robot bench: http://127.0.0.1:8901/bench/index.html 4 cores; 0 job(s) still running from a previous server Traceback (most recent call last): File "/Users/mattstaines/robot-bench/serve.py", line 817, in do_POST return self._live(self._body()) ^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/serve.py", line 1966, in _live st["leg"] = CTRL.slew(st["leg"], want, rate_lim, ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/controller.py", line 92, in slew d = want - cur ~~~~~^~~~~ TypeError: unsupported operand type(s) for -: 'float' and 'NoneType' [sit] start 2.67 Traceback (most recent call last): File "/Users/mattstaines/robot-bench/serve.py", line 817, in do_POST return self._live(self._body()) ^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/serve.py", line 1966, in _live st["leg"] = CTRL.slew(st["leg"], want, rate_lim, ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/controller.py", line 92, in slew d = want - cur ~~~~~^~~~~ TypeError: unsupported operand type(s) for -: 'float' and 'NoneType' 127.0.0.1 - - [14/Aug/2026 16:05:04] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:05:04] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:05:04] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:05:04] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:05:04] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:05:04] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:05:04] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - Traceback (most recent call last): File "/Users/mattstaines/robot-bench/serve.py", line 817, in do_POST return self._live(self._body()) ^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/serve.py", line 1966, in _live st["leg"] = CTRL.slew(st["leg"], want, rate_lim, ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/controller.py", line 92, in slew d = want - cur ~~~~~^~~~~ TypeError: unsupported operand type(s) for -: 'float' and 'NoneType' [cruise] start 4.01 [level] start 0.81 127.0.0.1 - - [14/Aug/2026 16:11:26] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:11:26] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:11:26] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:11:26] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:11:26] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:11:26] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:11:26] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - Traceback (most recent call last): File "/Users/mattstaines/robot-bench/serve.py", line 817, in do_POST return self._live(self._body()) ^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/serve.py", line 1966, in _live st["leg"] = CTRL.slew(st["leg"], want, rate_lim, ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/controller.py", line 92, in slew d = want - cur ~~~~~^~~~~ TypeError: unsupported operand type(s) for -: 'float' and 'NoneType' multiprocessing.pool.RemoteTraceback: """ Traceback (most recent call last): File "/usr/local/Cellar/python@3.12/3.12.6/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/pool.py", line 125, in worker result = (True, func(*args, **kwds)) ^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 840, in _eval_stage return stage_score(stage, np.array(g, dtype=float), secs) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 774, in stage_score return sit_score(g, secs) ^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 2692, in sit_score return float(np.mean([sit_episode(g, i, secs) for i in range(3)])) ^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 2554, in sit_episode (down_rate, settle_rate) = g ^^^^^^^^^^^^^^^^^^^^^^^^ ValueError: too many values to unpack (expected 2) """ The above exception was the direct cause of the following exception: Traceback (most recent call last): File "/Users/mattstaines/robot-bench/serve.py", line 115, in _learn_thread LB.search_stage(stage, iters=iters, secs=secs, on_round=on_round, File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 881, in search_stage if on_eval: ^^^^^ File "/usr/local/Cellar/python@3.12/3.12.6/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/pool.py", line 360, in apply return self.apply_async(func, args, kwds).get() ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/Cellar/python@3.12/3.12.6/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/pool.py", line 774, in get raise self._value ValueError: too many values to unpack (expected 2) multiprocessing.pool.RemoteTraceback: """ Traceback (most recent call last): File "/usr/local/Cellar/python@3.12/3.12.6/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/pool.py", line 125, in worker result = (True, func(*args, **kwds)) ^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 840, in _eval_stage return stage_score(stage, np.array(g, dtype=float), secs) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 774, in stage_score return sit_score(g, secs) ^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 2692, in sit_score return float(np.mean([sit_episode(g, i, secs) for i in range(3)])) ^^^^^^^^^^^^^^^^^^^^^^^ File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 2554, in sit_episode (down_rate, settle_rate) = g ^^^^^^^^^^^^^^^^^^^^^^^^ ValueError: too many values to unpack (expected 2) """ The above exception was the direct cause of the following exception: Traceback (most recent call last): File "/Users/mattstaines/robot-bench/serve.py", line 115, in _learn_thread LB.search_stage(stage, iters=iters, secs=secs, on_round=on_round, File "/Users/mattstaines/robot-bench/trainer/learn_balance.py", line 881, in search_stage if on_eval: ^^^^^ File "/usr/local/Cellar/python@3.12/3.12.6/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/pool.py", line 360, in apply return self.apply_async(func, args, kwds).get() ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/Cellar/python@3.12/3.12.6/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/pool.py", line 774, in get raise self._value ValueError: too many values to unpack (expected 2) 127.0.0.1 - - [14/Aug/2026 16:16:09] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:09] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:09] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:09] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:09] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:09] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:09] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:14] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:14] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:14] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:14] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:14] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:14] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:14] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:21] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:21] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:21] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:21] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:21] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:21] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:21] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:23] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:23] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:23] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:23] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:23] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:23] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:23] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:30] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:30] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:30] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:30] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:30] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:30] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:30] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:35] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:35] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:35] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:35] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:35] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:35] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:35] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:54] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:54] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:54] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:54] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:54] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:54] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:16:54] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:13] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:13] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:13] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:13] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:13] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:13] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:13] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:27] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:27] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:27] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:27] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:27] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:27] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:27] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:38] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:38] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:38] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:38] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:38] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:38] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:38] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:52] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:52] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:52] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:52] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:52] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:52] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:17:52] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:08] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:08] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:08] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:08] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:08] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:08] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:08] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:13] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:14] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:14] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:14] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:14] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:14] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:14] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:20] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:20] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:20] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:20] "GET /bench/node_modules/three/examples/jsm/controls/OrbitControls.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:20] "GET /bench/js/robot.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:20] "GET /bench/js/livescope.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:20] "GET /bench/node_modules/three/build/three.core.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:59] "GET /bench/index.html HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:59] "GET /bench/js/app.js HTTP/1.1" 200 - 127.0.0.1 - - [14/Aug/2026 16:18:59] "GET /bench/node_modules/three/build/three.module.js HTTP/1.1" 200 - 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