插笔入笔筒 · fill_pen_holder_000178任务成功第一档

观测 obs_000000 · 步 0 · 剩余 1100 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000000",
  "step_id": 0,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1100,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    }
  }
}

• 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 · 1,466 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,926 字代码

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  Process exited with code 0
  Original token count: 1466
  Output:
  {
    "episode_id": "d4861c07c4e949c4ad9fec00cb0f6a8b",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
    "current_eef": {
      "left": {
        "position": [
          -0.2995290756225586,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [
          0.3004709482192993,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      }
    },
    "current_state": [
      5.117600137063971e-13,
      -1.1564972815666062e-15,
      1.7751208264243043e-17,
      7.854382995167437e-16,
      -9.9895645141318e-13,
      2.5006680753891786e-12,
      1.0,
      5.11759742655854e-13,
      -1.1564970698083694e-15,
      1.7749080755707557e-17,
      7.854373995442373e-16,
      -9.989571019344834e-13,
      2.5006676417083096e-12,
      1.0
    ],
    "control_dt": 0.04,
    "max_episode_steps": 1100,
    "remaining_steps": 1100,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-e3ly8kvs/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-e3ly8kvs/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-e3ly8kvs/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-e3ly8kvs/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-e3ly8kvs/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="cat > geometry.py <<'PY' import json, numpy as np from scipy.spatial.transform import Ro…")→退出码 0 · 195 字
  参数原文· 1,665 字JSON

  1 2 3

  {
    "cmd": "cat > geometry.py <<'PY'\nimport json, numpy as np\nfrom scipy.spatial.transform import Rotation as R\n\ndef obs(n):\n return json.load(open(f'observations/{n:06d}/observation.json'))\ndef triang(n,cam1,p1,cam2,p2):\n o=obs(n); rays=[]\n for c,p in [(cam1,p1),(cam2,p2)]:\n  im=next(i for i in o['images'] if i['camera']==c); K=np.array(im['calibration']['intrinsic_matrix']); T=np.array(im['calibration']['environment_to_optical']); Ri=T[:3,:3]; t=T[:3,3]\n  origin=-Ri.T@t; d=Ri.T@np.linalg.solve(K,[*p,1]); d/=np.linalg.norm(d); rays.append((origin,d))\n (a,u),(b,v)=rays; ts=np.linalg.lstsq(np.column_stack([u,-v]),b-a,rcond=None)[0]; pa=a+ts[0]*u; pb=b+ts[1]*v\n return (pa+pb)/2,np.linalg.norm(pa-pb)\ndef plane(n,cam,p,z):\n im=next(i for i in obs(n)['images'] if i['camera']==cam); K=np.array(im['calibration']['intrinsic_matrix']); T=np.array(im['calibration']['environment_to_optical']); rot=T[:3,:3]; a=-rot.T@T[:3,3]; d=rot.T@np.linalg.solve(K,[*p,1]); return a+(z-a[2])/d[2]*d\nif __name__=='__main__':\n for label,a,b,cam in [('holder rim',(480,143),(369,128),'cam_right_wrist'),('holder bottom',(463,184),(369,261),'cam_right_wrist'),('black back',(213,183),(366,245),'cam_left_wrist'),('black front',(181,247),(325,411),'cam_left_wrist'),('cyan1 back',(213,160),(347,208),'cam_left_wrist'),('cyan1 front',(172,193),(267,271),'cam_left_wrist'),('cyan2 back',(239,186),(438,251),'cam_left_wrist'),('cyan2 front',(257,229),(527,344),'cam_left_wrist')]:\n  print(label,triang(0,'cam_high',a,cam,b))\n for p in [(295,250),(478,171)]: print('plane .75',p,plane(0,'cam_high',p,.75))\nPY\n/root/miniconda3/envs/RoboDojo/bin/python geometry.py"
  }

  返回原文· 838 字代码

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  Process exited with code 0
  Original token count: 195
  Output:
  holder rim (array([0.34026744, 0.07268764, 0.88436525]), 0.004874661005838768)
  holder bottom (array([0.35054147, 0.06328769, 0.76019509]), 0.005825900592664406)
  black back (array([-0.25589753,  0.05201962,  0.78146765]), 0.0022874999243407603)
  black front (array([-0.29661289, -0.11543579,  0.76822117]), 0.00030530689083260124)
  cyan1 back (array([-0.26905999,  0.12494001,  0.78457536]), 0.0036475457232344032)
  cyan1 front (array([-0.34787867,  0.02498916,  0.77357895]), 0.0038869528992385295)
  cyan2 back (array([-0.19168389,  0.04138803,  0.78214671]), 0.0007680871537873574)
  cyan2 front (array([-0.14502111, -0.05624567,  0.75609597]), 0.011364132176493562)
  plane .75 (295, 250) [-0.05480688 -0.1131527   0.75      ]
  plane .75 (478, 171) [0.41000773 0.11891529 0.75      ]
  

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 695 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The holder is upright at the right and the pens are separated on the left. Approach above the black pen while the right fingers approach the holder from the front.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.28, -0.19, 1.025],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.34, -0.16, 0.85], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000003", "native_success": false}

观测 obs_000003 · 步 3 · 剩余 1097 步 · 左末端 (-0.30, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.91) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.299, -0.346, 0.927], "quaternion_wxyz": [0.707, -0.024, 0.025, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.302, -0.346, 0.915], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1097,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 661 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "Both hands remain far from contact and the approach corridors are clear. Move closer above the pens and in front of the holder.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.28, -0.19, 1.025],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.34, -0.13, 0.835], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000018", "native_success": false}

观测 obs_000018 · 步 18 · 剩余 1082 步 · 左末端 (-0.29, -0.28, 0.97) 米 · 右末端 (0.31, -0.31, 0.91) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.292, -0.283, 0.967], "quaternion_wxyz": [0.684, -0.179, 0.18, 0.684], "gripper_opening_command": 1.0},
    "right": {"position": [0.31, -0.314, 0.913], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1082,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000018)→obs_000018
  参数原文· 684 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "The black pen’s long axis is nearly front-to-back, so the left fingers will close across its barrel from above. The right approach remains clear of the upright holder.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.277, -0.03, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.345, -0.125, 0.825], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 596 字JSON

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  {
    "error": "left target exceeds 0.25 m Euclidean distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000018",
    "current_eef": {
      "left": {
        "position": [-0.29196667671203613, -0.2827174663543701, 0.9672192335128784],
        "quaternion_wxyz": [0.6839798092842102, -0.1791321039199829, 0.17979638278484344, 0.6839272975921631],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.310244083404541, -0.3139525055885315, 0.9134083986282349],
        "quaternion_wxyz": [0.7071692943572998, -0.0001881473872344941, 0.00019481869821902364, 0.7070441842079163],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=15, obs=obs_000018)→obs_000018
  参数原文· 686 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "Use a bounded intermediate pose to bring the left hand above the black pen with downward-pointing fingers. The right hand continues through open space toward the holder.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.277, -0.07, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.345, -0.125, 0.825], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 599 字JSON

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  {
    "error": "left target exceeds 1.0 rad orientation distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000018",
    "current_eef": {
      "left": {
        "position": [-0.29196667671203613, -0.2827174663543701, 0.9672192335128784],
        "quaternion_wxyz": [0.6839798092842102, -0.1791321039199829, 0.17979638278484344, 0.6839272975921631],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.310244083404541, -0.3139525055885315, 0.9134083986282349],
        "quaternion_wxyz": [0.7071692943572998, -0.0001881473872344941, 0.00019481869821902364, 0.7070441842079163],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=15, obs=obs_000018)→obs_000033
  参数原文· 660 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "Continue the clear approach with a smaller downward rotation before the grasp alignment. The holder remains stationary and upright.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.277, -0.07, 1.025], "quaternion_wxyz": [0.56, -0.432666, 0.432666, 0.56], "gripper_closed": false},
      "right": {"position": [0.345, -0.125, 0.825], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000033", "native_success": false}

观测 obs_000033 · 步 33 · 剩余 1067 步 · 左末端 (-0.28, -0.18, 0.99) 米 · 右末端 (0.32, -0.26, 0.90) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.285, -0.177, 0.989], "quaternion_wxyz": [0.604, -0.367, 0.367, 0.604], "gripper_opening_command": 1.0},
    "right": {"position": [0.321, -0.26, 0.905], "quaternion_wxyz": [0.707, -0.001, 0.001, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1067,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000033)→obs_000048
  参数原文· 681 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "The wrist view confirms the black pen below the left fingers and a clear holder front. Finish moving into pregrasp positions without touching either object.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.275, -0.03, 0.995], "quaternion_wxyz": [0.554, -0.439, 0.554, 0.439], "gripper_closed": false},
      "right": {"position": [0.345, -0.105, 0.817], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000048 · 步 48 · 剩余 1052 步 · 左末端 (-0.28, -0.07, 0.99) 米 · 右末端 (0.34, -0.16, 0.85) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.277, -0.075, 0.988], "quaternion_wxyz": [0.557, -0.437, 0.548, 0.445], "gripper_opening_command": 1.0},
    "right": {"position": [0.337, -0.159, 0.853], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1052,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 690 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "The left pads are aligned across the black barrel, and the right pads face opposite holder walls. Lower the left hand and advance the right hand slowly toward contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.03, 0.925], "quaternion_wxyz": [0.554, -0.439, 0.554, 0.439], "gripper_closed": false},
      "right": {"position": [0.345, -0.08, 0.817], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000051 · 步 51 · 剩余 1049 步 · 左末端 (-0.28, -0.05, 0.95) 米 · 右末端 (0.34, -0.13, 0.84) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.276, -0.049, 0.949], "quaternion_wxyz": [0.555, -0.439, 0.554, 0.44], "gripper_opening_command": 1.0},
    "right": {"position": [0.34, -0.129, 0.839], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1049,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 660 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000051",
    "reason": "The barrel and holder remain centered in the wrist views. Make a small final descent and advance, keeping the fingers open for alignment.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.03, 0.902], "quaternion_wxyz": [0.554, -0.439, 0.554, 0.439], "gripper_closed": false},
      "right": {"position": [0.35, -0.065, 0.817], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000054 · 步 54 · 剩余 1046 步 · 左末端 (-0.27, -0.03, 0.92) 米 · 右末端 (0.34, -0.10, 0.83) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.275, -0.035, 0.923], "quaternion_wxyz": [0.563, -0.431, 0.547, 0.445], "gripper_opening_command": 1.0},
    "right": {"position": [0.345, -0.099, 0.829], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1046,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000054",
    "reason": "The pen barrel is between the left pads and the right fingers straddle the holder walls. Finish the last centimeters of alignment before closing.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.03, 0.905], "quaternion_wxyz": [0.554, -0.439, 0.554, 0.439], "gripper_closed": false},
      "right": {"position": [0.35, -0.065, 0.817], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 1043 步 · 左末端 (-0.28, -0.03, 0.92) 米 · 右末端 (0.35, -0.07, 0.82) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.275, -0.033, 0.923], "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446], "gripper_opening_command": 1.0},
    "right": {"position": [0.349, -0.071, 0.819], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1043,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000057)→obs_000060
  参数原文· 651 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "Both objects are centered between opposing pads at their grasp heights. Close both grippers while keeping their measured poses steady.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.033, 0.923], "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446], "gripper_closed": true},
      "right": {"position": [0.349, -0.071, 0.819], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000060 · 步 60 · 剩余 1040 步 · 左末端 (-0.28, -0.03, 0.92) 米 · 右末端 (0.35, -0.07, 0.82) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.275, -0.033, 0.923],
      "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446],
      "gripper_opening_command": 0.329
    },
    "right": {"position": [0.349, -0.071, 0.819], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.634}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1040,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000060)→obs_000063
  参数原文· 641 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000060",
    "reason": "The closing commands are still interpolating. Maintain the aligned grasp poses for full closure before testing either grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.033, 0.923], "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446], "gripper_closed": true},
      "right": {"position": [0.349, -0.071, 0.819], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000063 · 步 63 · 剩余 1037 步 · 左末端 (-0.28, -0.03, 0.92) 米 · 右末端 (0.35, -0.07, 0.82) 米

{
  "observation_id": "obs_000063",
  "step_id": 63,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.275, -0.033, 0.923],
      "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446],
      "gripper_opening_command": 0.126
    },
    "right": {"position": [0.349, -0.071, 0.819], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.634}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1037,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000063)→obs_000066
  参数原文· 671 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000063",
    "reason": "Both pads now visibly contact their objects. Make small vertical test lifts with fixed orientations to verify that the pen and holder move with the hands.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.275, -0.033, 0.958], "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446], "gripper_closed": true},
      "right": {"position": [0.349, -0.071, 0.854], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000066", "native_success": false}

观测 obs_000066 · 步 66 · 剩余 1034 步 · 左末端 (-0.28, -0.03, 0.96) 米 · 右末端 (0.35, -0.07, 0.85) 米

{
  "observation_id": "obs_000066",
  "step_id": 66,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.275, -0.034, 0.956],
      "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446],
      "gripper_opening_command": 0.126
    },
    "right": {"position": [0.349, -0.071, 0.851], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.634}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1034,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000066)→obs_000081
  参数原文· 683 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000066",
    "reason": "The pen and holder both rose with their grippers, confirming the grasps. Lift the pen clear of the table and bring the held holder toward the open center for insertion.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.275, -0.034, 1.1], "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446], "gripper_closed": true},
      "right": {"position": [0.12, -0.045, 0.855], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000081 · 步 81 · 剩余 1019 步 · 左末端 (-0.28, -0.04, 1.08) 米 · 右末端 (0.12, -0.05, 0.85) 米

{
  "observation_id": "obs_000081",
  "step_id": 81,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.275, -0.041, 1.085],
      "quaternion_wxyz": [0.564, -0.431, 0.546, 0.446],
      "gripper_opening_command": 0.126
    },
    "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.638}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1019,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from geometry import * o=obs(81); q=o…")→退出码 0 · 83 字
  参数原文· 371 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom geometry import *\no=obs(81); q=o['current_eef']['left']['quaternion_wxyz']; rot=R.from_quat([*q[1:],q[0]]);print(rot.as_matrix());\nfor pitch in [.8,0]:\n r=R.from_euler('z',1.34)*R.from_euler('y',pitch);v=r.as_quat();print(pitch,[v[3],*v[:3]])\nprint('rim',plane(81,'cam_high',(378,120),.923))\nPY"
  }

  返回原文· 391 字纯文本

  Process exited with code 0 Original token count: 83 Output: [[ 6.82741008e-03 -9.72858956e-01 2.3129…

• robot_act(steps=15, obs=obs_000081)
  参数原文· 698 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000081",
    "reason": "The black pen is clear of the table and its clip is on the far end. Begin rotating that end upward while translating through open space; keep the holder upright and fixed.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.16, 0.035, 1.12], "quaternion_wxyz": [0.721948, -0.241823, 0.305235, 0.571966], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 662 字代码

  1 2 3 4 5

  IK precheck failed; robot_act was not executed. Neither arm nor gripper moved, and no control steps were used.
  Left arm: stalled after 32 iterations (maximum 128). At the best precheck iterate: position error 12.962 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.071 degrees (tolerance 1.146 degrees; within tolerance).
  Change the target position or orientation, or first move to a different approach pose. Repeating the same target from the unchanged state, even with more execution steps, will not change the precheck result. This local IK failure does not prove global unreachability.
  Observation ID (unchanged): obs_000081
  native_success: false

• robot_act(steps=15, obs=obs_000081)→obs_000096
  参数原文· 675 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000081",
    "reason": "The first rotation target did not converge locally. Use a lower, closer intermediate pose to turn the clip end upward with clearance from the table.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.24, -0.05, 1.02], "quaternion_wxyz": [0.721948, -0.241823, 0.305235, 0.571966], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000096", "native_success": false}

观测 obs_000096 · 步 96 · 剩余 1004 步 · 左末端 (-0.25, -0.04, 1.04) 米 · 右末端 (0.12, -0.05, 0.85) 米

{
  "observation_id": "obs_000096",
  "step_id": 96,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.248, -0.039, 1.043], "quaternion_wxyz": [0.648, -0.35, 0.443, 0.511], "gripper_opening_command": 0.126},
    "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.632}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 1004,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000096)→obs_000096
  参数原文· 650 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000096",
    "reason": "The pen follows the rotation without slipping. Continue rotating toward vertical with the clip upward before approaching the holder.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.24, -0.05, 1.04], "quaternion_wxyz": [0.78, -0.03918, 0.04941, 0.618], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 631 字JSON

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

  {
    "error": "quaternion_wxyz norm must be within 0.001 of 1",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000096",
    "current_eef": {
      "left": {
        "position": [-0.24784882366657257, -0.03945480287075043, 1.0434921979904175],
        "quaternion_wxyz": [0.6475170254707336, -0.3503633439540863, 0.44314467906951904, 0.5114585161209106],
        "gripper_opening_command": 0.1257629692554474
      },
      "right": {
        "position": [0.1210232526063919, -0.045049041509628296, 0.8547594547271729],
        "quaternion_wxyz": [0.7071065902709961, -0.0003493907570373267, 0.00013889886031392962, 0.7071067690849304],
        "gripper_opening_command": 0.6321369409561157
      }
    }
  }

• robot_act(steps=15, obs=obs_000096)→obs_000111
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000096",
    "reason": "Use a normalized intermediate orientation to continue raising the clip end. The held holder and the other pens are outside the swept path.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.24, -0.05, 1.04], "quaternion_wxyz": [0.77428, -0.09682, 0.12222, 0.61343], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000111 · 步 111 · 剩余 989 步 · 左末端 (-0.24, -0.05, 1.04) 米 · 右末端 (0.12, -0.05, 0.85) 米

{
  "observation_id": "obs_000111",
  "step_id": 111,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.24, -0.049, 1.042], "quaternion_wxyz": [0.734, -0.219, 0.277, 0.58], "gripper_opening_command": 0.126},
    "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.632}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 989,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000111)→obs_000126
  参数原文· 652 字JSON

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  {
    "observation_id": "obs_000111",
    "reason": "The clip end is now elevated. Finish the vertical orientation and translate the pen toward the holder while remaining above its rim.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.03, -0.025, 1.045], "quaternion_wxyz": [0.783822, 0, 0, 0.620986], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000126", "native_success": false}

观测 obs_000126 · 步 126 · 剩余 974 步 · 左末端 (-0.14, -0.04, 1.05) 米 · 右末端 (0.12, -0.05, 0.85) 米

{
  "observation_id": "obs_000126",
  "step_id": 126,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.137, -0.036, 1.048],
      "quaternion_wxyz": [0.781, -0.063, 0.076, 0.617],
      "gripper_opening_command": 0.127
    },
    "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.632}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 974,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000126)→obs_000141
  参数原文· 666 字JSON

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  {
    "observation_id": "obs_000126",
    "reason": "The black pen is upright with the clip at the top and its tip above the rim. Move laterally to center the tip over the holder while keeping height.",
    "steps": 15,
    "target": {
      "left": {"position": [0.088, -0.041, 1.04], "quaternion_wxyz": [0.783822, 0, 0, 0.620986], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000141", "native_success": false}

观测 obs_000141 · 步 141 · 剩余 959 步 · 左末端 (0.04, -0.04, 1.04) 米 · 右末端 (0.12, -0.05, 0.85) 米

{
  "observation_id": "obs_000141",
  "step_id": 141,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.041, -0.045, 1.04], "quaternion_wxyz": [0.784, 0.0, 0.0, 0.621], "gripper_opening_command": 0.127},
    "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.632}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 959,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000141)→obs_000144
  参数原文· 654 字JSON

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  {
    "observation_id": "obs_000141",
    "reason": "The pen is close to the holder, but the measured hand has not reached the centering target. Complete centering slowly before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [0.088, -0.041, 1.04], "quaternion_wxyz": [0.783822, 0, 0, 0.620986], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000144", "native_success": false}

观测 obs_000144 · 步 144 · 剩余 956 步 · 左末端 (0.07, -0.04, 1.04) 米 · 右末端 (0.12, -0.05, 0.85) 米

{
  "observation_id": "obs_000144",
  "step_id": 144,
  "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, with their clip ends pointing upward, then put the pen holder back down. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.066, -0.045, 1.039], "quaternion_wxyz": [0.784, 0.0, 0.0, 0.621], "gripper_opening_command": 0.127},
    "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.632}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1100,
  "remaining_steps": 956,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000144)→obs_000147
  参数原文· 639 字JSON

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  {
    "observation_id": "obs_000144",
    "reason": "The pen tip projects near the opening and remains above it. Lower a small amount while completing the lateral alignment.",
    "steps": 3,
    "target": {
      "left": {"position": [0.088, -0.041, 1.005], "quaternion_wxyz": [0.783822, 0, 0, 0.620986], "gripper_closed": true},
      "right": {"position": [0.121, -0.045, 0.855], "quaternion_wxyz": [0.707107, 0, 0, 0.707107], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000147", "native_success": false}