按语言分拣物体 · classify_objects_by_language_000111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": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, 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 .agents/skills/robot-manipulation/SKILL.md")→退出码 0 · 1,522 字
  参数原文· 91 字JSON

  {"cmd": "cat .agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 14000}
  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 · 1,468 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 14000}
  返回原文· 5,932 字代码

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  Process exited with code 0
  Original token count: 1468
  Output:
  {
    "episode_id": "8526e6e6ce8245528cd86cf6356cdd92",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, 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-3yxps2eb/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-3yxps2eb/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-3yxps2eb/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-3yxps2eb/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-3yxps2eb/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 146 字
  参数原文· 1,192 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'))\ncs=j['images']\ndef tri(p1,p2,c2):\n rows=[]; b=[]\n for p,c in [(p1,cs[0]),(p2,cs[c2])]:\n  M=np.array(c['calibration']['intrinsic_matrix'])@np.array(c['calibration']['environment_to_optical'])[:3,:]\n  for i in range(2):\n   a=M[i]-p[i]*M[2]; rows.append(a[:3]); b.append(-a[3])\n return np.linalg.lstsq(rows,b,rcond=None)[0]\ndef atz(p,z):\n c=cs[0]; M=np.array(c['calibration']['intrinsic_matrix'])@np.array(c['calibration']['environment_to_optical'])[:3,:]; rows=[]; b=[]\n for i in range(2):\n  a=M[i]-p[i]*M[2];rows.append(a[:2]);b.append(-a[3]-a[2]*z)\n return [*np.linalg.solve(rows,b),z]\nfor name,p,p2,c in [('green',(110,275),(83,469),1),('yellow',(427,230),(199,340),2),('watch_back',(244,229),(521,350),1),('watch_front',(214,268),(509,472),1),('toy_right',(503,250),(452,415),2)]:print(name,tri(p,p2,c))\nfor name,p,z in [('toy_small',(334,254),.775),('toy_middle',(377,251),.785),('watch_right',(429,289),.76),('basket_left',(192,177),.78),('basket_mid',(320,177),.78),('basket_right',(447,177),.78)]:print(name,atz(p,z))\nPY"
  }

  返回原文· 645 字代码

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  Process exited with code 0
  Original token count: 146
  Output:
  green [-0.35819247 -0.21049488  0.86469795]
  yellow [ 0.22548178 -0.08732451  0.79596896]
  watch_back [-0.16566302 -0.07510004  0.77658138]
  watch_front [-0.2123245  -0.16447367  0.78612051]
  toy_right [ 0.36656621 -0.1390636   0.7975521 ]
  toy_small [0.0290882041636827, -0.13586041364787663, 0.775]
  toy_middle [0.11689208332204105, -0.13409362713238987, 0.785]
  watch_right [0.21797604935027912, -0.20676021764543878, 0.76]
  basket_left [-0.30997555847904146, 0.0710091642654649, 0.78]
  basket_mid [-0.0, 0.0710091642654649, 0.78]
  basket_right [0.307553874428424, 0.0710091642654649, 0.78]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 42 字
  参数原文· 632 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef tri(p1,p2,k):\n A=[];b=[]\n for p,c in [(p1,j['images'][0]),(p2,j['images'][k])]:\n  M=np.array(c['calibration']['intrinsic_matrix'])@np.array(c['calibration']['environment_to_optical'])[:3]\n  for i in range(2):\n   a=M[i]-p[i]*M[2];A.append(a[:3]);b.append(-a[3])\n return np.linalg.lstsq(A,b,rcond=None)[0]\nprint('basket front bottom',tri((191,207),(347,305),1))\nprint('basket front top',tri((191,186),(347,237),1))\nprint('basket back top',tri((194,142),(348,157),1))\nPY"
  }

  返回原文· 227 字纯文本

  Process exited with code 0 Original token count: 42 Output: basket front bottom [-0.28178919 -0.0344…

• robot_act(steps=3, obs=obs_000000)→obs_000000
  参数原文· 679 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The green pepper is on the left and a wooden toy is on the far right, with separate approach paths. Raise and turn both open grippers toward downward grasps.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.4, -0.19, 1.04], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "gripper_closed": false},
      "right": {"position": [0.365, -0.14, 1.04], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "gripper_closed": false}
    }
  }

  返回原文· 607 字JSON

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  {
    "error": "right target exceeds 0.25 m Euclidean distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000000",
    "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
      }
    }
  }

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 642 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "Both targets are visible and separated. Begin the raised approach with bounded translation and downward finger rotation.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.4, -0.19, 1.02], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "gripper_closed": false},
      "right": {"position": [0.365, -0.18, 1.02], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "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 (0.30, -0.35, 0.93) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.303, -0.346, 0.927], "quaternion_wxyz": [0.706, -0.027, 0.026, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.303, -0.346, 0.927], "quaternion_wxyz": [0.707, -0.025, 0.025, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1097,
  "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 · 25 字
  参数原文· 508 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000003/observation.json'));M=np.array(j['images'][0]['calibration']['intrinsic_matrix'])@np.array(j['images'][0]['calibration']['environment_to_optical'])[:3]\nfor name,p,z in [('green',(111,273),.79),('yellow',(427,226),.8),('toyright',(503,250),.795)]:\n A=[];b=[]\n for i in range(2):\n  a=M[i]-p[i]*M[2];A.append(a[:2]);b.append(-a[3]-a[2]*z)\n print(name,np.linalg.solve(A,b))\nPY"
  }

  返回原文· 158 字纯文本

  Process exited with code 0 Original token count: 25 Output: green [-0.40695394 -0.18512881] yellow […

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 671 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The arms remain above the table with unobstructed space ahead. Move to raised staging positions while keeping the fingers clear of the objects.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.406, -0.185, 1.035], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "gripper_closed": false},
      "right": {"position": [0.369, -0.14, 1.035], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "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 (-0.34, -0.29, 0.96) 米 · 右末端 (0.32, -0.29, 0.96) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.336, -0.289, 0.965], "quaternion_wxyz": [0.682, -0.188, 0.185, 0.682], "gripper_opening_command": 1.0},
    "right": {"position": [0.32, -0.285, 0.959], "quaternion_wxyz": [0.685, -0.175, 0.177, 0.685], "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_000018
  参数原文· 699 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "Wrist views show the green pepper and rightmost toy below the open fingers. Continue the raised staging motion and finish orienting the fingers downward, closing across each object's width.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.406, -0.185, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.369, -0.14, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 595 字JSON

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

  {
    "error": "left target exceeds 1.0 rad orientation distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000018",
    "current_eef": {
      "left": {
        "position": [-0.3356764316558838, -0.28855082392692566, 0.9649096727371216],
        "quaternion_wxyz": [0.6818203926086426, -0.1879441887140274, 0.1852947473526001, 0.6822490692138672],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.3204033672809601, -0.28513211011886597, 0.9593936800956726],
        "quaternion_wxyz": [0.6849073767662048, -0.17548908293247223, 0.17700578272342682, 0.6846709847450256],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=15, obs=obs_000018)→obs_000033
  参数原文· 674 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "Both objects remain below the open fingers and the upper path is clear. Continue toward the staging positions with an intermediate downward orientation.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.406, -0.185, 1.06], "quaternion_wxyz": [0.569, -0.42, 0.42, 0.569], "gripper_closed": false},
      "right": {"position": [0.369, -0.14, 1.06], "quaternion_wxyz": [0.569, -0.42, 0.42, 0.569], "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 (-0.38, -0.22, 1.02) 米 · 右末端 (0.35, -0.20, 1.01) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.379, -0.221, 1.02], "quaternion_wxyz": [0.608, -0.362, 0.36, 0.608], "gripper_opening_command": 1.0},
    "right": {"position": [0.347, -0.202, 1.011], "quaternion_wxyz": [0.611, -0.356, 0.357, 0.611], "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 json,numpy as np j=json.load(o…")→退出码 0 · 35 字
  参数原文· 582 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000033/observation.json'))\nfor name,p1,p2,k in [('green',(109,269),(268,345),1),('toy_right',(501,249),(371,276),2),('pepperfar',(545,293),(475,457),2)]:\n A=[];b=[]\n for p,c in [(p1,j['images'][0]),(p2,j['images'][k])]:\n  M=np.array(c['calibration']['intrinsic_matrix'])@np.array(c['calibration']['environment_to_optical'])[:3]\n  for i in range(2):\n   a=M[i]-p[i]*M[2];A.append(a[:3]);b.append(-a[3])\n print(name,np.linalg.lstsq(A,b,rcond=None)[0])\nPY"
  }

  返回原文· 200 字纯文本

  Process exited with code 0 Original token count: 35 Output: green [-0.40064364 -0.18388238 0.8064362…

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 642 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "The wrist views now clearly locate the pepper and toy under the fingers. Finish downward alignment at safe height before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.369, -0.133, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1064 步 · 左末端 (-0.39, -0.20, 1.03) 米 · 右末端 (0.35, -0.18, 1.02) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.389, -0.205, 1.028], "quaternion_wxyz": [0.587, -0.396, 0.395, 0.586], "gripper_opening_command": 1.0},
    "right": {"position": [0.353, -0.184, 1.016], "quaternion_wxyz": [0.59, -0.389, 0.39, 0.59], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1064,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 615 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "Both objects remain visible and centered near the open jaws. Refine downward orientation without contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.369, -0.133, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1061 步 · 左末端 (-0.40, -0.19, 1.03) 米 · 右末端 (0.36, -0.17, 1.02) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.397, -0.191, 1.034], "quaternion_wxyz": [0.565, -0.426, 0.426, 0.564], "gripper_opening_command": 1.0},
    "right": {"position": [0.358, -0.167, 1.023], "quaternion_wxyz": [0.569, -0.42, 0.42, 0.569], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1061,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 629 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000039",
    "reason": "The pepper and toy are centered in their wrist views. Start a short descent while completing downward finger alignment.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.369, -0.133, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1058 步 · 左末端 (-0.40, -0.19, 0.98) 米 · 右末端 (0.36, -0.15, 1.00) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.4, -0.186, 0.985], "quaternion_wxyz": [0.506, -0.494, 0.494, 0.506], "gripper_opening_command": 1.0},
    "right": {"position": [0.364, -0.149, 0.998], "quaternion_wxyz": [0.535, -0.462, 0.462, 0.535], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1058,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 642 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "The fingers are nearly vertical, and both objects are visible between them. Lower in a small increment toward body-height contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 0.945], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.369, -0.133, 0.945], "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 (-0.40, -0.18, 0.95) 米 · 右末端 (0.37, -0.14, 0.96) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.401, -0.184, 0.947], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.368, -0.137, 0.955], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "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· 654 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The pepper's lobes and the toy's body lie between the open pads. Lower slightly to engage their sides while keeping finger tips above the table.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.369, -0.133, 0.93], "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 (-0.40, -0.18, 0.93) 米 · 右末端 (0.37, -0.13, 0.93) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.401, -0.184, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.369, -0.133, 0.931], "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· 627 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "Both aligned objects are still stationary between the pads. Close the fingers at the current poses before a test lift.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.369, -0.133, 0.931], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  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 (-0.40, -0.18, 0.93) 米 · 右末端 (0.37, -0.13, 0.93) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.401, -0.184, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.364},
    "right": {"position": [0.369, -0.133, 0.931], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.366}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1049,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 633 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000051",
    "reason": "The pads contact the sides, but closure is still interpolating. Hold alignment and finish closure before testing the grasps.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.369, -0.133, 0.931], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  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 (-0.40, -0.18, 0.93) 米 · 右末端 (0.37, -0.13, 0.93) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.401, -0.184, 0.93], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.364},
    "right": {"position": [0.369, -0.133, 0.931], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.363}
  },
  "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· 623 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000054",
    "reason": "Both objects are between closed pads. Lift 3 cm with orientation fixed and check whether they follow the grippers.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.401, -0.184, 0.96], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.369, -0.133, 0.961], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  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 (-0.40, -0.18, 0.96) 米 · 右末端 (0.37, -0.13, 0.96) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.401, -0.184, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.363},
    "right": {"position": [0.369, -0.133, 0.96], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.363}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1043,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000057)→obs_000069
  参数原文· 650 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "Both objects rose with their grippers and retained their positions between the pads. Lift vertically to clear the basket rims before transport.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.401, -0.184, 1.1], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.369, -0.133, 1.1], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000069", "native_success": false}

观测 obs_000069 · 步 69 · 剩余 1031 步 · 左末端 (-0.40, -0.19, 1.08) 米 · 右末端 (0.37, -0.14, 1.08) 米

{
  "observation_id": "obs_000069",
  "step_id": 69,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.4, -0.186, 1.084], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.362},
    "right": {"position": [0.368, -0.136, 1.084], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.363}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1031,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000069)
  参数原文· 670 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000069",
    "reason": "The held objects are above the rims with clear space between arms. Move the pepper toward the left basket and the toy toward the middle basket at this raised height.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.31, 0.025, 1.1], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.145, -0.045, 1.1], "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 44 iterations (maximum 128). At the best precheck iterate: position error 47.421 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.090 degrees (tolerance 1.146 degrees; within tolerance).
  Right arm: stalled after 43 iterations (maximum 128). At the best precheck iterate: position error 14.502 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.063 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_000069
  native_success: false

• robot_act(steps=12, obs=obs_000069)→obs_000081
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000069",
    "reason": "The high forward targets failed local kinematics without motion. Use a slightly lower, nearer intermediate pose that still clears the rims by several centimeters.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.33, -0.055, 1.05], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.17, -0.06, 1.05], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000081", "native_success": false}

观测 obs_000081 · 步 81 · 剩余 1019 步 · 左末端 (-0.33, -0.06, 1.05) 米 · 右末端 (0.19, -0.07, 1.05) 米

{
  "observation_id": "obs_000081",
  "step_id": 81,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.056, 1.049], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.361},
    "right": {"position": [0.193, -0.073, 1.052], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.362}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1019,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000081)
  参数原文· 663 字JSON

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  {
    "observation_id": "obs_000081",
    "reason": "The pepper and toy remain securely held, and their bottoms clear the rims. Move over the interiors of the left and middle baskets with slow steps near the rims.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.28, 0.075, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.04, 0.06, 1.04], "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 41 iterations (maximum 128). At the best precheck iterate: position error 58.086 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.098 degrees (tolerance 1.146 degrees; within tolerance).
  Right arm: stalled after 62 iterations (maximum 128). At the best precheck iterate: position error 99.958 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.100 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_000081
  native_success: false

• robot_act(steps=3, obs=obs_000081)→obs_000084
  参数原文· 745 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000081",
    "reason": "Fully vertical forward poses failed local kinematics. Tilt the held objects gently forward at the current clear height so the fingers can extend into the baskets while the wrists stay nearer the robot.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.28, -0.01, 1.05], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "gripper_closed": true},
      "right": {"position": [0.06, -0.01, 1.05], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000084", "native_success": false}

观测 obs_000084 · 步 84 · 剩余 1016 步 · 左末端 (-0.31, -0.04, 1.05) 米 · 右末端 (0.17, -0.06, 1.05) 米

{
  "observation_id": "obs_000084",
  "step_id": 84,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.309, -0.036, 1.05], "quaternion_wxyz": [0.535, -0.463, 0.462, 0.534], "gripper_opening_command": 0.365},
    "right": {"position": [0.166, -0.06, 1.052], "quaternion_wxyz": [0.537, -0.459, 0.461, 0.538], "gripper_opening_command": 0.361}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1016,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000084)→obs_000087
  参数原文· 700 字JSON

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  {
    "observation_id": "obs_000084",
    "reason": "The tilted approach moved both held objects without disturbing the baskets. Continue this pose in small steps until both are above their intended interiors.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.28, -0.01, 1.05], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "gripper_closed": true},
      "right": {"position": [0.06, -0.01, 1.05], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000087", "native_success": false}

观测 obs_000087 · 步 87 · 剩余 1013 步 · 左末端 (-0.29, -0.02, 1.05) 米 · 右末端 (0.14, -0.05, 1.05) 米

{
  "observation_id": "obs_000087",
  "step_id": 87,
  "instruction": "Put pepper objects into the left basket, wooden_toy objects into the middle basket, and watch objects into the right basket, then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.289, -0.018, 1.051],
      "quaternion_wxyz": [0.566, -0.426, 0.424, 0.564],
      "gripper_opening_command": 0.364
    },
    "right": {"position": [0.139, -0.047, 1.053], "quaternion_wxyz": [0.57, -0.415, 0.419, 0.572], "gripper_opening_command": 0.361}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1013,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000087)
  参数原文· 715 字JSON

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  {
    "observation_id": "obs_000087",
    "reason": "The pepper is above the left basket; the toy is still transitioning from the red basket toward blue. Complete the bounded lateral move with both objects clear of the rims.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.28, -0.01, 1.05], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "gripper_closed": true},
      "right": {"position": [0.01, -0.01, 1.04], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "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 31 iterations (maximum 128). At the best precheck iterate: position error 18.287 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.104 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_000087
  native_success: false

• robot_act(steps=3, obs=obs_000087)→obs_000090
  参数原文· 691 字JSON

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  {
    "observation_id": "obs_000087",
    "reason": "The toy's more central high target failed kinematics. Move to the previously feasible interior-side staging pose before lowering further into blue.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.28, -0.01, 1.05], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "gripper_closed": true},
      "right": {"position": [0.06, -0.01, 1.05], "quaternion_wxyz": [0.612372, -0.353553, 0.353553, 0.612372], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000090", "native_success": false}