投币入罐 · deposit_coin_000017任务成功第三档

观测 obs_000000 · 步 0 · 剩余 300 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": "Pick up the coin from the holder and insert it precisely into the coin bank. 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": 300,
  "remaining_steps": 300,
  "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 · 1,447 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 16000}
  返回原文· 5,849 字代码

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  Process exited with code 0
  Original token count: 1447
  Output:
  {
    "episode_id": "e3963a60a30a47ed93ed22daadcc3734",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. 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": 300,
    "remaining_steps": 300,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-skszkoys/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-skszkoys/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-skszkoys/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-skszkoys/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-skszkoys/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image im=Image.open('…")→退出码 0 · 0 字
  参数原文· 239 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nim=Image.open('observations/000000/cam_high.png');im.crop((238,246,289,288)).resize((612,504)).save('coin_crop.png')\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 59 字纯文本

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

• view_image(path="/mnt/workspace/robot_workspaces/episode-skszkoys/agent/coin_crop.png")→1 张图
  查看的图
  参数原文· 84 字JSON

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

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/7754d0cf71eb64c109560a13ed08405c14686d5ca2708d5c83a9d410070caf26.png",
        "sha256": "7754d0cf71eb64c109560a13ed08405c14686d5ca2708d5c83a9d410070caf26",
        "mime_type": "image/png",
        "width": 612,
        "height": 504
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 166 字
  参数原文· 571 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'))\nfor im in j['images']:\n K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];c=-R.T@T[:3,3]\n print(im['camera'],'camera',c)\n if im['camera']=='cam_high':\n  for uv in [(265,268),(143,253)]:\n   d=R.T@np.linalg.inv(K)@[*uv,1]\n   print(uv,[(z,(c+d*((z-c[2])/d[2])).round(4).tolist()) for z in [.7,.75,.76,.8,.83,.85,.9]])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 722 字代码

  1 2 3 4 5 6 7 8 9

  Process exited with code 0
  Original token count: 166
  Output:
  cam_high camera [ 0.         -0.41        1.30799997]
  (265, 268) [(0.7, [-0.1269, -0.1336, 0.7]), (0.75, [-0.1165, -0.1563, 0.75]), (0.76, [-0.1144, -0.1608, 0.76]), (0.8, [-0.106, -0.179, 0.8]), (0.83, [-0.0998, -0.1927, 0.83]), (0.85, [-0.0956, -0.2018, 0.85]), (0.9, [-0.0852, -0.2245, 0.9])]
  (143, 253) [(0.7, [-0.4203, -0.0946, 0.7]), (0.75, [-0.3858, -0.1206, 0.75]), (0.76, [-0.3788, -0.1257, 0.76]), (0.8, [-0.3512, -0.1465, 0.8]), (0.83, [-0.3305, -0.1621, 0.83]), (0.85, [-0.3166, -0.1724, 0.85]), (0.9, [-0.2821, -0.1984, 0.9])]
  cam_left_wrist camera [-0.29955451 -0.26745779  0.97243969]
  cam_right_wrist camera [ 0.30044552 -0.26745783  0.97243972]
  

• robot_act(steps=10, obs=obs_000000)→obs_000010
  参数原文· 731 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The coin holder is to the right of the bank, and the left wrist currently overlooks the bank. Move the open left gripper above the holder area with vertical clearance for a closer view.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.14, -0.35, 1.02], "quaternion_wxyz": [0.7071068, 0, 0, 0.7071068], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000010", "native_success": false}

观测 obs_000010 · 步 10 · 剩余 290 步 · 左末端 (-0.27, -0.35, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000010",
  "step_id": 10,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.267, -0.353, 0.956], "quaternion_wxyz": [0.708, 0.0, 0.0, 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": 300,
  "remaining_steps": 290,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 58 字
  参数原文· 777 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation as Rot\nj=json.load(open('observations/000000/observation.json'))\nA=[];b=[]\nfor i,uv in [(0,(143,254)),(1,(317,398))]:\n im=j['images'][i];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];c=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@[*uv,1];d/=np.linalg.norm(d);P=np.eye(3)-np.outer(d,d);A.append(P);b.append(P@c)\np=np.linalg.lstsq(np.vstack(A),np.hstack(b),rcond=None)[0];print('slot estimate',p)\nfor yaw,tilt in [(1.2,.6),(.65,1.1),(-.3,1.5708)]:\n q=(Rot.from_euler('z',yaw)*Rot.from_euler('y',tilt)).as_quat();print(yaw,tilt,q[[3,0,1,2]])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 291 字纯文本

  Process exited with code 0 Original token count: 58 Output: slot estimate [-0.3007754 -0.1862849 0.8…

• robot_act(steps=15, obs=obs_000010)→obs_000025
  参数原文· 743 字JSON

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  {
    "observation_id": "obs_000010",
    "reason": "The arm has moved only partway; the holder remains stationary and clear of the gripper. Continue the elevated approach and pitch the wrist downward to bring the coin into view.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.13, -0.31, 1.05],
        "quaternion_wxyz": [0.78847323, -0.16686326, 0.24390335, 0.53942356],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000025", "native_success": false}

观测 obs_000025 · 步 25 · 剩余 275 步 · 左末端 (-0.18, -0.32, 1.01) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000025",
  "step_id": 25,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.181, -0.322, 1.013], "quaternion_wxyz": [0.783, -0.146, 0.215, 0.565], "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": 300,
  "remaining_steps": 275,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 23 字
  参数原文· 797 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/000025/observation.json'))\ndef triang(u,v):\n A=[];b=[]\n for i,uv in [(0,u),(1,v)]:\n  im=j['images'][i];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];c=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@[*uv,1];d/=np.linalg.norm(d);P=np.eye(3)-np.outer(d,d);A.append(P);b.append(P@c)\n return np.linalg.lstsq(np.vstack(A),np.hstack(b),rcond=None)[0]\nprint('coin top',triang((264,266),(350,331)));print('holder',triang((265,271),(350,350)))\nImage.open('observations/000025/cam_left_wrist.png').crop((319,311,380,375)).resize((488,512)).save('coin_wrist.png')\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 152 字纯文本

  Process exited with code 0 Original token count: 23 Output: coin top [-0.1124152 -0.16556784 0.78056…

• view_image(path="/mnt/workspace/robot_workspaces/episode-skszkoys/agent/coin_wrist.png")→1 张图
  查看的图
  参数原文· 85 字JSON

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

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/9aafecc1acf5b98add7cb5274d6e8a97d6560cb4182c06c70798af98c2c08b2e.png",
        "sha256": "9aafecc1acf5b98add7cb5274d6e8a97d6560cb4182c06c70798af98c2c08b2e",
        "mime_type": "image/png",
        "width": 488,
        "height": 512
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 62 字
  参数原文· 632 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation as Rot\nj=json.load(open('observations/000025/observation.json'));im=j['images'][1];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];c=-R.T@T[:3,3]\nfor uv in [(335,350),(365,322),(350,332)]:\n d=R.T@np.linalg.inv(K)@[*uv,1];p=c+d*((.779-c[2])/d[2]);print(uv,p)\nfor yaw,tilt in [(.8,1.15),(.3,1.5707963268)]:\n q=(Rot.from_euler('z',yaw)*Rot.from_euler('y',tilt)).as_quat();print(q[[3,0,1,2]])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 307 字纯文本

  Process exited with code 0 Original token count: 62 Output: (335, 350) [-0.12447896 -0.1727454 0.779…

• robot_act(steps=3, obs=obs_000025)→obs_000028
  参数原文· 748 字JSON

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

  {
    "observation_id": "obs_000025",
    "reason": "Both views show an upright coin in a small holder; its exposed rim is near [-0.112,-0.166,0.780]. Begin a slow overhead approach, rotating the fingers to close across the coin faces.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.167, 1.0],
        "quaternion_wxyz": [0.7729473, -0.21177924, 0.50090501, 0.32679688],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000028", "native_success": false}

观测 obs_000028 · 步 28 · 剩余 272 步 · 左末端 (-0.17, -0.30, 1.01) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000028",
  "step_id": 28,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.17, -0.301, 1.01], "quaternion_wxyz": [0.79, -0.16, 0.267, 0.529], "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": 300,
  "remaining_steps": 272,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000028)→obs_000028
  参数原文· 743 字JSON

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

  {
    "observation_id": "obs_000028",
    "reason": "The coin remains visible between the open fingers in the wrist view. Continue centering above it while rotating toward a vertical grasp with closure normal to the coin faces.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.167, 0.987],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "gripper_closed": false
      }
    }
  }

  返回原文· 598 字JSON

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

  {
    "error": "left target exceeds 1.0 rad orientation distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000028",
    "current_eef": {
      "left": {
        "position": [-0.1695428192615509, -0.30078011751174927, 1.00973379611969],
        "quaternion_wxyz": [0.7897098064422607, -0.15989522635936737, 0.267016738653183, 0.5286718606948853],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.3004709780216217, -0.35229986906051636, 0.9214999675750732],
        "quaternion_wxyz": [0.7069999575614929, -1.3999321879509807e-07, 8.514167859630106e-08, 0.7072135210037231],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000028)→obs_000031
  参数原文· 740 字JSON

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

  {
    "observation_id": "obs_000028",
    "reason": "The larger wrist rotation exceeded the permitted increment without moving the robot. Use the intermediate downward orientation while continuing the clear overhead approach.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.167, 0.987],
        "quaternion_wxyz": [0.7729473, -0.21177924, 0.50090501, 0.32679688],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299869, 0.921499968],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000031", "native_success": false}

观测 obs_000031 · 步 31 · 剩余 269 步 · 左末端 (-0.16, -0.28, 1.00) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000031",
  "step_id": 31,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.159, -0.279, 1.004], "quaternion_wxyz": [0.793, -0.173, 0.318, 0.49], "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": 300,
  "remaining_steps": 269,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000031)→obs_000031
  参数原文· 722 字JSON

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

  {
    "observation_id": "obs_000031",
    "reason": "The coin is centered in the wrist image and remains untouched. Complete the vertical finger alignment while keeping the fingertips above the exposed rim.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.167, 0.974],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299869, 0.921499968],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "gripper_closed": false
      }
    }
  }

  返回原文· 600 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_000031",
    "current_eef": {
      "left": {
        "position": [-0.15891945362091064, -0.27885717153549194, 1.0044201612472534],
        "quaternion_wxyz": [0.7927762866020203, -0.17323771119117737, 0.3182646930217743, 0.490104079246521],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.3004709780216217, -0.35229989886283875, 0.9214999675750732],
        "quaternion_wxyz": [0.7069998383522034, 3.840504803065414e-08, -8.267711848475301e-09, 0.7072136998176575],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000031)→obs_000034
  参数原文· 725 字JSON

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

  {
    "observation_id": "obs_000031",
    "reason": "The final rotation still exceeds the angular bound; no controls executed. Continue toward the intermediate orientation before making the last alignment change.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.167, 0.987],
        "quaternion_wxyz": [0.7729473, -0.21177924, 0.50090501, 0.32679688],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000034", "native_success": false}

观测 obs_000034 · 步 34 · 剩余 266 步 · 左末端 (-0.15, -0.26, 1.00) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000034",
  "step_id": 34,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.149, -0.256, 0.999], "quaternion_wxyz": [0.793, -0.186, 0.368, 0.449], "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": 300,
  "remaining_steps": 266,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000034)→obs_000037
  参数原文· 699 字JSON

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

  {
    "observation_id": "obs_000034",
    "reason": "The downward wrist approach keeps the coin visible and clear. Rotate to vertical and continue centering with the fingers still open.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.167, 0.974],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000037", "native_success": false}

观测 obs_000037 · 步 37 · 剩余 263 步 · 左末端 (-0.14, -0.23, 0.99) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000037",
  "step_id": 37,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.138, -0.233, 0.991], "quaternion_wxyz": [0.791, -0.177, 0.421, 0.406], "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": 300,
  "remaining_steps": 263,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000037)→obs_000040
  参数原文· 707 字JSON

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

  {
    "observation_id": "obs_000037",
    "reason": "The coin remains upright and visible; the fingertips are still above it. Continue vertical alignment and lower only toward a pregrasp height.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.167, 0.96],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000040", "native_success": false}

观测 obs_000040 · 步 40 · 剩余 260 步 · 左末端 (-0.13, -0.21, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000040",
  "step_id": 40,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.129, -0.211, 0.978], "quaternion_wxyz": [0.786, -0.168, 0.473, 0.36], "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": 300,
  "remaining_steps": 260,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000040)→obs_000043
  参数原文· 711 字JSON

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

  {
    "observation_id": "obs_000040",
    "reason": "The wrist view shows the coin centered but the gripper remains tilted. Finish aligning above it at a safe height before descending into contact.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.166, 0.955],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000043", "native_success": false}

观测 obs_000043 · 步 43 · 剩余 257 步 · 左末端 (-0.12, -0.19, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000043",
  "step_id": 43,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.12, -0.188, 0.965], "quaternion_wxyz": [0.777, -0.158, 0.523, 0.311], "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": 300,
  "remaining_steps": 257,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000043)→obs_000046
  参数原文· 709 字JSON

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

  {
    "observation_id": "obs_000043",
    "reason": "The coin and holder remain unchanged; the finger axis is nearing vertical. Hold the pregrasp height and finish wrist alignment before contact.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.166, 0.955],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000046", "native_success": false}

观测 obs_000046 · 步 46 · 剩余 254 步 · 左末端 (-0.11, -0.17, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000046",
  "step_id": 46,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.113, -0.17, 0.955], "quaternion_wxyz": [0.763, -0.145, 0.575, 0.257], "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": 300,
  "remaining_steps": 254,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000046)→obs_000049
  参数原文· 752 字JSON

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

  {
    "observation_id": "obs_000046",
    "reason": "The coin is visible and the pregrasp position is reached, but the wrist is still completing its rotation. Keep height fixed and finish making the finger pads parallel to the coin faces.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.166, 0.955],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000049", "native_success": false}

观测 obs_000049 · 步 49 · 剩余 251 步 · 左末端 (-0.11, -0.17, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000049",
  "step_id": 49,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.112, -0.167, 0.954], "quaternion_wxyz": [0.744, -0.132, 0.623, 0.202], "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": 300,
  "remaining_steps": 251,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image Image.open('obs…")→退出码 0 · 20 字
  参数原文· 545 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nImage.open('observations/000049/cam_high.png').crop((251,257,278,279)).resize((540,440)).save('coin_high_close.png')\nimport json,numpy as np\nj=json.load(open('observations/000049/observation.json'))\np=np.array([-.112,-.166,.779,1])\nfor im in j['images'][:2]:\n K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);cp=T@p;uv=K@cp[:3];print(im['camera'],uv[:2]/uv[2])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 140 字纯文本

  Process exited with code 0 Original token count: 20 Output: cam_high [264.37283169 266.41786357] cam…

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

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

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/ae65576895b5d6d9dac856fb6009775760c819926ed8ff49d3a9c60d3d4b948d.png",
        "sha256": "ae65576895b5d6d9dac856fb6009775760c819926ed8ff49d3a9c60d3d4b948d",
        "mime_type": "image/png",
        "width": 540,
        "height": 440
      }
    }
  ]

• robot_act(steps=3, obs=obs_000049)→obs_000052
  参数原文· 709 字JSON

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

  {
    "observation_id": "obs_000049",
    "reason": "The coin is still in its holder and the fingers have not contacted it. Complete the remaining small rotation at the same safe pregrasp height.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.112, -0.166, 0.955],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000052 · 步 52 · 剩余 248 步 · 左末端 (-0.11, -0.17, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000052",
  "step_id": 52,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.112, -0.167, 0.954], "quaternion_wxyz": [0.72, -0.117, 0.668, 0.146], "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": 300,
  "remaining_steps": 248,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json j=json.load(o…")→退出码 0 · 49 字
  参数原文· 651 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nj=json.load(open('observations/000052/observation.json'))\nfor uvpair in [((264.5,266.5),(341,267)),((264.5,264),(339,240)),((265,270),(341,289))]:\n A=[];b=[]\n for i,uv in enumerate(uvpair):\n  im=j['images'][i];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];c=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@[*uv,1];d/=np.linalg.norm(d);P=np.eye(3)-np.outer(d,d);A.append(P);b.append(P@c)\n p=np.linalg.lstsq(np.vstack(A),np.hstack(b),rcond=None)[0];print(uvpair,p)\nPY",
    "max_output_tokens": 1500
  }

  返回原文· 255 字纯文本

  Process exited with code 0 Original token count: 49 Output: ((264.5, 266.5), (341, 267)) [-0.1103920…

• robot_act(steps=2, obs=obs_000052)→obs_000054
  参数原文· 724 字JSON

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

  {
    "observation_id": "obs_000052",
    "reason": "The coin edge is nearly parallel to the finger pads in the wrist image. Make the last alignment adjustment before lowering to pinch its exposed upper portion.",
    "steps": 2,
    "target": {
      "left": {
        "position": [-0.11, -0.167, 0.955],
        "quaternion_wxyz": [0.69916673, -0.10566872, 0.69916673, 0.10566872],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000054 · 步 54 · 剩余 246 步 · 左末端 (-0.11, -0.17, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.11, -0.168, 0.954], "quaternion_wxyz": [0.701, -0.107, 0.697, 0.108], "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": 300,
  "remaining_steps": 246,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 747 字JSON

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

  {
    "observation_id": "obs_000054",
    "reason": "The fingers are now vertical, with the coin exposed between them. Lower about 17 mm toward the upper coin rim while keeping clear of the white holder, and fine-tune pad alignment.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.1105, -0.168, 0.937],
        "quaternion_wxyz": [0.69301172, -0.14048043, 0.69301172, 0.14048043],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 243 步 · 左末端 (-0.11, -0.17, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.111, -0.168, 0.937], "quaternion_wxyz": [0.693, -0.14, 0.693, 0.14], "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": 300,
  "remaining_steps": 243,
  "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 · 100 字
  参数原文· 462 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000057/observation.json'));im=j['images'][1];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];c=-R.T@T[:3,3];print('c',c,'rotation',R)\nfor z in [.75,.76,.77,.78,.79,.80]:\n p=np.array([-.1105,-.168,z,1]);v=K@(T@p)[:3];print(z,v[:2]/v[2])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 461 字代码

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

  Process exited with code 0
  Original token count: 100
  Output:
  c [-0.06357143 -0.14805111  0.85258908] rotation [[ 3.88549526e-01 -9.21427817e-01 -2.08252586e-04]
   [-7.98087438e-01 -3.36652051e-01  4.99721761e-01]
   [-4.60527640e-01 -1.94000450e-01 -8.66185961e-01]]
  0.75 [320.5859696  215.35643026]
  0.76 [320.62617288 232.11096994]
  0.77 [320.67355483 251.85718594]
  0.78 [320.73022665 275.47491662]
  0.79 [320.7992174  304.22650669]
  0.8 [320.88503359 339.99002098]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 48 字
  参数原文· 645 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000057/observation.json'))\nfor uvpair in [((265,264),(319,348)),((264,267),(319,284)),((263,271),(319,225))]:\n A=[];b=[]\n for i,uv in enumerate(uvpair):\n  im=j['images'][i];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];c=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@[*uv,1];d/=np.linalg.norm(d);P=np.eye(3)-np.outer(d,d);A.append(P);b.append(P@c)\n p=np.linalg.lstsq(np.vstack(A),np.hstack(b),rcond=None)[0];print(uvpair,p)\nPY",
    "max_output_tokens": 1500
  }

  返回原文· 249 字纯文本

  Process exited with code 0 Original token count: 48 Output: ((265, 264), (319, 348)) [-0.10859861 -0…

• robot_act(steps=3, obs=obs_000057)→obs_000060
  参数原文· 763 字JSON

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

  {
    "observation_id": "obs_000057",
    "reason": "Calibrated views place the coin’s exposed top near z=0.801, above the holder. The downward fingertips overlap the upper coin with pads parallel to its faces; close gently without lowering further.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.1105, -0.168, 0.937],
        "quaternion_wxyz": [0.69301172, -0.14048043, 0.69301172, 0.14048043],
        "gripper_closed": true
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000060 · 步 60 · 剩余 240 步 · 左末端 (-0.11, -0.17, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.111, -0.168, 0.937], "quaternion_wxyz": [0.693, -0.14, 0.693, 0.14], "gripper_opening_command": 0.329},
    "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": 300,
  "remaining_steps": 240,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000060)→obs_000063
  参数原文· 719 字JSON

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

  {
    "observation_id": "obs_000060",
    "reason": "The closure command is only partly interpolated and the coin remains seated. Hold the aligned pose and complete finger closure before testing the grasp.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.1105, -0.168, 0.937],
        "quaternion_wxyz": [0.69301172, -0.14048043, 0.69301172, 0.14048043],
        "gripper_closed": true
      },
      "right": {
        "position": [0.300470978, -0.352299899, 0.921499968],
        "quaternion_wxyz": [0.706999838, 0, 0, 0.7072137],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000063 · 步 63 · 剩余 237 步 · 左末端 (-0.11, -0.17, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000063",
  "step_id": 63,
  "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.111, -0.168, 0.937], "quaternion_wxyz": [0.693, -0.14, 0.693, 0.141], "gripper_opening_command": 0.033},
    "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": 300,
  "remaining_steps": 237,
  "native_success": false,
  "frame": "environment_origin"
}