通用取物 · general_pickup_000242任务成功第二档

观测 obs_000000 · 步 0 · 剩余 200 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 smart remote by 10 cm.",
  "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": 200,
  "remaining_steps": 200,
  "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 · 1,430 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 18000}
  返回原文· 5,781 字代码

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  Process exited with code 0
  Original token count: 1430
  Output:
  {
    "episode_id": "00541b6c61c249938a8949439cbe6a86",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Pick up the smart remote by 10 cm.",
    "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": 200,
    "remaining_steps": 200,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-7m9zegu2/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-7m9zegu2/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-7m9zegu2/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-7m9zegu2/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-7m9zegu2/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image for cam,box in …")→退出码 0 · 0 字
  参数原文· 347 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nfor cam,box in [('cam_high',(190,230,245,320)),('cam_left_wrist',(460,375,630,480))]:\n im=Image.open('observations/000000/'+cam+'.png'); im.crop(box).resize((440,720) if cam=='cam_high' else (680,420)).save(cam+'_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-7m9zegu2/agent/cam_high_crop.png")→1 张图
  查看的图
  参数原文· 88 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-7m9zegu2/agent/cam_high_crop.png"}
  返回原文· 314 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/3ecb4359275c0f1f2dddd4cc2ed1233c75725f0db53d385f72866a1e1fba54dc.png",
        "sha256": "3ecb4359275c0f1f2dddd4cc2ed1233c75725f0db53d385f72866a1e1fba54dc",
        "mime_type": "image/png",
        "width": 440,
        "height": 720
      }
    }
  ]

• view_image(path="/mnt/workspace/robot_workspaces/episode-7m9zegu2/agent/cam_left_wrist_crop.png")→1 张图
  查看的图
  参数原文· 94 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-7m9zegu2/agent/cam_left_wrist_crop.png"}
  返回原文· 314 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/353bebcac7e08f826bb51bbc0b62b90168ee85b5afa5e6a5502b7f67d63e2129.png",
        "sha256": "353bebcac7e08f826bb51bbc0b62b90168ee85b5afa5e6a5502b7f67d63e2129",
        "mime_type": "image/png",
        "width": 680,
        "height": 420
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 154 字
  参数原文· 1,016 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\nj=json.load(open('observations/000000/observation.json'))\ndef ray(cam,p):\n c=j['images'][cam]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']); R=T[:3,:3]; t=T[:3,3]; o=-R.T@t; d=R.T@np.linalg.solve(K,np.r_[p,1]); return o,d/np.linalg.norm(d)\ndef tri(p,q):\n a,u=ray(0,p); b,v=ray(1,q); uv=np.stack([u,-v],axis=1); st=np.linalg.lstsq(uv,b-a,rcond=None)[0]; A=a+st[0]*u; B=b+st[1]*v; print(p,q,'tri',(A+B)/2,'gap',np.linalg.norm(A-B))\ntri((228,242),(496,387))\ntri((227,247),(486,394))\ntri((223.5,256.5),(498.5,420.5))\nfor p in [(228,242),(221.5,277),(215,310)]:\n o,d=ray(0,p); pt=o+(0.762-o[2])/d[2]*d; print('z plane',p,pt)\n# down local X with Y across remote approximately x axis, yaw ~0\nfor a in [0,0.7,1.57]:\n R=Rotation.from_euler('zyx',[a,1.57,0]); print('quat',a,R.as_quat()[[3,0,1,2]])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 674 字代码

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  Process exited with code 0
  Original token count: 154
  Output:
  (228, 242) (496, 387) tri [-0.19492114 -0.10793669  0.77851434] gap 0.0022333037818923693
  (227, 247) (486, 394) tri [-0.19928407 -0.11206095  0.77163307] gap 0.009806332282368688
  (223.5, 256.5) (498.5, 420.5) tri [-0.20144347 -0.13537314  0.7766898 ] gap 0.013064212687432736
  z plane (228, 242) [-0.20050285 -0.09979975  0.762     ]
  z plane (221.5, 277) [-0.20065283 -0.18179894  0.762     ]
  z plane (215, 310) [-0.2014901  -0.24987385  0.762     ]
  quat 0 [0.70738827 0.         0.70682518 0.        ]
  quat 0.7 [0.66450124 0.2423688  0.66397229 0.24256189]
  quat 1.57 [0.50039816 0.49960184 0.49999984 0.49999984]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 18 字
  参数原文· 375 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nimport numpy as np\nq=R.from_quat([0,0,np.sqrt(.5),np.sqrt(.5)])*R.from_euler('y',np.pi/4)\nprint(q.as_quat()[[3,0,1,2]])\nq=R.from_quat([0,0,np.sqrt(.5),np.sqrt(.5)])*R.from_euler('y',np.pi/2)\nprint(q.as_quat()[[3,0,1,2]])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 132 字纯文本

  Process exited with code 0 Original token count: 18 Output: [ 0.65328148 -0.27059805 0.27059805 0.65…

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 742 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The remote lies lengthwise along the table near x = -0.20 m, with its narrow sides clear. Raise and angle the left gripper toward an overhead grasp while keeping the right arm still.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.25, -0.28, 1.0],
        "quaternion_wxyz": [0.65328148, -0.27059805, 0.27059805, 0.65328148],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000003 · 步 3 · 剩余 197 步 · 左末端 (-0.30, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.296, -0.347, 0.93], "quaternion_wxyz": [0.707, -0.027, 0.028, 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": 200,
  "remaining_steps": 197,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000003)→obs_000015
  参数原文· 729 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The measured left gripper has begun rising, and the remote remains stationary. Continue the unobstructed upward motion and wrist rotation before moving over the remote.",
    "steps": 12,
    "target": {
      "left": {
        "position": [-0.25, -0.28, 1.0],
        "quaternion_wxyz": [0.65328148, -0.27059805, 0.27059805, 0.65328148],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000015", "native_success": false}

观测 obs_000015 · 步 15 · 剩余 185 步 · 左末端 (-0.27, -0.30, 0.97) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000015",
  "step_id": 15,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.271, -0.304, 0.973], "quaternion_wxyz": [0.689, -0.161, 0.164, 0.688], "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": 200,
  "remaining_steps": 185,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 13 字
  参数原文· 252 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nimport numpy as np\nq=R.from_euler('z',np.pi/2)*R.from_euler('y',1.25)\nprint(q.as_quat()[[3,0,1,2]])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 110 字纯文本

  Process exited with code 0 Original token count: 13 Output: [ 0.57343752 -0.41372625 0.41372625 0.57…

• robot_act(steps=12, obs=obs_000015)→obs_000027
  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_000015",
    "reason": "The left fingers are above the surrounding objects, and the remote is clearly visible in the wrist view. Move over its center while rotating further toward a vertical, widthwise grasp.",
    "steps": 12,
    "target": {
      "left": {
        "position": [-0.2, -0.185, 1.005],
        "quaternion_wxyz": [0.57343752, -0.41372625, 0.41372625, 0.57343752],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000027", "native_success": false}

观测 obs_000027 · 步 27 · 剩余 173 步 · 左末端 (-0.23, -0.23, 0.99) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.231, -0.234, 0.987], "quaternion_wxyz": [0.635, -0.308, 0.311, 0.636], "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": 200,
  "remaining_steps": 173,
  "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 · 45 字
  参数原文· 769 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000027/observation.json'))\nImage.open(j['images'][0]['path']).crop((205,240,240,316)).resize((280,608)).save('remote27.png')\ndef ray(k,p):\n c=j['images'][k]['calibration']; K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3];d=T[:3,:3].T@np.linalg.solve(K,np.r_[p,1]);return o,d/np.linalg.norm(d)\ndef tri(p,q):\n a,u=ray(0,p); b,v=ray(1,q);st=np.linalg.lstsq(np.stack([u,-v],1),b-a,rcond=None)[0];A=a+st[0]*u;B=b+st[1]*v; print((A+B)/2,np.linalg.norm(A-B))\ntri([226.5,246.5],[385.5,226.5]);tri([223.5,260],[412,322]);tri([218,283],[415,459])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 238 字纯文本

  Process exited with code 0 Original token count: 45 Output: [-0.20093849 -0.10978329 0.76263279] 0.0…

• view_image(path="/mnt/workspace/robot_workspaces/episode-7m9zegu2/agent/remote27.png")→1 张图
  查看的图
  参数原文· 83 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-7m9zegu2/agent/remote27.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/1b8332b33980fe4d14770eb8418b36668fc3ba8001e753378d6df506291fe064.png",
        "sha256": "1b8332b33980fe4d14770eb8418b36668fc3ba8001e753378d6df506291fe064",
        "mime_type": "image/png",
        "width": 280,
        "height": 608
      }
    }
  ]

• robot_act(steps=12, obs=obs_000027)→obs_000039
  参数原文· 747 字JSON

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

  {
    "observation_id": "obs_000027",
    "reason": "The wrist view shows the remote centered between the open fingers, but the measured wrist is still tilted. Finish moving above its midpoint and orient the fingers downward, with closure across its narrow sides.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.197, -0.187, 0.985], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000039", "native_success": false}

观测 obs_000039 · 步 39 · 剩余 161 步 · 左末端 (-0.20, -0.19, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.198, -0.188, 0.984], "quaternion_wxyz": [0.537, -0.459, 0.46, 0.538], "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": 200,
  "remaining_steps": 161,
  "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 · 84 字
  参数原文· 788 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000039/observation.json'))\nImage.open(j['images'][0]['path']).crop((203,242,237,315)).resize((340,730)).save('remote39.png')\ndef ray(k,p):\n c=j['images'][k]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];o=-R.T@T[:3,3];d=R.T@np.linalg.solve(K,np.r_[p,1]);return o,d/np.linalg.norm(d)\ndef tri(p,q):\n a,u=ray(0,p);b,v=ray(1,q);st=np.linalg.lstsq(np.stack([u,-v],1),b-a,rcond=None)[0];A=a+st[0]*u;B=b+st[1]*v;print(p,q,(A+B)/2,np.linalg.norm(A-B))\ntri([217,285],[330,330]);tri([221.5,277],[331,285]);tri([222,260],[335,181]);tri([214.5,307.5],[326,419])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 394 字纯文本

  Process exited with code 0 Original token count: 84 Output: [217, 285] [330, 330] [-0.19598325 -0.20…

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 713 字JSON

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

  {
    "observation_id": "obs_000039",
    "reason": "Both camera views place the remote near x = -0.195 m and y = -0.18 m, with its top around z = 0.783 m. Begin the slow downward approach, keeping the open fingers across its width.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 0.95], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000042", "native_success": false}

观测 obs_000042 · 步 42 · 剩余 158 步 · 左末端 (-0.20, -0.18, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.181, 0.951], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "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": 200,
  "remaining_steps": 158,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json from scipy.sp…")→退出码 0 · 195 字
  参数原文· 607 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nfrom scipy.spatial.transform import Rotation as R\nj=json.load(open('observations/000042/observation.json'));e=j['current_eef']['left'];q=e['quaternion_wxyz'];r=R.from_quat(q[1:]+q[:1]).as_matrix();p=np.array(e['position']);print(p,r)\nfor k in [0,1]:\n c=j['images'][k]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);print('cam',k)\n for x in [.11,.13,.145,.1576]:\n  pt=p+r@np.array([x,0,0]);u=K@(T@np.r_[pt,1])[:3];print(x,pt,u[:2]/u[2])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 839 字代码

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

  Process exited with code 0
  Original token count: 195
  Output:
  [-0.19515942 -0.18053675  0.95100784] [[ 1.01773490e-04 -9.99999965e-01 -2.42881283e-04]
   [ 3.94002089e-03 -2.42478409e-04  9.99992209e-01]
   [-9.99992233e-01 -1.02729654e-04  3.93999607e-03]]
  cam 0
  0.11 [-0.19514823 -0.18010334  0.8410087 ] [211.73796441 259.08366617]
  0.13 [-0.19514619 -0.18002454  0.82100885] [215.24061082 263.79801351]
  0.145 [-0.19514466 -0.17996544  0.80600897] [217.72242757 267.1383867 ]
  0.1576 [-0.19514338 -0.1799158   0.79340907] [219.71808012 269.82441269]
  cam 1
  0.11 [-0.19514823 -0.18010334  0.8410087 ] [319.99680493 504.93766205]
  0.13 [-0.19514619 -0.18002454  0.82100885] [319.99677366 372.3947846 ]
  0.145 [-0.19514466 -0.17996544  0.80600897] [319.99675938 311.83145915]
  0.1576 [-0.19514338 -0.1799158   0.79340907] [319.99675062 274.70101952]
  

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 726 字JSON

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

  {
    "observation_id": "obs_000042",
    "reason": "The measured fingers now point downward and straddle the remote's sides; their tips are about 1 cm above its top. Lower slightly so the pads overlap the side walls without touching the table.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 0.932], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000045", "native_success": false}

观测 obs_000045 · 步 45 · 剩余 155 步 · 左末端 (-0.19, -0.18, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.18, 0.932], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 155,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000045)→obs_000047
  参数原文· 714 字JSON

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

  {
    "observation_id": "obs_000045",
    "reason": "The remote remains stationary and centered in the wrist image. Lower another 9 mm to increase finger-pad overlap with its side walls while preserving clearance above the tabletop.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.195, -0.18, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000047 · 步 47 · 剩余 153 步 · 左末端 (-0.19, -0.18, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000047",
  "step_id": 47,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.18, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 200,
  "remaining_steps": 153,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000047)→obs_000050
  参数原文· 705 字JSON

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

  {
    "observation_id": "obs_000047",
    "reason": "The finger tips overlap the remote's side walls, with the gripper closing direction across its width. Close at this aligned pose before testing whether the remote is held.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000050 · 步 50 · 剩余 150 步 · 左末端 (-0.19, -0.18, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000050",
  "step_id": 50,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.18, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.329},
    "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": 200,
  "remaining_steps": 150,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000050)→obs_000053
  参数原文· 693 字JSON

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

  {
    "observation_id": "obs_000050",
    "reason": "The fingers now contact the remote's two narrow sides, but the opening command is still interpolating. Hold the pose and complete closure before the test lift.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000053", "native_success": false}

观测 obs_000053 · 步 53 · 剩余 147 步 · 左末端 (-0.20, -0.18, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000053",
  "step_id": 53,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.18, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.274},
    "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": 200,
  "remaining_steps": 147,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000053)→obs_000056
  参数原文· 700 字JSON

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

  {
    "observation_id": "obs_000053",
    "reason": "The remote is between both finger pads; firm attachment is not yet verified. Lift 2 cm with the orientation held steady and inspect whether it moves with the gripper.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 0.943], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000056", "native_success": false}

观测 obs_000056 · 步 56 · 剩余 144 步 · 左末端 (-0.20, -0.18, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000056",
  "step_id": 56,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.18, 0.943], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.272},
    "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": 200,
  "remaining_steps": 144,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000056)→obs_000059
  参数原文· 727 字JSON

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

  {
    "observation_id": "obs_000056",
    "reason": "The remote moved upward with the measured 2 cm lift and stayed fixed relative to the wrist camera, confirming the grasp. Continue vertically upward with the same orientation and closed fingers.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 0.983], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000059 · 步 59 · 剩余 141 步 · 左末端 (-0.20, -0.18, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000059",
  "step_id": 59,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.181, 0.975], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.272},
    "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": 200,
  "remaining_steps": 141,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000059)→obs_000062
  参数原文· 704 字JSON

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

  {
    "observation_id": "obs_000059",
    "reason": "The remote remains stable in the fingers, and the measured lift is about 5 cm. Raise to a total lift slightly above 10 cm, allowing a small margin for any grasp settling.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 1.028], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000062 · 步 62 · 剩余 138 步 · 左末端 (-0.20, -0.18, 1.01) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000062",
  "step_id": 62,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.196, -0.181, 1.008], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.272},
    "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": 200,
  "remaining_steps": 138,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000062)→obs_000064
  参数原文· 696 字JSON

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

  {
    "observation_id": "obs_000062",
    "reason": "The remote still moves rigidly with the gripper, but the measured rise is only about 8.5 cm. Finish the remaining upward motion to reach the requested 10 cm lift.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.195, -0.18, 1.028], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 158 字JSON

  { "observation_id": "obs_000064", "native_success": true, "message": "Task completed successfully. The episode has ended; do not issue further robot actions." }

观测 obs_000064 · 步 64 · 剩余 136 步 · 左末端 (-0.20, -0.18, 1.03) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000064",
  "step_id": 64,
  "instruction": "Pick up the smart remote by 10 cm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.18, 1.026], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.272},
    "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": 200,
  "remaining_steps": 136,
  "native_success": true,
  "frame": "environment_origin"
}