对齐积木 · align_blocks_000034任务成功第二档

观测 obs_000000 · 步 0 · 剩余 200 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000000",
  "step_id": 0,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 200,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    }
  }
}

• exec_command(cmd="cat .agents/skills/robot-manipulation/SKILL.md")→退出码 0 · 1,522 字
  参数原文· 91 字JSON

  {"cmd": "cat .agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 12000}
  返回原文· 6,129 字代码

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  Process exited with code 0
  Original token count: 1522
  Output:
  ---
  name: robot-manipulation
  description: Plan and execute visual manipulation within an already initialized RoboDojo dual-arm episode, using observations to guide decisions, robot_act to control robot for manipulation, robot_wait to hold the robot while waiting for a suitable opportunity to act in a changing environment, and robot_reset after completing the manipulation goal.
  ---
  
  Track the objects, constraints, and subgoals relevant to the supplied instruction.
  Use `robot_act` to move the robot to complete the task, `robot_wait` to hold the robot while waiting for the environment to change, and `robot_reset` to return joints to their initial configuration when you believe the task's manipulation goal is complete. Normal Codex shell, Python, image viewing, calculation, and writable notes are available when useful. Observations are read-only; keep your own files in the working directory. The host provides each new observation after execution. Select actions yourself from the available evidence; do not access simulator internals or another controller.
  
  Since the end effector is a two-finger gripper, securely grasping objects can be challenging, especially for larger objects. Therefore, when selecting a grasp position, carefully consider the object’s shape and center of mass. Choose an appropriate grasp point to ensure that the object remains stable after lifting and does not tip over or slip out of the gripper.
  
  Since the two-finger gripper has a limited contact area, adaptively adjust its orientation based on the object’s geometry to achieve a stable, antipodal grasp whenever possible. Select contact points where the opposing contact forces are approximately collinear, minimizing unwanted rotational torque and reducing the risk of slipping or tipping during lifting. This is especially important for non-convex or irregularly shaped objects, where the optimal grasp orientation may not align with the horizontal or vertical axes. For example, when grasping an object shaped like the digit ‘2’, gripping its top and bottom vertically may provide better stability than gripping it horizontally. In contrast, for an object shaped like the digit ‘7’, a vertical grasp may produce poorly aligned contact forces, whereas a diagonal grasp along its longest edge may offer greater stability. Always prioritize contact geometry and grasp stability over fixed grasp orientations.
  
  Since the end effectors are grippers with limited dexterity, avoid using both grippers to manipulate a single object simultaneously unless necessary. 
  
  However, this does not mean that the two grippers cannot perform different tasks simultaneously. When the tasks assigned to the two grippers do not interfere with each other and can be executed safely in parallel, simultaneous execution is encouraged to improve efficiency.
  
  When collaborating with other robotic arms that are not under our control, wait until the other robotic arm has returned to its initial or resting position before starting our own operations. This helps prevent conflicts between the robots’ actions and avoids unnecessary complications. You may flexibly adjust the use of `robot_wait` based on the other robotic arm’s actions and movement speed, allowing you to gather sufficient information to complete the task while minimizing the number of observations and reducing observational redundancy.
  
  When the supplied task context requires returning the arms, reserve control budget to release, retract, and return toward the supplied episode-start poses.
  
  When the scene provides explicit instructions or hints indicating where an object should be placed, aim to position the object as close to the center of the designated area as possible. Correct any small positioning errors while the object is still within reach to prevent avoidable task failures that would otherwise require reaching back to readjust its position.
  
  When pushing an object with the gripper, account for the object’s inertia. Pushing too quickly or forcefully may cause the object to slide forward and travel farther than intended. If the object’s anticipated trajectory could lead to collisions with other objects, push it more slowly and carefully.
  
  When the task involves interacting with a movable container, if the target container is too far away for stable and precise placement, first move it to a nearby, clear, and unoccupied area that allows for easier manipulation and better visibility. Ensure that the container does not overlap with, cover, or obstruct access to any other objects, especially those needed for subsequent tasks.
  
  Proceed step by step, verifying that each step has been successfully completed before moving on to the next. This is especially important for tasks involving stacking objects or putting objects into containers with required orientation of objects, as recovering from errors can be costly. At the same time, anticipate subsequent steps when executing each action, ensuring that the outcome of the current step does not create obstacles or complications for future actions. For example, accidentally knocking over or displacing other objects during navigation or grasping can introduce unnecessary difficulties for subsequent tasks. Throughout execution, carefully monitor the states of surrounding objects, not just the target object, and watch for any unintended changes. If an unexpected collision occurs, stop immediately and adjust the motion trajectory or task plan to prevent further disruption and minimize the risk of consequences that are difficult to recover from.
  
  When the task involves fine-grained manipulation that requires highly accurate localization for successful execution, such as inserting a coin into a small hole, consider using an idle robotic arm as an active observer. Move the observing arm to capture the target object from different viewpoints, leveraging multi-view observations and stereo triangulation to improve 3D localization accuracy. Ensure that the observing arm does not interfere with the manipulating arm or introduce collision risks.

• exec_command(cmd="cat observations/000000/observation.json")→退出码 0 · 1,446 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 14000}
  返回原文· 5,846 字代码

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  Process exited with code 0
  Original token count: 1446
  Output:
  {
    "episode_id": "08d1d398b64649ab9a182e37d0f882a7",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
    "current_eef": {
      "left": {
        "position": [
          -0.2995290756225586,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [
          0.3004709482192993,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      }
    },
    "current_state": [
      5.117600137063971e-13,
      -1.1564972815666062e-15,
      1.7751208264243043e-17,
      7.854382995167437e-16,
      -9.9895645141318e-13,
      2.5006680753891786e-12,
      1.0,
      5.11759742655854e-13,
      -1.1564970698083694e-15,
      1.7749080755707557e-17,
      7.854373995442373e-16,
      -9.989571019344834e-13,
      2.5006676417083096e-12,
      1.0
    ],
    "control_dt": 0.04,
    "max_episode_steps": 200,
    "remaining_steps": 200,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/observations/000000/cam_high.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              288.1325423543974,
              0.0,
              320.0
            ],
            [
              0.0,
              288.1325423543974,
              240.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "environment_to_optical": [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -0.8660253513624241,
              -0.5000000907975817,
              0.2989297120661619
            ],
            [
              0.0,
              0.5000000907975817,
              -0.8660253513624241,
              1.337761167766017
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      },
      {
        "camera": "cam_left_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/observations/000000/cam_left_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              397.0412803766092,
              0.0,
              320.0
            ],
            [
              0.0,
              397.04128037660917,
              240.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "environment_to_optical": [
            [
              0.9999999565463205,
              0.0002948005198004182,
              1.0355270940861847e-07,
              0.29963324152886833
            ],
            [
              0.00014749864640708718,
              -0.5000295202562351,
              -0.8660083470247089,
              0.7084482871095193
            ],
            [
              -0.00025524793144278586,
              0.8660083094087335,
              -0.5000295420107903,
              0.7177927803813796
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      },
      {
        "camera": "cam_right_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/observations/000000/cam_right_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              397.0412803766092,
              0.0,
              320.0
            ],
            [
              0.0,
              397.04128037660917,
              240.0
            ],
            [
              0.0,
              0.0,
              1.0
            ]
          ],
          "environment_to_optical": [
            [
              0.9999999565463205,
              0.0002948005198004182,
              1.0355270940861847e-07,
              -0.30036675624078074
            ],
            [
              0.00014749864640708718,
              -0.5000295202562351,
              -0.8660083470247089,
              0.7083597879181583
            ],
            [
              -0.00025524793144278586,
              0.8660083094087335,
              -0.5000295420107903,
              0.7179459807644578
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      }
    ],
    "observation_path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/observations/000000/observation.json",
    "task_context": {
      "episode_start_eef": {
        "left": {
          "position": [
            -0.2995290756225586,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        },
        "right": {
          "position": [
            0.3004709482192993,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        }
      }
    },
    "camera_parameters_path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json, numpy as np from scipy.s…")→退出码 0 · 222 字
  参数原文· 957 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json, numpy as np\nfrom scipy.spatial.transform import Rotation as R\nj=json.load(open('observations/000000/observation.json'))\ndef ray(cam,uv):\n c=j['images'][cam]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']); Ri=T[:3,:3]; o=-Ri.T@T[:3,3]; d=Ri.T@np.linalg.solve(K,[*uv,1]); return o,d/np.linalg.norm(d)\ndef tri(a,b):\n o,d=ray(0,a); p,e=ray(2,b); t=np.linalg.lstsq(np.c_[d,-e],p-o,rcond=None)[0]; v=(o+t[0]*d+p+t[1]*e)/2; print(v,'gap',np.linalg.norm(o+t[0]*d-p-t[1]*e))\ntri((456,258),(274,437))\nfor z in [.74,.75,.76]:\n print('plane',z)\n for uv in [(190,278),(456,258),(284,216),(326,219),(386,231)]:\n  o,d=ray(0,uv); t=(z-o[2])/d[2]; print(uv,o+t*d)\nq0=R.from_quat([0,0,.707,.707]); qt=R.from_euler('y',90,degrees=True)\nd=(qt*q0.inv()).as_rotvec(); qm=R.from_rotvec(d*.4)*q0; print('mid q wxyz',np.roll(qm.as_quat(),1))\nPY"
  }

  返回原文· 949 字代码

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  Process exited with code 0
  Original token count: 222
  Output:
  [ 0.2765997  -0.14671218  0.78514204] gap 0.006358938260358646
  plane 0.74
  (190, 278) [-0.27497848 -0.17487788  0.74      ]
  (456, 258) [ 0.29879693 -0.12772953  0.74      ]
  (284, 216) [-0.08608593 -0.015796    0.74      ]
  (326, 219) [ 0.01425762 -0.0244435   0.74      ]
  (386, 231) [ 0.15299345 -0.05797476  0.74      ]
  plane 0.75
  (190, 278) [-0.27013731 -0.17901736  0.75      ]
  (456, 258) [ 0.29353642 -0.13269908  0.75      ]
  (284, 216) [-0.08457034 -0.02273621  0.75      ]
  (326, 219) [ 0.0140066  -0.03123147  0.75      ]
  (386, 231) [ 0.1502999  -0.06417239  0.75      ]
  plane 0.76
  (190, 278) [-0.26529614 -0.18315683  0.76      ]
  (456, 258) [ 0.28827591 -0.13766863  0.76      ]
  (284, 216) [-0.08305474 -0.02967642  0.76      ]
  (326, 219) [ 0.01375559 -0.03801943  0.76      ]
  (386, 231) [ 0.14760636 -0.07037002  0.76      ]
  mid q wxyz [0.81202373 0.         0.33209908 0.47992465]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image for name,box in…")→退出码 0 · 0 字
  参数原文· 343 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nfor name,box in [('cam_high',(165,195,473,288)),('cam_right_wrist',(0,420,302,480))]:\n im=Image.open('observations/000000/'+name+'.png'); im.crop(box).resize(((box[2]-box[0])*3,(box[3]-box[1])*3)).save(name+'_crop.png')\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 59 字纯文本

  Process exited with code 0 Original token count: 0 Output:

• view_image(path="/mnt/workspace/robot_workspaces/episode-ch11em82/agent/cam_high_crop.png")→1 张图
  查看的图
  参数原文· 88 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/cam_high_crop.png"}
  返回原文· 314 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/3cd624025106a87d37167270899364b3178c357a21e193eb4331e11ce11967bf.png",
        "sha256": "3cd624025106a87d37167270899364b3178c357a21e193eb4331e11ce11967bf",
        "mime_type": "image/png",
        "width": 924,
        "height": 279
      }
    }
  ]

• view_image(path="/mnt/workspace/robot_workspaces/episode-ch11em82/agent/cam_right_wrist_crop.png")→1 张图
  查看的图
  参数原文· 95 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/cam_right_wrist_crop.png"}
  返回原文· 314 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/cb63e856c5b643d92f8ba5e40604e118982c1d6465c84a775c07d092d4536e02.png",
        "sha256": "cb63e856c5b643d92f8ba5e40604e118982c1d6465c84a775c07d092d4536e02",
        "mime_type": "image/png",
        "width": 906,
        "height": 180
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 45 字
  参数原文· 569 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef ray(n,u):\n c=j['images'][n]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3];d=T[:3,:3].T@np.linalg.solve(K,[*u,1]);return o,d\nfor a,b in [((457,254),(277,437)),((450,254),(268,437)),((454,254),(273,436))]:\n o,d=ray(0,a);p,e=ray(2,b);t=np.linalg.lstsq(np.c_[d,-e],p-o,rcond=None)[0];print((o+t[0]*d+p+t[1]*e)/2,np.linalg.norm(o+t[0]*d-p-t[1]*e))\nPY"
  }

  返回原文· 238 字纯文本

  Process exited with code 0 Original token count: 45 Output: [ 0.27872418 -0.14211333 0.78534121] 0.0…

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 720 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The set square lies across the table in front of the three blocks. Begin an open-gripper approach from above its right half, rotating the fingers downward while staying clear of the blocks.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.7072135], "gripper_closed": false},
      "right": {"position": [0.22, -0.26, 1.0], "quaternion_wxyz": [0.8120237, 0, 0.3320991, 0.4799247], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000003", "native_success": false}

观测 obs_000003 · 步 3 · 剩余 197 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.93) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.297, -0.346, 0.93], "quaternion_wxyz": [0.725, -0.001, 0.037, 0.688], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 197,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000003)→obs_000006
  参数原文· 695 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The right arm has only begun moving, and all objects remain stationary. Continue the open approach above the set square, keeping the descending fingers away from the tabletop.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.22, -0.26, 1.0], "quaternion_wxyz": [0.8120237, 0, 0.3320991, 0.4799247], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000006", "native_success": false}

观测 obs_000006 · 步 6 · 剩余 194 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.29, -0.34, 0.94) 米

{
  "observation_id": "obs_000006",
  "step_id": 6,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.292, -0.339, 0.938], "quaternion_wxyz": [0.741, -0.001, 0.073, 0.667], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 194,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 55 字
  参数原文· 323 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nimport numpy as np\nq0=R.from_euler('z',90,degrees=True);qt=R.from_euler('y',90,degrees=True);d=(qt*q0.inv()).as_rotvec()\nfor f in [.55,.7,.85,1]: print(f,np.roll((R.from_rotvec(d*f)*q0).as_quat(),1))\nPY"
  }

  返回原文· 280 字纯文本

  Process exited with code 0 Original token count: 55 Output: 0.55 [0.8153776 0. 0.44469591 0.37068169…

• robot_act(steps=3, obs=obs_000006)→obs_000009
  参数原文· 675 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000006",
    "reason": "The fingers remain clear of the square and blocks. Continue rotating toward a downward grasp with the closing direction across the square's narrow width.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.18, -0.19, 0.985], "quaternion_wxyz": [0.8153776, 0, 0.4446959, 0.3706817], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000009", "native_success": false}

观测 obs_000009 · 步 9 · 剩余 191 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.29, -0.33, 0.94) 米

{
  "observation_id": "obs_000009",
  "step_id": 9,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.287, -0.329, 0.942], "quaternion_wxyz": [0.755, -0.002, 0.108, 0.646], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 191,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000009)→obs_000012
  参数原文· 660 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000009",
    "reason": "The square stays visible in the right wrist view and no contact has occurred. Continue the controlled open approach toward its right half.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.18, -0.19, 0.985], "quaternion_wxyz": [0.8153776, 0, 0.4446959, 0.3706817], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000012", "native_success": false}

观测 obs_000012 · 步 12 · 剩余 188 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.28, -0.32, 0.95) 米

{
  "observation_id": "obs_000012",
  "step_id": 12,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.28, -0.318, 0.946], "quaternion_wxyz": [0.768, -0.002, 0.143, 0.624], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 188,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np from scipy.spatial…")→退出码 0 · 12 字
  参数原文· 297 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np\nfrom scipy.spatial.transform import Rotation as R\nq0=R.from_euler('z',90,degrees=True);qt=R.from_euler('y',90,degrees=True);d=(qt*q0.inv()).as_rotvec();print(np.roll((R.from_rotvec(d*.65)*q0).as_quat(),1))\nPY"
  }

  返回原文· 106 字纯文本

  Process exited with code 0 Original token count: 12 Output: [0.80644415 0. 0.51383795 0.29260621]

• robot_act(steps=3, obs=obs_000012)→obs_000012
  参数原文· 675 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000012",
    "reason": "The gripper remains above clear table, with the square visible below. Move nearer its middle-right grasp point while increasing the downward finger angle.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.12, -0.18, 0.965], "quaternion_wxyz": [0.8064442, 0, 0.513838, 0.2926062], "gripper_closed": false}
    }
  }

  返回原文· 601 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

  {
    "error": "right target exceeds 1.0 rad orientation distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000012",
    "current_eef": {
      "left": {
        "position": [-0.2999967634677887, -0.352005273103714, 0.9209994673728943],
        "quaternion_wxyz": [0.7071065902709961, -1.4583540064450062e-07, 1.3890554839690594e-07, 0.70710688829422],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.28049373626708984, -0.3177608847618103, 0.9461514353752136],
        "quaternion_wxyz": [0.7684767246246338, -0.001963656162843108, 0.14291870594024658, 0.6237097978591919],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000012)→obs_000015
  参数原文· 681 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000012",
    "reason": "The larger rotation exceeded the allowed increment without moving the robot. Use a smaller downward rotation while continuing the open approach in clear space.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.12, -0.18, 0.965], "quaternion_wxyz": [0.8153776, 0, 0.4446959, 0.3706817], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000015", "native_success": false}

观测 obs_000015 · 步 15 · 剩余 185 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.27, -0.31, 0.95) 米

{
  "observation_id": "obs_000015",
  "step_id": 15,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.27, -0.306, 0.947], "quaternion_wxyz": [0.781, -0.002, 0.181, 0.597], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 185,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000015)→obs_000018
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000015",
    "reason": "The square and blocks remain undisturbed, and there is clearance under the rotating fingers. Continue approaching from above with the gripper open.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.17, 0.955], "quaternion_wxyz": [0.8064442, 0, 0.513838, 0.2926062], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000018", "native_success": false}

观测 obs_000018 · 步 18 · 剩余 182 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.26, -0.29, 0.95) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.261, -0.293, 0.948], "quaternion_wxyz": [0.792, -0.003, 0.218, 0.57], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 182,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image im=Image.open('…")→退出码 0 · 0 字
  参数原文· 221 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nim=Image.open('observations/000018/cam_right_wrist.png'); im.crop((130,380,380,480)).resize((1000,400)).save('square_view.png')\nPY"
  }

  返回原文· 59 字纯文本

  Process exited with code 0 Original token count: 0 Output:

• view_image(path="/mnt/workspace/robot_workspaces/episode-ch11em82/agent/square_view.png")→1 张图
  查看的图
  参数原文· 86 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-ch11em82/agent/square_view.png"}
  返回原文· 315 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/917108255f9926269727ac737f402c10942a23e16d1501de71b3ed6a71f2cdd6.png",
        "sha256": "917108255f9926269727ac737f402c10942a23e16d1501de71b3ed6a71f2cdd6",
        "mime_type": "image/png",
        "width": 1000,
        "height": 400
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 86 字
  参数原文· 603 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000018/observation.json'))\ndef ray(n,u):\n c=j['images'][n]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3];d=T[:3,:3].T@np.linalg.solve(K,[*u,1]);return o,d\nfor a,b in [((457,254),(338,400)),((457,254),(340,399)),((453,253),(334,399)),((458,256),(345,415))]:\n o,d=ray(0,a);p,e=ray(2,b);t=np.linalg.lstsq(np.c_[d,-e],p-o,rcond=None)[0];print(a,b,(o+t[0]*d+p+t[1]*e)/2,'err',np.linalg.norm(o+t[0]*d-p-t[1]*e))\nPY"
  }

  返回原文· 402 字代码

  1 2 3 4 5 6 7 8

  Process exited with code 0
  Original token count: 86
  Output:
  (457, 254) (338, 400) [ 0.28496875 -0.13495609  0.77436777] err 0.001062183403011771
  (457, 254) (340, 399) [ 0.28586945 -0.13421539  0.77268638] err 0.0008350439930794193
  (453, 253) (334, 399) [ 0.28225208 -0.12887738  0.76469503] err 0.0012816360979687215
  (458, 256) (345, 415) [ 0.28514181 -0.14179526  0.77601072] err 0.001447273434056223
  

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 691 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "The square's narrow cross-section is visible from the wrist camera. Continue rotating the open gripper downward over its right half, leaving space from the nearest block.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.17, 0.95], "quaternion_wxyz": [0.7986542, 0, 0.5463429, 0.2523113], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000021", "native_success": false}

观测 obs_000021 · 步 21 · 剩余 179 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.25, -0.28, 0.95) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.251, -0.279, 0.947], "quaternion_wxyz": [0.801, -0.003, 0.255, 0.541], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 179,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000021)→obs_000021
  参数原文· 683 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000021",
    "reason": "The open fingers are still above the square without contact. Continue their downward alignment across its narrow width while moving toward the selected grasp point.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.16, 0.94], "quaternion_wxyz": [0.787239, 0, 0.577171, 0.2113249], "gripper_closed": false}
    }
  }

  返回原文· 598 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

  {
    "error": "quaternion_wxyz norm must be within 0.001 of 1",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000021",
    "current_eef": {
      "left": {
        "position": [-0.29999998211860657, -0.3520001769065857, 0.9210000038146973],
        "quaternion_wxyz": [0.7071066498756409, 9.644710274869794e-08, -1.440779584527263e-07, 0.7071068286895752],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.2505857050418854, -0.2791290879249573, 0.9470911026000977],
        "quaternion_wxyz": [0.8013462424278259, -0.00265593477524817, 0.25537148118019104, 0.5409459471702576],
        "gripper_opening_command": 1.0
      }
    }
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np from scipy.spatial…")→退出码 0 · 16 字
  参数原文· 298 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np\nfrom scipy.spatial.transform import Rotation as R\nq0=R.from_euler('z',90,degrees=True); qt=R.from_euler('y',90,degrees=True);d=(qt*q0.inv()).as_rotvec();print(np.roll((R.from_rotvec(d*.75)*q0).as_quat(),1))\nPY"
  }

  返回原文· 122 字纯文本

  Process exited with code 0 Original token count: 16 Output: [7.88675135e-01 5.55111512e-17 5.7735026…

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 646 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000021",
    "reason": "The rejected quaternion executed no motion. Continue the open alignment above the square using the corrected unit quaternion.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.16, 0.94], "quaternion_wxyz": [0.7886751, 0, 0.5773503, 0.2113249], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000024", "native_success": false}

观测 obs_000024 · 步 24 · 剩余 176 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.24, -0.26, 0.95) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.241, -0.264, 0.945], "quaternion_wxyz": [0.809, -0.003, 0.293, 0.51], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 176,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 684 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000024",
    "reason": "The set square remains beneath the open gripper, and the blocks are separated behind it. Continue rotating downward while retaining a safe height above the square.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.16, 0.94], "quaternion_wxyz": [0.7765344, 0, 0.6067752, 0.1697592], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000027", "native_success": false}

观测 obs_000027 · 步 27 · 剩余 173 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.23, -0.25, 0.94) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.23, -0.25, 0.943], "quaternion_wxyz": [0.814, -0.003, 0.329, 0.479], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 173,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 658 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000027",
    "reason": "The fingers have adequate clearance above the square. Continue the downward alignment, keeping the jaw closing direction across its width.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.16, 0.94], "quaternion_wxyz": [0.7622652, 0, 0.634537, 0.1277282], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000030", "native_success": false}

观测 obs_000030 · 步 30 · 剩余 170 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.22, -0.24, 0.94) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.22, -0.235, 0.941], "quaternion_wxyz": [0.818, -0.002, 0.364, 0.446], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 170,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000030)→obs_000033
  参数原文· 687 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000030",
    "reason": "The square remains stationary and visible, with space beneath the rotating fingers. Continue toward the final downward grasp orientation before lowering to contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.155, 0.935], "quaternion_wxyz": [0.7459088, 0, 0.6605596, 0.0853434], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000033", "native_success": false}

观测 obs_000033 · 步 33 · 剩余 167 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.21, -0.22, 0.94) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.209, -0.22, 0.938], "quaternion_wxyz": [0.819, -0.002, 0.4, 0.411], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 167,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 661 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "The square stays below the open gripper and clear of its finger tips. Continue the final downward rotation over the right-side grasp point.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.155, 0.93], "quaternion_wxyz": [0.7275087, 0, 0.6847764, 0.0427309], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000036", "native_success": false}

观测 obs_000036 · 步 36 · 剩余 164 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.20, 0.93) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.197, -0.205, 0.935], "quaternion_wxyz": [0.818, -0.002, 0.437, 0.373], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 164,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 674 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "The open fingers still clear the square as they rotate downward. Complete the approach toward a vertical grasp, then check the contact alignment before closure.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.155, 0.93], "quaternion_wxyz": [0.7071068, 0, 0.7071068, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000039", "native_success": false}

观测 obs_000039 · 步 39 · 剩余 161 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.18, -0.19, 0.93) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.184, -0.189, 0.932], "quaternion_wxyz": [0.815, -0.002, 0.475, 0.331], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 161,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 673 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000039",
    "reason": "The square remains visible beside the open fingers. Continue the same downward alignment, holding the grasp position above the tool until the rotation settles.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.155, 0.93], "quaternion_wxyz": [0.7071068, 0, 0.7071068, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000042", "native_success": false}

观测 obs_000042 · 步 42 · 剩余 158 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.17, -0.17, 0.93) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.169, -0.173, 0.929], "quaternion_wxyz": [0.809, -0.001, 0.514, 0.286], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 158,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 676 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "The tool remains under the gripper but offset in the wrist view while rotation is incomplete. Finish the vertical finger alignment before lowering into the grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.155, 0.93], "quaternion_wxyz": [0.7071068, 0, 0.7071068, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000045", "native_success": false}

观测 obs_000045 · 步 45 · 剩余 155 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.16, -0.16, 0.93) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.155, -0.159, 0.929], "quaternion_wxyz": [0.798, -0.001, 0.556, 0.233], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 155,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000045)→obs_000048
  参数原文· 687 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The square shifted slightly as the rotating fingers approached it. Stop the descent and raise the gripper while finishing the downward orientation to avoid dragging the tool.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.15, -0.16, 0.97], "quaternion_wxyz": [0.7071068, 0, 0.7071068, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000048", "native_success": false}