按类别分拣物体 · classify_objects_000222任务成功第一档

观测 obs_000000 · 步 0 · 剩余 1100 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": "Sort the objects by category into the three baskets. 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": 1100,
  "remaining_steps": 1100,
  "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-ewk4ldx7/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-ewk4ldx7/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 · 1,450 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,860 字代码

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  Process exited with code 0
  Original token count: 1450
  Output:
  {
    "episode_id": "9899ab1b9db142f9b2f28e6e43322ded",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Sort the objects by category into the three baskets. 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": 1100,
    "remaining_steps": 1100,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-ewk4ldx7/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-ewk4ldx7/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-ewk4ldx7/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-ewk4ldx7/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-ewk4ldx7/agent/observations/000000/camera_parameters.json"
  }

• 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· 239 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nim=Image.open('observations/000000/cam_high.png')\nim.crop((140,225,545,325)).resize((1215,300)).save('objects.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-ewk4ldx7/agent/objects.png")→1 张图
  查看的图
  参数原文· 82 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-ewk4ldx7/agent/objects.png"}
  返回原文· 315 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/fbdb64480cf33b21bab14ddd48bcc95195fd35a3f986ea4a0df57c9aa0fff543.png",
        "sha256": "fbdb64480cf33b21bab14ddd48bcc95195fd35a3f986ea4a0df57c9aa0fff543",
        "mime_type": "image/png",
        "width": 1215,
        "height": 300
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 82 字
  参数原文· 666 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json')); c=j['images'][0]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']); inv=np.linalg.inv(T); o=inv[:3,3]\nfor name,u,v,z in [('dollL',181,286,.79),('dollC',347,260,.79),('phone',260,293,.765),('watchL',303,248,.78),('watchM',424,257,.78),('watchR',519,245,.78),('white',192,179,.77),('blue',320,179,.77),('red',447,179,.77)]:\n d=inv[:3,:3]@np.linalg.inv(K)@np.array([u,v,1]); p=o+d*((z-o[2])/d[2]); print(name,np.round(p,4))\nprint('camera',o)\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 387 字纯文本

  Process exited with code 0 Original token count: 82 Output: dollL [-0.2642 -0.2119 0.79 ] dollC [ 0.…

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 703 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The left plush toy and rightmost watch are separated from the other objects. Raise both open grippers and begin orienting their fingers downward for overhead approaches.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.285, -0.29, 1.04], "quaternion_wxyz": [0.65328, -0.2706, 0.2706, 0.65328], "gripper_closed": false},
      "right": {"position": [0.4, -0.25, 1.04], "quaternion_wxyz": [0.65328, -0.2706, 0.2706, 0.65328], "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 1097 步 · 左末端 (-0.30, -0.35, 0.93) 米 · 右末端 (0.31, -0.35, 0.93) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.299, -0.348, 0.934], "quaternion_wxyz": [0.706, -0.029, 0.03, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.305, -0.347, 0.93], "quaternion_wxyz": [0.707, -0.029, 0.03, 0.706], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1097,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 683 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "Both arms have only begun rising; the objects remain undisturbed. Continue through clear space above the tabletop before moving into grasp range.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.27, -0.25, 1.065], "quaternion_wxyz": [0.65328, -0.2706, 0.2706, 0.65328], "gripper_closed": false},
      "right": {"position": [0.415, -0.22, 1.065], "quaternion_wxyz": [0.65328, -0.2706, 0.2706, 0.65328], "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 1082 步 · 左末端 (-0.28, -0.29, 1.01) 米 · 右末端 (0.35, -0.29, 0.98) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.284, -0.289, 1.008], "quaternion_wxyz": [0.674, -0.212, 0.214, 0.674], "gripper_opening_command": 1.0},
    "right": {"position": [0.345, -0.292, 0.985], "quaternion_wxyz": [0.676, -0.204, 0.208, 0.676], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1082,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000018)→obs_000033
  参数原文· 661 字JSON

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  {
    "observation_id": "obs_000018",
    "reason": "Both wrist views show the intended objects below the grippers. Finish rotating to a downward approach while keeping the fingertips above all objects.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.274, -0.23, 1.065], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.417, -0.122, 1.065], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1067 步 · 左末端 (-0.27, -0.23, 1.06) 米 · 右末端 (0.38, -0.20, 1.02) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.274, -0.231, 1.062], "quaternion_wxyz": [0.589, -0.39, 0.391, 0.59], "gripper_opening_command": 1.0},
    "right": {"position": [0.383, -0.199, 1.022], "quaternion_wxyz": [0.588, -0.391, 0.392, 0.589], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1067,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json j=json.load(o…")→退出码 0 · 48 字
  参数原文· 688 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nj=json.load(open('observations/000033/observation.json'))\ndef ray(c,uv):\n K=np.array(c['calibration']['intrinsic_matrix']); T=np.array(c['calibration']['environment_to_optical']); I=np.linalg.inv(T); d=I[:3,:3]@np.linalg.inv(K)@[*uv,1]; return I[:3,3],d/np.linalg.norm(d)\ndef tri(i,uv,uv2):\n o,d=ray(j['images'][0],uv); o2,d2=ray(j['images'][i],uv2); ab=np.linalg.lstsq(np.array([d,-d2]).T,o2-o,rcond=None)[0]; a=o+ab[0]*d;b=o2+ab[1]*d2;print((a+b)/2,'err',np.linalg.norm(a-b))\ntri(1,(183,285),(348,310));tri(2,(518,244),(412,181));tri(1,(166,304),(300,380))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 249 字纯文本

  Process exited with code 0 Original token count: 48 Output: [-0.2583703 -0.2135985 0.79741646] err 0…

• robot_act(steps=12, obs=obs_000033)→obs_000045
  参数原文· 685 字JSON

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  {
    "observation_id": "obs_000033",
    "reason": "Stereo views locate the plush torso near (-0.28, -0.25) and the rightmost watch near (0.42, -0.11). Complete overhead alignment with open fingers closing across their widths.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.282, -0.252, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.421, -0.115, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1055 步 · 左末端 (-0.28, -0.25, 1.06) 米 · 右末端 (0.41, -0.14, 1.05) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.411, -0.137, 1.047], "quaternion_wxyz": [0.506, -0.494, 0.494, 0.506], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1055,
  "native_success": false,
  "frame": "environment_origin"
}

• 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 open downward grippers are above the plush torso and watch, with no intervening obstacles. Begin a slow vertical approach while keeping both objects visible in the wrist views.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.978], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.421, -0.115, 0.978], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1052 步 · 左末端 (-0.28, -0.25, 1.03) 米 · 右末端 (0.42, -0.12, 1.01) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 1.029], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.417, -0.123, 1.005], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1052,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 653 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "Both objects remain stationary and centered under the open grippers. Continue descending gradually; the fingertips remain above the tabletop.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.944], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.421, -0.115, 0.925], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000051", "native_success": false}

观测 obs_000051 · 步 51 · 剩余 1049 步 · 左末端 (-0.28, -0.25, 1.00) 米 · 右末端 (0.42, -0.12, 0.97) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 0.996], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.419, -0.119, 0.97], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1049,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 116 字
  参数原文· 613 字JSON

  1 2 3 4

  {
    "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/000051/observation.json'))\nfor n,i in [('left',1),('right',2)]:\n e=j['current_eef'][n];q=e['quaternion_wxyz'];rot=R.from_quat([*q[1:],q[0]]).as_matrix();K=np.array(j['images'][i]['calibration']['intrinsic_matrix']);T=np.array(j['images'][i]['calibration']['environment_to_optical'])\n for x in [.1,.13,.1576]:\n  p=np.array(e['position'])+rot@np.array([x,0,0]);s=K@(T@[*p,1])[:3]; print(n,x,p,s[:2]/s[2])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 522 字代码

  1 2 3 4 5 6 7 8 9 10

  Process exited with code 0
  Original token count: 116
  Output:
  left 0.1 [-0.28203086 -0.25237046  0.89601507] [319.99704809 615.81547503]
  left 0.13 [-0.28203477 -0.25241546  0.8660151 ] [319.99691769 372.39464461]
  left 0.1576 [-0.28203837 -0.25245687  0.83841513] [319.99686536 274.70098264]
  right 0.1 [ 0.41918628 -0.11903876  0.86980464] [319.99720523 615.81645834]
  right 0.13 [ 0.41918645 -0.11903861  0.83980464] [319.99700812 372.39497025]
  right 0.1576 [ 0.41918661 -0.11903847  0.81220464] [319.99692901 274.70114594]
  

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 664 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000051",
    "reason": "The wrist views show the plush torso and watch loop directly between the fingers’ projected paths. Lower toward side-contact height without closing yet.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.927], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.421, -0.115, 0.922], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000054", "native_success": false}

观测 obs_000054 · 步 54 · 剩余 1046 步 · 左末端 (-0.28, -0.25, 0.97) 米 · 右末端 (0.42, -0.12, 0.93) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.253, 0.965], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.421, -0.116, 0.933], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1046,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 689 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000054",
    "reason": "The watch loop now overlaps the fingertip region, while the plush torso needs a little more descent. Make the final alignment with open grippers and steady downward orientation.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.421, -0.115, 0.922], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1043 步 · 左末端 (-0.28, -0.25, 0.94) 米 · 右末端 (0.42, -0.12, 0.92) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.253, 0.936], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.421, -0.115, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1043,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000057)→obs_000059
  参数原文· 684 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "The left finger pads bracket the plush’s torso and the right pads bracket the watch loop. Settle the left gripper at torso contact height while holding the watch alignment.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.421, -0.115, 0.922], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000059", "native_success": false}

观测 obs_000059 · 步 59 · 剩余 1041 步 · 左末端 (-0.28, -0.25, 0.92) 米 · 右末端 (0.42, -0.12, 0.92) 米

{
  "observation_id": "obs_000059",
  "step_id": 59,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 0.924], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.421, -0.115, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1041,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000059)→obs_000062
  参数原文· 647 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000059",
    "reason": "Both grippers have reached the planned side-contact heights and the objects remain visible. Close without moving to establish the grasps.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.924], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.421, -0.115, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000062", "native_success": false}

观测 obs_000062 · 步 62 · 剩余 1038 步 · 左末端 (-0.28, -0.25, 0.92) 米 · 右末端 (0.42, -0.12, 0.92) 米

{
  "observation_id": "obs_000062",
  "step_id": 62,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 0.924], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.484},
    "right": {"position": [0.421, -0.115, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.5}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1038,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000062)→obs_000065
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000062",
    "reason": "The fingers have begun contacting the plush and watch, but closure is still interpolating. Hold the aligned poses and finish closing before testing retention.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.924], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.421, -0.115, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000065", "native_success": false}

观测 obs_000065 · 步 65 · 剩余 1035 步 · 左末端 (-0.28, -0.25, 0.92) 米 · 右末端 (0.42, -0.12, 0.92) 米

{
  "observation_id": "obs_000065",
  "step_id": 65,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 0.924], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.483},
    "right": {"position": [0.421, -0.115, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.499}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1035,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000065)→obs_000068
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000065",
    "reason": "Both objects appear pinched between the pads; this still needs a retention check. Lift vertically by a small amount while preserving orientation and closure.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.282, -0.252, 0.957], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.421, -0.115, 0.956], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000068", "native_success": false}

观测 obs_000068 · 步 68 · 剩余 1032 步 · 左末端 (-0.28, -0.25, 0.95) 米 · 右末端 (0.42, -0.12, 0.95) 米

{
  "observation_id": "obs_000068",
  "step_id": 68,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.483},
    "right": {"position": [0.421, -0.116, 0.954], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.499}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1032,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000068)→obs_000083
  参数原文· 671 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000068",
    "reason": "Both objects rose with their grippers and remain steady in the wrist views, confirming retention. Lift them above the basket rims before any horizontal transport.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.282, -0.252, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.421, -0.115, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000083", "native_success": false}

观测 obs_000083 · 步 83 · 剩余 1017 步 · 左末端 (-0.28, -0.25, 1.09) 米 · 右末端 (0.42, -0.12, 1.09) 米

{
  "observation_id": "obs_000083",
  "step_id": 83,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.282, -0.252, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.483},
    "right": {"position": [0.421, -0.115, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.499}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1017,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat > sorting_notes.md <<'EOF' Task: sort objects by category into three baskets and ret…")→退出码 0 · 0 字
  参数原文· 924 字JSON

  1 2 3 4

  {
    "cmd": "cat > sorting_notes.md <<'EOF'\nTask: sort objects by category into three baskets and return both arms.\nObserved categories: two plush dolls, three watches (two black loops and one silver loop), one small black rectangular camera/device. No basket labels visible.\nAssignment: white=plush dolls, blue=rectangular device, red=watches.\nAt step 83: left holds left plush by torso; right holds rightmost black-loop watch. Both test lifts confirmed objects moved with grippers. Downward grasp quaternion [0.5,-0.5,0.5,0.5].\nEstimated basket centers: white (-0.31,0.08), blue (0,0.08), red (0.31,0.08). Table approximately z=.75; grasp link6 z=.924 plush and .923 watch.\nRemaining objects: central plush torso around (0.038,-0.185), rectangular device (-0.118,-0.217), black/red watch (-0.035,-0.124), silver watch (0.213,-0.145). Estimates must be checked with current images.\nEOF",
    "max_output_tokens": 1000
  }

  返回原文· 59 字纯文本

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

• robot_act(steps=15, obs=obs_000083)
  参数原文· 658 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000083",
    "reason": "The held plush and watch are clear of the tabletop and basket rims. Transport along separated paths toward the white plush basket and red watch basket.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.315, -0.025, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.314, 0.08, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 663 字代码

  1 2 3 4 5

  IK precheck failed; robot_act was not executed. Neither arm nor gripper moved, and no control steps were used.
  Right arm: stalled after 57 iterations (maximum 128). At the best precheck iterate: position error 87.422 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.094 degrees (tolerance 1.146 degrees; within tolerance).
  Change the target position or orientation, or first move to a different approach pose. Repeating the same target from the unchanged state, even with more execution steps, will not change the precheck result. This local IK failure does not prove global unreachability.
  Observation ID (unchanged): obs_000083
  native_success: false

• robot_act(steps=15, obs=obs_000083)→obs_000098
  参数原文· 680 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000083",
    "reason": "The previous high forward target failed the local kinematic check without moving. Use a lower intermediate waypoint that still keeps the held objects above the basket rims.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.315, -0.025, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.314, 0.025, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000098", "native_success": false}

观测 obs_000098 · 步 98 · 剩余 1002 步 · 左末端 (-0.31, -0.08, 1.05) 米 · 右末端 (0.32, 0.01, 1.02) 米

{
  "observation_id": "obs_000098",
  "step_id": 98,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.308, -0.078, 1.046], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.483},
    "right": {"position": [0.317, 0.013, 1.018], "quaternion_wxyz": [0.501, -0.5, 0.5, 0.5], "gripper_opening_command": 0.499}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1002,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=5, obs=obs_000098)
  参数原文· 643 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000098",
    "reason": "Both objects remain retained above their basket fronts. Move them over the interior floors while preserving clearance from the front rims.",
    "steps": 5,
    "target": {
      "left": {"position": [-0.328, 0.045, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.313, 0.075, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 886 字代码

  1 2 3 4 5 6

  IK precheck failed; robot_act was not executed. Neither arm nor gripper moved, and no control steps were used.
  Left arm: stalled after 31 iterations (maximum 128). At the best precheck iterate: position error 22.567 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.098 degrees (tolerance 1.146 degrees; within tolerance).
  Right arm: stalled after 22 iterations (maximum 128). At the best precheck iterate: position error 40.081 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.101 degrees (tolerance 1.146 degrees; within tolerance).
  Change the target position or orientation, or first move to a different approach pose. Repeating the same target from the unchanged state, even with more execution steps, will not change the precheck result. This local IK failure does not prove global unreachability.
  Observation ID (unchanged): obs_000098
  native_success: false

• robot_act(steps=5, obs=obs_000098)→obs_000103
  参数原文· 732 字JSON

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  {
    "observation_id": "obs_000098",
    "reason": "The straight-down forward poses failed kinematic checks. Tilt the retained objects slightly forward above the rims, allowing the fingers to reach into the baskets from nearer wrist positions.",
    "steps": 5,
    "target": {
      "left": {"position": [-0.329, -0.035, 1.025], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true},
      "right": {"position": [0.312, 0.005, 1.015], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000103", "native_success": false}

观测 obs_000103 · 步 103 · 剩余 997 步 · 左末端 (-0.32, -0.05, 1.03) 米 · 右末端 (0.31, 0.01, 1.02) 米

{
  "observation_id": "obs_000103",
  "step_id": 103,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.322, -0.048, 1.033],
      "quaternion_wxyz": [0.544, -0.452, 0.452, 0.544],
      "gripper_opening_command": 0.483
    },
    "right": {"position": [0.313, 0.014, 1.02], "quaternion_wxyz": [0.534, -0.463, 0.463, 0.534], "gripper_opening_command": 0.499}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 997,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=8, obs=obs_000103)→obs_000111
  参数原文· 705 字JSON

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  {
    "observation_id": "obs_000103",
    "reason": "The small tilt has kept both objects secure and brought their projected contact points inside the basket openings. Complete the tilt above the rims before lowering.",
    "steps": 8,
    "target": {
      "left": {"position": [-0.329, -0.015, 1.025], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true},
      "right": {"position": [0.312, 0.005, 1.015], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000111", "native_success": false}

观测 obs_000111 · 步 111 · 剩余 989 步 · 左末端 (-0.33, -0.01, 1.03) 米 · 右末端 (0.31, 0.01, 1.02) 米

{
  "observation_id": "obs_000111",
  "step_id": 111,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.329, -0.015, 1.027],
      "quaternion_wxyz": [0.605, -0.366, 0.366, 0.605],
      "gripper_opening_command": 0.483
    },
    "right": {"position": [0.312, 0.011, 1.019], "quaternion_wxyz": [0.581, -0.403, 0.403, 0.581], "gripper_opening_command": 0.499}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 989,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000111)→obs_000114
  参数原文· 713 字JSON

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  {
    "observation_id": "obs_000111",
    "reason": "The wrist views show both held objects over the interior basket floors with clearance from the walls. Lower gently into the baskets while finishing the modest forward tilt.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.329, -0.015, 0.924], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true},
      "right": {"position": [0.312, 0.005, 0.924], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000114", "native_success": false}

观测 obs_000114 · 步 114 · 剩余 986 步 · 左末端 (-0.33, -0.01, 1.00) 米 · 右末端 (0.31, 0.01, 1.01) 米

{
  "observation_id": "obs_000114",
  "step_id": 114,
  "instruction": "Sort the objects by category into the three baskets. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.329, -0.013, 1.004],
      "quaternion_wxyz": [0.611, -0.356, 0.356, 0.611],
      "gripper_opening_command": 0.483
    },
    "right": {"position": [0.312, 0.013, 1.008], "quaternion_wxyz": [0.594, -0.384, 0.384, 0.594], "gripper_opening_command": 0.499}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 986,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000114)→obs_000117
  参数原文· 700 字JSON

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  {
    "observation_id": "obs_000114",
    "reason": "Both objects remain secure and centered over their assigned basket floors. Continue the slow descent, keeping the forward-tilted fingertips away from the rims.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.329, -0.015, 0.918], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true},
      "right": {"position": [0.312, 0.005, 0.913], "quaternion_wxyz": [0.61237, -0.35355, 0.35355, 0.61237], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000117", "native_success": false}