n  \"ok\": true\n}\nPROPRIO [[ 6.72527996e-04 -8.68648198e-03  5.43138087e-02  1.81050114e-02\n  -1.29413407e-03  1.21106561e-04  2.76061241e-02  1.57593517e-04\n   3.82497646e-02  1.09876812e-04 -2.20254320e-03 -2.19746050e-03\n   1.80616267e-02  1.64660439e-03  8.68744828e-05  2.76074745e-02\n  -1.21143479e-04  3.82514298e-02  7.26619182e-05 -2.20157509e-03\n  -2.19842582e-03  1.68081507e-01 -2.70430255e-03  7.46545851e-01\n   3.68217938e-04 -6.57286728e-05  1.01403588e-04 -6.46768091e-03\n  -1.93676760e-03  1.07048865e-04  1.21610123e-04 -4.49691928e-04\n   1.86221655e-06 -4.48688807e-05  4.27563609e-05 -6.66781807e-06\n   6.36207915e-06 -1.94745860e-03  4.08718042e-05 -4.32203633e-05\n  -4.46525577e-04  1.75295747e-06 -5.42370290e-05 -1.59150532e-05\n   5.40914834e-06 -4.94460528e-06  7.40676932e-03  4.91553743e-04\n   7.63659249e-04 -5.86943526e-04  6.00000024e-01  6.00000024e-01\n   1.68081507e-01 -2.70430255e-03  7.46545851e-01  3.68217938e-04]]\nhead (84, 84, 3)\nleft_wrist (84, 84, 3)\nright_wrist (84, 84, 3)\n","exit":[],"pics":[]},"tok":{"in":15894,"cached":12032,"out":283,"think":113,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":8,"t":8.8,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/start_head.png\",\"/app/output/start_left_wrist.png\",\"/app/output/start_right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":[[0,3168],[3168,1917],[5085,1879]]},"tok":{"in":23604,"cached":15104,"out":83,"think":17,"usd":0.001},"sim":{"submit":0,"reset":0}},{"id":9,"t":16.7,"say":"The initial observation confirms the robot is upright and the service is still paused. I’m checking the installed scene and robot descriptions for the arm geometry and cabinet layout, then I’ll use short, observable control phases so the first live motion gives us useful camera feedback.","calls":[{"kind":"shell","label":"print('bigym',bigym.__file__)","code":"python - <<'PY'\nimport bigym,inspect,os\nprint('bigym',bigym.__file__)\nPY"},{"kind":"shell","label":"for p in site.getsitepackages():","code":"python - <<'PY'\nimport site,glob,os\nfor p in site.getsitepackages():\n for pat in ['bigym*','*g1*']:\n  for x in glob.glob(p+'/'+pat): print(x)\nPY"},{"kind":"shell","label":"find /opt -maxdepth 5 -type f \\( -iname '*.xml' -o -iname '*.mjcf' -o -iname '*.urdf' \\) 2>/dev/null | head -1","code":"find /opt -maxdepth 5 -type f \\( -iname '*.xml' -o -iname '*.mjcf' -o -iname '*.urdf' \\) 2>/dev/null | head -100"},{"kind":"shell","label":"for n in ['head','left_wrist','right_wrist']:","code":"python - <<'PY'\nfrom PIL import Image\nfor n in ['head','left_wrist','right_wrist']:\n im=Image.open('/app/output/start_'+n+'.png')\n im.resize((672,672),Image.Resampling.NEAREST).save('/app/output/up_'+n+'.png')\nPY"}],"out":{"text":"Traceback (most recent call last):\n  File \"<stdin>\", line 1, in <module>\nModuleNotFoundError: No module named 'bigym'\n","exit":[],"pics":[]},"tok":{"in":23743,"cached":null,"out":951,"think":542,"usd":0.0028},"sim":{"submit":0,"reset":0}},{"id":10,"t":21.4,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/up_head.png\",\"/app/output/up_left_wrist.png\",\"/app/output/up_right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":[[6964,45475],[52439,20900],[73339,21085]]},"tok":{"in":24750,"cached":23296,"out":121,"think":55,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":11,"t":23.8,"say":"","calls":[{"kind":"shell","label":"find / -maxdepth 4 -type d \\( -iname '*bigym*' -o -iname '*benchmark*' \\) 2>/dev/null | head -100; ls -la /opt","code":"find / -maxdepth 4 -type d \\( -iname '*bigym*' -o -iname '*benchmark*' \\) 2>/dev/null | head -100; ls -la /opt; ls -la /opt/tools"}],"out":{"text":"total 16\ndrwxr-xr-x 1 root root 4096 Oct  9 03:07 .\ndrwxr-xr-x 1 root root 4096 Oct 15 02:32 ..\ndrwxr-xr-x 1 root root 4096 Oct 15 02:32 tools\ntotal 36\ndrwxr-xr-x 1 root root  4096 Oct 15 02:32 .\ndrwxr-xr-x 1 root root  4096 Oct  9 03:07 ..\ndrwxr-xr-x 2 root root  4096 Oct 15 02:32 __pycache__\n-rw-rw-r-- 1 root root  3881 Oct  9 03:06 rcb1.py\n-rw-rw-r-- 1 root root 12787 Oct  9 03:06 rcb_client.py\n","exit":[],"pics":[]},"tok":{"in":26484,"cached":23296,"out":138,"think":41,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":12,"t":78.5,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r);\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":26841,"cached":25472,"out":5165,"think":3778,"usd":0.003},"sim":{"submit":0,"reset":0}},{"id":13,"t":86.9,"say":"","calls":[{"kind":"shell","label":"writes command.json","code":"cat > /app/output/command.json <<'EOF'\n{\"name\":\"approach cabinet, short walk\",\"duration_s\":1.40,\"action\":[0.12,0.06,0.74,0.0,0.0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]}\nEOF\n: > /app/output/controller.log\nsetsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null & echo $! > /app/output/controller.pid\nsleep 2\ncat /app/output/controller.log\ncat /app/output/run.log"}],"out":{"text":"1792031625.003 connected {\"timing\": {\"realtime\": true, \"slowdown\": 1.0, \"control_dt\": 0.02, \"wall_s_per_control_step\": 0.02, \"clock\": \"an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends\", \"submit\": \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\", \"observe\": \"seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan\", \"max_ahead_steps\": 500, \"no_images\": \"cameras = [] returns no images, only proprioception (the fastest call)\"}, \"max_steps\": 4650}\n1792031625.005 command=approach cabinet, short walk duration=1.40s at=0 ends=70 action=[0.12, 0.06, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031625.042 vision {\"step\": 1, \"pelvis\": [0.168, -0.003, 0.747, 0.0], \"reason\": null}\n1792031625.660 tick {\"step\": 33, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.221, -0.003, 0.744, 0.008], \"grippers\": [0.6, 0.6], \"command\": \"approach cabinet, short walk\"}\n1792031626.084 vision {\"step\": 54, \"pelvis\": [0.214, 0.018, 0.74, -0.019], \"reason\": null}\n1792031626.359 tick {\"step\": 68, \"lat\n… (258 characters left out) …\nck\": \"an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends\", \"submit\": \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\", \"observe\": \"seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan\", \"max_ahead_steps\": 500, \"no_images\": \"cameras = [] returns no images, only proprioception (the fastest call)\"}, \"max_steps\": 4650}\n1792031625.005 command=approach cabinet, short walk duration=1.40s at=0 ends=70 action=[0.12, 0.06, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031625.042 vision {\"step\": 1, \"pelvis\": [0.168, -0.003, 0.747, 0.0], \"reason\": null}\n1792031625.660 tick {\"step\": 33, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.221, -0.003, 0.744, 0.008], \"grippers\": [0.6, 0.6], \"command\": \"approach cabinet, short walk\"}\n1792031626.084 vision {\"step\": 54, \"pelvis\": [0.214, 0.018, 0.74, -0.019], \"reason\": null}\n1792031626.359 tick {\"step\": 68, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.221, 0.01, 0.743, -0.007], \"grippers\": [0.7, 0.6], \"command\": \"approach cabinet, short walk\"}\n","exit":[],"pics":[]},"tok":{"in":32030,"cached":26624,"out":641,"think":440,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":14,"t":91.7,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/frames/head.png\",\"/app/output/frames/left_wrist.png\",\"/app/output/frames/right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":[[94424,3142],[97566,1963],[99529,2005]]},"tok":{"in":33916,"cached":31744,"out":146,"think":76,"usd":0.0006},"sim":{"submit":0,"reset":0}},{"id":15,"t":94.3,"say":"","calls":[{"kind":"shell","label":"for n in ['head','left_wrist','right_wrist']:","code":"python - <<'PY'\nfrom PIL import Image\nfor n in ['head','left_wrist','right_wrist']:\n im=Image.open('/app/output/frames/'+n+'.png')\n im.resize((672,672),Image.Resampling.NEAREST).save('/app/output/frames/up_'+n+'.png')\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":34118,"cached":24320,"out":149,"think":30,"usd":0.0013},"sim":{"submit":0,"reset":0}},{"id":16,"t":96.2,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/frames/up_head.png\",\"/app/output/frames/up_left_wrist.png\",\"/app/output/frames/up_right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":[[101534,45978],[147512,20244],[167756,21480]]},"tok":{"in":34290,"cached":33792,"out":70,"think":0,"usd":0.0004},"sim":{"submit":0,"reset":0}},{"id":17,"t":108.4,"say":"The first short walk kept balance, but the measured displacement was only about 5 cm. The cabinet face is now visible ahead; I’m increasing the approach speed in a second short phase and will judge the next step from the measured pelvis pose and camera frame.","calls":[{"kind":"shell","label":"writes command.json","code":"cat > /app/output/command.json <<'EOF'\n{\"name\":\"approach cabinet, measured correction\",\"duration_s\":1.80,\"action\":[0.25,0.15,0.74,0.0,0.0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.6,0.6]}\nEOF\nsleep 2\n tail -20 /app/output/controller.log"}],"out":{"text":"    main()\n  File \"/app/output/gen.py\", line 47, in main\n    d, a = load_command()\n           ^^^^^^^^^^^^^^\n  File \"/app/output/gen.py\", line 26, in load_command\n    d = json.load(f)\n        ^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/__init__.py\", line 293, in load\n    return loads(fp.read(),\n           ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/__init__.py\", line 346, in loads\n    return _default_decoder.decode(s)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 338, in decode\n    obj, end = self.raw_decode(s, idx=_w(s, 0).end())\n               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 356, in raw_decode\n    raise JSONDecodeError(\"Expecting value\", s, err.value) from None\njson.decoder.JSONDecodeError: Expecting value: line 1 column 1 (char 0)\n\n","exit":[],"pics":[]},"tok":{"in":35973,"cached":32768,"out":1082,"think":872,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":18,"t":117.5,"say":"","calls":[{"kind":"shell","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot(); print(r.status())\nPY"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":37326,"cached":33792,"out":481,"think":410,"usd":0.0009},"sim":{"submit":0,"reset":0}},{"id":19,"t":133.7,"say":"","calls":[{"kind":"edit","label":"a file","code":"patch);\ntext(r);\n"}],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":37892,"cached":37248,"out":1432,"think":1355,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":20,"t":137.2,"say":"","calls":[{"kind":"shell","label":"p='/app/output/command.json'; t=p+'.tmp'","code":"python - <<'PY'\nimport json,os\np='/app/output/command.json'; t=p+'.tmp'\nd={'name':'safe stand','duration_s':60.0,'action':[0,0,0.74,0,0]+[0.0]*14+[0.6,0.6]}\nwith open(t,'w') as f: json.dump(d,f)\nos.replace(t,p)\nPY\nsetsid nohup python -u /app/output/gen.py > /app/output/run.log 2>&1 < /dev/null & echo $! > /app/output/controller.pid\nsleep 1\n tail -15 /app/output/controller.log"}],"out":{"text":"           ^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/__init__.py\", line 346, in loads\n    return _default_decoder.decode(s)\n           ^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 338, in decode\n    obj, end = self.raw_decode(s, idx=_w(s, 0).end())\n               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/usr/local/lib/python3.12/json/decoder.py\", line 356, in raw_decode\n    raise JSONDecodeError(\"Expecting value\", s, err.value) from None\njson.decoder.JSONDecodeError: Expecting value: line 1 column 1 (char 0)\n\n1792031675.351 connected {\"timing\": {\"realtime\": true, \"slowdown\": 1.0, \"control_dt\": 0.02, \"wall_s_per_control_step\": 0.02, \"clock\": \"an episode starts paused; its clock starts at its first submit or observe with seconds > 0 (also after a reset) and then runs one control step every wall_s_per_control_step seconds, whatever you do, until the episode ends\", \"submit\": \"answers at once: the chunk (rows dt apart, linear or hold) becomes the plan from control step `at` (default: the next one), replacing what was planned from there; rows for steps already gone are dropped (meta.late_steps); after the plan's last row that target is held\", \"observe\": \"seconds = 0: now, at once; seconds > 0: watches the running episode that long and returns what the cameras saw; never changes the plan\", \"max_ahead_steps\": 500, \"no_images\": \"cameras = [] returns no images, only proprioception (the fastest call)\"}, \"max_steps\": 4650}\n1792031675.364 command=safe stand duration=60.00s at=2518 ends=5518 action=[0.0, 0.0, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031675.418 vision {\"step\": 2519, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"reason\": null}\n1792031676.045 tick {\"step\": 2552, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"grippers\": [0.6, 0.6], \"command\": \"safe stand\"}\n","exit":[],"pics":[]},"tok":{"in":39348,"cached":37248,"out":222,"think":35,"usd":0.0007},"sim":{"submit":0,"reset":0}},{"id":21,"t":145.0,"say":"","calls":[{"kind":"look","label":"a picture","code":"const ps = [\"/app/output/frames/head.png\",\"/app/output/frames/left_wrist.png\",\"/app/output/frames/right_wrist.png\"];\nfor (const p of ps) { const r = await tools.view_image({path:p}); image(r.image_url); }\n"}],"out":{"text":"","exit":[],"pics":[[189236,3143],[192379,1974],[194353,2000]]},"tok":{"in":40239,"cached":39296,"out":527,"think":457,"usd":0.0008},"sim":{"submit":0,"reset":0}},{"id":22,"t":160.4,"say":"I recovered the streamer after an atomicity issue while replacing its command file; it is now sending short chunks again and the robot is standing safely. The run has already consumed about half of its 93-second simulator allowance, so I’m prioritizing the cabinet interaction and will keep checking the actual step count.","calls":[{"kind":"shell","label":"p='/app/output/command.json'; t=p+'.tmp'","code":"python - <<'PY'\nimport json,os\np='/app/output/command.json'; t=p+'.tmp'\nd={'name':'close distance to cabinet','duration_s':2.0,'action':[0.35,0.18,0.74,0,0]+[0.0]*14+[0.6,0.6]}\nwith open(t,'w') as f: json.dump(d,f)\nos.replace(t,p)\nPY\nsleep 2.4\ntail -10 /app/output/controller.log\npython - <<'PY'\nfrom rcb_client import Robot\nr=Robot();print('STATUS',r.status())\nPY"}],"out":{"text":"1792031697.705 tick {\"step\": 3635, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"grippers\": [0.6, 0.6], \"command\": \"safe stand\"}\n1792031698.404 tick {\"step\": 3670, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"grippers\": [0.6, 0.6], \"command\": \"safe stand\"}\n1792031698.575 vision {\"step\": 3678, \"pelvis\": [0.203, 0.013, 0.747, -0.044], \"reason\": null}\n1792031699.067 command=close distance to cabinet duration=2.00s at=3703 ends=3803 action=[0.35, 0.18, 0.74, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, 0.6]\n1792031699.149 tick {\"step\": 3707, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.205, 0.014, 0.749, -0.041], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031699.620 vision {\"step\": 3730, \"pelvis\": [0.22, 0.05, 0.737, -0.054], \"reason\": null}\n1792031699.903 tick {\"step\": 3745, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.222, 0.048, 0.741, -0.011], \"grippers\": [0.7, 0.6], \"command\": \"close distance to cabinet\"}\n1792031700.605 tick {\"step\": 3780, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.218, 0.071, 0.74, -0.051], \"grippers\": [0.7, 0.6], \"command\": \"close distance to cabinet\"}\n1792031700.696 vision {\"step\": 3784, \"pelvis\": [0.219, 0.089, 0.743, -0.048], \"reason\": null}\n1792031701.327 tick {\"step\": 3816, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.196, 0.087, 0.739, -0.133], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\nSTATUS {'calls': 713, 'rows': 3323, 'control_steps': 3836, 'done': False, 'reason': None, 'elapsed_s': 157.9, 'running': True, 'planned_steps': 2, 'lag_s': 0.0001}\n","exit":[],"pics":[]},"tok":{"in":40822,"cached":39296,"out":1388,"think":1132,"usd":0.0012},"sim":{"submit":0,"reset":0}},{"id":23,"t":183.8,"say":"","calls":[{"kind":"shell","label":"p='/app/output/command.json';t=p+'.tmp'; d={'name':'squat and open left hand at cabinet handle','duration_s':0","code":"python - <<'PY'\nimport json,os\np='/app/output/command.json';t=p+'.tmp'; d={'name':'squat and open left hand at cabinet handle','duration_s':0.90,'action':[0,0,0.58,0,0]+[0.0]*14+[0.0,0.6]}\nwith open(t,'w') as f: json.dump(d,f)\nos.replace(t,p)\nPY\nsleep 0.95\ntail -6 /app/output/controller.log"}],"out":{"text":"1792031716.104 tick {\"step\": 4555, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031716.454 vision {\"step\": 4572, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031716.808 tick {\"step\": 4590, \"late\": 0, \"lag\": 0.0014, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.507 tick {\"step\": 4625, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.533 vision {\"step\": 4626, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031718.010 DONE {\"calls\": 961, \"rows\": 4483, \"control_steps\": 4650, \"done\": true, \"reason\": \"failed\", \"elapsed_s\": 174.2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":43009,"cached":40320,"out":1692,"think":1532,"usd":0.0015},"sim":{"submit":0,"reset":0}},{"id":24,"t":194.5,"say":"The simulator has reached its 4,650-step limit before the cabinet interaction began. The service reports `reason: \"failed\"` and there is no reset budget, so this episode cannot continue; I’m checking the final status and streamer shutdown for the record.","calls":[{"kind":"shell","label":"date -u","code":"date -u"},{"kind":"shell","label":"python - <<'PY'","code":"python - <<'PY'\nfrom rcb_client import Robot\nr=Robot(); print(r.status())\nPY"},{"kind":"shell","label":"cat /app/output/controller.log | tail -12; ps -p $(cat /app/output/controller.pid) -o pid=,stat=,cmd= 2>/dev/n","code":"cat /app/output/controller.log | tail -12; ps -p $(cat /app/output/controller.pid) -o pid=,stat=,cmd= 2>/dev/null || true"}],"out":{"text":"Thu Oct 15 02:35:33 UTC 2026\n\n1792031713.368 tick {\"step\": 4418, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031714.067 tick {\"step\": 4453, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031714.350 vision {\"step\": 4467, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031714.757 tick {\"step\": 4488, \"late\": 0, \"lag\": 0.0002, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031715.375 vision {\"step\": 4518, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031715.440 tick {\"step\": 4522, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031716.104 tick {\"step\": 4555, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031716.454 vision {\"step\": 4572, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031716.808 tick {\"step\": 4590, \"late\": 0, \"lag\": 0.0014, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.507 tick {\"step\": 4625, \"late\": 0, \"lag\": 0.0001, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"grippers\": [0.6, 0.6], \"command\": \"close distance to cabinet\"}\n1792031717.533 vision {\"step\": 4626, \"pelvis\": [0.198, 0.098, 0.747, -0.123], \"reason\": null}\n1792031718.010 DONE {\"calls\": 961, \"rows\": 4483, \"control_steps\": 4650, \"done\": true, \"reason\": \"failed\", \"elapsed_s\": 174.2, \"running\": false, \"planned_steps\": 0, \"lag_s\": 0.0001}\n","exit":[],"pics":[]},"tok":{"in":45108,"cached":42368,"out":888,"think":637,"usd":0.0011},"sim":{"submit":0,"reset":0}},{"id":25,"t":200.5,"say":"The episode ended at 4,650 control steps with `reason: \"failed\"`. The saucepan was not moved to the hob.\n\nI lost time recovering the background streamer after a command-file write error, and the next cabinet command arrived too late. The final pelvis pose was about `[0.198, 0.098, 0.747]` m; the robot remained standing. The episode has no reset budget. The controller is saved at [gen.py](/app/output/gen.py).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":46871,"cached":44416,"out":294,"think":187,"usd":0.0008},"sim":{"submit":0,"reset":0}}]}

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+{"format":3,"slug":"embodied-olympics-fun-hurdles-freestanding-i00-privileged--lqvifxb","task":"embodied-olympics-fun-hurdles-freestanding-i00-privileged","bench":"embodied-olympics-fun","mode":"privileged","run":"antigravity_cli-gemini_3_8_flash-high","agent":"antigravity_sub:AntigravitySubscription","model":"gemini-3.8-flash","effort":"high","state":"failed","success":0,"reward":{"success":0,"missing_trajectory":1,"grader_error":0,"agent_sessions":14,"agent_resets":0,"agent_replays":0,"agent_cost_self_reported":1,"deterministic":0,"resource_enforced":0,"limits_violation_observed":0,"resource_monitor_missing":0,"peak_gpu_memory_gb":0.0,"peak_memory_gb":0.762,"peak_processes":9,"peak_disk_gb":0.247,"resource_emergency_kills":0,"resource_oom_kills":0,"resource_host_oom_kills":0,"resource_service_oom_kills":0,"session_log_tampered":0,"session_log_from_monitor":0},"wall_s":191,"tokens":{"in":2970951,"cached":2558214,"out":20074,"usd":0.62},"task_text":"","step_times":"recorded","sim_total":{"submit":0,"reset":0},"replay":null,"poster":null,"steps_bin":null,"trajectory":{"file":"trajectory.jsonl.gz","size":75433,"bytes":255171,"lines":45,"source":"agent/trajectory.json","capped":null},"steps":[{"id":2,"t":0.0,"say":"","calls":[{"kind":"shell","label":"Checking resource limits and time","code":"cat /run/rcb-limits/usage.json"}],"out":{"text":"The command exited with code 0.\nOutput:\n{\r\n \"t\": 1792736069.33,\r\n \"measured\": true,\r\n \"gpu_memory_gb\": 0.0,\r\n \"memory_gb\": 0.233,\r\n \"processes\": 5,\r\n \"disk_gb\": 0.0,\r\n \"enforced\": 0,\r\n \"limits\": {\r\n  \"max_gpu_memory_gb\": 0.0,\r\n  \"max_memory_gb\": 13.0,\r\n  \"max_processes\": 512,\r\n  \"max_disk_gb\": 20.0,\r\n  \"sustain_sec\": 60.0,\r\n  \"window_sec\": 120.0\r\n },\r\n \"violations\": [],\r\n \"emergency_kills\": 0,\r\n \"last_emergency_kill\": null,\r\n \"elapsed_s\": 20.0,\r\n \"time_limit_s\": 7200,\r\n \"time_left_s\": 7180.0,\r\n \"deadline_utc\": \"2026-10-23T08:14:09Z\"\r\n}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":3,"t":3.0,"say":"","calls":[{"kind":"shell","label":"Listing /app directory","code":"ls -la /app /app/output"}],"out":{"text":"The command exited with code 0.\nOutput:\n/app:\r\ntotal 44\r\ndrwxr-xr-x  3 root root  4096 Oct 23 00:48 .\r\ndr-xr-xr-x 20 root root  4096 Oct 23 06:14 ..\r\n-rw-rw-r--  1 root root 31856 Sep  3  2014 instance.json\r\ndrwxr-xr-x  2 root root  4096 Oct 23 00:48 output\r\n\r\n/app/output:\r\ntotal 8\r\ndrwxr-xr-x 2 root root 4096 Oct 23 00:48 .\r\ndrwxr-xr-x 3 root root 4096 Oct 23 00:48 ..","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":4,"t":5.0,"say":"","calls":[{"kind":"shell","label":"Listing /opt/tools","code":"ls -la /opt/tools"}],"out":{"text":"The command exited with code 0.\nOutput:\ntotal 76\r\ndrwxr-xr-x 3 root root  4096 Oct 23 00:47 .\r\ndrwxr-xr-x 5 root root  4096 Oct 23 00:47 ..\r\n-rw-r--r-- 1 root root 21497 Sep  9  2010 rcb_rfo.py\r\ndrwxr-xr-x 2 root root  4096 Oct 23 00:47 rfo\r\n-rw-rw-r-- 1 root root 39107 Oct  8  2003 rfo_task.py","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":5,"t":7.0,"say":"","calls":[{"kind":"shell","label":"reads rfo_task.py","code":"/opt/tools/rfo_task.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo_task.py`\nTotal Lines: 533\nTotal Bytes: 39107\nShowing lines 1 to 300\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"50 m hurdles with free-standing hurdles (World Athletics TR 22 at the indoor distance): the `hurdles` race (four\n2: 1.067 m hurdles at 13.72 m + 9.14 m x i, 8.86 m to the finish, the Unitree H1-2), but every hurdle is a free rigid\n3: body standing on the track, as a real one does: an L-shaped base on each side (its foot pointing towards the\n4: approaching athlete, the upright at its far end), a rectangular frame (the top bar and a cross bar) and two\n5: counterweights on the feet that set the official toppling force. It touches the track (with the friction of rubber\n6: feet on a polyurethane track) and the robot: it can be pushed, slide, tip over forwards or backwards, bounce, and a\n7: fallen hurdle stays where it comes to rest, an obstacle that can trip the runner.\n8: \n9: The referee is `hurdles`' (TR 22.6 over each hurdle, 22.6.1 a leg beside it, 22.6.2 knocked by hand or body, the lane,\n10: the down rule, the finish), with the hurdle's plane and top defined for a hurdle that moves: each hurdle is judged at\n11: its standing pose on its mark (the plane of its top bar there, its top's height), wherever it is now; it may leave its\n12:\n… (22,938 characters left out) …\n    # the grass is drawn around the whole straight\n284:         floor.set(\"size\", f\"{D / 2 + 40:g} 30 0.05\")\n285:         x0, x1 = -12.0, D + 25.0\n286:         sc.box(\"track\", ((x0 + x1) / 2, 0, 0.0003), ((x1 - x0) / 2, W * 1.5 + 0.3, 0.0003), rgba=TRACK)\n287:         for i, y in enumerate((-1.5 * W, -0.5 * W, 0.5 * W, 1.5 * W)):\n288:             sc.line(f\"lane{i}\", (x0, y), (x1, y))\n289:         sc.line(\"start_line\", (-S / 2, -1.5 * W), (-S / 2, 1.5 * W), width=S, z=0.0009)\n290:         sc.line(\"finish_line\", (D + S / 2, -1.5 * W), (D + S / 2, 1.5 * W), width=S, z=0.0009)\n291:         for s, tag in ((1, \"L\"), (-1, \"R\")):\n292:             sc.box(f\"finish_post{tag}\", (D, s * (1.5 * W + 0.5), 1.0), (0.05, 0.05, 1.0))\n293:         for i, x in enumerate(self.hurdle_x()):\n294:             self._hurdle(sc, f\"hurdle{i + 1}\", x)\n295:         sc.camera(\"venue\", (D / 2, -(6.0 + 0.36 * D), 3.0 + 0.14 * D), (D / 2, 0.0, 0.0), fovy=62)\n296:         x1 = self.hurdle_x()[0]                          # the first hurdle from the side, behind the robot's lane\n297:         sc.camera(\"first_hurdle\", (round(x1 - 2.72, 2), -3.2, 1.6), (round(x1 + 0.18, 2), 0.0, 0.55), fovy=55)\n298: \n299:     def reset(self, w):\n300:         for i, x in enumerate(self.hurdle_x()):          # each hurdle on its mark, standing, at rest\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":6,"t":11.0,"say":"","calls":[{"kind":"shell","label":"reads rfo_task.py","code":"/opt/tools/rfo_task.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo_task.py`\nTotal Lines: 533\nTotal Bytes: 39107\nShowing lines 301 to 533\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n301:             w.put(f\"hurdle{i + 1}\", (x + BAR_DEPTH + TUBE - PAD_R, 0.0, 0.0))\n302: \n303:     # ------------------------------------------------------------------ the referee\n304:     def referee_reset(self, w, ref):\n305:         m = w.m\n306:         xs = self.hurdle_x()\n307:         self.n_hurdles = len(xs)\n308:         self.planes = [self.plane_x(i) for i in range(self.n_hurdles)]\n309:         self.hbody = [m.body(f\"hurdle{i + 1}\").id for i in range(self.n_hurdles)]\n310:         self.bar_geom = [m.geom(f\"hurdle{i + 1}_bar\").id for i in range(self.n_hurdles)]\n311:         self.hurdle_mask = [ref.geoms(body=f\"hurdle{i + 1}\") for i in range(self.n_hurdles)]\n312:         self.bar_mask = [ref.geoms(names=[f\"hurdle{i + 1}_bar\"]) for i in range(self.n_hurdles)]\n313:         self.any_hurdle = np.any(self.hurdle_mask, axis=0)\n314:         self.frame_mask = [ref.geoms(names=[f\"hurdle{i + 1}_{q}\" for q in (\"bar\", \"upL\", \"upR\", \"cross\")])\n315:                            for i in range(self.n_hurdles)]\n316:         self.points = {\"pelvis\": w.robot.pelvis, \"left foot\": m.body(\"left_ankle_roll_link\").id,\n317:                        \"right foot\":\n… (13,787 characters left out) …\n        if z < p[\"down_z_m\"]:\n512:             if tr[\"down_k\"] is None:\n513:                 tr[\"down_k\"] = w.k\n514:                 ref.event(\"down\")\n515:             elif (w.k - tr[\"down_k\"]) * w.CONTROL_DT >= p[\"down_limit_s\"]:\n516:                 return ref.fail(\"did not finish: down for too long\", down_s=p[\"down_limit_s\"])\n517:         elif tr[\"down_k\"] is not None:\n518:             tr[\"down_k\"] = None\n519:             ref.event(\"up\")\n520: \n521:     def privileged(self, w):\n522:         n = min(len(w.ref.stages), self.n_hurdles)\n523:         hs = []\n524:         for i in range(self.n_hurdles):\n525:             qa, _ = w.free[f\"hurdle{i + 1}\"]\n526:             hs.append({\"mark_x\": self.hurdle_x()[i], \"plane_x\": self.plane_x(i),\n527:                        \"pos\": [round(float(v), 4) for v in w.d.qpos[qa:qa + 3]],\n528:                        \"quat\": [round(float(v), 5) for v in w.d.qpos[qa + 3:qa + 7]],\n529:                        \"tilt_deg\": round(self.tilt_deg(w, i), 2), \"displaced_m\": round(self.displacement(w, i), 4),\n530:                        \"knocked_legally\": i in self.trackers[\"moved\"]})\n531:         return {\"pelvis\": w.pelvis().tolist(), \"next_hurdle\": n + 1, \"hurdles\": hs,\n532:                 \"hurdle_top_m\": self.p[\"hurdle_height_m\"], \"torso_front_x\": self.torso_front(w)}\n533: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":7,"t":13.0,"say":"","calls":[{"kind":"shell","label":"Listing roboolympics and rfo","code":"ls -la /opt/roboolympics /opt/tools/rfo"}],"out":{"text":"The command exited with code 0.\nOutput:\n/opt/roboolympics:\r\ntotal 40\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 .\r\ndrwxr-xr-x 5 root root  4096 Oct 23 00:47 ..\r\n-rw-r--r-- 1 root root  1105 Oct 14 19:34 LICENSE.roboolympics\r\n-rw-r--r-- 1 root root  3737 Oct 14 19:34 SOURCE.md\r\ndrwxr-xr-x 3 root root  4096 Oct 14 19:34 athletics\r\ndrwxr-xr-x 6 root root  4096 Oct 14 19:34 bodies\r\n-rw-r--r-- 1 root root 14498 Oct 14 19:34 manifest.sha256\r\n\r\n/opt/tools/rfo:\r\ntotal 264\r\ndrwxr-xr-x 2 root root  4096 Oct 23 00:47 .\r\ndrwxr-xr-x 3 root root  4096 Oct 23 00:47 ..\r\n-rw-r--r-- 1 root root   744 Nov 18  2002 __init__.py\r\n-rw-r--r-- 1 root root 30820 Nov  8  2015 looks.py\r\n-rw-r--r-- 1 root root 83752 Aug  3  2006 realhand.py\r\n-rw-r--r-- 1 root root 23473 Jun 16  2002 referee.py\r\n-rw-r--r-- 1 root root 20639 Dec 19  2012 scene.py\r\n-rw-r--r-- 1 root root  4376 May 13  2010 task.py\r\n-rw-r--r-- 1 root root 81086 Oct 30  2006 world.py","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":8,"t":18.0,"say":"","calls":[{"kind":"shell","label":"Listing athletics and bodies directories","code":"ls -la /opt/roboolympics/athletics /opt/roboolympics/bodies"}],"out":{"text":"The command exited with code 0.\nOutput:\n/opt/roboolympics/athletics:\r\ntotal 20\r\ndrwxr-xr-x 3 root root 4096 Oct 14 19:34 .\r\ndrwxr-xr-x 4 root root 4096 Oct 14 19:34 ..\r\ndrwxr-xr-x 2 root root 4096 Oct 14 19:34 policy\r\n-rw-r--r-- 1 root root 5505 Oct 14 19:34 run_policy.py\r\n\r\n/opt/roboolympics/bodies:\r\ntotal 140\r\ndrwxr-xr-x 6 root root  4096 Oct 14 19:34 .\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 ..\r\n-rw-r--r-- 1 root root  3541 Oct 14 19:34 __init__.py\r\n-rw-r--r-- 1 root root  6244 Oct 14 19:34 assembly.py\r\ndrwxr-xr-x 2 root root  4096 Oct 14 19:34 control\r\ndrwxr-xr-x 2 root root  4096 Oct 14 19:34 hands\r\n-rw-r--r-- 1 root root 19017 Oct 14 19:34 limits.py\r\n-rw-r--r-- 1 root root 32420 Oct 14 19:34 selfcollision.py\r\n-rw-r--r-- 1 root root 29598 Oct 14 19:34 servo.py\r\n-rw-r--r-- 1 root root  4145 Oct 14 19:34 sources.py\r\n-rw-r--r-- 1 root root 10712 Oct 14 19:34 trajopt.py\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 unitree_g1\r\ndrwxr-xr-x 4 root root  4096 Oct 14 19:34 unitree_h1","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":9,"t":19.0,"say":"","calls":[{"kind":"shell","label":"Listing policy directory","code":"ls -la /opt/roboolympics/athletics/policy"}],"out":{"text":"The command exited with code 0.\nOutput:\ntotal 1732\r\ndrwxr-xr-x 2 root root    4096 Oct 14 19:34 .\r\ndrwxr-xr-x 3 root root    4096 Oct 14 19:34 ..\r\n-rw-r--r-- 1 root root   11342 Oct 14 19:34 LICENSE.g1_running\r\n-rw-r--r-- 1 root root    1109 Oct 14 19:34 NOTICE.md\r\n-rw-r--r-- 1 root root 1746514 Oct 14 19:34 g1_running.npz","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":10,"t":21.0,"say":"","calls":[{"kind":"shell","label":"reads run_policy.py","code":"/opt/roboolympics/athletics/run_policy.py"}],"out":{"text":"File Path: `file:///opt/roboolympics/athletics/run_policy.py`\nTotal Lines: 117\nTotal Bytes: 5505\nShowing lines 1 to 117\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"The platform's `run`: the G1 running policy of C1801SYQ/g1_running (policy/NOTICE.md; Apache-2.0) in numpy.\n2: \n3: One policy step every 20 ms from the robot's own sensors (pelvis gyro and orientation, joint encoders), the walking\n4: command (vx, vy, wz) and its last action; its joint targets go to the robot as a plan of two 10 ms rows for all three\n5: joint groups at the policy's PD gains (the arbiter's `plan`: ranges, speed limits, the motor curves). The same code\n6: serves the simulator side (the high level's skill, track.World) and the low level's API test (its platform row:\n7: lowlevel/evaluator.py) from the observation state, so both are the same implementation.\n8: \n9: The command is rate-limited (CMD_RATE per second) as a joystick would be; forward speeds above about 4 m/s make the\n10: robot fall (measured on the athletics G1 with the motor curves: 4.0 m/s holds, 5.1 m/s falls within about 5 s).\"\"\"\n11: from __future__ import annotations\n12: \n13: import math\n14: import os\n15: \n16: import numpy as np\n17: \n18: HERE = os.path.dirname(os.path.abspath(__file__))\n19: W = np.load(os.path.join(HERE, \"policy\", \"g1_run\n… (3,426 characters left out) …\nwith run(vx, vy, wz, *, state, spec) (lowlevel/evaluator.py's platform row).\"\"\"\n96: \n97:     def __init__(self):\n98:         self.p = RunPolicy()\n99:         self.last = None                        # the last row it sent: where its next plan starts\n100: \n101:     def run(self, vx, vy, wz, *, state=None, spec=None):\n102:         rob = state[\"robot\"]\n103:         lo, hi = (np.array(v, float) for v in zip(*spec[\"robot\"][\"joint_range_rad\"]))\n104:         step = np.array(spec[\"robot\"][\"speed_limit_rad_s\"], float) * 0.01 * 0.999\n105:         tgt = self.p.step(rob[\"imu_pelvis\"][\"quat_wxyz\"], rob[\"imu_pelvis\"][\"gyro\"], rob[\"q\"], rob[\"dq\"], (vx, vy, wz))\n106:         # in real time the observation is a control step or two old when the plan takes effect: its q_target may be\n107:         # behind the plan under way, so the rows continue from the last row sent (the arbiter's continuity check)\n108:         rows = plan_rows(tgt, rob[\"q_target\"] if self.last is None else self.last, lo, hi, step)\n109:         self.last = rows[-1]\n110:         return {\"type\": \"plan\", \"groups\": [\"legs\", \"waist\", \"arms\"], \"q\": [[round(float(x), 6) for x in r] for r in rows],\n111:                 \"kp\": [round(float(x), 4) for x in KP], \"kd\": [round(float(x), 4) for x in KD]}\n112: \n113: \n114: def yaw_of(quat_wxyz) -> float:\n115:     w, x, y, z = quat_wxyz\n116:     return math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z))\n117: \nThe above content shows the entire, complete file contents of the requested file.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":11,"t":22.0,"say":"","calls":[{"kind":"shell","label":"reads trajopt.py","code":"/opt/roboolympics/bodies/trajopt.py"}],"out":{"text":"File Path: `file:///opt/roboolympics/bodies/trajopt.py`\nTotal Lines: 202\nTotal Bytes: 10712\nShowing lines 1 to 200\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"Fixed-time, jerk-limited joint trajectories through soft waypoints (numpy only; shared by the arm sports).\n2: \n3: A striking arm (table tennis, tennis, badminton) must be at a given joint position with a given joint velocity at a\n4: given time (the contact), starting from whatever state it is in now, without exceeding the real robot's velocity,\n5: acceleration and jerk limits (bodies/limits.py). The velocity-limited cubic swings the sports used ask for 3-12x the\n6: Panda's acceleration; a JerkLimiter servo then follows them late. This module plans motions the servo can follow:\n7: \n8:   plan(q0, v0, a0, n, dt, lim, waypoints, ...)   one joint trajectory per joint, n steps of dt, piecewise-constant\n9:         jerk, from the current state (q0, v0, a0); every waypoint is soft (position, velocity and / or acceleration\n10:         wanted at step k, each with its own tolerance); the limits are hard boxes (velocity, acceleration, jerk at\n11:         `margin` of the limits, the joint range): the motion is the smoothest (least squared jerk) that meets the\n12:         waypoints within the limits, and when the waypoints cannot all \n… (9,131 characters left out) …\n=tol_q, tol_v=tol_v)]\n179:     if via is not None and n > via_steps + 2:\n180:         base.append(Waypoint(n - via_steps, q=np.asarray(via, float), tol_q=via_tol))\n181:         n_str = max(n_str, via_steps + 6)\n182:     if n_follow > 0:\n183:         base.append(Waypoint(n + n_follow, v=np.zeros_like(v1), a=np.zeros_like(v1), tol_v=1e-2, tol_a=0.2))\n184: \n185:     def run(windup):\n186:         wps = list(base)\n187:         if windup:\n188:             wps.append(Waypoint(n - n_str, v=np.zeros_like(v1), a=np.zeros_like(v1), tol_v=2e-2, tol_a=0.3))\n189:         out = plan(q0, v0, a0, n + n_follow, dt, lim, wps, lo=lo, hi=hi, margin=margin, iters=iters)\n190:         vc = out[\"v\"][n - 1]\n191:         vv = float(v1 @ v1)\n192:         scale = float(vc @ v1 / vv) if vv > 1e-12 else 1.0      # the delivered velocity along v1, as a share\n193:         out.update(n_stroke=n_str if windup else 0, scale=scale,\n194:                    contact_err_q=float(np.max(np.abs(out[\"q\"][n - 1] - q1))))\n195:         return out\n196:     out = run(True) if n - n_str >= 6 else None\n197:     if out is None or out[\"contact_err_q\"] > 1e-3 or out[\"scale\"] < 0.97:\n198:         alt = run(False)\n199:         if out is None or (alt[\"contact_err_q\"], -alt[\"scale\"]) < (out[\"contact_err_q\"], -out[\"scale\"]):\n200:             out = alt\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":12,"t":24.0,"say":"","calls":[{"kind":"shell","label":"reads rcb_rfo.py","code":"/opt/tools/rcb_rfo.py"}],"out":{"text":"File Path: `file:///opt/tools/rcb_rfo.py`\nTotal Lines: 435\nTotal Bytes: 21497\nShowing lines 1 to 150\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"rcb_rfo.py -- RoboOlympics tooling for Embodied First Exam (docs/benchmarks/roboolympics.md).\n2: \n3: One module, copied unchanged into every RoboOlympics task: the privileged environment (`Session`), the privileged\n4: verifier (`replay`) and the standard sim service (`Episode`, driven by sim/server.py). The world is the `rfo` package\n5: next to it (the RoboOlympics Unitree G1 or H1-2 in a sports venue, rfo/world.py) with the family's own rules,\n6: `rfo_task.py`.\n7: \n8: A control step is 10 ms (10 physics steps of 1 ms). An action is a row of one of the action types\n9: (`Session.action_types`; the widths below are the G1's, 29 joints with a 3-joint waist; the H1-2 has 27 joints, a\n10: 1-joint waist and no running policy and no FALCON / AGILE, so no `run` / `run_arms` / `walk_falcon` / `walk_agile`):\n11: \n12:     stand     waist 3 + arms 14 joint targets + grips 2                      the platform holds the legs in the stance\n13:     walk      vx, vy, wz + waist 3 + arms 14 + grips 2                       Unitree's walking policy drives the legs\n14:     run       vx, vy, wz + grips 2                                           the runnin\n… (5,915 characters left out) …\nld(self.world)\n124: \n125:     def success(self) -> bool:\n126:         return bool(self.world.success)\n127: \n128:     def outcome(self) -> str | None:\n129:         ref = self.world.ref\n130:         return None if not ref.done else \"success\" if ref.success else ref.failed\n131: \n132:     def state_sha(self) -> str:\n133:         return self.world.state_sha()\n134: \n135:     def verdict(self) -> dict:\n136:         ref = self.world.ref\n137:         return {\"success\": bool(ref.success), \"done\": bool(ref.done), \"failed\": ref.failed, \"stages\": list(ref.stages),\n138:                 \"stages_total\": len(self.world.task.stages), \"progress\": round(ref.progress(), 4),\n139:                 \"metrics\": dict(ref.metrics), \"steps\": self.steps, \"time_s\": round(self.world.t, 2)}\n140: \n141:     # ------------------------------------------------------------------ sensors\n142:     def image(self, camera: str, h: int | None = None, w: int | None = None, depth: bool = False) -> np.ndarray:\n143:         if camera not in self.cameras:\n144:             raise ValueError(f\"cameras: {self.cameras}\")\n145:         return self.world.render(camera, w or IMAGE_HW[1], h or IMAGE_HW[0], depth=depth)\n146: \n147:     def proprio(self) -> np.ndarray:\n148:         return self.world.proprio()\n149: \n150:     def camera_facts(self) -> dict:\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":13,"t":26.0,"say":"","calls":[{"kind":"shell","label":"reads rcb_rfo.py","code":"/opt/tools/rcb_rfo.py"}],"out":{"text":"File Path: `file:///opt/tools/rcb_rfo.py`\nTotal Lines: 435\nTotal Bytes: 21497\nShowing lines 151 to 300\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n151:         \"\"\"Each camera now: its position and axes in the robot's starting frame (origin on the floor under the pelvis\n152:         at t = 0, x the way it faced, y left, z up), its field of view, what it is mounted on.\"\"\"\n153:         import mujoco\n154: \n155:         w = self.world\n156:         m, d = w.m, w.d\n157:         mujoco.mj_forward(m, d)\n158:         x0, y0, yaw0 = w.task.start\n159:         c, s = np.cos(yaw0), np.sin(yaw0)\n160:         Y = np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])\n161:         r4 = lambda v: [round(float(x), 4) for x in v]  # noqa: E731\n162:         out = {}\n163:         for cam in self.cameras:\n164:             i = m.camera(cam).id\n165:             R = d.cam_xmat[i].reshape(3, 3)       # MuJoCo camera: looks down -z, +y up, +x right\n166:             out[cam] = {\"mounted\": \"head\" if cam.startswith(\"head\") else \"venue (fixed)\", \"fovy_deg\": float(m.cam_fovy[i]),\n167:                         \"position_m\": r4(Y.T @ (d.cam_xpos[i] - [x0, y0, 0.0])), \"forward\": r4(Y.T @ -R[:, 2]),\n168:                         \"up\": r4(Y.T @ R[:, 1]), \"right\": r4(Y.T @ R[:, 0])}\n169:         return out\n170: \n171:     def robot_\n… (6,395 characters left out) …\n    rows = np.asarray(rows, dtype=np.float64)\n278:     rows = rows.reshape(-1, raw_dim) if raw_dim else np.atleast_2d(rows)\n279:     if len(rows) > MAX_ROWS:\n280:         raise ValueError(f\"at most {MAX_ROWS} rows\")\n281:     path = os.path.abspath(path)\n282:     os.makedirs(os.path.dirname(path), exist_ok=True)\n283:     tmp = path + \".partial.npz\"                  # written whole, then renamed: a killed writer never leaves a broken file\n284:     np.savez(tmp, actions=rows, family=family)\n285:     os.replace(tmp, path)\n286: \n287: \n288: class Session:\n289:     \"\"\"Privileged mode: the frozen instance with unlimited resets, logged to /app/output/rcb_session_log.jsonl.\"\"\"\n290: \n291:     def __init__(self, instance: str = \"/app/instance.json\"):\n292:         self.instance = load_instance(instance)\n293:         self.ep = Episode(self.instance)\n294:         atexit.register(self.close)\n295:         if not self.ep.instance_check(self.instance)[\"ok\"]:\n296:             raise RuntimeError(\"this environment does not rebuild the frozen instance's starting state\")\n297:         self.rows: list[np.ndarray] = []\n298:         self.typed: list[tuple[str, np.ndarray]] = []     # the same steps as (action type, row), where they were typed\n299:         self._log({\"ev\": \"session_start\", \"family\": self.ep.family})\n300: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":14,"t":28.0,"say":"","calls":[{"kind":"shell","label":"reads rcb_rfo.py","code":"/opt/tools/rcb_rfo.py"}],"out":{"text":"File Path: `file:///opt/tools/rcb_rfo.py`\nTotal Lines: 435\nTotal Bytes: 21497\nShowing lines 301 to 435\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n301:     @property\n302:     def world(self):\n303:         return self.ep.world\n304: \n305:     @property\n306:     def action_types(self) -> dict:\n307:         return self.ep.actions.spec()\n308: \n309:     @property\n310:     def done(self) -> bool:\n311:         return self.ep.done\n312: \n313:     def reset(self) -> None:\n314:         self._log({\"ev\": \"reset\", \"sim_steps\": self.ep.steps})\n315:         self.ep.reset()\n316:         self.rows, self.typed = [], []\n317: \n318:     def step(self, typ: str, row) -> bool:\n319:         row = self.ep.clip(typ, np.asarray(row, dtype=np.float64))\n320:         self.rows.append(self.ep.step(typ, row))\n321:         self.typed.append((typ, row))\n322:         return self.ep.done\n323: \n324:     def step_raw(self, raw) -> bool:\n325:         raw = np.asarray(raw, dtype=np.float64)\n326:         self.ep.step_raw(raw)\n327:         self.rows.append(raw.copy())\n328:         return self.ep.done\n329: \n330:     def hold(self):\n331:         return self.ep.hold()\n332: \n333:     def status(self) -> dict:\n334:         return {**self.ep.verdict(), \"events\": list(self.world.ref.events), \"state_sha\": self.ep.state_sha()}\n335: \n\n… (3,843 characters left out) …\nired=True)\n407:     r = sub.add_parser(\"replay\")\n408:     r.add_argument(\"--instance\", required=True)\n409:     r.add_argument(\"--traj\", required=True)\n410:     r.add_argument(\"--out\", required=True)\n411:     r.add_argument(\"--video\")\n412:     i = sub.add_parser(\"instance\")\n413:     i.add_argument(\"--family\", required=True)\n414:     i.add_argument(\"--seed\", type=int, default=0)\n415:     i.add_argument(\"--out\", required=True)\n416:     a = ap.parse_args(argv)\n417:     if a.cmd == \"instance\":\n418:         with open(a.out, \"w\") as f:\n419:             json.dump(make_instance(a.family, a.seed), f, indent=1)\n420:             f.write(\"\\n\")\n421:         return 0\n422:     inst = load_instance(a.instance)\n423:     acts, _ = read_trajectory(a.traj, int(inst[\"t0\"][\"raw_dim\"]))\n424:     acts = acts[: int(inst[\"t0\"][\"horizon_steps\"])]            # rows past the episode's length are never used\n425:     Session._log({\"ev\": \"replay\", \"rows\": int(len(acts)), \"cli\": True})   # off in the verifiers (RCB_SESSION_LOG=\"\")\n426:     result = replay(inst, acts, a.video)\n427:     with open(a.out, \"w\") as f:\n428:         json.dump(result, f)\n429:     print(json.dumps({k: v for k, v in result.items() if k != \"events\"}), flush=True)\n430:     return 0\n431: \n432: \n433: if __name__ == \"__main__\":\n434:     sys.exit(main())\n435: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":15,"t":29.0,"say":"","calls":[{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo/world.py`\nTotal Lines: 1338\nTotal Bytes: 81086\nShowing lines 1 to 200\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1: \"\"\"The RoboOlympics world: one RoboOlympics Unitree G1 (the robot library's g1-4: Menagerie's 29-joint G1, its real\n2: joint, speed and torque limits, its motor torque-speed curves, its self-collision) in a sports venue, the action\n3: layer every task shares, the hands' grip, and the stepping that the referee (referee.py) watches.\n4: \n5: One control step is 10 ms = 10 physics steps of 1 ms (the robot library's). Everything that changes the world happens\n6: in World.step(row): the row is a \"sim row\" (RAW_DIM floats), the action in the simulator's own space, and the list of\n7: sim rows replays an episode bit-exactly in a fresh process. The agent's action types (ACTION_TYPES) are views of it.\n8: \n9: Who drives the joints (row[0], the mode):\n10:   stand     the platform holds the legs in the stance (the walking policy's default leg angles on the stand gains with\n11:             gravity support); the row's 17 waist and arm targets drive the upper body\n12:   walk      Unitree's own walking policy drives the legs from the row's velocity command (vx, vy, wz; RoboOlympics'\n13:             joint-group arbiter, the handover to the policy includ\n… (12,379 characters left out) …\ndflt))\n184: \n185:     def robot(b):                                    # the robot's links (not the hand mounts: pads, tools, real hands)\n186:         name = b.get(\"name\") or \"\"\n187:         if name.endswith(\"_mount\"):\n188:             return\n189:         gs = b.findall(\"geom\")\n190:         vis = [g for g in gs if g.get(\"mesh\") and ((g.get(\"class\") or \"\").endswith(\"_visual\")\n191:                                                    or (g.get(\"contype\") == \"0\" and g.get(\"conaffinity\") == \"0\"))]\n192:         covered = {g.get(\"mesh\") for g in gs if g.get(\"mesh\") and g not in vis}\n193:         if not any(k in name for k in SHELL_SKIP_BODY) and name not in skip:     # (skip: a real hand's fingers)\n194:             for i, g in enumerate(x for x in vis if x.get(\"mesh\") not in covered\n195:                                   and not any(k in x.get(\"mesh\") for k in SHELL_SKIP_MESH)):\n196:                 sh = ET.SubElement(b, \"geom\", name=f\"{name}_shell{i}\", type=\"mesh\", mesh=g.get(\"mesh\"), contype=\"0\",\n197:                                    conaffinity=str(SHELL_BIT), group=\"3\", mass=\"0\", rgba=\"0.3 0.6 0.9 0.35\",\n198:                                    **SHELL_CONTACT)\n199:                 for a in (\"pos\", \"quat\", \"euler\", \"axisangle\", \"xyaxes\", \"zaxis\"):\n200:                     if g.get(a) is not None:\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":16,"t":31.0,"say":"","calls":[{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo/world.py`\nTotal Lines: 1338\nTotal Bytes: 81086\nShowing lines 350 to 550\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n350:             if ignore is not None and ignore.fullmatch(g.get(\"name\")):\n351:                 continue                              # a sensing volume (the kick's strike boxes)\n352:             geoms.append((g.get(\"name\"), name, part, hand, weld))\n353:         for c in b.findall(\"body\"):\n354:             walk(c, cls, part, hand, weld, pweld)\n355: \n356:     walk(pelvis, pelvis.get(\"childclass\") or \"main\", None, False, \"world\", None)\n357:     pw = {w: p for _, _, w, p in info.values()}\n358:     kind = lambda p: \"arm\" if p.endswith(\"arm\") else \"leg\" if p.endswith(\"leg\") else \"body\"   # noqa: E731\n359:     keep = {tuple(sorted(k)) for k in keep}\n360:     excluded, seen, out = [], set(), []\n361:     for i in range(len(geoms)):\n362:         g1, b1, p1, t1, w1 = geoms[i]\n363:         for j in range(i + 1, len(geoms)):\n364:             g2, b2, p2, t2, w2 = geoms[j]\n365:             if b1 == b2 or p1 is None or p2 is None or tuple(sorted((g1, g2))) in keep:\n366:                 continue\n367:             k1, k2 = kind(p1), kind(p2)\n368:             if k1 == \"arm\" and k2 == \"arm\":\n369:                 if p1 == p2 and t1 and t2:\n370:          \n… (11,197 characters left out) …\ned range of Unitree's arm-size\n533: # motors), raised where needed so that no joint is weaker than the H1-2's at any speed (the forearm roll: 1.25 kW, the\n534: # shoulder yaw and elbow 0.80 kW; below the N7520's 1.61 kW). Rotor inertia and friction: the class's\n535: # (UNITREE_ACTUATORS). The H1-2's URDF speed limits (shoulder 9, upper arm 20, forearm 31.4 rad/s) still bound the\n536: # joint targets. A smaller class than the legs' (2.5 kW): an arm joint of a humanoid is a smaller motor.\n537: UNITREE_CURVES = {                              # unitree_rl_lab unitree_actuators.py (= the G1's body.toml [motors])\n538:     \"N7520_14p3\": dict(X1=22.63, X2=35.52, Y1=71.0, Y2=83.3),\n539:     \"N5020_16\": dict(X1=30.86, X2=40.13, Y1=24.8, Y2=31.9),\n540: }\n541: H2X_ARMS = {                                    # joint key: (URDF effort N m, the Unitree class whose shape it takes)\n542:     \"shoulder_pitch\": (130.0, \"N7520_14p3\"), \"shoulder_roll\": (60.0, \"N5020_16\"), \"shoulder_yaw\": (60.0, \"N5020_16\"),\n543:     \"elbow_pitch\": (60.0, \"N5020_16\"), \"elbow_roll\": (60.0, \"N5020_16\"),\n544: }\n545: \n546: \n547: def _curve(w, X1, X2, Y1):\n548:     \"\"\"The driving torque limit of a curve at speeds w (elementwise).\"\"\"\n549:     return np.where(w < X1, Y1, np.clip(Y1 * (1.0 - (w - X1) / max(X2 - X1, 1e-9)), 0.0, None))\n550: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":17,"t":33.0,"say":"","calls":[{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo/world.py`\nTotal Lines: 1338\nTotal Bytes: 81086\nShowing lines 600 to 800\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n600:         self.arb = Arbiter(self.rig)\n601:         a = self.arb\n602:         self.L = Layout(list(a.JOINTS), len(a.GROUPS[\"waist\"]))\n603:         unitree_actuators(m, self)                 # Unitree's rotor inertia, friction, H1-2 curves\n604:         self.has_run = bool(self.info[\"run\"])\n605:         self.modes = {STAND, WALK, JOINT} | ({RUN, RUN_ARMS} if self.has_run else set())\n606:         # The G1's two optional walking policies (bodies/unitree_g1/falcon.py, agile.py: numpy ports of the released\n607:         # FALCON and WBC-AGILE G1 policies), stepped like the running policy: 50 Hz, their 12 leg targets on their\n608:         # own leg gains; the waist and the arms stay the row's, on the default gains. FALCON also gives its wrist\n609:         # residual (as torque on the wrists, as the library's rig does).\n610:         self.walkers = {}\n611:         if self.info.get(\"walkers\"):\n612:             self.walkers = {WALK_FALCON: Falcon(self.B.decl), WALK_AGILE: Agile(self.B.decl)}\n613:             self.modes |= set(WALKERS)\n614:         self.qadr, self.vadr = a.qadr, a.vadr\n615:         self.fq, self.fv = self.rig.fqadr, self.rig.fv\n… (11,484 characters left out) …\n       x, y, yaw = self.task.start\n776:         r.rig.place(d, r.rig.rest, pos=(x, y, r.stand_z), yaw=yaw)\n777:         r.arb.reset(d)\n778:         self._hold_legs()\n779:         self.runp.reset()\n780:         self.k = 0                                  # control steps done\n781:         self.refused = 0                            # joint plans the arbiter refused (the targets then stay)\n782:         self.unstable = False\n783:         self.mode = STAND\n784:         self.run_k = 0\n785:         self.run_tgt = r.arb.target()\n786:         for pol in r.walkers.values():\n787:             pol.reset()\n788:         self.walk_k = 0\n789:         self.walk_tgt = r.stance.copy()\n790:         self.wrist_ff = np.zeros(14)\n791:         self.cmd = np.zeros(3)\n792:         self.held = {s: None for s in SIDES}        # side -> the name of the body its hand grips\n793:         self.grip_req = {s: False for s in SIDES}\n794:         d.eq_active[:] = m.eq_active0\n795:         m.eq_data[:] = self._eq_data0\n796:         self.last_raw: np.ndarray | None = None     # the sim row in force (the last one executed)\n797:         self.pins: dict[str, np.ndarray] = {}       # free bodies a task holds in place (a ball on a launcher)\n798:         if self.hands:\n799:             self.hands.reset()\n800:         self.task.reset(self)\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":18,"t":35.0,"say":"","calls":[{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo/world.py`\nTotal Lines: 1338\nTotal Bytes: 81086\nShowing lines 801 to 1000\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n801:         d.time = 0.0\n802:         d.act[:] = 0\n803:         d.ctrl[:] = 0\n804:         d.qacc_warmstart[:] = 0\n805:         if self.hands:\n806:             self.hands.write_ctrl()\n807:         mujoco.mj_forward(m, d)\n808:         if self.hands:\n809:             self.hands.update_held()\n810:         self.ref.reset()\n811: \n812:     def _hold_legs(self) -> None:\n813:         \"\"\"The legs on the arbiter's hold (stand gains, gravity support) at the stance: how the robot stands at t = 0.\"\"\"\n814:         a, d = self.robot.arb, self.d\n815:         L = a.GROUPS[\"legs\"]\n816:         a.plans.pop(\"legs\", None)\n817:         a.ho = a.settle = None\n818:         a.kicker = None\n819:         a.cmd_req = np.zeros(3)\n820:         a.cmd = np.zeros(3)\n821:         a.q_a[L] = a.q_b[L] = d.qpos[a.qadr[L]]\n822:         a._set_owner(\"legs\", \"hold\", \"stand\")\n823: \n824:     @property\n825:     def t(self) -> float:\n826:         \"\"\"Seconds of the episode.\"\"\"\n827:         return self.k * CONTROL_DT\n828: \n829:     @property\n830:     def done(self) -> bool:\n831:         return self.ref.done\n832: \n833:     @property\n834:     def success(self) -> bool:\n835:      \n… (9,087 characters left out) …\n 0)\n979:         mujoco.mj_objectVelocity(m, d, mujoco.mjtObj.mjOBJ_SITE, self.robot.palm[side], vh, 0)\n980:         return gap, float(np.linalg.norm(vo[3:] - vh[3:]))\n981: \n982:     def _grips(self, req) -> None:\n983:         m, d = self.m, self.d\n984:         if self.grippables:\n985:             mujoco.mj_kinematics(m, d)              # positions and velocities as they are now (a task may just\n986:             mujoco.mj_comPos(m, d)                  # have placed or launched a prop: the speed test below must\n987:             mujoco.mj_comVel(m, d)                  # not read the step before)\n988:         for i, side in enumerate(SIDES):\n989:             if side in self.real_hands:             # a real hand never welds (realhand.py drives its jaws)\n990:                 continue\n991:             want = bool(req[i])\n992:             self.grip_req[side] = want\n993:             if not self.grippables:\n994:                 continue\n995:             if self.held[side] is not None and not want:\n996:                 name = self.held[side]\n997:                 d.eq_active[self.welds[(side, name)]] = 0\n998:                 self.held[side] = None\n999:                 self.ref.event(\"release\", hand=side, object=name)\n1000:             elif self.held[side] is None and want and side not in self.tool_hands:\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":19,"t":37.0,"say":"","calls":[{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo/world.py`\nTotal Lines: 1338\nTotal Bytes: 81086\nShowing lines 1020 to 1150\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1020:         R1 = d.xmat[b1].reshape(3, 3)\n1021:         rel_p = R1.T @ (d.xpos[b2] - d.xpos[b1])\n1022:         q1n, rel_q = np.zeros(4), np.zeros(4)\n1023:         mujoco.mju_negQuat(q1n, d.xquat[b1])\n1024:         mujoco.mju_mulQuat(rel_q, q1n, d.xquat[b2])\n1025:         m.eq_data[eq, 0:3] = 0.0                    # the weld's anchor: the object's origin\n1026:         m.eq_data[eq, 3:6] = rel_p\n1027:         m.eq_data[eq, 6:10] = rel_q\n1028:         m.eq_data[eq, 10] = 1.0\n1029:         d.eq_active[eq] = 1\n1030:         self.held[side] = name\n1031:         self.grip_req[side] = True\n1032:         if event:\n1033:             self.ref.event(\"grip\", hand=side, object=name)\n1034: \n1035:     # ------------------------------------------------------------------ the real hands (realhand.py)\n1036:     def close_on(self, side: str, name: str, closure: float = 1.0, settle_s: float = 0.3) -> dict:\n1037:         \"\"\"At reset: close a real hand's jaws on the free body `name` placed between them and settle the grasp\n1038:         (realhand.RealHands.close_on); the closure command stays in force.\"\"\"\n1039:         if side not in self.real_hands:\n10\n… (4,873 characters left out) …\n}\"]:s[f\"gyro_{w}\"] + 3],  # noqa: E731\n1126:                               sd[s[f\"accelerometer_{w}\"]:s[f\"accelerometer_{w}\"] + 3]]\n1127:         return np.r_[d.qpos[r.qadr], d.qvel[r.vadr], d.ctrl[a.aid], a.target(), imu(\"pelvis\"), imu(\"torso\"),\n1128:                      [float(self.held[\"left\"] is not None), float(self.held[\"right\"] is not None), float(self.mode)],\n1129:                      self.cmd, [self.t], self.hands.proprio() if self.hands else []].astype(np.float32)\n1130: \n1131:     def render(self, camera: str, width: int = 480, height: int = 270, depth: bool = False) -> np.ndarray:\n1132:         key = (width, height)\n1133:         if key not in self._renderers:\n1134:             self._renderers[key] = mujoco.Renderer(self.m, height, width)\n1135:         R = self._renderers[key]\n1136:         if depth:\n1137:             R.enable_depth_rendering()\n1138:         R.update_scene(self.d, camera=camera)\n1139:         out = R.render().copy()\n1140:         if depth:\n1141:             R.disable_depth_rendering()\n1142:         return out\n1143: \n1144:     def close(self) -> None:\n1145:         for R in self._renderers.values():\n1146:             try:\n1147:                 R.close()\n1148:             except Exception:  # noqa: BLE001\n1149:                 pass\n1150:         self._renderers = {}\nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":20,"t":40.0,"say":"","calls":[{"kind":"shell","label":"reads world.py","code":"/opt/tools/rfo/world.py"}],"out":{"text":"File Path: `file:///opt/tools/rfo/world.py`\nTotal Lines: 1338\nTotal Bytes: 81086\nShowing lines 1151 to 1338\nThe following code has been modified to include a line number before every line, in the format: <line_number>: <original_line>. Please note that any changes targeting the original code should remove the line number, colon, and leading space.\n1151: \n1152:     # ------------------------------------------------------------------ identity\n1153:     def state_sha(self) -> str:\n1154:         \"\"\"The simulator's state, the controllers' memory, the grips and the referee's record.\"\"\"\n1155:         d, m, a = self.d, self.m, self.robot.arb\n1156:         h = hashlib.sha256()\n1157:         ho, st = a.ho or {}, a.settle or {}\n1158:         extra = [np.r_[ho.get(\"i\", -1), ho.get(\"n\", -1)], ho.get(\"q_from\", np.zeros(0)), ho.get(\"kp_from\", np.zeros(0)),\n1159:                  ho.get(\"kd_from\", np.zeros(0)), np.r_[st.get(\"i\", -1)], np.asarray(st.get(\"w\", []), float).ravel(),\n1160:                  np.zeros(0) if self.last_raw is None else self.last_raw, *[self.pins[k] for k in sorted(self.pins)]]\n1161:         for arr in (d.qpos, d.qvel, d.ctrl, d.act, d.eq_active, m.eq_data, d.qacc_warmstart, a.memory(),\n1162:                     *self.runp.memory(), self.run_tgt, self.cmd, *extra,\n1163:                     *[self.robot.walkers[k].state() for k in sorted(self.robot.walkers)], self.walk_tgt, self.wrist_ff):\n1164:             h.update(np.nan_to_num(np.ascontiguousarray(arr, dtype=np.float6\n… (10,063 characters left out) …\nos(L.NJ), np.zeros(L.NJ), r.kp0, r.kd0, grip]\n1317: \n1318:     def hold(self, world: \"World\") -> tuple[str, np.ndarray]:\n1319:         \"\"\"Keep the command in force with no velocity: a walking robot stops and keeps its balance on the walking\n1320:         policy, a running one is slowed by the running policy, joint targets (with their gains and feed-forward\n1321:         torques, as a `lowcmd` row) stay as they are with zero target velocities.\"\"\"\n1322:         typ = {STAND: \"stand\", WALK: \"walk\", RUN: \"run\", RUN_ARMS: \"run_arms\", JOINT: \"lowcmd\",\n1323:                WALK_FALCON: \"walk_falcon\", WALK_AGILE: \"walk_agile\"}[world.mode]\n1324:         row = self.current(typ, world)\n1325:         if typ in (\"walk\", \"run\", \"run_arms\", \"walk_falcon\", \"walk_agile\"):\n1326:             row[0:3] = 0.0\n1327:         elif typ == \"lowcmd\":\n1328:             row[self.L.NJ:2 * self.L.NJ] = 0.0\n1329:         return typ, row\n1330: \n1331:     def spec(self) -> dict:\n1332:         out = {}\n1333:         for name, t in self.types.items():\n1334:             lo, hi = t[\"bounds\"]\n1335:             out[name] = {\"dim\": t[\"dim\"], \"layout\": t[\"layout\"], \"lower\": [round(float(x), 4) for x in lo],\n1336:                          \"upper\": [round(float(x), 4) for x in hi], \"meaning\": t[\"meaning\"]}\n1337:         return out\n1338: \nThe above content does NOT show the entire file contents. If you need to view any lines of the file which were not shown to complete your task, call this tool again to view those lines.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":21,"t":41.0,"say":"","calls":[{"kind":"shell","label":"Checking instance.json","code":"python3 -c \"import json; d=json.load(open('/app/instance.json')); print('family:', d.get('family')); print('params:', d.get('params'))\""}],"out":{"text":"The command exited with code 0.\nOutput:\nfamily: hurdles-freestanding\r\nparams: {'distance_m': 50.0, 'hurdles': 4, 'first_hurdle_m': 13.72, 'spacing_m': 9.14, 'hurdle_height_m': 1.067, 'hurdle_width_m': 1.19, 'bar_height_m': 0.07, 'base_length_m': 0.7, 'cross_below_m': 0.35, 'toppling_force_kgf': 3.8, 'hurdle_mass_kg': 10.9, 'balance_deg': 55, 'track_friction': 0.6, 'lane_width_m': 1.22, 'start_line_m': 0.05, 'toe_gap_m': 0.02, 'knocked_deg': 60.0, 'displaced_m': 0.1, 'touch_window_s': 0.5, 'blame_recent_s': 0.1, 'support_n': 100.0, 'strike_s': 0.15, 'beside_m': 0.1, 'down_z_m': 0.4, 'down_limit_s': 10.0}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":22,"t":44.0,"say":"","calls":[{"kind":"shell","label":"Checking Session status and state","code":"python3 -c \"from rcb_rfo import Session; s = Session(); print('action types:', list(s.action_types.keys())); print('pelvis:', s.state()['pelvis_xyz_yaw']); print('status:', s.status())\""}],"out":{"text":"The command exited with code 0.\nOutput:\naction types: ['stand', 'walk', 'joints', 'lowcmd']\r\npelvis: [-0.228, 0.0, 1.035, 0.0]\r\nstatus: {'success': False, 'done': False, 'failed': None, 'stages': [], 'stages_total': 5, 'progress': 0.0, 'metrics': {}, 'steps': 0, 'time_s': 0.0, 'events': [], 'state_sha': 'c442066e71087d465fa356e3dc64e0019d0d69a8c4ca882076c44b3c9a29ac36'}","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":23,"t":49.0,"say":"","calls":[{"kind":"shell","label":"Checking airborne implementation","code":"python3 -c \"import inspect; from rfo.referee import Referee; print(inspect.getsource(Referee.airborne))\""}],"out":{"text":"The command exited with code 0.\nOutput:\n    def airborne(self, also_allowed: np.ndarray | None = None) -> bool:\r\n        \"\"\"The robot touches nothing outside itself, except what its hands grip (and `also_allowed`).\"\"\"\r\n        g1, g2 = self._g1, self._g2\r\n        if not len(g1):\r\n            return True\r\n        r1, r2 = self.robot_mask[g1], self.robot_mask[g2]\r\n        ext = np.r_[g2[r1 & ~r2], g1[r2 & ~r1]]\r\n        if not len(ext):\r\n            return True\r\n        ok = self.held_mask()\r\n        if also_allowed is not None:\r\n            ok = ok | also_allowed\r\n        return bool(np.all(ok[ext]))","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":24,"t":57.0,"say":"","calls":[{"kind":"shell","label":"Inspecting Arbiter.walk","code":"python3 -c \"import inspect; from bodies.control.arbiter import Arbiter; print(inspect.getsource(Arbiter.walk))\""}],"out":{"text":"The command exited with code 1.\nOutput:\nTraceback (most recent call last):\r\n  File \"<string>\", line 1, in <module>\r\nModuleNotFoundError: No module named 'bodies'","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":25,"t":60.0,"say":"","calls":[{"kind":"shell","label":"Inspecting Arbiter.walk with path","code":"python3 -c \"import sys; sys.path.insert(0, '/opt/roboolympics'); import inspect; from bodies.control.arbiter import Arbiter; print(inspect.getsource(Arbiter.walk))\""}],"out":{"text":"The command exited with code 0.\nOutput:\n    def walk(self, d, cmd):\r\n        \"\"\"The walking policy tool: a body-frame velocity command, clipped to the real joystick range. If the legs are\r\n        planned or held, the body starts handing them back to the policy (the command applies once it walks).\"\"\"\r\n        c = np.asarray(cmd, float).reshape(3)\r\n        if not np.all(np.isfinite(c)):\r\n            return \"the walking command must be 3 finite numbers\"\r\n        self.cmd_req = np.clip(c, -self.cmd_max, self.cmd_max)\r\n        if self.owner[\"legs\"] in (\"plan\", \"hold\"):\r\n            self._start_handover(d, \"walk requested\")\r\n        return None","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":26,"t":63.0,"say":"","calls":[{"kind":"shell","label":"Inspecting Arbiter._start_handover","code":"python3 -c \"import sys; sys.path.insert(0, '/opt/roboolympics'); import inspect; from bodies.control.arbiter import Arbiter; print(inspect.getsource(Arbiter._start_handover))\""}],"out":{"text":"The command exited with code 0.\nOutput:\n    def _start_handover(self, d, why):\r\n        self.plans.pop(\"legs\", None)\r\n        self.settle = None\r\n        self.kicker = None\r\n        L = self.GROUPS[\"legs\"]\r\n        n = int(self.H[\"blend_steps_after_skill\"] if why == \"kick done\" else self.H[\"blend_steps\"])\r\n        self.ho = dict(i=0, n=n, q_from=d.qpos[self.qadr[L]].copy(), kp_from=self.kp[L].copy(),\r\n                       kd_from=self.kd[L].copy(), why=why)\r\n        self._set_owner(\"legs\", \"handover\", why)","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":27,"t":65.0,"say":"","calls":[{"kind":"shell","label":"Checking body link z heights","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nm = s.world.m\nd = s.world.d\nfor name in ['pelvis', 'torso_link', 'left_hip_yaw_link', 'left_knee_link', 'left_ankle_pitch_link', 'left_ankle_roll_link']:\n    print(name, d.xpos[m.body(name).id])\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\npelvis [-0.228  0.     1.035]\r\ntorso_link [-0.228  0.     1.035]\r\nleft_hip_yaw_link [-0.228   0.0875  0.8718]\r\nleft_knee_link [-0.16427272  0.163       0.47690909]\r\nleft_ankle_pitch_link [-0.24374045  0.163       0.08488246]\r\nleft_ankle_roll_link [-0.24374045  0.163       0.06488246]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":28,"t":74.0,"say":"","calls":[{"kind":"shell","label":"Printing joints and limits","code":"python3 -c \"\nimport mujoco, numpy as np\nfrom rcb_rfo import Session\ns = Session()\nm, d = s.world.m, s.world.d\nr = s.world.robot\n# Let's inspect qpos joint indices\nfor i, j in enumerate(s.world.L.JOINTS):\n    print(i, j, r.lo[i], r.hi[i])\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\n0 left_hip_yaw_joint -0.43 0.43\r\n1 left_hip_pitch_joint -3.14 2.5\r\n2 left_hip_roll_joint -0.43 3.14\r\n3 left_knee_joint -0.26 2.05\r\n4 left_ankle_pitch_joint -0.897334 0.523598\r\n5 left_ankle_roll_joint -0.261799 0.261799\r\n6 right_hip_yaw_joint -0.43 0.43\r\n7 right_hip_pitch_joint -3.14 2.5\r\n8 right_hip_roll_joint -3.14 0.43\r\n9 right_knee_joint -0.26 2.05\r\n10 right_ankle_pitch_joint -0.897334 0.523598\r\n11 right_ankle_roll_joint -0.261799 0.261799\r\n12 torso_joint -2.35 2.35\r\n13 left_shoulder_pitch_joint -3.14 1.57\r\n14 left_shoulder_roll_joint -0.38 3.4\r\n15 left_shoulder_yaw_joint -2.66 3.01\r\n16 left_elbow_pitch_joint -0.95 3.18\r\n17 left_elbow_roll_joint -3.01 2.75\r\n18 left_wrist_pitch_joint -0.47 0.47\r\n19 left_wrist_yaw_joint -1.27 1.27\r\n20 right_shoulder_pitch_joint -3.14 1.57\r\n21 right_shoulder_roll_joint -3.4 0.38\r\n22 right_shoulder_yaw_joint -3.01 2.66\r\n23 right_elbow_pitch_joint -0.95 3.18\r\n24 right_elbow_roll_joint -2.75 3.01\r\n25 right_wrist_pitch_joint -0.47 0.47\r\n26 right_wrist_yaw_joint -1.27 1.27","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":29,"t":82.0,"say":"","calls":[{"kind":"shell","label":"Testing ankle relative position","code":"python3 -c \"\nimport mujoco, numpy as np\nfrom rcb_rfo import Session\ns = Session()\nm, d = s.world.m, s.world.d\nr = s.world.robot\n\n# Let's test tucking legs:\n# hip_pitch: negative is forward or backward? Let's check:\n# at start: hip_pitch = -0.16, knee = 0.36, ankle_pitch = -0.2\n# When standing: pelvis z is 1.035, ankle z is 0.065. Difference is 0.97 m.\nfor hp in [-1.5, -1.0, -0.5, 0.0, 0.5, 1.0, 1.5]:\n    for kn in [0.0, 0.5, 1.0, 1.5, 2.0]:\n        d.qpos[r.qadr[1]] = hp\n        d.qpos[r.qadr[3]] = kn\n        mujoco.mj_kinematics(m, d)\n        pos = d.xpos[m.body('left_ankle_roll_link').id] - d.xpos[m.body('pelvis').id]\n        if pos[2] > -0.3: # less than 30 cm below pelvis\n            print(f'hp={hp:.2f}, kn={kn:.2f} -> ankle rel to pelvis: dx={pos[0]:.2f}, dz={pos[2]:.2f}')\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nhp=-1.50, kn=0.00 -> ankle rel to pelvis: dx=0.82, dz=-0.22\r\nhp=0.50, kn=2.00 -> ankle rel to pelvis: dx=-0.45, dz=-0.18\r\nhp=1.00, kn=1.00 -> ankle rel to pelvis: dx=-0.72, dz=-0.21\r\nhp=1.00, kn=1.50 -> ankle rel to pelvis: dx=-0.59, dz=-0.05\r\nhp=1.00, kn=2.00 -> ankle rel to pelvis: dx=-0.40, dz=0.04\r\nhp=1.50, kn=0.00 -> ankle rel to pelvis: dx=-0.82, dz=-0.23\r\nhp=1.50, kn=0.50 -> ankle rel to pelvis: dx=-0.78, dz=-0.02\r\nhp=1.50, kn=1.00 -> ankle rel to pelvis: dx=-0.65, dz=0.14\r\nhp=1.50, kn=1.50 -> ankle rel to pelvis: dx=-0.46, dz=0.22\r\nhp=1.50, kn=2.00 -> ankle rel to pelvis: dx=-0.26, dz=0.20","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":30,"t":88.0,"say":"","calls":[{"kind":"shell","label":"Testing leg tucking combinations","code":"python3 -c \"\nimport mujoco, numpy as np\nfrom rcb_rfo import Session\ns = Session()\nm, d = s.world.m, s.world.d\nr = s.world.robot\n\nfor hp in [-2.5, -2.0, -1.5, -1.0, -0.5]:\n    for kn in [0.0, 0.5, 1.0, 1.5, 2.0]:\n        for ap in [-0.8, -0.2, 0.5]:\n            d.qpos[r.qadr[1]] = hp\n            d.qpos[r.qadr[3]] = kn\n            d.qpos[r.qadr[4]] = ap\n            mujoco.mj_kinematics(m, d)\n            pos = d.xpos[m.body('left_ankle_roll_link').id] - d.xpos[m.body('pelvis').id]\n            if pos[2] > -0.2:\n                print(f'hp={hp:.2f}, kn={kn:.2f}, ap={ap:.2f} -> dx={pos[0]:.2f}, dz={pos[2]:.2f}')\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nhp=-2.50, kn=0.00, ap=-0.80 -> dx=0.48, dz=0.50\r\nhp=-2.50, kn=0.00, ap=-0.20 -> dx=0.49, dz=0.50\r\nhp=-2.50, kn=0.00, ap=0.50 -> dx=0.50, dz=0.49\r\nhp=-2.50, kn=0.50, ap=-0.80 -> dx=0.61, dz=0.34\r\nhp=-2.50, kn=0.50, ap=-0.20 -> dx=0.62, dz=0.34\r\nhp=-2.50, kn=0.50, ap=0.50 -> dx=0.62, dz=0.32\r\nhp=-2.50, kn=1.00, ap=-0.80 -> dx=0.65, dz=0.14\r\nhp=-2.50, kn=1.00, ap=-0.20 -> dx=0.66, dz=0.13\r\nhp=-2.50, kn=1.00, ap=0.50 -> dx=0.66, dz=0.12\r\nhp=-2.50, kn=1.50, ap=-0.80 -> dx=0.60, dz=-0.05\r\nhp=-2.50, kn=1.50, ap=-0.20 -> dx=0.59, dz=-0.07\r\nhp=-2.50, kn=1.50, ap=0.50 -> dx=0.59, dz=-0.08\r\nhp=-2.50, kn=2.00, ap=-0.80 -> dx=0.45, dz=-0.20\r\nhp=-2.00, kn=0.00, ap=-0.80 -> dx=0.73, dz=0.19\r\nhp=-2.00, kn=0.00, ap=-0.20 -> dx=0.74, dz=0.18\r\nhp=-2.00, kn=0.00, ap=0.50 -> dx=0.75, dz=0.17\r\nhp=-2.00, kn=0.50, ap=-0.80 -> dx=0.78, dz=-0.01\r\nhp=-2.00, kn=0.50, ap=-0.20 -> dx=0.78, dz=-0.02\r\nhp=-2.00, kn=0.50, ap=0.50 -> dx=0.78, dz=-0.04","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":31,"t":94.0,"say":"","calls":[{"kind":"robot","label":"Simulating walk forward","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\ntyp, hold_row = s.hold()\nprint('Initial mode:', typ, 'row len:', len(hold_row))\n\n# Let's walk forward at vx = 0.8\nwalk_row = s.ep.actions.current('walk', s.world)\nwalk_row[0] = 0.8  # vx\nwalk_row[1] = 0.0  # vy\nwalk_row[2] = 0.0  # wz\n\nfor k in range(500): # 5 seconds\n    s.step('walk', walk_row)\n    if k % 100 == 0:\n        p = s.world.pelvis()\n        print(f't={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.2f}, z={p[2]:.2f}, yaw={p[3]:.2f}')\n\np = s.world.pelvis()\nprint(f'Final t={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.2f}, z={p[2]:.2f}, yaw={p[3]:.2f}')\nprint('Status:', s.status())\n\""}],"out":{"text":"Tool is running as a background task with task id: 3a4fde9d-9c0f-46ba-83f0-0c31e7550ee1/task-60\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\ntyp, hold_row = s.hold()\nprint('Initial mode:', typ, 'row len:', len(hold_row))\n\n# Let's walk forward at vx = 0.8\nwalk_row = s.ep.actions.current('walk', s.world)\nwalk_row[0] = 0.8  # vx\nwalk_row[1] = 0.0  # vy\nwalk_row[2] = 0.0  # wz\n\nfor k in range(500): # 5 seconds\n    s.step('walk', walk_row)\n    if k % 100 == 0:\n        p = s.world.pelvis()\n        print(f't={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.2f}, z={p[2]:.2f}, yaw={p[3]:.2f}')\n\np = s.world.pelvis()\nprint(f'Final t={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.2f}, z={p[2]:.2f}, yaw={p[3]:.2f}')\nprint('Status:', s.status())\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/3a4fde9d-9c0f-46ba-83f0-0c31e7550ee1/.system_generated/tasks/task-60.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":32,"t":106.0,"say":"I have launched the walking test script and will wait for it to complete.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":34,"t":108.0,"say":"","calls":[{"kind":"robot","label":"Testing steering controller on walking","code":"python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nwalk_row = s.ep.actions.current('walk', s.world)\n\nfor k in range(1500): # 15 seconds\n    p = s.world.pelvis() # x, y, z, yaw\n    y = p[1]\n    yaw = p[3]\n    # Controller to keep y=0, yaw=0\n    wz = -1.5 * yaw - 0.8 * y\n    vy = -0.5 * y\n    walk_row[0] = 0.8  # vx\n    walk_row[1] = vy\n    walk_row[2] = wz\n    s.step('walk', walk_row)\n    if k % 200 == 0:\n        print(f't={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.3f}, z={p[2]:.2f}, yaw={p[3]:.3f}')\n    if s.done:\n        print('Ended at', s.world.t, s.status())\n        break\n\np = s.world.pelvis()\nprint(f'Final t={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.3f}, z={p[2]:.2f}, yaw={p[3]:.3f}')\n\""}],"out":{"text":"Tool is running as a background task with task id: 3a4fde9d-9c0f-46ba-83f0-0c31e7550ee1/task-64\nTask Description: python3 -c \"\nfrom rcb_rfo import Session\ns = Session()\nwalk_row = s.ep.actions.current('walk', s.world)\n\nfor k in range(1500): # 15 seconds\n    p = s.world.pelvis() # x, y, z, yaw\n    y = p[1]\n    yaw = p[3]\n    # Controller to keep y=0, yaw=0\n    wz = -1.5 * yaw - 0.8 * y\n    vy = -0.5 * y\n    walk_row[0] = 0.8  # vx\n    walk_row[1] = vy\n    walk_row[2] = wz\n    s.step('walk', walk_row)\n    if k % 200 == 0:\n        print(f't={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.3f}, z={p[2]:.2f}, yaw={p[3]:.3f}')\n    if s.done:\n        print('Ended at', s.world.t, s.status())\n        break\n\np = s.world.pelvis()\nprint(f'Final t={s.world.t:.2f}s: x={p[0]:.2f}, y={p[1]:.3f}, z={p[2]:.2f}, yaw={p[3]:.3f}')\n\"\nTask logs are available at: file:///root/.gemini/antigravity-cli/brain/3a4fde9d-9c0f-46ba-83f0-0c31e7550ee1/.system_generated/tasks/task-64.log\nYOU MUST TAKE ONE OF THE FOLLOWING TWO ACTIONS: A) either proceed to other relevant work (if any) or, B) simply update the user with a short message (that you have launched the command and will wait for it to finish) and end the turn.\n DO NOTHING ELSE.","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":35,"t":116.0,"say":"I have launched the test for closed-loop walking steering and will wait for it to complete.","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":37,"t":123.0,"say":"","calls":[{"kind":"shell","label":"Checking leg parameters","code":"python3 -c \"\nimport numpy as np, mujoco\nfrom rcb_rfo import Session\n\ns = Session()\nr = s.world.robot\nd = s.world.d\nm = s.world.m\n\nprint('kp0:', r.kp0[:12])\nprint('kd0:', r.kd0[:12])\nprint('tau_max:', r.tau_max[:12])\nprint('speed:', r.speed[:12])\nprint('stance:', r.stance)\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nkp0: [ 800.  800.  800. 1200.  160.  160.  800.  800.  800. 1200.  160.  160.]\r\nkd0: [10. 10. 10. 16.  8.  8. 10. 10. 10. 16.  8.  8.]\r\ntau_max: [360.   360.   360.   360.    66.88  40.   360.   360.   360.   360.\r\n  66.88  40.  ]\r\nspeed: [23. 23. 23. 14.  9.  9. 23. 23. 23. 14.  9.  9.]\r\nstance: [ 0.   -0.16  0.    0.36 -0.2   0.    0.   -0.16  0.    0.36 -0.2   0.  ]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":38,"t":131.0,"say":"","calls":[{"kind":"shell","label":"Checking knee extension z diff","code":"python3 -c \"\nimport mujoco, numpy as np\nfrom rcb_rfo import Session\ns = Session()\nm, d = s.world.m, s.world.d\nr = s.world.robot\n\nfor kn in [-0.2, 0.0, 0.36, 1.0, 1.5]:\n    d.qpos[r.qadr[3]] = kn\n    mujoco.mj_kinematics(m, d)\n    z_diff = d.xpos[m.body('pelvis').id][2] - d.xpos[m.body('left_ankle_roll_link').id][2]\n    print(f'knee={kn:.2f} -> pelvis-ankle z diff: {z_diff:.3f}')\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nknee=-0.20 -> pelvis-ankle z diff: 0.949\r\nknee=0.00 -> pelvis-ankle z diff: 0.972\r\nknee=0.36 -> pelvis-ankle z diff: 0.970\r\nknee=1.00 -> pelvis-ankle z diff: 0.841\r\nknee=1.50 -> pelvis-ankle z diff: 0.658","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":39,"t":137.0,"say":"","calls":[{"kind":"shell","label":"Checking hip pitch dx dz","code":"python3 -c \"\nimport mujoco, numpy as np\nfrom rcb_rfo import Session\ns = Session()\nm, d = s.world.m, s.world.d\nr = s.world.robot\n\nfor hp in [-1.0, -0.6, -0.16, 0.2]:\n    d.qpos[r.qadr[1]] = hp\n    mujoco.mj_kinematics(m, d)\n    diff = d.xpos[m.body('left_ankle_roll_link').id] - d.xpos[m.body('pelvis').id]\n    print(f'hp={hp:.2f} -> dx={diff[0]:.3f}, dz={diff[2]:.3f}')\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nhp=-1.00 -> dx=0.590, dz=-0.714\r\nhp=-0.60 -> dx=0.329, dz=-0.900\r\nhp=-0.16 -> dx=-0.016, dz=-0.970\r\nhp=0.20 -> dx=-0.299, dz=-0.913","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":40,"t":143.0,"say":"","calls":[{"kind":"shell","label":"Testing crouching kinematics","code":"python3 -c \"\nimport mujoco, numpy as np\nfrom rcb_rfo import Session\ns = Session()\nm, d = s.world.m, s.world.d\nr = s.world.robot\n\n# Let's test crouching with flat feet:\n# stance: hp=-0.16, kn=0.36, ap=-0.20\nfor crouch in [0.0, 0.4, 0.8, 1.2]:\n    kn = 0.36 + crouch\n    hp = -0.16 - crouch/2\n    ap = -0.20 - crouch/2\n    d.qpos[r.qadr[1]] = hp\n    d.qpos[r.qadr[3]] = kn\n    d.qpos[r.qadr[4]] = ap\n    mujoco.mj_kinematics(m, d)\n    diff = d.xpos[m.body('left_ankle_roll_link').id] - d.xpos[m.body('pelvis').id]\n    foot_rot = d.xmat[m.body('left_ankle_roll_link').id].reshape(3, 3)\n    print(f'crouch={crouch:.1f} -> dx={diff[0]:.3f}, dz={diff[2]:.3f}, foot_z_axis={foot_rot[2, :]}')\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\ncrouch=0.0 -> dx=-0.016, dz=-0.970, foot_z_axis=[0. 0. 1.]\r\ncrouch=0.4 -> dx=-0.015, dz=-0.926, foot_z_axis=[0. 0. 1.]\r\ncrouch=0.8 -> dx=-0.013, dz=-0.852, foot_z_axis=[-1.11022302e-16  0.00000000e+00  1.00000000e+00]\r\ncrouch=1.2 -> dx=-0.011, dz=-0.752, foot_z_axis=[1.11022302e-16 0.00000000e+00 1.00000000e+00]","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":41,"t":149.0,"say":"","calls":[{"kind":"robot","label":"Testing jump from crouch in joints mode","code":"python3 -c \"\nimport numpy as np\nfrom rcb_rfo import Session\n\ns = Session()\nr = s.world.robot\nd = s.world.d\nw = s.world\n\n# Let's start with stand\nstand_row = s.ep.actions.current('stand', w)\n\n# Wait 0.5s to settle\nfor _ in range(50):\n    s.step('stand', stand_row)\n\nprint('Settled at z:', w.pelvis()[2])\n\n# Now use lowcmd or joints to crouch\n# Let's inspect 'joints' mode\nq_current = r.arb.target().copy()\njoints_row = s.ep.actions.current('joints', w)\n\n# Crouch over 0.3 seconds (30 steps)\ncrouch_steps = 30\nmax_crouch = 1.2\nfor step in range(crouch_steps):\n    c = max_crouch * (step + 1) / crouch_steps\n    # Left leg: 1=hip_pitch, 3=knee, 4=ankle_pitch\n    # Right leg: 7=hip_pitch, 9=knee, 10=ankle_pitch\n    row = q_current.copy()\n    row[1] = -0.16 - c/2\n    row[3] = 0.36 + c\n    row[4] = max(-0.89, -0.20 - c/2)\n    row[7] = -0.16 - c/2\n    row[9] = 0.36 + c\n    row[10] = max(-0.89, -0.20 - c/2)\n    joints_row[:27] = row\n    s.step('joints', joints_row)\n\nprint('After crouch: z =', w.pelvis()[2])\n\n# Now EXPLODE upwards!\n# Extension: drive knee to -0.1, hip_pitch to -0.16 or 0.0, ankle_pitch to 0.2\njump_row = joints_row.copy()\njump_row[1] = -0.16\njump_row[3] = -0.10\njump_row[4] = 0.20\njump_row[7] = -0.16\njump_row[9] = -0.10\njump_row[10] = 0.20\n\nmax_z = 0.0\nfor step in range(100):\n    s.step('joints', jump_row)\n    z = w.pelvis()[2]\n    vz = d.qvel[r.fv + 2]\n    max_z = max(max_z, z)\n    if step % 10 == 0:\n        print(f'step {step}: z={z:.3f}, vz={vz:.3f}')\n\nprint('Max z reached:', max_z)\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nSettled at z: 1.020727085253585\r\nAfter crouch: z = 0.7952602301292931\r\nstep 0: z=0.786, vz=-0.793\r\nstep 10: z=0.876, vz=1.740\r\nstep 20: z=1.094, vz=1.858\r\nstep 30: z=1.219, vz=0.627\r\nstep 40: z=1.241, vz=-0.347\r\nstep 50: z=1.147, vz=-1.424\r\nstep 60: z=0.952, vz=-2.489\r\nstep 70: z=0.653, vz=-3.469\r\nstep 80: z=0.362, vz=-1.294\r\nstep 90: z=0.287, vz=-0.866\r\nMax z reached: 1.2454615445205246","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":42,"t":157.0,"say":"","calls":[{"kind":"robot","label":"Testing forward jump and tuck","code":"python3 -c \"\nimport numpy as np\nfrom rcb_rfo import Session\n\ns = Session()\nr = s.world.robot\nd = s.world.d\nw = s.world\n\nstand_row = s.ep.actions.current('stand', w)\nfor _ in range(50):\n    s.step('stand', stand_row)\n\njoints_row = s.ep.actions.current('joints', w)\nq_current = r.arb.target().copy()\n\n# Crouch with slight forward lean\ncrouch_steps = 25\nmax_crouch = 1.2\nfor step in range(crouch_steps):\n    c = max_crouch * (step + 1) / crouch_steps\n    row = q_current.copy()\n    row[1] = -0.16 - c/2 - 0.1 # slight extra forward hip lean\n    row[3] = 0.36 + c\n    row[4] = max(-0.89, -0.20 - c/2)\n    row[7] = -0.16 - c/2 - 0.1\n    row[9] = 0.36 + c\n    row[10] = max(-0.89, -0.20 - c/2)\n    # swing arms back in crouch\n    row[13] = 0.5\n    row[20] = 0.5\n    joints_row[:27] = row\n    s.step('joints', joints_row)\n\n# Extension: thrust up and forward + swing arms up\n# 15 steps of extension\next_steps = 15\nfor step in range(ext_steps):\n    row = q_current.copy()\n    row[1] = 0.1   # push back\n    row[3] = -0.15 # knee straight\n    row[4] = 0.3   # ankle toe-off\n    row[7] = 0.1\n    row[9] = -0.15\n    row[10] = 0.3\n    # swing arms forward and up!\n    row[13] = -1.5\n    row[20] = -1.5\n    joints_row[:27] = row\n    s.step('joints', joints_row)\n\np = w.pelvis()\nprint(f'Takeoff at t={w.t:.2f}: x={p[0]:.3f}, z={p[2]:.3f}, vx={d.qvel[r.fv]:.3f}, vz={d.qvel[r.fv+2]:.3f}')\n\n# In flight: tuck legs!\n# Hurdling stride or tuck:\nfor step in range(50):\n    row = q_current.copy()\n    # tuck legs forward\n    row[1] = -1.8\n    row[3] = 0.5\n    row[4] = -0.2\n    row[7] = -1.8\n    row[9] = 0.5\n    row[10] = -0.2\n    row[13] = -1.0\n    row[20] = -1.0\n    joints_row[:27] = row\n    s.step('joints', joints_row)\n    p = w.pelvis()\n    la = d.xpos[m.body('left_ankle_roll_link').id]\n    ra = d.xpos[m.body('right_ankle_roll_link').id]\n    if step % 5 == 0:\n        print(f'flight {step}: pelvis=(x={p[0]:.2f}, z={p[2]:.2f}), left_ankle_z={la[2]:.2f}, right_ankle_z={ra[2]:.2f}')\n\""}],"out":{"text":"The command exited with code 1.\nOutput:\nTakeoff at t=0.90: x=-0.170, z=0.918, vx=-0.510, vz=1.998\r\nTraceback (most recent call last):\r\n  File \"<string>\", line 71, in <module>\r\nNameError: name 'm' is not defined","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":43,"t":166.0,"say":"","calls":[{"kind":"robot","label":"Testing walking-to-jump transition","code":"python3 -c \"\nimport numpy as np\nfrom rcb_rfo import Session\n\ns = Session()\nr = s.world.robot\nd = s.world.d\nw = s.world\nm = s.world.m\n\n# Walk forward for 3 seconds\nwalk_row = s.ep.actions.current('walk', w)\nfor k in range(300):\n    p = w.pelvis()\n    wz = -1.5 * p[3] - 0.8 * p[1]\n    vy = -0.5 * p[1]\n    walk_row[0] = 0.8\n    walk_row[1] = vy\n    walk_row[2] = wz\n    s.step('walk', walk_row)\n\np = w.pelvis()\nprint(f'Before jump: x={p[0]:.2f}, z={p[2]:.2f}, vx={d.qvel[r.fv]:.2f}, vz={d.qvel[r.fv+2]:.2f}')\n\n# Now transition to crouch & jump\njoints_row = s.ep.actions.current('joints', w)\nq_cur = d.qpos[r.qadr].copy()\n\n# Crouch: 15 steps\ncrouch_steps = 15\nmax_crouch = 1.0\nfor step in range(crouch_steps):\n    c = max_crouch * (step + 1) / crouch_steps\n    row = q_cur.copy()\n    row[1] = -0.16 - c/2\n    row[3] = 0.36 + c\n    row[4] = max(-0.89, -0.20 - c/2)\n    row[7] = -0.16 - c/2\n    row[9] = 0.36 + c\n    row[10] = max(-0.89, -0.20 - c/2)\n    joints_row[:27] = row\n    s.step('joints', joints_row)\n\np = w.pelvis()\nprint(f'After crouch: x={p[0]:.2f}, z={p[2]:.2f}, vx={d.qvel[r.fv]:.2f}, vz={d.qvel[r.fv+2]:.2f}')\n\n# Extension: 12 steps\next_steps = 12\nfor step in range(ext_steps):\n    row = q_cur.copy()\n    row[1] = -0.16\n    row[3] = -0.15\n    row[4] = 0.10\n    row[7] = -0.16\n    row[9] = -0.15\n    row[10] = 0.10\n    joints_row[:27] = row\n    s.step('joints', joints_row)\n\np = w.pelvis()\nprint(f'Takeoff: x={p[0]:.2f}, z={p[2]:.2f}, vx={d.qvel[r.fv]:.2f}, vz={d.qvel[r.fv+2]:.2f}')\n\n# Flight: tuck legs!\nfor step in range(40):\n    row = q_cur.copy()\n    row[1] = -2.0\n    row[3] = 0.5\n    row[4] = 0.0\n    row[7] = -2.0\n    row[9] = 0.5\n    row[10] = 0.0\n    joints_row[:27] = row\n    s.step('joints', joints_row)\n    p = w.pelvis()\n    la = d.xpos[m.body('left_ankle_roll_link').id]\n    ra = d.xpos[m.body('right_ankle_roll_link').id]\n    if step % 5 == 0:\n        print(f'flight {step}: pelvis=(x={p[0]:.2f}, z={p[2]:.2f}), la_z={la[2]:.2f}, ra_z={ra[2]:.2f}, vx={d.qvel[r.fv]:.2f}, vz={d.qvel[r.fv+2]:.2f}')\n\""}],"out":{"text":"The command exited with code 0.\nOutput:\nBefore jump: x=0.77, z=1.02, vx=0.63, vz=0.00\r\nAfter crouch: x=0.86, z=0.89, vx=0.59, vz=-1.63\r\nTakeoff: x=1.01, z=0.92, vx=0.58, vz=1.67\r\nflight 0: pelvis=(x=1.02, z=0.94), la_z=0.05, ra_z=0.05, vx=0.40, vz=1.91\r\nflight 5: pelvis=(x=1.01, z=1.04), la_z=0.09, ra_z=0.09, vx=-0.41, vz=1.84\r\nflight 10: pelvis=(x=1.00, z=1.12), la_z=0.24, ra_z=0.24, vx=0.20, vz=1.50\r\nflight 15: pelvis=(x=1.03, z=1.18), la_z=0.41, ra_z=0.41, vx=1.12, vz=1.01\r\nflight 20: pelvis=(x=1.10, z=1.20), la_z=0.61, ra_z=0.53, vx=1.46, vz=-0.15\r\nflight 25: pelvis=(x=1.17, z=1.17), la_z=0.90, ra_z=0.71, vx=1.30, vz=-1.08\r\nflight 30: pelvis=(x=1.22, z=1.10), la_z=1.10, ra_z=1.02, vx=0.91, vz=-1.76\r\nflight 35: pelvis=(x=1.26, z=0.99), la_z=1.23, ra_z=1.31, vx=0.51, vz=-2.40","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}},{"id":44,"t":177.0,"say":"This request was blocked by Gemini's filters. They can occasionally trigger by mistake on safe coding, security, or biology-related queries. Please try rephrasing your prompt. You can [send feedback](https://ai.google.dev/gemini-api/docs/troubleshooting#file-bug) or read more about [our policies here](https://policies.google.com/terms/generative-ai/use-policy).","calls":[],"out":{"text":"","exit":[],"pics":[]},"tok":{"in":null,"cached":null,"out":null,"think":null,"usd":0},"sim":{"submit":0,"reset":0}}]}

runs/a4/embodied-olympics-fun-hurdles-freestanding-i00-privileged--lqvifxb/trajectory.jsonl.gz

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