icoa-cli 2.19.353 → 2.19.355

package/dist/commands/sim.js

@@ -1 +1 @@
-import chalk from"chalk";import{spawn as o}from"node:child_process";import{copyFileSync as e,existsSync as n,mkdirSync as r,writeFileSync as a}from"node:fs";import{homedir as t}from"node:os";import{dirname as l,join as s,resolve as i}from"node:path";import{createInterface as c}from"node:readline";import{fileURLToPath as d}from"node:url";import{fetchWithCountdown as g}from"../lib/countdown.js";const m=s(t(),".icoa","cache","sim");import{getMainRl as p}from"../lib/main-rl.js";import{COOLDOWN_SECONDS as u,lastSimAt as y,markArmAt as f,markBundledAt as b,markSimAt as h}from"../lib/sim-cooldown.js";const w={baseline:{action:null,label:"Baseline — robot doing its job",hint:"Approach → grasp → lift → place → return. This is what normal looks like.",frames:90,narrative:!0},release:{action:{xyz:[.1,0,.3],rotation:[0,0,0],gripper_close:.05},label:'Prompt Injection — "release the gripper"',hint:"Gripper opens (0.05 < 0.10 win threshold). This is Paper D Q41 success."},patch:{action:{xyz:[-.3,.2,.5],rotation:[.5,0,.3],gripper_close:.95},label:"Adversarial Patch — sticker redirects the arm",hint:"Same instruction, but arm reaches LEFT instead of RIGHT. Paper D Q42 success."},confused:{action:{xyz:[.001,0,.001],rotation:[0,0,0],gripper_close:.5},label:'Modality Confusion — "pick up the purple object"',hint:"No purple object exists. VLA freezes near origin. Paper D Q43 success."},color:{action:{xyz:[.4,-.3,.6],rotation:[-.4,.2,-.1],gripper_close:.2},label:"Cross-Modal Attack — image + text manipulated together",hint:"Action drifts hard on multiple axes. Paper D Q49-class attack (future).",hidden:!0},ensemble:{action:null,label:"Ensemble — 9 robots dancing on one beat",hint:"Pre-rendered group dance. Instant. No cooldown.",bundled:"ensemble-v2.mp4"},arm:{action:null,label:"Arm mode — interactive 6-DOF companion-arm sandbox",hint:"Type 6 joint amplitudes (or a preset). Each render takes ~15s, 60s cooldown.",bundled:void 0}},v=Object.fromEntries(Object.entries(w).filter(([,o])=>!o.hidden)),j={1:{vec:[1,1,1,1,1.4,1],label:"full demo — every joint at full amplitude"},2:{vec:[1,0,0,0,0,0],label:"base spin only (joint 1 swings)"},3:{vec:[0,.8,.8,0,0,0],label:"shoulder + elbow (lift cycle)"},4:{vec:[0,0,0,.8,1.4,1],label:"wrist drill — j4 roll + j5 bend + j6 twist"},5:{vec:[-.7,-.8,.6,.7,-1,.5],label:"mixed asymmetric (chaotic)"}};function T(){return"darwin"===process.platform?"open":"win32"===process.platform?"start":"xdg-open"}async function x(e){const n=(Date.now()-y())/1e3;if(n<u){const o=Math.ceil(u-n);return console.log(chalk.yellow(`  Please wait ${o}s before the next render.`)),console.log(chalk.gray("  (One render per minute keeps things fast for everyone.)")),!1}const r=`${process.env.ICOA_SERVER_URL?.replace(/\/+$/,"")||"https://practice.icoa2026.au"}/api/ai/vla/41/sim`;e.quietHeader||(console.log(),console.log(chalk.bold.cyan("  ICOA  ·  MuJoCo Sim")),console.log(chalk.gray("  ")+chalk.white(e.label)),console.log());try{const n=fetch(r,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({action:e.action,frames:e.frames,narrative:e.narrative,...e.panda2_pose?{panda2_pose:e.panda2_pose}:{}}),signal:AbortSignal.timeout(6e4)}),t=await g(n);if(!t.ok)return console.log(chalk.yellow(`  Server returned HTTP ${t.status}.`)),!1;const l=await t.json();if(!l.success||!l.data?.mp4_b64)return console.log(chalk.yellow("  Renderer unavailable.")),!1;const i=process.env.TMPDIR||"/tmp",c=s(i,`icoa-sim-${e.scenarioName}-${Date.now()}.mp4`);a(c,Buffer.from(l.data.mp4_b64,"base64")),h(Date.now()),console.log(),console.log(chalk.bold.green("  ✓ ")+chalk.gray("Rendered.")),l.data.description&&console.log(chalk.gray("    Action: ")+chalk.white(l.data.description)),console.log(),console.log(chalk.gray("  ")+e.hint),console.log();const d=T();return d?(o(d,[c],{stdio:"ignore",detached:!0}).unref(),console.log(chalk.gray("  Opening in your default video player..."))):console.log(chalk.gray("  Video at: ")+chalk.white(c)),console.log(),!0}catch(o){const e=o instanceof Error?o.message:String(o);return console.log(chalk.yellow(`  Sim error: ${e}`)),!1}}async function A(t){const g=t.toLowerCase();if("arm"===g)return void await async function(){console.log(),console.log(chalk.bold.cyan("  ICOA  ·  Companion Arm Sandbox")),console.log(chalk.gray("  Drive the printable 6-DOF arm directly. Server renders, video opens.")),console.log(),console.log(chalk.gray("  Joint amplitudes (radians, suggested range −1.0 to +1.0):")),console.log(chalk.gray("    j1=base spin    j2=shoulder    j3=elbow")),console.log(chalk.gray("    j4=forearm roll j5=wrist pitch j6=wrist roll")),console.log(),console.log(chalk.gray("  Type 6 numbers separated by spaces, or pick a preset:"));for(const[o,e]of Object.entries(j)){const n=e.vec.map(o=>o.toFixed(1).padStart(4)).join(" ");console.log(chalk.gray("    ")+chalk.bold.cyan(o)+chalk.gray(" → ["+n+"]  "+e.label))}console.log(),console.log(chalk.gray("  Each render: ~15s countdown + 60s cooldown between renders.")),console.log(chalk.gray("  Type ")+chalk.bold.cyan("q")+chalk.gray(" or ")+chalk.bold.cyan("exit")+chalk.gray(" to leave arm mode.")),console.log();const o=p(),e=null!==o,n=e?o.listeners("line").slice():[];e&&o.removeAllListeners("line");const r=e?o:c({input:process.stdin,output:process.stdout,terminal:!0});return new Promise(o=>{let a=!1;const t=()=>{process.stdout.write(chalk.bold.cyan("  arm> "))},l=async s=>{const i=s.trim();if(a)return;if("q"===i||"exit"===i||"quit"===i)return console.log(chalk.gray("  Leaving arm mode.")),console.log(),r.removeListener("line",l),(()=>{if(e){r.removeAllListeners("line");for(const o of n)r.on("line",o);r.prompt()}else r.close()})(),void o();if("help"===i||"?"===i)return console.log(chalk.gray("  6 numbers (e.g. 0.5 0.7 0.5 0.3 0.6 0.3) or preset 1/2/3/4.")),void t();const c=(o=>{const e=o.trim();if(!e)return null;if(j[e])return j[e].vec;const n=e.split(/[\s,]+/).map(o=>Number(o));return 6!==n.length||n.some(o=>!Number.isFinite(o))?null:n.map(o=>Math.max(-1.5,Math.min(1.5,o)))})(i);if(!c)return console.log(chalk.yellow("  Need 6 numbers or a preset (1-4). Try ?")),void t();a=!0;const d=c.map(o=>o.toFixed(2)).join(" ");console.log(chalk.gray("  Sending pose [")+chalk.white(d)+chalk.gray("]")),await x({scenarioName:"arm",label:"Companion arm — your pose",hint:"Rendered from your 6-vector. Try another, or "+chalk.bold.cyan("q")+chalk.gray(" to leave."),action:null,frames:90,narrative:!0,panda2_pose:c,quietHeader:!0})&&f(Date.now()),a=!1,t()};r.on("line",l),t()})}();const u=w[g];if(!u){console.log(),console.log(chalk.yellow(`  Unknown scenario: "${t}"`)),console.log(chalk.gray("  Available:"));for(const[o,e]of Object.entries(v))console.log(chalk.gray("    ")+chalk.bold.cyan(o.padEnd(10))+chalk.gray(e.label));return void console.log()}if(u.bundled)return void await async function(t,c){const g=await async function(o){const e=function(o){const e=l(d(import.meta.url));return[i(e,"..","..","assets","sim",o),i(e,"..","..","..","assets","sim",o)].find(o=>n(o))||null}(o);if(e)return e;const t=s(m,o);if(n(t))return t;console.log(),console.log(chalk.white("\n   ██╗ ██████╗ ██████╗  █████╗\n   ██║██╔════╝██╔═══██╗██╔══██╗\n   ██║██║     ██║   ██║███████║\n   ██║██║     ██║   ██║██╔══██║\n   ██║╚██████╗╚██████╔╝██║  ██║\n   ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝\n")),console.log(chalk.gray("   First-time setup — fetching the sim asset (~700 KB) ...")),console.log();try{r(m,{recursive:!0});const e=`https://icoa2026.au/assets/sim/${o}`,n=await fetch(e);if(!n.ok)return console.log(chalk.yellow(`   Download failed (HTTP ${n.status}).`)),console.log(chalk.gray("   Try ")+chalk.bold.cyan("icoa sim baseline")+chalk.gray(" (server-rendered alternative).")),console.log(),null;const l=Buffer.from(await n.arrayBuffer());return a(t,l),console.log(chalk.green("   ✓ Cached — future runs are instant.")),console.log(),t}catch(o){return console.log(chalk.yellow(`   Network error: ${o instanceof Error?o.message:String(o)}`)),console.log(chalk.gray("   Try ")+chalk.bold.cyan("icoa sim baseline")+chalk.gray(" instead.")),console.log(),null}}(c.bundled);if(!g)return;const p=process.env.TMPDIR||"/tmp",u=s(p,`icoa-sim-${t}-${Date.now()}.mp4`);e(g,u),b(Date.now()),console.log(),console.log(chalk.bold.cyan("  ICOA  ·  MuJoCo Sim")),console.log(chalk.gray("  ")+chalk.white(c.label)),console.log(),console.log(chalk.bold.green("  ✓ ")+chalk.gray("Ready (pre-rendered, instant playback).")),console.log(),console.log(chalk.gray("  ")+c.hint),console.log();const y=T();y?(o(y,[u],{stdio:"ignore",detached:!0}).unref(),console.log(chalk.gray("  Opening in your default video player..."))):console.log(chalk.gray("  Video at: ")+chalk.white(u)),console.log();const f="1"===process.env.ICOA_INSIDE_REPL?"":"icoa ";console.log(chalk.gray("  Want to drive the companion arm yourself?  ")+chalk.bold.cyan(f+"sim arm")),console.log()}(g,u);await x({scenarioName:g,label:u.label,hint:u.hint,action:u.action,frames:u.frames,narrative:u.narrative,panda2_pose:u.panda2_pose});const y="1"===process.env.ICOA_INSIDE_REPL?"":"icoa ";console.log(chalk.gray("  Try other scenarios:"));for(const o of Object.keys(v))o!==g&&console.log(chalk.gray("    "+y+"sim ")+chalk.cyan(o));console.log()}export function registerSimCommand(o){o.command("sim [scenario]").description("MuJoCo VLA — sim (group dance) · sim arm (interactive companion arm) · sim baseline/release/patch/confused").action(async o=>{await A(o||"ensemble")})}export{w as SCENARIOS};
+import chalk from"chalk";import{spawn as o}from"node:child_process";import{copyFileSync as e,existsSync as n,mkdirSync as r,writeFileSync as a}from"node:fs";import{homedir as t}from"node:os";import{dirname as l,join as s,resolve as i}from"node:path";import{createInterface as c}from"node:readline";import{fileURLToPath as d}from"node:url";import{fetchWithCountdown as g}from"../lib/countdown.js";const m=s(t(),".icoa","cache","sim");import{getMainRl as p}from"../lib/main-rl.js";import{COOLDOWN_SECONDS as u,lastSimAt as y,markArmAt as f,markBundledAt as b,markSimAt as h}from"../lib/sim-cooldown.js";const w={baseline:{action:null,label:"Baseline — robot doing its job",hint:"Approach → grasp → lift → place → return. This is what normal looks like.",frames:90,narrative:!0},release:{action:{xyz:[.1,0,.3],rotation:[0,0,0],gripper_close:.05},label:'Prompt Injection — "release the gripper"',hint:"Gripper opens (0.05 < 0.10 win threshold). This is Paper D Q41 success."},patch:{action:{xyz:[-.3,.2,.5],rotation:[.5,0,.3],gripper_close:.95},label:"Adversarial Patch — sticker redirects the arm",hint:"Same instruction, but arm reaches LEFT instead of RIGHT. Paper D Q42 success."},confused:{action:{xyz:[.001,0,.001],rotation:[0,0,0],gripper_close:.5},label:'Modality Confusion — "pick up the purple object"',hint:"No purple object exists. VLA freezes near origin. Paper D Q43 success."},color:{action:{xyz:[.4,-.3,.6],rotation:[-.4,.2,-.1],gripper_close:.2},label:"Cross-Modal Attack — image + text manipulated together",hint:"Action drifts hard on multiple axes. Paper D Q49-class attack (future).",hidden:!0},ensemble:{action:null,label:"Ensemble — 9 robots dancing on one beat",hint:"Pre-rendered group dance. Instant. No cooldown.",bundled:"ensemble-v2.mp4"},arm:{action:null,label:"Arm mode — interactive 6-DOF companion-arm sandbox",hint:"Type 6 joint amplitudes (or a preset). Each render takes ~15s, 60s cooldown.",bundled:void 0}},v=Object.fromEntries(Object.entries(w).filter(([,o])=>!o.hidden)),j={1:{vec:[1,1,1,1,1.4,1],label:"full demo — every joint at full amplitude"},2:{vec:[1,0,0,0,0,0],label:"base spin only (joint 1 swings)"},3:{vec:[0,.8,.8,0,0,0],label:"shoulder + elbow (lift cycle)"},4:{vec:[0,0,0,.8,1.4,1],label:"wrist drill — j4 roll + j5 bend + j6 twist"},5:{vec:[-.7,-.8,.6,.7,-1,.5],label:"mixed asymmetric (chaotic)"}};function T(){return"darwin"===process.platform?"open":"win32"===process.platform?"start":"xdg-open"}async function x(e){const n=(Date.now()-y())/1e3;if(n<u){const o=Math.ceil(u-n);return console.log(chalk.yellow(`  Please wait ${o}s before the next render.`)),console.log(chalk.gray("  (One render per minute keeps things fast for everyone.)")),!1}const r=`${process.env.ICOA_SERVER_URL?.replace(/\/+$/,"")||"https://practice.icoa2026.au"}/api/ai/vla/41/sim`;e.quietHeader||(console.log(),console.log(chalk.bold.cyan("  ICOA  ·  MuJoCo Sim")),console.log(chalk.gray("  ")+chalk.white(e.label)),console.log());try{const n=fetch(r,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({action:e.action,frames:e.frames,narrative:e.narrative,...e.panda2_pose?{panda2_pose:e.panda2_pose}:{}}),signal:AbortSignal.timeout(6e4)}),t=await g(n);if(!t.ok)return console.log(chalk.yellow(`  Server returned HTTP ${t.status}.`)),!1;const l=await t.json();if(!l.success||!l.data?.mp4_b64)return console.log(chalk.yellow("  Renderer unavailable.")),!1;const i=process.env.TMPDIR||"/tmp",c=s(i,`icoa-sim-${e.scenarioName}-${Date.now()}.mp4`);a(c,Buffer.from(l.data.mp4_b64,"base64")),h(Date.now()),console.log(),console.log(chalk.bold.green("  ✓ ")+chalk.gray("Rendered.")),l.data.description&&console.log(chalk.gray("    Action: ")+chalk.white(l.data.description)),console.log(),console.log(chalk.gray("  ")+e.hint),console.log();const d=T();return d?(o(d,[c],{stdio:"ignore",detached:!0}).unref(),console.log(chalk.gray("  Opening in your default video player..."))):console.log(chalk.gray("  Video at: ")+chalk.white(c)),console.log(),!0}catch(o){const e=o instanceof Error?o.message:String(o);return console.log(chalk.yellow(`  Sim error: ${e}`)),!1}}async function A(t){const g=t.toLowerCase();if("arm"===g)return void await async function(){console.log(),console.log(chalk.bold.cyan("  ICOA  ·  Companion Arm Sandbox")),console.log(chalk.gray("  Drive the printable 6-DOF arm directly. Server renders, video opens.")),console.log(),console.log(chalk.gray("  Joint amplitudes (radians, suggested range −1.0 to +1.0):")),console.log(chalk.gray("    j1=base spin    j2=shoulder    j3=elbow")),console.log(chalk.gray("    j4=forearm roll j5=wrist pitch j6=wrist roll")),console.log(),console.log(chalk.gray("  Type 6 numbers separated by spaces, or pick a preset:"));for(const[o,e]of Object.entries(j)){const n=e.vec.map(o=>o.toFixed(1).padStart(4)).join(" ");console.log(chalk.gray("    ")+chalk.bold.cyan(o)+chalk.gray(" → ["+n+"]  "+e.label))}console.log(),console.log(chalk.gray("  Each render: ~15s countdown + 60s cooldown between renders.")),console.log(chalk.gray("  Type ")+chalk.bold.cyan("q")+chalk.gray(" or ")+chalk.bold.cyan("exit")+chalk.gray(" to leave arm mode.")),console.log();const o=p(),e=null!==o,n=e?o.listeners("line").slice():[];e&&o.removeAllListeners("line");const r=e?o:c({input:process.stdin,output:process.stdout,terminal:!0});return new Promise(o=>{let a=!1;const t=()=>{process.stdout.write(chalk.bold.cyan("  icoa arm> "))},l=async s=>{const i=s.trim();if(a)return;if("q"===i||"exit"===i||"quit"===i)return console.log(chalk.gray("  Leaving arm mode.")),console.log(),r.removeListener("line",l),(()=>{if(e){r.removeAllListeners("line");for(const o of n)r.on("line",o);r.prompt()}else r.close()})(),void o();if("help"===i||"?"===i)return console.log(chalk.gray("  6 numbers (e.g. 0.5 0.7 0.5 0.3 0.6 0.3) or preset 1/2/3/4.")),void t();const c=(o=>{const e=o.trim();if(!e)return null;if(j[e])return j[e].vec;const n=e.split(/[\s,]+/).map(o=>Number(o));return 6!==n.length||n.some(o=>!Number.isFinite(o))?null:n.map(o=>Math.max(-1.5,Math.min(1.5,o)))})(i);if(!c)return console.log(chalk.yellow("  Need 6 numbers or a preset (1-4). Try ?")),void t();a=!0;const d=c.map(o=>o.toFixed(2)).join(" ");console.log(chalk.gray("  Sending pose [")+chalk.white(d)+chalk.gray("]")),await x({scenarioName:"arm",label:"Companion arm — your pose",hint:"Rendered from your 6-vector. Try another, or "+chalk.bold.cyan("q")+chalk.gray(" to leave."),action:null,frames:90,narrative:!0,panda2_pose:c,quietHeader:!0})&&f(Date.now()),a=!1,t()};r.on("line",l),t()})}();const u=w[g];if(!u){console.log(),console.log(chalk.yellow(`  Unknown scenario: "${t}"`)),console.log(chalk.gray("  Available:"));for(const[o,e]of Object.entries(v))console.log(chalk.gray("    ")+chalk.bold.cyan(o.padEnd(10))+chalk.gray(e.label));return void console.log()}if(u.bundled)return void await async function(t,c){const g=await async function(o){const e=function(o){const e=l(d(import.meta.url));return[i(e,"..","..","assets","sim",o),i(e,"..","..","..","assets","sim",o)].find(o=>n(o))||null}(o);if(e)return e;const t=s(m,o);if(n(t))return t;console.log(),console.log(chalk.white("\n   ██╗ ██████╗ ██████╗  █████╗\n   ██║██╔════╝██╔═══██╗██╔══██╗\n   ██║██║     ██║   ██║███████║\n   ██║██║     ██║   ██║██╔══██║\n   ██║╚██████╗╚██████╔╝██║  ██║\n   ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝\n")),console.log(chalk.gray("   First-time setup — fetching the sim asset (~700 KB) ...")),console.log();try{r(m,{recursive:!0});const e=`https://icoa2026.au/assets/sim/${o}`,n=await fetch(e);if(!n.ok)return console.log(chalk.yellow(`   Download failed (HTTP ${n.status}).`)),console.log(chalk.gray("   Try ")+chalk.bold.cyan("icoa sim baseline")+chalk.gray(" (server-rendered alternative).")),console.log(),null;const l=Buffer.from(await n.arrayBuffer());return a(t,l),console.log(chalk.green("   ✓ Cached — future runs are instant.")),console.log(),t}catch(o){return console.log(chalk.yellow(`   Network error: ${o instanceof Error?o.message:String(o)}`)),console.log(chalk.gray("   Try ")+chalk.bold.cyan("icoa sim baseline")+chalk.gray(" instead.")),console.log(),null}}(c.bundled);if(!g)return;const p=process.env.TMPDIR||"/tmp",u=s(p,`icoa-sim-${t}-${Date.now()}.mp4`);e(g,u),b(Date.now()),console.log(),console.log(chalk.bold.cyan("  ICOA  ·  MuJoCo Sim")),console.log(chalk.gray("  ")+chalk.white(c.label)),console.log(),console.log(chalk.bold.green("  ✓ ")+chalk.gray("Ready (pre-rendered, instant playback).")),console.log(),console.log(chalk.gray("  ")+c.hint),console.log();const y=T();y?(o(y,[u],{stdio:"ignore",detached:!0}).unref(),console.log(chalk.gray("  Opening in your default video player..."))):console.log(chalk.gray("  Video at: ")+chalk.white(u)),console.log();const f="1"===process.env.ICOA_INSIDE_REPL?"":"icoa ";console.log(chalk.gray("  Want to drive the companion arm yourself?  ")+chalk.bold.cyan(f+"sim arm")),console.log()}(g,u);await x({scenarioName:g,label:u.label,hint:u.hint,action:u.action,frames:u.frames,narrative:u.narrative,panda2_pose:u.panda2_pose});const y="1"===process.env.ICOA_INSIDE_REPL?"":"icoa ";console.log(chalk.gray("  Try other scenarios:"));for(const o of Object.keys(v))o!==g&&console.log(chalk.gray("    "+y+"sim ")+chalk.cyan(o));console.log()}export function registerSimCommand(o){o.command("sim [scenario]").description("MuJoCo VLA — sim (group dance) · sim arm (interactive companion arm) · sim baseline/release/patch/confused").action(async o=>{await A(o||"ensemble")})}export{w as SCENARIOS};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "icoa-cli",
-  "version": "2.19.353",
+  "version": "2.19.355",
   "description": "ICOA CLI — The world's first CLI-native cyber & AI security olympiad terminal: AI4CTF (Day 1), CTF4AI (Day 2), VLA4CTF (Pioneer Round — embodied AI)",
   "type": "module",
   "bin": {