盖住积木 · cover_blocks_000003任务成功第四档

观测 obs_000000 · 步 0 · 剩余 800 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": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. 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": 800,
  "remaining_steps": 800,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    }
  }
}

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

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

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

• exec_command(cmd="cat observations/000000/observation.json")→退出码 0 · 1,456 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 15000}
  返回原文· 5,886 字代码

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  Process exited with code 0
  Original token count: 1456
  Output:
  {
    "episode_id": "62a5cc119f75443183a9940971e2d567",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. 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": 800,
    "remaining_steps": 800,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-jmb19uof/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-jmb19uof/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-jmb19uof/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-jmb19uof/agent/observations/000000/observation.json",
    "task_context": {
      "episode_start_eef": {
        "left": {
          "position": [
            -0.2995290756225586,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        },
        "right": {
          "position": [
            0.3004709482192993,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        }
      }
    },
    "camera_parameters_path": "/mnt/workspace/robot_workspaces/episode-jmb19uof/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 482 字
  参数原文· 1,024 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000000/observation.json'))\nfor im in j['images']:\n a=np.array(Image.open(im['path'])); r,g,b=a[:,:,:3].transpose(2,0,1)\n for name,m in [('blue',(b>140)&(r<100)&(g<110)),('green',(g>140)&(r<110)&(b<110)),('red',(r>150)&(g<100)&(b<100)),('yellow',(r>150)&(g>150)&(b<140))]:\n  yy,xx=np.where(m)\n  if len(xx): print(im['camera'],name, 'n',len(xx),'bounds', (xx.min(),yy.min(),xx.max(),yy.max()),'mean', (xx.mean(),yy.mean()))\n# ray intersect at chosen z for high camera\nim=j['images'][0]; K=np.array(im['calibration']['intrinsic_matrix']); T=np.array(im['calibration']['environment_to_optical']); inv=np.linalg.inv(T)\nfor uv in [(223,247),(320,247),(417,247),(208,288),(320,288),(433,288),(320,315)]:\n d=inv[:3,:3]@np.linalg.solve(K,[*uv,1]); o=inv[:3,3]\n print(uv,[(z,(o+(z-o[2])/d[2]*d).round(4).tolist()) for z in [.74,.75,.78,.8,.82]])\nPY",
    "max_output_tokens": 2500
  }

  返回原文· 1,989 字代码

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  Process exited with code 0
  Original token count: 482
  Output:
  cam_high blue n 239 bounds (215, 243, 231, 258) mean (223.3305439330544, 250.53556485355648)
  cam_high green n 192 bounds (314, 243, 325, 258) mean (319.5, 250.5)
  cam_high red n 9957 bounds (0, 95, 639, 470) mean (401.95460480064276, 241.88711459274882)
  cam_high yellow n 3014 bounds (6, 3, 636, 479) mean (328.5680159256802, 318.44359654943594)
  cam_left_wrist blue n 4253 bounds (468, 389, 542, 459) mean (503.8140136374324, 424.1424876557724)
  cam_left_wrist red n 12772 bounds (54, 176, 639, 479) mean (393.04408080175386, 368.76096147823364)
  cam_right_wrist red n 23745 bounds (69, 159, 639, 479) mean (387.8253527058328, 379.08460728574437)
  cam_right_wrist yellow n 839 bounds (0, 147, 639, 477) mean (71.77115613825983, 252.46960667461263)
  (223, 247) [(0.74, [-0.2177, -0.1002, 0.74]), (0.75, [-0.2139, -0.1057, 0.75]), (0.78, [-0.2024, -0.122, 0.78]), (0.8, [-0.1947, -0.1329, 0.8]), (0.82, [-0.1871, -0.1438, 0.82])]
  (320, 247) [(0.74, [0.0, -0.1002, 0.74]), (0.75, [0.0, -0.1057, 0.75]), (0.78, [0.0, -0.122, 0.78]), (0.8, [0.0, -0.1329, 0.8]), (0.82, [0.0, -0.1438, 0.82])]
  (417, 247) [(0.74, [0.2177, -0.1002, 0.74]), (0.75, [0.2139, -0.1057, 0.75]), (0.78, [0.2024, -0.122, 0.78]), (0.8, [0.1947, -0.1329, 0.8]), (0.82, [0.1871, -0.1438, 0.82])]
  (208, 288) [(0.74, [-0.2326, -0.1972, 0.74]), (0.75, [-0.2285, -0.2009, 0.75]), (0.78, [-0.2162, -0.2121, 0.78]), (0.8, [-0.208, -0.2196, 0.8]), (0.82, [-0.1998, -0.2271, 0.82])]
  (320, 288) [(0.74, [0.0, -0.1972, 0.74]), (0.75, [0.0, -0.2009, 0.75]), (0.78, [0.0, -0.2121, 0.78]), (0.8, [0.0, -0.2196, 0.8]), (0.82, [0.0, -0.2271, 0.82])]
  (433, 288) [(0.74, [0.2347, -0.1972, 0.74]), (0.75, [0.2305, -0.2009, 0.75]), (0.78, [0.2181, -0.2121, 0.78]), (0.8, [0.2099, -0.2196, 0.8]), (0.82, [0.2016, -0.2271, 0.82])]
  (320, 315) [(0.74, [0.0, -0.2534, 0.74]), (0.75, [0.0, -0.2562, 0.75]), (0.78, [0.0, -0.2645, 0.78]), (0.8, [0.0, -0.27, 0.8]), (0.82, [0.0, -0.2755, 0.82])]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image import json,num…")→退出码 0 · 87 字
  参数原文· 802 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nimport json,numpy as np\nim=Image.open('observations/000000/cam_high.png'); im.crop((170,235,460,326)).resize((870,273)).save('initial_objects.png')\nj=json.load(open('observations/000000/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration']; T=np.linalg.inv(np.array(c['environment_to_optical'])); d=T[:3,:3]@np.linalg.solve(c['intrinsic_matrix'],[*uv,1]);return T[:3,3],d/np.linalg.norm(d)\ndef tri(uv1,uv2):\n o1,d1=ray(0,uv1);o2,d2=ray(1,uv2);a=np.stack([d1,-d2],1);s=np.linalg.lstsq(a,o2-o1,rcond=None)[0];p1=o1+s[0]*d1;p2=o2+s[1]*d2; print(uv1,uv2,(p1+p2)/2,'err',np.linalg.norm(p1-p2))\nfor uv in [(499,406),(500,404),(501,407),(505,406)]:tri((223,247),uv)\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 406 字代码

  1 2 3 4 5 6 7 8

  Process exited with code 0
  Original token count: 87
  Output:
  (223, 247) (499, 406) [-0.20099691 -0.12394292  0.78386801] err 0.0003453822527139219
  (223, 247) (500, 404) [-0.20066654 -0.12418706  0.78517856] err 0.0011916196699597093
  (223, 247) (501, 407) [-0.20054749 -0.12477224  0.78468126] err 0.00034691067562876444
  (223, 247) (505, 406) [-0.19953922 -0.12619256  0.78733761] err 0.00029586613894608596
  

• view_image(path="/mnt/workspace/robot_workspaces/episode-jmb19uof/agent/initial_objects.png")→1 张图
  查看的图
  参数原文· 90 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-jmb19uof/agent/initial_objects.png"}
  返回原文· 314 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/2f18f5dc05b164f5bb37b300eb48566b5c3a93af14015d0981331c49e4a630b9.png",
        "sha256": "2f18f5dc05b164f5bb37b300eb48566b5c3a93af14015d0981331c49e4a630b9",
        "mime_type": "image/png",
        "width": 870,
        "height": 273
      }
    }
  ]

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 686 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000000",
    "reason": "The left block is blue and its yellow cover is in front of it. I am approaching above that cover while rotating the left fingers downward.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.22, -0.28, 1.01], "quaternion_wxyz": [0.6513, -0.2754, 0.2754, 0.6513], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 797 步 · 左末端 (-0.29, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.294, -0.347, 0.931], "quaternion_wxyz": [0.707, -0.029, 0.031, 0.706], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 797,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000003
  参数原文· 708 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The arm remains well above the covers, with an unobstructed path. I am moving to a clearance pose and continuing the downward rotation before the close approach.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.22, -0.25, 1.04], "quaternion_wxyz": [0.5618, -0.429, 0.429, 0.5618], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 603 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_000003",
    "current_eef": {
      "left": {
        "position": [-0.294484406709671, -0.34720033407211304, 0.9306185245513916],
        "quaternion_wxyz": [0.7066965103149414, -0.029367337003350258, 0.030689261853694916, 0.7062404751777649],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.30047091841697693, -0.35229989886283875, 0.9214999079704285],
        "quaternion_wxyz": [0.7069998383522034, -1.328197640759754e-07, 8.858983591153446e-08, 0.7072136402130127],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 674 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000003",
    "reason": "The high path is clear. I am using an intermediate downward orientation within the rotation limit before approaching the cover.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.22, -0.25, 1.04], "quaternion_wxyz": [0.6317, -0.317, 0.317, 0.6317], "gripper_closed": false},
      "right": {
        "position": [0.300470918, -0.352299899, 0.921499908],
        "quaternion_wxyz": [0.70699984, 0, 0, 0.70721364],
        "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 782 步 · 左末端 (-0.26, -0.29, 0.99) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.258, -0.292, 0.989], "quaternion_wxyz": [0.676, -0.206, 0.21, 0.676], "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": 800,
  "remaining_steps": 782,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000018)→obs_000033
  参数原文· 677 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000018",
    "reason": "The blue block and its cover remain undisturbed. I am finishing the downward finger alignment at a high clearance pose over the left cover.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.22, -0.25, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 767 步 · 左末端 (-0.22, -0.25, 1.02) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.22, -0.25, 1.024], "quaternion_wxyz": [0.582, -0.399, 0.401, 0.584], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 767,
  "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 · 45 字
  参数原文· 607 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000033/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration']; T=np.linalg.inv(c['environment_to_optical']);d=T[:3,:3]@np.linalg.solve(c['intrinsic_matrix'],[*uv,1]);return T[:3,3],d/np.linalg.norm(d)\nfor us in [[(203,288),(381,345)],[(212,298),(371,301)],[(205,286),(379,349)]]:\n o,d=ray(0,us[0]);p,v=ray(1,us[1]);s=np.linalg.lstsq(np.stack([d,-v],1),p-o,rcond=None)[0];print((o+s[0]*d+p+s[1]*v)/2, np.linalg.norm(o+s[0]*d-p-s[1]*v))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 238 字纯文本

  Process exited with code 0 Original token count: 45 Output: [-0.20160026 -0.23077916 0.83260199] 0.0…

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 720 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000033",
    "reason": "The wrist view shows the left cover between the open fingers, but their downward rotation is incomplete. I am centering over its upper body and completing alignment before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.206, -0.236, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 764 步 · 左末端 (-0.21, -0.24, 1.00) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.208, -0.238, 1.001], "quaternion_wxyz": [0.544, -0.45, 0.452, 0.546], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 764,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 686 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000036",
    "reason": "The left cover is centered in the wrist image. I am lowering the open fingers along its sides while keeping the closing direction across the cylinder.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.23, 0.963], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 761 步 · 左末端 (-0.20, -0.23, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.201, -0.231, 0.965], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.502], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 761,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000039)→obs_000041
  参数原文· 680 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000039",
    "reason": "Both views show the fingers straddling the cover without shifting it. I am making a small final descent so the pads overlap its upper sidewalls.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.2, -0.23, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000041", "native_success": false}

观测 obs_000041 · 步 41 · 剩余 759 步 · 左末端 (-0.20, -0.23, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000041",
  "step_id": 41,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.23, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 759,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000041)→obs_000044
  参数原文· 693 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000041",
    "reason": "The pads are aligned across the cover's cylindrical sides and the cover remains visible in the wrist camera. I am closing the left gripper at this fixed pose.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.23, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000044", "native_success": false}

观测 obs_000044 · 步 44 · 剩余 756 步 · 左末端 (-0.20, -0.23, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000044",
  "step_id": 44,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.23, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.568},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 756,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000044)→obs_000047
  参数原文· 679 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000044",
    "reason": "The opening command is still interpolating and the cover has not moved. I am completing closure without moving the fingers before the test lift.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.23, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000047", "native_success": false}

观测 obs_000047 · 步 47 · 剩余 753 步 · 左末端 (-0.20, -0.23, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000047",
  "step_id": 47,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.23, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.568},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 753,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000047)→obs_000050
  参数原文· 678 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000047",
    "reason": "The fingers are in contact with the cover, but secure grasp is unverified. I am testing it with a small vertical lift at unchanged orientation.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.23, 0.982], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000050 · 步 50 · 剩余 750 步 · 左末端 (-0.20, -0.23, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000050",
  "step_id": 50,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.23, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.566},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 750,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=5, obs=obs_000050)→obs_000055
  参数原文· 701 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000050",
    "reason": "The cover rose with the left gripper in the head view, confirming a grasp. I am lifting it higher vertically so its lower rim clears the blue block before translation.",
    "steps": 5,
    "target": {
      "left": {"position": [-0.2, -0.23, 1.05], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000055 · 步 55 · 剩余 745 步 · 左末端 (-0.20, -0.23, 1.03) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000055",
  "step_id": 55,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.201, -0.231, 1.034], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.566},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 745,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=10, obs=obs_000055)→obs_000065
  参数原文· 697 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000055",
    "reason": "The lifted cover remains fixed between the fingers and its rim is above the blue block. I am translating it straight over the left block at this clearance height.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.2, -0.12, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000065 · 步 65 · 剩余 735 步 · 左末端 (-0.20, -0.12, 1.04) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000065",
  "step_id": 65,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.124, 1.039], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.566},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 735,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000065)→obs_000068
  参数原文· 682 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000065",
    "reason": "The cover is aligned over the blue block with clearance around the other blocks. I am lowering it partway toward the table with the gripper closed.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.12, 0.995], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000068 · 步 68 · 剩余 732 步 · 左末端 (-0.20, -0.12, 1.00) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000068",
  "step_id": 68,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.12, 1.004], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.566},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 732,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000068)→obs_000071
  参数原文· 663 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13

  {
    "observation_id": "obs_000068",
    "reason": "The blue block remains centered below the cover's cavity. I am continuing a slow vertical descent without shifting it laterally.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.12, 0.965], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000071", "native_success": false}

观测 obs_000071 · 步 71 · 剩余 729 步 · 左末端 (-0.20, -0.12, 0.97) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000071",
  "step_id": 71,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.12, 0.97], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.566},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 729,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000071)→obs_000073
  参数原文· 696 字JSON

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  {
    "observation_id": "obs_000071",
    "reason": "The cover now surrounds the blue block but is slightly above its original resting height. I am lowering the final small distance to support its rim on the table.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.2, -0.12, 0.952], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000073", "native_success": false}

观测 obs_000073 · 步 73 · 剩余 727 步 · 左末端 (-0.20, -0.12, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000073",
  "step_id": 73,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.12, 0.953], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.57},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 727,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000073)→obs_000076
  参数原文· 681 字JSON

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  {
    "observation_id": "obs_000073",
    "reason": "The left cover is upright at table-supported height over the blue block. I am releasing it before withdrawing to verify that it remains in place.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.12, 0.953], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000076", "native_success": false}

观测 obs_000076 · 步 76 · 剩余 724 步 · 左末端 (-0.20, -0.12, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000076",
  "step_id": 76,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.12, 0.953], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 724,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000076)→obs_000079
  参数原文· 701 字JSON

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  {
    "observation_id": "obs_000076",
    "reason": "The released left cover stays upright over blue. I am withdrawing the left fingers vertically; the right arm begins a separate high approach toward the right cover without contacting it.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.2, -0.12, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.22, -0.25, 1.04], "quaternion_wxyz": [0.6317, -0.317, 0.317, 0.6317], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000079", "native_success": false}

观测 obs_000079 · 步 79 · 剩余 721 步 · 左末端 (-0.20, -0.12, 0.99) 米 · 右末端 (0.30, -0.35, 0.93) 米

{
  "observation_id": "obs_000079",
  "step_id": 79,
  "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.2, -0.121, 0.988], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.297, -0.347, 0.931], "quaternion_wxyz": [0.706, -0.029, 0.028, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 721,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat > task_notes.txt <<'EOF' Observed initial block order (image left to right): BLUE at…")→退出码 0 · 0 字
  参数原文· 808 字JSON

  1 2 3 4

  {
    "cmd": "cat > task_notes.txt <<'EOF'\nObserved initial block order (image left to right): BLUE at x=-0.20, GREEN at x=0, RED at x=+0.20. Blocks centered near y=-0.12, table z≈0.75, block top≈0.785.\nCovers initially x=-0.20,0,+0.20; y≈-0.23, top≈0.835. Left cover grasp confirmed at link6 (-.20,-.23,.952), quaternion (.5,-.5,.5,.5). Grasp opening stops ~.568 on sidewalls. Rim clearance transport at link6 z≈1.04. Placement supported at link6 z≈.952.\nobs76: blue covered first and released, upright. obs79: withdrawal leaves cover stationary. Green/red not yet covered. Right arm high preparation only.\nRequired cover sequence: left-blue, middle-green, right-red. Required uncover sequence: right-red, middle-green, left-blue. Then release/retract/reset both arms.\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=10, obs=obs_000079)→obs_000089
  参数原文· 696 字JSON

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  {
    "observation_id": "obs_000079",
    "reason": "The blue cover remains supported after withdrawal. I am lifting the left arm clear before moving toward the middle cover, while the right arm rotates in open space above its cover.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.2, -0.12, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.22, -0.25, 1.04], "quaternion_wxyz": [0.6317, -0.317, 0.317, 0.6317], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000089", "native_success": false}