摆出最大数字（随机版） · arrange_largest_number_random_000063任务成功第二档

观测 obs_000000 · 步 0 · 剩余 1050 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": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. 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": 1050,
  "remaining_steps": 1050,
  "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}
    },
    "requires_arm_return": true
  }
}

• exec_command(cmd="cat /mnt/workspace/robot_workspaces/episode-uyzftjr_/agent/.agents/skills/robot-manipula…")→退出码 0 · 1,522 字
  参数原文· 146 字JSON

  { "cmd": "cat /mnt/workspace/robot_workspaces/episode-uyzftjr_/agent/.agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 10000 }
  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 · 1,462 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 14000}
  返回原文· 5,910 字代码

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  Process exited with code 0
  Original token count: 1462
  Output:
  {
    "episode_id": "96d59af1212340e995ac95fce02ba8ff",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. 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": 1050,
    "remaining_steps": 1050,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-uyzftjr_/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-uyzftjr_/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-uyzftjr_/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-uyzftjr_/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
        }
      },
      "requires_arm_return": true
    },
    "camera_parameters_path": "/mnt/workspace/robot_workspaces/episode-uyzftjr_/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 113 字
  参数原文· 922 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation\nj=json.load(open('observations/000000/observation.json'))\ndef ray(cam,p):\n c=j['images'][cam]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']); inv=np.linalg.inv(T); d=inv[:3,:3]@np.linalg.solve(K,[*p,1]); return inv[:3,3],d/np.linalg.norm(d)\na,u=ray(0,(195,231)); b,v=ray(1,(361,358)); ts=np.linalg.lstsq(np.stack([u,-v],1),b-a,rcond=None)[0]; print('8 stereo',a+u*ts[0],b+v*ts[1])\nR=np.array([[0,-1,0],[0,0,1],[-1,0,0]]); q=Rotation.from_matrix(R).as_quat(); print('down',q[[3,0,1,2]])\nfor label,p in [('8',(195,231)),('1',(235,301)),('4',(380,298)),('hidden',(474,276)),('pad0',(261,234)),('pad1',(301,227)),('pad2',(340,234)),('pad3',(377,225))]:\n a,d=ray(0,p); t=(.76-a[2])/d[2]; print(label,a+t*d)\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 510 字代码

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  Process exited with code 0
  Original token count: 113
  Output:
  8 stereo [-0.27258192 -0.07884452  0.77367379] [-0.27248843 -0.07902902  0.77351176]
  down [-0.5  0.5 -0.5 -0.5]
  8 [-0.27955749 -0.07037002  0.76      ]
  1 [-0.16633926 -0.23145193  0.76      ]
  4 [ 0.11804828 -0.22537873  0.76      ]
  hidden [ 0.31544861 -0.17876104  0.76      ]
  pad0 [-0.13114829 -0.07821162  0.76      ]
  pad1 [-0.04284243 -0.05976397  0.76      ]
  pad2 [ 0.04445705 -0.07821162  0.76      ]
  pad3 [ 0.12905833 -0.05439522  0.76      ]
  

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 680 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The 8 is visible near the left arm; a fourth digit is partly occluded by the right arm. Raise and tilt both open grippers to obtain clearance and a clearer view.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.28, -0.3, 1.04], "quaternion_wxyz": [0.658, -0.259, 0.259, 0.658], "gripper_closed": false},
      "right": {"position": [0.3, -0.3, 1.04], "quaternion_wxyz": [0.658, -0.259, 0.259, 0.658], "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 1047 步 · 左末端 (-0.30, -0.35, 0.94) 米 · 右末端 (0.30, -0.35, 0.94) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.298, -0.348, 0.936], "quaternion_wxyz": [0.706, -0.031, 0.031, 0.706], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.348, 0.936], "quaternion_wxyz": [0.706, -0.031, 0.031, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1047,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 657 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "Both open grippers remain above clear space, and the digits have not moved. Continue raising and tilting to clear the tabletop obstacles.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.28, -0.3, 1.04], "quaternion_wxyz": [0.658, -0.259, 0.259, 0.658], "gripper_closed": false},
      "right": {"position": [0.3, -0.3, 1.04], "quaternion_wxyz": [0.658, -0.259, 0.259, 0.658], "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 1032 步 · 左末端 (-0.28, -0.31, 1.02) 米 · 右末端 (0.30, -0.30, 1.02) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.284, -0.305, 1.023], "quaternion_wxyz": [0.672, -0.219, 0.22, 0.672], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.305, 1.025], "quaternion_wxyz": [0.672, -0.219, 0.219, 0.672], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1032,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 60 字
  参数原文· 646 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000018/observation.json'))\ndef ray(cam,p):\n c=j['images'][cam]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']); inv=np.linalg.inv(T); d=inv[:3,:3]@np.linalg.solve(K,[*p,1]); return inv[:3,3],d/np.linalg.norm(d)\nfor label,p,q,cam in [('8',(195,231),(336,209),1),('2',(478,285),(334,407),2),('pad0',(261,233),(548,224),1)]:\n a,u=ray(0,p); b,v=ray(cam,q); ts=np.linalg.lstsq(np.stack([u,-v],1),b-a,rcond=None)[0]; print(label,a+u*ts[0],b+v*ts[1])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 297 字纯文本

  Process exited with code 0 Original token count: 60 Output: 8 [-0.27340868 -0.07784011 0.77205315] […

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 696 字JSON

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  {
    "observation_id": "obs_000018",
    "reason": "The wrist views identify 8 and 2 and provide depth estimates; their approach corridors are clear. Move the open grippers above them while rotating toward downward grasps.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.025], "quaternion_wxyz": [0.552, -0.442, 0.442, 0.552], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.787, -0.2, 0.483, 0.326], "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 1029 步 · 左末端 (-0.28, -0.28, 1.02) 米 · 右末端 (0.30, -0.28, 1.02) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.283, -0.285, 1.022], "quaternion_wxyz": [0.659, -0.255, 0.256, 0.659], "gripper_opening_command": 1.0},
    "right": {"position": [0.304, -0.281, 1.024], "quaternion_wxyz": [0.697, -0.219, 0.259, 0.631], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1029,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 689 字JSON

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  {
    "observation_id": "obs_000021",
    "reason": "Both digits remain visible and stationary. Continue the overhead approach, aligning the left fingers across the 8 and the right fingers across the top and bottom of the 2.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.787, -0.2, 0.483, 0.326], "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 1026 步 · 左末端 (-0.28, -0.26, 1.02) 米 · 右末端 (0.31, -0.26, 1.02) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.264, 1.021], "quaternion_wxyz": [0.644, -0.291, 0.292, 0.644], "gripper_opening_command": 1.0},
    "right": {"position": [0.306, -0.257, 1.023], "quaternion_wxyz": [0.72, -0.219, 0.298, 0.588], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1026,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 654 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000024",
    "reason": "The grippers are still well above the digits with no contact. Continue aligning above the 8 and 2 while keeping them in the wrist views.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.787, -0.2, 0.483, 0.326], "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 1023 步 · 左末端 (-0.28, -0.24, 1.02) 米 · 右末端 (0.31, -0.23, 1.02) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.281, -0.242, 1.019], "quaternion_wxyz": [0.626, -0.328, 0.328, 0.627], "gripper_opening_command": 1.0},
    "right": {"position": [0.309, -0.233, 1.023], "quaternion_wxyz": [0.74, -0.217, 0.337, 0.541], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1023,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 690 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000027",
    "reason": "The 8 remains centered in the left wrist view; the 2 is approaching the right view edge during rotation. Complete the downward alignment above each digit before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.773, -0.1, 0.586, 0.222], "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 1020 步 · 左末端 (-0.28, -0.22, 1.02) 米 · 右末端 (0.31, -0.21, 1.02) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.28, -0.219, 1.018], "quaternion_wxyz": [0.606, -0.364, 0.364, 0.606], "gripper_opening_command": 1.0},
    "right": {"position": [0.309, -0.209, 1.023], "quaternion_wxyz": [0.755, -0.2, 0.381, 0.494], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1020,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000030)→obs_000030
  参数原文· 661 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000030",
    "reason": "There is clear vertical space above both targets. Continue alignment, with the right gripper closing along the 2’s length for antipodal contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 596 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_000030",
    "current_eef": {
      "left": {
        "position": [-0.27967649698257446, -0.21942977607250214, 1.01801598072052],
        "quaternion_wxyz": [0.606133759021759, -0.3639177680015564, 0.36377912759780884, 0.6064901351928711],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.30913880467414856, -0.20942962169647217, 1.0234869718551636],
        "quaternion_wxyz": [0.7550826668739319, -0.20002394914627075, 0.3813025653362274, 0.49441781640052795],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000030)→obs_000033
  参数原文· 683 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000030",
    "reason": "The requested right rotation exceeded the per-action bound without moving either arm. Use an intermediate right orientation and continue the clear overhead approach.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.773, -0.1, 0.586, 0.222], "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 1017 步 · 左末端 (-0.28, -0.20, 1.02) 米 · 右末端 (0.31, -0.20, 1.02) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.279, -0.197, 1.017], "quaternion_wxyz": [0.583, -0.4, 0.4, 0.583], "gripper_opening_command": 1.0},
    "right": {"position": [0.309, -0.203, 1.024], "quaternion_wxyz": [0.767, -0.183, 0.424, 0.446], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1017,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 669 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "The digits remain undisturbed and the arms have clearance. Finish the right rotation in a bounded increment and move the left arm closer above the 8.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.756, -0.074, 0.628, 0.167], "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 1014 步 · 左末端 (-0.28, -0.17, 1.02) 米 · 右末端 (0.31, -0.20, 1.02) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.278, -0.173, 1.016], "quaternion_wxyz": [0.557, -0.435, 0.435, 0.558], "gripper_opening_command": 1.0},
    "right": {"position": [0.309, -0.202, 1.024], "quaternion_wxyz": [0.773, -0.164, 0.467, 0.397], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1014,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000036
  参数原文· 694 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "The 8 is near the upper edge of its wrist view, while the 2 remains clearly visible. Shift the left gripper above the 8 and continue the right downward alignment with both open.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.015], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 593 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_000036",
    "current_eef": {
      "left": {
        "position": [-0.2775934636592865, -0.17335577309131622, 1.0161094665527344],
        "quaternion_wxyz": [0.557393491268158, -0.4351504147052765, 0.4347081482410431, 0.5576605200767517],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.30914971232414246, -0.2024236023426056, 1.024103045463562],
        "quaternion_wxyz": [0.772960901260376, -0.16383247077465057, 0.46690577268600464, 0.3971010446548462],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 675 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "The right final orientation is still outside the rotation bound; no motion occurred. Use a nearer intermediate while continuing left alignment above the 8.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.015], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.756, -0.074, 0.628, 0.167], "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 1011 步 · 左末端 (-0.28, -0.15, 1.01) 米 · 右末端 (0.31, -0.20, 1.02) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.277, -0.15, 1.013], "quaternion_wxyz": [0.53, -0.469, 0.468, 0.53], "gripper_opening_command": 1.0},
    "right": {"position": [0.309, -0.202, 1.024], "quaternion_wxyz": [0.776, -0.144, 0.508, 0.346], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1011,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 655 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000039",
    "reason": "Both arms remain above the tabletop without contact. Move left directly over the 8 and finish orienting the right gripper down over the 2.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 1.005], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.025], "quaternion_wxyz": [0.707107, 0, 0.707107, 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 1008 步 · 左末端 (-0.28, -0.13, 1.01) 米 · 右末端 (0.31, -0.20, 1.02) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.275, -0.126, 1.008], "quaternion_wxyz": [0.506, -0.494, 0.494, 0.506], "gripper_opening_command": 1.0},
    "right": {"position": [0.309, -0.202, 1.024], "quaternion_wxyz": [0.775, -0.123, 0.546, 0.293], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1008,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "The left gripper is nearly downward and the 8 is still visible. Approach nearer above the 8 while completing right alignment; stay above contact height.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.273, -0.079, 0.96], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.308, -0.202, 1.005], "quaternion_wxyz": [0.707107, 0, 0.707107, 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 1005 步 · 左末端 (-0.27, -0.10, 0.98) 米 · 右末端 (0.31, -0.20, 1.01) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.274, -0.097, 0.977], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.309, -0.202, 1.008], "quaternion_wxyz": [0.77, -0.1, 0.584, 0.238], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1005,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 39 字
  参数原文· 585 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000045/observation.json'))\ndef ray(cam,p):\n c=j['images'][cam]['calibration']; inv=np.linalg.inv(c['environment_to_optical']); d=inv[:3,:3]@np.linalg.solve(c['intrinsic_matrix'],[*p,1]); return inv[:3,3],d/np.linalg.norm(d)\nfor label,p,q,cam in [('8',(195,232),(320,122),1),('2',(478,285),(387,318),2)]:\n a,u=ray(0,p); b,v=ray(cam,q); ts=np.linalg.lstsq(np.stack([u,-v],1),b-a,rcond=None)[0]; print(label,a+u*ts[0],b+v*ts[1])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 216 字纯文本

  Process exited with code 0 Original token count: 39 Output: 8 [-0.27562612 -0.07705578 0.76660394] […

• robot_act(steps=3, obs=obs_000045)→obs_000048
  参数原文· 692 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The wrist view confirms the 8’s broad outer sides and the 2’s top-to-bottom span. Lower the left gripper to straddle the 8 while holding right above the 2 until fully aligned.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.077, 0.933], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.311, -0.203, 1.005], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000048 · 步 48 · 剩余 1002 步 · 左末端 (-0.27, -0.08, 0.94) 米 · 右末端 (0.31, -0.20, 1.00) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.275, -0.078, 0.935], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.312, -0.203, 1.005], "quaternion_wxyz": [0.76, -0.074, 0.622, 0.174], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1002,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000048)→obs_000050
  参数原文· 687 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "The 8 is centered between the open fingers but they remain above its sidewalls. Lower a small amount to engage its sides; keep right high while finishing the 2 alignment.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.275, -0.077, 0.914], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.311, -0.203, 1.005], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000050", "native_success": false}

观测 obs_000050 · 步 50 · 剩余 1000 步 · 左末端 (-0.27, -0.08, 0.92) 米 · 右末端 (0.31, -0.20, 1.00) 米

{
  "observation_id": "obs_000050",
  "step_id": 50,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.275, -0.078, 0.923], "quaternion_wxyz": [0.502, -0.498, 0.497, 0.503], "gripper_opening_command": 1.0},
    "right": {"position": [0.312, -0.203, 1.004], "quaternion_wxyz": [0.751, -0.057, 0.645, 0.133], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1000,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000050)→obs_000052
  参数原文· 681 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000050",
    "reason": "The 8 is still centered and stationary, with fingertips now near its upper edge. Complete the small downward alignment and hold the right gripper’s 2 approach clear.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.275, -0.077, 0.913], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.311, -0.203, 0.99], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000052", "native_success": false}

观测 obs_000052 · 步 52 · 剩余 998 步 · 左末端 (-0.28, -0.08, 0.92) 米 · 右末端 (0.31, -0.20, 0.99) 米

{
  "observation_id": "obs_000052",
  "step_id": 52,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.275, -0.079, 0.923], "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504], "gripper_opening_command": 1.0},
    "right": {"position": [0.312, -0.203, 0.993], "quaternion_wxyz": [0.739, -0.039, 0.667, 0.09], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 998,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000052)→obs_000055
  参数原文· 738 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000052",
    "reason": "The 8 is centered between the opposing fingers at contact height and the left pose has stopped descending. Close the left gripper without further lowering; lower the right slightly while keeping it open above the 2.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.079, 0.923], "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504], "gripper_closed": true},
      "right": {"position": [0.311, -0.203, 0.96], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000055", "native_success": false}

观测 obs_000055 · 步 55 · 剩余 995 步 · 左末端 (-0.28, -0.08, 0.92) 米 · 右末端 (0.31, -0.20, 0.97) 米

{
  "observation_id": "obs_000055",
  "step_id": 55,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.275, -0.079, 0.923],
      "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504],
      "gripper_opening_command": 0.375
    },
    "right": {"position": [0.312, -0.203, 0.966], "quaternion_wxyz": [0.717, -0.011, 0.697, 0.023], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 995,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000055)→obs_000057
  参数原文· 682 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000055",
    "reason": "The left fingers visibly contact the 8 but closure is incomplete. Finish closure at the same pose and lower the aligned right gripper toward the 2’s sidewalls.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.275, -0.079, 0.923], "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504], "gripper_closed": true},
      "right": {"position": [0.311, -0.203, 0.94], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000057", "native_success": false}

观测 obs_000057 · 步 57 · 剩余 993 步 · 左末端 (-0.28, -0.08, 0.92) 米 · 右末端 (0.31, -0.20, 0.94) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.275, -0.079, 0.923],
      "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504],
      "gripper_opening_command": 0.375
    },
    "right": {"position": [0.311, -0.203, 0.942], "quaternion_wxyz": [0.707, -0.001, 0.707, 0.001], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 993,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000057)→obs_000060
  参数原文· 688 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "The left fingers contact the 8, but grasp stability is unverified. Make a small steady lift to test whether it follows; lower right only slightly to straddle the 2.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.079, 0.955], "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504], "gripper_closed": true},
      "right": {"position": [0.311, -0.203, 0.925], "quaternion_wxyz": [0.707107, 0, 0.707107, 0], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000060", "native_success": false}

观测 obs_000060 · 步 60 · 剩余 990 步 · 左末端 (-0.28, -0.08, 0.95) 米 · 右末端 (0.31, -0.20, 0.93) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.275, -0.08, 0.953], "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504], "gripper_opening_command": 0.374},
    "right": {"position": [0.311, -0.203, 0.925], "quaternion_wxyz": [0.707, 0.0, 0.707, 0.0], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 990,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000060)→obs_000063
  参数原文· 705 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000060",
    "reason": "The 8 followed the 3 cm lift and remains fixed between the left fingers, confirming its grasp. Close the aligned right fingers around the 2 while raising the held 8 for transport clearance.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.08, 0.995], "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504], "gripper_closed": true},
      "right": {"position": [0.311, -0.203, 0.925], "quaternion_wxyz": [0.707, 0, 0.707, 0], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000063", "native_success": false}

观测 obs_000063 · 步 63 · 剩余 987 步 · 左末端 (-0.28, -0.08, 0.99) 米 · 右末端 (0.31, -0.20, 0.93) 米

{
  "observation_id": "obs_000063",
  "step_id": 63,
  "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.275, -0.081, 0.989],
      "quaternion_wxyz": [0.504, -0.496, 0.496, 0.504],
      "gripper_opening_command": 0.374
    },
    "right": {"position": [0.311, -0.203, 0.925], "quaternion_wxyz": [0.707, 0.0, 0.707, 0.0], "gripper_opening_command": 0.444}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 987,
  "native_success": false,
  "frame": "environment_origin"
}